/SLAM-Hive/slam_hive_results/mapping_results/3036/2244_vins-fusion-stereo+MH_03_medium+Image_comb_test-24.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720505629.136296345]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720505629.138251177]: init begins[0m
[31m[ERROR] [1720505629.139310179]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/681df50a-3dba-11ef-bffa-0242ac110005/roslaunch-d38a87dbbc7c-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://d38a87dbbc7c:33611/[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] [1720505630.242737160]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720505630.244126457]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720505630.249987724]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720505630.250174568]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720505630.250193516]: ROW: 480 COL: 752 [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] [1720505630.250424732]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720505630.250610172]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720505630.250782907]: 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://d38a87dbbc7c:11311/[0m
]2;roscore http://d38a87dbbc7c:11311/
[1msetting /run_id to 681df50a-3dba-11ef-bffa-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] [1720505639.293947668]: 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: 316868508.96 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
[0m[ INFO] [1720505660.711988185]: Initialization finish![0m
time: 1403637151.538319, t: 2.199709 -0.845183 5.506148 q: 0.717738 0.044741 0.473374 0.508692 
unstable tracking...
unstable tracking...
time: 1403637155.538319, t: -3.003504 6.149132 8.065677 q: 0.803638 0.104191 0.459769 0.363212 
feature tracking not enough, please slowly move you device! 
time: 1403637157.538319, t: -3.003504 6.149132 8.065677 q: 0.803638 0.104191 0.459769 0.363212 
feature tracking not enough, please slowly move you device! 
time: 1403637159.538319, t: -3.003504 6.149132 8.065677 q: 0.803638 0.104191 0.459769 0.363212 
feature tracking not enough, please slowly move you device! 
time: 1403637161.538319, t: -3.003504 6.149132 8.065677 q: 0.803638 0.104191 0.459769 0.363212 
feature tracking not enough, please slowly move you device! 
time: 1403637163.538319, t: -3.003504 6.149132 8.065677 q: 0.803638 0.104191 0.459769 0.363212 
feature tracking not enough, please slowly move you device! 
time: 1403637165.538319, t: -3.003504 6.149132 8.065677 q: 0.803638 0.104191 0.459769 0.363212 
time: 1403637167.538319, t: -3.555813 5.884664 7.132612 q: 0.867095 0.033141 0.419905 0.265949 
feature tracking not enough, please slowly move you device! 
time: 1403637169.538319, t: -3.555813 5.884664 7.132612 q: 0.867095 0.033141 0.419905 0.265949 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637173.538319, t: -3.555813 5.884664 7.132612 q: 0.867095 0.033141 0.419905 0.265949 
feature tracking not enough, please slowly move you device! 
time: 1403637175.538319, t: -3.555813 5.884664 7.132612 q: 0.867095 0.033141 0.419905 0.265949 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637177.538319, t: -3.555813 5.884664 7.132612 q: 0.867095 0.033141 0.419905 0.265949 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637179.538319, t: -3.555813 5.884664 7.132612 q: 0.867095 0.033141 0.419905 0.265949 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637183.538319, t: -3.555813 5.884664 7.132612 q: 0.867095 0.033141 0.419905 0.265949 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637185.538319, t: -3.555813 5.884664 7.132612 q: 0.867095 0.033141 0.419905 0.265949 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637187.538319, t: -3.555813 5.884664 7.132612 q: 0.867095 0.033141 0.419905 0.265949 
unstable tracking...
time: 1403637189.538319, t: -2.211480 5.357486 6.849307 q: 0.837297 -0.207110 0.320379 0.391658 
unstable tracking...
time: 1403637191.538319, t: -2.594434 6.985087 7.245646 q: 0.839064 -0.222179 0.339818 0.362121 
unstable tracking...
time: 1403637193.538319, t: -2.547425 7.809132 6.994570 q: 0.844620 -0.206900 0.321183 0.375035 
unstable tracking...
time: 1403637195.538319, t: -1.037984 8.838091 7.593645 q: 0.837133 -0.214400 0.352449 0.359194 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637197.538319, t: -1.037984 8.838091 7.593645 q: 0.837133 -0.214400 0.352449 0.359194 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637199.538319, t: -1.037984 8.838091 7.593645 q: 0.837133 -0.214400 0.352449 0.359194 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637201.538319, t: -1.037984 8.838091 7.593645 q: 0.837133 -0.214400 0.352449 0.359194 
unstable tracking...
