/SLAM-Hive/slam_hive_results/mapping_results/3006/2214_vins-fusion-stereo+MH_02_easy+Image_comb_test-24.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720500331.043234659]: init begins[0m
[31m[ERROR] [1720500331.043365509]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720500331.044166966]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/1235dbbe-3dae-11ef-a5eb-0242ac110005/roslaunch-da616c32d571-117.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://da616c32d571:43815/[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 [154][0m
[1mROS_MASTER_URI=http://da616c32d571:11311/[0m
]2;roscore http://da616c32d571:11311/
[1msetting /run_id to 1235dbbe-3dae-11ef-a5eb-0242ac110005[0m
[0m[ INFO] [1720500332.199805811]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720500332.200073295]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720500332.206730801]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720500332.206947752]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720500332.206971386]: ROW: 480 COL: 752 [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] [1720500332.207177466]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720500332.207402924]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720500332.207567234]: 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 [213][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720500341.164674732]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316863484.52 
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...
unstable tracking...
[0m[ INFO] [1720500364.376834357]: Initialization finish![0m
time: 1403636879.651666, t: -0.271770 -0.073306 0.009698 q: 0.994041 -0.035500 -0.092720 -0.044998 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636881.651666, t: -0.271770 -0.073306 0.009698 q: 0.994041 -0.035500 -0.092720 -0.044998 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636883.651666, t: -0.271770 -0.073306 0.009698 q: 0.994041 -0.035500 -0.092720 -0.044998 
unstable tracking...
time: 1403636885.651666, t: -0.282920 -0.061631 -0.008459 q: 0.996133 -0.011413 -0.070647 -0.050964 
unstable tracking...
time: 1403636889.651666, t: -0.377777 -0.156682 -0.828379 q: 0.995901 -0.012347 -0.073432 -0.051351 
time: 1403636891.651666, t: -0.377798 -0.156815 -0.828446 q: 0.995918 -0.012274 -0.073065 -0.051560 
time: 1403636893.651666, t: -0.377764 -0.156797 -0.828459 q: 0.995907 -0.012237 -0.073031 -0.051828 
time: 1403636895.651666, t: -0.377745 -0.156774 -0.828456 q: 0.995905 -0.012347 -0.073007 -0.051877 
unstable tracking...
time: 1403636897.651666, t: -0.379389 -0.131069 -0.875179 q: 0.991567 -0.033248 -0.108817 -0.062036 
unstable tracking...
time: 1403636899.651666, t: -0.223547 -0.331560 0.091253 q: 0.988003 -0.136053 -0.072699 -0.007372 
unstable tracking...
unstable tracking...
time: 1403636903.651666, t: 0.179480 1.395854 0.280318 q: 0.987086 -0.131300 -0.085190 -0.034122 
unstable tracking...
time: 1403636905.651666, t: 0.704711 2.324259 0.968792 q: 0.983926 -0.148770 -0.090536 -0.039505 
unstable tracking...
time: 1403636909.651666, t: 1.248531 3.836008 2.768230 q: 0.991326 -0.099080 -0.082865 -0.024282 
time: 1403636911.651666, t: 1.398017 4.603843 3.988921 q: 0.991085 -0.099074 -0.079381 -0.040418 
time: 1403636915.651666, t: 1.642830 6.223648 5.290789 q: 0.990493 -0.109571 -0.078417 -0.027720 
time: 1403636917.651666, t: 1.997546 6.961797 5.563641 q: 0.970058 -0.229352 -0.079807 0.003929 
time: 1403636919.651666, t: 2.388280 7.427765 6.354319 q: 0.953320 -0.291831 -0.041509 0.065515 
time: 1403636921.651666, t: 2.311383 7.583820 6.047648 q: 0.951450 -0.295646 -0.056915 0.064008 
time: 1403636923.651666, t: 1.969071 7.279644 5.583456 q: 0.897454 -0.428632 -0.082343 0.063794 
time: 1403636925.651666, t: 1.822394 8.003848 5.805701 q: 0.882125 -0.457227 -0.090262 0.068202 
time: 1403636927.651666, t: -7.254014 6.942910 14.603134 q: 0.566865 -0.788189 0.165962 -0.172858 
time: 1403636929.651666, t: -6.122979 7.671221 13.942619 q: 0.563126 -0.774856 0.193781 -0.211981 
time: 1403636931.651666, t: -5.813846 7.758839 13.362723 q: 0.511912 -0.797366 0.218178 -0.233565 
time: 1403636933.651666, t: -6.385889 7.298590 13.343164 q: -0.455603 0.837154 -0.265271 0.145703 
time: 1403636935.651666, t: -7.762233 6.668026 15.569065 q: -0.224582 0.880953 -0.413987 0.045819 
time: 1403636937.651666, t: -7.636833 7.005652 14.590892 q: -0.207467 0.888497 -0.407776 0.035352 
time: 1403636939.651666, t: -5.567949 10.284587 17.024545 q: 0.133435 0.882306 -0.450595 -0.026354 
time: 1403636941.651666, t: -7.403552 9.800890 17.614989 q: 0.125504 0.876484 -0.464783 0.000710 
time: 1403636943.651666, t: -8.414562 9.456442 18.628912 q: 0.147511 0.876188 -0.458840 -0.001085 
time: 1403636945.651666, t: -8.900569 9.286403 18.448689 q: 0.091439 0.899223 -0.427520 0.016235 
time: 1403636947.651666, t: -8.887716 9.564599 18.851497 q: 0.101491 0.884854 -0.453780 -0.028572 
time: 1403636949.651666, t: -9.422593 9.750670 18.155328 q: 0.058354 0.871143 -0.485320 0.046573 
time: 1403636951.651666, t: -8.570145 9.766315 17.692693 q: 0.073193 0.889900 -0.449965 -0.015876 
time: 1403636953.651666, t: -8.859535 9.652401 16.275938 q: 0.030062 0.898349 -0.434185 0.059577 
time: 1403636955.651666, t: -7.325460 10.010450 15.573409 q: 0.100290 0.883488 -0.457561 0.005389 
feature tracking not enough, please slowly move you device! 
