/SLAM-Hive/slam_hive_results/mapping_results/3033/2241_vins-fusion-stereo+MH_03_medium+Image_comb_test-21.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720505113.537815870]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720505113.539134688]: init begins[0m
[31m[ERROR] [1720505113.540240061]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/34cc89c4-3db9-11ef-91ff-0242ac110005/roslaunch-42a49666cd29-117.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://42a49666cd29:36587/[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 [154][0m
[1mROS_MASTER_URI=http://42a49666cd29:11311/[0m
]2;roscore http://42a49666cd29:11311/
[1msetting /run_id to 34cc89c4-3db9-11ef-91ff-0242ac110005[0m
[0m[ INFO] [1720505114.696707378]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720505114.699867586]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720505114.727766310]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720505114.728200181]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720505114.728256390]: ROW: 240 COL: 376 [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] [1720505114.728758568]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720505114.729209753]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720505114.729573905]: 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 [231][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720505123.710716791]: 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: 316867993.37 
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! 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720505134.592087409]: Initialization finish![0m
time: 1403637141.038319, t: -0.167942 -0.904319 -0.975291 q: 0.992421 -0.084699 0.075668 0.046905 
time: 1403637142.038319, t: -0.256405 -1.143013 -1.099753 q: 0.989125 -0.110060 0.081923 0.052984 
time: 1403637143.038319, t: -0.245229 -1.065030 -1.051079 q: 0.990922 -0.089113 0.087876 0.049089 
time: 1403637144.038319, t: -0.245210 -1.065494 -1.050859 q: 0.990931 -0.088960 0.087926 0.049096 
time: 1403637145.038319, t: -0.245249 -1.065510 -1.050890 q: 0.990944 -0.088983 0.087893 0.048855 
time: 1403637146.038319, t: -0.245254 -1.065535 -1.050938 q: 0.990908 -0.089238 0.087953 0.049011 
time: 1403637147.038319, t: -0.245211 -1.065500 -1.050930 q: 0.990913 -0.089315 0.087922 0.048827 
time: 1403637148.038319, t: -0.245208 -1.065481 -1.050924 q: 0.990908 -0.089343 0.087974 0.048788 
time: 1403637149.038319, t: -0.245304 -1.065654 -1.051267 q: 0.991455 -0.086042 0.085975 0.047135 
time: 1403637150.038319, t: -0.239441 -1.053185 -1.060792 q: 0.996832 -0.071470 0.021572 0.027429 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637152.038319, t: -16.804826 -36.451892 -14.281275 q: 0.983236 -0.139231 0.100238 0.061758 
unstable tracking...
time: 1403637153.038319, t: -16.770288 -36.282233 -14.246230 q: 0.955409 -0.182447 0.178882 0.148011 
unstable tracking...
time: 1403637154.038319, t: -16.050080 -33.789091 -14.689704 q: 0.975175 -0.124345 0.150446 0.104585 
time: 1403637155.038319, t: -15.844085 -33.879041 -14.302245 q: 0.974603 -0.170858 0.094501 0.109665 
time: 1403637156.038319, t: -15.635187 -33.441659 -14.036454 q: 0.930442 -0.287472 0.119443 0.193314 
time: 1403637157.038319, t: -15.856629 -32.849761 -14.005558 q: 0.828834 -0.477519 0.089715 0.277418 
time: 1403637158.038319, t: -16.143327 -32.128379 -14.031764 q: 0.827581 -0.474753 0.110186 0.278529 
time: 1403637159.038319, t: -16.736875 -31.501191 -14.637260 q: 0.758944 -0.572232 0.110812 0.290302 
time: 1403637160.038319, t: -16.502632 -30.093510 -15.165874 q: 0.714933 -0.606329 0.002436 0.348180 
feature tracking not enough, please slowly move you device! 
time: 1403637162.038319, t: -16.745858 -28.850414 -15.799391 q: 0.666151 -0.670470 0.054427 0.322102 
time: 1403637163.038319, t: -17.155980 -28.550222 -16.529622 q: 0.609117 -0.717377 0.044131 0.335260 
feature tracking not enough, please slowly move you device! 
time: 1403637164.038319, t: -17.155980 -28.550222 -16.529622 q: 0.609117 -0.717377 0.044131 0.335260 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637166.038319, t: -17.155980 -28.550222 -16.529622 q: 0.609117 -0.717377 0.044131 0.335260 
time: 1403637167.038319, t: -17.795486 -28.626825 -17.032112 q: 0.664222 -0.697755 0.030492 0.266490 
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! 
