/SLAM-Hive/slam_hive_results/mapping_results/2996/2204_vins-fusion-stereo+MH_02_easy+Image_comb_test-14.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720498434.360413344]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720498434.362315723]: init begins[0m
[31m[ERROR] [1720498434.363358846]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/a7b37318-3da9-11ef-a3fd-0242ac110005/roslaunch-f47261e82c66-118.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://f47261e82c66:45547/[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] [1720498435.466736718]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720498435.468210878]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720498435.474270370]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720498435.474499376]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720498435.474527068]: 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] [1720498435.474765596]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720498435.474968637]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720498435.475163278]: 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://f47261e82c66:11311/[0m
]2;roscore http://f47261e82c66:11311/
[1msetting /run_id to a7b37318-3da9-11ef-a3fd-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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720498444.516932691]: 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: 316861587.88 
[0m[ INFO] [1720498450.945185080]: Initialization finish![0m
time: 1403636862.851666, t: 0.489091 0.142449 -0.263918 q: 0.997832 -0.062895 -0.018653 -0.005213 
time: 1403636863.251667, t: 0.583102 0.128883 -0.296916 q: 0.996880 -0.076288 0.014863 -0.013742 
time: 1403636863.651666, t: 0.097524 -0.130579 -0.260903 q: 0.963598 -0.228504 0.137059 -0.021893 
time: 1403636864.051666, t: 0.412726 -0.332069 -0.189720 q: 0.947708 -0.296029 -0.070599 -0.096085 
time: 1403636864.451667, t: 0.856704 -0.722094 -0.443946 q: 0.922815 -0.350139 -0.000600 -0.160672 
time: 1403636864.851666, t: -0.534998 -0.403649 -1.009174 q: 0.869163 -0.143168 0.435323 0.185884 
time: 1403636865.251667, t: 0.300167 -0.058884 -0.923156 q: 0.858841 -0.072062 0.377944 0.338168 
time: 1403636865.651666, t: 0.287774 -0.063675 -0.894106 q: 0.870560 -0.065905 0.358108 0.330970 
time: 1403636866.051666, t: 0.367636 -0.037267 -1.216552 q: 0.843872 -0.091822 0.412868 0.330134 
time: 1403636866.451667, t: 0.367696 -0.011494 -1.234323 q: 0.838584 -0.112682 0.424114 0.322811 
time: 1403636866.851666, t: 0.314456 -0.053332 -1.036980 q: 0.857447 -0.093015 0.388354 0.324520 
time: 1403636867.251667, t: 0.272986 -0.094194 -0.996951 q: 0.871938 -0.050790 0.360445 0.327452 
time: 1403636867.651666, t: 0.254633 -0.107218 -1.014265 q: 0.900134 -0.027352 0.289547 0.324305 
time: 1403636868.051666, t: 0.244813 -0.118077 -1.008796 q: 0.921409 0.004339 0.179737 0.344500 
time: 1403636868.451667, t: 0.237699 -0.133580 -1.024407 q: 0.916268 0.004391 0.198017 0.348171 
time: 1403636868.851666, t: 0.234158 -0.162799 -1.046667 q: 0.916700 -0.006823 0.197167 0.347476 
time: 1403636869.251667, t: 0.239987 -0.173343 -1.049565 q: 0.916140 -0.001477 0.212121 0.340132 
time: 1403636869.651666, t: 0.232436 -0.159942 -1.043275 q: 0.916681 -0.001131 0.211001 0.339371 
time: 1403636870.051666, t: 0.170394 -0.034348 -1.017216 q: 0.907592 -0.017814 0.213378 0.361150 
time: 1403636870.451667, t: 0.115698 0.148010 -0.940631 q: 0.921266 -0.035757 0.222932 0.316689 
time: 1403636870.851666, t: 0.083359 0.238484 -0.943891 q: 0.904339 -0.042011 0.212352 0.367847 
time: 1403636871.251667, t: 0.035602 0.257753 -0.925158 q: 0.892092 -0.041176 0.198153 0.403995 
time: 1403636871.651666, t: 0.091868 0.161379 -0.978306 q: 0.899784 -0.029416 0.194474 0.389492 
time: 1403636872.051666, t: -0.144756 -0.070944 -1.350358 q: 0.886657 0.051523 0.199561 0.413957 
time: 1403636872.451667, t: -0.361037 -0.175270 -1.467387 q: 0.881683 0.158273 0.266599 0.355682 
time: 1403636872.851666, t: -0.331148 -0.132062 -1.507523 q: 0.891119 0.161655 0.241064 0.348803 
time: 1403636873.251667, t: 0.177886 -0.099015 -1.304187 q: 0.887696 -0.017232 -0.020430 0.459653 
feature tracking not enough, please slowly move you device! 
