/SLAM-Hive/slam_hive_results/mapping_results/2969/2177_vins-fusion-stereo+MH_01_easy+Image_comb_test-17.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720492816.829198919]: init begins[0m
[31m[ERROR] [1720492816.829456632]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720492816.830535094]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/9364950c-3d9c-11ef-8728-0242ac110005/roslaunch-d5fca6796b0b-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://d5fca6796b0b:45771/[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://d5fca6796b0b:11311/[0m
]2;roscore http://d5fca6796b0b:11311/
[1msetting /run_id to 9364950c-3d9c-11ef-8728-0242ac110005[0m
[0m[ INFO] [1720492817.985409679]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720492817.986118247]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720492817.991992000]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720492817.992214548]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720492817.992242591]: ROW: 96 COL: 150 [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] [1720492817.992632685]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720492817.992865379]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720492817.993042532]: 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 [212][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720492826.962097109]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316856248.23 
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! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
[0m[ INFO] [1720492832.358615541]: Initialization finish![0m
time: 1403636583.963556, t: 0.030948 0.047488 0.016425 q: 0.996751 -0.023034 -0.067912 -0.036679 
unstable tracking...
time: 1403636584.363555, t: 0.091210 0.011666 -0.022437 q: 0.996758 -0.012913 -0.058202 -0.054033 
feature tracking not enough, please slowly move you device! 
time: 1403636584.763556, t: 0.207267 -0.089670 -0.261521 q: 0.978230 0.022063 0.028582 -0.204358 
time: 1403636585.163555, t: 0.256766 -0.113382 -0.281102 q: 0.979918 0.016406 0.044158 -0.193755 
time: 1403636585.563555, t: 1.161150 -0.546409 -0.324742 q: 0.966648 -0.033502 -0.152862 -0.202737 
time: 1403636585.963556, t: 1.748087 -0.290298 -0.386629 q: 0.980252 -0.047038 -0.191716 -0.011764 
time: 1403636586.363555, t: 1.917815 -0.146606 -0.105069 q: 0.959528 -0.100431 -0.263098 0.000569 
time: 1403636586.763556, t: 2.199076 -0.166630 -0.288073 q: 0.948390 -0.064827 -0.306157 0.051192 
time: 1403636587.163555, t: 2.220799 -0.542129 0.434163 q: 0.939357 -0.150585 -0.307720 -0.015503 
time: 1403636587.563555, t: 2.308474 -0.220329 0.148173 q: 0.934319 -0.085409 -0.346031 0.003957 
time: 1403636587.963556, t: 2.336801 -0.404023 0.256913 q: 0.866216 -0.336674 -0.359798 -0.082865 
time: 1403636588.363555, t: 2.326409 -0.207813 0.207355 q: 0.877279 -0.307754 -0.368170 0.010940 
time: 1403636588.763556, t: 2.318451 -0.268090 0.221076 q: 0.878171 -0.308182 -0.365808 0.004916 
unstable tracking...
time: 1403636589.163555, t: 2.293780 -0.410715 0.275530 q: 0.885898 -0.287653 -0.363925 -0.000245 
unstable tracking...
time: 1403636589.563555, t: 2.221209 -0.590845 0.350150 q: 0.890478 -0.275515 -0.360787 -0.031192 
unstable tracking...
time: 1403636589.963556, t: 2.138743 -0.718594 0.408510 q: 0.894836 -0.247133 -0.369009 -0.045003 
unstable tracking...
time: 1403636590.363555, t: 2.136981 -0.737121 0.431644 q: 0.899287 -0.240887 -0.363850 -0.029497 
unstable tracking...
time: 1403636590.763556, t: 2.197211 -0.667739 0.362246 q: 0.893214 -0.264593 -0.361028 -0.042627 
time: 1403636591.163555, t: 2.087848 -0.474683 0.485451 q: 0.861341 -0.289573 -0.411097 -0.072379 
feature tracking not enough, please slowly move you device! 
