/SLAM-Hive/slam_hive_results/mapping_results/3002/2210_vins-fusion-stereo+MH_02_easy+Image_comb_test-20.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720499571.838680830]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720499571.840280742]: init begins[0m
[31m[ERROR] [1720499571.841319307]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/4db39ac0-3dac-11ef-8d7d-0242ac110005/roslaunch-8aed317dff8c-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://8aed317dff8c:46491/[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] [1720499572.995190724]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720499572.996842667]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720499573.004040102]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720499573.004263340]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720499573.004285660]: 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] [1720499573.004470415]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720499573.004710797]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720499573.004878732]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://8aed317dff8c:11311/[0m
]2;roscore http://8aed317dff8c:11311/
[1msetting /run_id to 4db39ac0-3dac-11ef-8d7d-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720499582.002222928]: 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: 316862725.36 
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! 
unstable tracking...
unstable tracking...
[0m[ INFO] [1720499594.683440469]: Initialization finish![0m
time: 1403636869.151666, t: 0.124483 -0.074785 0.075508 q: 0.957470 -0.205603 -0.202420 -0.002285 
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: 1403636872.151666, t: 0.154322 -1.195827 -0.486882 q: 0.945980 -0.272088 -0.173002 0.034063 
feature tracking not enough, please slowly move you device! 
time: 1403636873.151666, t: 0.154322 -1.195827 -0.486882 q: 0.945980 -0.272088 -0.173002 0.034063 
feature tracking not enough, please slowly move you device! 
time: 1403636874.151666, t: 0.154322 -1.195827 -0.486882 q: 0.945980 -0.272088 -0.173002 0.034063 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636875.151666, t: 0.154322 -1.195827 -0.486882 q: 0.945980 -0.272088 -0.173002 0.034063 
feature tracking not enough, please slowly move you device! 
time: 1403636876.151666, t: 0.154322 -1.195827 -0.486882 q: 0.945980 -0.272088 -0.173002 0.034063 
feature tracking not enough, please slowly move you device! 
time: 1403636877.151666, t: 0.154322 -1.195827 -0.486882 q: 0.945980 -0.272088 -0.173002 0.034063 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636879.151666, t: 0.154322 -1.195827 -0.486882 q: 0.945980 -0.272088 -0.173002 0.034063 
unstable tracking...
time: 1403636880.151666, t: 0.154322 -1.195827 -0.486882 q: 0.945980 -0.272088 -0.173002 0.034063 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636881.151666, t: 0.154322 -1.195827 -0.486882 q: 0.945980 -0.272088 -0.173002 0.034063 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636882.151666, t: 0.154322 -1.195827 -0.486882 q: 0.945980 -0.272088 -0.173002 0.034063 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636883.151666, t: 0.154322 -1.195827 -0.486882 q: 0.945980 -0.272088 -0.173002 0.034063 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636886.151666, t: 0.077159 -1.174268 -0.424435 q: 0.969841 -0.210297 -0.123220 0.000908 
time: 1403636887.151666, t: 0.077193 -1.174035 -0.424401 q: 0.969918 -0.210004 -0.123114 0.000978 
time: 1403636888.151666, t: 0.077218 -1.174105 -0.424404 q: 0.969885 -0.210110 -0.123193 0.000881 
time: 1403636889.151666, t: 0.077198 -1.174266 -0.424396 q: 0.969943 -0.209982 -0.122952 0.000975 
time: 1403636890.151666, t: 0.077246 -1.174165 -0.424537 q: 0.969882 -0.210661 -0.122273 0.000811 
time: 1403636891.151666, t: 0.077184 -1.174288 -0.424523 q: 0.969944 -0.210247 -0.122489 0.000777 
time: 1403636893.151666, t: 0.077204 -1.174278 -0.424491 q: 0.969953 -0.210209 -0.122490 0.000643 
time: 1403636894.151666, t: 0.077184 -1.174308 -0.424482 q: 0.969948 -0.210187 -0.122567 0.000739 
time: 1403636895.151666, t: 0.077226 -1.174237 -0.424511 q: 0.969912 -0.210379 -0.122517 0.000487 
time: 1403636896.151666, t: 0.077137 -1.173950 -0.424365 q: 0.969823 -0.210072 -0.123745 0.001148 
time: 1403636897.151666, t: 0.077786 -1.174675 -0.425266 q: 0.970780 -0.205405 -0.124073 -0.001326 
unstable tracking...
