/SLAM-Hive/slam_hive_results/mapping_results/3031/2239_vins-fusion-stereo+MH_03_medium+Image_comb_test-19.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720504770.862856517]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720504770.864227678]: init begins[0m
[31m[ERROR] [1720504770.865342796]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/688d9600-3db8-11ef-86af-0242ac110005/roslaunch-38182f0af2bd-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://38182f0af2bd:38721/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[1mROS_MASTER_URI=http://38182f0af2bd:11311/[0m
]2;roscore http://38182f0af2bd:11311/
[1msetting /run_id to 688d9600-3db8-11ef-86af-0242ac110005[0m
[0m[ INFO] [1720504772.018640264]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720504772.020465206]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720504772.026853107]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720504772.027085961]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720504772.027111257]: ROW: 384 COL: 601 [0m
no imu, fix extrinsic param; no time offset calibration
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1720504772.027370949]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720504772.027585902]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720504772.027762106]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [214][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720504781.021754390]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 316867650.69 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720504791.928872015]: Initialization finish![0m
time: 1403637141.038319, t: 0.228544 -0.077249 -0.233163 q: 0.996744 -0.043640 0.066336 0.014014 
time: 1403637142.038319, t: 0.224543 -0.076932 -0.230858 q: 0.996712 -0.043587 0.066786 0.014315 
time: 1403637143.038319, t: 0.226028 -0.076919 -0.229988 q: 0.996737 -0.043406 0.066531 0.014321 
time: 1403637144.038319, t: 0.225955 -0.077026 -0.230098 q: 0.996750 -0.043176 0.066484 0.014307 
time: 1403637145.038319, t: 0.225967 -0.077063 -0.230106 q: 0.996757 -0.043200 0.066413 0.014074 
time: 1403637146.038319, t: 0.225892 -0.076770 -0.230636 q: 0.996735 -0.043451 0.066542 0.014290 
time: 1403637147.038319, t: 0.225922 -0.076722 -0.230661 q: 0.996736 -0.043535 0.066516 0.014085 
time: 1403637148.038319, t: 0.225954 -0.076718 -0.230651 q: 0.996732 -0.043588 0.066554 0.014015 
time: 1403637149.038319, t: 0.225892 -0.076908 -0.231017 q: 0.997028 -0.040171 0.064560 0.012392 
time: 1403637150.038319, t: 0.231304 -0.057900 -0.238671 q: 0.999546 -0.027028 0.002291 -0.013108 
time: 1403637151.038319, t: 0.561272 0.136328 -0.081235 q: 0.997412 -0.054582 0.040159 -0.024035 
unstable tracking...
time: 1403637152.038319, t: 0.803211 0.203743 -0.024753 q: 0.997883 -0.052484 0.029014 -0.025154 
unstable tracking...
time: 1403637153.038319, t: 0.997747 0.423044 0.094731 q: 0.998289 -0.044408 0.031488 -0.021336 
unstable tracking...
time: 1403637154.038319, t: 1.156498 0.586996 0.301805 q: 0.997894 -0.049594 0.033130 -0.025506 
unstable tracking...
time: 1403637155.038319, t: 1.197463 0.865389 0.610711 q: 0.995715 -0.091633 0.005737 -0.011042 
time: 1403637156.038319, t: 1.428519 1.163950 0.989448 q: 0.972676 -0.217305 0.042093 0.070064 
time: 1403637157.038319, t: 1.378572 1.756052 1.315380 q: 0.890206 -0.429556 0.038563 0.146723 
time: 1403637158.038319, t: 1.153546 2.583362 1.290493 q: 0.895739 -0.419957 0.057748 0.133985 
time: 1403637159.038319, t: 1.171473 3.544849 0.814518 q: 0.829818 -0.526607 0.047279 0.178468 
time: 1403637160.038319, t: 0.753362 4.761123 0.225903 q: 0.812530 -0.550492 0.055911 0.183377 
feature tracking not enough, please slowly move you device! 
time: 1403637161.038319, t: 0.741415 5.524441 -1.191634 q: 0.771045 -0.631698 -0.042799 -0.067935 
time: 1403637162.038319, t: 1.614171 6.547143 -1.654241 q: 0.742037 -0.662893 0.031491 -0.094669 
time: 1403637163.038319, t: 1.931676 7.085837 -2.551421 q: 0.701725 -0.706090 0.055281 -0.077221 
time: 1403637164.038319, t: 2.016170 7.034742 -4.080529 q: 0.592739 -0.799366 0.090972 0.037391 
feature tracking not enough, please slowly move you device! 
time: 1403637165.038319, t: 2.016170 7.034742 -4.080529 q: 0.592739 -0.799366 0.090972 0.037391 
feature tracking not enough, please slowly move you device! 