time: 1403636591.563555, t: 2.199500 -0.392588 0.363134 q: 0.857058 -0.305625 -0.409270 -0.067398 
time: 1403636591.963556, t: 1.787206 -0.435558 0.229709 q: 0.895384 -0.409939 0.145069 -0.095882 
time: 1403636592.363555, t: 0.904760 2.023196 1.897111 q: 0.832238 -0.553167 0.019367 0.031794 
feature tracking not enough, please slowly move you device! 
time: 1403636592.763556, t: 0.997120 1.951167 2.174338 q: 0.842748 -0.537905 0.017172 0.011804 
feature tracking not enough, please slowly move you device! 
time: 1403636593.163555, t: 0.839682 1.801746 2.688847 q: 0.865239 -0.495037 -0.052253 -0.059748 
feature tracking not enough, please slowly move you device! 
time: 1403636593.563555, t: 0.831123 2.131328 2.879803 q: 0.872841 -0.477050 -0.070375 -0.074961 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636594.363555, t: 0.831123 2.131328 2.879803 q: 0.872841 -0.477050 -0.070375 -0.074961 
feature tracking not enough, please slowly move you device! 
time: 1403636594.763556, t: 0.831123 2.131328 2.879803 q: 0.872841 -0.477050 -0.070375 -0.074961 
feature tracking not enough, please slowly move you device! 
time: 1403636595.163555, t: 0.905888 2.479694 2.933558 q: 0.874937 -0.447593 -0.085214 -0.163964 
feature tracking not enough, please slowly move you device! 
time: 1403636595.563555, t: 0.905888 2.479694 2.933558 q: 0.874937 -0.447593 -0.085214 -0.163964 
feature tracking not enough, please slowly move you device! 
time: 1403636595.963556, t: 0.905888 2.479694 2.933558 q: 0.874937 -0.447593 -0.085214 -0.163964 
feature tracking not enough, please slowly move you device! 
time: 1403636596.363555, t: 0.905888 2.479694 2.933558 q: 0.874937 -0.447593 -0.085214 -0.163964 
feature tracking not enough, please slowly move you device! 
time: 1403636596.763556, t: 0.923806 2.442003 2.916045 q: 0.869514 -0.456712 -0.073904 -0.172908 
time: 1403636597.163555, t: 0.934440 2.368604 2.949537 q: 0.856010 -0.480222 -0.093856 -0.166807 
feature tracking not enough, please slowly move you device! 
time: 1403636597.563555, t: 0.998516 2.551772 2.984946 q: 0.838522 -0.530135 0.101707 0.074121 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636597.963556, t: 0.909765 2.361439 3.315644 q: 0.895075 -0.440437 -0.031241 0.062290 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636598.363555, t: 0.909765 2.361439 3.315644 q: 0.895075 -0.440437 -0.031241 0.062290 
unstable tracking...
time: 1403636598.763556, t: 0.988454 2.598850 2.980895 q: 0.932083 -0.326219 -0.057916 -0.146451 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636599.163555, t: 0.988454 2.598850 2.980895 q: 0.932083 -0.326219 -0.057916 -0.146451 
feature tracking not enough, please slowly move you device! 
time: 1403636599.563555, t: 1.017790 2.626827 2.912587 q: 0.919018 -0.375274 0.060288 0.104598 
time: 1403636599.963556, t: 1.048813 2.706995 3.128338 q: 0.912519 -0.404952 0.057646 -0.000053 
time: 1403636600.363555, t: 0.981325 2.745064 3.168500 q: 0.909041 -0.399729 0.111677 -0.037279 
time: 1403636600.763556, t: 1.000380 2.777767 3.148238 q: 0.928936 -0.355434 0.103426 -0.006964 
time: 1403636601.163555, t: 0.988472 2.756400 3.154765 q: 0.918512 -0.378377 0.113792 0.014730 
time: 1403636601.563555, t: 0.981242 2.765823 3.154421 q: 0.920534 -0.371442 0.120549 0.010812 
unstable tracking...
time: 1403636601.963556, t: 0.982207 2.766519 3.154241 q: 0.920872 -0.370833 0.119740 0.011827 
unstable tracking...