time: 1403636873.651666, t: 0.187259 -0.072542 -1.324968 q: 0.899726 -0.033374 -0.005229 0.435146 
time: 1403636874.051666, t: 0.121635 -0.004911 -1.339163 q: 0.899987 -0.028057 -0.026213 0.434222 
time: 1403636874.451667, t: -0.028140 -0.097345 -1.410219 q: 0.928500 0.062544 0.112367 0.348354 
feature tracking not enough, please slowly move you device! 
time: 1403636874.851666, t: -0.028140 -0.097345 -1.410219 q: 0.928500 0.062544 0.112367 0.348354 
time: 1403636875.251667, t: 0.056592 -0.209575 -1.426635 q: 0.919441 0.042400 0.136120 0.366472 
time: 1403636875.651666, t: 0.048216 -0.144619 -1.519066 q: 0.886967 0.118429 0.008124 0.446316 
feature tracking not enough, please slowly move you device! 
time: 1403636876.051666, t: 0.071513 -0.156337 -1.503677 q: 0.913700 0.139314 0.028782 0.380678 
feature tracking not enough, please slowly move you device! 
time: 1403636876.451667, t: 0.071513 -0.156337 -1.503677 q: 0.913700 0.139314 0.028782 0.380678 
time: 1403636876.851666, t: 0.153508 -0.150008 -1.311840 q: 0.889490 0.088277 0.172379 0.413885 
time: 1403636877.251667, t: 0.329159 0.016732 -0.853114 q: 0.929961 0.124690 0.253449 0.235347 
feature tracking not enough, please slowly move you device! 
time: 1403636877.651666, t: 0.329159 0.016732 -0.853114 q: 0.929961 0.124690 0.253449 0.235347 
feature tracking not enough, please slowly move you device! 
time: 1403636878.051666, t: 0.329159 0.016732 -0.853114 q: 0.929961 0.124690 0.253449 0.235347 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636878.851666, t: 0.329159 0.016732 -0.853114 q: 0.929961 0.124690 0.253449 0.235347 
time: 1403636879.251667, t: 0.329159 0.016732 -0.853114 q: 0.929961 0.124690 0.253449 0.235347 
feature tracking not enough, please slowly move you device! 
time: 1403636880.051666, t: -0.752461 -0.119820 -1.530337 q: 0.915814 0.177731 0.215289 0.288700 
unstable tracking...
unstable tracking...
time: 1403636880.851666, t: -0.918572 -0.652349 -2.031369 q: 0.931830 0.167832 0.203749 0.249021 
unstable tracking...
unstable tracking...
time: 1403636881.651666, t: 0.398720 -0.882556 -2.018890 q: 0.922295 0.228722 0.264246 0.165020 
unstable tracking...
time: 1403636882.051666, t: 0.256777 -0.738784 -1.822109 q: 0.931665 0.193798 0.301701 0.058471 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636883.251667, t: -0.294759 0.094346 -1.644887 q: 0.715184 0.573773 0.393289 0.067962 
unstable tracking...
unstable tracking...
time: 1403636884.051666, t: -0.164528 0.022133 -1.702644 q: 0.678624 0.590864 0.434156 0.043097 
unstable tracking...