time: 1403637166.038319, t: 2.016170 7.034742 -4.080529 q: 0.592739 -0.799366 0.090972 0.037391 
time: 1403637167.038319, t: 1.805034 7.276205 -3.646358 q: 0.545025 -0.835029 0.074184 -0.013120 
time: 1403637168.038319, t: 1.400949 3.795864 -7.093697 q: 0.678524 -0.732582 0.039277 0.037231 
time: 1403637169.038319, t: 1.423413 4.072807 -6.167491 q: 0.740513 -0.667757 0.035403 0.066986 
feature tracking not enough, please slowly move you device! 
time: 1403637170.038319, t: 1.423413 4.072807 -6.167491 q: 0.740513 -0.667757 0.035403 0.066986 
feature tracking not enough, please slowly move you device! 
time: 1403637171.038319, t: 1.423413 4.072807 -6.167491 q: 0.740513 -0.667757 0.035403 0.066986 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637172.038319, t: 1.423413 4.072807 -6.167491 q: 0.740513 -0.667757 0.035403 0.066986 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637173.038319, t: 1.423413 4.072807 -6.167491 q: 0.740513 -0.667757 0.035403 0.066986 
unstable tracking...
time: 1403637174.038319, t: 1.188954 4.112626 -6.222968 q: 0.625633 -0.767694 0.058638 0.125664 
time: 1403637175.038319, t: 1.432789 4.438643 -6.820369 q: -0.479583 0.863562 -0.132883 -0.081258 
time: 1403637176.038319, t: 1.322185 4.500840 -6.907935 q: -0.352443 0.915930 -0.175763 -0.077225 
time: 1403637177.038319, t: 1.565630 4.008901 -6.454254 q: -0.225154 0.958590 -0.131827 -0.114156 
time: 1403637178.038319, t: 1.047130 2.547114 -7.260601 q: -0.158731 0.973595 -0.065166 -0.150567 
unstable tracking...
time: 1403637179.038319, t: 1.096692 2.579584 -8.425591 q: -0.088897 0.984944 -0.112485 -0.096595 
unstable tracking...
time: 1403637180.038319, t: 0.657554 3.670328 -9.042708 q: -0.069317 0.995795 -0.059639 0.005603 
unstable tracking...
time: 1403637181.038319, t: 0.385157 4.645681 -9.170396 q: -0.120590 0.987196 -0.085425 0.060044 
unstable tracking...
time: 1403637182.038319, t: 0.808978 5.816089 -8.709106 q: -0.160718 0.964785 -0.162934 0.129659 
unstable tracking...
time: 1403637183.038319, t: 1.280871 6.931863 -7.463269 q: -0.192050 0.941103 -0.218580 0.172234 
unstable tracking...
time: 1403637184.038319, t: 1.355086 7.560135 -6.288527 q: -0.190926 0.936592 -0.287238 0.061950 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637186.038319, t: 0.784556 6.780251 -5.890217 q: -0.155028 0.944292 -0.273414 0.097593 
time: 1403637187.038319, t: 0.598671 6.003600 -5.899677 q: -0.173216 0.923809 -0.328059 0.094606 
time: 1403637188.038319, t: 0.167859 5.093813 -6.507345 q: -0.140830 0.943081 -0.296660 0.052520 
time: 1403637189.038319, t: -0.325611 4.495046 -7.525326 q: -0.071075 0.930361 -0.350803 0.079461 
time: 1403637190.038319, t: -0.679218 3.761850 -8.333707 q: -0.045032 0.937840 -0.335547 0.076395 
time: 1403637191.038319, t: -0.916987 2.781482 -8.907512 q: -0.080749 0.937590 -0.323317 0.099354 
time: 1403637192.038319, t: -1.361039 2.125056 -9.244337 q: -0.076519 0.952347 -0.284027 0.080674 
time: 1403637193.038319, t: -0.927196 1.827816 -9.320589 q: -0.085361 0.946467 -0.305733 0.058665 
time: 1403637194.038319, t: -0.271633 1.683298 -9.885704 q: -0.077677 0.949136 -0.297360 0.068442 
time: 1403637195.038319, t: 0.487683 1.807971 -10.581199 q: -0.075363 0.946948 -0.306885 0.058575 
time: 1403637196.038319, t: 1.368668 2.227453 -11.212133 q: -0.073327 0.956097 -0.267603 0.094288 
time: 1403637197.038319, t: 2.171187 3.575093 -10.617326 q: -0.055960 0.953331 -0.268483 0.126276 
feature tracking not enough, please slowly move you device! 
time: 1403637198.038319, t: 2.171187 3.575093 -10.617326 q: -0.055960 0.953331 -0.268483 0.126276 
time: 1403637199.038319, t: 3.350081 5.076845 -10.491491 q: -0.208613 0.916893 -0.224992 0.255275 
feature tracking not enough, please slowly move you device! 
