/SLAM-Hive/slam_hive_results/mapping_results/2990/2198_vins-fusion-stereo+MH_02_easy+Image_comb_test-8.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720497293.448212297]: init begins[0m
[31m[ERROR] [1720497293.449400515]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720497293.456919787]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ffa90108-3da6-11ef-aa0f-0242ac110005/roslaunch-38f736fb8746-117.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://38f736fb8746:44259/[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
[0m[ INFO] [1720497294.555607433]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720497294.560259840]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720497294.560470590]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720497294.560510922]: ROW: 288 COL: 451 [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] [1720497294.560729557]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720497294.560908385]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720497294.561077869]: waiting for image and imu...[0m
[0m[ INFO] [1720497294.561893918]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://38f736fb8746:11311/[0m
]2;roscore http://38f736fb8746:11311/
[1msetting /run_id to ffa90108-3da6-11ef-aa0f-0242ac110005[0m
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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720497303.597036694]: 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: 316860446.96 
[0m[ INFO] [1720497307.956933051]: Initialization finish![0m
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time: 1403636861.351666, t: 0.212378 0.012096 -0.149438 q: 0.993765 -0.079532 0.051535 -0.058734 
time: 1403636861.551666, t: 0.255970 0.008581 -0.168700 q: 0.992009 -0.083403 0.075755 -0.056781 
time: 1403636861.751667, t: 0.190752 0.022408 -0.137107 q: 0.993384 -0.082522 0.057234 -0.055694 
time: 1403636861.951667, t: 0.085851 0.036956 -0.092517 q: 0.995178 -0.078501 0.027319 -0.052072 
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time: 1403636863.951667, t: -0.027301 0.057507 -0.063464 q: 0.994875 -0.091769 -0.021663 -0.036507 
time: 1403636864.151666, t: 0.078000 0.037955 -0.106345 q: 0.994543 -0.091813 -0.011402 -0.048215 
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time: 1403636864.551666, t: 0.295150 -0.011615 -0.185435 q: 0.993748 -0.096112 0.036919 -0.043176 
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time: 1403636876.951667, t: -0.003293 0.447108 -0.026220 q: 0.962689 -0.236077 -0.010196 0.131884 
time: 1403636877.151666, t: 0.023498 0.456117 -0.030480 q: 0.984134 -0.161860 -0.021042 0.069556 
time: 1403636877.351666, t: 0.000163 0.350489 -0.147699 q: 0.995245 -0.089764 -0.021368 0.031187 
time: 1403636877.551666, t: 0.110100 0.126463 -0.087576 q: 0.998652 -0.020691 -0.042348 0.021752 
time: 1403636877.751667, t: 0.089627 0.038151 -0.363553 q: 0.996958 0.045827 -0.060233 0.018594 
time: 1403636877.951667, t: 0.121879 0.095028 -0.342744 q: 0.983899 -0.001411 -0.176135 0.030277 
time: 1403636878.151666, t: 0.465247 0.140834 -0.253049 q: 0.841390 -0.008805 -0.539719 0.026226 
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: 1403636878.751667, t: 0.383060 0.452952 0.039227 q: 0.865846 -0.116521 -0.480447 0.076846 
time: 1403636878.951667, t: 0.348775 0.431010 0.068643 q: 0.893672 -0.209057 -0.392916 -0.057124 
time: 1403636879.151666, t: 0.355577 0.428045 0.060220 q: -0.231868 -0.132043 0.795346 0.544267 
time: 1403636879.351666, t: 0.320902 0.427559 0.128021 q: -0.210479 -0.163274 0.760503 0.592179 
time: 1403636879.551666, t: 0.190850 0.418276 0.061363 q: -0.260860 -0.176310 0.774778 0.548256 
unstable tracking...
unstable tracking...
time: 1403636879.951667, t: 2.549904 -1.260916 1.298375 q: -0.170005 -0.240108 0.845005 0.446557 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636880.551666, t: 0.497260 -0.251144 0.237622 q: -0.203050 0.017683 0.797686 0.567587 
unstable tracking...
time: 1403636880.751667, t: 0.599561 -0.228238 0.328412 q: -0.174765 0.029986 0.840333 0.512248 
unstable tracking...
time: 1403636880.951667, t: 0.632451 -0.296374 0.301933 q: -0.170264 0.030605 0.850787 0.496221 
unstable tracking...
