/SLAM-Hive/slam_hive_results/mapping_results/3000/2208_vins-fusion-stereo+MH_02_easy+Image_comb_test-18.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720499192.523102242]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720499192.524525183]: init begins[0m
[31m[ERROR] [1720499192.525809387]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/6b9955da-3dab-11ef-a82c-0242ac110005/roslaunch-24f12a881b07-118.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://24f12a881b07:34239/[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] [1720499193.629271980]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720499193.631023981]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720499193.637013192]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720499193.637265065]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720499193.637290008]: ROW: 480 COL: 752 [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] [1720499193.637489350]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720499193.637716526]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720499193.637873071]: 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://24f12a881b07:11311/[0m
]2;roscore http://24f12a881b07:11311/
[1msetting /run_id to 6b9955da-3dab-11ef-a82c-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] [1720499202.642031395]: 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: 316862346.00 
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...
unstable tracking...
[0m[ INFO] [1720499215.362161205]: Initialization finish![0m
time: 1403636869.151666, t: -559.080157 91.497723 -734.429469 q: -0.368864 0.701582 0.115699 -0.598612 
unstable tracking...
time: 1403636870.151666, t: -667.255181 119.949007 -600.583451 q: -0.379858 0.799388 0.094620 -0.455777 
unstable tracking...
time: 1403636871.151666, t: -511.709166 1.970883 -656.854958 q: -0.411553 0.746531 -0.006850 -0.522752 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636873.151666, t: -511.709166 1.970883 -656.854958 q: -0.411553 0.746531 -0.006850 -0.522752 
feature tracking not enough, please slowly move you device! 
time: 1403636874.151666, t: -511.709166 1.970883 -656.854958 q: -0.411553 0.746531 -0.006850 -0.522752 
feature tracking not enough, please slowly move you device! 
time: 1403636875.151666, t: -511.709166 1.970883 -656.854958 q: -0.411553 0.746531 -0.006850 -0.522752 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636876.151666, t: -511.709166 1.970883 -656.854958 q: -0.411553 0.746531 -0.006850 -0.522752 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636877.151666, t: -511.709166 1.970883 -656.854958 q: -0.411553 0.746531 -0.006850 -0.522752 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636878.151666, t: -511.709166 1.970883 -656.854958 q: -0.411553 0.746531 -0.006850 -0.522752 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636880.151666, t: -511.709166 1.970883 -656.854958 q: -0.411553 0.746531 -0.006850 -0.522752 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636881.151666, t: -511.709166 1.970883 -656.854958 q: -0.411553 0.746531 -0.006850 -0.522752 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636882.151666, t: -511.709166 1.970883 -656.854958 q: -0.411553 0.746531 -0.006850 -0.522752 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636883.151666, t: -511.709166 1.970883 -656.854958 q: -0.411553 0.746531 -0.006850 -0.522752 
unstable tracking...
time: 1403636884.151666, t: -511.739136 1.987076 -656.821072 q: -0.457536 0.732136 -0.033903 -0.503476 
unstable tracking...
time: 1403636885.151666, t: -511.748271 1.995721 -656.838066 q: -0.461793 0.732429 -0.042287 -0.498504 
unstable tracking...
time: 1403636886.151666, t: -511.770954 2.002422 -656.820506 q: -0.467423 0.742424 -0.038909 -0.478339 
time: 1403636887.151666, t: -511.770775 2.002423 -656.820444 q: -0.467471 0.742517 -0.038787 -0.478157 
time: 1403636888.151666, t: -511.770787 2.002439 -656.820457 q: -0.467469 0.742518 -0.038703 -0.478165 
time: 1403636889.151666, t: -511.770699 2.002459 -656.820332 q: -0.467508 0.742564 -0.038983 -0.478033 
time: 1403636890.151666, t: -511.770606 2.002371 -656.820483 q: -0.467019 0.743202 -0.038788 -0.477534 
time: 1403636891.151666, t: -511.770553 2.002417 -656.820354 q: -0.467409 0.742968 -0.038722 -0.477523 
time: 1403636892.151666, t: -511.770539 2.002427 -656.820327 q: -0.467481 0.742906 -0.038736 -0.477547 
time: 1403636893.151666, t: -511.770562 2.002426 -656.820380 q: -0.467512 0.742937 -0.038706 -0.477473 
time: 1403636894.151666, t: -511.770556 2.002424 -656.820333 q: -0.467492 0.742890 -0.038731 -0.477562 
time: 1403636895.151666, t: -511.770579 2.002402 -656.820426 q: -0.467458 0.743028 -0.038506 -0.477399 
time: 1403636896.151666, t: -511.770904 2.002512 -656.820554 q: -0.467620 0.742210 -0.038245 -0.478533 
time: 1403636897.151666, t: -511.769442 2.001718 -656.820352 q: -0.472058 0.740613 -0.038298 -0.476641 
unstable tracking...