time: 1403637200.038319, t: 3.350081 5.076845 -10.491491 q: -0.208613 0.916893 -0.224992 0.255275 
feature tracking not enough, please slowly move you device! 
time: 1403637201.038319, t: 3.350081 5.076845 -10.491491 q: -0.208613 0.916893 -0.224992 0.255275 
time: 1403637202.038319, t: 3.226151 5.764644 -9.792878 q: -0.174447 0.909175 -0.318175 0.204288 
time: 1403637203.038319, t: 2.816711 5.170903 -9.579059 q: -0.145010 0.938265 -0.241066 0.201292 
time: 1403637204.038319, t: 2.374311 4.924568 -9.529634 q: -0.124816 0.941678 -0.235147 0.205840 
time: 1403637205.038319, t: 2.239619 4.791427 -9.619316 q: -0.123875 0.940207 -0.249512 0.195983 
time: 1403637206.038319, t: 2.123246 4.866779 -9.512771 q: -0.147730 0.937883 -0.230203 0.213443 
time: 1403637207.038319, t: 2.128652 4.940743 -9.291774 q: -0.148648 0.933719 -0.241640 0.218364 
unstable tracking...
time: 1403637208.038319, t: 1.979579 5.001470 -9.054134 q: -0.144649 0.936633 -0.245773 0.203447 
unstable tracking...
unstable tracking...
time: 1403637210.038319, t: 1.914083 5.105667 -8.664896 q: -0.203590 0.949547 -0.190122 0.144105 
time: 1403637211.038319, t: 2.773725 5.602082 -9.534263 q: -0.219260 0.931850 -0.226058 0.180220 
time: 1403637212.038319, t: 4.074560 6.793626 -11.193540 q: -0.173118 0.935177 -0.233027 0.202912 
time: 1403637213.038319, t: 5.023201 7.290620 -11.713696 q: -0.112864 0.949004 -0.206554 0.209735 
time: 1403637214.038319, t: 6.412132 6.135901 -13.143435 q: -0.170783 0.942590 -0.185391 0.219061 
time: 1403637215.038319, t: 7.209001 6.733088 -13.686947 q: -0.252929 0.902327 -0.099861 0.334456 
time: 1403637216.038319, t: 22.191160 12.722261 -9.590446 q: -0.269972 0.288865 0.749971 -0.530298 
time: 1403637217.038319, t: 19.829436 12.331210 -11.162700 q: -0.286131 0.290628 0.697995 -0.588615 
time: 1403637218.038319, t: 20.286303 13.656662 -11.710059 q: 0.297372 -0.203649 -0.656362 0.662786 
time: 1403637219.038319, t: 22.620496 14.975286 -9.759748 q: -0.283799 0.170279 0.680640 -0.653600 
time: 1403637220.038319, t: 24.987580 16.468729 -8.798025 q: -0.231424 0.144698 0.689033 -0.671371 
time: 1403637221.038319, t: 25.649238 16.508456 -8.749327 q: 0.247784 -0.175892 -0.664289 0.682924 
time: 1403637222.038319, t: 26.488492 16.928603 -7.889381 q: -0.185607 0.220702 0.729570 -0.620135 
time: 1403637223.038319, t: 26.623233 16.610236 -7.899787 q: -0.147871 0.272435 0.773196 -0.553246 
time: 1403637224.038319, t: 26.442223 16.860575 -7.880688 q: -0.183526 0.272736 0.768004 -0.549639 
time: 1403637225.038319, t: 26.440092 16.714616 -7.890576 q: -0.188269 0.275530 0.768014 -0.546620 
time: 1403637226.038319, t: 26.567664 16.796861 -7.714085 q: -0.190392 0.267614 0.767736 -0.550195 
time: 1403637227.038319, t: 26.590003 17.128756 -7.474340 q: -0.161970 0.268901 0.759595 -0.569625 
time: 1403637228.038319, t: 26.460621 17.222198 -7.224951 q: -0.173252 0.277915 0.764223 -0.555617 
time: 1403637229.038319, t: 26.435444 16.961014 -7.376058 q: -0.182216 0.274749 0.760182 -0.559851 
time: 1403637230.038319, t: 26.671780 16.874555 -7.205521 q: -0.083152 0.350079 0.830781 -0.424656 
time: 1403637231.038319, t: 26.606209 16.903565 -7.204388 q: 0.034551 0.435180 0.855306 -0.279064 
time: 1403637233.038319, t: 25.212760 16.225675 -9.693700 q: 0.440041 0.490502 0.623483 0.420761 
time: 1403637234.038319, t: 26.796955 17.315868 -9.419132 q: 0.497831 0.326991 0.700272 0.393524 
feature tracking not enough, please slowly move you device! 