unstable tracking...
time: 1403636881.351666, t: 0.564532 -0.337167 0.174943 q: -0.171786 -0.043688 0.881623 0.437404 
unstable tracking...
time: 1403636881.551666, t: 0.486715 -0.300489 0.152330 q: -0.165825 -0.075273 0.884507 0.429516 
unstable tracking...
time: 1403636881.751667, t: 0.403850 -0.216241 0.170872 q: -0.161758 -0.095773 0.882991 0.430104 
unstable tracking...
time: 1403636881.951667, t: 0.344907 -0.116795 0.216344 q: -0.160666 -0.086143 0.877875 0.442834 
time: 1403636882.151666, t: 0.333500 -0.030946 0.276134 q: -0.172450 -0.068755 0.870877 0.455090 
time: 1403636882.351666, t: 0.372752 0.010438 0.323477 q: -0.186176 -0.064462 0.863095 0.465028 
time: 1403636882.551666, t: 0.418253 0.009747 0.313452 q: -0.192051 -0.071799 0.869802 0.448783 
time: 1403636882.751667, t: 0.421001 0.010082 0.267603 q: -0.219233 -0.103891 0.875436 0.418038 
time: 1403636882.951667, t: 0.405484 0.032361 0.206047 q: -0.246192 -0.150865 0.881701 0.373140 
time: 1403636883.151666, t: 0.400421 0.064298 0.145399 q: -0.236344 -0.178187 0.891548 0.342832 
time: 1403636883.351666, t: 0.399773 0.093292 0.098773 q: -0.242956 -0.199692 0.890745 0.328130 
time: 1403636883.551666, t: 0.397826 0.109444 0.076050 q: -0.251618 -0.211985 0.890717 0.313645 
time: 1403636883.751667, t: 0.395476 0.117476 0.064095 q: -0.253059 -0.225787 0.890839 0.302304 
time: 1403636883.951667, t: 0.395677 0.123904 0.058087 q: -0.252819 -0.227585 0.893509 0.293139 
time: 1403636884.151666, t: 0.395212 0.126429 0.058224 q: -0.260658 -0.235454 0.891877 0.284912 
time: 1403636884.351666, t: 0.395935 0.124990 0.058848 q: -0.267310 -0.239411 0.889206 0.283797 
time: 1403636884.551666, t: 0.395640 0.124828 0.058863 q: -0.267254 -0.239609 0.889107 0.283991 
time: 1403636884.751667, t: 0.395557 0.124809 0.058718 q: -0.267043 -0.239392 0.889234 0.283976 
time: 1403636884.951667, t: 0.395588 0.124777 0.058727 q: -0.267070 -0.239437 0.889217 0.283964 
time: 1403636885.151666, t: 0.395588 0.124809 0.058779 q: -0.266933 -0.239606 0.889139 0.284197 
time: 1403636885.351666, t: 0.395612 0.124808 0.058755 q: -0.267026 -0.239486 0.889185 0.284067 
time: 1403636885.551666, t: 0.395613 0.124841 0.058743 q: -0.267148 -0.239435 0.889173 0.284033 
time: 1403636885.751667, t: 0.395624 0.124823 0.058757 q: -0.267164 -0.239553 0.889126 0.284065 
time: 1403636885.951667, t: 0.395625 0.124872 0.058773 q: -0.267130 -0.239639 0.889085 0.284153 
time: 1403636886.151666, t: 0.395632 0.124840 0.058729 q: -0.267165 -0.239441 0.889170 0.284021 
time: 1403636886.351666, t: 0.395618 0.124842 0.058718 q: -0.267119 -0.239362 0.889213 0.283995 
time: 1403636886.551666, t: 0.395619 0.124877 0.058725 q: -0.267170 -0.239431 0.889169 0.284028 
time: 1403636886.751667, t: 0.395629 0.124880 0.058718 q: -0.267198 -0.239391 0.889182 0.283995 
time: 1403636887.151666, t: 0.395644 0.124892 0.058715 q: -0.267193 -0.239404 0.889177 0.284005 
time: 1403636887.351666, t: 0.395661 0.124868 0.058718 q: -0.267261 -0.239399 0.889167 0.283975 
time: 1403636887.551666, t: 0.395644 0.124895 0.058712 q: -0.267189 -0.239389 0.889183 0.284002 
time: 1403636887.751667, t: 0.395637 0.124908 0.058729 q: -0.267172 -0.239443 0.889158 0.284048 