time: 1403637170.038319, t: -17.795486 -28.626825 -17.032112 q: 0.664222 -0.697755 0.030492 0.266490 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637172.038319, t: -16.866950 -28.470096 -14.906913 q: 0.848465 -0.468458 0.141343 0.201683 
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637177.038319, t: -18.965486 -29.146573 -17.655693 q: -0.498106 0.770554 -0.183172 -0.352967 
unstable tracking...
time: 1403637178.038319, t: -20.229940 -29.075949 -18.926804 q: -0.467264 0.796446 -0.115831 -0.365953 
unstable tracking...
time: 1403637179.038319, t: -21.037905 -29.398715 -19.845181 q: -0.430748 0.821948 -0.182858 -0.324685 
unstable tracking...
time: 1403637180.038319, t: -20.805626 -28.053968 -19.798784 q: -0.438891 0.829875 -0.145705 -0.312172 
unstable tracking...
time: 1403637181.038319, t: -20.226735 -27.207362 -18.976390 q: -0.429925 0.834865 -0.134799 -0.316220 
unstable tracking...
time: 1403637182.038319, t: -19.329162 -26.826652 -18.256671 q: -0.447582 0.805386 -0.274942 -0.274645 
unstable tracking...
time: 1403637183.038319, t: -17.780013 -26.826161 -17.217852 q: -0.450764 0.785965 -0.333263 -0.260780 
time: 1403637184.038319, t: -17.778866 -27.546938 -15.981937 q: -0.464005 0.734981 -0.391725 -0.301751 
feature tracking not enough, please slowly move you device! 
time: 1403637185.038319, t: -17.778866 -27.546938 -15.981937 q: -0.464005 0.734981 -0.391725 -0.301751 
time: 1403637186.038319, t: -18.501362 -28.467599 -16.130517 q: -0.443669 0.762520 -0.387063 -0.268148 
time: 1403637187.038319, t: -18.954329 -29.015195 -16.589347 q: -0.438216 0.731216 -0.437494 -0.286164 
time: 1403637188.038319, t: -19.970445 -29.196345 -17.201864 q: -0.432515 0.753886 -0.386452 -0.308612 
time: 1403637189.038319, t: -20.654417 -28.645282 -17.763515 q: -0.319935 0.788981 -0.413373 -0.322913 
time: 1403637190.038319, t: -21.595080 -28.550107 -18.557604 q: -0.309958 0.805309 -0.392338 -0.318550 
time: 1403637191.038319, t: -23.133884 -28.888269 -19.813447 q: -0.392479 0.774083 -0.424948 -0.257243 
unstable tracking...
time: 1403637192.038319, t: -23.702796 -29.176523 -20.353933 q: -0.405703 0.789900 -0.369296 -0.274014 
unstable tracking...
time: 1403637193.038319, t: -23.480053 -29.276195 -20.749830 q: -0.408405 0.771223 -0.385775 -0.299329 
unstable tracking...
time: 1403637194.038319, t: -23.078818 -28.855384 -21.415969 q: -0.397759 0.779695 -0.384175 -0.293722 
time: 1403637195.038319, t: -22.464304 -27.967460 -22.030386 q: -0.387056 0.777455 -0.388835 -0.307505 
time: 1403637196.038319, t: -21.859599 -27.128876 -22.494999 q: -0.395125 0.798123 -0.377234 -0.254107 
feature tracking not enough, please slowly move you device! 
time: 1403637197.038319, t: -19.277225 -26.978661 -24.061728 q: -0.404213 0.792226 -0.344081 -0.300994 
feature tracking not enough, please slowly move you device! 
time: 1403637198.038319, t: -19.277225 -26.978661 -24.061728 q: -0.404213 0.792226 -0.344081 -0.300994 
time: 1403637199.038319, t: -16.676498 -26.265991 -23.187125 q: -0.486130 0.766779 -0.363723 -0.208406 
feature tracking not enough, please slowly move you device! 
time: 1403637200.038319, t: -16.676498 -26.265991 -23.187125 q: -0.486130 0.766779 -0.363723 -0.208406 
feature tracking not enough, please slowly move you device! 
