/SLAM-Hive/slam_hive_results/mapping_results/3034/2242_vins-fusion-stereo+MH_03_medium+Image_comb_test-22.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720505284.957823045]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720505284.959191340]: init begins[0m
[31m[ERROR] [1720505284.960199338]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/9af8fea8-3db9-11ef-a175-0242ac110005/roslaunch-ef35be3eb0ba-119.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://ef35be3eb0ba:34715/[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 [156][0m
[1mROS_MASTER_URI=http://ef35be3eb0ba:11311/[0m
]2;roscore http://ef35be3eb0ba:11311/
[1msetting /run_id to 9af8fea8-3db9-11ef-a175-0242ac110005[0m
[0m[ INFO] [1720505286.113540274]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720505286.115320213]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720505286.122038550]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720505286.122268382]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720505286.122296016]: ROW: 192 COL: 300 [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] [1720505286.122598015]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720505286.122847640]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720505286.123037732]: 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 [230][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720505295.114206613]: 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: 316868164.78 
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] [1720505305.987606890]: Initialization finish![0m
time: 1403637142.038319, t: -0.480560 1.060021 -1.439379 q: 0.999679 0.020548 -0.001118 -0.014776 
time: 1403637143.038319, t: -0.239636 0.639995 -1.059298 q: 0.999834 0.004863 -0.013134 -0.011692 
time: 1403637144.038319, t: -0.234545 0.650913 -1.076601 q: 0.999817 0.005764 -0.013812 -0.011910 
unstable tracking...
unstable tracking...
time: 1403637146.038319, t: -0.233844 0.651769 -1.078502 q: 0.999816 0.005538 -0.013938 -0.011985 
time: 1403637147.038319, t: -0.233770 0.651423 -1.077394 q: 0.999814 0.005460 -0.013869 -0.012251 
time: 1403637148.038319, t: -0.233775 0.650857 -1.075569 q: 0.999815 0.005428 -0.013758 -0.012282 
time: 1403637149.038319, t: -0.235234 0.662198 -1.099754 q: 0.999725 0.009323 -0.016700 -0.013543 
unstable tracking...
time: 1403637150.038319, t: -0.142421 1.150218 -1.214436 q: 0.994244 0.030700 -0.082549 -0.061005 
feature tracking not enough, please slowly move you device! 
time: 1403637152.038319, t: 0.041089 1.206903 -1.000370 q: 0.993438 0.040634 -0.090665 -0.056663 
time: 1403637153.038319, t: 0.179230 1.344248 -0.804786 q: 0.994190 0.045046 -0.082697 -0.052136 
time: 1403637154.038319, t: 0.312510 1.475800 -0.557946 q: 0.993779 0.040647 -0.084795 -0.059671 
time: 1403637155.038319, t: 0.289127 1.735954 -0.258677 q: 0.992205 -0.001581 -0.112327 -0.053932 
time: 1403637156.038319, t: 0.410902 1.971737 0.271664 q: 0.987794 -0.135846 -0.074216 0.017372 
time: 1403637157.038319, t: 0.332821 2.510171 0.453080 q: 0.928681 -0.357936 -0.070125 0.067202 
time: 1403637158.038319, t: 0.340520 3.437851 0.481531 q: 0.935846 -0.341281 -0.054189 0.069155 
time: 1403637159.038319, t: 0.400202 4.578214 0.120011 q: 0.882498 -0.455849 -0.049135 0.104810 
time: 1403637160.038319, t: 0.002371 5.880551 0.064284 q: 0.859994 -0.503426 -0.030672 0.077665 
feature tracking not enough, please slowly move you device! 
time: 1403637161.038319, t: 0.399028 6.308242 -1.315063 q: 0.794545 -0.578373 -0.089528 -0.161766 
time: 1403637162.038319, t: 1.460573 7.352998 -1.493922 q: 0.774327 -0.604140 -0.012840 -0.187795 
time: 1403637163.038319, t: 1.926479 7.984525 -2.259981 q: 0.735495 -0.653748 0.028852 -0.175579 
feature tracking not enough, please slowly move you device! 
time: 1403637164.038319, t: 2.162372 8.114552 -3.695247 q: 0.631511 -0.763452 0.085723 -0.104813 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637166.038319, t: 2.162372 8.114552 -3.695247 q: 0.631511 -0.763452 0.085723 -0.104813 
time: 1403637167.038319, t: 1.657910 7.852446 -3.950804 q: 0.605528 -0.776826 0.083963 -0.151088 
feature tracking not enough, please slowly move you device! 
