/SLAM-Hive/slam_hive_results/mapping_results/2981/2189_vins-fusion-stereo+MH_01_easy+Image_comb_test-29.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720495497.568565482]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720495497.570591546]: init begins[0m
[31m[ERROR] [1720495497.571675523]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/d13cc768-3da2-11ef-b2de-0242ac110005/roslaunch-328db04622ab-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://328db04622ab:45689/[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
[0m[ INFO] [1720495498.674836518]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720495498.676392953]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720495498.682368886]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720495498.682587517]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720495498.682612668]: ROW: 96 COL: 150 [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] [1720495498.682813918]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720495498.683040856]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720495498.683202836]: 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://328db04622ab:11311/[0m
]2;roscore http://328db04622ab:11311/
[1msetting /run_id to d13cc768-3da2-11ef-b2de-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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720495507.729372401]: 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: 316858929.00 
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! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636602.763556, t: 0.000000 0.000000 0.000000 q: 1.000000 0.000000 0.000000 0.000000 
unstable tracking...
time: 1403636604.763556, t: -0.000000 0.000000 -0.000000 q: 1.000000 0.000000 0.000000 -0.000000 
unstable tracking...
time: 1403636606.763556, t: 0.000000 0.000000 -0.000000 q: 1.000000 0.000000 0.000000 0.000000 
unstable tracking...
time: 1403636608.763556, t: -0.000009 0.000001 -0.000015 q: 1.000000 -0.000112 0.000011 0.000069 
unstable tracking...
time: 1403636610.763556, t: 0.000007 -0.000003 -0.000006 q: 1.000000 -0.000117 -0.000222 -0.000017 
unstable tracking...
time: 1403636612.763556, t: 0.000014 -0.000014 -0.000063 q: 1.000000 -0.000445 0.000123 -0.000123 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636618.763556, t: -0.000071 0.000020 -0.000025 q: 1.000000 -0.000132 0.000193 0.000519 
time: 1403636620.763556, t: -0.000070 0.000020 -0.000025 q: 1.000000 -0.000138 0.000162 0.000520 
time: 1403636622.763556, t: -0.000009 -0.000006 -0.000062 q: 1.000000 -0.000408 0.000211 0.000039 
time: 1403636624.763556, t: 0.003679 0.010294 0.030706 q: 0.999838 -0.006884 -0.015731 -0.005304 
feature tracking not enough, please slowly move you device! 
time: 1403636626.763556, t: 0.003679 0.010294 0.030706 q: 0.999838 -0.006884 -0.015731 -0.005304 
time: 1403636628.763556, t: 0.130738 0.236682 -0.099024 q: 0.996932 -0.063287 -0.038138 0.025805 
feature tracking not enough, please slowly move you device! 
time: 1403636630.763556, t: 0.130738 0.236682 -0.099024 q: 0.996932 -0.063287 -0.038138 0.025805 
time: 1403636632.763556, t: -0.773978 2.138442 1.283854 q: 0.950191 0.007819 0.011939 0.311340 
feature tracking not enough, please slowly move you device! 
time: 1403636634.763556, t: -0.773978 2.138442 1.283854 q: 0.950191 0.007819 0.011939 0.311340 
feature tracking not enough, please slowly move you device! 
time: 1403636636.763556, t: 0.055147 3.121126 3.452871 q: 0.967665 0.004296 0.095790 0.233304 
feature tracking not enough, please slowly move you device! 
time: 1403636638.763556, t: 0.083743 3.027277 4.349320 q: 0.963229 0.015203 0.097342 0.249967 
feature tracking not enough, please slowly move you device! 
time: 1403636640.763556, t: 0.083743 3.027277 4.349320 q: 0.963229 0.015203 0.097342 0.249967 
time: 1403636642.763556, t: 0.040472 3.452323 4.851580 q: 0.955281 -0.031802 0.072785 0.284831 
time: 1403636644.763556, t: 0.074035 3.899089 5.468634 q: 0.949636 -0.030268 0.094004 0.297386 
feature tracking not enough, please slowly move you device! 
