/SLAM-Hive/slam_hive_results/mapping_results/3004/2212_vins-fusion-stereo+MH_02_easy+Image_comb_test-22.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720499952.049434982]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720499952.050921743]: init begins[0m
[31m[ERROR] [1720499952.052104228]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/30501746-3dad-11ef-8f98-0242ac110005/roslaunch-905c7a144698-118.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://905c7a144698:45849/[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] [1720499953.156160213]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720499953.157003687]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720499953.163574717]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720499953.163811841]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720499953.163842843]: 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] [1720499953.164095525]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720499953.164299963]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720499953.164523646]: 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://905c7a144698:11311/[0m
]2;roscore http://905c7a144698:11311/
[1msetting /run_id to 30501746-3dad-11ef-8f98-0242ac110005[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] [1720499962.216736201]: 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: 316863105.58 
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] [1720499974.914912832]: Initialization finish![0m
time: 1403636869.151666, t: -0.123162 0.059999 -0.072218 q: 0.942391 -0.013491 -0.331623 -0.041756 
feature tracking not enough, please slowly move you device! 
time: 1403636870.151666, t: -0.126617 0.169535 -0.000248 q: 0.932001 -0.137938 -0.324919 0.082308 
feature tracking not enough, please slowly move you device! 
time: 1403636871.151666, t: -0.062763 0.189895 0.247216 q: 0.937956 -0.158631 -0.288619 0.108506 
feature tracking not enough, please slowly move you device! 
time: 1403636872.151666, t: -0.062763 0.189895 0.247216 q: 0.937956 -0.158631 -0.288619 0.108506 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636873.151666, t: -0.062763 0.189895 0.247216 q: 0.937956 -0.158631 -0.288619 0.108506 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636874.151666, t: -0.062763 0.189895 0.247216 q: 0.937956 -0.158631 -0.288619 0.108506 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636875.151666, t: -0.062763 0.189895 0.247216 q: 0.937956 -0.158631 -0.288619 0.108506 
feature tracking not enough, please slowly move you device! 
time: 1403636876.151666, t: -0.062763 0.189895 0.247216 q: 0.937956 -0.158631 -0.288619 0.108506 
feature tracking not enough, please slowly move you device! 
time: 1403636877.151666, t: -0.062763 0.189895 0.247216 q: 0.937956 -0.158631 -0.288619 0.108506 
feature tracking not enough, please slowly move you device! 
time: 1403636878.151666, t: -0.062763 0.189895 0.247216 q: 0.937956 -0.158631 -0.288619 0.108506 
feature tracking not enough, please slowly move you device! 
time: 1403636879.151666, t: -0.062763 0.189895 0.247216 q: 0.937956 -0.158631 -0.288619 0.108506 
feature tracking not enough, please slowly move you device! 
time: 1403636880.151666, t: -0.062763 0.189895 0.247216 q: 0.937956 -0.158631 -0.288619 0.108506 
feature tracking not enough, please slowly move you device! 
time: 1403636881.151666, t: -0.062763 0.189895 0.247216 q: 0.937956 -0.158631 -0.288619 0.108506 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636882.151666, t: -0.062763 0.189895 0.247216 q: 0.937956 -0.158631 -0.288619 0.108506 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636883.151666, t: -0.062763 0.189895 0.247216 q: 0.937956 -0.158631 -0.288619 0.108506 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636884.151666, t: -0.062763 0.189895 0.247216 q: 0.937956 -0.158631 -0.288619 0.108506 
unstable tracking...
time: 1403636885.151666, t: -0.062763 0.189895 0.247216 q: 0.937956 -0.158631 -0.288619 0.108506 
unstable tracking...
time: 1403636886.151666, t: -0.062763 0.189895 0.247216 q: 0.937956 -0.158631 -0.288618 0.108506 
unstable tracking...
unstable tracking...
