/SLAM-Hive/slam_hive_results/mapping_results/2992/2200_vins-fusion-stereo+MH_02_easy+Image_comb_test-10.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720497673.234345687]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720497673.235820442]: init begins[0m
[31m[ERROR] [1720497673.236910085]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/e20859ea-3da7-11ef-a0de-0242ac110005/roslaunch-b9e2cd66e7b3-119.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://b9e2cd66e7b3:35003/[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] [1720497674.341038351]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720497674.341823067]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720497674.347720233]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720497674.347938972]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720497674.347962764]: 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] [1720497674.348204936]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720497674.348398431]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720497674.348590001]: 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://b9e2cd66e7b3:11311/[0m
]2;roscore http://b9e2cd66e7b3:11311/
[1msetting /run_id to e20859ea-3da7-11ef-a0de-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] [1720497683.396711816]: 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: 316860826.76 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720497687.703558658]: Initialization finish![0m
time: 1403636860.951667, t: 0.000000 -0.000000 -0.000000 q: 1.000000 -0.000001 -0.000001 0.000000 
time: 1403636861.151666, t: -0.000000 -0.000000 -0.000000 q: 1.000000 -0.000001 -0.000001 0.000000 
time: 1403636861.351666, t: -0.000000 -0.000000 -0.000000 q: 1.000000 -0.000001 -0.000001 0.000000 
time: 1403636861.551666, t: -0.000000 -0.000000 -0.000000 q: 1.000000 -0.000001 -0.000001 0.000000 
time: 1403636861.751667, t: -0.000000 -0.000000 -0.000000 q: 1.000000 -0.000001 0.000001 0.000000 
time: 1403636861.951667, t: -0.202584 0.145130 0.178881 q: 0.999649 0.019538 -0.017913 0.000020 
time: 1403636862.151666, t: -0.008338 -0.872094 -0.577485 q: 0.993513 -0.050790 -0.093236 0.040726 
time: 1403636862.351666, t: -0.315859 0.033816 0.486039 q: 0.997700 0.015710 -0.065170 0.010021 
time: 1403636862.551666, t: -0.238578 0.109052 0.368799 q: 0.998429 -0.021599 -0.050599 0.010600 
time: 1403636862.751667, t: -0.057074 0.082555 0.269080 q: 0.998726 -0.040148 -0.029443 0.008281 
time: 1403636862.951667, t: 0.061864 0.091714 0.237765 q: 0.998669 -0.044190 -0.013268 0.023052 
unstable tracking...
time: 1403636863.151666, t: -0.140483 0.082958 0.325782 q: 0.998531 -0.044737 0.022896 0.020237 
time: 1403636863.351666, t: -0.120950 0.093171 0.317693 q: 0.998624 -0.051352 0.009816 0.003994 
time: 1403636863.551666, t: -0.247907 0.090412 0.363071 q: 0.998548 -0.052035 -0.006582 0.012272 
time: 1403636863.751667, t: -0.354496 0.086641 0.398445 q: 0.998068 -0.040155 -0.036680 0.030035 
time: 1403636863.951667, t: -0.363783 0.088895 0.396909 q: 0.997187 -0.036012 -0.057511 0.031834 
time: 1403636864.151666, t: -0.258426 0.090743 0.354020 q: 0.998037 -0.036538 -0.046233 0.021208 
time: 1403636864.351666, t: -0.127991 0.090325 0.308103 q: 0.998451 -0.040524 -0.033708 0.017829 
time: 1403636864.551666, t: -0.034267 0.089637 0.277499 q: 0.998609 -0.042818 0.001979 0.030712 
time: 1403636864.751667, t: -0.039899 0.087180 0.285463 q: 0.998405 -0.049314 0.018902 0.019948 
time: 1403636864.951667, t: -0.135345 0.086068 0.321230 q: 0.998481 -0.052814 0.000055 0.015692 
time: 1403636865.151666, t: -0.248311 0.087896 0.366161 q: 0.998028 -0.053046 -0.023112 0.024347 
time: 1403636865.351666, t: -0.325586 0.087918 0.394028 q: 0.997596 -0.039889 -0.030953 0.047469 
time: 1403636865.551666, t: -0.334654 0.084998 0.401748 q: 0.997414 -0.042596 -0.047462 0.033128 
time: 1403636865.751667, t: -0.249580 0.077872 0.368308 q: 0.997767 -0.036803 -0.046309 0.031009 