time: 1403637202.038319, t: -16.105023 -26.327960 -22.232788 q: -0.417233 0.763157 -0.406413 -0.279887 
time: 1403637203.038319, t: -16.494086 -26.905757 -22.267914 q: -0.428086 0.804987 -0.323789 -0.252783 
time: 1403637204.038319, t: -16.885006 -27.212101 -22.321525 q: -0.418734 0.811819 -0.317891 -0.254083 
time: 1403637205.038319, t: -16.979618 -27.424483 -22.273322 q: -0.409511 0.809390 -0.321824 -0.271326 
time: 1403637206.038319, t: -17.023347 -27.473798 -22.151951 q: -0.437920 0.802104 -0.322237 -0.247020 
time: 1403637207.038319, t: -16.875400 -27.575473 -21.974937 q: -0.431694 0.801161 -0.334658 -0.244511 
unstable tracking...
time: 1403637208.038319, t: -16.824756 -27.746114 -21.761622 q: -0.428262 0.799491 -0.330882 -0.260619 
unstable tracking...
time: 1403637209.038319, t: -16.796573 -27.969062 -21.649326 q: -0.418776 0.814798 -0.313728 -0.249611 
unstable tracking...
time: 1403637210.038319, t: -16.637017 -27.980958 -21.484165 q: 0.502845 -0.764514 0.280122 0.290167 
time: 1403637211.038319, t: -16.346000 -26.790198 -21.988917 q: -0.498196 0.755450 -0.328708 -0.270271 
time: 1403637212.038319, t: -16.111309 -23.267022 -24.075938 q: -0.474532 0.774491 -0.322705 -0.266165 
time: 1403637213.038319, t: -15.755580 -23.880742 -24.309575 q: -0.446968 0.769816 -0.338917 -0.304530 
time: 1403637214.038319, t: -15.513425 -23.813716 -26.024027 q: 0.539665 -0.765064 0.255073 0.241612 
time: 1403637215.038319, t: -15.015076 -21.265197 -26.172972 q: 0.582085 -0.755515 0.289292 0.081752 
time: 1403637216.038319, t: -14.075757 -20.946464 -25.319943 q: 0.693548 -0.650058 0.309077 0.029782 
time: 1403637217.038319, t: -13.535039 -21.038031 -24.309369 q: 0.701507 -0.621470 0.348648 -0.010361 
time: 1403637218.038319, t: -13.886240 -22.193514 -23.799764 q: 0.757156 -0.576788 0.303038 -0.046883 
time: 1403637219.038319, t: -15.314244 -24.377997 -22.628421 q: 0.764137 -0.579042 0.280394 -0.046734 
time: 1403637220.038319, t: -16.306516 -26.952279 -21.488093 q: 0.780682 -0.577062 0.239224 0.017519 
time: 1403637221.038319, t: -18.453017 -27.657345 -21.518231 q: 0.794793 -0.537502 0.280036 -0.031226 
time: 1403637222.038319, t: -19.023759 -29.252764 -21.750973 q: 0.761191 -0.583771 0.278401 0.047879 
time: 1403637223.038319, t: -19.593033 -28.492616 -21.902447 q: 0.704413 -0.641578 0.295306 0.070529 
time: 1403637224.038319, t: -19.188753 -29.251420 -22.254193 q: 0.709113 -0.637503 0.297173 0.049376 
time: 1403637225.038319, t: -19.255278 -28.923708 -22.433756 q: 0.710885 -0.635792 0.298056 0.039662 
time: 1403637226.038319, t: -19.481479 -28.728697 -22.346868 q: 0.715421 -0.631516 0.297730 0.026778 
time: 1403637227.038319, t: -19.163248 -29.075359 -22.295057 q: 0.728328 -0.618021 0.290206 0.058042 
time: 1403637228.038319, t: -18.766017 -29.212163 -21.972418 q: 0.711020 -0.634256 0.299186 0.051556 
time: 1403637229.038319, t: -18.738594 -29.290038 -21.876262 q: 0.713507 -0.636191 0.289621 0.047832 
time: 1403637230.038319, t: -18.900770 -29.366712 -21.733040 q: 0.585611 -0.731382 0.313328 0.154807 
time: 1403637231.038319, t: -18.922377 -29.302889 -21.817248 q: -0.433518 0.788624 -0.342500 -0.269866 
time: 1403637232.038319, t: -19.139990 -29.451575 -22.157344 q: -0.069038 0.832182 -0.309794 -0.454681 
time: 1403637233.038319, t: -19.851864 -29.976680 -22.474797 q: 0.177246 0.780171 -0.293961 -0.522976 
time: 1403637234.038319, t: -21.173118 -30.766969 -23.536062 q: 0.143825 0.832526 -0.102596 -0.525061 
time: 1403637235.038319, t: -23.378959 -29.531170 -25.846884 q: 0.099222 0.847527 -0.117757 -0.507923 
time: 1403637236.038319, t: -22.888619 -30.101776 -26.420566 q: -0.177633 0.822380 -0.082969 -0.534091 
time: 1403637237.038319, t: -21.826388 -27.448142 -27.059685 q: -0.256683 0.825968 -0.168252 -0.472844 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637239.038319, t: -19.596622 -25.394915 -26.050634 q: -0.263836 0.797719 -0.317587 -0.439515 
feature tracking not enough, please slowly move you device! 
