/SLAM-Hive/slam_hive_results/mapping_results/2976/2184_vins-fusion-stereo+MH_01_easy+Image_comb_test-24.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720494381.643704300]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720494381.645763749]: init begins[0m
[31m[ERROR] [1720494381.646767713]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/3817d2b4-3da0-11ef-a174-0242ac110005/roslaunch-dd945593d1c2-118.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://dd945593d1c2:43415/[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
[1mROS_MASTER_URI=http://dd945593d1c2:11311/[0m
]2;roscore http://dd945593d1c2:11311/
[1msetting /run_id to 3817d2b4-3da0-11ef-a174-0242ac110005[0m
[0m[ INFO] [1720494382.799261604]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720494382.802007210]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720494382.807981095]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720494382.808199977]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720494382.808224164]: 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] [1720494382.808438415]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720494382.808675827]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720494382.808841799]: 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 [200][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720494391.824062990]: 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: 316857813.09 
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! 
[0m[ INFO] [1720494414.024076050]: Initialization finish![0m
time: 1403636600.763556, t: 3.797053 -3.650995 -10.962708 q: 0.941828 0.066502 -0.179870 0.276016 
time: 1403636602.763556, t: 2.565594 -3.290827 -16.116424 q: 0.941766 0.213944 -0.143689 0.216006 
time: 1403636604.763556, t: -21.611682 -2.449831 13.334757 q: 0.930067 0.232259 -0.056368 0.279024 
time: 1403636606.763556, t: 12.199430 -7.491538 23.614181 q: 0.881654 0.145963 -0.358711 0.269643 
time: 1403636608.763556, t: 11.664849 -7.371389 23.957631 q: 0.882418 0.168397 -0.398492 0.184890 
unstable tracking...
unstable tracking...
time: 1403636612.763556, t: 11.924983 -7.442540 23.801182 q: 0.883976 0.155251 -0.375861 0.230677 
time: 1403636614.763556, t: 11.934290 -7.443740 23.787495 q: 0.884201 0.154715 -0.374955 0.231648 
time: 1403636616.763556, t: 11.933829 -7.442726 23.787118 q: 0.884144 0.154977 -0.374719 0.232070 
time: 1403636618.763556, t: 11.933855 -7.442819 23.787084 q: 0.884141 0.154920 -0.374710 0.232134 
time: 1403636622.763556, t: 11.933845 -7.442414 23.787034 q: 0.884228 0.154943 -0.374686 0.231829 
unstable tracking...
time: 1403636624.763556, t: 11.929564 -7.414758 23.775244 q: 0.880722 0.147562 -0.396289 0.213329 
unstable tracking...
time: 1403636626.763556, t: 12.463753 -7.830323 24.006534 q: 0.878782 0.109905 -0.405547 0.226262 
unstable tracking...
time: 1403636628.763556, t: 11.797618 -7.160365 24.117888 q: 0.883865 0.103501 -0.394099 0.229687 
unstable tracking...
time: 1403636630.763556, t: 13.706188 -4.302711 21.712812 q: 0.873234 0.079118 -0.465520 0.120392 
unstable tracking...
time: 1403636632.763556, t: 12.961876 -4.217020 22.395078 q: 0.860771 0.116622 -0.473374 0.146252 
unstable tracking...
time: 1403636634.763556, t: 12.703056 -3.890922 22.961306 q: 0.857376 0.221325 -0.438609 0.153443 
time: 1403636636.763556, t: 11.575263 -4.284426 24.772384 q: 0.868818 0.240160 -0.407824 0.145458 
time: 1403636638.763556, t: 11.102797 -4.640369 25.531920 q: 0.837316 0.256644 -0.453175 0.166334 
time: 1403636640.763556, t: 10.141003 -5.084485 26.370102 q: 0.859130 0.265758 -0.391720 0.194482 
time: 1403636642.763556, t: 9.575402 -5.140382 27.135851 q: 0.860681 0.207610 -0.429737 0.177347 
time: 1403636644.763556, t: 9.116377 -4.939591 27.607797 q: 0.862986 0.226060 -0.413455 0.182229 
feature tracking not enough, please slowly move you device! 