unstable tracking...
time: 1403636884.851666, t: -0.222912 0.114125 -1.703368 q: 0.667303 0.605001 0.429778 0.063019 
unstable tracking...
time: 1403636885.251667, t: -0.261981 0.150498 -1.663099 q: 0.668661 0.599168 0.436527 0.057749 
time: 1403636885.651666, t: -0.261152 0.151570 -1.663472 q: 0.668634 0.599230 0.436489 0.057699 
time: 1403636886.051666, t: -0.261773 0.150989 -1.665779 q: 0.668739 0.599150 0.436426 0.057793 
time: 1403636886.451667, t: -0.261759 0.150935 -1.665928 q: 0.668776 0.599160 0.436354 0.057805 
time: 1403636887.251667, t: -0.262195 0.151505 -1.665584 q: 0.668713 0.599246 0.436327 0.057839 
time: 1403636887.651666, t: -0.260425 0.151791 -1.664258 q: 0.668642 0.599216 0.436476 0.057850 
time: 1403636888.051666, t: -0.260622 0.151234 -1.665116 q: 0.668658 0.599234 0.436426 0.057853 
time: 1403636888.451667, t: -0.260748 0.151101 -1.665305 q: 0.668606 0.599352 0.436336 0.057919 
time: 1403636888.851666, t: -0.261159 0.151390 -1.665093 q: 0.668399 0.599540 0.436407 0.057826 
time: 1403636889.251667, t: -0.260111 0.149653 -1.666339 q: 0.668561 0.599385 0.436298 0.058379 
unstable tracking...
time: 1403636890.051666, t: -0.261530 0.152349 -1.664824 q: 0.669016 0.598794 0.436437 0.058187 
time: 1403636890.451667, t: -0.260240 0.150604 -1.666128 q: 0.668759 0.598803 0.436752 0.058681 
time: 1403636890.851666, t: -0.260531 0.151441 -1.666003 q: 0.668734 0.598787 0.436817 0.058646 
time: 1403636891.251667, t: -0.260576 0.151460 -1.666002 q: 0.668450 0.599231 0.436694 0.058277 
time: 1403636891.651666, t: -0.260557 0.151410 -1.666023 q: 0.668456 0.599201 0.436720 0.058322 
time: 1403636892.051666, t: -0.260554 0.151457 -1.665989 q: 0.668483 0.599187 0.436707 0.058245 
time: 1403636892.451667, t: -0.260572 0.151471 -1.666043 q: 0.668552 0.598852 0.437052 0.058308 
time: 1403636892.851666, t: -0.260549 0.151463 -1.666009 q: 0.668507 0.599095 0.436806 0.058170 
time: 1403636893.251667, t: -0.260551 0.151450 -1.666017 q: 0.668477 0.599110 0.436830 0.058179 
time: 1403636893.651666, t: -0.260550 0.151490 -1.666002 q: 0.668504 0.599073 0.436846 0.058131 
time: 1403636894.051666, t: -0.260547 0.151462 -1.665998 q: 0.668447 0.599173 0.436791 0.058170 
time: 1403636894.451667, t: -0.260555 0.151442 -1.665995 q: 0.668471 0.599210 0.436694 0.058249 
time: 1403636894.851666, t: -0.260560 0.151459 -1.666003 q: 0.668556 0.599098 0.436723 0.058211 
time: 1403636895.251667, t: -0.260572 0.151513 -1.666019 q: 0.668642 0.598846 0.436936 0.058216 
time: 1403636895.651666, t: -0.260559 0.151510 -1.666017 q: 0.668569 0.598909 0.436966 0.058163 
time: 1403636896.051666, t: -0.260540 0.151508 -1.666041 q: 0.668701 0.598854 0.436876 0.057895 
time: 1403636896.451667, t: -0.260501 0.151516 -1.666070 q: 0.669034 0.598784 0.436538 0.057334 
time: 1403636896.851666, t: -0.260463 0.151473 -1.666052 q: 0.668955 0.599113 0.436237 0.057101 
time: 1403636897.251667, t: -0.259918 0.152702 -1.665612 q: 0.669273 0.600490 0.434746 0.049821 
unstable tracking...
