/SLAM-Hive/slam_hive_results/mapping_results/3011/2219_vins-fusion-stereo+MH_02_easy+Image_comb_test-29.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720501278.079263192]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720501278.080954810]: init begins[0m
[31m[ERROR] [1720501278.082064055]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/46b37692-3db0-11ef-b618-0242ac110005/roslaunch-c7403c987674-118.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://c7403c987674:43735/[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] [1720501279.236458773]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720501279.237327626]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720501279.243095501]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720501279.243323440]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720501279.243350367]: 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] [1720501279.243573641]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720501279.243807780]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720501279.243994547]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://c7403c987674:11311/[0m
]2;roscore http://c7403c987674:11311/
[1msetting /run_id to 46b37692-3db0-11ef-b618-0242ac110005[0m
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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720501288.238383791]: 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: 316864431.60 
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...
unstable tracking...
[0m[ INFO] [1720501311.402665964]: Initialization finish![0m
time: 1403636879.651666, t: 0.000000 0.000000 0.000000 q: 1.000000 0.000000 0.000000 0.000000 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636881.651666, t: 0.000000 0.000000 0.000000 q: 1.000000 0.000000 0.000000 0.000000 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636883.651666, t: 0.000000 0.000000 0.000000 q: 1.000000 0.000000 0.000000 0.000000 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636885.651666, t: 0.000000 0.000000 0.000000 q: 1.000000 0.000000 0.000000 0.000000 
unstable tracking...
unstable tracking...
time: 1403636889.651666, t: 0.002101 -0.002060 -0.007107 q: 0.999861 0.015259 0.003039 0.006018 
unstable tracking...
time: 1403636891.651666, t: 0.006184 -0.000864 -0.004365 q: 0.999843 0.017190 0.002860 0.003173 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636893.651666, t: 0.006184 -0.000864 -0.004365 q: 0.999843 0.017190 0.002860 0.003173 
unstable tracking...
time: 1403636895.651666, t: 0.006184 -0.000864 -0.004365 q: 0.999843 0.017190 0.002860 0.003173 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636897.651666, t: 0.002696 -0.003107 -0.013755 q: 0.999429 -0.005669 -0.033291 -0.000572 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636899.651666, t: 0.002696 -0.003107 -0.013755 q: 0.999429 -0.005669 -0.033291 -0.000572 
unstable tracking...
time: 1403636901.651666, t: 0.263792 0.406672 0.529034 q: 0.999411 -0.016990 -0.029092 -0.006496 
unstable tracking...
time: 1403636903.651666, t: 0.374631 1.129212 0.979392 q: 0.999075 -0.023098 -0.033923 -0.012863 
unstable tracking...
time: 1403636905.651666, t: 1.817147 2.462945 3.776830 q: 0.998128 -0.051871 -0.030253 -0.011617 
unstable tracking...
time: 1403636907.651666, t: -0.881507 0.379322 8.661392 q: 0.998307 0.034694 0.007651 0.046057 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636911.651666, t: -0.881507 0.379322 8.661392 q: 0.998307 0.034694 0.007651 0.046057 
time: 1403636913.651666, t: -1.071693 1.436929 9.629315 q: 0.994314 0.087226 0.031756 0.052190 
time: 1403636915.651666, t: -1.457533 2.207582 10.861967 q: 0.988080 0.069377 0.080351 0.111483 
time: 1403636917.651666, t: -2.167341 1.674537 11.366159 q: 0.971409 -0.122528 0.139257 0.148187 
unstable tracking...
time: 1403636919.651666, t: -1.167887 3.891424 9.109228 q: 0.961271 0.026381 0.099412 0.255695 
unstable tracking...
time: 1403636921.651666, t: -1.573026 4.414101 8.508682 q: 0.955331 0.032076 0.071389 0.284985 
unstable tracking...
time: 1403636923.651666, t: -1.987170 2.965793 10.627315 q: 0.940652 -0.237947 0.034644 0.239489 
unstable tracking...
time: 1403636925.651666, t: -2.092988 3.477095 11.116158 q: 0.931169 -0.270535 0.019275 0.243647 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636927.651666, t: -2.521511 4.678024 11.323298 q: 0.930771 -0.298401 0.006322 0.211143 
time: 1403636929.651666, t: -3.135447 5.881560 11.936301 q: 0.919513 -0.313818 0.127034 0.199689 
time: 1403636931.651666, t: -3.250560 6.461150 12.322725 q: 0.878722 -0.408081 0.159294 0.189587 
feature tracking not enough, please slowly move you device! 
time: 1403636933.651666, t: -3.938433 6.492062 11.017221 q: 0.845316 -0.328186 0.025824 0.420794 
time: 1403636935.651666, t: -4.211888 6.345657 11.549905 q: 0.705782 -0.525361 -0.018994 0.474875 
time: 1403636937.651666, t: -4.476635 6.686530 10.415311 q: 0.709766 -0.506302 -0.066917 0.485193 
feature tracking not enough, please slowly move you device! 
