/SLAM-Hive/slam_hive_results/mapping_results/3010/2218_vins-fusion-stereo+MH_02_easy+Image_comb_test-28.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720501088.937404237]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720501088.939206557]: init begins[0m
[31m[ERROR] [1720501088.940188600]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/d5f4bc2c-3daf-11ef-ae53-0242ac110005/roslaunch-3b713793cdf9-118.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://3b713793cdf9:41955/[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] [1720501090.099155247]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://3b713793cdf9:11311/[0m
]2;roscore http://3b713793cdf9:11311/
[0m[ INFO] [1720501090.102976278]: Connected to master at [localhost:11311][0m
[1msetting /run_id to d5f4bc2c-3daf-11ef-ae53-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720501090.132430784]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720501090.133179722]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720501090.133265800]: 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] [1720501090.134128379]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720501090.134901690]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720501090.135424437]: 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 [238][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720501099.091508937]: 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: 316864242.45 
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] [1720501122.266231784]: Initialization finish![0m
time: 1403636879.651666, t: -0.048990 -0.125444 -0.148774 q: 0.996683 -0.023955 -0.077727 0.002593 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636881.651666, t: -0.048990 -0.125444 -0.148774 q: 0.996683 -0.023955 -0.077727 0.002593 
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
time: 1403636887.651666, t: -0.059924 -0.123117 -0.139066 q: 0.998426 -0.001241 -0.055741 -0.006045 
unstable tracking...
unstable tracking...
time: 1403636891.651666, t: -0.056771 -0.124105 -0.141580 q: 0.998396 -0.002325 -0.056202 -0.006421 
unstable tracking...
time: 1403636893.651666, t: -0.056731 -0.124109 -0.141585 q: 0.998390 -0.002288 -0.056284 -0.006669 
unstable tracking...
time: 1403636895.651666, t: -0.056715 -0.124119 -0.141608 q: 0.998394 -0.002475 -0.056189 -0.006808 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636901.651666, t: 0.162249 0.418716 0.223252 q: 0.994729 -0.034995 -0.092111 -0.028389 
time: 1403636903.651666, t: 0.316025 1.256867 0.784608 q: 0.993087 -0.036600 -0.101711 -0.045761 
time: 1403636905.651666, t: 0.728016 1.923581 1.452820 q: 0.988414 -0.058626 -0.119022 -0.073720 
time: 1403636907.651666, t: 0.850378 2.438699 2.184673 q: 0.991559 -0.020915 -0.121953 -0.038750 
time: 1403636909.651666, t: 1.189576 3.066604 3.650113 q: 0.992032 -0.011208 -0.111667 -0.057248 
time: 1403636911.651666, t: 1.403290 3.402586 4.923990 q: 0.987309 -0.030423 -0.126161 -0.091538 
time: 1403636913.651666, t: 1.455823 4.264454 5.928969 q: 0.990432 -0.024252 -0.115562 -0.071429 
time: 1403636915.651666, t: 1.672373 5.173754 6.943444 q: 0.989935 -0.026483 -0.123515 -0.063800 
time: 1403636917.651666, t: 1.721985 5.581919 7.487156 q: 0.978522 -0.172870 -0.096124 -0.058060 
unstable tracking...
time: 1403636919.651666, t: 2.187587 5.706907 7.872906 q: 0.968091 -0.231805 -0.086069 -0.040715 
unstable tracking...
unstable tracking...
time: 1403636923.651666, t: 1.911370 6.070608 7.077309 q: 0.929636 -0.348264 -0.120363 0.001019 
time: 1403636925.651666, t: 1.855771 6.739748 7.401796 q: 0.916899 -0.377638 -0.129044 0.005688 
unstable tracking...
