/SLAM-Hive/slam_hive_results/mapping_results/2999/2207_vins-fusion-stereo+MH_02_easy+Image_comb_test-17.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720499002.662748437]: init begins[0m
[31m[ERROR] [1720499002.663991825]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720499002.664673593]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/fa6f63d6-3daa-11ef-8c30-0242ac110005/roslaunch-365b8815548e-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://365b8815548e:41019/[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] [1720499003.772408102]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720499003.773118812]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720499003.779555900]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720499003.779749656]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720499003.779774716]: ROW: 96 COL: 150 [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] [1720499003.780020550]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720499003.780225200]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720499003.780396922]: 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://365b8815548e:11311/[0m
]2;roscore http://365b8815548e:11311/
[1msetting /run_id to fa6f63d6-3daa-11ef-8c30-0242ac110005[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] [1720499012.814121976]: 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: 316862156.17 
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! 
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! 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720499019.173224761]: Initialization finish![0m
time: 1403636862.851666, t: 0.248045 1.438241 3.457893 q: 0.980388 0.170352 0.049702 0.085725 
time: 1403636863.251667, t: 0.433828 1.485810 3.226766 q: 0.978340 0.163965 0.071150 0.104425 
feature tracking not enough, please slowly move you device! 
time: 1403636863.651666, t: 0.433828 1.485810 3.226766 q: 0.978340 0.163965 0.071150 0.104425 
feature tracking not enough, please slowly move you device! 
time: 1403636864.051666, t: 0.433828 1.485810 3.226766 q: 0.978340 0.163965 0.071150 0.104425 
feature tracking not enough, please slowly move you device! 
time: 1403636864.451667, t: 0.433828 1.485810 3.226766 q: 0.978340 0.163965 0.071150 0.104425 
time: 1403636864.851666, t: 0.433828 1.485810 3.226766 q: 0.978340 0.163965 0.071150 0.104425 
feature tracking not enough, please slowly move you device! 
time: 1403636865.251667, t: 0.433828 1.485810 3.226766 q: 0.978340 0.163965 0.071150 0.104425 
time: 1403636865.651666, t: 0.451615 1.475981 3.232515 q: 0.982353 0.164250 0.021071 0.086948 
feature tracking not enough, please slowly move you device! 
time: 1403636866.051666, t: 0.451615 1.475981 3.232515 q: 0.982353 0.164250 0.021071 0.086948 
unstable tracking...
time: 1403636866.451667, t: 0.821028 1.483018 2.958584 q: 0.990696 0.129068 0.010112 0.041965 
unstable tracking...
time: 1403636866.851666, t: 0.690081 1.499110 3.138370 q: 0.987785 0.145307 -0.039618 0.039962 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636868.051666, t: 0.597250 1.484049 3.118513 q: 0.936818 0.147785 -0.315343 -0.033024 
unstable tracking...
unstable tracking...
time: 1403636868.851666, t: 0.597451 1.442058 3.040574 q: 0.950483 0.114817 -0.287411 -0.028162 
unstable tracking...
time: 1403636869.251667, t: 0.622281 1.435423 3.049398 q: 0.943070 0.139838 -0.300125 -0.031454 
time: 1403636869.651666, t: 0.622202 1.446779 3.056992 q: 0.943157 0.137021 -0.301318 -0.029776 
time: 1403636870.051666, t: 0.608664 1.578156 3.121469 q: 0.952998 0.115883 -0.279667 -0.012321 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636871.251667, t: 0.625106 1.807339 3.451403 q: 0.927060 0.148175 -0.339663 -0.056861 
time: 1403636871.651666, t: 0.893126 1.936544 3.210486 q: 0.910044 0.099681 -0.397065 -0.064989 
feature tracking not enough, please slowly move you device! 
time: 1403636872.051666, t: 0.893126 1.936544 3.210486 q: 0.910044 0.099681 -0.397065 -0.064989 
feature tracking not enough, please slowly move you device! 