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time: 1403636989.951667, t: -6.312752 8.344456 2.286353 q: -0.371830 0.014498 0.670339 0.642011 
time: 1403636990.151666, t: -6.163687 8.214794 2.293852 q: -0.380560 0.007251 0.666331 0.641189 
time: 1403636990.351666, t: -6.021971 8.054751 2.303441 q: -0.372681 0.008774 0.668716 0.643312 
time: 1403636990.551666, t: -5.869853 7.890830 2.311610 q: -0.366611 0.012500 0.673846 0.641383 
time: 1403636990.751667, t: -5.708458 7.741627 2.314033 q: -0.360441 0.013526 0.678015 0.640464 
time: 1403636990.951667, t: -5.571515 7.609849 2.273292 q: -0.358329 0.014146 0.678042 0.641606 
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time: 1403636992.151666, t: -4.841433 6.829402 2.171291 q: -0.370132 0.030238 0.667018 0.645891 
time: 1403636992.351666, t: -4.722052 6.731101 2.170144 q: -0.369888 0.025910 0.662276 0.651077 
time: 1403636992.551666, t: -4.611774 6.630264 2.151475 q: -0.361504 0.033611 0.662533 0.655161 
time: 1403636992.751667, t: -4.514512 6.518793 2.146662 q: -0.359016 0.037465 0.661376 0.657484 
time: 1403636992.951667, t: -4.423077 6.423394 2.131180 q: -0.357425 0.035950 0.657720 0.662087 
time: 1403636993.151666, t: -4.339213 6.331173 2.116271 q: -0.369476 0.033208 0.657204 0.656100 
time: 1403636993.351666, t: -4.269823 6.243230 2.083863 q: -0.372143 0.019133 0.671734 0.640248 
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time: 1403636994.151666, t: -4.017416 5.780917 2.005249 q: -0.356743 -0.048336 0.721915 0.590962 
time: 1403636994.351666, t: -3.920743 5.687390 1.960850 q: -0.366445 -0.058441 0.717126 0.589944 
time: 1403636994.551666, t: -3.799734 5.584924 1.901792 q: -0.368049 -0.054844 0.717938 0.588300 
time: 1403636994.751667, t: -3.673547 5.455037 1.854122 q: -0.360923 -0.034310 0.727534 0.582453 
time: 1403636994.951667, t: -3.555212 5.307075 1.816745 q: -0.361902 -0.018308 0.733466 0.575082 
time: 1403636995.151666, t: -3.421878 5.171912 1.780005 q: -0.364989 -0.033120 0.726124 0.581747 
time: 1403636995.351666, t: -3.284374 5.026064 1.764469 q: -0.363089 -0.042995 0.723522 0.585519 
time: 1403636995.551666, t: -3.153237 4.857682 1.755835 q: -0.353514 -0.038946 0.728180 0.585889 
time: 1403636995.751667, t: -3.028036 4.679065 1.749736 q: -0.353662 -0.035253 0.730048 0.583704 
time: 1403636995.951667, t: -2.892014 4.515136 1.736839 q: -0.357476 -0.021413 0.735187 0.575546 
time: 1403636996.151666, t: -2.744450 4.369347 1.722568 q: -0.350525 -0.023783 0.733813 0.581451 
time: 1403636996.351666, t: -2.600887 4.239153 1.706468 q: -0.345099 -0.030062 0.732742 0.585741 
time: 1403636996.551666, t: -2.483350 4.083172 1.720280 q: -0.338877 -0.043438 0.742461 0.576218 
time: 1403636996.751667, t: -2.366301 3.924929 1.723069 q: -0.326924 -0.064044 0.762159 0.555096 
time: 1403636996.951667, t: -2.246214 3.813156 1.706532 q: -0.313302 -0.087415 0.786826 0.524505 
time: 1403636997.151666, t: -2.111035 3.720861 1.685956 q: -0.300048 -0.110232 0.807403 0.495903 
time: 1403636997.351666, t: -1.983282 3.647203 1.667463 q: -0.291724 -0.122122 0.817728 0.480942 
time: 1403636997.551666, t: -1.884845 3.569379 1.646372 q: -0.288603 -0.127023 0.819684 0.478218 