time: 1403636929.651666, t: 2.183544 9.139284 8.299762 q: 0.875721 -0.478977 -0.056158 0.023223 
time: 1403636931.651666, t: 2.196064 9.939483 8.032591 q: 0.854319 -0.519097 -0.021337 -0.014937 
time: 1403636933.651666, t: 2.180183 9.269042 7.578979 q: 0.793732 -0.604431 -0.036826 0.057417 
time: 1403636935.651666, t: 2.127359 8.429592 7.126110 q: 0.667114 -0.736241 0.016754 0.112369 
time: 1403636937.651666, t: 2.231487 8.917219 6.119068 q: 0.685315 -0.718907 -0.031857 0.111808 
time: 1403636939.651666, t: 2.359083 7.810599 5.415506 q: 0.659620 -0.742713 -0.033982 0.110114 
time: 1403636941.651666, t: 0.980208 6.884591 4.396145 q: 0.627530 -0.761988 0.029590 0.157178 
time: 1403636943.651666, t: 4.091621 6.624164 2.475100 q: 0.628049 -0.723758 -0.214120 0.189423 
time: 1403636945.651666, t: 2.406567 6.540369 1.177453 q: 0.653407 -0.690161 -0.083121 0.299714 
time: 1403636947.651666, t: 1.807618 7.671663 2.018534 q: 0.635781 -0.683227 -0.122979 0.337430 
time: 1403636949.651666, t: 0.838365 9.416243 3.079951 q: 0.668522 -0.665386 -0.088117 0.320274 
time: 1403636951.651666, t: 1.045038 9.277144 4.202050 q: 0.661987 -0.704353 -0.155702 0.203510 
time: 1403636953.651666, t: 0.289241 10.004383 3.916022 q: 0.684468 -0.689571 -0.134876 0.194431 
time: 1403636955.651666, t: 0.191023 12.931311 4.786912 q: 0.663128 -0.646062 -0.123790 0.357130 
feature tracking not enough, please slowly move you device! 
time: 1403636959.651666, t: 1.148350 12.580832 8.475807 q: 0.850032 -0.446845 -0.086694 0.265065 
time: 1403636961.651666, t: 1.421120 12.666006 9.092549 q: 0.930416 -0.269212 -0.070143 0.238603 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636965.651666, t: 1.421120 12.666006 9.092549 q: 0.930416 -0.269212 -0.070143 0.238603 
time: 1403636967.651666, t: 1.755816 12.766863 7.783366 q: 0.966970 -0.129280 -0.012593 0.219311 
feature tracking not enough, please slowly move you device! 
time: 1403636969.651666, t: 1.601192 11.424235 6.873772 q: 0.990467 -0.053621 -0.053827 0.114898 
feature tracking not enough, please slowly move you device! 
time: 1403636971.651666, t: 3.165704 1.653894 17.339958 q: 0.822425 -0.542557 -0.011191 0.170655 
time: 1403636973.651666, t: 2.948823 5.939897 18.339840 q: 0.738408 -0.651467 -0.088041 0.150309 
feature tracking not enough, please slowly move you device! 
time: 1403636977.651666, t: 1.653072 6.080428 16.465165 q: -0.407962 0.885258 -0.017658 -0.222650 
time: 1403636979.651666, t: 1.109497 5.689597 15.135557 q: -0.419409 0.858267 -0.035645 -0.293605 
unstable tracking...
time: 1403636983.651666, t: 1.476285 7.708890 14.147168 q: -0.338055 0.907174 0.024677 -0.249288 
time: 1403636985.651666, t: 1.720264 9.428248 12.819264 q: -0.351284 0.894927 0.048601 -0.270820 
time: 1403636987.651666, t: 1.668792 10.699312 12.893642 q: -0.390628 0.890610 0.022600 -0.231760 
time: 1403636989.651666, t: 1.108245 8.718255 12.783372 q: 0.520409 -0.825138 0.021254 0.218792 
time: 1403636991.651666, t: 2.045853 8.800694 14.002823 q: -0.406700 0.867923 -0.005136 -0.285095 
time: 1403636993.651666, t: 2.083217 7.178224 14.484694 q: -0.484481 0.834752 -0.031190 -0.259798 
time: 1403636995.651666, t: 3.249717 6.392730 15.534152 q: -0.496759 0.822089 -0.009215 -0.278057 
time: 1403636997.651666, t: 4.442233 5.872698 16.743370 q: 0.609182 -0.738535 -0.031561 0.287170 
time: 1403636999.651666, t: 4.394969 4.651931 16.603391 q: 0.620516 -0.747024 0.001975 0.238560 
time: 1403637001.651666, t: 4.690235 3.822825 17.597552 q: 0.613603 -0.748703 0.014010 0.250477 
time: 1403637003.651666, t: 4.675641 2.601666 18.227153 q: 0.614251 -0.749998 0.022661 0.244306 
feature tracking not enough, please slowly move you device! 
time: 1403637007.651666, t: 4.262058 3.372276 18.301782 q: 0.721773 -0.652792 0.071289 0.218688 
time: 1403637009.651666, t: 4.142743 3.424270 18.383554 q: 0.724461 -0.644690 0.138398 0.200940 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720501253.663882624]: Shutdown request received.[0m
[33m[ WARN] [1720501253.663929923]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720501253.664816903]: Shutdown request received.[0m
[33m[ WARN] [1720501253.664837910]: Reason given for shutdown: [user request][0m
killed