time: 1403636898.151666, t: 0.214296 -1.179147 -0.523093 q: 0.948337 -0.240459 -0.195568 -0.067738 
unstable tracking...
unstable tracking...
time: 1403636900.151666, t: 0.528579 -1.483555 -1.378501 q: 0.913505 -0.297445 -0.266521 -0.077473 
unstable tracking...
time: 1403636901.151666, t: 0.944647 -0.653885 -0.695314 q: 0.934463 -0.279478 -0.216291 -0.043468 
unstable tracking...
time: 1403636902.151666, t: 1.024914 -0.121222 -0.667951 q: 0.933826 -0.280873 -0.210963 -0.067634 
unstable tracking...
time: 1403636903.151666, t: 1.038625 0.416752 -0.712217 q: 0.933004 -0.284674 -0.208644 -0.070227 
time: 1403636904.151666, t: 1.238606 0.821427 -0.678343 q: 0.936315 -0.273694 -0.214182 -0.050321 
time: 1403636905.151666, t: 1.471741 1.332256 -0.643172 q: 0.930367 -0.290570 -0.211337 -0.072953 
time: 1403636906.151666, t: 1.585422 1.758481 -0.512296 q: 0.930605 -0.271173 -0.234351 -0.074288 
time: 1403636907.151666, t: 1.619233 2.137991 -0.212790 q: 0.935220 -0.263626 -0.223886 -0.075764 
time: 1403636908.151666, t: 1.701124 2.613620 0.181373 q: 0.940144 -0.253833 -0.216756 -0.068660 
time: 1403636909.151666, t: 1.831220 3.199738 0.654653 q: 0.940668 -0.240037 -0.232645 -0.058335 
time: 1403636910.151666, t: 1.757157 3.903236 1.224097 q: 0.940962 -0.249998 -0.206986 -0.096166 
time: 1403636911.151666, t: 1.695629 4.379011 1.610384 q: 0.947722 -0.237092 -0.201050 -0.072042 
time: 1403636912.151666, t: 1.720819 4.773212 2.028727 q: 0.943268 -0.243236 -0.218083 -0.059339 
time: 1403636913.151666, t: 1.684670 5.360251 2.348362 q: 0.945529 -0.244369 -0.203223 -0.070426 
time: 1403636914.151666, t: 1.735801 6.000616 2.494868 q: 0.944898 -0.242892 -0.209390 -0.065786 
time: 1403636915.151666, t: 1.868738 6.547086 2.625542 q: 0.940607 -0.250266 -0.217012 -0.074371 
time: 1403636916.151666, t: 1.968330 7.030265 2.810862 q: 0.942984 -0.247223 -0.209921 -0.074797 
time: 1403636917.151666, t: 2.074684 7.401322 2.973970 q: 0.926623 -0.308191 -0.203485 -0.070585 
time: 1403636918.151666, t: 1.903779 7.590539 3.021128 q: 0.892108 -0.408847 -0.181154 -0.064577 
time: 1403636919.151666, t: 2.056010 7.570395 3.228974 q: 0.897745 -0.410648 -0.157364 -0.025668 
time: 1403636920.151666, t: 2.254827 7.692924 3.214974 q: 0.887749 -0.434204 -0.146655 -0.043136 
time: 1403636921.151666, t: 2.315224 7.665864 2.938673 q: 0.877279 -0.440721 -0.182439 -0.053501 
time: 1403636922.151666, t: 2.236835 7.632142 2.652722 q: 0.874100 -0.451952 -0.170318 -0.051766 
time: 1403636923.151666, t: 2.183232 7.660932 2.502939 q: 0.850041 -0.507791 -0.136042 -0.032718 
time: 1403636924.151666, t: 2.134998 7.761026 2.383483 q: 0.815751 -0.548646 -0.181605 -0.023619 
time: 1403636925.151666, t: 2.180012 8.206421 2.477565 q: 0.822791 -0.551897 -0.134124 -0.020889 
time: 1403636926.151666, t: 2.137895 8.830801 2.501254 q: 0.808783 -0.570547 -0.137587 -0.037635 