time: 1403637240.038319, t: -19.596622 -25.394915 -26.050634 q: -0.263836 0.797719 -0.317587 -0.439515 
time: 1403637241.038319, t: -21.720025 -25.795880 -26.602455 q: -0.141151 0.829873 -0.284352 -0.458836 
time: 1403637242.038319, t: -23.291655 -25.690394 -27.768778 q: -0.147213 0.857149 -0.296431 -0.394655 
time: 1403637243.038319, t: -23.438714 -25.236255 -28.286982 q: -0.200839 0.858788 -0.305728 -0.358715 
feature tracking not enough, please slowly move you device! 
time: 1403637244.038319, t: -19.460093 -23.794254 -24.567764 q: -0.216062 0.806246 -0.358052 -0.418430 
time: 1403637245.038319, t: -19.388204 -22.486835 -25.786188 q: -0.188759 0.824995 -0.336057 -0.413302 
time: 1403637246.038319, t: -20.166155 -23.645337 -27.225766 q: -0.338477 0.771521 -0.443785 -0.305357 
time: 1403637247.038319, t: -20.163570 -23.105505 -26.531732 q: 0.612251 -0.599935 0.514905 0.009988 
time: 1403637248.038319, t: -19.384364 -22.914002 -25.888647 q: 0.645138 -0.543952 0.531439 -0.074069 
unstable tracking...
time: 1403637250.038319, t: -18.408702 -23.937947 -23.435064 q: 0.672929 -0.506365 0.526190 -0.117836 
time: 1403637251.038319, t: -18.098465 -24.868255 -22.455864 q: 0.730301 -0.441147 0.507212 -0.121596 
time: 1403637252.038319, t: -17.889925 -25.531389 -22.342076 q: 0.763475 -0.416331 0.445202 -0.213471 
time: 1403637253.038319, t: -18.092421 -25.934214 -22.287468 q: 0.785486 -0.392324 0.441211 -0.185541 
time: 1403637254.038319, t: -18.362513 -25.895815 -22.335229 q: 0.773664 -0.398129 0.450714 -0.199486 
unstable tracking...
time: 1403637255.038319, t: -18.691599 -26.187236 -22.343931 q: 0.788434 -0.367460 0.437089 -0.228688 
unstable tracking...
time: 1403637256.038319, t: -19.199919 -26.455922 -22.243320 q: 0.823824 -0.282392 0.371134 -0.322225 
unstable tracking...
time: 1403637257.038319, t: -19.763987 -26.748397 -22.082651 q: 0.833070 -0.255165 0.365803 -0.327221 
time: 1403637258.038319, t: -20.236832 -27.113476 -21.845639 q: 0.846494 -0.225921 0.315567 -0.364453 
time: 1403637259.038319, t: -20.577760 -27.409778 -21.420945 q: 0.839223 -0.162553 0.308003 -0.417631 
time: 1403637260.038319, t: -20.700111 -27.519007 -21.318560 q: 0.839973 -0.157888 0.315067 -0.412613 
time: 1403637261.038319, t: -20.761529 -27.416191 -21.348995 q: 0.839201 -0.161468 0.297827 -0.425405 
time: 1403637262.038319, t: -20.847081 -27.443714 -21.258402 q: 0.841512 -0.162624 0.295926 -0.421710 
time: 1403637263.038319, t: -20.904471 -27.512143 -21.130370 q: 0.865343 -0.223574 0.311705 -0.322547 
time: 1403637264.038319, t: -20.827361 -27.385188 -21.174867 q: 0.841226 -0.157780 0.345397 -0.384897 
time: 1403637265.038319, t: -20.817589 -27.389594 -21.175426 q: 0.844397 -0.160194 0.335251 -0.385924 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720505260.513396671]: Shutdown request received.[0m
[33m[ WARN] [1720505260.513436138]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720505260.514312890]: Shutdown request received.[0m
[33m[ WARN] [1720505260.514344999]: Reason given for shutdown: [user request][0m
killed