unstable tracking...
time: 1403636898.051666, t: -0.282412 0.240529 -1.614946 q: 0.697697 0.588791 0.406343 0.037819 
unstable tracking...
time: 1403636898.451667, t: -0.254200 0.254258 -1.616289 q: 0.673487 0.609982 0.413925 0.054799 
unstable tracking...
time: 1403636898.851666, t: -0.216542 0.275662 -1.637996 q: 0.664456 0.622769 0.408532 0.061311 
unstable tracking...
time: 1403636899.651666, t: -0.275091 0.418965 -1.620438 q: 0.714822 0.569318 0.378653 0.146725 
time: 1403636900.051666, t: -0.307350 0.498178 -1.570134 q: 0.729908 0.546633 0.380653 0.153391 
time: 1403636900.451667, t: -0.452521 0.718933 -1.542814 q: 0.729431 0.550472 0.379973 0.143291 
time: 1403636900.851666, t: -0.333741 0.807466 -1.694797 q: 0.785499 0.439582 0.435599 -0.003603 
time: 1403636901.251667, t: -0.530954 0.907814 -1.461004 q: 0.728299 0.557529 0.375517 0.133148 
time: 1403636901.651666, t: -0.455305 1.043839 -1.435322 q: 0.758260 0.490815 0.424215 0.064690 
time: 1403636902.051666, t: -0.373006 1.138030 -1.353247 q: 0.767936 0.459031 0.445611 0.031567 
time: 1403636902.851666, t: -0.089045 1.212132 -1.026702 q: 0.774027 0.446116 0.448245 0.030661 
time: 1403636903.251667, t: 0.080112 1.254580 -0.947494 q: 0.771504 0.451938 0.447007 0.026799 
time: 1403636903.651666, t: 0.231409 1.312451 -0.890114 q: 0.773179 0.452061 0.444330 0.020135 
time: 1403636904.051666, t: 0.370885 1.362990 -0.810965 q: 0.769681 0.465787 0.435650 0.029019 
time: 1403636904.451667, t: 0.565953 1.472807 -0.753773 q: 0.767342 0.464775 0.440470 0.034016 
time: 1403636904.851666, t: 0.759587 1.564596 -0.643625 q: 0.772170 0.452215 0.445345 0.030374 
time: 1403636905.251667, t: 0.935043 1.614266 -0.508489 q: 0.776656 0.441027 0.448771 0.030084 
time: 1403636905.651666, t: 1.104975 1.684836 -0.445558 q: 0.776930 0.441744 0.448315 0.015981 
time: 1403636906.051666, t: 1.262898 1.657442 -0.377222 q: 0.774890 0.453294 0.440470 0.007417 
time: 1403636906.451667, t: 1.438741 1.605363 -0.332180 q: 0.761920 0.466527 0.448711 0.022101 
time: 1403636906.851666, t: 1.619670 1.571734 -0.292162 q: 0.764954 0.463433 0.446968 0.017148 
time: 1403636907.251667, t: 1.807861 1.528075 -0.252621 q: 0.769037 0.461139 0.442630 0.003386 
time: 1403636907.651666, t: 2.016574 1.465051 -0.223469 q: 0.765598 0.477963 0.430427 0.011958 
time: 1403636908.051666, t: 2.297654 1.419213 -0.202415 q: 0.761706 0.471666 0.444088 0.010998 
time: 1403636908.451667, t: 2.581658 1.377500 -0.137040 q: 0.756858 0.471829 0.452257 0.002598 
time: 1403636908.851666, t: 2.849235 1.322658 -0.076833 q: 0.758732 0.478991 0.441423 -0.006226 
time: 1403636909.251667, t: 3.166123 1.295743 -0.064782 q: 0.759397 0.483916 0.434869 -0.005479 
time: 1403636909.651666, t: 3.499386 1.206541 0.013298 q: 0.756113 0.481539 0.443173 0.003329 
