/SLAM-Hive/slam_hive_results/mapping_results/2989/2197_vins-fusion-stereo+MH_02_easy+Image_comb_test-7.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720497103.198683082]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720497103.200802747]: init begins[0m
[31m[ERROR] [1720497103.201877860]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/8e43804c-3da6-11ef-b18a-0242ac110005/roslaunch-7981a32f1ecc-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://7981a32f1ecc:43257/[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
[0m[ INFO] [1720497104.310914773]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720497104.313833342]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
[1mROS_MASTER_URI=http://7981a32f1ecc:11311/[0m
]2;roscore http://7981a32f1ecc:11311/
result path /home/output/vio.csv
[33m[ WARN] [1720497104.340782720]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720497104.341435155]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720497104.341538815]: 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] [1720497104.342362317]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[1msetting /run_id to 8e43804c-3da6-11ef-b18a-0242ac110005[0m
[0m[ INFO] [1720497104.343030532]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720497104.343523679]: 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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720497113.374406318]: 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: 316860256.74 
[0m[ INFO] [1720497117.749427676]: Initialization finish![0m
time: 1403636860.751667, t: 0.097267 0.091221 -0.051781 q: 0.994159 -0.056992 -0.091408 0.006590 
time: 1403636860.951667, t: 0.070619 0.093031 -0.079750 q: 0.995538 -0.048928 -0.080673 0.001668 
time: 1403636861.151666, t: 0.134167 0.077548 -0.168973 q: 0.998331 -0.039189 -0.042013 0.005930 
time: 1403636861.351666, t: 0.231515 0.077942 -0.178093 q: 0.999093 -0.041441 0.009750 -0.000517 
time: 1403636861.551666, t: 0.258196 0.099854 -0.116731 q: 0.998445 -0.046362 0.026262 0.016392 
time: 1403636861.751667, t: 0.175120 0.099741 -0.189040 q: 0.998936 -0.043999 0.004535 0.013032 
time: 1403636861.951667, t: 0.059119 0.092062 -0.199916 q: 0.998817 -0.037728 -0.026443 0.015529 
time: 1403636862.151666, t: -0.037031 0.085089 -0.156208 q: 0.997444 -0.031848 -0.058568 0.025701 
time: 1403636862.351666, t: -0.060458 0.082382 -0.151299 q: 0.996636 -0.031307 -0.074138 0.015500 
time: 1403636862.551666, t: 0.027509 0.084921 -0.176582 q: 0.997134 -0.035232 -0.065713 0.012824 
time: 1403636862.751667, t: 0.159415 0.089828 -0.207277 q: 0.998010 -0.051819 -0.034681 0.009381 
time: 1403636862.951667, t: 0.278414 0.088810 -0.246867 q: 0.997954 -0.056121 -0.019448 0.023650 
time: 1403636863.151666, t: 0.294054 0.090830 -0.254861 q: 0.998176 -0.059343 -0.000799 0.011096 
time: 1403636863.351666, t: 0.201295 0.091856 -0.222781 q: 0.997852 -0.065289 -0.005444 -0.000170 
time: 1403636863.551666, t: 0.072337 0.091972 -0.180675 q: 0.997523 -0.066396 -0.021614 0.008515 
time: 1403636863.751667, t: -0.037297 0.092949 -0.154440 q: 0.996839 -0.054304 -0.051144 0.027325 
time: 1403636863.951667, t: -0.047373 0.095864 -0.159425 q: 0.995736 -0.049642 -0.071893 0.029616 
time: 1403636864.151666, t: 0.060920 0.094294 -0.193272 q: 0.996717 -0.049910 -0.060895 0.018865 
time: 1403636864.351666, t: 0.193208 0.091409 -0.233081 q: 0.997257 -0.053956 -0.048209 0.015609 
time: 1403636864.551666, t: 0.285076 0.086941 -0.259008 q: 0.997925 -0.057187 -0.012357 0.026883 
