/SLAM-Hive/slam_hive_results/mapping_results/2977/2185_vins-fusion-stereo+MH_01_easy+Image_comb_test-25.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720494604.978786226]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720494604.980735012]: init begins[0m
[31m[ERROR] [1720494604.981847581]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/bd363b66-3da0-11ef-97b8-0242ac110005/roslaunch-9485827f6f2a-119.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://9485827f6f2a:44693/[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 [156][0m
[0m[ INFO] [1720494606.135526901]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720494606.137468360]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://9485827f6f2a:11311/[0m
]2;roscore http://9485827f6f2a:11311/
[1msetting /run_id to bd363b66-3da0-11ef-97b8-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720494606.144797070]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720494606.145040999]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720494606.145066119]: ROW: 384 COL: 601 [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] [1720494606.145426329]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720494606.145673759]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720494606.145847974]: 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
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 [243][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720494615.124878510]: 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: 316858036.39 
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] [1720494637.346228040]: Initialization finish![0m
time: 1403636600.763556, t: -0.088632 0.252495 -0.348208 q: 0.964676 0.124100 0.120385 0.198764 
time: 1403636602.763556, t: -0.037260 0.242462 -0.439193 q: 0.967527 0.120396 0.114024 0.190777 
time: 1403636606.763556, t: -0.101011 0.212018 -0.538491 q: 0.959218 0.143534 0.142120 0.197741 
time: 1403636608.763556, t: -0.102128 0.211848 -0.539444 q: 0.959201 0.143799 0.141799 0.197859 
time: 1403636610.763556, t: -0.103084 0.210962 -0.540579 q: 0.959111 0.144650 0.141064 0.198199 
time: 1403636612.763556, t: -0.101262 0.209666 -0.537761 q: 0.959697 0.142983 0.140573 0.196919 
time: 1403636614.763556, t: -0.102189 0.210647 -0.538668 q: 0.959423 0.143597 0.140991 0.197506 
time: 1403636616.763556, t: -0.102563 0.211067 -0.539051 q: 0.959372 0.143704 0.141094 0.197605 
time: 1403636618.763556, t: -0.102996 0.211643 -0.539612 q: 0.959344 0.143950 0.140980 0.197642 
time: 1403636620.763556, t: -0.103171 0.211858 -0.539903 q: 0.959407 0.143768 0.140909 0.197520 
time: 1403636622.763556, t: -0.103150 0.212429 -0.540055 q: 0.959440 0.143566 0.141240 0.197270 
time: 1403636624.763556, t: -0.124701 0.238880 -0.550651 q: 0.966392 0.129637 0.118751 0.187559 
feature tracking not enough, please slowly move you device! 
time: 1403636628.763556, t: 0.264788 0.961043 -0.700706 q: 0.970138 0.109489 0.088152 0.197670 
time: 1403636630.763556, t: 0.452500 1.343254 0.123187 q: 0.967883 -0.090246 0.033309 0.232267 
unstable tracking...
time: 1403636632.763556, t: 0.154404 1.790029 0.764827 q: 0.960289 -0.034938 0.055614 0.271167 
unstable tracking...
time: 1403636634.763556, t: 0.423851 2.221117 1.772799 q: 0.971081 0.032556 0.102677 0.213071 
unstable tracking...
time: 1403636636.763556, t: 1.045833 3.006745 3.062643 q: 0.971814 0.041569 0.138594 0.186121 
time: 1403636638.763556, t: 1.518361 3.206650 4.022009 q: 0.968886 0.081429 0.096083 0.213065 
time: 1403636640.763556, t: 1.903184 3.718829 5.261579 q: 0.965082 0.108103 0.141498 0.192118 
time: 1403636642.763556, t: 2.155753 4.072520 5.923336 q: 0.969646 0.051470 0.101840 0.216256 
time: 1403636644.763556, t: 2.229382 4.421479 6.278435 q: 0.968368 0.067309 0.112284 0.212426 
time: 1403636646.763556, t: -0.135582 7.293742 7.514404 q: 0.923592 0.250067 0.250062 0.148034 
feature tracking not enough, please slowly move you device! 
time: 1403636650.763556, t: 0.229821 8.010443 7.861324 q: 0.943958 0.110446 0.204888 0.234021 
time: 1403636652.763556, t: -0.207769 8.922264 14.584900 q: 0.652524 0.099540 0.728275 0.184172 
time: 1403636654.763556, t: -0.313193 9.272775 14.771728 q: 0.620792 0.045130 0.740834 0.252479 
time: 1403636656.763556, t: -0.607227 9.791017 15.445027 q: 0.585669 0.028153 0.709085 0.391660 
feature tracking not enough, please slowly move you device! 
time: 1403636660.763556, t: -0.650504 10.111237 16.403277 q: 0.576258 0.017081 0.715534 0.394521 
time: 1403636662.763556, t: -0.392141 9.683284 16.505881 q: 0.557348 0.051713 0.724683 0.401900 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636666.763556, t: 0.341460 10.300879 15.766538 q: 0.585149 0.131792 0.753699 0.268642 
unstable tracking...
time: 1403636670.763556, t: 0.479100 8.547449 14.463655 q: 0.539043 0.211320 0.765056 0.281897 
feature tracking not enough, please slowly move you device! 
