/SLAM-Hive/slam_hive_results/mapping_results/3007/2215_vins-fusion-stereo+MH_02_easy+Image_comb_test-25.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720500521.563153741]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720500521.565326869]: init begins[0m
[31m[ERROR] [1720500521.566428328]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/83c4c5c4-3dae-11ef-9e1e-0242ac110005/roslaunch-4b0afc53a882-117.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://4b0afc53a882:33367/[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
[0m[ INFO] [1720500522.669633219]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720500522.671116733]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720500522.677094945]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720500522.677313212]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720500522.677336830]: ROW: 384 COL: 601 [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] [1720500522.677524535]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720500522.677751083]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720500522.677924563]: 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://4b0afc53a882:11311/[0m
]2;roscore http://4b0afc53a882:11311/
[1msetting /run_id to 83c4c5c4-3dae-11ef-9e1e-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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720500531.728652902]: 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: 316863675.09 
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! 
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] [1720500554.902950891]: Initialization finish![0m
time: 1403636879.651666, t: -0.078711 -0.467117 -0.190269 q: 0.975916 -0.122537 -0.171611 0.055880 
feature tracking not enough, please slowly move you device! 
time: 1403636881.651666, t: -0.078711 -0.467117 -0.190269 q: 0.975916 -0.122537 -0.171611 0.055880 
feature tracking not enough, please slowly move you device! 
time: 1403636885.651666, t: -0.094850 -0.464339 -0.186734 q: 0.982470 -0.100800 -0.148710 0.049780 
unstable tracking...
time: 1403636889.651666, t: -0.093739 -0.464781 -0.183671 q: 0.982454 -0.101100 -0.148716 0.049459 
time: 1403636891.651666, t: -0.093528 -0.464903 -0.183710 q: 0.982517 -0.101055 -0.148410 0.049213 
time: 1403636893.651666, t: -0.093515 -0.464891 -0.183735 q: 0.982537 -0.101007 -0.148387 0.048996 
time: 1403636895.651666, t: -0.093527 -0.464860 -0.183723 q: 0.982530 -0.101108 -0.148373 0.048962 
unstable tracking...
time: 1403636897.651666, t: -0.091770 -0.449912 -0.233504 q: 0.974553 -0.117587 -0.186535 0.040316 
unstable tracking...
time: 1403636899.651666, t: 0.067515 -0.275888 -0.114764 q: 0.962624 -0.198429 -0.170319 0.070511 
unstable tracking...
time: 1403636901.651666, t: 0.179546 0.624777 0.029367 q: 0.965383 -0.194889 -0.169905 0.034433 
unstable tracking...
time: 1403636903.651666, t: -0.010124 1.873547 -0.001888 q: 0.970999 -0.174823 -0.161971 0.019062 
unstable tracking...
time: 1403636905.651666, t: 0.683719 1.914700 0.297398 q: 0.954850 -0.214844 -0.201859 0.036819 
unstable tracking...
unstable tracking...
time: 1403636909.651666, t: 0.435126 4.201447 2.135190 q: 0.966048 -0.173409 -0.184405 0.051722 
time: 1403636911.651666, t: 0.249202 5.093994 3.104158 q: 0.967835 -0.171448 -0.180561 0.036032 
time: 1403636913.651666, t: 0.016880 6.002196 3.712236 q: 0.968948 -0.170606 -0.172317 0.048373 
time: 1403636915.651666, t: 0.001835 7.032770 4.137056 q: 0.966306 -0.181163 -0.173997 0.056187 
time: 1403636917.651666, t: -0.017653 7.767387 4.537710 q: 0.929789 -0.323035 -0.165969 0.059956 
time: 1403636919.651666, t: 0.160318 7.075858 5.895856 q: 0.871107 -0.460164 -0.171381 0.007038 
time: 1403636921.651666, t: 0.129841 8.275400 4.170695 q: 0.917165 -0.361546 -0.164011 0.034541 
time: 1403636923.651666, t: 0.110184 8.116569 3.837682 q: 0.847638 -0.481728 -0.193623 0.109352 
time: 1403636925.651666, t: -0.144542 8.842970 3.935946 q: 0.828224 -0.509470 -0.203862 0.113692 
time: 1403636927.651666, t: -0.426753 9.973307 4.010812 q: 0.758753 -0.611656 -0.180375 0.132801 
time: 1403636929.651666, t: -0.900163 11.378780 3.916736 q: 0.781837 -0.608070 -0.117175 0.072468 
time: 1403636931.651666, t: -0.392750 12.140816 3.490737 q: 0.747489 -0.647010 -0.136957 0.062305 
time: 1403636933.651666, t: -0.444275 11.432347 2.995904 q: 0.686629 -0.707253 -0.123514 0.114358 
time: 1403636935.651666, t: -0.060067 10.366632 3.197834 q: 0.513487 -0.842244 -0.086223 0.139721 
time: 1403636937.651666, t: -0.384663 9.891325 3.298914 q: -0.455399 0.875402 0.078099 -0.142072 
time: 1403636939.651666, t: -0.270836 9.142168 2.125486 q: -0.488753 0.858803 0.088157 -0.125722 
time: 1403636941.651666, t: -0.224994 7.443153 1.622872 q: -0.457281 0.873441 0.095136 -0.137635 
time: 1403636943.651666, t: 0.056180 6.962391 0.705180 q: -0.446002 0.872470 0.109877 -0.166751 
time: 1403636945.651666, t: 0.163569 4.763135 0.605643 q: -0.493288 0.845453 0.121231 -0.164860 
time: 1403636947.651666, t: -1.096352 5.391909 -0.134796 q: 0.503419 -0.837928 -0.098644 0.186322 
time: 1403636949.651666, t: -1.213064 5.460293 0.840811 q: 0.502454 -0.852315 -0.061543 0.131570 
time: 1403636951.651666, t: -1.315598 5.844518 1.124449 q: -0.494214 0.853140 0.103182 -0.131370 
time: 1403636953.651666, t: -1.508593 7.104829 1.393949 q: -0.494139 0.856234 0.101286 -0.111495 
time: 1403636955.651666, t: -1.670241 8.639688 1.922535 q: -0.454674 0.882753 0.099698 -0.063876 
feature tracking not enough, please slowly move you device! 
