/SLAM-Hive/slam_hive_results/mapping_results/2986/2194_vins-fusion-stereo+MH_02_easy+Image_comb_test-4.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720496528.986720701]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720496528.988423854]: init begins[0m
[31m[ERROR] [1720496528.989695544]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/3801ac64-3da5-11ef-9a18-0242ac110005/roslaunch-e9412446ac45-119.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://e9412446ac45:42135/[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 [156][0m
[0m[ INFO] [1720496530.093204815]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720496530.094961155]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720496530.100330559]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720496530.100541767]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720496530.100567940]: ROW: 192 COL: 300 [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] [1720496530.100850538]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720496530.101087106]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720496530.101260205]: 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
[1mROS_MASTER_URI=http://e9412446ac45:11311/[0m
]2;roscore http://e9412446ac45:11311/
[1msetting /run_id to 3801ac64-3da5-11ef-9a18-0242ac110005[0m
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 [243][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720496539.140038902]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316859682.50 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720496542.394172101]: Initialization finish![0m
time: 1403636859.701667, t: 0.178425 -0.000915 0.642739 q: 0.989602 -0.026799 0.089313 0.109514 
time: 1403636859.801666, t: 0.197577 -0.053905 0.611363 q: 0.987374 -0.045574 0.104741 0.109749 
time: 1403636859.901666, t: 21926.889362 -29826.366742 29254.196348 q: 0.010378 0.889497 0.373472 0.263071 
time: 1403636860.001667, t: 21452.777008 -29582.419800 29764.226103 q: 0.006090 0.891361 0.378055 0.250027 
time: 1403636860.101666, t: 21210.995628 -29464.566382 30008.857893 q: -0.009327 0.900330 0.378232 0.215080 
time: 1403636860.201667, t: 21206.206388 -29470.224939 30042.217926 q: 0.021623 0.913757 0.352290 0.201175 
time: 1403636860.301666, t: 21206.372366 -29470.313991 30042.147115 q: 0.002066 0.914293 0.357648 0.190136 
time: 1403636860.401666, t: 21206.282704 -29470.356091 30041.917507 q: 0.002429 0.914012 0.358796 0.189320 
time: 1403636860.501667, t: 21206.246819 -29470.425593 30041.928858 q: 0.002782 0.914296 0.358384 0.188722 
time: 1403636860.601666, t: 21206.214232 -29470.451155 30041.908473 q: 0.003727 0.915256 0.356752 0.187139 
time: 1403636860.701667, t: 21206.191065 -29470.475164 30041.883277 q: 0.006528 0.912250 0.366547 0.182756 
time: 1403636860.801666, t: 21206.200900 -29470.475026 30041.884239 q: 0.006374 0.918947 0.359964 0.161004 
unstable tracking...
time: 1403636860.901666, t: 21206.206217 -29470.467387 30041.897247 q: 0.005196 0.914775 0.367976 0.166596 
unstable tracking...
time: 1403636861.001667, t: 21206.225993 -29470.442906 30041.927316 q: 0.002511 0.912837 0.371407 0.169646 
unstable tracking...
time: 1403636861.101666, t: 21206.254718 -29470.410392 30041.965736 q: -0.003484 0.910390 0.371270 0.182586 
unstable tracking...
time: 1403636861.201667, t: 21206.287008 -29470.376011 30042.005805 q: -0.011192 0.905862 0.371706 0.202787 
unstable tracking...
time: 1403636861.301666, t: 21206.318248 -29470.339394 30042.047714 q: -0.019729 0.900658 0.371765 0.224091 
unstable tracking...