time: 1403636910.051666, t: 3.808636 1.069686 0.151071 q: 0.751656 0.453875 0.478542 -0.002865 
time: 1403636910.451667, t: 4.064521 0.921970 0.248431 q: 0.755251 0.472394 0.454357 -0.000430 
time: 1403636910.851666, t: 4.315222 0.801850 0.287370 q: 0.754904 0.474993 0.452216 -0.001560 
time: 1403636911.251667, t: 4.542012 0.681310 0.337571 q: 0.748804 0.478678 0.458394 0.005911 
time: 1403636911.651666, t: 4.780871 0.628850 0.334436 q: 0.754872 0.471984 0.455406 -0.002060 
time: 1403636912.051666, t: 4.976475 0.529305 0.366584 q: 0.755826 0.481973 0.443139 0.007552 
time: 1403636912.451667, t: 5.202265 0.449790 0.429174 q: 0.754899 0.477264 0.449743 0.008784 
time: 1403636912.851666, t: 5.417909 0.385968 0.519190 q: 0.752343 0.487441 0.442678 0.020427 
time: 1403636913.251667, t: 5.655460 0.313354 0.653383 q: 0.750509 0.472592 0.461676 0.015779 
time: 1403636913.651666, t: 5.863085 0.299630 0.783231 q: 0.755243 0.475407 0.451012 0.013547 
time: 1403636914.051666, t: 6.063499 0.315170 0.912852 q: 0.755344 0.472107 0.454349 0.011729 
time: 1403636914.451667, t: 6.267857 0.346056 1.022685 q: 0.756275 0.469941 0.455041 0.011913 
time: 1403636914.851666, t: 6.474352 0.410508 1.108837 q: 0.756705 0.465588 0.458784 0.011954 
time: 1403636915.251667, t: 6.640674 0.432141 1.209407 q: 0.765624 0.463262 0.446282 0.006451 
time: 1403636915.651666, t: 6.810430 0.419630 1.318539 q: 0.758977 0.476123 0.443734 0.019012 
time: 1403636916.051666, t: 7.026115 0.476704 1.381924 q: 0.755262 0.472931 0.453467 0.016827 
time: 1403636916.451667, t: 7.226663 0.521925 1.446741 q: 0.759098 0.462363 0.458141 0.009839 
time: 1403636916.851666, t: 7.385498 0.554380 1.529596 q: 0.778261 0.434197 0.451774 0.041020 
time: 1403636917.251667, t: 7.487918 0.509567 1.622672 q: 0.784902 0.426534 0.445600 0.058639 
time: 1403636917.651666, t: 7.548287 0.431384 1.758773 q: 0.807233 0.384692 0.434809 0.106438 
time: 1403636918.051666, t: 7.598823 0.397977 1.817417 q: 0.817106 0.363837 0.429221 0.125415 
time: 1403636918.451667, t: 7.634702 0.357651 1.831713 q: 0.828623 0.358823 0.414647 0.112682 
time: 1403636918.851666, t: 7.722837 0.355131 1.733117 q: 0.818305 0.379432 0.413005 0.125837 
time: 1403636919.251667, t: 7.850120 0.428883 1.619990 q: 0.810235 0.380232 0.415854 0.161272 
time: 1403636919.651666, t: 7.953768 0.536282 1.578723 q: 0.822073 0.346139 0.424505 0.155499 
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time: 1403637010.451667, t: -1.656465 0.321579 -1.626010 q: 0.755933 0.444742 0.468270 0.107204 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720498599.241775983]: Shutdown request received.[0m
[33m[ WARN] [1720498599.241835682]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720498599.242819685]: Shutdown request received.[0m
[33m[ WARN] [1720498599.242846517]: Reason given for shutdown: [user request][0m
killed
