/SLAM-Hive/slam_hive_results/mapping_results/3005/2213_vins-fusion-stereo+MH_02_easy+Image_comb_test-23.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720500141.280828632]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720500141.282468092]: init begins[0m
[31m[ERROR] [1720500141.283472670]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/a11b77b8-3dad-11ef-93c7-0242ac110005/roslaunch-c4884b98fcf6-118.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://c4884b98fcf6:42409/[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] [1720500142.391695342]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720500142.392643460]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720500142.397936221]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720500142.398132890]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720500142.398155940]: 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] [1720500142.398408222]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720500142.398597589]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720500142.398751046]: 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://c4884b98fcf6:11311/[0m
]2;roscore http://c4884b98fcf6:11311/
[1msetting /run_id to a11b77b8-3dad-11ef-93c7-0242ac110005[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] [1720500151.436226021]: 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: 316863294.79 
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! 
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! 
time: 1403636870.151666, t: -0.471179 0.630029 5.479171 q: 0.979958 -0.063284 0.026707 -0.186989 
feature tracking not enough, please slowly move you device! 
time: 1403636871.151666, t: -0.471179 0.630029 5.479171 q: 0.979958 -0.063284 0.026707 -0.186989 
feature tracking not enough, please slowly move you device! 
time: 1403636872.151666, t: -0.471179 0.630029 5.479171 q: 0.979958 -0.063284 0.026707 -0.186989 
time: 1403636873.151666, t: -0.471179 0.630029 5.479171 q: 0.979958 -0.063284 0.026707 -0.186989 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636875.151666, t: -0.471179 0.630029 5.479171 q: 0.979958 -0.063284 0.026707 -0.186989 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636876.151666, t: -0.471179 0.630029 5.479171 q: 0.979958 -0.063284 0.026707 -0.186989 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636877.151666, t: -0.471179 0.630029 5.479171 q: 0.979958 -0.063284 0.026707 -0.186989 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636878.151666, t: -0.471179 0.630029 5.479171 q: 0.979958 -0.063284 0.026707 -0.186989 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636879.151666, t: -0.471179 0.630029 5.479171 q: 0.979958 -0.063284 0.026707 -0.186989 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636881.151666, t: -0.471179 0.630029 5.479171 q: 0.979958 -0.063284 0.026707 -0.186989 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636882.151666, t: -0.471179 0.630029 5.479171 q: 0.979958 -0.063284 0.026707 -0.186989 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636883.151666, t: -0.471179 0.630029 5.479171 q: 0.979958 -0.063284 0.026707 -0.186989 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636885.151666, t: -0.471179 0.630029 5.479171 q: 0.979958 -0.063284 0.026707 -0.186989 
unstable tracking...
time: 1403636886.151666, t: -0.471179 0.630029 5.479172 q: 0.979958 -0.063274 0.026714 -0.186990 
unstable tracking...
time: 1403636887.151666, t: -0.471179 0.630030 5.479172 q: 0.979958 -0.063274 0.026714 -0.186990 
unstable tracking...
time: 1403636888.151666, t: -0.471192 0.630031 5.479165 q: 0.979970 -0.063179 0.026267 -0.187022 
unstable tracking...
time: 1403636889.151666, t: -0.471226 0.630062 5.479201 q: 0.980029 -0.062866 0.026461 -0.186789 
unstable tracking...
time: 1403636890.151666, t: -0.471226 0.630063 5.479201 q: 0.980029 -0.062866 0.026461 -0.186789 
unstable tracking...
time: 1403636891.151666, t: -0.471225 0.630063 5.479200 q: 0.980029 -0.062866 0.026461 -0.186789 
unstable tracking...
time: 1403636892.151666, t: -0.471225 0.630063 5.479200 q: 0.980029 -0.062866 0.026461 -0.186789 
unstable tracking...
time: 1403636893.151666, t: -0.471226 0.630062 5.479201 q: 0.980029 -0.062866 0.026461 -0.186789 
unstable tracking...
time: 1403636894.151666, t: -0.471224 0.630065 5.479206 q: 0.980032 -0.062807 0.026457 -0.186793 
time: 1403636895.151666, t: -0.471223 0.630064 5.479208 q: 0.980031 -0.062782 0.026476 -0.186805 
time: 1403636896.151666, t: -0.471181 0.630026 5.479253 q: 0.979966 -0.062804 0.026081 -0.187197 
time: 1403636897.151666, t: -0.470955 0.630019 5.479771 q: 0.979901 -0.058596 0.025729 -0.188943 
feature tracking not enough, please slowly move you device! 