time: 1403637168.038319, t: 1.657910 7.852446 -3.950804 q: 0.605528 -0.776826 0.083963 -0.151088 
time: 1403637169.038319, t: 1.067308 8.291634 -2.412861 q: 0.590856 -0.778468 0.110991 -0.180435 
time: 1403637170.038319, t: 1.625999 13.550726 1.188190 q: 0.069410 0.959312 -0.075081 0.263184 
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: 1403637174.038319, t: 1.943120 13.286336 0.762097 q: 0.163280 0.945782 -0.163325 0.228388 
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...
time: 1403637177.038319, t: 1.632819 8.349270 2.704564 q: 0.162936 0.953205 -0.181504 0.178630 
unstable tracking...
unstable tracking...
time: 1403637179.038319, t: 4.710477 6.703036 3.737456 q: 0.335925 0.890559 -0.303328 -0.045286 
unstable tracking...
time: 1403637180.038319, t: 4.737949 6.558163 2.381683 q: 0.332706 0.934519 -0.115026 -0.052448 
unstable tracking...
time: 1403637181.038319, t: 4.698229 7.732013 0.844375 q: 0.425728 0.898501 -0.107007 -0.000788 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637183.038319, t: 9.659399 5.798772 0.392612 q: 0.152126 0.756181 -0.556063 -0.309584 
time: 1403637184.038319, t: 9.547945 4.682778 -1.148779 q: 0.026451 0.686783 -0.566069 -0.455187 
feature tracking not enough, please slowly move you device! 
time: 1403637186.038319, t: 10.529396 3.087663 -0.813343 q: 0.039880 0.669766 -0.532799 -0.515701 
time: 1403637187.038319, t: 10.100749 2.345734 -0.354692 q: 0.055822 0.639441 -0.580927 -0.500523 
time: 1403637188.038319, t: 8.263334 0.582193 0.469938 q: -0.031969 0.599463 -0.580737 -0.549879 
time: 1403637189.038319, t: 7.724277 2.149316 -0.565608 q: 0.139661 0.600349 -0.591327 -0.520008 
time: 1403637190.038319, t: 6.613049 2.180800 -0.168751 q: 0.153408 0.616052 -0.565329 -0.526640 
time: 1403637191.038319, t: 6.255524 1.225859 -0.972429 q: 0.130739 0.606228 -0.517473 -0.589591 
time: 1403637192.038319, t: 5.743467 1.306553 -0.144628 q: 0.124292 0.625792 -0.498961 -0.586493 
time: 1403637193.038319, t: 5.125151 1.254637 0.289889 q: 0.123808 0.625017 -0.549418 -0.540523 
time: 1403637195.038319, t: 3.746786 1.173275 -0.905599 q: 0.110170 0.645819 -0.565080 -0.501462 
time: 1403637196.038319, t: 3.895795 1.610584 -2.547549 q: 0.100975 0.673481 -0.514200 -0.521369 
feature tracking not enough, please slowly move you device! 
time: 1403637197.038319, t: 3.895795 1.610584 -2.547549 q: 0.100975 0.673481 -0.514200 -0.521369 
feature tracking not enough, please slowly move you device! 
time: 1403637198.038319, t: 3.895795 1.610584 -2.547549 q: 0.100975 0.673481 -0.514200 -0.521369 
time: 1403637199.038319, t: 8.302064 1.314714 -7.421663 q: 0.088181 0.632456 -0.496698 -0.587805 
feature tracking not enough, please slowly move you device! 
time: 1403637200.038319, t: 8.302064 1.314714 -7.421663 q: 0.088181 0.632456 -0.496698 -0.587805 
feature tracking not enough, please slowly move you device! 
