/SLAM-Hive/slam_hive_results/mapping_results/3032/2240_vins-fusion-stereo+MH_03_medium+Image_comb_test-20.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720504942.102716804]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720504942.104232089]: init begins[0m
[31m[ERROR] [1720504942.105247034]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ce9ddc52-3db8-11ef-9c31-0242ac110005/roslaunch-ae82dc9af143-118.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://ae82dc9af143:37103/[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] [1720504943.259979677]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720504943.260741050]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://ae82dc9af143:11311/[0m
]2;roscore http://ae82dc9af143:11311/
[1msetting /run_id to ce9ddc52-3db8-11ef-9c31-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720504943.267781382]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720504943.267998558]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720504943.268022458]: 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] [1720504943.268245092]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720504943.268470673]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720504943.268667223]: 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 [236][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720504952.259679625]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 316867821.92 
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] [1720504963.150978630]: Initialization finish![0m
time: 1403637141.038319, t: -12969.837053 49529.103637 72769.057050 q: -0.044987 0.849920 0.489848 -0.188841 
time: 1403637142.038319, t: -12969.859421 49529.055964 72768.970385 q: -0.052189 0.855046 0.482735 -0.182044 
time: 1403637143.038319, t: -12969.881122 49529.040727 72768.972195 q: -0.052427 0.856971 0.480570 -0.178616 
time: 1403637144.038319, t: -12969.880663 49529.040032 72768.973917 q: -0.052427 0.856971 0.480570 -0.178616 
time: 1403637145.038319, t: -12969.884510 49529.041317 72768.971656 q: -0.052598 0.856821 0.480860 -0.178510 
time: 1403637146.038319, t: -12969.883883 49529.041285 72768.972452 q: -0.052541 0.856957 0.480680 -0.178357 
time: 1403637147.038319, t: -12969.884115 49529.040875 72768.972314 q: -0.052587 0.856978 0.480665 -0.178281 
time: 1403637148.038319, t: -12969.883551 49529.040209 72768.972674 q: -0.052587 0.856978 0.480665 -0.178281 
time: 1403637149.038319, t: -12969.885753 49529.040489 72768.977252 q: -0.052587 0.856978 0.480665 -0.178281 
time: 1403637150.038319, t: -12969.880464 49528.975019 72769.038115 q: -0.052587 0.856971 0.480674 -0.178290 
feature tracking not enough, please slowly move you device! 
time: 1403637151.038319, t: -12968.032525 49529.290039 72761.335610 q: -0.049258 0.858844 0.485400 -0.156038 
unstable tracking...
time: 1403637152.038319, t: -12967.485036 49529.331484 72758.115273 q: -0.046907 0.860509 0.483591 -0.153181 
unstable tracking...
unstable tracking...
time: 1403637154.038319, t: -12975.880024 49585.062709 72741.383999 q: -0.001211 0.896390 -0.033729 0.441980 
unstable tracking...
time: 1403637155.038319, t: -12769.555032 49589.975564 72748.858314 q: 0.194506 0.795691 -0.030629 0.572805 
time: 1403637157.038319, t: 36758.962868 45661.762667 79161.424946 q: -0.464760 0.478508 -0.339043 0.663384 
time: 1403637158.038319, t: 155890.376713 42719.825054 75915.577723 q: 0.854196 -0.147353 0.418178 -0.271593 
time: 1403637159.038319, t: 172088.048830 38450.508850 70921.458680 q: 0.834075 -0.112044 0.494762 -0.216739 
time: 1403637160.038319, t: 179384.707847 52891.296681 78109.849328 q: 0.515760 -0.474627 0.239917 -0.671684 
time: 1403637161.038319, t: 179384.707847 52891.296681 78109.849328 q: 0.515760 -0.474627 0.239917 -0.671684 
unstable tracking...
time: 1403637162.038319, t: 179386.051087 52889.712938 78109.665220 q: 0.515759 -0.474627 0.239920 -0.671685 
unstable tracking...
time: 1403637163.038319, t: 179387.240336 52889.177769 78108.716130 q: 0.515765 -0.474625 0.239928 -0.671678 
unstable tracking...
time: 1403637164.038319, t: 179386.153057 52888.404781 78108.881683 q: -0.363871 0.630951 -0.384956 0.566840 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637166.038319, t: 179386.153057 52888.404781 78108.881683 q: -0.363871 0.630951 -0.384956 0.566840 
unstable tracking...
