/SLAM-Hive/slam_hive_results/mapping_results/3009/2217_vins-fusion-stereo+MH_02_easy+Image_comb_test-27.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720500899.689296808]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720500899.691024823]: init begins[0m
[31m[ERROR] [1720500899.692104817]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/65275360-3daf-11ef-b81a-0242ac110005/roslaunch-2b4bd501a0dc-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://2b4bd501a0dc:43305/[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] [1720500900.795526496]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720500900.797659139]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720500900.804070567]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720500900.804279501]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720500900.804300034]: 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] [1720500900.804510395]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720500900.804712315]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720500900.804860363]: 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://2b4bd501a0dc:11311/[0m
]2;roscore http://2b4bd501a0dc:11311/
[1msetting /run_id to 65275360-3daf-11ef-b81a-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_02_easy.bag  --clock 
[0m[ INFO] [1720500909.845068705]: 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: 316864053.20 
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: 1403636881.651666, t: -0.197268 -0.025852 0.027965 q: 0.998146 -0.013593 -0.059207 0.003836 
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
time: 1403636887.651666, t: -0.202585 -0.023431 0.036092 q: 0.999089 0.010089 -0.041381 -0.002456 
unstable tracking...
time: 1403636891.651666, t: -0.206219 -0.024275 0.037734 q: 0.999248 0.008935 -0.037544 -0.003631 
time: 1403636893.651666, t: -0.206146 -0.024349 0.037689 q: 0.999249 0.008808 -0.037529 -0.004049 
time: 1403636895.651666, t: -0.206138 -0.024340 0.037683 q: 0.999251 0.008668 -0.037478 -0.004108 
unstable tracking...
time: 1403636897.651666, t: -0.214346 0.002464 -0.007791 q: 0.997117 -0.010791 -0.073850 -0.013713 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636901.651666, t: 0.037676 0.554012 0.360243 q: 0.996654 -0.021633 -0.073878 -0.027468 
unstable tracking...
unstable tracking...
time: 1403636905.651666, t: 0.421833 2.298967 1.538218 q: 0.995318 -0.036267 -0.073183 -0.051685 
unstable tracking...
time: 1403636907.651666, t: 0.742675 2.783356 2.285337 q: 0.995603 0.008112 -0.089737 -0.025603 
time: 1403636909.651666, t: 1.493315 3.364807 3.501751 q: 0.994927 0.026054 -0.093152 -0.027655 
time: 1403636911.651666, t: -0.065077 2.913003 5.906720 q: 0.997714 -0.043163 0.025848 -0.045110 
time: 1403636913.651666, t: -0.594170 4.182499 6.786149 q: 0.994908 -0.018983 0.052692 -0.083787 
time: 1403636915.651666, t: 0.012835 5.590376 6.402154 q: 0.994817 0.050538 0.027109 -0.083963 
time: 1403636917.651666, t: -1.471612 8.198516 7.673799 q: 0.968918 0.066185 0.224231 -0.080862 
time: 1403636919.651666, t: -2.046819 9.253457 8.141294 q: 0.936122 0.112070 0.327509 -0.062080 
time: 1403636921.651666, t: -2.289948 9.443523 7.939141 q: 0.937954 0.114512 0.324841 -0.040100 
time: 1403636923.651666, t: -2.450023 10.108861 8.319120 q: 0.956665 0.023587 0.290151 0.006857 
time: 1403636925.651666, t: -2.003450 10.602068 9.016117 q: 0.957841 0.017252 0.286321 0.016204 