time: 1403636646.763556, t: 9.116377 -4.939591 27.607797 q: 0.862986 0.226060 -0.413455 0.182229 
feature tracking not enough, please slowly move you device! 
time: 1403636648.763556, t: 9.116377 -4.939591 27.607797 q: 0.862986 0.226060 -0.413455 0.182229 
time: 1403636650.763556, t: 5.279878 -1.925847 29.879822 q: 0.819686 0.503453 -0.177138 0.208018 
feature tracking not enough, please slowly move you device! 
time: 1403636652.763556, t: 5.279878 -1.925847 29.879822 q: 0.819686 0.503453 -0.177138 0.208018 
time: 1403636654.763556, t: 4.926248 -1.538538 30.588187 q: 0.852405 0.432467 -0.179747 0.232526 
time: 1403636656.763556, t: 4.591040 -0.851757 30.664287 q: 0.897749 0.272794 -0.241027 0.248065 
feature tracking not enough, please slowly move you device! 
time: 1403636658.763556, t: 4.591040 -0.851757 30.664287 q: 0.897749 0.272794 -0.241027 0.248065 
time: 1403636660.763556, t: 3.719047 -0.538954 30.749809 q: 0.901114 0.263150 -0.242440 0.244884 
time: 1403636662.763556, t: 3.615566 -0.900956 30.456021 q: 0.883425 0.282791 -0.240736 0.285720 
time: 1403636664.763556, t: 3.615566 -0.900956 30.456021 q: 0.883425 0.282791 -0.240736 0.285720 
unstable tracking...
time: 1403636666.763556, t: 2.830536 -1.456975 31.350356 q: 0.781104 0.445356 -0.188971 0.394747 
unstable tracking...
time: 1403636668.763556, t: 3.514406 -2.067329 31.102560 q: 0.791910 0.434399 -0.188806 0.385394 
unstable tracking...
time: 1403636670.763556, t: 4.349191 -2.008853 30.560287 q: 0.685435 0.505343 -0.175772 0.493874 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636672.763556, t: 4.349191 -2.008853 30.560287 q: 0.685435 0.505343 -0.175772 0.493874 
unstable tracking...
time: 1403636674.763556, t: 4.688137 -2.469641 30.623432 q: 0.612583 0.595201 -0.107122 0.508923 
unstable tracking...
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636680.763556, t: 7.756611 -9.176355 32.224710 q: 0.302401 0.664238 0.195730 0.655005 
unstable tracking...
time: 1403636682.763556, t: 7.624856 -8.214079 31.673925 q: 0.258441 0.687502 0.197486 0.649267 
unstable tracking...
time: 1403636684.763556, t: 6.734822 -6.400045 30.356421 q: 0.274436 0.676325 0.220449 0.647048 
unstable tracking...
time: 1403636688.763556, t: 5.117935 -6.865224 27.878696 q: 0.241687 0.648019 0.284809 0.663734 
unstable tracking...
time: 1403636690.763556, t: 7.405749 -4.533857 28.395010 q: 0.449139 0.874122 0.028577 0.182670 
unstable tracking...
time: 1403636692.763556, t: 7.513170 -3.841869 28.600409 q: 0.516436 0.840845 0.078349 0.141899 
unstable tracking...
time: 1403636694.763556, t: 7.641777 -4.019227 29.008967 q: 0.510079 0.842900 0.081732 0.150528 
unstable tracking...
time: 1403636696.763556, t: 7.974523 -4.839279 29.301070 q: 0.524355 0.834065 0.077495 0.152912 
time: 1403636698.763556, t: 7.043320 -5.087823 25.711438 q: 0.840566 0.487423 0.125510 0.200286 
feature tracking not enough, please slowly move you device! 