time: 1403636872.451667, t: 0.893126 1.936544 3.210486 q: 0.910044 0.099681 -0.397065 -0.064989 
time: 1403636872.851666, t: 0.730183 1.884551 3.239230 q: 0.909074 0.171481 -0.379191 0.019841 
feature tracking not enough, please slowly move you device! 
time: 1403636873.251667, t: 0.790058 1.892224 3.264115 q: 0.925964 0.212161 -0.293618 -0.106612 
feature tracking not enough, please slowly move you device! 
time: 1403636873.651666, t: 0.790058 1.892224 3.264115 q: 0.925964 0.212161 -0.293618 -0.106612 
feature tracking not enough, please slowly move you device! 
time: 1403636874.451667, t: 0.787694 1.879760 3.303795 q: 0.915473 0.223572 -0.320077 -0.097344 
feature tracking not enough, please slowly move you device! 
time: 1403636874.851666, t: 0.773337 1.851209 3.234656 q: 0.897612 0.267340 -0.317714 -0.147917 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636875.651666, t: 0.773337 1.851209 3.234656 q: 0.897612 0.267340 -0.317714 -0.147917 
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: 1403636876.851666, t: 1.548221 2.145897 2.332667 q: 0.743452 0.341228 -0.468006 -0.334384 
feature tracking not enough, please slowly move you device! 
time: 1403636877.251667, t: 1.548221 2.145897 2.332667 q: 0.743452 0.341228 -0.468006 -0.334384 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636877.651666, t: 1.548221 2.145897 2.332667 q: 0.743452 0.341228 -0.468006 -0.334384 
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! 
unstable tracking...
time: 1403636878.851666, t: 1.548221 2.145897 2.332667 q: 0.743452 0.341228 -0.468006 -0.334384 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636879.651666, t: 1.548221 2.145897 2.332667 q: 0.743452 0.341228 -0.468006 -0.334384 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636880.051666, t: 1.571353 2.147643 2.291434 q: 0.733277 0.356557 -0.465581 -0.344102 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636880.451667, t: 1.571353 2.147643 2.291434 q: 0.733277 0.356557 -0.465581 -0.344102 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636880.851666, t: 1.571353 2.147643 2.291434 q: 0.733277 0.356557 -0.465581 -0.344102 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636881.251667, t: 1.541714 2.031399 2.362101 q: 0.741112 0.350840 -0.464413 -0.334641 
unstable tracking...
time: 1403636881.651666, t: 1.499692 1.812431 2.472848 q: 0.727430 0.400910 -0.434798 -0.347946 
unstable tracking...
time: 1403636882.051666, t: 1.725074 2.013517 2.658186 q: 0.733919 0.374696 -0.455733 -0.336561 
unstable tracking...
time: 1403636882.451667, t: 1.443108 2.291282 1.960752 q: 0.722260 0.330013 -0.222357 -0.565676 
feature tracking not enough, please slowly move you device! 
time: 1403636883.251667, t: 4.587010 5.449279 -2.468653 q: 0.623317 0.349209 -0.442932 -0.541609 
time: 1403636883.651666, t: 2.347330 5.672624 3.700058 q: 0.595384 0.395463 -0.390428 -0.580252 
time: 1403636884.051666, t: 1.777337 3.489094 2.731080 q: 0.551879 0.398281 -0.587350 -0.437976 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636884.451667, t: 1.777337 3.489094 2.731080 q: 0.551879 0.398281 -0.587350 -0.437976 
unstable tracking...
time: 1403636884.851666, t: -94.554792 27.866762 42.608132 q: 0.612708 0.206042 -0.527045 -0.551688 
unstable tracking...
unstable tracking...
time: 1403636885.651666, t: -219.265636 43.111040 69.431184 q: -0.495127 -0.408510 0.398174 0.655306 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636886.851666, t: -242.892834 44.878817 66.823200 q: -0.383909 0.432725 0.742118 -0.338560 
unstable tracking...
time: 1403636887.251667, t: -192.958237 47.594484 96.378391 q: -0.261889 0.265863 0.700741 -0.608024 
unstable tracking...