time: 1403637203.538319, t: -1.972394 8.866520 7.151342 q: 0.850827 -0.271545 0.325830 0.310148 
unstable tracking...
time: 1403637205.538319, t: -2.481415 8.734181 7.104927 q: 0.849609 -0.275008 0.331196 0.304704 
unstable tracking...
time: 1403637209.538319, t: -2.613856 7.811489 6.661571 q: 0.876511 -0.238363 0.306470 0.284582 
feature tracking not enough, please slowly move you device! 
time: 1403637211.538319, t: -2.613856 7.811489 6.661571 q: 0.876511 -0.238363 0.306470 0.284582 
time: 1403637213.538319, t: -0.534606 9.256791 8.407128 q: 0.856880 -0.284015 0.305562 0.302859 
time: 1403637215.538319, t: 1.721032 10.517837 9.361197 q: 0.892457 -0.162411 0.396598 0.140901 
unstable tracking...
time: 1403637217.538319, t: 2.559717 3.417455 10.563628 q: 0.833909 -0.265185 0.444622 0.191270 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637219.538319, t: 2.559717 3.417455 10.563628 q: 0.833909 -0.265185 0.444622 0.191270 
time: 1403637221.538319, t: 1.381738 -0.284675 10.385912 q: 0.816516 -0.278149 0.426500 0.272090 
time: 1403637223.538319, t: 0.760201 -1.305233 10.081823 q: 0.774082 -0.358084 0.402932 0.331992 
time: 1403637225.538319, t: 1.165084 1.849824 9.733471 q: 0.769321 -0.375501 0.417433 0.304784 
time: 1403637227.538319, t: 1.224237 0.023938 10.192059 q: 0.770935 -0.357385 0.410289 0.331056 
time: 1403637229.538319, t: 1.577318 -0.144185 10.364618 q: 0.750659 -0.378110 0.403419 0.361659 
feature tracking not enough, please slowly move you device! 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637233.538319, t: 1.577318 -0.144185 10.364618 q: 0.750659 -0.378110 0.403419 0.361659 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637235.538319, t: 1.577318 -0.144185 10.364618 q: 0.750659 -0.378110 0.403419 0.361659 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637237.538319, t: 1.577318 -0.144185 10.364618 q: 0.750659 -0.378110 0.403419 0.361659 
feature tracking not enough, please slowly move you device! 
time: 1403637239.538319, t: 1.577318 -0.144185 10.364618 q: 0.750659 -0.378110 0.403419 0.361659 
feature tracking not enough, please slowly move you device! 
time: 1403637241.538319, t: 1.577318 -0.144185 10.364618 q: 0.750659 -0.378110 0.403419 0.361659 
feature tracking not enough, please slowly move you device! 
time: 1403637243.538319, t: 1.577318 -0.144185 10.364618 q: 0.750659 -0.378110 0.403419 0.361659 
feature tracking not enough, please slowly move you device! 
time: 1403637245.538319, t: 1.577318 -0.144185 10.364618 q: 0.750659 -0.378110 0.403419 0.361659 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637249.538319, t: 1.577318 -0.144185 10.364618 q: 0.750659 -0.378110 0.403419 0.361659 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637253.538319, t: 1.764723 -0.310461 10.342158 q: 0.772403 -0.351651 0.415962 0.326666 
unstable tracking...
unstable tracking...
time: 1403637257.538319, t: 2.666942 -2.071972 9.975949 q: 0.880772 -0.247570 0.375683 0.147689 
unstable tracking...
time: 1403637259.538319, t: 2.798942 -5.371898 9.466393 q: 0.883620 -0.269405 0.327271 0.198821 
unstable tracking...
time: 1403637261.538319, t: 2.561946 -5.677846 9.673350 q: 0.893297 -0.278980 0.303120 0.179747 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720505776.097108753]: Shutdown request received.[0m
[33m[ WARN] [1720505776.097166827]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720505776.098048739]: Shutdown request received.[0m
[33m[ WARN] [1720505776.098103342]: Reason given for shutdown: [user request][0m
killed