time: 1403636602.363555, t: 0.982474 2.766668 3.154302 q: 0.920909 -0.370875 0.119317 0.011917 
unstable tracking...
time: 1403636602.763556, t: 0.982455 2.766577 3.154350 q: 0.920904 -0.370853 0.119415 0.011987 
unstable tracking...
time: 1403636603.163555, t: 0.982448 2.766589 3.154306 q: 0.920927 -0.370798 0.119404 0.012006 
time: 1403636603.563555, t: 0.982486 2.766734 3.154288 q: 0.920925 -0.370816 0.119370 0.011971 
time: 1403636603.963556, t: 0.985397 2.762959 3.153509 q: 0.920291 -0.373265 0.116394 0.013806 
time: 1403636604.363555, t: 0.985444 2.762944 3.153595 q: 0.920300 -0.373322 0.116144 0.013788 
time: 1403636604.763556, t: 0.985068 2.762760 3.153292 q: 0.920307 -0.373099 0.116766 0.014036 
time: 1403636605.163555, t: 0.985014 2.762779 3.153122 q: 0.920365 -0.372923 0.116850 0.014239 
time: 1403636605.563555, t: 0.984830 2.762916 3.153259 q: 0.920360 -0.372801 0.117259 0.014412 
time: 1403636605.963556, t: 0.984899 2.762221 3.153373 q: 0.920239 -0.373072 0.117312 0.014708 
time: 1403636606.363555, t: 0.985074 2.762643 3.153117 q: 0.920312 -0.372927 0.117275 0.014090 
time: 1403636606.763556, t: 0.985180 2.762476 3.153067 q: 0.920303 -0.372988 0.117177 0.013829 
time: 1403636607.163555, t: 0.985183 2.762423 3.153030 q: 0.920292 -0.373017 0.117176 0.013797 
time: 1403636607.563555, t: 0.985186 2.762434 3.153026 q: 0.920295 -0.373018 0.117152 0.013820 
time: 1403636607.963556, t: 0.985160 2.762488 3.153069 q: 0.920307 -0.372963 0.117221 0.013853 
time: 1403636608.363555, t: 0.985167 2.762503 3.153062 q: 0.920327 -0.372919 0.117204 0.013850 
time: 1403636608.763556, t: 0.985162 2.762507 3.153071 q: 0.920318 -0.372944 0.117202 0.013842 
time: 1403636609.163555, t: 0.985192 2.762468 3.153030 q: 0.920340 -0.372900 0.117155 0.013925 
time: 1403636609.563555, t: 0.985194 2.762430 3.153033 q: 0.920324 -0.372928 0.117206 0.013821 
time: 1403636609.963556, t: 0.985100 2.762834 3.153050 q: 0.920326 -0.372905 0.117231 0.014116 
time: 1403636610.363555, t: 0.985024 2.762599 3.153098 q: 0.920310 -0.372903 0.117346 0.014219 
time: 1403636610.763556, t: 0.985082 2.762548 3.153256 q: 0.920309 -0.372989 0.117089 0.014144 
time: 1403636611.163555, t: 0.985302 2.762777 3.152936 q: 0.920352 -0.372988 0.116809 0.013696 
time: 1403636611.563555, t: 0.985004 2.763001 3.153210 q: 0.919956 -0.373977 0.116711 0.014145 
time: 1403636611.963556, t: 0.985055 2.763097 3.153175 q: 0.920178 -0.373358 0.116889 0.014587 
time: 1403636612.363555, t: 0.985208 2.762751 3.153068 q: 0.919672 -0.375021 0.115808 0.012273 
time: 1403636612.763556, t: 0.985109 2.762992 3.153143 q: 0.919712 -0.374797 0.116104 0.013322 
time: 1403636613.163555, t: 0.985066 2.762916 3.153116 q: 0.920008 -0.373813 0.116757 0.014695 
time: 1403636613.563555, t: 0.985109 2.762913 3.153179 q: 0.919739 -0.374633 0.116273 0.014514 
time: 1403636613.963556, t: 0.985089 2.762889 3.153199 q: 0.919548 -0.375114 0.116245 0.014430 