time: 1403636887.651666, t: -130.441923 101.477852 -243.027641 q: 0.227107 -0.415310 0.862402 0.179453 
unstable tracking...
time: 1403636888.051666, t: -30711.832292 809.960992 6551.513760 q: 0.196213 0.292361 0.739200 0.574116 
unstable tracking...
time: 1403636888.451667, t: -218643.578493 125771.645582 -110216.482269 q: -0.466654 0.064843 0.843367 0.258383 
unstable tracking...
time: 1403636888.851666, t: -37782.475957 139293.160463 -187300.464974 q: 0.621269 -0.613755 -0.486077 -0.032543 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636889.251667, t: -37782.475957 139293.160463 -187300.464974 q: 0.621269 -0.613755 -0.486077 -0.032543 
unstable tracking...
time: 1403636889.651666, t: -37782.475483 139293.159438 -187300.466000 q: 0.621269 -0.613755 -0.486077 -0.032543 
unstable tracking...
time: 1403636890.051666, t: -37782.475051 139293.158604 -187300.466664 q: 0.621269 -0.613755 -0.486077 -0.032543 
unstable tracking...
unstable tracking...
time: 1403636890.851666, t: -37782.477835 139293.160504 -187300.465410 q: 0.621297 -0.613929 -0.485797 -0.032906 
unstable tracking...
time: 1403636891.251667, t: -37782.475101 139293.157764 -187300.465240 q: 0.621543 -0.613740 -0.485739 -0.032627 
unstable tracking...
time: 1403636891.651666, t: -37782.478314 139293.157397 -187300.469269 q: 0.622043 -0.613736 -0.485054 -0.033365 
unstable tracking...
time: 1403636892.051666, t: -37782.476656 139293.156805 -187300.467899 q: 0.621763 -0.613896 -0.485237 -0.032980 
unstable tracking...
unstable tracking...
time: 1403636892.851666, t: -37782.476942 139293.156563 -187300.466585 q: 0.621674 -0.613866 -0.485374 -0.033182 
time: 1403636893.251667, t: -37782.476514 139293.156914 -187300.467397 q: 0.622201 -0.613477 -0.485165 -0.033550 
time: 1403636893.651666, t: -37782.476401 139293.157084 -187300.467034 q: 0.621981 -0.613580 -0.485301 -0.033802 
time: 1403636894.051666, t: -37782.480766 139293.154773 -187300.469109 q: 0.622318 -0.613803 -0.484593 -0.033712 
time: 1403636894.451667, t: -37782.480553 139293.155848 -187300.469120 q: 0.622261 -0.613827 -0.484636 -0.033706 
time: 1403636894.851666, t: -37782.480684 139293.155817 -187300.468812 q: 0.622153 -0.613785 -0.484819 -0.033822 
time: 1403636895.251667, t: -37782.480668 139293.155916 -187300.469138 q: 0.622102 -0.613904 -0.484717 -0.034058 
time: 1403636895.651666, t: -37782.481091 139293.156559 -187300.469561 q: 0.622114 -0.614003 -0.484573 -0.034106 
time: 1403636896.051666, t: -37782.480899 139293.156282 -187300.469094 q: 0.621880 -0.613942 -0.484967 -0.033874 
time: 1403636896.451667, t: -37782.481101 139293.156178 -187300.468487 q: 0.621358 -0.613906 -0.485687 -0.033792 
time: 1403636896.851666, t: -37782.480259 139293.156373 -187300.469349 q: 0.622062 -0.613059 -0.485927 -0.032740 
time: 1403636897.251667, t: -37782.479862 139293.150100 -187300.469037 q: 0.622062 -0.613059 -0.485927 -0.032740 
feature tracking not enough, please slowly move you device! 
time: 1403636897.651666, t: -37782.432562 139293.108997 -187300.458656 q: 0.578373 -0.619504 -0.529371 -0.038284 
feature tracking not enough, please slowly move you device! 