time: 1403636646.763556, t: 0.103170 4.888424 8.075221 q: 0.885612 -0.050751 0.090370 0.452712 
feature tracking not enough, please slowly move you device! 
time: 1403636648.763556, t: 0.103170 4.888424 8.075221 q: 0.885612 -0.050751 0.090370 0.452712 
feature tracking not enough, please slowly move you device! 
time: 1403636650.763556, t: 0.103170 4.888424 8.075221 q: 0.885612 -0.050751 0.090370 0.452712 
feature tracking not enough, please slowly move you device! 
time: 1403636652.763556, t: 0.103170 4.888424 8.075221 q: 0.885612 -0.050751 0.090370 0.452712 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636656.763556, t: 0.103170 4.888424 8.075221 q: 0.885612 -0.050751 0.090370 0.452712 
feature tracking not enough, please slowly move you device! 
time: 1403636658.763556, t: 0.103170 4.888424 8.075221 q: 0.885612 -0.050751 0.090370 0.452712 
feature tracking not enough, please slowly move you device! 
time: 1403636660.763556, t: 0.103170 4.888424 8.075221 q: 0.885612 -0.050751 0.090370 0.452712 
time: 1403636662.763556, t: 1.526477 5.054579 8.682669 q: 0.824067 -0.073324 -0.187517 0.529503 
feature tracking not enough, please slowly move you device! 
time: 1403636664.763556, t: 1.672491 5.022266 8.503849 q: 0.817065 -0.064632 -0.180636 0.543689 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636668.763556, t: 1.672491 5.022266 8.503849 q: 0.817065 -0.064632 -0.180636 0.543689 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636670.763556, t: 1.672491 5.022266 8.503849 q: 0.817065 -0.064632 -0.180636 0.543689 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636672.763556, t: 1.672491 5.022266 8.503849 q: 0.817065 -0.064632 -0.180636 0.543689 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636674.763556, t: 1.672491 5.022266 8.503849 q: 0.817065 -0.064632 -0.180636 0.543689 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636676.763556, t: 1.672491 5.022266 8.503849 q: 0.817065 -0.064632 -0.180636 0.543689 
feature tracking not enough, please slowly move you device! 
time: 1403636678.763556, t: 1.672491 5.022266 8.503849 q: 0.817065 -0.064632 -0.180636 0.543689 
time: 1403636680.763556, t: -0.939495 6.425345 8.729050 q: 0.682190 0.391192 0.218261 0.577882 
feature tracking not enough, please slowly move you device! 
time: 1403636682.763556, t: -0.939495 6.425345 8.729050 q: 0.682190 0.391192 0.218261 0.577882 
feature tracking not enough, please slowly move you device! 
time: 1403636684.763556, t: -0.939495 6.425345 8.729050 q: 0.682190 0.391192 0.218261 0.577882 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636686.763556, t: -0.939495 6.425345 8.729050 q: 0.682190 0.391192 0.218261 0.577882 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636688.763556, t: -0.939495 6.425345 8.729050 q: 0.682190 0.391192 0.218261 0.577882 
unstable tracking...
time: 1403636690.763556, t: -0.761603 6.612242 9.111529 q: 0.578229 0.538876 0.252219 0.558256 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636692.763556, t: -0.761603 6.612242 9.111529 q: 0.578229 0.538876 0.252219 0.558256 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636694.763556, t: -0.761603 6.612242 9.111529 q: 0.578229 0.538876 0.252219 0.558256 
unstable tracking...
time: 1403636696.763556, t: -0.708656 7.067586 9.310082 q: 0.598828 0.535674 0.215445 0.555015 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636698.763556, t: -0.708656 7.067586 9.310082 q: 0.598828 0.535674 0.215445 0.555015 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636700.763556, t: -0.708656 7.067586 9.310082 q: 0.598828 0.535674 0.215445 0.555015 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636702.763556, t: -0.708656 7.067586 9.310082 q: 0.598828 0.535674 0.215445 0.555015 
unstable tracking...
time: 1403636704.763556, t: -0.170361 7.069323 9.227045 q: 0.662576 0.492971 0.182031 0.533702 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636706.763556, t: -0.170361 7.069323 9.227045 q: 0.662576 0.492971 0.182031 0.533702 
unstable tracking...
