/SLAM-Hive/slam_hive_results/mapping_results/2978/2186_vins-fusion-stereo+MH_01_easy+Image_comb_test-26.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720494828.176251813]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720494828.178464172]: init begins[0m
[31m[ERROR] [1720494828.179589262]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/423e6df6-3da1-11ef-b44e-0242ac110005/roslaunch-a9f7d86116f8-118.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://a9f7d86116f8:37759/[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
[1mROS_MASTER_URI=http://a9f7d86116f8:11311/[0m
]2;roscore http://a9f7d86116f8:11311/
[1msetting /run_id to 423e6df6-3da1-11ef-b44e-0242ac110005[0m
[0m[ INFO] [1720494829.332621616]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720494829.339639579]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
config_file: /slamhive/mappingtask.yaml
result path /home/output/vio.csv
[33m[ WARN] [1720494829.345582936]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720494829.345788003]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720494829.345819102]: 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] [1720494829.346074300]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720494829.346273133]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720494829.346440014]: waiting for image and imu...[0m
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 [218][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720494838.333752872]: 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: 316858259.60 
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] [1720494860.546046957]: Initialization finish![0m
time: 1403636600.763556, t: 81.735187 -128.435560 -142.420653 q: 0.988188 -0.010664 -0.062453 0.139539 
unstable tracking...
unstable tracking...
time: 1403636604.763556, t: 81.735188 -128.435558 -142.420651 q: 0.988188 -0.010666 -0.062447 0.139537 
time: 1403636606.763556, t: 81.735179 -128.435559 -142.420656 q: 0.988173 -0.010692 -0.062512 0.139614 
time: 1403636608.763556, t: 81.735177 -128.435558 -142.420657 q: 0.988173 -0.010692 -0.062512 0.139614 
time: 1403636610.763556, t: 81.735177 -128.435558 -142.420658 q: 0.988173 -0.010692 -0.062512 0.139614 
time: 1403636612.763556, t: 81.735175 -128.435553 -142.420656 q: 0.988173 -0.010692 -0.062512 0.139614 
time: 1403636614.763556, t: 81.735176 -128.435554 -142.420656 q: 0.988173 -0.010692 -0.062512 0.139614 
time: 1403636616.763556, t: 81.735175 -128.435555 -142.420661 q: 0.988173 -0.010692 -0.062512 0.139614 
time: 1403636618.763556, t: 81.735174 -128.435556 -142.420669 q: 0.988173 -0.010692 -0.062512 0.139614 
time: 1403636620.763556, t: 81.735175 -128.435555 -142.420677 q: 0.988173 -0.010692 -0.062512 0.139614 
time: 1403636622.763556, t: 81.735175 -128.435556 -142.420680 q: 0.988173 -0.010692 -0.062512 0.139614 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636626.763556, t: 81.735040 -128.435278 -142.421705 q: 0.988073 -0.012463 -0.064582 0.139233 
unstable tracking...
time: 1403636628.763556, t: 81.765671 -128.171973 -142.460394 q: 0.979719 -0.068245 -0.086141 0.167551 
unstable tracking...
time: 1403636630.763556, t: 81.284230 -127.150738 -142.330996 q: 0.947402 -0.204204 -0.094673 0.227522 
unstable tracking...
unstable tracking...
time: 1403636634.763556, t: 80.578069 -127.024619 -143.923816 q: 0.979578 -0.057678 -0.082185 0.174201 
unstable tracking...
time: 1403636638.763556, t: 82.098715 -123.190014 -139.356195 q: 0.972483 0.038235 -0.128701 0.190400 
time: 1403636640.763556, t: 79.747709 -122.629602 -140.410858 q: 0.985003 0.107908 -0.027610 0.131768 
time: 1403636642.763556, t: 79.785283 -122.479504 -139.707810 q: 0.992641 0.080426 -0.059883 0.067887 
time: 1403636644.763556, t: 80.030555 -122.326072 -138.840425 q: 0.991673 0.074338 -0.049181 0.092955 
time: 1403636646.763556, t: 80.683601 -118.993812 -137.244762 q: 0.856363 0.173108 -0.069188 0.481549 
time: 1403636648.763556, t: 80.012865 -118.565994 -136.737596 q: 0.855354 0.024181 -0.174123 0.487305 
time: 1403636650.763556, t: 79.504373 -118.225476 -137.147460 q: 0.822879 -0.098630 -0.221472 0.513899 
feature tracking not enough, please slowly move you device! 
time: 1403636652.763556, t: 79.504373 -118.225476 -137.147460 q: 0.822879 -0.098630 -0.221472 0.513899 
time: 1403636654.763556, t: 78.830392 -117.733154 -137.440450 q: 0.807066 -0.177281 -0.226951 0.515470 
time: 1403636656.763556, t: 78.369919 -117.722142 -138.301652 q: 0.740489 -0.320081 -0.278541 0.521189 
feature tracking not enough, please slowly move you device! 
time: 1403636658.763556, t: 78.369919 -117.722142 -138.301652 q: 0.740489 -0.320081 -0.278541 0.521189 
time: 1403636660.763556, t: 77.619219 -118.046980 -138.879376 q: 0.741904 -0.330537 -0.273439 0.515320 
time: 1403636662.763556, t: 77.652849 -118.510513 -138.608970 q: 0.729518 -0.331690 -0.244708 0.545805 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636678.763556, t: 78.353262 -119.100757 -136.467725 q: 0.795203 -0.167953 -0.039058 0.581308 
unstable tracking...