time: 1403636898.051666, t: -37782.408910 139292.461335 -187300.445564 q: 0.578381 -0.620839 -0.527642 -0.040355 
time: 1403636898.451667, t: -37782.359218 139292.061950 -187300.304716 q: 0.582429 -0.613348 -0.531102 -0.050115 
time: 1403636898.851666, t: -37782.179884 139292.443111 -187300.341582 q: 0.590872 -0.592951 -0.545961 -0.034724 
time: 1403636899.251667, t: -37782.165368 139292.450436 -187300.382826 q: 0.596770 -0.614045 -0.515248 -0.036518 
time: 1403636899.651666, t: -37782.175279 139292.782844 -187300.421598 q: 0.551151 -0.677139 -0.484797 -0.051846 
time: 1403636900.051666, t: -37782.164931 139293.034008 -187300.480488 q: 0.530872 -0.688888 -0.487952 -0.074234 
time: 1403636900.451667, t: -37782.054071 139293.084751 -187300.530500 q: 0.534792 -0.680303 -0.495749 -0.073615 
time: 1403636900.851666, t: -37781.925155 139293.016925 -187300.583422 q: 0.539871 -0.673396 -0.502467 -0.051021 
time: 1403636901.251667, t: -37781.847444 139293.052472 -187300.651810 q: 0.548483 -0.675928 -0.489791 -0.048912 
time: 1403636901.651666, t: -37781.730276 139293.097535 -187300.726996 q: 0.542782 -0.671681 -0.499662 -0.067604 
time: 1403636902.051666, t: -37781.653902 139293.220349 -187300.894667 q: 0.544889 -0.671305 -0.497378 -0.071131 
time: 1403636902.451667, t: -37781.546021 139293.290114 -187301.029465 q: 0.542296 -0.674084 -0.496827 -0.068482 
time: 1403636902.851666, t: -37781.433283 139293.390561 -187301.133262 q: 0.528795 -0.674800 -0.508409 -0.080875 
time: 1403636903.251667, t: -37781.338456 139293.454571 -187301.281705 q: 0.538508 -0.671644 -0.503435 -0.073866 
time: 1403636903.651666, t: -37781.270654 139293.566362 -187301.356010 q: 0.539770 -0.667481 -0.507913 -0.071711 
time: 1403636904.051666, t: -37781.173494 139293.662121 -187301.483143 q: 0.548915 -0.670477 -0.495938 -0.056550 
time: 1403636904.451667, t: -37781.090930 139293.819309 -187301.518862 q: 0.549425 -0.674354 -0.489289 -0.063051 
time: 1403636904.851666, t: -37780.975482 139293.958695 -187301.652121 q: 0.542881 -0.675439 -0.493372 -0.075146 
time: 1403636905.251667, t: -37780.851605 139294.058036 -187301.799099 q: 0.536936 -0.677694 -0.495393 -0.083769 
time: 1403636905.651666, t: -37780.764094 139294.187203 -187301.875043 q: 0.537560 -0.670988 -0.504148 -0.081485 
time: 1403636906.051666, t: -37780.750890 139294.315394 -187301.958369 q: 0.542248 -0.665992 -0.507811 -0.067455 
time: 1403636906.451667, t: -37780.752558 139294.463783 -187301.995550 q: 0.555962 -0.666653 -0.491877 -0.067357 
time: 1403636906.851666, t: -37780.760722 139294.633081 -187302.061733 q: 0.551381 -0.666972 -0.496443 -0.068349 
time: 1403636907.251667, t: -37780.754882 139294.800452 -187302.149539 q: 0.547869 -0.662042 -0.507239 -0.065174 
time: 1403636907.651666, t: -37780.728372 139295.000877 -187302.219647 q: 0.554283 -0.663723 -0.500099 -0.046297 
time: 1403636908.051666, t: -37780.674974 139295.223506 -187302.281338 q: 0.559829 -0.657128 -0.500989 -0.061514 
time: 1403636908.451667, t: -37780.662150 139295.482774 -187302.330041 q: 0.562307 -0.648909 -0.508097 -0.067566 
time: 1403636908.851666, t: -37780.642987 139295.659829 -187302.386286 q: 0.561044 -0.643847 -0.517544 -0.053275 
