/SLAM-Hive/slam_hive_results/mapping_results/2980/2188_vins-fusion-stereo+MH_01_easy+Image_comb_test-28.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720495274.483772158]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720495274.485926396]: init begins[0m
[31m[ERROR] [1720495274.486948503]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/4c447b50-3da2-11ef-8fa2-0242ac110005/roslaunch-2a75f69c4314-118.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://2a75f69c4314:45721/[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://2a75f69c4314:11311/[0m
]2;roscore http://2a75f69c4314:11311/
[1msetting /run_id to 4c447b50-3da2-11ef-8fa2-0242ac110005[0m
[0m[ INFO] [1720495275.643048076]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720495275.644629327]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720495275.650925871]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720495275.651139481]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720495275.651173487]: ROW: 192 COL: 300 [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] [1720495275.651418961]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720495275.651641868]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720495275.651816957]: 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 [221][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720495284.644251562]: 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: 316858705.91 
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: -0.062117 0.171162 0.191672 q: 0.967943 0.042181 -0.239582 0.062511 
unstable tracking...
time: 1403636604.763556, t: -0.110197 0.147995 0.233935 q: 0.971959 0.021629 -0.213697 0.095713 
unstable tracking...
time: 1403636606.763556, t: -0.092844 0.142649 0.218977 q: 0.977731 0.014483 -0.203890 0.047550 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636612.763556, t: -0.092790 0.143473 0.219209 q: 0.977529 0.014602 -0.205290 0.045600 
unstable tracking...
time: 1403636614.763556, t: -0.092458 0.143700 0.218865 q: 0.977551 0.014533 -0.205082 0.046092 
unstable tracking...
time: 1403636616.763556, t: -0.092433 0.143761 0.218838 q: 0.977545 0.014494 -0.205103 0.046132 
time: 1403636618.763556, t: -0.091908 0.144239 0.217953 q: 0.977409 0.015131 -0.205592 0.046621 
time: 1403636620.763556, t: -0.116665 0.127081 0.245161 q: 0.980307 -0.002566 -0.189861 0.054258 
time: 1403636622.763556, t: -0.117393 0.126793 0.246145 q: 0.980357 -0.002472 -0.189524 0.054541 
time: 1403636624.763556, t: -0.115378 0.155335 0.218557 q: 0.976246 -0.016622 -0.212142 0.040777 
feature tracking not enough, please slowly move you device! 
time: 1403636626.763556, t: -0.115378 0.155335 0.218557 q: 0.976246 -0.016622 -0.212142 0.040777 
time: 1403636628.763556, t: -0.092758 0.422733 0.243904 q: 0.970022 -0.076846 -0.220949 0.065824 
feature tracking not enough, please slowly move you device! 
time: 1403636630.763556, t: -0.092758 0.422733 0.243904 q: 0.970022 -0.076846 -0.220949 0.065824 
time: 1403636632.763556, t: -0.973095 1.910226 1.516957 q: 0.952044 -0.208707 -0.192795 0.113503 
time: 1403636634.763556, t: -0.759662 2.813446 2.558580 q: 0.963295 -0.087983 -0.243356 0.071407 
time: 1403636636.763556, t: -1.148744 3.159192 4.657449 q: 0.969186 -0.088360 -0.229938 0.000147 
time: 1403636638.763556, t: -0.710045 2.642294 6.040386 q: 0.929784 -0.128642 -0.342895 0.037100 
time: 1403636640.763556, t: -0.289817 4.031785 5.734860 q: 0.944712 -0.007039 -0.324123 0.049134 
time: 1403636642.763556, t: -1.385232 4.995385 6.048010 q: 0.958481 -0.034081 -0.281486 0.030297 
time: 1403636644.763556, t: -0.715915 4.247441 5.845602 q: 0.957950 -0.046643 -0.282125 0.023704 
time: 1403636646.763556, t: -6.251512 6.412644 7.096025 q: 0.942541 0.013975 0.222157 0.249133 
time: 1403636648.763556, t: -5.521222 3.588334 10.133884 q: 0.792073 -0.348814 0.322052 0.383708 
time: 1403636650.763556, t: -5.425388 7.330760 10.580320 q: 0.709497 -0.451864 0.272871 0.466878 
time: 1403636652.763556, t: -4.621400 8.503260 11.915190 q: 0.574975 -0.627293 0.098256 0.515997 
time: 1403636654.763556, t: -5.178032 8.369868 11.326748 q: 0.510811 -0.679054 0.095519 0.518492 
time: 1403636656.763556, t: -5.369670 7.671645 10.973330 q: -0.368887 0.749786 -0.037527 -0.548028 
feature tracking not enough, please slowly move you device! 
time: 1403636658.763556, t: -5.369670 7.671645 10.973330 q: -0.368887 0.749786 -0.037527 -0.548028 
time: 1403636660.763556, t: -6.060026 7.006922 11.088807 q: -0.357299 0.762981 -0.032764 -0.537703 
time: 1403636662.763556, t: -6.078087 7.146833 11.630261 q: -0.348906 0.758147 -0.080222 -0.545015 
time: 1403636664.763556, t: -7.487736 8.202092 11.483466 q: -0.404600 0.640597 -0.161683 -0.632291 
time: 1403636666.763556, t: -7.130710 8.652555 11.880937 q: -0.448021 0.650073 -0.208441 -0.577264 
unstable tracking...