time: 1403636957.651666, t: -1.670241 8.639688 1.922535 q: -0.454674 0.882753 0.099698 -0.063876 
time: 1403636959.651666, t: -0.359966 12.200987 3.126548 q: -0.330023 0.851643 0.367819 -0.174638 
time: 1403636961.651666, t: -0.166847 9.631729 -2.500654 q: 0.773656 -0.561403 -0.183328 0.229508 
feature tracking not enough, please slowly move you device! 
time: 1403636963.651666, t: -0.166847 9.631729 -2.500654 q: 0.773656 -0.561403 -0.183328 0.229508 feature tracking not enough, please slowly move you device! 
time: 1403636967.651666, t: 0.913713 9.097612 -2.873560 q: 0.828516 -0.481408 -0.165319 0.233404 
time: 1403636969.651666, t: 1.215400 6.855378 -2.274711 q: 0.866376 -0.406363 -0.228163 0.179452 
time: 1403636971.651666, t: 2.333195 6.228473 -3.476838 q: 0.889988 -0.314470 -0.206780 0.257434 
time: 1403636973.651666, t: 1.725044 4.790856 -1.162668 q: 0.830134 -0.469789 -0.202913 0.221363 
time: 1403636975.651666, t: 1.563243 4.642720 -1.608024 q: 0.646204 -0.692737 -0.221925 0.230836 
unstable tracking...
unstable tracking...
time: 1403636979.651666, t: 1.325131 5.308687 -3.013096 q: -0.493173 0.785015 0.256033 -0.273824 
unstable tracking...
time: 1403636981.651666, t: 0.485584 6.273921 -3.504122 q: -0.467692 0.827962 0.189419 -0.244672 
time: 1403636983.651666, t: 0.325270 7.849621 -4.002042 q: -0.444867 0.829536 0.225671 -0.251069 
time: 1403636985.651666, t: -1.050639 8.282872 -3.848344 q: -0.412713 0.873526 0.154312 -0.206899 
time: 1403636987.651666, t: -1.233762 10.152373 -3.012869 q: -0.395693 0.891503 0.117336 -0.186768 
time: 1403636989.651666, t: -0.563191 9.476132 -2.769842 q: -0.428687 0.863839 0.141515 -0.223569 
time: 1403636991.651666, t: -0.278308 7.631163 -2.012725 q: -0.435150 0.862509 0.143090 -0.215052 
time: 1403636993.651666, t: 0.219151 6.546249 -1.369244 q: -0.486803 0.836399 0.142915 -0.207448 
time: 1403636995.651666, t: 0.677149 5.240024 -0.448026 q: 0.520985 -0.815713 -0.144532 0.205662 
time: 1403636997.651666, t: 0.703627 4.087634 0.876351 q: 0.640735 -0.723823 -0.154897 0.203829 
time: 1403636999.651666, t: 1.617003 3.362765 0.638265 q: 0.646979 -0.723607 -0.152010 0.186291 
time: 1403637001.651666, t: 1.918423 2.453807 1.445921 q: 0.642727 -0.724023 -0.151079 0.199671 
time: 1403637003.651666, t: 2.167496 1.341945 2.305739 q: 0.634142 -0.732115 -0.148962 0.199203 
time: 1403637005.651666, t: 5.978034 4.661171 3.850121 q: 0.516282 -0.748927 -0.266534 0.318625 
time: 1403637007.651666, t: 5.797725 4.667561 3.673006 q: 0.626614 -0.665379 -0.249904 0.319647 
time: 1403637009.651666, t: 5.771523 4.415434 3.605634 q: 0.644150 -0.669414 -0.190086 0.317526 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720500686.343907127]: Shutdown request received.[0m
[33m[ WARN] [1720500686.343959794]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720500686.344902765]: Shutdown request received.[0m
[33m[ WARN] [1720500686.344946625]: Reason given for shutdown: [user request][0m
killed