time: 1403636865.951667, t: -0.121932 0.070723 0.320897 q: 0.998691 -0.035894 -0.008850 0.035360 
time: 1403636866.151666, t: -0.024878 0.095002 0.282907 q: 0.997648 -0.040105 0.043736 0.034313 
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time: 1403636866.751667, t: -0.164485 0.082649 0.322511 q: 0.998181 -0.057852 -0.002992 0.016703 
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time: 1403636868.351666, t: -0.279949 0.069313 0.257198 q: 0.970193 -0.026972 -0.235916 0.048398 
time: 1403636868.551666, t: -0.280856 0.054800 0.244410 q: 0.972805 -0.034863 -0.223276 0.050823 
time: 1403636868.751667, t: -0.275105 0.045355 0.225058 q: 0.972504 -0.038764 -0.223629 0.052183 
time: 1403636868.951667, t: -0.280576 0.036652 0.215649 q: 0.972592 -0.037570 -0.225357 0.043218 
time: 1403636869.151666, t: -0.278504 0.028716 0.215860 q: 0.974774 -0.027441 -0.216684 0.045930 
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time: 1403636870.351666, t: -0.270541 0.329090 0.264019 q: 0.972832 -0.072676 -0.210819 0.062215 
time: 1403636870.551666, t: -0.266608 0.435706 0.279096 q: 0.969988 -0.068887 -0.221083 0.074157 
time: 1403636870.751667, t: -0.263476 0.499129 0.295883 q: 0.965654 -0.080542 -0.234589 0.077410 
time: 1403636870.951667, t: -0.272262 0.514705 0.299104 q: 0.970451 -0.084935 -0.210617 0.081561 
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time: 1403636871.351666, t: -0.275246 0.490450 0.298985 q: 0.966146 -0.091138 -0.225660 0.085629 
time: 1403636871.551666, t: -0.266869 0.428650 0.293309 q: 0.967199 -0.084806 -0.225618 0.080193 
time: 1403636871.751667, t: -0.259297 0.328668 0.290214 q: 0.967197 -0.072312 -0.229361 0.081824 
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time: 1403636876.751667, t: -0.413523 0.213420 0.196937 q: 0.935913 -0.303149 -0.123995 0.129584 
time: 1403636876.951667, t: 0.070757 0.300210 1.240137 q: 0.932822 -0.342178 -0.109927 0.025955 
time: 1403636877.151666, t: 0.103144 0.320030 1.574057 q: 0.959611 -0.250022 -0.111034 0.065622 
time: 1403636877.351666, t: 0.080682 -0.214234 -0.088096 q: 0.951225 -0.193877 -0.196532 -0.137691 
time: 1403636877.551666, t: -0.144952 -0.182000 -1.363751 q: 0.930727 -0.177798 -0.129421 -0.292206 
time: 1403636877.751667, t: -0.002121 -0.074529 -1.503823 q: 0.952621 0.041585 -0.240909 -0.180964 
time: 1403636877.951667, t: 0.069567 -0.033823 -1.610952 q: 0.934519 0.067601 -0.310115 -0.161036 
time: 1403636878.151666, t: -0.125781 -0.235597 -1.585264 q: 0.926898 -0.096404 -0.357295 -0.062509 
time: 1403636878.351666, t: 1.735862 0.603939 -2.747233 q: 0.876991 -0.136123 -0.456790 -0.060825 
unstable tracking...
time: 1403636878.751667, t: 1.570397 1.046800 -2.505348 q: 0.884304 -0.359008 -0.254222 -0.156496 
time: 1403636878.951667, t: 1.576661 1.004240 -2.543162 q: 0.875619 -0.388742 -0.222105 -0.181218 
time: 1403636879.151666, t: 1.700920 0.859203 -2.747837 q: 0.902921 -0.341309 -0.217577 -0.144578 
time: 1403636879.351666, t: 1.557661 1.187176 -2.332343 q: 0.905524 -0.350823 -0.138245 -0.194517 
unstable tracking...
time: 1403636879.551666, t: 1.635161 1.039498 -2.414487 q: 0.950651 -0.240977 -0.151401 -0.123574 
unstable tracking...
time: 1403636879.751667, t: 1.495258 1.064981 -2.395078 q: 0.972940 -0.152887 -0.147344 -0.091118 
unstable tracking...
time: 1403636879.951667, t: 1.580023 0.941369 -2.493913 q: 0.970850 -0.116985 -0.185226 -0.097242 
unstable tracking...
time: 1403636880.151666, t: 1.523296 0.985490 -2.499960 q: 0.971051 -0.064074 -0.219720 -0.068391 
unstable tracking...
time: 1403636880.351666, t: 1.471056 0.934755 -2.598915 q: 0.968160 -0.138030 -0.195879 -0.072428 
unstable tracking...
time: 1403636880.551666, t: 1.459626 0.954196 -2.690122 q: 0.963569 -0.191422 -0.177265 -0.058911 
unstable tracking...
time: 1403636880.751667, t: 1.444857 0.778445 -2.618559 q: 0.932359 -0.285989 -0.211983 -0.063087 
unstable tracking...
time: 1403636880.951667, t: 1.748609 0.592899 -2.646610 q: 0.887356 -0.312105 -0.334933 0.054866 
unstable tracking...