time: 1403636864.751667, t: 0.281624 0.084915 -0.256168 q: 0.997861 -0.063122 0.004459 0.016397 
time: 1403636864.951667, t: 0.185916 0.087052 -0.222154 q: 0.997629 -0.066099 -0.014763 0.012196 
time: 1403636865.151666, t: 0.070866 0.089161 -0.178059 q: 0.996797 -0.067105 -0.038220 0.020778 
time: 1403636865.351666, t: -0.007978 0.090635 -0.152898 q: 0.996496 -0.054756 -0.045705 0.043685 
time: 1403636865.551666, t: -0.017272 0.089833 -0.148855 q: 0.995923 -0.057153 -0.062883 0.030269 
time: 1403636865.751667, t: 0.068661 0.080561 -0.176467 q: 0.996436 -0.050881 -0.061033 0.028291 
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time: 1403636876.151666, t: -0.084740 0.095250 -0.435635 q: 0.937192 -0.229473 -0.185604 0.185918 
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time: 1403636876.751667, t: -0.016966 0.418271 -0.334699 q: 0.930763 -0.274835 -0.178872 0.161714 
time: 1403636876.951667, t: 0.023126 0.444462 -0.221380 q: 0.949099 -0.235190 -0.162251 0.132562 
time: 1403636877.151666, t: 0.059409 0.416183 -0.070694 q: 0.970640 -0.152596 -0.155446 0.102026 
time: 1403636877.351666, t: 0.154827 0.473574 -0.409019 q: 0.982292 -0.057781 -0.175482 0.031141 
time: 1403636877.551666, t: 0.044524 0.184302 -0.167404 q: 0.984789 -0.003226 -0.168938 0.040497 
time: 1403636877.751667, t: 0.049805 -0.010373 -0.108297 q: 0.979887 0.018529 -0.195292 0.036600 
time: 1403636877.951667, t: -0.004907 -0.035113 -0.141012 q: 0.977978 0.013581 -0.200439 0.056559 
time: 1403636878.151666, t: -0.026811 -0.024360 -0.244110 q: 0.970773 -0.033430 -0.226682 0.071390 
time: 1403636878.351666, t: -0.061959 0.026915 -0.317725 q: 0.968333 -0.094609 -0.212337 0.091063 
feature tracking not enough, please slowly move you device! 
time: 1403636878.551666, t: -0.062468 0.068924 -0.091637 q: 0.959676 -0.132056 -0.210541 0.131359 
time: 1403636878.751667, t: -0.076960 -0.141350 -0.583099 q: 0.859089 -0.484630 -0.115547 0.117258 
time: 1403636878.951667, t: -0.033213 -0.302041 -0.359449 q: 0.791230 -0.564229 -0.232442 -0.039631 
time: 1403636879.151666, t: -0.089312 1.243901 0.646618 q: 0.755138 -0.628313 -0.025015 0.185376 
time: 1403636879.351666, t: -0.054137 52.812584 19.190141 q: 0.171139 -0.008086 0.681220 0.711748 
time: 1403636879.551666, t: 14.145806 14.951239 4.140113 q: 0.120951 0.137482 0.696712 0.693586 
time: 1403636879.751667, t: 16.800523 -18.600852 -1.113507 q: 0.551860 -0.080341 0.359129 0.748346 
time: 1403636879.951667, t: 2.803763 -235.182304 465.833687 q: 0.295344 0.426335 0.853979 -0.041593 
time: 1403636880.151666, t: -18497.451876 486726.930110 -458007.686377 q: 0.822628 -0.554913 -0.115232 0.045577 
time: 1403636880.351666, t: 1343866.464736 669164.413484 -5261867.293683 q: 0.961869 -0.179215 -0.197377 -0.061089 
unstable tracking...
time: 1403636880.551666, t: 1334823.843756 669254.540774 -5275422.157601 q: 0.427421 -0.143019 -0.356167 0.818536 
unstable tracking...
unstable tracking...
time: 1403636880.951667, t: 1389691.110181 402608.831651 -5365005.585821 q: 0.006277 -0.396433 0.660043 -0.638079 
unstable tracking...
time: 1403636881.151666, t: 1375850.926580 386897.510363 -5346293.641230 q: 0.606525 0.548836 0.451871 0.355976 
unstable tracking...
time: 1403636881.351666, t: 1366037.956966 379888.752503 -5347348.191379 q: 0.695114 0.348948 0.580657 -0.240602 
unstable tracking...
time: 1403636881.551666, t: 1368136.708142 351239.724812 -5247808.085817 q: 0.774047 0.192740 0.529411 -0.288837 
unstable tracking...
unstable tracking...