time: 1403637201.038319, t: 8.302064 1.314714 -7.421663 q: 0.088181 0.632456 -0.496698 -0.587805 
time: 1403637202.038319, t: 10.167121 3.565407 -8.606537 q: -0.256406 -0.606297 0.427201 0.619805 
time: 1403637203.038319, t: 12.873427 2.907923 -7.557559 q: -0.126220 -0.637963 0.254054 0.715911 
time: 1403637204.038319, t: 11.598740 1.946923 -6.956417 q: -0.083552 -0.643913 0.300332 0.698710 
time: 1403637205.038319, t: 11.750183 1.752785 -6.850091 q: -0.095839 -0.630806 0.303695 0.707579 
time: 1403637206.038319, t: 11.867313 1.821810 -6.801966 q: -0.067909 -0.644724 0.314528 0.693391 
time: 1403637207.038319, t: 12.104035 1.889136 -6.883070 q: -0.079539 -0.648205 0.319508 0.686599 
time: 1403637208.038319, t: 12.376293 1.907407 -6.815139 q: -0.083774 -0.639004 0.317031 0.695807 
time: 1403637210.038319, t: 12.828220 1.894128 -6.954596 q: -0.001411 -0.593636 0.335203 0.731596 
time: 1403637211.038319, t: 11.718355 2.598025 -7.451634 q: -0.028174 -0.604171 0.365643 0.707452 
time: 1403637212.038319, t: 10.741855 4.346111 -7.438985 q: 0.122896 0.669050 -0.310328 -0.664052 
time: 1403637213.038319, t: 9.402972 4.191903 -8.192627 q: -0.085413 -0.672503 0.276340 0.681235 
time: 1403637214.038319, t: 7.431877 4.484216 -8.797695 q: 0.012405 0.702031 -0.179673 -0.688997 
time: 1403637215.038319, t: 6.680548 3.466679 -7.468294 q: -0.022062 0.814976 -0.217364 -0.536732 
time: 1403637216.038319, t: 7.837332 2.800725 -10.100112 q: -0.255463 0.815290 -0.244931 -0.458312 
time: 1403637217.038319, t: 8.562914 2.527911 -8.196243 q: -0.208100 0.760821 -0.524360 -0.320770 
time: 1403637218.038319, t: 9.257926 2.938356 -7.395342 q: -0.240911 0.762509 -0.513721 -0.310859 
time: 1403637219.038319, t: 11.068131 1.740580 -7.891271 q: -0.286606 0.772483 -0.434523 -0.363753 
time: 1403637220.038319, t: 12.356877 1.164979 -5.102508 q: -0.268646 0.735149 -0.486836 -0.387783 
time: 1403637221.038319, t: 12.126820 0.691903 -2.600767 q: -0.264882 0.734856 -0.530051 -0.329955 
time: 1403637222.038319, t: 12.835816 0.244416 -2.009397 q: -0.186124 0.722278 -0.527301 -0.406971 
time: 1403637223.038319, t: 13.296055 0.332218 -1.673186 q: -0.100064 0.724599 -0.496977 -0.466859 
unstable tracking...
time: 1403637224.038319, t: 13.323048 0.247877 -1.801495 q: -0.095941 0.747889 -0.493245 -0.433782 
time: 1403637225.038319, t: 13.445062 0.227306 -1.637062 q: -0.095861 0.748614 -0.494292 -0.431351 
time: 1403637226.038319, t: 13.496077 0.339718 -1.688220 q: -0.101810 0.750337 -0.491563 -0.430110 
time: 1403637227.038319, t: 13.863383 -0.461909 -2.199613 q: -0.127280 0.719898 -0.503497 -0.460476 
time: 1403637228.038319, t: 13.946564 -0.380886 -2.302998 q: -0.111574 0.731973 -0.500866 -0.448220 
time: 1403637229.038319, t: 13.967676 -0.383113 -2.357689 q: -0.120795 0.733682 -0.494813 -0.449755 
time: 1403637230.038319, t: 14.041198 -0.228482 -2.216402 q: 0.041069 0.703779 -0.455247 -0.543837 
time: 1403637231.038319, t: 13.902564 -0.183412 -2.126487 q: 0.210875 0.636720 -0.417332 -0.613150 
time: 1403637232.038319, t: 13.503563 -0.152579 -1.632894 q: 0.547206 0.435083 -0.262925 -0.664935 
time: 1403637233.038319, t: 13.426543 -0.619161 -0.798866 q: 0.706092 0.259541 -0.154865 -0.640382 
time: 1403637234.038319, t: 13.569290 -1.483224 0.548563 q: 0.602909 0.284116 -0.038299 -0.744521 
time: 1403637235.038319, t: 11.759377 -2.084585 1.495578 q: 0.621785 0.404120 -0.151916 -0.653446 
time: 1403637236.038319, t: 9.992396 -2.188994 1.038005 q: -0.481536 -0.510837 0.207459 0.681271 
time: 1403637237.038319, t: 9.023393 -2.290046 -0.641920 q: 0.388489 0.651359 -0.306867 -0.575013 
feature tracking not enough, please slowly move you device! 