time: 1403636680.763556, t: 79.972268 -119.297192 -133.075291 q: 0.747183 -0.168932 0.107850 0.633679 
unstable tracking...
unstable tracking...
time: 1403636684.763556, t: 79.330201 -123.127473 -134.844177 q: 0.458012 -0.044371 0.482009 0.745603 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636690.763556, t: 81.155699 -124.328662 -135.923207 q: 0.109617 -0.008475 0.563467 0.818790 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636696.763556, t: 81.453432 -122.369719 -135.224693 q: 0.132305 -0.017649 0.528791 0.838191 
unstable tracking...
time: 1403636698.763556, t: 80.160594 -123.152377 -135.714605 q: 0.081635 0.087998 0.378832 0.917648 
feature tracking not enough, please slowly move you device! 
time: 1403636700.763556, t: 80.160594 -123.152377 -135.714605 q: 0.081635 0.087998 0.378832 0.917648 
time: 1403636702.763556, t: 80.378099 -123.498619 -135.186232 q: 0.077024 0.108876 0.254649 0.957793 
time: 1403636704.763556, t: 80.531200 -123.506941 -134.338705 q: 0.085964 0.118582 0.271097 0.951344 
time: 1403636706.763556, t: 80.407109 -123.011188 -133.245815 q: 0.100793 0.102988 0.296942 0.943960 
time: 1403636708.763556, t: 80.446669 -121.548255 -131.877080 q: 0.062085 0.072877 0.283815 0.954088 
time: 1403636710.763556, t: 80.580744 -120.364356 -131.144537 q: 0.054875 0.075626 0.345523 0.933747 
time: 1403636714.763556, t: 79.684721 -119.819743 -133.216009 q: 0.121067 0.143128 0.449245 0.873519 
time: 1403636716.763556, t: 79.394122 -120.293810 -133.517512 q: 0.160641 0.135994 0.540633 0.814504 
feature tracking not enough, please slowly move you device! 
time: 1403636720.763556, t: 79.593743 -120.978913 -134.715553 q: 0.179422 0.128404 0.552136 0.804031 
time: 1403636722.763556, t: 79.320933 -121.812743 -135.293253 q: 0.171414 0.130882 0.446862 0.868217 
time: 1403636724.763556, t: 79.547265 -121.915047 -135.625189 q: 0.119141 0.136053 0.296587 0.937727 
time: 1403636726.763556, t: 79.244841 -122.000296 -136.075613 q: 0.094492 0.140072 0.309511 0.935764 
time: 1403636728.763556, t: 78.714042 -122.307305 -136.654719 q: 0.116207 0.136598 0.337779 0.923982 
time: 1403636730.763556, t: 78.677355 -122.615421 -137.705663 q: 0.141595 0.164010 0.386530 0.896463 
time: 1403636732.763556, t: 78.793076 -122.765231 -138.019090 q: 0.142795 0.110251 0.390347 0.902820 
time: 1403636734.763556, t: 78.545391 -123.128912 -139.100205 q: 0.140374 0.149734 0.400581 0.892978 
time: 1403636736.763556, t: 78.355619 -123.093590 -139.836460 q: 0.157132 0.128716 0.437257 0.876098 
time: 1403636738.763556, t: 78.222209 -123.011663 -140.394769 q: 0.126369 0.158666 0.412183 0.888235 
time: 1403636740.763556, t: 78.549746 -123.021093 -139.550024 q: 0.089081 0.143288 0.200727 0.965009 
time: 1403636742.763556, t: 78.900955 -123.671116 -139.964996 q: 0.094048 0.146507 0.184230 0.967342 
time: 1403636744.763556, t: 79.744322 -123.615614 -139.223593 q: 0.061832 0.131334 0.125002 0.981480 
time: 1403636746.763556, t: 79.932445 -123.576915 -138.894718 q: 0.074739 0.176051 0.104865 0.975922 
time: 1403636748.763556, t: 79.561057 -123.143854 -138.748489 q: 0.063620 0.145803 0.096544 0.982534 
time: 1403636750.763556, t: 79.097785 -123.077335 -138.747775 q: 0.082540 0.138677 0.111439 0.980580 
time: 1403636752.763556, t: 78.315472 -122.915032 -138.949462 q: 0.103722 0.146817 0.234001 0.955474 
time: 1403636754.763556, t: 78.196951 -122.779339 -139.452055 q: 0.150166 0.129914 0.431906 0.879790 
time: 1403636756.763556, t: 78.267735 -122.628234 -140.462380 q: 0.144558 0.133331 0.479744 0.855086 
feature tracking not enough, please slowly move you device! 
time: 1403636758.763556, t: 78.267735 -122.628234 -140.462380 q: 0.144558 0.133331 0.479744 0.855086 
time: 1403636760.763556, t: 79.034118 -122.417128 -143.637322 q: 0.170371 0.137632 0.497314 0.839470 
time: 1403636762.763556, t: 79.086406 -122.616811 -143.903963 q: 0.144607 0.157293 0.499115 0.839781 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720495026.926643252]: Shutdown request received.[0m
[33m[ WARN] [1720495026.926681251]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720495026.927523917]: Shutdown request received.[0m
[33m[ WARN] [1720495026.927564049]: Reason given for shutdown: [user request][0m
killed