time: 1403636888.151666, t: -0.062763 0.189895 0.247216 q: 0.937958 -0.158631 -0.288612 0.108505 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636891.151666, t: -0.062763 0.189895 0.247216 q: 0.937961 -0.158631 -0.288604 0.108504 
time: 1403636892.151666, t: -0.062763 0.189895 0.247216 q: 0.937963 -0.158630 -0.288600 0.108503 
time: 1403636893.151666, t: -0.062763 0.189895 0.247215 q: 0.937964 -0.158630 -0.288595 0.108502 
time: 1403636894.151666, t: -0.062763 0.189895 0.247215 q: 0.937965 -0.158630 -0.288594 0.108502 
time: 1403636895.151666, t: -0.062763 0.189895 0.247215 q: 0.937965 -0.158630 -0.288592 0.108502 
unstable tracking...
time: 1403636896.151666, t: -0.062763 0.189895 0.247215 q: 0.937964 -0.158630 -0.288595 0.108502 
unstable tracking...
feature tracking not enough, please slowly move you device! 
time: 1403636898.151666, t: -0.062763 0.189896 0.247216 q: 0.937953 -0.158630 -0.288628 0.108508 
feature tracking not enough, please slowly move you device! 
time: 1403636899.151666, t: -0.062763 0.189896 0.247216 q: 0.937953 -0.158630 -0.288628 0.108508 
time: 1403636900.151666, t: -0.014026 0.415112 0.297715 q: 0.914893 -0.280878 -0.271765 0.101102 
time: 1403636901.151666, t: 0.271134 0.648469 0.411839 q: 0.910563 -0.267622 -0.291261 0.120083 
time: 1403636902.151666, t: 0.105807 1.205448 0.425127 q: 0.913895 -0.270289 -0.283475 0.106682 
time: 1403636903.151666, t: -0.082685 1.721702 0.381327 q: 0.913177 -0.273741 -0.284396 0.101451 
time: 1403636904.151666, t: 0.000325 2.223120 0.388463 q: 0.914345 -0.256954 -0.289769 0.118245 
time: 1403636905.151666, t: 0.025679 2.845904 0.441131 q: 0.912809 -0.269559 -0.292351 0.092996 
time: 1403636906.151666, t: -0.062632 3.264741 0.570769 q: 0.913808 -0.248824 -0.307145 0.093293 
time: 1403636907.151666, t: -0.196327 3.647752 0.832517 q: 0.920105 -0.242733 -0.292738 0.093772 
time: 1403636908.151666, t: -0.282509 4.118629 1.241343 q: 0.923088 -0.235649 -0.286663 0.101009 
time: 1403636909.151666, t: -0.411180 4.640091 1.696865 q: 0.921583 -0.221776 -0.298705 0.110796 
time: 1403636910.151666, t: -0.749867 5.399581 2.126082 q: 0.931384 -0.228868 -0.272233 0.077673 
time: 1403636911.151666, t: -0.780250 5.799496 2.463849 q: 0.929622 -0.217825 -0.279968 0.099868 
time: 1403636912.151666, t: -1.021320 6.178566 2.956269 q: 0.920619 -0.227264 -0.297340 0.111358 
time: 1403636913.151666, t: -1.432018 6.711138 3.381017 q: 0.925010 -0.244842 -0.270658 0.105609 
time: 1403636914.151666, t: -1.649495 7.260252 3.550024 q: 0.921728 -0.249249 -0.277600 0.105974 
time: 1403636915.151666, t: -1.776453 7.850098 3.585306 q: 0.922376 -0.253267 -0.274543 0.098507 
time: 1403636916.151666, t: -1.905920 8.436695 3.702917 q: 0.925463 -0.253993 -0.262172 0.101352 
time: 1403636917.151666, t: -2.056803 8.976739 3.791556 q: 0.908412 -0.311505 -0.259704 0.101514 
time: 1403636918.151666, t: -2.283277 9.195069 3.893726 q: 0.866922 -0.411794 -0.261560 0.102268 
time: 1403636919.151666, t: -2.133508 9.269631 4.134513 q: 0.864879 -0.419736 -0.238031 0.138370 
