/SLAM-Hive/slam_hive_results/mapping_results/3035/2243_vins-fusion-stereo+MH_03_medium+Image_comb_test-23.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720505456.326722912]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720505456.328733222]: init begins[0m
[31m[ERROR] [1720505456.329880455]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/011e3e78-3dba-11ef-b142-0242ac110005/roslaunch-2cf7c1c8795c-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://2cf7c1c8795c:36633/[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] [1720505457.433132198]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720505457.435390698]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720505457.441042431]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720505457.441258580]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720505457.441284864]: ROW: 96 COL: 150 [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] [1720505457.441512130]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720505457.441690207]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720505457.441848260]: 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://2cf7c1c8795c:11311/[0m
]2;roscore http://2cf7c1c8795c:11311/
[1msetting /run_id to 011e3e78-3dba-11ef-b142-0242ac110005[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_03_medium.bag  --clock 
[0m[ INFO] [1720505466.480864220]: 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: 316868336.14 
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] [1720505477.329609178]: Initialization finish![0m
time: 1403637141.038319, t: -0.002813 -0.006555 0.021772 q: 0.999995 -0.000162 0.002162 0.002161 
unstable tracking...
time: 1403637142.038319, t: -0.002813 -0.006555 0.021772 q: 0.999995 -0.000162 0.002162 0.002161 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
feature tracking not enough, please slowly move you device! 
time: 1403637151.038319, t: -0.002527 -0.006543 0.022477 q: 0.999790 -0.002083 -0.020149 0.003241 
time: 1403637152.038319, t: 0.231835 0.114952 0.147850 q: 0.999345 0.008441 -0.035012 0.003476 
time: 1403637153.038319, t: 0.358234 0.259301 0.294796 q: 0.999482 0.012612 -0.028813 0.006760 
time: 1403637154.038319, t: 0.396673 0.274968 0.835379 q: 0.999679 0.005484 -0.014258 0.020207 
time: 1403637155.038319, t: 0.417164 0.594714 1.038397 q: 0.997974 -0.033014 -0.047682 0.026165 
time: 1403637156.038319, t: 0.538234 0.883345 1.316471 q: 0.981147 -0.161018 -0.018499 0.105271 
time: 1403637157.038319, t: 0.524793 1.345586 1.594025 q: 0.908852 -0.378544 -0.036159 0.171423 
time: 1403637158.038319, t: -0.574624 2.363164 2.522713 q: 0.916035 -0.370239 0.040828 0.148784 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637160.038319, t: -1.218223 4.578714 1.440800 q: 0.877937 -0.431326 0.045516 0.202763 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637163.038319, t: -1.581971 5.436039 1.030786 q: 0.842614 -0.490834 0.054377 0.214771 
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: 1403637166.038319, t: -1.581971 5.436039 1.030786 q: 0.842614 -0.490834 0.054377 0.214771 
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...
time: 1403637171.038319, t: -1.581971 5.436039 1.030786 q: 0.842614 -0.490834 0.054377 0.214771 
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...
time: 1403637176.038319, t: -1.581971 5.436039 1.030786 q: 0.842614 -0.490834 0.054377 0.214771 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637177.038319, t: -1.581971 5.436039 1.030786 q: 0.842614 -0.490834 0.054377 0.214771 
feature tracking not enough, please slowly move you device! 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637179.038319, t: -1.581971 5.436039 1.030786 q: 0.842614 -0.490834 0.054377 0.214771 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637181.038319, t: -0.813074 4.521608 3.498287 q: 0.662295 -0.734374 -0.016542 0.147602 
unstable tracking...
unstable tracking...
time: 1403637183.038319, t: -1.243614 3.808339 3.246570 q: 0.900430 -0.338896 0.264351 0.067042 
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: 1403637187.038319, t: -1.601080 4.073611 2.539721 q: 0.879374 -0.319928 0.331071 0.121403 
unstable tracking...
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637193.038319, t: -12.165856 17.610017 -5.160448 q: 0.586191 -0.168218 0.710347 -0.351411 
feature tracking not enough, please slowly move you device! 
time: 1403637195.038319, t: -12.165856 17.610017 -5.160448 q: 0.586191 -0.168218 0.710347 -0.351411 
time: 1403637196.038319, t: -11.254720 15.757492 -4.513899 q: 0.517114 -0.227390 0.738636 -0.367836 
feature tracking not enough, please slowly move you device! 
time: 1403637198.038319, t: -11.254720 15.757492 -4.513899 q: 0.517114 -0.227390 0.738636 -0.367836 
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...
unstable tracking...
time: 1403637204.038319, t: -12.966404 16.383795 -4.671526 q: 0.517684 -0.312764 0.734131 -0.308600 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637211.038319, t: -10.898940 16.109480 -3.218108 q: 0.563470 -0.218452 0.716695 -0.348035 
time: 1403637212.038319, t: -10.329503 15.491331 -4.061195 q: 0.545650 -0.249387 0.706908 -0.374638 
time: 1403637213.038319, t: -8.959387 15.096804 -4.257504 q: 0.451176 -0.235118 0.767749 -0.389516 
time: 1403637214.038319, t: -10.806542 15.684743 -3.594152 q: 0.445883 -0.408825 0.702489 -0.374912 
feature tracking not enough, please slowly move you device! 
time: 1403637215.038319, t: -6.682477 12.235900 -3.471743 q: 0.393395 -0.368936 0.749089 -0.384698 
time: 1403637216.038319, t: -4.709222 6.992944 -1.560666 q: 0.491983 -0.481517 0.700139 -0.189471 
time: 1403637217.038319, t: -5.558914 6.818972 -2.119268 q: 0.548567 -0.381658 0.683115 -0.294559 
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! 
time: 1403637223.038319, t: -11.325989 7.082048 3.324034 q: 0.689832 -0.285635 0.622738 0.233969 
unstable tracking...
unstable tracking...
time: 1403637226.038319, t: -11.174403 6.707326 3.430064 q: 0.675063 -0.291726 0.648965 0.195011 
time: 1403637227.038319, t: -10.798398 6.475531 3.380942 q: 0.683763 -0.272601 0.641448 0.216103 
time: 1403637228.038319, t: -10.986002 6.423511 3.230016 q: 0.678445 -0.284713 0.646139 0.202866 
time: 1403637229.038319, t: -11.105278 6.164853 2.980647 q: 0.667264 -0.236200 0.668697 0.227625 
time: 1403637230.038319, t: -11.311817 5.998808 3.308063 q: 0.619822 -0.365747 0.599242 0.350654 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637233.038319, t: -12.184166 7.128976 2.781002 q: 0.374849 -0.371934 0.455401 0.716773 
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! 
time: 1403637237.038319, t: -12.184166 7.128976 2.781002 q: 0.374849 -0.371934 0.455401 0.716773 
feature tracking not enough, please slowly move you device! 
time: 1403637238.038319, t: -12.184166 7.128976 2.781002 q: 0.374849 -0.371934 0.455401 0.716773 
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...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637244.038319, t: -12.184166 7.128976 2.781002 q: 0.374849 -0.371934 0.455401 0.716773 
unstable tracking...
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637260.038319, t: -50.740307 -35.358541 -5.883126 q: -0.083690 0.637137 0.461863 0.611339 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720505603.314344839]: Shutdown request received.[0m
[33m[ WARN] [1720505603.314383469]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720505603.315320275]: Shutdown request received.[0m
[33m[ WARN] [1720505603.315355030]: Reason given for shutdown: [user request][0m
killed