time: 1403636898.151666, t: -511.699608 1.912115 -656.887472 q: -0.464207 0.729080 0.013068 -0.502776 
unstable tracking...
time: 1403636899.151666, t: -511.655670 2.021182 -657.029751 q: -0.467865 0.724889 -0.005950 -0.505572 
unstable tracking...
unstable tracking...
time: 1403636901.151666, t: -511.908364 2.072027 -657.558372 q: -0.370010 0.767532 -0.000624 -0.523438 
unstable tracking...
time: 1403636902.151666, t: -512.224483 1.913858 -657.931737 q: -0.375365 0.775694 0.017527 -0.507043 
unstable tracking...
time: 1403636903.151666, t: -512.592753 1.711501 -658.275013 q: -0.373043 0.777701 0.020183 -0.505581 
time: 1403636904.151666, t: -512.780795 1.649736 -658.677423 q: -0.376595 0.767676 0.004676 -0.518486 
time: 1403636905.151666, t: -513.018701 1.532272 -659.185031 q: -0.368925 0.778568 0.026935 -0.506953 
time: 1403636906.151666, t: -513.302192 1.547714 -659.559477 q: -0.389217 0.760935 0.033889 -0.518014 
time: 1403636907.151666, t: -513.631656 1.722584 -659.875748 q: -0.395274 0.764048 0.025788 -0.509239 
time: 1403636908.151666, t: -514.005011 1.986635 -660.292156 q: -0.400762 0.762837 0.014333 -0.507212 
time: 1403636909.151666, t: -514.443424 2.253119 -660.815279 q: -0.411736 0.748251 0.010416 -0.520083 
time: 1403636910.151666, t: -515.108664 2.540383 -661.300980 q: -0.412561 0.771822 0.023015 -0.483275 
time: 1403636911.151666, t: -515.607382 2.858380 -661.635602 q: -0.412481 0.766442 -0.000649 -0.492368 
time: 1403636912.151666, t: -515.960627 3.123905 -661.979892 q: -0.406928 0.755544 0.005021 -0.513358 
time: 1403636913.151666, t: -516.458055 3.250867 -662.336597 q: -0.406752 0.765921 0.004368 -0.497895 
time: 1403636914.151666, t: -516.910302 3.206422 -662.775639 q: -0.407519 0.761090 0.003287 -0.504639 
time: 1403636915.151666, t: -517.247050 3.183670 -663.227043 q: -0.403683 0.761808 0.018734 -0.506298 
time: 1403636916.151666, t: -517.573344 3.198366 -663.637273 q: -0.406127 0.764226 0.013914 -0.500825 
time: 1403636917.151666, t: -517.849720 3.183195 -663.970992 q: -0.351101 0.787037 0.029467 -0.506391 
time: 1403636918.151666, t: -518.127590 3.158134 -663.986898 q: -0.253532 0.819977 0.055394 -0.510188 
time: 1403636919.151666, t: -518.047731 3.419295 -664.167367 q: -0.232112 0.821906 0.017068 -0.519908 
time: 1403636920.151666, t: -518.010638 3.385904 -664.468277 q: -0.211725 0.832684 0.033410 -0.510582 
time: 1403636921.151666, t: -517.921204 3.018005 -664.457297 q: -0.222855 0.818619 0.061072 -0.525804 
time: 1403636922.151666, t: -517.898016 2.762217 -664.295492 q: -0.209703 0.827419 0.060103 -0.517485 
time: 1403636923.151666, t: -517.941965 2.610675 -664.226513 q: -0.140775 0.848649 0.053043 -0.507113 
time: 1403636924.151666, t: -518.009697 2.463195 -664.218915 q: -0.101975 0.827850 0.095142 -0.543335 
time: 1403636925.151666, t: -518.326716 2.423409 -664.503854 q: -0.088703 0.852024 0.064872 -0.511839 
