/SLAM-Hive/slam_hive_results/mapping_results/3008/2216_vins-fusion-stereo+MH_02_easy+Image_comb_test-26.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720500710.726192030]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720500710.727595595]: init begins[0m
[31m[ERROR] [1720500710.728635246]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/f4841b70-3dae-11ef-b4b4-0242ac110005/roslaunch-c1133e95d1cf-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://c1133e95d1cf:40185/[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] [1720500711.832286795]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720500711.833983629]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720500711.839952157]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720500711.840167427]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720500711.840193455]: ROW: 288 COL: 451 [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] [1720500711.840426131]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720500711.840695945]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720500711.840882817]: 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://c1133e95d1cf:11311/[0m
]2;roscore http://c1133e95d1cf:11311/
[1msetting /run_id to f4841b70-3dae-11ef-b4b4-0242ac110005[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] [1720500720.847850970]: 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: 316863864.21 
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] [1720500744.031244906]: Initialization finish![0m
time: 1403636879.651666, t: -0.215198 -0.018396 -0.020958 q: 0.990729 0.000248 -0.135714 -0.006064 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636881.651666, t: -0.215198 -0.018396 -0.020958 q: 0.990729 0.000248 -0.135714 -0.006064 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636883.651666, t: -0.215198 -0.018396 -0.020958 q: 0.990729 0.000248 -0.135714 -0.006064 
unstable tracking...
time: 1403636885.651666, t: -0.220242 -0.016793 -0.015471 q: 0.992877 0.021432 -0.116020 -0.016580 
unstable tracking...
time: 1403636889.651666, t: -0.220127 -0.017355 -0.015158 q: 0.992884 0.021292 -0.116006 -0.016425 
time: 1403636891.651666, t: -0.220322 -0.016747 -0.015545 q: 0.992958 0.021787 -0.115293 -0.016332 
time: 1403636893.651666, t: -0.220300 -0.017067 -0.015630 q: 0.993000 0.021770 -0.114966 -0.016096 
time: 1403636895.651666, t: -0.220283 -0.017070 -0.015652 q: 0.993009 0.021630 -0.114904 -0.016199 
time: 1403636897.651666, t: -0.219700 0.009493 -0.058893 q: 0.988127 0.002194 -0.150960 -0.028476 
feature tracking not enough, please slowly move you device! 
time: 1403636899.651666, t: -0.048360 0.246401 0.059120 q: 0.990253 -0.052238 -0.122534 0.040679 
time: 1403636901.651666, t: 0.126014 0.838790 0.382442 q: 0.989749 -0.061826 -0.126031 0.026286 
unstable tracking...
time: 1403636905.651666, t: 0.121393 3.280369 1.227358 q: 0.991472 -0.051767 -0.119337 0.007887 
unstable tracking...
time: 1403636907.651666, t: 0.315025 3.314544 2.055353 q: 0.989805 -0.031935 -0.134443 0.034527 
time: 1403636909.651666, t: 0.565930 4.038854 3.518184 q: 0.991951 -0.020681 -0.122230 0.025811 
time: 1403636911.651666, t: 0.600642 4.671582 4.699274 q: 0.992251 -0.014588 -0.122912 0.010847 
time: 1403636913.651666, t: 0.426232 5.530610 5.731629 q: 0.994722 0.004382 -0.098559 0.028197 
time: 1403636915.651666, t: 0.712135 6.754174 6.128142 q: 0.993696 0.031644 -0.105080 0.022917 
time: 1403636917.651666, t: 0.726120 6.716074 7.161582 q: 0.980207 -0.169352 -0.090342 0.048502 
time: 1403636919.651666, t: 0.988558 6.822912 7.351435 q: 0.968991 -0.229105 -0.072432 0.057636 
time: 1403636921.651666, t: 0.961339 6.968089 6.844731 q: 0.964986 -0.234643 -0.085700 0.079999 
time: 1403636923.651666, t: 0.743200 7.098588 6.523135 q: 0.922023 -0.348133 -0.132342 0.105651 
