/SLAM-Hive/slam_hive_results/mapping_results/2665/1876_vins-mono+MH_01_easy+Image_comb_test-21.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/f4cd4ee2-3c43-11ef-878a-0242ac110004/roslaunch-d6f6261a9ee3-118.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;/home/catkin_ws/src/VINS-Mono/vins_estimator/launch/euroc.launch
[1mstarted roslaunch server http://d6f6261a9ee3:38065/[0m

SUMMARY
========

PARAMETERS
 * /feature_tracker/config_file: /slamhive/mapping...
 * /feature_tracker/vins_folder: /home/catkin_ws/s...
 * /pose_graph/config_file: /slamhive/mapping...
 * /pose_graph/skip_cnt: 0
 * /pose_graph/skip_dis: 0.0
 * /pose_graph/visualization_shift_x: 0
 * /pose_graph/visualization_shift_y: 0
 * /rosdistro: kinetic
 * /rosversion: 1.12.17
 * /vins_estimator/config_file: /slamhive/mapping...
 * /vins_estimator/vins_folder: /home/catkin_ws/s...

NODES
  /
    feature_tracker (feature_tracker/feature_tracker)
    pose_graph (pose_graph/pose_graph)
    vins_estimator (vins_estimator/vins_estimator)

auto-starting new master
[1mprocess[master]: started with pid [129][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/home/catkin_ws/src/VINS-Mono/vins_estimator/launch/euroc.launch http://localhost:11311
[1msetting /run_id to f4cd4ee2-3c43-11ef-878a-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [156][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720344806.827228793]: init begins[0m
[0m[ INFO] [1720344806.831836358]: Loaded config_file: /slamhive/mappingtask.yaml[0m
result path /home/shaozu/output//vins_result_no_loop.csv
/home/shaozu/output/ not exists, trying to create it 
/home/shaozu not exists, trying to create it 
[0m[ INFO] [1720344806.832360526]: ROW: 240.000000 COL: 376.000000 [0m
[33m[ WARN] [1720344806.832382420]:  fix extrinsic param [0m
[0m[ INFO] [1720344806.832553636]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720344806.832592209]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720344806.832621903]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720344806.832674703]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [181][0m
vocabulary_file/home/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_pattern.yml
/home/shaozu/output/pose_graph/ not exists, trying to create it 
no previous pose graph
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720344814.060598949]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316708235.34 
[0m[ INFO] [1720344821.803039545]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344822.283983046]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344822.782612746]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344823.273663782]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344823.795383917]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344824.261929664]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344824.792880912]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344825.294768061]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344825.804126115]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344826.280982105]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344826.803312231]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344827.261458027]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344827.786850808]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344828.269583036]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344828.773339596]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344829.296153940]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344829.791408618]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344830.288011957]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344830.795236781]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344831.294399604]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344831.791977612]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344832.292675901]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344832.801776429]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344833.290236845]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344833.790897899]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344834.297186826]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344834.802174763]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344835.294709628]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344835.768366336]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344836.274672222]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344836.773418372]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344837.265566187]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344837.765104816]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344838.261569834]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344838.775420554]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344839.265445116]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344839.762272920]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344840.265055654]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344840.768331652]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344841.264042193]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344841.768175045]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344842.268537746]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344842.766922132]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344843.265399309]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344843.764700960]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344844.264326185]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344844.773436815]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344845.267230816]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344845.764888762]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344846.264050098]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344846.754966551]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344847.269492362]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344847.755654242]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344848.267562404]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344848.754540914]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344849.261937967]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344849.767964475]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344850.255046571]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344850.767726408]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344851.268176903]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344851.768134994]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344852.266991887]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344852.754255936]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344853.278953625]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344853.780679464]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344854.266681638]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344854.764520763]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344855.265783623]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344855.771412832]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344856.265992731]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344856.764212167]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344857.272379777]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344857.764826837]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344858.263807122]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344858.756073623]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344859.270847334]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344859.764224277]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344860.287679646]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344860.787572899]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344861.292364960]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344861.792152728]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344862.268596885]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344862.776153980]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344864.281007042]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344864.779612926]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344865.287956656]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344865.768810794]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344866.282015053]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344866.769351067]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344867.268402984]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344867.786231742]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344869.268642516]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344869.753617817]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344870.790689985]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344871.268538989]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344871.790529788]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344872.288094150]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344873.283698392]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344875.285823331]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344875.771320925]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344876.279821700]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344876.767520840]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344877.254091481]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344880.772675982]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344881.285426334]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344882.288934240]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344882.773995836]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344883.254820835]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344883.759724665]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344884.291356166]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344884.769088480]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344885.270558704]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344886.280318609]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344886.771120948]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344887.797317298]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344888.291194960]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344888.778199909]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344889.259871541]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344889.768302278]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344890.274238141]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344890.770670451]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344891.272119622]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344891.775475941]: Not enough features or parallax; Move device around[0m