time: 1403637167.038319, t: 179386.422154 52888.383264 78108.733561 q: -0.363867 0.630951 -0.384954 0.566843 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637169.038319, t: 179388.851777 52888.905673 78109.812118 q: -0.363870 0.630950 -0.384954 0.566843 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637170.038319, t: 179388.851777 52888.905673 78109.812118 q: -0.363870 0.630950 -0.384954 0.566843 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637172.038319, t: 179388.851777 52888.905673 78109.812118 q: -0.363870 0.630950 -0.384954 0.566843 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637173.038319, t: 179388.851777 52888.905673 78109.812118 q: -0.363870 0.630950 -0.384954 0.566843 
unstable tracking...
time: 1403637175.038319, t: 179386.201316 52885.615840 78105.429950 q: -0.363828 0.630953 -0.384941 0.566875 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637177.038319, t: 179387.038811 52883.565581 78102.255843 q: -0.356686 0.637649 -0.453106 0.510758 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637178.038319, t: 179387.038811 52883.565581 78102.255843 q: -0.356686 0.637649 -0.453106 0.510758 
unstable tracking...
time: 1403637179.038319, t: 179385.905660 52882.386546 78101.065522 q: -0.356671 0.637649 -0.453102 0.510771 
unstable tracking...
time: 1403637180.038319, t: 179389.455204 52881.991422 78100.954600 q: -0.228786 0.698604 -0.512894 0.443339 
unstable tracking...
time: 1403637181.038319, t: 179390.399728 52882.429151 78101.753033 q: -0.227779 0.699932 -0.510055 0.445035 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637182.038319, t: 179390.399728 52882.429151 78101.753033 q: -0.227779 0.699932 -0.510055 0.445035 
time: 1403637183.038319, t: 179391.192933 52882.948984 78105.183747 q: -0.256378 0.678065 -0.485533 0.488627 
time: 1403637184.038319, t: 179390.143011 52883.800131 78106.044196 q: -0.256392 0.678066 -0.485536 0.488615 
feature tracking not enough, please slowly move you device! 
time: 1403637185.038319, t: 179390.143011 52883.800131 78106.044196 q: -0.256392 0.678066 -0.485536 0.488615 
time: 1403637186.038319, t: 179388.524559 52883.212255 78105.724351 q: -0.256374 0.678064 -0.485530 0.488633 
time: 1403637187.038319, t: 179388.947323 52882.586128 78105.359671 q: -0.233158 0.687246 -0.469110 0.503255 
time: 1403637188.038319, t: 179388.789245 52882.368122 78103.952611 q: -0.243836 0.687877 -0.499979 0.466251 
time: 1403637189.038319, t: 179388.940569 52881.793034 78102.844914 q: -0.204541 0.657568 -0.567280 0.451621 
time: 1403637190.038319, t: 179389.025453 52881.262719 78101.694079 q: -0.173140 0.666479 -0.566298 0.452919 
time: 1403637191.038319, t: 179388.879076 52880.771380 78100.799983 q: -0.179277 0.646043 -0.555883 0.491409 
time: 1403637193.038319, t: 179388.593254 52879.785230 78100.357995 q: -0.196667 0.686082 -0.537842 0.448709 
time: 1403637194.038319, t: 179389.197031 52879.130715 78100.317547 q: -0.184379 0.685675 -0.531396 0.462030 
time: 1403637195.038319, t: 179390.247815 52878.582661 78100.526135 q: -0.188721 0.693878 -0.534496 0.444108 
time: 1403637196.038319, t: 179391.230808 52878.332670 78100.639440 q: -0.166898 0.689095 -0.503407 0.493836 
feature tracking not enough, please slowly move you device! 
time: 1403637197.038319, t: 179392.219974 52877.242020 78099.865580 q: -0.161730 0.693229 -0.481182 0.511607 
feature tracking not enough, please slowly move you device! 
time: 1403637198.038319, t: 179392.219974 52877.242020 78099.865580 q: -0.161730 0.693229 -0.481182 0.511607 
time: 1403637199.038319, t: 179394.023098 52878.250346 78103.641968 q: -0.161740 0.693228 -0.481182 0.511603 
feature tracking not enough, please slowly move you device! 
time: 1403637200.038319, t: 179394.023098 52878.250346 78103.641968 q: -0.161740 0.693228 -0.481182 0.511603 
feature tracking not enough, please slowly move you device! 
