/SLAM-Hive/slam_hive_results/mapping_results/3037/2245_vins-fusion-stereo+MH_03_medium+Image_comb_test-25.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720505800.675412625]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720505800.678080496]: init begins[0m
[31m[ERROR] [1720505800.679281333]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ce5de668-3dba-11ef-8fb2-0242ac110005/roslaunch-16d346c1d65f-117.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://16d346c1d65f:32931/[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 [154][0m
[0m[ INFO] [1720505801.781824629]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720505801.784196103]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720505801.789989494]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720505801.790203053]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720505801.790228186]: ROW: 384 COL: 601 [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] [1720505801.790456510]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720505801.790651301]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720505801.790817647]: 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://16d346c1d65f:11311/[0m
]2;roscore http://16d346c1d65f:11311/
[1msetting /run_id to ce5de668-3dba-11ef-8fb2-0242ac110005[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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720505810.823181409]: 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: 316868680.48 
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] [1720505832.267974433]: Initialization finish![0m
time: 1403637151.538319, t: 0.080793 0.379132 0.234952 q: 0.999889 0.007484 -0.012859 0.000346 
unstable tracking...
time: 1403637153.538319, t: 0.295991 0.763830 0.699144 q: 0.999814 0.008128 -0.011416 -0.013235 
unstable tracking...
feature tracking not enough, please slowly move you device! 
time: 1403637157.538319, t: 0.774435 0.946857 2.340187 q: 0.994276 -0.097677 0.013718 0.041068 
feature tracking not enough, please slowly move you device! 
time: 1403637159.538319, t: 0.774435 0.946857 2.340187 q: 0.994276 -0.097677 0.013718 0.041068 
feature tracking not enough, please slowly move you device! 
time: 1403637161.538319, t: 0.774435 0.946857 2.340187 q: 0.994276 -0.097677 0.013718 0.041068 
feature tracking not enough, please slowly move you device! 
time: 1403637163.538319, t: 0.774435 0.946857 2.340187 q: 0.994276 -0.097677 0.013718 0.041068 
feature tracking not enough, please slowly move you device! 
time: 1403637165.538319, t: 0.774435 0.946857 2.340187 q: 0.994276 -0.097677 0.013718 0.041068 
feature tracking not enough, please slowly move you device! 
time: 1403637167.538319, t: 0.774435 0.946857 2.340187 q: 0.994276 -0.097677 0.013718 0.041068 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637171.538319, t: 0.774435 0.946857 2.340187 q: 0.994276 -0.097677 0.013718 0.041068 
feature tracking not enough, please slowly move you device! 
time: 1403637173.538319, t: 0.774435 0.946857 2.340187 q: 0.994276 -0.097677 0.013718 0.041068 
feature tracking not enough, please slowly move you device! 
time: 1403637175.538319, t: 0.774435 0.946857 2.340187 q: 0.994276 -0.097677 0.013718 0.041068 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637177.538319, t: 0.774435 0.946857 2.340187 q: 0.994276 -0.097677 0.013718 0.041068 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637179.538319, t: 0.774435 0.946857 2.340187 q: 0.994276 -0.097677 0.013718 0.041068 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637181.538319, t: 0.774435 0.946857 2.340187 q: 0.994276 -0.097677 0.013718 0.041068 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637183.538319, t: 0.774435 0.946857 2.340187 q: 0.994276 -0.097677 0.013718 0.041068 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637185.538319, t: 0.774435 0.946857 2.340187 q: 0.994276 -0.097677 0.013718 0.041068 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637187.538319, t: 0.774435 0.946857 2.340187 q: 0.994276 -0.097677 0.013718 0.041068 
unstable tracking...
time: 1403637189.538319, t: 1.507577 2.726943 0.406113 q: 0.982509 -0.180441 -0.017649 0.042483 
time: 1403637191.538319, t: 2.105014 4.729300 0.696792 q: 0.989121 -0.145860 -0.016373 -0.009821 
unstable tracking...
time: 1403637193.538319, t: 2.957671 5.175141 0.906530 q: 0.985166 -0.156155 -0.071161 -0.000620 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637197.538319, t: 3.132272 5.222256 2.374340 q: 0.984380 -0.172099 0.017049 0.032970 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637199.538319, t: 3.132272 5.222256 2.374340 q: 0.984380 -0.172099 0.017049 0.032970 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637201.538319, t: 3.132272 5.222256 2.374340 q: 0.984380 -0.172099 0.017049 0.032970 
unstable tracking...