time: 1403636898.151666, t: -0.469459 0.683432 5.382980 q: 0.979835 -0.078766 0.019529 -0.182584 
feature tracking not enough, please slowly move you device! 
time: 1403636899.151666, t: -0.399050 0.668791 5.393589 q: 0.988011 -0.071783 0.074646 -0.114497 
time: 1403636900.151666, t: 0.130693 0.604146 4.860333 q: 0.963511 -0.218667 0.029369 -0.151555 
time: 1403636901.151666, t: 1.105231 0.209135 4.185058 q: 0.978707 -0.179192 -0.049967 -0.086759 
time: 1403636902.151666, t: 0.306833 0.945081 4.918679 q: 0.946343 -0.203050 0.118168 -0.221908 
time: 1403636903.151666, t: 0.726958 1.244802 4.399425 q: 0.940284 -0.224169 0.065918 -0.247528 
time: 1403636904.151666, t: 0.997847 1.520109 4.442793 q: 0.948612 -0.210514 0.062891 -0.227738 
time: 1403636905.151666, t: 1.325296 1.851254 4.253877 q: 0.938182 -0.232924 0.068021 -0.246847 
time: 1403636906.151666, t: 1.462001 2.305992 4.338970 q: 0.950673 -0.214326 0.022008 -0.223160 
time: 1403636907.151666, t: 1.796731 2.563155 4.743173 q: 0.951990 -0.203787 0.027396 -0.226792 
time: 1403636908.151666, t: 2.214895 2.928516 5.212399 q: 0.956681 -0.187556 0.036941 -0.219589 
time: 1403636909.151666, t: 2.668541 3.210394 5.718337 q: 0.958802 -0.180733 0.017015 -0.218508 
time: 1403636910.151666, t: 3.584436 1.556368 3.557963 q: 0.972261 -0.135545 0.003522 -0.190590 
time: 1403636911.151666, t: 3.804473 1.214632 4.032147 q: 0.938078 -0.206457 -0.007274 -0.278087 
time: 1403636912.151666, t: 2.929435 1.529600 8.273147 q: 0.804444 -0.499338 -0.032770 -0.320089 
time: 1403636913.151666, t: 2.699143 2.689691 8.063034 q: 0.789370 -0.475837 0.028314 -0.386876 
time: 1403636914.151666, t: 2.890620 3.471874 5.902680 q: 0.832872 -0.326109 0.026134 -0.446423 
time: 1403636915.151666, t: 4.334952 1.662463 7.540520 q: 0.878292 -0.422608 0.060354 -0.215320 
time: 1403636916.151666, t: 4.033159 2.069375 7.025230 q: 0.800742 -0.429028 -0.068007 -0.412458 
time: 1403636917.151666, t: 4.394924 2.573487 9.675995 q: 0.726697 -0.610657 0.062264 -0.308437 
time: 1403636918.151666, t: 4.571044 2.749773 9.548507 q: 0.675730 -0.678041 0.106312 -0.268973 
time: 1403636919.151666, t: 4.849292 2.710560 9.772892 q: 0.690335 -0.670231 0.132965 -0.237801 
time: 1403636920.151666, t: 4.922910 2.712239 9.830424 q: 0.655485 -0.693852 0.150467 -0.257428 
time: 1403636921.151666, t: 5.577308 2.139260 8.821148 q: 0.697576 -0.678668 0.074586 -0.217333 
time: 1403636922.151666, t: 5.325841 2.122657 8.562043 q: 0.690799 -0.682113 0.088889 -0.222749 
time: 1403636923.151666, t: 5.465271 2.174065 8.913994 q: 0.638719 -0.735152 0.138144 -0.180294 
time: 1403636924.151666, t: 4.800581 2.318949 9.103653 q: 0.585154 -0.781942 0.140227 -0.162783 
time: 1403636925.151666, t: 5.353123 2.457184 8.967283 q: 0.584472 -0.777590 0.166420 -0.161401 
time: 1403636926.151666, t: 5.672492 3.018284 8.648833 q: 0.557207 -0.796203 0.164641 -0.168746 
time: 1403636927.151666, t: 6.014959 3.452062 8.489593 q: 0.522601 -0.819373 0.199498 -0.125370 
time: 1403636928.151666, t: 6.374027 3.704878 8.015306 q: -0.448551 0.866909 -0.205948 0.069688 
time: 1403636929.151666, t: 7.153661 3.804181 7.580834 q: -0.455829 0.860682 -0.219337 0.057777 
time: 1403636930.151666, t: 7.417373 3.327361 6.748665 q: 0.520573 -0.831935 0.184738 -0.052528 
time: 1403636931.151666, t: 7.101508 4.254340 6.825207 q: -0.423433 0.858860 -0.266168 0.110537 
time: 1403636932.151666, t: 6.857719 4.018945 6.489230 q: -0.399835 0.870043 -0.261768 0.120974 
time: 1403636933.151666, t: 6.601419 3.696472 6.699135 q: -0.327116 0.893824 -0.294507 0.085673 
time: 1403636934.151666, t: 6.497742 3.490079 7.068713 q: -0.294342 0.904900 -0.303477 0.049197 
feature tracking not enough, please slowly move you device! 