time: 1403636881.151666, t: 1.304912 0.556870 -2.845302 q: 0.964890 -0.212081 -0.146190 -0.051349 
unstable tracking...
time: 1403636881.351666, t: 1.084464 0.636288 -2.434512 q: 0.924257 -0.296898 -0.070669 -0.229359 
unstable tracking...
time: 1403636881.551666, t: 1.588925 0.279283 -2.358338 q: 0.816075 -0.323761 -0.198286 -0.435755 
time: 1403636881.751667, t: 1.344823 0.303868 -2.597260 q: 0.742884 -0.272527 -0.184200 -0.583029 
time: 1403636881.951667, t: 1.400757 0.342418 -2.493539 q: 0.726508 -0.300240 -0.172104 -0.593651 
time: 1403636882.151666, t: 1.507143 0.410415 -2.488303 q: 0.747486 -0.311035 -0.145766 -0.568572 
time: 1403636882.351666, t: 1.536780 0.444907 -2.525506 q: 0.752652 -0.319473 -0.120570 -0.562952 
time: 1403636882.551666, t: 1.509289 0.465873 -2.560090 q: 0.758179 -0.303495 -0.124415 -0.563540 
unstable tracking...
time: 1403636882.751667, t: 1.471234 0.482669 -2.534916 q: 0.766129 -0.255628 -0.115746 -0.578190 
unstable tracking...
time: 1403636882.951667, t: 1.439823 0.518448 -2.482357 q: 0.771934 -0.188624 -0.110893 -0.596860 
time: 1403636883.151666, t: 1.412887 0.564773 -2.440986 q: 0.766502 -0.155848 -0.132784 -0.608732 
time: 1403636883.351666, t: 1.397114 0.599332 -2.401395 q: 0.765084 -0.143996 -0.151920 -0.608960 
time: 1403636883.551666, t: 1.389003 0.616649 -2.383785 q: 0.766168 -0.124347 -0.150814 -0.612192 
time: 1403636883.751667, t: 1.388288 0.623918 -2.377277 q: 0.766138 -0.107252 -0.153668 -0.614748 
time: 1403636883.951667, t: 1.387161 0.631711 -2.370034 q: 0.767679 -0.099227 -0.157821 -0.613119 
time: 1403636884.151666, t: 1.388338 0.631539 -2.371359 q: 0.767926 -0.086574 -0.153913 -0.615716 
time: 1403636884.351666, t: 1.387799 0.630189 -2.373360 q: 0.767725 -0.081273 -0.147710 -0.618203 
time: 1403636884.551666, t: 1.388037 0.629739 -2.374023 q: 0.767735 -0.080906 -0.147905 -0.618192 
time: 1403636884.751667, t: 1.388224 0.629283 -2.374083 q: 0.767747 -0.081131 -0.148180 -0.618082 
time: 1403636884.951667, t: 1.389408 0.628713 -2.374901 q: 0.768142 -0.080704 -0.148419 -0.617589 
time: 1403636885.151666, t: 1.389786 0.629550 -2.375605 q: 0.768445 -0.080585 -0.148273 -0.617263 
time: 1403636885.351666, t: 1.389829 0.629541 -2.375584 q: 0.768570 -0.080487 -0.148311 -0.617111 
time: 1403636885.551666, t: 1.389836 0.629537 -2.375601 q: 0.768623 -0.080489 -0.148211 -0.617068 
time: 1403636885.751667, t: 1.389782 0.629554 -2.375653 q: 0.768570 -0.080464 -0.148103 -0.617164 
time: 1403636885.951667, t: 1.389811 0.629569 -2.375676 q: 0.768487 -0.080491 -0.148096 -0.617265 
time: 1403636886.151666, t: 1.389763 0.629571 -2.375663 q: 0.768652 -0.080472 -0.148138 -0.617052 
time: 1403636886.351666, t: 1.389757 0.629575 -2.375640 q: 0.768683 -0.080520 -0.148201 -0.616992 
time: 1403636886.551666, t: 1.389781 0.629590 -2.375641 q: 0.768634 -0.080499 -0.148141 -0.617071 
time: 1403636886.751667, t: 1.389770 0.629603 -2.375641 q: 0.768675 -0.080472 -0.148125 -0.617027 
time: 1403636886.951667, t: 1.389770 0.629602 -2.375665 q: 0.768644 -0.080452 -0.148109 -0.617072 
time: 1403636887.151666, t: 1.389771 0.629628 -2.375667 q: 0.768686 -0.080443 -0.148094 -0.617024 
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time: 1403637010.551666, t: 1.590878 -0.135098 -3.044785 q: 0.790257 -0.178978 -0.056432 -0.583332 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720497838.117939043]: Shutdown request received.[0m
[33m[ WARN] [1720497838.117985102]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720497838.118866006]: Shutdown request received.[0m
[33m[ WARN] [1720497838.118893188]: Reason given for shutdown: [user request][0m
killed
