/SLAM-Hive/slam_hive_results/mapping_results/2979/2187_vins-fusion-stereo+MH_01_easy+Image_comb_test-27.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720495051.664273018]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720495051.666394624]: init begins[0m
[31m[ERROR] [1720495051.667617067]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/c773f27a-3da1-11ef-92f7-0242ac110005/roslaunch-6da9404788b5-119.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://6da9404788b5:40709/[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] [1720495052.770521837]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720495052.772633131]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720495052.778705961]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720495052.778927233]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720495052.778951110]: ROW: 240 COL: 376 [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] [1720495052.779189993]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720495052.779410074]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720495052.779584148]: 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://6da9404788b5:11311/[0m
]2;roscore http://6da9404788b5:11311/
[1msetting /run_id to c773f27a-3da1-11ef-92f7-0242ac110005[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 [243][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720495061.818857347]: 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: 316858483.09 
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! 
unstable tracking...
time: 1403636602.763556, t: 0.492026 0.384047 -0.485253 q: 0.999783 -0.002703 -0.016319 -0.012700 
unstable tracking...
time: 1403636604.763556, t: 0.493777 0.346905 -0.371805 q: 0.999910 -0.008546 0.005869 -0.008524 
time: 1403636606.763556, t: 0.487271 0.378288 -0.381032 q: 0.999895 -0.010767 0.005548 -0.007948 
time: 1403636608.763556, t: 0.487090 0.378944 -0.383213 q: 0.999896 -0.010699 0.005473 -0.008012 
time: 1403636610.763556, t: 0.489584 0.371218 -0.375088 q: 0.999898 -0.010613 0.005481 -0.007837 
time: 1403636612.763556, t: 0.489753 0.375921 -0.379375 q: 0.999877 -0.011445 0.005231 -0.009365 
time: 1403636614.763556, t: 0.489621 0.375893 -0.379575 q: 0.999883 -0.011280 0.005415 -0.008782 
time: 1403636616.763556, t: 0.486225 0.380178 -0.386315 q: 0.999891 -0.010955 0.005753 -0.008112 
time: 1403636618.763556, t: 0.487272 0.378159 -0.386285 q: 0.999889 -0.011017 0.005680 -0.008228 
time: 1403636620.763556, t: 0.487702 0.377142 -0.385264 q: 0.999890 -0.010896 0.005690 -0.008268 
time: 1403636622.763556, t: 0.487756 0.377559 -0.385223 q: 0.999887 -0.010979 0.005743 -0.008472 
unstable tracking...
time: 1403636624.763556, t: 0.473897 0.448699 -0.463551 q: 0.999316 -0.026079 -0.017306 -0.019696 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636626.763556, t: 0.473897 0.448699 -0.463551 q: 0.999316 -0.026079 -0.017306 -0.019696 
unstable tracking...
time: 1403636628.763556, t: 0.546660 0.709856 -0.457379 q: 0.996236 -0.081697 -0.023857 0.016409 
unstable tracking...
time: 1403636630.763556, t: 0.527795 1.626238 0.354815 q: 0.963558 -0.252969 -0.007989 0.086597 
unstable tracking...
unstable tracking...
time: 1403636636.763556, t: 1.134457 4.162518 2.522532 q: 0.994239 -0.100369 0.009282 -0.036459 
time: 1403636638.763556, t: 1.387468 4.595046 3.235620 q: 0.997328 -0.065459 -0.032305 -0.002791 
time: 1403636640.763556, t: 1.383551 4.911836 4.222316 q: 0.998778 -0.033755 0.022923 -0.027891 
time: 1403636642.763556, t: 1.506246 5.395981 4.596919 q: 0.996078 -0.087889 0.009331 -0.004106 
time: 1403636644.763556, t: 1.742645 6.067402 5.269564 q: 0.995970 -0.079591 0.038907 0.013978 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636650.763556, t: 4.930551 9.348387 9.321894 q: 0.526757 -0.610726 -0.088334 0.584584 
time: 1403636652.763556, t: 7.538297 17.026173 10.253406 q: -0.143089 -0.616262 -0.337571 0.696988 
time: 1403636654.763556, t: 8.780822 16.940699 9.843950 q: 0.202136 0.667163 0.331909 -0.635509 
time: 1403636656.763556, t: 9.403700 16.896488 10.012147 q: 0.372286 0.639602 0.387949 -0.549371 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636662.763556, t: 9.403700 16.896488 10.012147 q: 0.372286 0.639602 0.387949 -0.549371 
feature tracking not enough, please slowly move you device! 
time: 1403636666.763556, t: 9.210750 17.069067 9.765246 q: 0.338435 0.662882 0.309629 -0.591760 
time: 1403636668.763556, t: 8.030595 17.017891 9.615227 q: 0.330722 0.651445 0.326903 -0.599480 
time: 1403636670.763556, t: 7.478537 17.533826 9.668600 q: 0.279224 0.737845 0.193344 -0.583298 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636674.763556, t: 6.923997 17.471020 9.559081 q: 0.177644 0.765589 0.117937 -0.606966 
unstable tracking...