time: 1403636920.151666, t: -1.963956 9.496230 4.090357 q: 0.857619 -0.442318 -0.232972 0.120700 
time: 1403636921.151666, t: -1.878624 9.395194 3.814119 q: 0.848031 -0.443754 -0.267800 0.110492 
time: 1403636922.151666, t: -1.912222 9.271087 3.568031 q: 0.842064 -0.459013 -0.260605 0.110999 
time: 1403636923.151666, t: -1.980697 9.242562 3.386392 q: 0.813478 -0.517948 -0.235668 0.120180 
time: 1403636924.151666, t: -2.029267 9.289281 3.266890 q: 0.774510 -0.548954 -0.288551 0.124590 
time: 1403636925.151666, t: -2.199772 9.752318 3.255137 q: 0.784475 -0.558533 -0.237886 0.126687 
time: 1403636926.151666, t: -2.417173 10.374110 3.207621 q: 0.773075 -0.573234 -0.248666 0.109195 
time: 1403636927.151666, t: -2.610336 10.913064 3.206241 q: 0.742751 -0.611152 -0.235963 0.138330 
time: 1403636929.151666, t: -2.822918 12.312036 3.021332 q: 0.680873 -0.681979 -0.236306 0.124402 
time: 1403636930.151666, t: -2.962255 12.798978 2.928754 q: 0.680943 -0.685595 -0.231623 0.112368 
time: 1403636931.151666, t: -2.847557 13.152614 2.668045 q: 0.666970 -0.703090 -0.213213 0.123919 
time: 1403636932.151666, t: -2.668171 13.186249 2.249498 q: 0.649055 -0.715618 -0.233065 0.110905 
time: 1403636933.151666, t: -2.408977 12.783709 2.139591 q: 0.586115 -0.768874 -0.230446 0.110441 
time: 1403636934.151666, t: -2.397625 12.285141 2.193068 q: 0.556469 -0.793379 -0.217457 0.116640 
time: 1403636935.151666, t: -2.233928 11.811034 2.159393 q: -0.402710 0.885354 0.198209 -0.121182 
time: 1403636936.151666, t: -1.987378 11.250147 2.027815 q: -0.418830 0.868194 0.214778 -0.157132 
time: 1403636937.151666, t: -1.937839 10.880920 1.726058 q: -0.413247 0.879421 0.206289 -0.115286 
time: 1403636938.151666, t: -2.035999 10.695374 1.513156 q: -0.399006 0.891386 0.200062 -0.078744 
time: 1403636939.151666, t: -2.053388 10.244965 1.506074 q: -0.376460 0.899987 0.184816 -0.118931 
time: 1403636940.151666, t: -1.893784 9.550345 1.462090 q: -0.371897 0.905705 0.173422 -0.106374 
time: 1403636941.151666, t: -1.740535 8.576683 1.571570 q: -0.332329 0.916908 0.188625 -0.115142 
time: 1403636942.151666, t: -1.362947 7.997376 1.504229 q: -0.341930 0.912789 0.188155 -0.120410 
time: 1403636943.151666, t: -1.271162 7.234084 1.314606 q: -0.328928 0.920005 0.187173 -0.101803 
time: 1403636944.151666, t: -1.201452 6.474620 1.128330 q: -0.333906 0.908250 0.210025 -0.139566 
time: 1403636945.151666, t: -0.964407 5.946556 0.989652 q: -0.377092 0.897099 0.204721 -0.105382 
time: 1403636946.151666, t: -0.998695 5.687636 1.179497 q: -0.361610 0.899607 0.213869 -0.119185 
time: 1403636947.151666, t: -1.306225 5.748978 1.345116 q: -0.350277 0.908079 0.165806 -0.158767 
time: 1403636948.151666, t: -1.419562 5.646425 1.201433 q: -0.335223 0.903333 0.228412 -0.139437 
time: 1403636949.151666, t: -1.666661 6.073328 1.031077 q: -0.369608 0.900749 0.198088 -0.113147 
time: 1403636950.151666, t: -1.865881 6.529255 1.074798 q: -0.366630 0.893834 0.207303 -0.153844 
time: 1403636952.151666, t: -2.146477 7.473105 0.963146 q: -0.367865 0.896422 0.219664 -0.113358 