time: 1403636702.763556, t: 6.539177 -5.001464 26.368830 q: 0.880035 0.394256 0.075378 0.253807 
time: 1403636704.763556, t: 6.628176 -5.254637 27.187090 q: 0.875344 0.411983 0.071394 0.242788 
time: 1403636706.763556, t: 7.421419 -5.854957 29.148902 q: 0.839667 0.465711 0.087016 0.265519 
time: 1403636708.763556, t: 8.877019 -6.598868 29.440204 q: 0.847368 0.445112 0.085061 0.276780 
time: 1403636710.763556, t: 9.661720 -7.700575 29.582963 q: 0.823145 0.486671 0.102904 0.273849 
time: 1403636712.763556, t: 10.228687 -7.962944 28.787878 q: 0.775550 0.563822 0.180783 0.218962 
time: 1403636714.763556, t: 9.527304 -7.162668 27.711049 q: 0.762366 0.599643 0.150602 0.191166 
time: 1403636716.763556, t: 9.738313 -5.780841 28.321555 q: 0.668349 0.713439 0.170754 0.123116 
feature tracking not enough, please slowly move you device! 
time: 1403636718.763556, t: 9.738313 -5.780841 28.321555 q: 0.668349 0.713439 0.170754 0.123116 
unstable tracking...
time: 1403636720.763556, t: 8.883705 -5.184582 27.387994 q: 0.676917 0.705605 0.180478 0.106457 
time: 1403636722.763556, t: 8.399093 -4.899884 27.307410 q: 0.752211 0.620090 0.155621 0.159528 
time: 1403636724.763556, t: 8.622172 -5.221929 26.903059 q: 0.767631 0.532006 0.056482 0.352877 
time: 1403636726.763556, t: 7.184853 -3.801860 27.320900 q: 0.712794 0.630508 0.148144 0.269144 
time: 1403636728.763556, t: 7.615701 -3.383465 26.625431 q: 0.750009 0.600425 0.141858 0.238438 
time: 1403636730.763556, t: 7.033868 -2.803816 25.951890 q: 0.725392 0.644480 0.143303 0.194722 
time: 1403636732.763556, t: 6.747623 -2.679859 25.771326 q: 0.725023 0.626775 0.191168 0.212012 
time: 1403636734.763556, t: 6.254838 -1.922064 25.088520 q: 0.717309 0.648470 0.160945 0.197613 
time: 1403636736.763556, t: 5.629988 -1.584612 24.850908 q: 0.676118 0.669475 0.204628 0.229773 
unstable tracking...
time: 1403636738.763556, t: 5.971723 -1.706250 24.262922 q: 0.700729 0.659973 0.165676 0.214399 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636740.763556, t: 5.971723 -1.706250 24.262922 q: 0.700729 0.659973 0.165676 0.214399 
time: 1403636742.763556, t: 5.660143 -2.158280 24.473123 q: 0.702754 0.656130 0.168101 0.217649 
time: 1403636744.763556, t: 5.632333 -3.238816 24.680223 q: 0.727008 0.618011 0.142127 0.263291 
time: 1403636746.763556, t: 5.652345 -3.536222 24.796535 q: 0.744610 0.614691 0.110622 0.235529 
time: 1403636748.763556, t: 6.207081 -3.436821 24.518492 q: 0.747057 0.599660 0.124013 0.258718 
time: 1403636750.763556, t: 6.516183 -3.092105 24.515976 q: 0.744858 0.603689 0.143731 0.245127 
time: 1403636752.763556, t: 7.834541 -0.733225 23.290770 q: 0.695761 0.683334 0.118867 0.186660 
time: 1403636754.763556, t: 8.676783 2.545263 22.516802 q: 0.626042 0.752539 0.188296 -0.079379 
time: 1403636756.763556, t: 7.768292 3.002310 20.986809 q: 0.618931 0.750000 0.199296 -0.121266 
feature tracking not enough, please slowly move you device! 
time: 1403636758.763556, t: 7.768292 3.002310 20.986809 q: 0.618931 0.750000 0.199296 -0.121266 
time: 1403636760.763556, t: 7.207941 3.088364 20.615495 q: 0.632374 0.730385 0.227453 -0.122091 
time: 1403636762.763556, t: 7.038625 2.946250 20.195993 q: 0.581263 0.747685 0.274720 -0.166223 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720494580.425908530]: Shutdown request received.[0m
[33m[ WARN] [1720494580.425952569]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720494580.426799125]: Shutdown request received.[0m
[33m[ WARN] [1720494580.426833569]: Reason given for shutdown: [user request][0m
killed