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[0m[ INFO] [1720344892.771187947]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344893.283202957]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344894.785049477]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344895.284218882]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344895.792267892]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344896.277798106]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344896.785208995]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344897.291562193]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344897.788658924]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344898.268758159]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344898.784277004]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344899.282863572]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344899.771780869]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344900.288099478]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344900.766086237]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344901.272821227]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344902.290440665]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344902.762467559]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344903.279258330]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344903.752362197]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344904.265620303]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344904.774590588]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344905.289811669]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344905.775560028]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344906.270984962]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344906.791748444]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344907.288564127]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344907.791492052]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344908.288753374]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344908.763960652]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344909.268348234]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344909.752863296]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344910.779828249]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344911.292655279]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344911.783397966]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344912.287885767]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344912.769802541]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344913.762267221]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344914.291595221]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344914.789443685]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344915.288784223]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344915.772778213]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344916.275527327]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344916.791259156]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344917.287233535]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344918.275464354]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344919.282923952]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344919.776982899]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344920.273637009]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344920.774803789]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344921.286621052]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344922.281611363]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344922.772290124]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344923.288624647]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344923.788547366]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344924.282185508]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344924.761831858]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344925.288213970]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344925.771188167]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344926.267867039]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344926.769703209]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344927.299522865]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344927.789234564]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344928.274472175]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344928.801992177]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344929.268582316]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344929.774942409]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344930.267263817]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344930.777967860]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344931.279078896]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344932.793981203]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344933.275785238]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344934.304853024]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344934.789701329]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344935.276991004]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344935.753187415]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344937.291270555]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344938.268354746]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344938.772568244]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344939.266311911]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344939.757109479]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344940.765774435]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344941.271537945]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344942.274429598]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344942.767993599]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344943.284037554]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344944.250471554]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344944.772844017]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344945.250210895]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344946.293239427]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344946.778579263]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344948.276421543]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344948.768883656]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344949.287110273]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344949.765794167]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344950.270091370]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344950.760063462]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344951.266175906]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344951.764011609]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344952.264502779]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344952.788577255]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344953.257272133]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344953.787036775]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344954.275486029]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344954.762078557]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344955.279632662]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344955.774009607]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344956.259484322]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344957.771267568]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344958.264561489]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344958.767510870]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344960.265573943]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344960.764960923]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344961.266727633]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344961.762996634]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344962.275387033]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344962.766837129]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344963.260706871]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344963.766970719]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344964.276843737]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344966.781306865]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344967.283376579]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344967.763256093]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720344970.789528374]: gyroscope bias initial calibration -0.00287342   0.0213594    0.076838[0m
[0m[ INFO] [1720344970.826473291]: Initialization finish![0m
position: -1.841731, 1.235296, 0.131124
position: -1.962627, 1.395057, 0.254029
position: -2.073566, 1.539800, 0.352583
position: -2.201383, 1.670873, 0.398906
position: -2.324084, 1.863287, 0.336887
position: -2.449509, 2.052977, 0.329460
position: -2.532783, 2.167929, 0.464642
position: -2.563567, 2.249456, 0.527916
position: -2.534406, 2.204157, 0.444682
position: -2.545116, 2.088895, 0.382776
position: -2.528282, 1.947093, 0.304345
position: -2.554784, 1.830863, 0.166736
position: -2.616304, 1.754552, 0.001593
position: -2.686026, 1.754056, -0.189428
position: -2.724519, 1.716144, -0.320186
position: -2.630630, 1.687533, -0.378202
position: -2.470838, 1.652912, -0.545255
position: -2.297790, 1.527087, -0.630319
position: -2.093298, 1.352083, -0.819854
position: -1.959733, 1.212917, -1.161852
position: -1.910755, 1.080205, -1.440902
position: -1.861130, 0.961695, -1.544277
position: -1.828762, 0.929923, -1.459573
position: -1.785852, 1.030363, -1.385774
position: -1.689228, 1.060179, -1.343142
position: -1.524556, 1.066840, -1.195952
position: -1.321211, 1.087784, -0.996828
position: -1.144299, 1.101405, -0.849227
position: -1.026100, 1.079485, -0.731999
position: -0.986308, 1.021031, -0.578931
position: -0.999568, 1.026561, -0.527605
position: -1.152650, 1.114930, -0.357985
position: -1.238855, 1.230499, -0.071297
position: -1.267539, 1.336295, 0.163402
position: -1.290179, 1.359202, 0.365044
position: -1.280203, 1.348758, 0.581804
position: -1.274945, 1.349221, 0.652062
position: -1.256980, 1.433765, 0.663741
position: -1.252236, 1.546465, 0.687370
position: -1.343748, 1.727829, 0.700023
position: -1.572901, 1.936293, 0.610592
position: -1.744410, 2.172331, 0.652842
position: -1.868734, 2.438343, 0.664614
position: -2.027296, 2.729118, 0.682556
position: -2.268876, 3.023405, 0.724484
position: -2.482895, 3.306876, 0.715024
position: -2.605372, 3.619977, 0.838421
position: -2.685673, 3.913840, 0.838585
position: -2.748377, 4.172385, 0.792153
position: -2.830198, 4.262275, 0.688504
position: -3.073733, 4.371044, 0.656534
position: -3.264276, 4.402958, 0.583426
position: -3.349942, 4.445737, 0.528952
position: -3.327723, 4.537449, 0.538396
position: -3.312842, 4.585991, 0.579745
position: -3.269569, 4.676950, 0.518744
[0m[ INFO] [1720344998.776671362]:  little feature 1[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720345002.652657046]: Shutdown request received.[0m
[33m[ WARN] [1720345002.652723958]: Reason given for shutdown: [user request][0m
position: -3.305724, 4.664606, 0.458544
position: -3.331118, 4.636745, 0.426683
[33m[ WARN] [1720345002.653603996]: Shutdown request received.[0m
[33m[ WARN] [1720345002.653642786]: Reason given for shutdown: [user request][0m
killed