time: 1403636614.363555, t: 0.985075 2.762881 3.153184 q: 0.919484 -0.375227 0.116378 0.014510 
time: 1403636614.763556, t: 0.985160 2.762516 3.152781 q: 0.919564 -0.375046 0.116336 0.014403 
time: 1403636615.163555, t: 0.985167 2.762947 3.152870 q: 0.919935 -0.374167 0.116239 0.014390 
time: 1403636615.563555, t: 0.985164 2.762621 3.152310 q: 0.920213 -0.373268 0.116915 0.014482 
time: 1403636615.963556, t: 0.985260 2.762720 3.152465 q: 0.920210 -0.373386 0.116616 0.014041 
time: 1403636616.363555, t: 0.984940 2.762795 3.152645 q: 0.920161 -0.373287 0.117271 0.014402 
time: 1403636616.763556, t: 0.984984 2.762791 3.152623 q: 0.920163 -0.373280 0.117305 0.014228 
time: 1403636617.163555, t: 0.984968 2.762836 3.152598 q: 0.920232 -0.373126 0.117237 0.014363 
time: 1403636617.563555, t: 0.984964 2.762841 3.152616 q: 0.920203 -0.373187 0.117266 0.014401 
time: 1403636617.963556, t: 0.984976 2.762841 3.152623 q: 0.920189 -0.373249 0.117175 0.014414 
time: 1403636618.363555, t: 0.984963 2.762861 3.152639 q: 0.920175 -0.373262 0.117218 0.014573 
time: 1403636618.763556, t: 0.984938 2.762856 3.152638 q: 0.920177 -0.373233 0.117289 0.014663 
time: 1403636619.163555, t: 0.984920 2.762870 3.152652 q: 0.920184 -0.373213 0.117277 0.014813 
time: 1403636619.563555, t: 0.984899 2.762885 3.152659 q: 0.920223 -0.373129 0.117222 0.014967 
time: 1403636619.963556, t: 0.984867 2.762838 3.152639 q: 0.920132 -0.373312 0.117360 0.014886 
time: 1403636620.363555, t: 0.984877 2.762828 3.152636 q: 0.920111 -0.373384 0.117306 0.014805 
time: 1403636620.763556, t: 0.984861 2.762763 3.152630 q: 0.920020 -0.373563 0.117469 0.014646 
time: 1403636621.163555, t: 0.984905 2.762773 3.152611 q: 0.920003 -0.373688 0.117221 0.014520 
time: 1403636621.563555, t: 0.984891 2.762769 3.152618 q: 0.919993 -0.373675 0.117339 0.014542 
time: 1403636621.963556, t: 0.984871 2.762802 3.152629 q: 0.920074 -0.373455 0.117378 0.014779 
time: 1403636622.363555, t: 0.984873 2.762832 3.152626 q: 0.920092 -0.373423 0.117328 0.014863 
time: 1403636622.763556, t: 0.984879 2.762829 3.152634 q: 0.920080 -0.373413 0.117468 0.014714 
time: 1403636623.163555, t: 0.984804 2.762810 3.152604 q: 0.920014 -0.373424 0.117882 0.015248 
time: 1403636623.563555, t: 0.984805 2.762818 3.152596 q: 0.919992 -0.373477 0.117889 0.015220 
time: 1403636623.963556, t: 0.984736 2.762756 3.152527 q: 0.919703 -0.374211 0.117735 0.015871 
time: 1403636624.363555, t: 0.985232 2.762540 3.152354 q: 0.919162 -0.378280 0.108577 0.016043 
time: 1403636624.763556, t: 0.985251 2.764322 3.152588 q: 0.914677 -0.392352 0.095033 0.019842 
time: 1403636625.163555, t: 0.986467 2.763327 3.141864 q: 0.917302 -0.391360 0.069989 0.022285 
time: 1403636625.563555, t: 0.987121 2.740152 3.083154 q: 0.919187 -0.384239 0.078253 0.036494 
feature tracking not enough, please slowly move you device! 