time: 1403636708.763556, t: 1.870768 4.270475 11.492085 q: 0.470432 0.476024 0.434190 0.602971 
unstable tracking...
time: 1403636710.763556, t: 5.757503 7.426768 9.972655 q: 0.605910 0.524698 0.145435 0.580012 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636712.763556, t: 6.717061 7.525111 10.775656 q: 0.428893 0.470835 -0.002920 0.770945 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636714.763556, t: 6.499284 8.032652 7.678562 q: 0.526887 0.501870 0.173469 0.663646 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636716.763556, t: 6.758581 8.393571 6.745092 q: 0.544730 0.497101 0.222063 0.637846 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636718.763556, t: 7.699924 8.325630 6.170045 q: 0.550019 0.526553 0.257503 0.594906 
unstable tracking...
time: 1403636720.763556, t: 6.635079 8.060616 5.440023 q: 0.543168 0.541859 0.296651 0.568644 
unstable tracking...
time: 1403636722.763556, t: 6.890199 8.620226 4.987966 q: 0.613169 0.463359 0.151475 0.621592 
unstable tracking...
time: 1403636724.763556, t: 6.011047 8.834695 4.392976 q: 0.635914 0.393907 0.040887 0.662404 
unstable tracking...
time: 1403636726.763556, t: 5.960008 9.373205 4.175958 q: 0.619030 0.416663 0.034219 0.664848 
time: 1403636728.763556, t: 7.067372 9.838566 4.255562 q: 0.672666 0.399068 0.027736 0.622492 
time: 1403636730.763556, t: 4.849777 8.880402 3.408287 q: 0.583140 0.463642 0.198561 0.636833 
time: 1403636732.763556, t: 4.172342 8.921543 1.831635 q: 0.590557 0.418630 0.225049 0.652184 
feature tracking not enough, please slowly move you device! 
time: 1403636734.763556, t: 4.172342 8.921543 1.831635 q: 0.590557 0.418630 0.225049 0.652184 
time: 1403636736.763556, t: 1.887613 8.638997 -1.373943 q: 0.478458 0.458741 0.345745 0.664150 
time: 1403636738.763556, t: -0.828126 6.842534 -0.880075 q: 0.448969 0.503415 0.373333 0.636885 
feature tracking not enough, please slowly move you device! 
time: 1403636740.763556, t: -0.828126 6.842534 -0.880075 q: 0.448969 0.503415 0.373333 0.636885 
time: 1403636742.763556, t: -0.553506 6.409295 -0.839255 q: 0.457601 0.496884 0.370846 0.637323 
time: 1403636744.763556, t: 0.393861 5.637885 -0.496304 q: 0.441413 0.475875 0.333425 0.683758 
unstable tracking...
unstable tracking...
time: 1403636748.763556, t: 0.862604 5.944695 -0.655161 q: 0.444099 0.457483 0.311475 0.704606 
unstable tracking...
time: 1403636750.763556, t: 0.904004 6.097627 -0.502742 q: 0.422362 0.461470 0.332221 0.705893 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636752.763556, t: -0.345854 7.288794 0.164285 q: 0.403012 0.552502 0.419398 0.597016 
unstable tracking...
time: 1403636754.763556, t: -0.122917 7.456622 -0.134539 q: 0.328697 0.573232 0.587479 0.467153 
unstable tracking...
time: 1403636756.763556, t: -1.396926 7.092507 -0.666836 q: 0.269533 0.592691 0.617275 0.441634 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636758.763556, t: -2.780457 6.982082 -1.556894 q: 0.233218 0.640015 0.608033 0.407783 
feature tracking not enough, please slowly move you device! 
time: 1403636760.763556, t: -2.780457 6.982082 -1.556894 q: 0.233218 0.640015 0.608033 0.407783 
feature tracking not enough, please slowly move you device! 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720495696.434189040]: Shutdown request received.[0m
[33m[ WARN] [1720495696.434231223]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720495696.435181602]: Shutdown request received.[0m
[33m[ WARN] [1720495696.435221089]: Reason given for shutdown: [user request][0m
killed