time: 1403636927.151666, t: 2.147557 9.390881 2.560528 q: 0.785683 -0.606796 -0.120374 -0.003135 
time: 1403636928.151666, t: 2.108899 10.010716 2.394375 q: 0.723204 -0.678514 -0.128756 0.004083 
time: 1403636929.151666, t: 2.248662 10.830476 2.411497 q: 0.733512 -0.673604 -0.089562 -0.014036 
time: 1403636930.151666, t: 2.442505 11.392113 2.306925 q: 0.735610 -0.670764 -0.092821 -0.018360 
time: 1403636931.151666, t: 2.674177 11.683460 2.049681 q: 0.726936 -0.682693 -0.074082 -0.002414 
time: 1403636932.151666, t: 2.731356 11.626674 1.686332 q: 0.703967 -0.705247 -0.081760 -0.019282 
time: 1403636933.151666, t: 2.747262 11.162714 1.607822 q: 0.639940 -0.765699 -0.064202 -0.007732 
time: 1403636934.151666, t: 2.605213 10.701141 1.676067 q: 0.608803 -0.791692 -0.050025 0.008934 
time: 1403636935.151666, t: 2.504137 10.170437 1.643689 q: -0.461049 0.886234 0.012317 -0.043250 
time: 1403636936.151666, t: 2.445045 9.637945 1.504202 q: -0.479281 0.874160 0.030275 -0.072231 
time: 1403636937.151666, t: 2.406055 9.309302 1.033974 q: -0.474451 0.879256 0.024014 -0.035051 
time: 1403636938.151666, t: 2.220499 9.226842 0.917462 q: -0.449379 0.893283 0.009742 -0.002838 
time: 1403636939.151666, t: 2.013311 8.820247 0.862291 q: -0.436054 0.898664 -0.006127 -0.047148 
time: 1403636940.151666, t: 1.841711 8.181312 0.732015 q: -0.429779 0.901951 -0.021935 -0.035967 
time: 1403636941.151666, t: 1.636795 7.342078 0.578519 q: -0.402082 0.913857 -0.008221 -0.055921 
time: 1403636942.151666, t: 1.592982 6.606897 0.434557 q: -0.416103 0.907859 -0.012796 -0.049862 
time: 1403636943.151666, t: 1.399381 5.765747 0.264213 q: -0.398847 0.915653 -0.019406 -0.046098 
time: 1403636944.151666, t: 1.111771 5.056775 -0.147673 q: -0.420625 0.904805 0.013891 -0.064876 
time: 1403636945.151666, t: 5.372822 6.483297 2.203216 q: -0.256387 0.915688 0.250671 -0.181510 
time: 1403636946.151666, t: 3.567259 3.076298 2.215171 q: -0.347323 0.922391 0.097255 -0.138210 
time: 1403636947.151666, t: 0.171025 2.587170 -0.316266 q: -0.437933 0.894705 -0.033002 -0.081420 
time: 1403636948.151666, t: 0.705860 2.832875 0.102054 q: -0.402614 0.910966 0.049675 -0.074666 
time: 1403636949.151666, t: 0.628689 3.391458 0.022488 q: -0.425016 0.903870 0.025417 -0.041652 
time: 1403636950.151666, t: 0.585584 3.850166 0.136859 q: -0.427595 0.899649 0.034838 -0.081116 
time: 1403636951.151666, t: 0.651395 4.319281 0.115289 q: -0.432091 0.899807 0.024398 -0.055226 
time: 1403636952.151666, t: 0.765736 4.876120 0.072358 q: -0.423117 0.903246 0.049420 -0.051730 
time: 1403636953.151666, t: 0.691320 5.477836 0.104903 q: -0.430576 0.898937 0.029347 -0.075201 
time: 1403636954.151666, t: 0.768462 6.056358 0.090064 q: -0.428250 0.899827 0.055116 -0.062261 
time: 1403636955.151666, t: 0.842254 6.869737 0.089689 q: -0.406880 0.911149 0.043990 -0.048186 