time: 1403636881.951667, t: 1283937.932964 568282.632363 -5303292.090397 q: 0.229381 -0.070923 0.821557 0.517106 
unstable tracking...
time: 1403636882.151666, t: 1157089.147192 499654.464439 -5162378.255614 q: 0.773747 0.190895 0.579089 0.171844 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636883.151666, t: 520019.112058 34475.061835 -5862982.474007 q: -0.155845 0.757565 -0.617260 0.144212 
unstable tracking...
unstable tracking...
time: 1403636883.551666, t: 1751142.411180 315880.984962 -6091845.551838 q: 0.543258 -0.781683 0.193039 -0.237863 
unstable tracking...
time: 1403636883.751667, t: 3695497.209841 46963.484829 -5522378.653750 q: 0.565146 -0.632554 0.403174 -0.343418 
unstable tracking...
unstable tracking...
time: 1403636884.151666, t: 3565631.345963 29154.462998 -5625535.031341 q: 0.679989 -0.280069 0.206748 -0.645315 
unstable tracking...
unstable tracking...
time: 1403636884.751667, t: 2935605.578482 -1007210.027087 -4234201.526705 q: 0.682772 0.189717 0.229357 -0.667252 
unstable tracking...
time: 1403636884.951667, t: 2935605.617180 -1007209.889678 -4234201.533412 q: 0.682772 0.189717 0.229357 -0.667252 
time: 1403636885.151666, t: 3235464.598747 -836923.950543 -4549897.613211 q: 0.928039 0.128424 -0.209744 -0.279748 
unstable tracking...
time: 1403636885.351666, t: 3235464.718474 -836923.878287 -4549897.811586 q: 0.928039 0.128424 -0.209744 -0.279748 
time: 1403636885.551666, t: 3868786.251531 -2325699.035713 -4757013.000596 q: 0.337694 -0.273436 0.586035 0.683929 
unstable tracking...
time: 1403636885.751667, t: 3868786.243783 -2325699.048101 -4757012.847258 q: 0.337694 -0.273436 0.586035 0.683929 
time: 1403636885.951667, t: 4236293.969072 -2592470.696666 -5663334.246847 q: -0.010217 0.788093 -0.567562 0.238073 
unstable tracking...
time: 1403636886.151666, t: 4236293.873150 -2592470.731804 -5663334.125487 q: -0.010217 0.788093 -0.567562 0.238073 
time: 1403636886.351666, t: 4235320.531243 -2584574.837066 -5681274.618703 q: 0.332610 -0.593527 0.731539 -0.044117 
unstable tracking...
time: 1403636886.551666, t: 4235320.438476 -2584574.536280 -5681274.381745 q: 0.332610 -0.593527 0.731539 -0.044117 
time: 1403636886.751667, t: 4235320.777020 -2584574.288784 -5681274.677307 q: 0.333941 -0.592394 0.732049 -0.040708 
unstable tracking...
time: 1403636886.951667, t: 4235320.649468 -2584574.476089 -5681274.666987 q: 0.333941 -0.592394 0.732049 -0.040708 
time: 1403636887.151666, t: 4235320.822957 -2584574.650840 -5681275.061124 q: 0.332969 -0.593448 0.731603 -0.041330 
unstable tracking...
time: 1403636887.351666, t: 4235320.791592 -2584574.598890 -5681274.970303 q: 0.331410 -0.594002 0.731763 -0.043043 
time: 1403636887.551666, t: 4235320.808797 -2584574.607410 -5681275.030373 q: 0.331747 -0.593916 0.731685 -0.042947 
time: 1403636887.751667, t: 4235320.789003 -2584574.610139 -5681274.991717 q: 0.331718 -0.593970 0.731669 -0.042703 
unstable tracking...
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unstable tracking...
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time: 1403637010.351666, t: 4235321.007396 -2584574.983361 -5681274.785469 q: 0.238857 -0.597024 0.761187 0.084286 
time: 1403637010.551666, t: 4235321.013606 -2584574.977218 -5681274.792635 q: 0.237891 -0.598274 0.760535 0.084041 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720497267.961754663]: Shutdown request received.[0m
[33m[ WARN] [1720497267.961802243]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720497267.962640044]: Shutdown request received.[0m
[33m[ WARN] [1720497267.962665366]: Reason given for shutdown: [user request][0m
killed