time: 1403636925.651666, t: 0.496236 7.868291 6.873965 q: 0.909325 -0.374987 -0.142025 0.111094 
time: 1403636927.651666, t: 0.688610 8.904189 7.810437 q: 0.831454 -0.511180 -0.140527 0.166225 
time: 1403636929.651666, t: 0.882565 10.292309 8.725457 q: 0.807739 -0.558902 -0.113004 0.149721 
time: 1403636931.651666, t: 0.819490 11.102830 8.271823 q: 0.786334 -0.597258 -0.103448 0.119420 
time: 1403636933.651666, t: 0.913114 10.691483 7.191900 q: 0.756302 -0.616074 -0.123935 0.181935 
time: 1403636935.651666, t: 1.017275 9.699177 6.930327 q: 0.610012 -0.760300 -0.083918 0.206851 
time: 1403636937.651666, t: 0.772101 9.118031 6.308734 q: 0.589127 -0.774863 -0.091842 0.209957 
time: 1403636939.651666, t: 0.850499 9.145677 5.584922 q: 0.599979 -0.772748 -0.112281 0.174008 
time: 1403636941.651666, t: 0.564760 6.983175 4.795440 q: 0.551291 -0.802002 -0.084943 0.213672 
time: 1403636945.651666, t: 4.582487 5.689313 4.093057 q: 0.519302 -0.774110 -0.255793 0.256222 
time: 1403636947.651666, t: 0.744869 5.051525 4.182629 q: 0.506033 -0.788547 -0.116595 0.329440 
time: 1403636949.651666, t: -0.054043 6.541266 4.339553 q: 0.556357 -0.778642 -0.089752 0.275914 
time: 1403636951.651666, t: -0.063148 7.218499 4.601315 q: 0.549832 -0.768292 -0.122815 0.303857 
time: 1403636953.651666, t: -0.308727 7.786531 4.912457 q: 0.552411 -0.775080 -0.112098 0.285530 
time: 1403636955.651666, t: -0.431373 9.036290 5.548179 q: 0.513260 -0.808373 -0.107875 0.267320 
feature tracking not enough, please slowly move you device! 
time: 1403636959.651666, t: 3.344063 10.571511 8.113935 q: 0.569296 -0.590670 -0.518612 0.240938 
time: 1403636961.651666, t: 4.851587 12.276399 5.063288 q: 0.730769 -0.327524 -0.418534 0.428409 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636967.651666, t: 5.058944 12.527664 1.768665 q: 0.847754 -0.142499 -0.231300 0.455530 
time: 1403636969.651666, t: 3.111729 10.506895 2.143428 q: 0.900988 0.014385 -0.166587 0.400328 
time: 1403636971.651666, t: 7.358968 -7.562075 -9.676959 q: -0.484456 -0.401404 -0.543234 0.555944 
time: 1403636973.651666, t: 3.865555 -12.072585 -4.573505 q: 0.205186 -0.050684 -0.252479 0.944237 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636977.651666, t: 3.820561 -12.552342 -4.525236 q: 0.130586 -0.115529 -0.398667 0.900369 
unstable tracking...
time: 1403636979.651666, t: 3.801753 -12.598133 -4.257294 q: 0.143842 -0.080538 -0.483624 0.859611 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636985.651666, t: 0.728907 -16.020991 -1.580625 q: 0.133823 -0.106756 -0.443887 0.879579 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636993.651666, t: 2.198911 -13.310309 -2.863449 q: 0.158643 -0.100365 -0.370301 0.909745 
time: 1403636995.651666, t: 3.071494 -12.360768 -3.875656 q: 0.174483 -0.093584 -0.334230 0.921460 
time: 1403636997.651666, t: 3.934288 -11.635864 -4.912388 q: 0.240297 -0.022895 -0.190073 0.951633 
time: 1403636999.651666, t: 4.015030 -10.906747 -5.281191 q: 0.245966 -0.057126 -0.207734 0.945031 
time: 1403637001.651666, t: 4.886546 -10.166918 -5.898096 q: 0.240366 -0.055582 -0.208889 0.946309 
time: 1403637003.651666, t: 5.597601 -9.160741 -6.713597 q: 0.226662 -0.056876 -0.218576 0.947425 
time: 1403637005.651666, t: 7.551782 -12.781553 -1.427919 q: 0.351427 -0.119498 -0.382744 0.846006 
time: 1403637007.651666, t: 3.127701 -12.596936 -0.885905 q: 0.514518 -0.056153 -0.349966 0.780796 
time: 1403637009.651666, t: 3.255913 -12.830130 -0.840639 q: 0.511219 -0.256562 -0.210551 0.792779 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720500875.509502231]: Shutdown request received.[0m
[33m[ WARN] [1720500875.509539077]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720500875.510397586]: Shutdown request received.[0m
[33m[ WARN] [1720500875.510428272]: Reason given for shutdown: [user request][0m
killed