time: 1403636674.763556, t: 0.957540 8.423887 14.179258 q: 0.508987 0.277769 0.796026 0.173548 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636678.763556, t: 0.957540 8.423887 14.179258 q: 0.508987 0.277769 0.796026 0.173548 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636680.763556, t: 0.957540 8.423887 14.179258 q: 0.508987 0.277769 0.796026 0.173548 
unstable tracking...
time: 1403636682.763556, t: 0.197047 7.296499 13.695303 q: 0.482379 0.312471 0.800791 0.168541 
unstable tracking...
time: 1403636684.763556, t: -2.254244 7.674854 11.682968 q: 0.413934 0.362464 0.830763 0.084325 
unstable tracking...
time: 1403636686.763556, t: -3.340871 5.886554 11.291467 q: 0.409425 0.401579 0.803577 0.159280 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636692.763556, t: -3.726838 5.023421 13.006774 q: 0.178812 0.495854 0.842436 0.111607 
unstable tracking...
time: 1403636694.763556, t: -3.317953 5.435290 12.760816 q: 0.182480 0.484531 0.848250 0.111366 
unstable tracking...
time: 1403636696.763556, t: -2.006801 5.918871 12.513710 q: 0.183075 0.475229 0.852153 0.120319 
time: 1403636698.763556, t: -3.452280 5.333246 12.685726 q: 0.293765 0.442267 0.815121 0.231688 
feature tracking not enough, please slowly move you device! 
time: 1403636700.763556, t: -3.452280 5.333246 12.685726 q: 0.293765 0.442267 0.815121 0.231688 
time: 1403636702.763556, t: -4.421963 5.502694 13.551099 q: 0.407267 0.395703 0.758571 0.319567 
time: 1403636704.763556, t: -3.409055 5.881318 13.620283 q: 0.404844 0.411857 0.761919 0.293178 
time: 1403636706.763556, t: -1.738750 6.467862 12.524769 q: 0.372365 0.417366 0.773767 0.297379 
time: 1403636708.763556, t: -0.683296 7.165687 11.095524 q: 0.348218 0.420521 0.774434 0.319621 
time: 1403636710.763556, t: 0.029475 7.302670 9.814230 q: 0.322671 0.444177 0.790965 0.270120 
time: 1403636712.763556, t: -0.214507 7.228350 9.406296 q: 0.244864 0.428689 0.856266 0.151904 
time: 1403636714.763556, t: -1.595679 5.983204 9.642278 q: 0.267963 0.445685 0.841084 0.148786 
time: 1403636716.763556, t: -2.144772 6.374838 10.284420 q: 0.234583 0.431125 0.870154 0.043987 
feature tracking not enough, please slowly move you device! 
time: 1403636720.763556, t: -2.777877 5.585749 10.699009 q: 0.238890 0.421563 0.873505 0.046961 
time: 1403636722.763556, t: -3.031326 5.310386 11.247129 q: 0.283208 0.410172 0.849601 0.172425 
time: 1403636724.763556, t: -3.068818 5.476271 11.827600 q: 0.328376 0.424837 0.797012 0.276505 
time: 1403636728.763556, t: -4.583712 5.086832 12.283679 q: 0.303793 0.431091 0.807178 0.265206 
time: 1403636730.763556, t: -5.458308 4.537711 12.641855 q: 0.317290 0.434847 0.818726 0.199808 
time: 1403636732.763556, t: -5.658050 4.269953 12.832034 q: 0.283166 0.405800 0.841022 0.218691 
time: 1403636734.763556, t: -6.614731 3.828833 13.306368 q: 0.299004 0.431320 0.828950 0.193395 
time: 1403636736.763556, t: -7.324372 3.562161 13.388071 q: 0.276378 0.413304 0.852558 0.161058 
time: 1403636738.763556, t: -7.858603 3.367329 13.336876 q: 0.291930 0.446984 0.825832 0.181613 
time: 1403636740.763556, t: -7.373033 3.261890 13.303648 q: 0.366321 0.408659 0.733627 0.400747 
time: 1403636742.763556, t: -6.985269 2.969045 13.667005 q: 0.363024 0.407305 0.733911 0.404587 
time: 1403636744.763556, t: -6.061014 2.978183 13.597246 q: 0.361283 0.407667 0.708994 0.447895 
time: 1403636746.763556, t: -5.633978 2.867560 13.584450 q: 0.403715 0.402166 0.683159 0.456696 
time: 1403636748.763556, t: -5.872116 3.222492 13.153803 q: 0.387844 0.386785 0.682806 0.483477 
time: 1403636750.763556, t: -6.149289 3.573326 13.105214 q: 0.388742 0.374992 0.698860 0.468888 
time: 1403636752.763556, t: -6.802112 4.027287 12.981907 q: 0.361278 0.393989 0.762112 0.365289 
time: 1403636754.763556, t: -5.688206 5.558520 15.866916 q: 0.247342 0.361442 0.896885 0.061474 
time: 1403636756.763556, t: -7.180430 3.607036 12.928248 q: 0.254368 0.382220 0.879637 0.124274 
feature tracking not enough, please slowly move you device! 
time: 1403636760.763556, t: -17.490847 -8.196191 14.885273 q: 0.343078 0.370276 0.849189 0.155152 
time: 1403636762.763556, t: -17.500485 -7.755991 15.596762 q: 0.367360 0.436785 0.746106 0.342915 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720494803.656328173]: Shutdown request received.[0m
[33m[ WARN] [1720494803.656387051]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720494803.657294814]: Shutdown request received.[0m
[33m[ WARN] [1720494803.657317494]: Reason given for shutdown: [user request][0m
killed