time: 1403636953.151666, t: -2.426893 8.093239 0.815344 q: -0.377156 0.893306 0.200038 -0.140510 
time: 1403636954.151666, t: -2.575192 8.608100 0.693600 q: -0.383660 0.887249 0.222900 -0.126134 
time: 1403636955.151666, t: -1.342506 10.057676 1.705245 q: -0.290608 0.897758 0.299182 -0.141658 
time: 1403636956.151666, t: -3.326089 10.183398 2.297994 q: -0.273595 0.939361 0.203474 -0.036668 
time: 1403636957.151666, t: -3.027798 11.080251 2.273787 q: -0.389269 0.873587 0.281696 -0.077221 
time: 1403636958.151666, t: -3.081120 11.563379 2.636697 q: 0.541133 -0.770357 -0.307937 0.137478 
time: 1403636959.151666, t: -4.322061 11.730546 2.470367 q: 0.601886 -0.734572 -0.309189 0.050392 
time: 1403636960.151666, t: -4.891532 11.548748 2.535983 q: 0.608994 -0.760095 -0.224436 0.031775 
time: 1403636961.151666, t: -5.016329 11.768647 2.760226 q: 0.682269 -0.688420 -0.243880 0.033313 
time: 1403636962.151666, t: -5.045340 11.839552 3.103399 q: 0.801634 -0.504702 -0.319434 0.024917 
time: 1403636963.151666, t: -4.706597 11.592650 3.717255 q: 0.881048 -0.365335 -0.300230 0.012143 
time: 1403636964.151666, t: -4.714090 11.064549 3.998209 q: 0.868592 -0.380538 -0.317023 0.015335 
time: 1403636965.151666, t: -4.963427 10.870385 4.252150 q: 0.920791 -0.242602 -0.304930 0.017461 
time: 1403636966.151666, t: -3.873729 9.782390 5.116729 q: 0.900741 -0.219836 -0.372081 0.043511 
time: 1403636967.151666, t: -3.067072 10.189761 4.970697 q: 0.898942 -0.149440 -0.404928 0.074867 
time: 1403636968.151666, t: -1.479256 9.292800 6.459249 q: 0.826752 -0.165020 -0.536814 0.032853 
time: 1403636969.151666, t: -1.891160 8.206388 6.509491 q: 0.828169 -0.188330 -0.527401 0.022707 
time: 1403636970.151666, t: -1.337968 7.353065 6.284867 q: 0.823394 -0.188945 -0.534580 0.023363 
time: 1403636971.151666, t: -0.882474 6.515952 6.258678 q: 0.803774 -0.184925 -0.562095 0.061641 
time: 1403636972.151666, t: -1.994604 4.860869 6.167032 q: 0.828661 -0.225365 -0.512379 -0.000435 
time: 1403636973.151666, t: -1.306569 7.113286 5.654421 q: 0.834965 -0.186980 -0.516407 0.034594 
time: 1403636974.151666, t: -1.019196 5.985166 5.351095 q: 0.863551 -0.251765 -0.432782 0.059944 
time: 1403636975.151666, t: -0.511644 4.339910 5.053055 q: 0.757537 -0.510750 -0.403546 0.049225 
time: 1403636976.151666, t: -0.534857 4.258634 5.033347 q: 0.728293 -0.570157 -0.378476 0.035590 
time: 1403636977.151666, t: -1.095183 6.133530 4.737095 q: 0.652803 -0.657483 -0.376235 0.003415 
time: 1403636978.151666, t: -1.134385 6.324415 4.598554 q: 0.645221 -0.665066 -0.375240 -0.023919 
time: 1403636979.151666, t: -1.047021 6.731681 4.202553 q: 0.638548 -0.672478 -0.373792 -0.017589 
time: 1403636980.151666, t: -1.118500 7.351342 4.050992 q: 0.623495 -0.682982 -0.380253 -0.014039 
time: 1403636981.151666, t: -1.334411 8.029354 3.941292 q: 0.635937 -0.678394 -0.367811 -0.008986 
time: 1403636982.151666, t: -1.525790 8.590936 3.891824 q: 0.609379 -0.692097 -0.386535 0.015776 