time: 1403637203.538319, t: 2.979285 5.434664 1.381176 q: 0.973128 -0.225576 -0.000929 -0.046233 
unstable tracking...
unstable tracking...
time: 1403637207.538319, t: 2.693779 5.220407 0.710952 q: 0.975868 -0.215060 0.008578 -0.036845 
time: 1403637209.538319, t: 2.579284 4.980766 0.304049 q: 0.981250 -0.180755 -0.035637 -0.056618 
time: 1403637211.538319, t: 3.740764 4.695085 3.323516 q: 0.971809 -0.207989 -0.110201 -0.013534 
time: 1403637213.538319, t: 5.090358 5.311626 5.456779 q: 0.965426 -0.190484 -0.125554 -0.126114 
feature tracking not enough, please slowly move you device! 
time: 1403637215.538319, t: 5.090358 5.311626 5.456779 q: 0.965426 -0.190484 -0.125554 -0.126114 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637217.538319, t: 5.090358 5.311626 5.456779 q: 0.965426 -0.190484 -0.125554 -0.126114 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637219.538319, t: 5.090358 5.311626 5.456779 q: 0.965426 -0.190484 -0.125554 -0.126114 
time: 1403637221.538319, t: 4.375557 2.810260 4.208800 q: 0.953865 -0.266431 -0.121415 -0.066436 
time: 1403637223.538319, t: 4.124719 2.180545 3.670384 q: 0.914755 -0.388619 -0.091236 -0.062242 
time: 1403637225.538319, t: 4.051611 1.875412 3.022376 q: 0.919581 -0.376687 -0.081064 -0.076854 
time: 1403637227.538319, t: 3.967243 1.380169 3.441633 q: 0.918534 -0.380926 -0.092583 -0.051171 
time: 1403637229.538319, t: 3.849166 1.258967 3.544875 q: 0.907849 -0.409046 -0.084610 -0.036512 
feature tracking not enough, please slowly move you device! 
time: 1403637231.538319, t: 3.849166 1.258967 3.544875 q: 0.907849 -0.409046 -0.084610 -0.036512 
feature tracking not enough, please slowly move you device! 
time: 1403637233.538319, t: 3.849166 1.258967 3.544875 q: 0.907849 -0.409046 -0.084610 -0.036512 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637235.538319, t: 3.849166 1.258967 3.544875 q: 0.907849 -0.409046 -0.084610 -0.036512 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637237.538319, t: 3.849166 1.258967 3.544875 q: 0.907849 -0.409046 -0.084610 -0.036512 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637241.538319, t: 3.849166 1.258967 3.544875 q: 0.907849 -0.409046 -0.084610 -0.036512 
feature tracking not enough, please slowly move you device! 
time: 1403637243.538319, t: 3.849166 1.258967 3.544875 q: 0.907849 -0.409046 -0.084610 -0.036512 
feature tracking not enough, please slowly move you device! 
time: 1403637245.538319, t: 3.849166 1.258967 3.544875 q: 0.907849 -0.409046 -0.084610 -0.036512 
feature tracking not enough, please slowly move you device! 
time: 1403637247.538319, t: 3.849166 1.258967 3.544875 q: 0.907849 -0.409046 -0.084610 -0.036512 
feature tracking not enough, please slowly move you device! 
time: 1403637249.538319, t: 3.849166 1.258967 3.544875 q: 0.907849 -0.409046 -0.084610 -0.036512 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637251.538319, t: 3.849166 1.258967 3.544875 q: 0.907849 -0.409046 -0.084610 -0.036512 
unstable tracking...
time: 1403637253.538319, t: 3.852862 0.816106 3.723767 q: 0.921754 -0.372400 -0.092443 -0.056057 
unstable tracking...
time: 1403637255.538319, t: 3.872823 0.061073 3.349849 q: 0.947951 -0.285826 -0.111511 -0.085197 
unstable tracking...
time: 1403637257.538319, t: 4.145549 -1.793778 0.468273 q: 0.963596 -0.122247 -0.190793 -0.141905 
unstable tracking...
time: 1403637259.538319, t: 4.311383 -7.391474 -2.113471 q: 0.885475 -0.321260 -0.267771 -0.202546 
unstable tracking...
time: 1403637261.538319, t: 4.016585 -7.431351 -2.232312 q: 0.873897 -0.320282 -0.292229 -0.219831 
unstable tracking...

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720505947.641755355]: Shutdown request received.[0m
[33m[ WARN] [1720505947.641810684]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720505947.642776687]: Shutdown request received.[0m
[33m[ WARN] [1720505947.642815952]: Reason given for shutdown: [user request][0m
killed