time: 1403636861.501667, t: 21206.360876 -29470.296223 30042.098582 q: -0.028014 0.894023 0.368527 0.253230 
time: 1403636861.601666, t: 21206.359742 -29470.302357 30042.092264 q: -0.026199 0.894125 0.368438 0.253195 
time: 1403636861.701667, t: 21206.342325 -29470.323647 30042.062860 q: -0.023829 0.897105 0.368028 0.243290 
time: 1403636861.801666, t: 21206.317567 -29470.352516 30042.027200 q: -0.019560 0.899260 0.370178 0.232199 
time: 1403636861.901666, t: 21206.288304 -29470.384722 30041.989308 q: -0.018254 0.902750 0.370279 0.218180 
time: 1403636862.001667, t: 21206.257129 -29470.415443 30041.948346 q: -0.014714 0.908666 0.367015 0.198518 
time: 1403636862.101666, t: 21206.226913 -29470.446098 30041.917237 q: -0.011793 0.913762 0.362748 0.182522 
time: 1403636862.201667, t: 21206.206251 -29470.466148 30041.892624 q: -0.011794 0.915950 0.362182 0.172396 
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time: 1403636863.601666, t: 21206.255420 -29470.418027 30041.956179 q: 0.007614 0.907059 0.364103 0.211223 
time: 1403636863.701667, t: 21206.226366 -29470.451460 30041.919943 q: 0.005248 0.913277 0.358088 0.194087 
time: 1403636863.801666, t: 21206.206521 -29470.474196 30041.892082 q: 0.007290 0.917976 0.353130 0.180460 
time: 1403636863.901666, t: 21206.203619 -29470.479568 30041.892962 q: 0.010923 0.919457 0.354379 0.169986 
time: 1403636864.001667, t: 21206.215861 -29470.462815 30041.917012 q: 0.009305 0.919298 0.355901 0.167744 
time: 1403636864.101666, t: 21206.243249 -29470.429527 30041.959542 q: 0.007277 0.916077 0.361546 0.173305 
time: 1403636864.201667, t: 21206.278814 -29470.387365 30042.009811 q: 0.011227 0.912010 0.366882 0.183057 
time: 1403636864.301666, t: 21206.312068 -29470.345044 30042.055299 q: 0.010761 0.910627 0.367597 0.188452 
time: 1403636864.401666, t: 21206.339990 -29470.307037 30042.094960 q: 0.007701 0.910223 0.365257 0.194991 
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time: 1403636864.601666, t: 21206.378062 -29470.254665 30042.146794 q: -0.006911 0.906574 0.352831 0.231488 
time: 1403636864.701667, t: 21206.377305 -29470.257590 30042.141488 q: -0.006611 0.902261 0.357439 0.241078 
time: 1403636864.801666, t: 21206.362232 -29470.277757 30042.116780 q: -0.001908 0.900845 0.363579 0.237245 
time: 1403636864.901666, t: 21206.337231 -29470.307354 30042.077789 q: 0.002824 0.902642 0.364268 0.229213 
time: 1403636865.001667, t: 21206.308909 -29470.340565 30042.034548 q: 0.012876 0.903967 0.365442 0.221652 
time: 1403636865.101666, t: 21206.282420 -29470.377633 30041.992143 q: 0.017609 0.906974 0.364467 0.210363 
time: 1403636865.201667, t: 21206.256808 -29470.403552 30041.949775 q: 0.010747 0.914689 0.351618 0.198983 
time: 1403636865.301666, t: 21206.310044 -29470.333427 30041.762230 q: 0.000604 0.920586 0.339789 0.192522 
time: 1403636865.401666, t: 21206.227458 -29470.449203 30041.905966 q: 0.003288 0.920375 0.341784 0.189957 
time: 1403636865.501667, t: 21206.224837 -29470.451430 30041.902999 q: 0.010967 0.918841 0.349334 0.183238 
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time: 1403636865.701667, t: 21206.251855 -29470.406988 30041.953837 q: 0.011712 0.918081 0.356693 0.172509 
time: 1403636865.801666, t: 21206.277609 -29470.368094 30041.996951 q: 0.005771 0.916203 0.356318 0.183238 
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unstable tracking...
unstable tracking...
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unstable tracking...
unstable tracking...
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time: 1403637010.001667, t: 21205.458698 -29472.434817 30045.187816 q: 0.062253 0.802517 0.489054 0.336030 
time: 1403637010.101666, t: 21205.458679 -29472.434939 30045.187785 q: 0.061703 0.802764 0.488759 0.335973 
time: 1403637010.201667, t: 21205.458681 -29472.434872 30045.187956 q: 0.061711 0.802621 0.489032 0.335917 
time: 1403637010.301666, t: 21205.459121 -29472.434994 30045.187890 q: 0.061621 0.802666 0.489208 0.335567 
time: 1403637010.401666, t: 21205.459483 -29472.435064 30045.187824 q: 0.061624 0.802447 0.489519 0.335639 

Done.
time: 1403637010.601666, t: 21205.458906 -29472.435359 30045.188133 q: 0.061393 0.802721 0.489144 0.335571 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720496693.858552725]: Shutdown request received.[0m
[33m[ WARN] [1720496693.858597772]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720496693.859530282]: Shutdown request received.[0m
[33m[ WARN] [1720496693.859570867]: Reason given for shutdown: [user request][0m
killed