time: 1403636927.651666, t: -1.279884 11.103499 9.730760 q: 0.950099 -0.051584 0.287295 0.110056 
time: 1403636931.651666, t: -0.047733 12.267046 10.630650 q: 0.916297 -0.114218 0.373635 0.088040 
time: 1403636933.651666, t: -0.562535 12.192271 10.210242 q: 0.909943 -0.175368 0.320656 0.196032 
time: 1403636935.651666, t: -0.785792 12.137021 9.485092 q: 0.856387 -0.308171 0.270800 0.313527 
time: 1403636937.651666, t: -2.256140 11.857797 9.352450 q: 0.831109 -0.335639 0.303116 0.323611 
time: 1403636939.651666, t: -3.368669 11.830364 9.102171 q: 0.814848 -0.353180 0.327836 0.322197 
time: 1403636941.651666, t: -3.338548 11.971217 7.825383 q: 0.825580 -0.384908 0.233623 0.340123 
time: 1403636943.651666, t: -3.719642 12.454561 7.012599 q: 0.821914 -0.386533 0.188579 0.373481 
time: 1403636945.651666, t: -5.398077 12.678792 8.847082 q: 0.841895 -0.340335 0.287916 0.304121 
time: 1403636947.651666, t: -6.289809 12.327779 7.765997 q: 0.845058 -0.322702 0.234985 0.355700 
time: 1403636949.651666, t: -6.688110 12.911286 8.785927 q: 0.843312 -0.291392 0.321039 0.317567 
time: 1403636951.651666, t: -6.150364 13.126596 9.493821 q: 0.856415 -0.293905 0.300945 0.299341 
time: 1403636953.651666, t: -6.481494 14.397772 10.695998 q: 0.857894 -0.209685 0.358864 0.302104 
time: 1403636955.651666, t: -4.743716 14.221389 12.368971 q: 0.807676 -0.262429 0.435994 0.297824 
feature tracking not enough, please slowly move you device! 
time: 1403636961.651666, t: -3.216344 15.903960 13.693782 q: 0.834153 0.106812 0.528635 -0.115432 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636967.651666, t: -3.978099 14.428806 13.256778 q: 0.819243 0.076647 0.560438 -0.094212 
time: 1403636969.651666, t: -5.786714 13.615971 13.224643 q: 0.839934 0.077563 0.528743 -0.094475 
time: 1403636971.651666, t: -5.749698 11.417201 14.269292 q: 0.821158 0.013098 0.569421 -0.035892 
time: 1403636973.651666, t: -6.999107 12.496361 14.235390 q: 0.801535 0.065200 0.592401 -0.048484 
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
time: 1403636979.651666, t: 125.536953 150.805749 37.841521 q: 0.164051 0.203717 0.577460 0.773386 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636987.651666, t: -117.632072 2094.758393 -1682.054879 q: -0.043990 -0.345061 0.870138 0.349082 
time: 1403636989.651666, t: -116.906439 2094.616382 -1681.654609 q: -0.063023 -0.353609 0.871521 0.333827 
time: 1403636991.651666, t: -116.587347 2094.699698 -1679.549418 q: -0.040714 -0.370251 0.878620 0.298803 
time: 1403636993.651666, t: -115.365682 2093.689007 -1678.718411 q: -0.043555 -0.385729 0.875595 0.287487 
time: 1403636995.651666, t: -114.411795 2094.470858 -1677.109637 q: -0.048374 -0.440671 0.870510 0.213732 
unstable tracking...
unstable tracking...
time: 1403637003.651666, t: -112.158992 2091.516306 -1673.486557 q: 0.039331 -0.446184 0.884837 0.128206 
time: 1403637005.651666, t: -112.822942 2090.318040 -1671.591264 q: 0.099940 -0.424948 0.891362 0.122083 
time: 1403637007.651666, t: -112.603280 2090.036607 -1671.448446 q: 0.161320 -0.469992 0.867017 0.036946 
time: 1403637009.651666, t: -112.310494 2089.775009 -1671.071904 q: 0.157313 -0.465204 0.870255 0.038661 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720501064.618720016]: Shutdown request received.[0m
[33m[ WARN] [1720501064.618789525]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720501064.619614359]: Shutdown request received.[0m
[33m[ WARN] [1720501064.619641739]: Reason given for shutdown: [user request][0m
killed