time: 1403636997.751667, t: -1.826598 3.481537 1.640942 q: -0.286233 -0.125921 0.818573 0.481823 
optimize pose graph 
time: 1403636997.951667, t: -1.787219 3.379944 1.642405 q: -0.286369 -0.123334 0.816524 0.485871 
time: 1403636998.151666, t: -1.781224 3.265800 1.657523 q: -0.288281 -0.120572 0.814539 0.488756 
time: 1403636998.351666, t: -1.782221 3.168183 1.662364 q: -0.290583 -0.117044 0.813684 0.489673 
time: 1403636998.551666, t: -1.784245 3.095205 1.656258 q: -0.293898 -0.116775 0.811851 0.490802 
time: 1403636998.751667, t: -1.810138 3.010826 1.664154 q: -0.310899 -0.129966 0.803285 0.491104 
time: 1403636998.951667, t: -1.833024 2.914085 1.678913 q: -0.311572 -0.138942 0.797632 0.497394 
time: 1403636999.151666, t: -1.828295 2.832531 1.672341 q: -0.307842 -0.141575 0.795753 0.501963 
time: 1403636999.351666, t: -1.815329 2.770026 1.645862 q: -0.304998 -0.135109 0.798413 0.501256 
time: 1403636999.551666, t: -1.784156 2.705146 1.606294 q: -0.310728 -0.130838 0.799500 0.497121 
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time: 1403636999.951667, t: -1.679051 2.596074 1.519031 q: -0.315422 -0.132422 0.797112 0.497581 
time: 1403637000.151666, t: -1.618451 2.520971 1.473428 q: -0.310853 -0.134790 0.796379 0.500981 
time: 1403637000.351666, t: -1.563428 2.426432 1.433383 q: -0.308132 -0.131380 0.798575 0.500072 
time: 1403637000.551666, t: -1.495767 2.331827 1.383566 q: -0.308361 -0.132551 0.797902 0.500695 
time: 1403637000.751667, t: -1.426940 2.226274 1.334999 q: -0.310749 -0.131597 0.798197 0.498998 
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time: 1403637001.151666, t: -1.289870 2.013245 1.219444 q: -0.314522 -0.129116 0.796937 0.499295 
time: 1403637001.351666, t: -1.203460 1.896534 1.170226 q: -0.316117 -0.125852 0.797846 0.497669 
time: 1403637001.551666, t: -1.121602 1.763419 1.133611 q: -0.311244 -0.119474 0.800304 0.498363 
time: 1403637001.751667, t: -1.029458 1.633863 1.105489 q: -0.310874 -0.117960 0.800064 0.499341 
time: 1403637001.951667, t: -0.928455 1.524042 1.067451 q: -0.309876 -0.116760 0.800204 0.500018 
time: 1403637002.151666, t: -0.824070 1.429889 1.018071 q: -0.307989 -0.115458 0.800614 0.500829 
time: 1403637002.351666, t: -0.721303 1.349580 0.959585 q: -0.306371 -0.116504 0.799898 0.502719 
time: 1403637002.551666, t: -0.632039 1.252819 0.913978 q: -0.303667 -0.121120 0.797806 0.506579 
time: 1403637002.751667, t: -0.557931 1.141412 0.874909 q: -0.303570 -0.120834 0.797079 0.507848 
time: 1403637002.951667, t: -0.487152 1.035023 0.825531 q: -0.307334 -0.116894 0.796995 0.506636 
time: 1403637003.151666, t: -0.399062 0.944815 0.769669 q: -0.307852 -0.114337 0.796479 0.507716 
time: 1403637003.351666, t: -0.308862 0.864812 0.704600 q: -0.311983 -0.112470 0.795245 0.507545 
time: 1403637003.551666, t: -0.233746 0.767895 0.648368 q: -0.315216 -0.111837 0.793940 0.507731 
time: 1403637003.751667, t: -0.158427 0.659442 0.611189 q: -0.315234 -0.110699 0.793956 0.507944 
optimize pose graph 
time: 1403637003.951667, t: -0.069006 0.563017 0.575096 q: -0.309614 -0.110319 0.796453 0.507574 
time: 1403637004.151666, t: 0.012823 0.485158 0.517591 q: -0.301507 -0.112022 0.798166 0.509387 