time: 1403636926.151666, t: -518.787889 2.292921 -664.885292 q: -0.073755 0.852823 0.091365 -0.508828 
time: 1403636927.151666, t: -519.208577 2.172820 -665.213976 q: -0.018787 0.854010 0.073816 -0.514651 
time: 1403636928.151666, t: -519.635560 1.884370 -665.554861 q: 0.070277 0.840941 0.114119 -0.524267 
time: 1403636929.151666, t: -520.104393 1.585091 -666.122283 q: 0.056471 0.863353 0.101028 -0.491147 
time: 1403636930.151666, t: -520.357175 1.348826 -666.654525 q: 0.053523 0.859521 0.102748 -0.497797 
time: 1403636931.151666, t: -520.447466 1.073165 -666.940982 q: 0.082233 0.864612 0.092391 -0.486979 
time: 1403636932.151666, t: -520.287597 0.722653 -666.925392 q: 0.101817 0.860975 0.121686 -0.483268 
time: 1403636933.151666, t: -519.890809 0.779635 -666.684964 q: 0.188176 0.848559 0.144165 -0.473026 
time: 1403636934.151666, t: -519.648735 0.929281 -666.272613 q: 0.228841 0.843739 0.140980 -0.464609 
time: 1403636935.151666, t: -518.797979 0.458647 -666.150358 q: 0.352567 0.790710 0.152910 -0.476543 
time: 1403636936.151666, t: -518.973583 0.999144 -665.398435 q: 0.381850 0.792073 0.145737 -0.453400 
time: 1403636937.151666, t: -518.654807 0.835846 -665.315228 q: 0.391471 0.792157 0.174464 -0.434512 
time: 1403636938.151666, t: -518.595546 0.625727 -665.025064 q: 0.396222 0.798678 0.204160 -0.404278 
time: 1403636939.151666, t: -518.372764 0.735164 -664.658369 q: 0.430437 0.783164 0.170017 -0.415298 
time: 1403636940.151666, t: -517.976945 0.766026 -664.126166 q: 0.436172 0.789479 0.170627 -0.396690 
time: 1403636941.151666, t: -517.401587 0.832569 -663.428134 q: 0.461133 0.766819 0.176108 -0.410282 
time: 1403636942.151666, t: -516.814567 0.892475 -662.893970 q: 0.445774 0.778393 0.173081 -0.406734 
time: 1403636943.151666, t: -516.275138 1.073084 -662.230123 q: 0.464649 0.771275 0.182813 -0.394735 
time: 1403636944.151666, t: -515.866727 0.848384 -661.583554 q: 0.449953 0.761590 0.168269 -0.434980 
time: 1403636945.151666, t: -515.543750 0.796152 -661.294841 q: 0.404956 0.792249 0.190367 -0.414865 
time: 1403636946.151666, t: -515.411205 0.925340 -661.035027 q: 0.415256 0.781120 0.185799 -0.427661 
time: 1403636947.151666, t: -515.685510 1.067416 -660.736080 q: 0.435898 0.790535 0.139969 -0.406762 
time: 1403636948.151666, t: -515.720898 0.775240 -660.696740 q: 0.427911 0.766155 0.183900 -0.442808 
time: 1403636949.151666, t: -516.149976 0.519402 -660.984684 q: 0.402929 0.797959 0.179225 -0.410838 
time: 1403636950.151666, t: -516.557761 0.517124 -661.271227 q: 0.408512 0.784267 0.154824 -0.440537 
time: 1403636951.151666, t: -516.868423 0.380907 -661.632489 q: 0.400729 0.796887 0.167152 -0.420057 
time: 1403636952.151666, t: -517.245250 0.196947 -662.081342 q: 0.400893 0.785743 0.186723 -0.432466 
time: 1403636953.151666, t: -517.760474 0.093844 -662.422359 q: 0.407209 0.789640 0.153411 -0.432568 
time: 1403636954.151666, t: -518.144385 -0.055427 -662.814792 q: 0.396137 0.785505 0.178853 -0.440532 