time: 1403636939.651666, t: -5.085030 7.536266 11.176384 q: 0.700926 -0.520828 -0.078699 0.480882 
feature tracking not enough, please slowly move you device! 
time: 1403636941.651666, t: -5.476288 7.309748 10.191147 q: 0.701869 -0.527615 -0.115832 0.464312 
feature tracking not enough, please slowly move you device! 
time: 1403636943.651666, t: -5.476288 7.309748 10.191147 q: 0.701869 -0.527615 -0.115832 0.464312 
time: 1403636945.651666, t: -6.251327 6.832453 8.752555 q: 0.759658 -0.451296 -0.078562 0.461606 
time: 1403636947.651666, t: -5.711610 6.238176 9.780267 q: 0.695496 -0.505149 -0.141301 0.491064 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636951.651666, t: -5.500993 6.141180 10.473060 q: 0.707527 -0.496522 -0.134846 0.484446 
feature tracking not enough, please slowly move you device! 
time: 1403636953.651666, t: -5.718765 7.026941 12.680439 q: 0.718322 -0.485018 -0.154966 0.474086 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636957.651666, t: -6.101280 8.314743 14.329790 q: 0.698084 -0.503738 -0.145236 0.487682 
time: 1403636959.651666, t: -6.349856 8.639066 14.737733 q: 0.820290 -0.340597 -0.078834 0.452663 
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! 
time: 1403636967.651666, t: -6.349856 8.639066 14.737733 q: 0.820290 -0.340597 -0.078834 0.452663 
feature tracking not enough, please slowly move you device! 
time: 1403636969.651666, t: -6.349856 8.639066 14.737733 q: 0.820290 -0.340597 -0.078834 0.452663 
feature tracking not enough, please slowly move you device! 
time: 1403636971.651666, t: -5.076550 5.710836 13.724354 q: 0.834036 -0.322965 -0.083743 0.439392 
time: 1403636973.651666, t: -5.088869 5.410418 13.651202 q: 0.817321 -0.369197 -0.103495 0.430080 
feature tracking not enough, please slowly move you device! 
time: 1403636975.651666, t: -5.088869 5.410418 13.651202 q: 0.817321 -0.369197 -0.103495 0.430080 
unstable tracking...
time: 1403636977.651666, t: -5.427074 5.502435 13.850322 q: 0.711759 -0.525681 -0.153245 0.439970 
unstable tracking...
time: 1403636979.651666, t: -6.157365 6.028948 13.495273 q: 0.687410 -0.529087 -0.195091 0.457683 
unstable tracking...
time: 1403636981.651666, t: -7.208720 6.961540 13.626508 q: 0.690326 -0.544745 -0.165147 0.446575 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636983.651666, t: -7.875813 8.445972 13.784974 q: 0.710621 -0.520872 -0.184272 0.435608 
time: 1403636985.651666, t: -8.759232 9.956850 14.779207 q: 0.723398 -0.522595 -0.169107 0.418322 
time: 1403636987.651666, t: -7.603153 10.709535 16.989041 q: 0.689392 -0.559974 -0.177865 0.423711 
feature tracking not enough, please slowly move you device! 
time: 1403636989.651666, t: -7.674668 10.737445 17.020891 q: 0.689241 -0.557631 -0.178200 0.426895 
feature tracking not enough, please slowly move you device! 
time: 1403636993.651666, t: -8.190580 13.285019 21.932797 q: -0.357659 0.750710 0.432561 -0.348434 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636997.651666, t: -7.086556 13.056244 25.083150 q: -0.338966 0.758122 0.433543 -0.349850 
time: 1403636999.651666, t: -8.323984 15.710897 29.353793 q: -0.227356 0.780048 0.494329 -0.308986 
time: 1403637001.651666, t: -7.580128 13.170932 30.525515 q: -0.341544 0.753321 0.493018 -0.269795 
time: 1403637003.651666, t: -6.417961 12.681000 31.487942 q: -0.348831 0.754046 0.472651 -0.293826 
feature tracking not enough, please slowly move you device! 
time: 1403637005.651666, t: -6.483790 12.520562 31.741501 q: -0.344086 0.757023 0.465750 -0.302651 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637009.651666, t: -6.483790 12.520562 31.741501 q: -0.344086 0.757023 0.465750 -0.302651 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720501443.016722431]: Shutdown request received.[0m
[33m[ WARN] [1720501443.016764970]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720501443.017608284]: Shutdown request received.[0m
[33m[ WARN] [1720501443.017637190]: Reason given for shutdown: [user request][0m
killed