time: 1403637201.038319, t: 179394.023098 52878.250346 78103.641968 q: -0.161740 0.693228 -0.481182 0.511603 
time: 1403637202.038319, t: 179393.900606 52878.386585 78103.218181 q: -0.161744 0.693230 -0.481184 0.511599 
time: 1403637203.038319, t: 179393.219469 52878.121260 78102.857423 q: -0.161746 0.693231 -0.481185 0.511596 
time: 1403637204.038319, t: 179392.889647 52878.449148 78103.175359 q: -0.117660 0.718102 -0.486191 0.483844 
time: 1403637205.038319, t: 179392.652852 52878.472760 78103.131826 q: -0.119826 0.717297 -0.497999 0.472360 
time: 1403637206.038319, t: 179392.576639 52878.597479 78103.197650 q: -0.132435 0.717193 -0.474219 0.493165 
time: 1403637207.038319, t: 179392.516221 52878.675123 78103.393091 q: -0.135355 0.708261 -0.482622 0.497113 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637210.038319, t: 179392.139530 52879.006959 78103.831652 q: -0.197798 0.758249 -0.424750 0.453345 
time: 1403637211.038319, t: 179393.433469 52878.827408 78103.644588 q: -0.204316 0.722034 -0.449249 0.484869 
time: 1403637212.038319, t: 179395.413590 52877.818262 78102.947447 q: -0.203836 0.720654 -0.452666 0.483945 
time: 1403637213.038319, t: 179396.136018 52876.852303 78102.808770 q: -0.194094 0.726620 -0.440720 0.490018 
time: 1403637214.038319, t: 179397.880655 52876.670417 78102.209426 q: -0.141886 0.721202 -0.437237 0.518228 
time: 1403637215.038319, t: 179398.686382 52876.286741 78102.399630 q: -0.170241 0.691897 -0.303933 0.632393 
time: 1403637216.038319, t: 179399.373013 52877.063826 78104.051890 q: -0.278145 0.673737 -0.244155 0.639611 
time: 1403637217.038319, t: 179397.988341 52876.149506 78106.032307 q: -0.401147 0.676645 -0.199389 0.584360 
time: 1403637218.038319, t: 179397.006680 52877.365845 78107.264273 q: -0.401145 0.676645 -0.199384 0.584363 
time: 1403637219.038319, t: 179395.199077 52878.192295 78107.707276 q: -0.401146 0.676645 -0.199382 0.584363 
time: 1403637220.038319, t: 179393.497398 52879.536959 78107.272636 q: -0.401191 0.676638 -0.199400 0.584334 
time: 1403637221.038319, t: 179390.368302 52878.652938 78109.051255 q: -0.428132 0.697053 -0.190868 0.542576 
time: 1403637222.038319, t: 179389.625930 52879.001571 78108.831875 q: -0.389579 0.727140 -0.265351 0.499084 
time: 1403637223.038319, t: 179389.411983 52879.467682 78108.617830 q: -0.335674 0.741584 -0.343020 0.468737 
time: 1403637224.038319, t: 179389.355028 52879.258323 78108.773394 q: -0.324925 0.726360 -0.338421 0.502291 
time: 1403637225.038319, t: 179389.471416 52879.252157 78108.774631 q: -0.322121 0.727651 -0.336989 0.503190 
time: 1403637226.038319, t: 179389.402943 52879.367971 78108.879497 q: -0.322365 0.729831 -0.329719 0.504692 
time: 1403637227.038319, t: 179389.317603 52879.507269 78109.170278 q: -0.340781 0.732922 -0.332034 0.486259 
time: 1403637228.038319, t: 179389.442457 52879.614938 78109.281524 q: -0.324652 0.725427 -0.342867 0.500798 
time: 1403637229.038319, t: 179389.524667 52879.881801 78109.436412 q: -0.311317 0.736062 -0.332546 0.500707 
time: 1403637230.038319, t: 179389.901709 52880.210164 78109.258351 q: -0.211973 0.753690 -0.473833 0.403115 
time: 1403637231.038319, t: 179389.343572 52880.028536 78109.372093 q: -0.119463 0.739547 -0.599354 0.282088 
time: 1403637233.038319, t: 179368.886600 52879.794034 78115.259972 q: -0.125679 0.741526 -0.599288 0.274221 
time: 1403637234.038319, t: 179368.359383 52877.841383 78113.885953 q: -0.125474 0.741465 -0.599290 0.274477 
feature tracking not enough, please slowly move you device! 