time: 1403636983.151666, t: -1.473273 9.785729 4.173924 q: 0.618934 -0.689899 -0.375383 0.006935 
time: 1403636984.151666, t: -1.676872 10.597584 4.123336 q: 0.603519 -0.695273 -0.390193 0.010490 
time: 1403636985.151666, t: -2.143683 11.547349 4.054962 q: 0.624299 -0.694328 -0.357928 -0.006882 
time: 1403636986.151666, t: -2.453026 12.196380 4.662929 q: 0.647901 -0.669212 -0.361522 -0.041004 
time: 1403636987.151666, t: -2.803242 12.353783 5.304451 q: 0.641272 -0.672736 -0.369028 -0.003795 
time: 1403636988.151666, t: -2.954020 12.419672 5.849680 q: 0.656559 -0.663160 -0.359255 0.009187 
time: 1403636989.151666, t: -2.807453 12.126164 5.875383 q: 0.684423 -0.655167 -0.319858 -0.003622 
time: 1403636990.151666, t: -2.377805 11.226651 5.769159 q: 0.655888 -0.663065 -0.360481 -0.014467 
time: 1403636991.151666, t: -1.977295 10.277988 5.546492 q: 0.652895 -0.653904 -0.382205 -0.007568 
time: 1403636992.151666, t: -1.576181 9.479037 5.638604 q: 0.636738 -0.672729 -0.376820 -0.002682 
time: 1403636993.151666, t: -1.589009 8.828204 5.642075 q: 0.623020 -0.688907 -0.370035 -0.018091 
time: 1403636994.151666, t: -1.351035 8.281943 5.599889 q: 0.707335 -0.591284 -0.386968 -0.017800 
time: 1403636995.151666, t: -1.094424 7.347313 5.527547 q: 0.712026 -0.593630 -0.374983 0.003178 
time: 1403636996.151666, t: -0.875312 6.352031 5.356462 q: 0.707662 -0.591465 -0.386497 0.001802 
time: 1403636997.151666, t: -0.268611 5.461314 4.923988 q: 0.784187 -0.452439 -0.423887 0.025876 
time: 1403636998.151666, t: -0.012160 4.761393 5.238914 q: 0.781555 -0.444346 -0.437291 0.022471 
time: 1403636999.151666, t: 0.322792 4.484289 5.472856 q: 0.789297 -0.451895 -0.415641 -0.006663 
time: 1403637000.151666, t: 0.327275 4.049051 5.560909 q: 0.788863 -0.454467 -0.413699 -0.002875 
time: 1403637001.151666, t: 0.342257 3.494151 5.671565 q: 0.789942 -0.456964 -0.408870 0.000945 
time: 1403637002.151666, t: 0.537821 2.810433 5.645832 q: 0.784236 -0.460876 -0.415207 0.013082 
time: 1403637003.151666, t: 0.661354 2.133546 5.629215 q: 0.782495 -0.464140 -0.414919 0.010841 
time: 1403637004.151666, t: 0.636508 1.551533 5.768770 q: 0.777178 -0.466521 -0.422169 0.011236 
time: 1403637005.151666, t: 0.732759 1.065468 5.375575 q: 0.781246 -0.471163 -0.408894 0.021572 
time: 1403637006.151666, t: 0.747641 0.765215 5.347205 q: 0.786326 -0.462719 -0.409027 0.016734 
time: 1403637007.151666, t: 0.730673 0.701183 5.358407 q: 0.824058 -0.371945 -0.426682 0.022985 
time: 1403637008.151666, t: 0.656996 0.478454 5.162349 q: 0.826354 -0.358868 -0.433955 0.005990 
time: 1403637009.151666, t: 0.611703 0.828284 5.300244 q: 0.822853 -0.362598 -0.436854 0.024357 
time: 1403637010.151666, t: 0.663948 0.687746 5.257828 q: 0.848475 -0.352109 -0.393028 0.040483 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720500116.859557577]: Shutdown request received.[0m
[33m[ WARN] [1720500116.859609030]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720500116.860347884]: Shutdown request received.[0m
[33m[ WARN] [1720500116.860379229]: Reason given for shutdown: [user request][0m
killed