time: 1403636909.251667, t: -37780.541503 139296.000514 -187302.646218 q: 0.568062 -0.643819 -0.510565 -0.046108 
time: 1403636909.651666, t: -37780.555212 139296.303485 -187302.724344 q: 0.570434 -0.648533 -0.501098 -0.053949 
time: 1403636910.051666, t: -37780.608014 139296.612721 -187302.930415 q: 0.570251 -0.639584 -0.505661 -0.100265 
time: 1403636910.451667, t: -37780.657698 139296.897413 -187303.038535 q: 0.568446 -0.644666 -0.506471 -0.069008 
time: 1403636910.851666, t: -37780.725291 139297.152494 -187303.126474 q: 0.569047 -0.644479 -0.506320 -0.066877 
time: 1403636911.251667, t: -37780.770989 139297.377390 -187303.244004 q: 0.578146 -0.645399 -0.494227 -0.070337 
time: 1403636911.651666, t: -37780.683188 139297.573819 -187303.273142 q: 0.573145 -0.642398 -0.504297 -0.067187 
time: 1403636912.051666, t: -37780.729721 139297.773567 -187303.316945 q: 0.572574 -0.650232 -0.496608 -0.052314 
time: 1403636912.451667, t: -37780.706077 139297.981184 -187303.414031 q: 0.573618 -0.648706 -0.496586 -0.059548 
time: 1403636912.851666, t: -37780.685168 139298.168985 -187303.563138 q: 0.580557 -0.655055 -0.481260 -0.047376 
time: 1403636913.251667, t: -37780.683555 139298.341856 -187303.748121 q: 0.583110 -0.650145 -0.481642 -0.072900 
time: 1403636913.651666, t: -37780.642782 139298.564643 -187303.850675 q: 0.576144 -0.655945 -0.483690 -0.061955 
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time: 1403637006.051666, t: -37771.136830 139307.396066 -187299.456885 q: -0.156556 0.412983 0.699318 -0.562041 
time: 1403637006.451667, t: -37771.265907 139307.375120 -187299.475233 q: -0.136553 0.407761 0.696994 -0.573833 
time: 1403637006.851666, t: -37771.158656 139307.423548 -187299.418182 q: -0.176579 0.402113 0.680972 -0.586005 
time: 1403637007.251667, t: -37771.442348 139307.424706 -187299.419615 q: -0.220804 0.361678 0.661032 -0.619251 
time: 1403637007.651666, t: -37771.352251 139307.417091 -187299.402634 q: -0.225360 0.345201 0.659617 -0.628454 
time: 1403637008.051666, t: -37771.276707 139307.375380 -187299.344943 q: -0.222442 0.362539 0.652812 -0.626834 
time: 1403637008.451667, t: -37771.077576 139307.213820 -187299.343713 q: -0.209762 0.366753 0.650125 -0.631530 
time: 1403637008.851666, t: -37771.192568 139307.575334 -187299.168417 q: 0.184015 -0.384283 -0.638845 0.640580 
feature tracking not enough, please slowly move you device! 
time: 1403637009.251667, t: -37771.102036 139307.469585 -187299.258394 q: -0.311565 0.188446 0.764396 -0.532085 
time: 1403637009.651666, t: -37764.955038 139277.014103 -187283.536724 q: 0.300824 0.662171 -0.310013 0.612313 
feature tracking not enough, please slowly move you device! 
time: 1403637010.451667, t: -37762.282415 139252.440049 -187275.672870 q: 0.228643 0.606086 -0.469919 0.599632 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720499167.520143391]: Shutdown request received.[0m
[33m[ WARN] [1720499167.520194889]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720499167.521064073]: Shutdown request received.[0m
[33m[ WARN] [1720499167.521083775]: Reason given for shutdown: [user request][0m
killed