time: 1403636935.151666, t: 5.674128 7.417343 3.626348 q: -0.081956 0.855689 -0.510033 0.030748 
time: 1403636936.151666, t: 7.754793 4.451573 5.656562 q: -0.171511 0.848796 -0.483020 -0.129694 
time: 1403636937.151666, t: 9.708076 9.959823 -5.997003 q: 0.029436 0.862331 -0.386957 -0.325243 
time: 1403636938.151666, t: 13.880627 8.854810 -6.370026 q: 0.111072 0.728440 -0.329870 -0.590105 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636940.151666, t: 13.880627 8.854810 -6.370026 q: 0.111072 0.728440 -0.329870 -0.590105 
feature tracking not enough, please slowly move you device! 
time: 1403636942.151666, t: 14.025108 8.392746 -5.844768 q: 0.095177 0.749855 -0.308694 -0.577379 
time: 1403636943.151666, t: 15.819736 6.506241 -5.002798 q: 0.143418 0.750977 -0.308037 -0.566196 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636945.151666, t: 15.320457 6.508580 -4.551193 q: 0.090349 0.737514 -0.297387 -0.599560 
unstable tracking...
time: 1403636946.151666, t: 15.576372 6.530229 -4.267369 q: 0.098127 0.730430 -0.287958 -0.611493 
unstable tracking...
time: 1403636947.151666, t: 15.566817 6.793482 -4.057178 q: 0.123454 0.700941 -0.331618 -0.619249 
unstable tracking...
time: 1403636948.151666, t: 15.461050 6.684061 -3.767537 q: 0.102139 0.711860 -0.296187 -0.628567 
unstable tracking...
unstable tracking...
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636953.151666, t: 14.672201 8.199037 -5.313789 q: 0.104497 0.718701 -0.317827 -0.609537 
time: 1403636954.151666, t: 14.717130 8.428945 -5.744918 q: 0.097479 0.726699 -0.278475 -0.620370 
feature tracking not enough, please slowly move you device! 
time: 1403636956.151666, t: 14.446922 8.591842 -5.926235 q: 0.135081 0.725162 -0.319377 -0.594887 
feature tracking not enough, please slowly move you device! 
time: 1403636958.151666, t: 14.635543 9.474807 -6.278403 q: -0.251819 0.798955 -0.297937 -0.457702 
time: 1403636959.151666, t: 14.259916 9.297266 -6.542957 q: -0.351131 0.772325 -0.336207 -0.408884 
time: 1403636960.151666, t: 14.502709 9.535492 -6.219438 q: -0.273290 0.762504 -0.410428 -0.418866 
time: 1403636961.151666, t: 15.404645 10.526554 -5.409110 q: -0.253891 0.820683 -0.367741 -0.356069 
time: 1403636962.151666, t: 15.690499 10.515837 -5.737643 q: -0.453669 0.765806 -0.379465 -0.252452 
time: 1403636963.151666, t: 16.169313 11.838444 -6.389264 q: 0.564489 -0.726631 0.366136 0.138941 
time: 1403636964.151666, t: 16.566703 10.238251 -5.117870 q: 0.564433 -0.739549 0.333310 0.152927 
time: 1403636965.151666, t: 16.927797 10.676038 -4.551150 q: 0.612261 -0.713925 0.337299 0.040944 
feature tracking not enough, please slowly move you device! 
time: 1403636967.151666, t: 15.968675 11.418757 -3.636447 q: 0.630671 -0.661140 0.395882 -0.091787 
time: 1403636968.151666, t: 15.802266 10.893946 -2.052599 q: 0.598873 -0.679969 0.415780 -0.078225 
feature tracking not enough, please slowly move you device! 