time: 1403636956.151666, t: 0.824051 7.733064 0.307766 q: -0.388499 0.919712 0.005261 -0.056314 
time: 1403636957.151666, t: 0.975231 8.357046 0.470428 q: 0.512599 -0.855491 -0.066957 0.029892 
time: 1403636958.151666, t: 1.006068 9.006749 0.620631 q: 0.676882 -0.726304 -0.116680 0.026440 
time: 1403636959.151666, t: 0.870308 8.994628 0.804955 q: 0.718007 -0.682946 -0.134158 0.007222 
time: 1403636960.151666, t: 0.947342 9.367090 0.690970 q: 0.718082 -0.681005 -0.143173 0.009597 
time: 1403636961.151666, t: 0.847886 9.567824 1.014974 q: 0.782288 -0.602232 -0.159180 -0.001614 
time: 1403636962.151666, t: 0.956434 9.602396 1.418987 q: 0.884499 -0.421965 -0.197512 -0.024434 
time: 1403636963.151666, t: 1.085814 9.386129 1.830296 q: 0.941916 -0.265290 -0.198146 -0.056161 
time: 1403636964.151666, t: 1.111566 8.857948 2.098541 q: 0.930849 -0.289190 -0.215796 -0.057635 
time: 1403636965.151666, t: 0.971468 8.140310 2.222039 q: 0.955504 -0.176415 -0.220104 -0.086281 
time: 1403636966.151666, t: 0.923532 7.155782 2.182524 q: 0.964157 -0.140163 -0.203078 -0.097544 
time: 1403636967.151666, t: 0.747025 6.577819 2.817714 q: 0.966862 -0.150741 -0.196655 -0.061504 
time: 1403636968.151666, t: 0.688842 5.515404 2.589448 q: 0.958339 -0.171002 -0.212731 -0.084196 
time: 1403636969.151666, t: 0.471356 4.667980 1.941576 q: 0.957585 -0.170788 -0.217760 -0.080270 
time: 1403636970.151666, t: 0.392044 3.675513 1.504506 q: 0.954612 -0.180941 -0.223181 -0.078524 
time: 1403636971.151666, t: 0.216171 3.094320 1.122849 q: 0.950399 -0.166429 -0.255763 -0.060243 
time: 1403636972.151666, t: 0.179144 2.563374 1.181217 q: 0.958997 -0.164574 -0.222168 -0.062300 
time: 1403636973.151666, t: 0.273404 2.545659 1.062828 q: 0.950502 -0.193746 -0.235310 -0.060318 
time: 1403636974.151666, t: 0.102869 2.568713 0.986827 q: 0.943540 -0.235637 -0.225992 -0.055986 
time: 1403636975.151666, t: -0.567895 2.557967 0.385641 q: 0.864268 -0.487917 -0.031644 0.118223 
time: 1403636976.151666, t: 0.010631 2.612858 0.954085 q: 0.825126 -0.540811 -0.163124 -0.008957 
time: 1403636977.151666, t: -0.172715 2.765379 0.720337 q: 0.740505 -0.658716 -0.131069 0.023787 
time: 1403636978.151666, t: -0.261221 3.099660 0.349466 q: 0.747045 -0.654100 -0.118524 0.005380 
time: 1403636979.151666, t: -0.150642 3.457068 0.058233 q: 0.737431 -0.663461 -0.126549 -0.000402 
time: 1403636980.151666, t: -0.073640 4.120219 0.012108 q: 0.725769 -0.673561 -0.139890 -0.002290 
time: 1403636981.151666, t: -0.081018 4.830446 0.100323 q: 0.730197 -0.670289 -0.132239 -0.006153 
time: 1403636982.151666, t: -0.035647 5.386708 0.199921 q: 0.709935 -0.685412 -0.160039 0.024307 
time: 1403636983.151666, t: 0.085861 6.281578 0.330388 q: 0.722463 -0.679329 -0.128676 -0.001557 
time: 1403636984.151666, t: 0.236855 7.153930 0.493857 q: 0.707055 -0.691522 -0.147758 0.006105 