time: 1403636625.963556, t: 1.079336 2.766162 3.056267 q: 0.915717 -0.376365 0.132443 -0.047650 
time: 1403636626.363555, t: 1.236716 2.706037 2.908625 q: 0.921415 -0.374792 0.100832 0.018943 
time: 1403636626.763556, t: 1.279385 2.731482 2.886854 q: 0.921052 -0.377304 0.092990 -0.025659 
time: 1403636627.163555, t: 1.197903 2.712837 2.912581 q: 0.918362 -0.375166 0.111723 -0.058133 
time: 1403636627.563555, t: 1.248745 2.734123 2.835636 q: 0.917062 -0.373275 0.130234 -0.051984 
time: 1403636627.963556, t: 1.203566 2.742135 2.782138 q: 0.904267 -0.413213 0.104457 -0.025395 
time: 1403636628.363555, t: 1.274493 2.753625 2.733360 q: 0.894536 -0.422260 0.144433 -0.025335 
time: 1403636628.763556, t: 1.345960 2.808056 2.672341 q: 0.895790 -0.421230 0.140002 -0.022925 
time: 1403636629.163555, t: 1.393082 2.914623 2.609113 q: 0.886525 -0.446616 0.120445 -0.010017 
time: 1403636629.563555, t: 1.453744 3.017316 2.522844 q: 0.868356 -0.473855 0.145854 0.012084 
time: 1403636629.963556, t: 1.498701 3.221442 2.561949 q: 0.827553 -0.543493 0.130961 0.051187 
time: 1403636630.363555, t: 1.608856 3.456490 2.535789 q: 0.802892 -0.572667 0.159059 0.046013 
time: 1403636630.763556, t: 1.726702 3.596938 2.427422 q: 0.805142 -0.574612 0.141840 0.038068 
time: 1403636631.163555, t: 1.812875 3.770649 2.364991 q: 0.808868 -0.567839 0.147636 0.038665 
time: 1403636631.563555, t: 1.897194 3.960181 2.320825 q: 0.809940 -0.567672 0.144019 0.031673 
time: 1403636631.963556, t: 1.959791 4.117001 2.272144 q: 0.811104 -0.568611 0.134670 0.025593 
time: 1403636632.363555, t: 2.006722 4.274050 2.216329 q: 0.809760 -0.569717 0.139002 0.019750 
time: 1403636632.763556, t: 2.017846 4.452928 2.283642 q: 0.832771 -0.537056 0.128008 0.040950 
time: 1403636633.163555, t: 2.086531 4.622821 2.266344 q: 0.866008 -0.485824 0.117041 -0.017528 
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feature tracking not enough, please slowly move you device! 
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time: 1403636760.363555, t: 8.867490 3.636658 11.459049 q: 0.823093 -0.527843 -0.132581 0.162244 
time: 1403636760.763556, t: 10.792182 4.158748 11.227306 q: 0.779829 -0.473014 -0.371470 0.173592 
feature tracking not enough, please slowly move you device! 
time: 1403636761.163555, t: 10.432076 5.357046 11.435220 q: 0.782733 -0.453289 -0.386581 0.180037 
time: 1403636761.563555, t: 9.039707 5.310958 11.995762 q: 0.800647 -0.443302 0.071015 0.396743 
time: 1403636761.963556, t: 9.751920 5.397093 13.011894 q: 0.725005 -0.602458 -0.261380 0.207590 
time: 1403636762.363555, t: 10.074420 5.585445 13.069892 q: 0.638176 -0.566160 -0.519132 0.051924 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636763.163555, t: 9.684300 5.352653 13.190642 q: 0.625494 -0.469509 -0.614747 -0.102000 
feature tracking not enough, please slowly move you device! 
time: 1403636763.563555, t: 9.684300 5.352653 13.190642 q: 0.625494 -0.469509 -0.614747 -0.102000 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720493015.484898621]: Shutdown request received.[0m
[33m[ WARN] [1720493015.484945238]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720493015.485857019]: Shutdown request received.[0m
[33m[ WARN] [1720493015.485884749]: Reason given for shutdown: [user request][0m
killed