unstable tracking...
time: 1403636678.763556, t: 3.129280 13.757244 6.257297 q: 0.419458 -0.506984 0.414077 0.628938 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636684.763556, t: 5.997139 12.539001 5.527057 q: 0.562689 -0.398859 0.535232 0.487667 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636690.763556, t: 6.607732 10.522605 5.302704 q: 0.646010 -0.245990 0.576121 0.436170 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636698.763556, t: 5.554817 11.020394 5.814075 q: 0.483162 -0.211891 0.685988 0.501076 
feature tracking not enough, please slowly move you device! 
time: 1403636700.763556, t: 5.554817 11.020394 5.814075 q: 0.483162 -0.211891 0.685988 0.501076 
time: 1403636702.763556, t: 5.350357 10.888686 6.474281 q: 0.425737 -0.253277 0.620614 0.607813 
time: 1403636704.763556, t: 5.632338 11.231100 6.746796 q: 0.481394 -0.224885 0.655919 0.536150 
time: 1403636706.763556, t: 6.721697 10.305384 6.405523 q: 0.568653 -0.466193 0.549549 0.396602 
time: 1403636708.763556, t: 7.524331 12.098577 5.697612 q: 0.546882 -0.465028 0.573743 0.394318 
unstable tracking...
unstable tracking...
time: 1403636712.763556, t: 9.282232 12.755689 5.297166 q: 0.627615 -0.390872 0.629324 0.239312 
unstable tracking...
time: 1403636714.763556, t: 8.908004 11.327753 5.563520 q: 0.676523 -0.348948 0.605380 0.232522 
unstable tracking...
time: 1403636716.763556, t: 8.343017 10.949185 5.830846 q: 0.697110 -0.314499 0.633043 0.119938 
feature tracking not enough, please slowly move you device! 
time: 1403636720.763556, t: 8.436841 7.022741 7.662872 q: 0.780706 -0.315959 0.538454 0.027117 
time: 1403636722.763556, t: 8.385062 7.478063 7.191625 q: 0.739508 -0.419902 0.515119 0.107069 
time: 1403636724.763556, t: 7.807397 7.170391 7.799776 q: 0.653820 -0.487789 0.540513 0.205978 
time: 1403636726.763556, t: 7.399457 6.145867 7.781976 q: 0.660623 -0.455624 0.556873 0.214185 
time: 1403636728.763556, t: 7.070835 5.090996 7.785339 q: 0.675275 -0.456352 0.548611 0.186474 
time: 1403636730.763556, t: 6.753088 4.057812 8.265166 q: 0.720045 -0.424120 0.526460 0.156516 
time: 1403636732.763556, t: 6.613934 3.909410 8.435306 q: 0.694628 -0.445853 0.551102 0.122445 
time: 1403636734.763556, t: 6.284005 2.714907 8.687469 q: 0.719396 -0.418790 0.536140 0.140136 
time: 1403636736.763556, t: 6.268532 1.986945 7.537592 q: 0.724809 -0.317846 0.595904 0.136102 
time: 1403636738.763556, t: 6.324371 1.423093 7.554709 q: 0.720911 -0.303407 0.595475 0.183413 
feature tracking not enough, please slowly move you device! 
time: 1403636740.763556, t: 6.066231 2.721420 8.468786 q: 0.616157 -0.226800 0.626944 0.419349 
time: 1403636742.763556, t: 7.082397 3.212286 8.734407 q: 0.602881 -0.228028 0.631567 0.430883 
time: 1403636744.763556, t: 7.022833 3.643296 9.667280 q: 0.576317 -0.270724 0.609932 0.471752 
time: 1403636746.763556, t: 6.943642 3.839401 9.882838 q: 0.590573 -0.244596 0.585806 0.498225 
time: 1403636748.763556, t: 7.279588 3.931760 9.342456 q: 0.564857 -0.259369 0.601242 0.502168 
time: 1403636750.763556, t: 7.195813 3.938898 8.910547 q: 0.573697 -0.269925 0.604972 0.481686 
time: 1403636752.763556, t: 7.060122 3.737813 8.149752 q: 0.620321 -0.175641 0.651540 0.399810 
time: 1403636754.763556, t: 6.725204 2.742690 7.504472 q: 0.690926 -0.119931 0.681774 0.208379 
feature tracking not enough, please slowly move you device! 
time: 1403636758.763556, t: 7.233530 1.898598 7.997750 q: 0.668273 -0.081479 0.717763 0.177732 
time: 1403636760.763556, t: 5.545345 -5.805790 10.201305 q: 0.687681 -0.085348 0.703035 0.159851 
time: 1403636762.763556, t: 5.182463 -5.837919 10.266864 q: 0.727100 0.054723 0.682087 0.055569 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720495250.490368937]: Shutdown request received.[0m
[33m[ WARN] [1720495250.490414073]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720495250.491304894]: Shutdown request received.[0m
[33m[ WARN] [1720495250.491343345]: Reason given for shutdown: [user request][0m
killed