time: 1403637238.038319, t: 9.023393 -2.290046 -0.641920 q: 0.388489 0.651359 -0.306867 -0.575013 
feature tracking not enough, please slowly move you device! 
time: 1403637239.038319, t: 9.023393 -2.290046 -0.641920 q: 0.388489 0.651359 -0.306867 -0.575013 
feature tracking not enough, please slowly move you device! 
time: 1403637240.038319, t: 9.023393 -2.290046 -0.641920 q: 0.388489 0.651359 -0.306867 -0.575013 
time: 1403637241.038319, t: 7.718018 -3.689680 0.914993 q: -0.468791 -0.593245 0.226040 0.614167 
time: 1403637242.038319, t: 6.390345 -4.621896 1.932804 q: 0.466703 0.652077 -0.210695 -0.559099 
time: 1403637243.038319, t: 6.343192 -4.443782 1.547612 q: 0.415378 0.685045 -0.225737 -0.554272 
feature tracking not enough, please slowly move you device! 
time: 1403637244.038319, t: 6.425802 -3.164407 1.148187 q: 0.429327 0.662629 -0.313944 -0.527296 
time: 1403637245.038319, t: 7.393694 -2.533677 0.153114 q: 0.370479 0.685125 -0.321461 -0.538528 
unstable tracking...
time: 1403637246.038319, t: 7.239581 -2.124687 -0.758993 q: 0.268682 0.772471 -0.317100 -0.480153 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637250.038319, t: 9.411355 0.705589 -1.697548 q: -0.291964 0.829036 -0.379508 -0.288843 
time: 1403637251.038319, t: 10.558397 1.090803 -1.179480 q: -0.366718 0.776071 -0.423370 -0.289809 
time: 1403637252.038319, t: 11.145455 1.655210 -0.749936 q: -0.386768 0.812877 -0.399792 -0.172647 
time: 1403637253.038319, t: 11.240454 1.437064 -0.757083 q: -0.423110 0.781275 -0.394791 -0.233940 
time: 1403637254.038319, t: 11.272864 1.232433 -0.592864 q: -0.416644 0.792978 -0.384206 -0.223559 
time: 1403637255.038319, t: 11.421849 0.917078 -0.315359 q: -0.455763 0.777638 -0.383721 -0.200791 
unstable tracking...
time: 1403637256.038319, t: 11.543025 0.559503 0.178740 q: 0.573201 -0.725319 0.356909 0.134043 
time: 1403637257.038319, t: 11.701160 0.239632 0.780384 q: 0.591554 -0.706871 0.365987 0.128263 
time: 1403637258.038319, t: 12.036960 -0.011013 1.322449 q: 0.640292 -0.682071 0.333179 0.117460 
time: 1403637259.038319, t: 12.662099 0.441984 1.652888 q: 0.669011 -0.654162 0.346035 0.068959 
time: 1403637260.038319, t: 12.841236 0.358782 1.924486 q: 0.659087 -0.657587 0.356276 0.079058 
time: 1403637261.038319, t: 12.695740 0.261970 1.975938 q: 0.665176 -0.667432 0.327704 0.068442 
feature tracking not enough, please slowly move you device! 
time: 1403637262.038319, t: 12.745838 0.361967 1.999202 q: 0.669902 -0.665061 0.323274 0.066480 
feature tracking not enough, please slowly move you device! 
time: 1403637263.038319, t: 12.745838 0.361967 1.999202 q: 0.669902 -0.665061 0.323274 0.066480 
time: 1403637264.038319, t: 12.702643 0.263428 2.034855 q: 0.652574 -0.680767 0.323084 0.079491 
time: 1403637265.038319, t: 12.740709 0.343565 2.000992 q: 0.649505 -0.672692 0.341775 0.093913 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720505431.944917277]: Shutdown request received.[0m
[33m[ WARN] [1720505431.944965759]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720505431.945842756]: Shutdown request received.[0m
[33m[ WARN] [1720505431.945878536]: Reason given for shutdown: [user request][0m
killed