time: 1403637004.351666, t: 0.086518 0.408992 0.462985 q: -0.300631 -0.110603 0.800347 0.506786 
time: 1403637004.551666, t: 0.131999 0.309391 0.428109 q: -0.312355 -0.113570 0.796394 0.505264 
time: 1403637004.751667, t: 0.169085 0.194781 0.410543 q: -0.323039 -0.098654 0.798977 0.497543 
time: 1403637004.951667, t: 0.229956 0.109298 0.385119 q: -0.319368 -0.085977 0.801959 0.497467 
time: 1403637005.151666, t: 0.306056 0.079754 0.347918 q: -0.312221 -0.095065 0.796497 0.508992 
time: 1403637005.351666, t: 0.379444 0.065823 0.315324 q: -0.306397 -0.097326 0.795598 0.513490 
time: 1403637005.551666, t: 0.456092 0.049376 0.276411 q: -0.309352 -0.106159 0.793886 0.512618 
time: 1403637005.751667, t: 0.501428 0.007181 0.256046 q: -0.303817 -0.096032 0.801222 0.506475 
time: 1403637005.951667, t: 0.529789 -0.043095 0.249747 q: -0.304948 -0.103837 0.798532 0.508500 
time: 1403637006.151666, t: 0.556471 -0.086066 0.239840 q: -0.310725 -0.105910 0.797153 0.506734 
time: 1403637006.351666, t: 0.589949 -0.119947 0.224819 q: -0.301528 -0.095688 0.802871 0.505296 
time: 1403637006.551666, t: 0.611789 -0.138066 0.212387 q: -0.300325 -0.085628 0.808653 0.498551 
time: 1403637006.751667, t: 0.622242 -0.142378 0.203507 q: -0.307194 -0.110177 0.809456 0.488132 
time: 1403637006.951667, t: 0.635643 -0.134345 0.194124 q: -0.296344 -0.134325 0.824512 0.462944 
time: 1403637007.351666, t: 0.664674 -0.109119 0.179242 q: -0.284182 -0.186664 0.837333 0.428101 
time: 1403637007.551666, t: 0.689997 -0.101317 0.171560 q: -0.278420 -0.189655 0.840129 0.425084 
time: 1403637007.751667, t: 0.725677 -0.095922 0.157839 q: -0.258580 -0.176057 0.847758 0.428307 
time: 1403637007.951667, t: 0.748304 -0.099572 0.139210 q: -0.275220 -0.174395 0.844963 0.424120 
time: 1403637008.151666, t: 0.769535 -0.102736 0.121182 q: -0.271490 -0.169603 0.844430 0.429496 
time: 1403637008.351666, t: 0.783704 -0.111107 0.107477 q: -0.252758 -0.162101 0.846467 0.439693 
time: 1403637008.551666, t: 0.774255 -0.127269 0.092588 q: -0.274329 -0.165319 0.841155 0.435742 
time: 1403637008.751667, t: 0.764705 -0.136438 0.073568 q: -0.286836 -0.154961 0.842814 0.428225 
time: 1403637008.951667, t: 0.764575 -0.123877 0.055006 q: -0.283756 -0.134665 0.851002 0.420883 
time: 1403637009.351666, t: 0.763925 -0.038908 0.047484 q: -0.267737 -0.176086 0.830915 0.454852 
time: 1403637009.551666, t: 0.766533 -0.020444 0.055153 q: -0.297865 -0.184421 0.846711 0.400431 
time: 1403637009.751667, t: 0.779037 -0.015628 0.065174 q: -0.320818 -0.166618 0.844174 0.395834 
time: 1403637009.951667, t: 0.778173 -0.016102 0.064469 q: -0.323074 -0.166955 0.844110 0.393990 
time: 1403637010.151666, t: 0.778295 -0.016180 0.064711 q: -0.322678 -0.167850 0.843869 0.394450 
time: 1403637010.551666, t: 0.778350 -0.016237 0.064696 q: -0.322678 -0.167975 0.843797 0.394549 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720497458.327877722]: Shutdown request received.[0m
[33m[ WARN] [1720497458.327929722]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720497458.328865296]: Shutdown request received.[0m
[33m[ WARN] [1720497458.328903797]: Reason given for shutdown: [user request][0m
killed