time: 1403636956.151666, t: -519.256482 -0.272019 -664.072285 q: 0.443866 0.783097 0.157572 -0.406096 
time: 1403636957.151666, t: -519.770560 0.964741 -663.883380 q: 0.341663 0.824941 0.202564 -0.402127 
time: 1403636958.151666, t: -520.753287 1.474111 -665.779719 q: 0.367571 0.841212 -0.034994 -0.395006 
time: 1403636959.151666, t: -518.719290 3.480457 -664.416918 q: 0.447860 0.735527 -0.449667 -0.237110 
time: 1403636960.151666, t: -518.735129 5.600403 -661.607573 q: 0.286596 0.894374 -0.118472 -0.322369 
time: 1403636961.151666, t: -521.324146 0.849003 -663.887096 q: 0.096964 0.891325 0.116834 -0.427186 
time: 1403636962.151666, t: -520.591777 -2.194830 -667.305965 q: -0.454987 0.771391 0.058661 -0.441023 
time: 1403636963.151666, t: -519.542820 -2.349755 -666.459758 q: 0.556936 -0.746386 0.015648 0.363985 
time: 1403636964.151666, t: -519.244452 -2.176908 -666.106288 q: 0.537024 -0.754798 0.012298 0.376475 
time: 1403636965.151666, t: -518.119535 -1.599949 -665.812829 q: 0.571944 -0.758464 -0.029238 0.311059 
time: 1403636966.151666, t: -519.525794 -1.349144 -665.182379 q: 0.623927 -0.743615 -0.052482 0.234515 
time: 1403636967.151666, t: -518.776448 -0.943690 -664.812897 q: 0.622292 -0.729859 -0.095802 0.266235 
time: 1403636968.151666, t: -518.806955 -1.750636 -663.467768 q: 0.591378 -0.761892 -0.043433 0.260586 
unstable tracking...
time: 1403636969.151666, t: -518.595038 -2.272161 -662.463262 q: 0.586487 -0.762828 -0.047942 0.268009 
unstable tracking...
time: 1403636970.151666, t: -518.181851 -2.817049 -661.689761 q: 0.584546 -0.761677 -0.056681 0.273755 
unstable tracking...
time: 1403636972.151666, t: -518.039746 -3.002859 -660.579460 q: 0.589854 -0.757880 -0.039769 0.275876 
time: 1403636973.151666, t: -517.975330 -3.069228 -660.542576 q: 0.562852 -0.771951 -0.058402 0.289618 
time: 1403636974.151666, t: -518.163077 -3.147116 -660.301705 q: 0.521817 -0.800859 -0.055934 0.288450 
time: 1403636975.151666, t: -518.294538 -3.215477 -660.272719 q: -0.278506 0.904039 0.045671 -0.321033 
time: 1403636977.151666, t: -518.597135 -3.360512 -660.463974 q: -0.063815 0.945992 0.039003 -0.315444 
time: 1403636978.151666, t: -518.753231 -3.752318 -660.712549 q: -0.070191 0.949634 0.039687 -0.302809 
time: 1403636979.151666, t: -518.877053 -4.036281 -661.083461 q: -0.059207 0.950408 0.051733 -0.300904 
time: 1403636980.151666, t: -519.063562 -4.108091 -661.679034 q: -0.045849 0.947594 0.058642 -0.310683 
time: 1403636981.151666, t: -519.370825 -4.011774 -662.312486 q: -0.048127 0.950329 0.054440 -0.302645 
time: 1403636982.151666, t: -519.575440 -3.986560 -662.841770 q: -0.030917 0.937292 0.054786 -0.342820 
time: 1403636983.151666, t: -519.783002 -3.887913 -663.701131 q: -0.042885 0.949482 0.046914 -0.307319 
time: 1403636984.151666, t: -520.054900 -3.774885 -664.595462 q: -0.028930 0.943674 0.059336 -0.324226 
time: 1403636985.151666, t: -520.340756 -3.437381 -665.509450 q: -0.024953 0.951226 0.051255 -0.303183 