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636682.763556, t: -3.224066 11.004008 13.036580 q: 0.852049 -0.166988 0.496106 -0.002772 
time: 1403636684.763556, t: -4.053138 12.557458 11.589428 q: 0.890371 0.016058 0.423362 -0.166573 
time: 1403636686.763556, t: -5.285203 10.575796 12.180471 q: 0.894909 -0.040172 0.426093 -0.126367 
time: 1403636688.763556, t: -6.421784 10.533951 12.961139 q: 0.868650 -0.096407 0.425364 -0.234986 
time: 1403636690.763556, t: -6.169417 10.688467 13.038263 q: 0.878408 0.064154 0.405184 -0.245172 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636694.763556, t: -4.872058 11.313317 13.255231 q: 0.898304 0.210148 0.366876 0.119538 
unstable tracking...
time: 1403636696.763556, t: -4.719001 11.553005 13.576795 q: 0.894966 0.200589 0.375280 0.134038 
time: 1403636698.763556, t: -4.728235 10.795342 13.216590 q: 0.911640 0.023242 0.309377 0.269552 
feature tracking not enough, please slowly move you device! 
time: 1403636700.763556, t: -4.728235 10.795342 13.216590 q: 0.911640 0.023242 0.309377 0.269552 
time: 1403636702.763556, t: -5.059186 11.172776 13.639625 q: 0.907363 -0.083542 0.249263 0.327995 
time: 1403636704.763556, t: -5.035387 11.782821 14.308935 q: 0.913685 -0.060387 0.244709 0.318826 
time: 1403636706.763556, t: -4.215489 12.344598 15.303949 q: 0.913141 -0.065392 0.261835 0.305515 
time: 1403636708.763556, t: -2.934253 12.988000 16.392974 q: 0.901387 -0.064513 0.290288 0.314758 
unstable tracking...
time: 1403636710.763556, t: -1.905856 12.964914 17.266637 q: 0.905033 -0.007926 0.304911 0.296448 
time: 1403636712.763556, t: -1.376641 12.141510 16.874437 q: 0.910021 0.054735 0.354318 0.208144 
time: 1403636714.763556, t: -1.644897 11.101970 15.695324 q: 0.924039 0.072432 0.302358 0.222451 
time: 1403636716.763556, t: -1.986427 10.366882 15.888984 q: 0.909463 0.096013 0.376548 0.147887 
feature tracking not enough, please slowly move you device! 
time: 1403636718.763556, t: -1.986427 10.366882 15.888984 q: 0.909463 0.096013 0.376548 0.147887 
time: 1403636720.763556, t: -1.986427 10.366883 15.888984 q: 0.909463 0.096013 0.376548 0.147887 
time: 1403636722.763556, t: -1.986378 10.366854 15.888996 q: 0.910600 0.096176 0.373855 0.147619 
time: 1403636724.763556, t: -3.293082 9.247294 15.389227 q: 0.879110 -0.115097 0.339236 0.314383 
time: 1403636726.763556, t: -3.261567 8.975889 14.821589 q: 0.873786 -0.096591 0.347000 0.326742 
time: 1403636728.763556, t: -3.297239 8.641056 14.227170 q: 0.884343 -0.095278 0.348946 0.295120 
time: 1403636730.763556, t: -3.756952 7.856622 13.549951 q: 0.906004 -0.040272 0.332786 0.258435 
time: 1403636732.763556, t: -3.912054 7.557307 13.660936 q: 0.891576 -0.071537 0.377783 0.239278 
time: 1403636734.763556, t: -4.328016 6.791195 12.820651 q: 0.901646 -0.039395 0.351539 0.248802 
time: 1403636736.763556, t: -4.403383 6.210237 12.238236 q: 0.904717 -0.020993 0.371360 0.207697 
time: 1403636738.763556, t: -4.352283 5.820995 11.881916 q: 0.900781 -0.015784 0.353645 0.251555 
feature tracking not enough, please slowly move you device! 
time: 1403636742.763556, t: -4.321074 7.323505 12.628824 q: 0.887132 -0.213100 0.409068 -0.015774 
time: 1403636744.763556, t: -4.057314 7.878242 13.493709 q: 0.865563 -0.256907 0.428690 0.032014 
time: 1403636746.763556, t: -4.107453 8.200650 13.600473 q: 0.876577 -0.267610 0.397425 0.045295 
time: 1403636748.763556, t: -3.589679 7.842432 13.513406 q: 0.859321 -0.281474 0.424442 0.046774 
time: 1403636750.763556, t: -3.355467 7.654210 13.127877 q: 0.861970 -0.284912 0.418793 0.021123 
time: 1403636752.763556, t: -3.176468 7.132240 12.156463 q: 0.909840 -0.196751 0.365345 0.001794 
time: 1403636754.763556, t: -3.369070 6.713506 11.912805 q: 0.923016 -0.034607 0.353404 -0.148154 
time: 1403636756.763556, t: -4.267016 5.453004 11.473135 q: 0.924797 0.004976 0.343251 -0.164028 
time: 1403636758.763556, t: -5.385995 8.617308 9.552709 q: 0.903490 0.214741 0.262056 -0.262523 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636762.763556, t: -2.915604 6.656067 11.716907 q: 0.918067 0.210715 0.235871 -0.238993 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720495473.283631618]: Shutdown request received.[0m
[33m[ WARN] [1720495473.283698314]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720495473.284546121]: Shutdown request received.[0m
[33m[ WARN] [1720495473.284572075]: Reason given for shutdown: [user request][0m
killed