time: 1403637235.038319, t: 26.796955 17.315868 -9.419132 q: 0.497831 0.326991 0.700272 0.393524 
time: 1403637236.038319, t: 27.555572 16.858545 -10.917836 q: 0.474047 0.331697 0.782945 0.228590 
time: 1403637237.038319, t: 27.135923 16.285546 -12.762012 q: 0.332551 0.387584 0.854015 0.099231 
feature tracking not enough, please slowly move you device! 
time: 1403637238.038319, t: 27.135923 16.285546 -12.762012 q: 0.332551 0.387584 0.854015 0.099231 
feature tracking not enough, please slowly move you device! 
time: 1403637239.038319, t: 27.135923 16.285546 -12.762012 q: 0.332551 0.387584 0.854015 0.099231 
feature tracking not enough, please slowly move you device! 
time: 1403637240.038319, t: 27.135923 16.285546 -12.762012 q: 0.332551 0.387584 0.854015 0.099231 
feature tracking not enough, please slowly move you device! 
time: 1403637241.038319, t: 27.135923 16.285546 -12.762012 q: 0.332551 0.387584 0.854015 0.099231 
unstable tracking...
time: 1403637242.038319, t: 27.723078 16.166482 -13.699991 q: 0.301960 0.340490 0.868842 0.194937 
unstable tracking...
time: 1403637243.038319, t: 29.374733 16.898619 -14.844233 q: 0.299133 0.290453 0.895460 0.155908 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637244.038319, t: 29.043778 16.707033 -14.685107 q: 0.290287 0.253438 0.916807 0.104723 
unstable tracking...
time: 1403637245.038319, t: 28.046504 15.993814 -14.623853 q: 0.302015 0.230306 0.924413 0.034726 
unstable tracking...
time: 1403637246.038319, t: 27.678368 15.281994 -15.387027 q: 0.202603 0.162514 0.958567 -0.117004 
unstable tracking...
time: 1403637247.038319, t: 27.137886 14.095213 -15.261936 q: 0.073799 0.015338 0.867701 -0.491339 
unstable tracking...
time: 1403637248.038319, t: 27.161974 13.261613 -14.683081 q: 0.040679 0.028565 0.820190 -0.569928 
unstable tracking...
time: 1403637249.038319, t: 26.843688 12.922047 -13.408935 q: 0.095243 -0.003960 0.791776 -0.603327 
time: 1403637250.038319, t: 26.625905 12.365215 -11.747034 q: 0.084950 -0.002200 0.798291 -0.596247 
time: 1403637251.038319, t: 23.105658 13.820903 -11.025990 q: 0.368520 0.085176 0.661849 -0.647220 
time: 1403637252.038319, t: 24.548640 11.933611 -11.169442 q: -0.282184 -0.083598 -0.632611 0.716371 
time: 1403637253.038319, t: 19.023784 15.023269 -9.760753 q: 0.479238 0.144984 0.617758 -0.606371 
time: 1403637254.038319, t: 21.647447 14.207578 -9.246759 q: 0.334859 0.071228 0.681831 -0.646454 
time: 1403637255.038319, t: 21.408861 14.581350 -9.191438 q: -0.322437 -0.077704 -0.650990 0.682794 
optimize pose graph 
time: 1403637256.038319, t: 21.210481 15.080495 -8.958256 q: -0.280931 -0.076539 -0.551264 0.781875 
time: 1403637257.038319, t: 20.982569 15.649704 -8.595970 q: -0.283391 -0.090583 -0.531026 0.793407 
time: 1403637258.038319, t: 20.683668 16.156111 -8.215442 q: -0.271997 -0.072993 -0.478792 0.831533 
time: 1403637259.038319, t: 19.355441 18.826576 -7.172862 q: -0.269201 -0.032318 -0.579939 0.768217 
time: 1403637260.038319, t: 19.825746 18.145423 -7.518759 q: -0.255412 -0.060609 -0.527919 0.807708 
time: 1403637261.038319, t: 19.173651 18.432594 -4.818643 q: -0.325627 -0.102976 -0.656833 0.672259 
time: 1403637262.038319, t: 19.067880 18.588768 -4.581647 q: -0.297316 -0.083724 -0.658654 0.686126 
time: 1403637263.038319, t: 19.102648 18.539038 -4.537054 q: 0.309022 0.125367 0.680648 -0.652309 
time: 1403637264.038319, t: 19.194272 18.589929 -4.544842 q: 0.310103 0.133256 0.681931 -0.648883 
time: 1403637265.038319, t: 19.153376 18.464834 -4.544930 q: 0.303011 0.115332 0.682297 -0.655251 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720504917.854459009]: Shutdown request received.[0m
[33m[ WARN] [1720504917.854514493]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720504917.855554902]: Shutdown request received.[0m
[33m[ WARN] [1720504917.855585204]: Reason given for shutdown: [user request][0m
killed