time: 1403636986.151666, t: -520.598789 -2.964349 -666.285642 q: -0.073648 0.959389 0.069362 -0.263321 
time: 1403636987.151666, t: -520.744422 -2.249129 -666.590170 q: -0.069819 0.951795 0.046055 -0.295111 
time: 1403636988.151666, t: -520.669709 -1.665077 -666.684408 q: -0.085363 0.951298 0.027551 -0.294935 
time: 1403636989.151666, t: -520.467034 -1.550518 -666.345083 q: -0.085487 0.962669 0.007475 -0.256719 
time: 1403636990.151666, t: -520.078332 -2.006301 -665.540778 q: -0.078892 0.955438 0.045004 -0.280871 
time: 1403636991.151666, t: -519.713471 -2.394573 -664.642661 q: -0.086691 0.947957 0.054727 -0.301440 
time: 1403636992.151666, t: -519.329717 -2.613850 -663.891752 q: -0.067610 0.949752 0.043781 -0.302461 
time: 1403636993.151666, t: -519.074941 -2.819621 -663.259574 q: -0.053747 0.951040 0.050603 -0.300123 
time: 1403636994.151666, t: -518.760003 -2.841969 -662.701587 q: -0.173760 0.941810 0.052432 -0.282934 
time: 1403636995.151666, t: -518.497610 -2.982580 -661.847998 q: -0.171824 0.940682 0.035128 -0.290448 
time: 1403636996.151666, t: -518.030821 -3.281610 -660.951725 q: -0.174371 0.934201 0.040588 -0.308572 
time: 1403636997.151666, t: -517.656801 -3.599136 -660.224532 q: -0.320517 0.892669 0.056228 -0.311847 
time: 1403636998.151666, t: -517.359976 -3.764918 -659.757600 q: -0.337035 0.885172 0.062750 -0.314547 
time: 1403636999.151666, t: -517.212418 -3.805238 -659.704435 q: -0.330836 0.902458 0.048674 -0.271566 
time: 1403637000.151666, t: -516.884179 -3.654314 -659.170295 q: -0.325734 0.900035 0.062105 -0.282802 
time: 1403637001.151666, t: -516.631924 -3.634543 -658.563870 q: -0.323838 0.900215 0.056053 -0.285658 
time: 1403637002.151666, t: -516.344032 -3.681642 -657.837792 q: -0.317099 0.897996 0.054639 -0.300109 
time: 1403637003.151666, t: -516.163675 -3.722987 -657.171529 q: -0.311165 0.900331 0.058073 -0.298677 
time: 1403637004.151666, t: -515.975360 -3.763918 -656.512129 q: -0.311226 0.897976 0.062054 -0.304840 
time: 1403637005.151666, t: -515.794028 -3.776474 -656.024195 q: -0.298972 0.901464 0.046434 -0.309551 
time: 1403637006.151666, t: -515.771214 -3.819043 -655.708671 q: -0.306464 0.901164 0.050344 -0.302404 
time: 1403637007.151666, t: -515.578953 -3.352724 -655.124341 q: -0.350379 0.886559 0.072121 -0.293335 
time: 1403637008.151666, t: -515.547305 -3.368583 -655.057480 q: -0.366528 0.873639 0.075505 -0.310983 
time: 1403637009.151666, t: -515.821737 -3.990485 -655.354061 q: -0.403807 0.859875 0.047510 -0.308703 
time: 1403637010.151666, t: -515.951964 -3.887256 -655.465775 q: -0.426473 0.862651 0.003068 -0.271928 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720499357.426685200]: Shutdown request received.[0m
[33m[ WARN] [1720499357.426750914]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720499357.427623753]: Shutdown request received.[0m
[33m[ WARN] [1720499357.427651870]: Reason given for shutdown: [user request][0m
killed