time: 1403636985.151666, t: 0.346074 8.122313 0.744550 q: 0.711958 -0.690846 -0.125841 -0.003400 
time: 1403636986.151666, t: 0.365489 8.918603 1.328970 q: 0.738447 -0.662911 -0.113488 -0.048634 
time: 1403636987.151666, t: 0.340208 9.199093 2.003687 q: 0.740339 -0.661182 -0.121109 -0.008329 
time: 1403636988.151666, t: 0.452640 9.176447 2.571567 q: 0.755583 -0.645233 -0.112857 0.005686 
time: 1403636989.151666, t: 0.488580 8.801531 2.704838 q: 0.760853 -0.644767 -0.072696 -0.009666 
time: 1403636990.151666, t: 0.534650 7.894385 2.247536 q: 0.748113 -0.653313 -0.114998 -0.016864 
time: 1403636991.151666, t: 0.467755 6.925073 1.787737 q: 0.751875 -0.645008 -0.136069 -0.011612 
time: 1403636992.151666, t: 0.445703 6.093302 1.487811 q: 0.745372 -0.655109 -0.123414 -0.004670 
time: 1403636993.151666, t: 0.425263 5.428043 1.370314 q: 0.731694 -0.670282 -0.123629 -0.007832 
time: 1403636994.151666, t: 0.551408 4.809296 1.279628 q: 0.806011 -0.574498 -0.138582 -0.033060 
time: 1403636995.151666, t: 0.389663 3.960539 1.135890 q: 0.807328 -0.575458 -0.129638 -0.016219 
time: 1403636996.151666, t: 0.498408 2.876558 0.840956 q: 0.805038 -0.574649 -0.147238 -0.003593 
time: 1403636997.151666, t: 0.465346 2.246266 0.516572 q: 0.873771 -0.446472 -0.190462 -0.030197 
time: 1403636998.151666, t: 0.478335 1.701416 0.389773 q: 0.877311 -0.433228 -0.202830 -0.038731 
time: 1403636999.151666, t: 0.712546 1.364929 0.482407 q: 0.875947 -0.443176 -0.178798 -0.065906 
time: 1403637000.151666, t: 0.616344 1.193581 0.708196 q: 0.873193 -0.449138 -0.178413 -0.063069 
time: 1403637001.151666, t: 0.457086 0.310479 0.599320 q: 0.875093 -0.449268 -0.170495 -0.057473 
time: 1403637002.151666, t: 0.387383 -0.475643 0.468703 q: 0.872311 -0.452842 -0.178719 -0.045476 
time: 1403637003.151666, t: 0.248369 -1.164057 0.354547 q: 0.869911 -0.457213 -0.178495 -0.048487 
time: 1403637004.151666, t: 0.110027 -1.829493 0.253460 q: 0.869243 -0.455619 -0.185911 -0.047597 
time: 1403637005.151666, t: 0.020948 -2.348891 0.242435 q: 0.866270 -0.465981 -0.176754 -0.034588 
time: 1403637006.151666, t: 3.483738 -3.449317 -0.554482 q: 0.869944 -0.418806 -0.257166 0.040794 
time: 1403637007.151666, t: 3.304686 -2.698433 -2.609576 q: 0.911081 -0.284075 -0.297605 -0.025776 
time: 1403637008.151666, t: 3.247452 -2.774236 -2.693115 q: 0.909253 -0.252691 -0.329630 -0.027408 
time: 1403637009.151666, t: 2.054642 -2.911482 -1.452348 q: 0.916865 -0.309141 -0.252566 -0.001230 
time: 1403637010.151666, t: 1.103688 -2.939284 0.008760 q: 0.924855 -0.329874 -0.189165 -0.006487 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720499736.787787391]: Shutdown request received.[0m
[33m[ WARN] [1720499736.787826683]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720499736.788827092]: Shutdown request received.[0m
[33m[ WARN] [1720499736.788865786]: Reason given for shutdown: [user request][0m
killed