time: 1403636957.651666, t: -7.325460 10.010450 15.573409 q: 0.100290 0.883488 -0.457561 0.005389 
time: 1403636959.651666, t: -8.885425 8.524225 15.148798 q: -0.156478 0.940657 -0.271227 0.130826 
time: 1403636961.651666, t: -10.460833 5.809568 12.714389 q: 0.541135 -0.775532 0.213994 -0.244804 
feature tracking not enough, please slowly move you device! 
time: 1403636963.651666, t: -10.460833 5.809568 12.714389 q: 0.541135 -0.775532 0.213994 -0.244804 
feature tracking not enough, please slowly move you device! 
time: 1403636965.651666, t: -10.460833 5.809568 12.714389 q: 0.541135 -0.775532 0.213994 -0.244804 
time: 1403636967.651666, t: -11.447715 3.913690 12.201639 q: 0.661064 -0.666698 0.167270 -0.300881 
time: 1403636969.651666, t: -13.629562 5.971469 18.028254 q: 0.533041 -0.793768 0.195100 -0.218487 
time: 1403636971.651666, t: -11.591397 7.420377 21.454653 q: -0.466385 0.848032 -0.209099 0.140019 
time: 1403636973.651666, t: -11.236427 6.240834 21.427978 q: -0.449992 0.865373 -0.201681 0.089221 
time: 1403636975.651666, t: -16.989484 9.512691 13.473901 q: -0.258524 0.813678 -0.318741 0.411701 
unstable tracking...
time: 1403636977.651666, t: -16.930778 9.360481 13.011764 q: -0.142372 0.818861 -0.436473 0.344510 
unstable tracking...
time: 1403636979.651666, t: -17.146749 9.082340 12.750583 q: -0.120273 0.846416 -0.425245 0.297121 
unstable tracking...
time: 1403636981.651666, t: -16.192124 8.413767 11.383531 q: -0.133210 0.818115 -0.458974 0.319822 
time: 1403636983.651666, t: -14.905817 7.857638 10.689423 q: -0.124360 0.826858 -0.460170 0.298471 
time: 1403636985.651666, t: -13.310102 7.476013 9.759641 q: -0.120982 0.828335 -0.446851 0.315515 
time: 1403636987.651666, t: -11.801987 7.668236 9.890272 q: -0.133342 0.814158 -0.445563 0.347622 
time: 1403636989.651666, t: -12.187333 7.917497 10.562089 q: -0.146910 0.814810 -0.448175 0.337108 
time: 1403636991.651666, t: -13.654472 8.654481 11.540681 q: -0.126044 0.812838 -0.461748 0.331958 
time: 1403636993.651666, t: -14.909436 8.237862 12.315065 q: -0.192376 0.814983 -0.410729 0.360689 
time: 1403636995.651666, t: -16.263790 8.606282 13.266846 q: -0.215729 0.813331 -0.381021 0.383114 
time: 1403636997.651666, t: -18.002452 9.128553 13.765564 q: -0.322724 0.794184 -0.247409 0.451565 
time: 1403636999.651666, t: -18.359704 9.039848 14.546003 q: -0.296501 0.789238 -0.268266 0.466072 
time: 1403637001.651666, t: -19.067178 9.449757 15.665582 q: -0.300738 0.795412 -0.278465 0.446468 
time: 1403637003.651666, t: -20.097706 10.033493 16.428181 q: -0.290154 0.796952 -0.288230 0.444524 
time: 1403637005.651666, t: -20.843516 10.665319 17.035070 q: -0.288146 0.801562 -0.290650 0.435882 
time: 1403637007.651666, t: -21.267741 10.214373 16.451696 q: -0.382728 0.758423 -0.167238 0.500346 
time: 1403637009.651666, t: -21.536153 10.156434 16.275741 q: -0.413908 0.720951 -0.198064 0.519307 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720500495.906497181]: Shutdown request received.[0m
[33m[ WARN] [1720500495.906532385]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720500495.907454680]: Shutdown request received.[0m
[33m[ WARN] [1720500495.907481874]: Reason given for shutdown: [user request][0m
killed