time: 1403637235.038319, t: 179370.259594 52877.377567 78113.233343 q: -0.120211 0.782898 -0.542298 0.280237 
time: 1403637236.038319, t: 179372.118088 52878.266000 78114.732097 q: -0.120236 0.782905 -0.542296 0.280211 
time: 1403637237.038319, t: 179374.582540 52877.813962 78114.641454 q: -0.053142 0.819713 -0.515778 0.243351 
time: 1403637238.038319, t: 179379.006823 52880.777624 78117.381184 q: -0.076641 0.865059 -0.416907 0.268304 
feature tracking not enough, please slowly move you device! 
time: 1403637239.038319, t: 179379.006823 52880.777624 78117.381184 q: -0.076641 0.865059 -0.416907 0.268304 
feature tracking not enough, please slowly move you device! 
time: 1403637240.038319, t: 179379.006823 52880.777624 78117.381184 q: -0.076641 0.865059 -0.416907 0.268304 
feature tracking not enough, please slowly move you device! 
time: 1403637241.038319, t: 179379.006823 52880.777624 78117.381184 q: -0.076641 0.865059 -0.416907 0.268304 
time: 1403637242.038319, t: 179378.422084 52879.667134 78118.214617 q: -0.076222 0.864971 -0.416946 0.268648 
time: 1403637243.038319, t: 179380.072833 52876.034615 78115.178785 q: -0.079947 0.860896 -0.418163 0.278580 
feature tracking not enough, please slowly move you device! 
time: 1403637244.038319, t: 179380.673846 52880.693664 78121.281018 q: -0.145352 0.847322 -0.454858 0.232425 
time: 1403637245.038319, t: 179381.170146 52881.386440 78122.657809 q: -0.145338 0.847320 -0.454859 0.232440 
time: 1403637246.038319, t: 179382.840769 52882.182269 78124.121131 q: -0.145359 0.847323 -0.454856 0.232422 
time: 1403637247.038319, t: 179387.391716 52886.615025 78131.313413 q: -0.146300 0.847460 -0.454745 0.231549 
time: 1403637248.038319, t: 179389.110338 52887.474309 78131.709961 q: -0.146298 0.847460 -0.454745 0.231550 
feature tracking not enough, please slowly move you device! 
time: 1403637250.038319, t: 179389.553281 52889.763651 78132.768308 q: -0.183661 0.695585 -0.546696 0.428432 
time: 1403637251.038319, t: 179390.297637 52891.026773 78134.865411 q: -0.183731 0.695600 -0.546710 0.428358 
time: 1403637252.038319, t: 179391.594416 52890.692736 78134.895659 q: -0.172353 0.695104 -0.526257 0.458453 
time: 1403637253.038319, t: 179391.209632 52890.891634 78135.409170 q: -0.213570 0.707723 -0.496733 0.454723 
time: 1403637254.038319, t: 179391.027730 52890.956184 78135.201254 q: -0.196338 0.708925 -0.486990 0.470868 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637257.038319, t: 179390.159672 52891.783994 78136.295818 q: -0.315197 0.688885 -0.334422 0.560580 
unstable tracking...
time: 1403637258.038319, t: 179389.760476 52892.148239 78136.738249 q: -0.350947 0.692993 -0.270772 0.568577 
time: 1403637259.038319, t: 179383.448430 52893.129644 78138.844490 q: -0.324911 0.775442 -0.136532 0.523910 
time: 1403637260.038319, t: 179389.764714 52894.053577 78137.384690 q: -0.291665 0.725591 -0.236594 0.576605 
time: 1403637261.038319, t: 179389.888934 52894.162210 78137.601972 q: -0.264593 0.752735 -0.224228 0.559555 
time: 1403637262.038319, t: 179390.099072 52893.977144 78137.072653 q: -0.298385 0.727997 -0.193826 0.586019 
time: 1403637263.038319, t: 179390.000780 52894.093460 78136.785493 q: -0.301775 0.704519 -0.241604 0.595157 
time: 1403637264.038319, t: 179390.177757 52894.074953 78136.922480 q: -0.305981 0.700149 -0.244868 0.596831 
time: 1403637265.038319, t: 179390.156822 52894.033624 78136.857618 q: -0.309440 0.698826 -0.237331 0.599636 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720505089.118454823]: Shutdown request received.[0m
[33m[ WARN] [1720505089.118501754]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720505089.119417683]: Shutdown request received.[0m
[33m[ WARN] [1720505089.119438719]: Reason given for shutdown: [user request][0m
killed