time: 1403636969.151666, t: 16.349206 10.658697 -0.564382 q: 0.564699 -0.698061 0.439485 -0.026065 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636972.151666, t: 16.879105 10.814914 0.563531 q: 0.576686 -0.681749 0.450009 -0.011989 
time: 1403636973.151666, t: 16.680258 10.988086 0.438434 q: 0.582039 -0.668534 0.460485 0.047407 
time: 1403636974.151666, t: 16.573000 10.608660 0.468238 q: 0.560756 -0.666753 0.483563 0.084614 
feature tracking not enough, please slowly move you device! 
time: 1403636976.151666, t: 15.451405 9.473349 0.373779 q: -0.474742 0.729153 -0.455781 -0.187668 
time: 1403636977.151666, t: 15.045945 10.417982 0.113719 q: -0.358393 0.753106 -0.485410 -0.262227 
time: 1403636978.151666, t: 14.699701 10.173323 0.059143 q: -0.351235 0.765905 -0.476269 -0.251379 
time: 1403636979.151666, t: 14.392404 10.240436 -0.350201 q: -0.348466 0.778965 -0.457564 -0.249841 
time: 1403636980.151666, t: 14.174038 10.211727 -0.910383 q: -0.351319 0.782198 -0.440212 -0.266373 
time: 1403636981.151666, t: 14.019048 11.679078 -1.570925 q: -0.348092 0.788855 -0.448049 -0.236202 
time: 1403636982.151666, t: 14.878413 11.039284 -3.484224 q: -0.397782 0.696949 -0.425316 -0.418495 
time: 1403636983.151666, t: 15.188461 11.268530 -3.203092 q: -0.353083 0.738750 -0.435357 -0.374226 
time: 1403636984.151666, t: 14.922932 10.858244 -3.579375 q: -0.406257 0.742124 -0.386487 -0.367200 
time: 1403636985.151666, t: 16.918110 10.624240 -6.628472 q: -0.406559 0.636771 -0.329766 -0.566115 
time: 1403636986.151666, t: 13.338887 13.700797 -4.629105 q: -0.406988 0.712621 -0.548938 -0.158742 
time: 1403636987.151666, t: 15.603733 13.019505 -4.850853 q: -0.434851 0.744326 -0.446310 -0.240190 
time: 1403636988.151666, t: 16.336878 12.727261 -5.226860 q: -0.483570 0.726647 -0.400858 -0.278311 
time: 1403636989.151666, t: 15.492693 10.997907 -6.399743 q: 0.053783 -0.342151 0.828354 0.440306 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636992.151666, t: 16.070004 10.043196 -6.040475 q: 0.057346 -0.346345 0.784481 0.511220 
time: 1403636994.151666, t: 16.587781 8.503904 -5.449662 q: 0.115739 -0.371623 0.800460 0.455813 
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...
time: 1403636999.151666, t: 16.322159 7.171857 -4.438652 q: 0.214248 -0.349963 0.856312 0.313615 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637002.151666, t: 17.352498 5.825094 -3.861690 q: 0.215546 -0.339777 0.851948 0.335077 
unstable tracking...
unstable tracking...
time: 1403637004.151666, t: 18.107592 4.578258 -3.505863 q: 0.226248 -0.343956 0.838390 0.357222 
time: 1403637005.151666, t: 18.554218 4.016700 -3.395431 q: 0.211990 -0.329054 0.841352 0.372706 
feature tracking not enough, please slowly move you device! 
time: 1403637006.151666, t: 19.513140 6.225676 -4.820256 q: 0.170199 -0.366246 0.832655 0.378921 
time: 1403637007.151666, t: 19.216464 3.774736 -5.406671 q: 0.293829 -0.378887 0.802894 0.354219 
feature tracking not enough, please slowly move you device! 
time: 1403637009.151666, t: 19.318253 5.982702 -5.457372 q: 0.248284 -0.374730 0.832277 0.324419 
feature tracking not enough, please slowly move you device! 
time: 1403637010.151666, t: 19.262739 5.707199 -5.665160 q: 0.247709 -0.384988 0.829806 0.319136 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720500306.209407264]: Shutdown request received.[0m
[33m[ WARN] [1720500306.209462954]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720500306.210281543]: Shutdown request received.[0m
[33m[ WARN] [1720500306.210327696]: Reason given for shutdown: [user request][0m
killed
