/SLAM-Hive/slam_hive_results/mapping_results/3038/2246_vins-fusion-stereo+MH_03_medium+Image_comb_test-26.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720505972.060170153]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720505972.061682528]: init begins[0m
[31m[ERROR] [1720505972.062733185]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/34858fcc-3dbb-11ef-b4fd-0242ac110005/roslaunch-c9ff5f935ee6-117.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://c9ff5f935ee6:46337/[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] [1720505973.166803031]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720505973.167626536]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720505973.173348771]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720505973.173566503]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720505973.173594288]: 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] [1720505973.173825303]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720505973.174036666]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720505973.174207894]: 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://c9ff5f935ee6:11311/[0m
]2;roscore http://c9ff5f935ee6:11311/
[1msetting /run_id to 34858fcc-3dbb-11ef-b4fd-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] [1720505982.188452887]: 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: 316868851.85 
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] [1720506003.599220605]: Initialization finish![0m
time: 1403637151.538319, t: 2.053240 -1.458125 0.502698 q: 0.982956 -0.134208 0.001736 0.125627 
unstable tracking...
unstable tracking...
time: 1403637155.538319, t: 2.427445 -0.308442 1.202906 q: 0.961788 -0.230444 0.003365 0.147808 
feature tracking not enough, please slowly move you device! 
time: 1403637157.538319, t: 2.427445 -0.308442 1.202906 q: 0.961788 -0.230444 0.003365 0.147808 
feature tracking not enough, please slowly move you device! 
time: 1403637159.538319, t: 2.427445 -0.308442 1.202906 q: 0.961788 -0.230444 0.003365 0.147808 
feature tracking not enough, please slowly move you device! 
time: 1403637161.538319, t: 2.427445 -0.308442 1.202906 q: 0.961788 -0.230444 0.003365 0.147808 
feature tracking not enough, please slowly move you device! 
time: 1403637163.538319, t: 2.427445 -0.308442 1.202906 q: 0.961788 -0.230444 0.003365 0.147808 
feature tracking not enough, please slowly move you device! 
time: 1403637165.538319, t: 2.427445 -0.308442 1.202906 q: 0.961788 -0.230444 0.003365 0.147808 
feature tracking not enough, please slowly move you device! 
time: 1403637167.538319, t: 2.427445 -0.308442 1.202906 q: 0.961788 -0.230444 0.003365 0.147808 
feature tracking not enough, please slowly move you device! 
time: 1403637169.538319, t: 2.427445 -0.308442 1.202906 q: 0.961788 -0.230444 0.003365 0.147808 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637171.538319, t: 2.427445 -0.308442 1.202906 q: 0.961788 -0.230444 0.003365 0.147808 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637175.538319, t: 2.427445 -0.308442 1.202906 q: 0.961788 -0.230444 0.003365 0.147808 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637177.538319, t: 2.427445 -0.308442 1.202906 q: 0.961788 -0.230444 0.003365 0.147808 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637179.538319, t: 2.427445 -0.308442 1.202906 q: 0.961788 -0.230444 0.003365 0.147808 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637181.538319, t: 2.427445 -0.308442 1.202906 q: 0.961788 -0.230444 0.003365 0.147808 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637183.538319, t: 2.427445 -0.308442 1.202906 q: 0.961788 -0.230444 0.003365 0.147808 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637187.538319, t: 2.304532 0.892408 0.013922 q: 0.949383 -0.264066 0.042871 0.164633 
unstable tracking...
time: 1403637189.538319, t: 2.171471 3.493199 -0.515540 q: 0.922346 -0.323519 0.024214 0.209825 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637195.538319, t: 2.843031 6.965315 1.325540 q: 0.927998 -0.307480 0.098292 0.186048 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637197.538319, t: 2.843031 6.965315 1.325540 q: 0.927998 -0.307480 0.098292 0.186048 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637199.538319, t: 2.843031 6.965315 1.325540 q: 0.927998 -0.307480 0.098292 0.186048 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637201.538319, t: 2.843031 6.965315 1.325540 q: 0.927998 -0.307480 0.098292 0.186048 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637207.538319, t: 2.174363 5.919861 -0.218449 q: 0.919529 -0.367370 0.070499 0.120561 
time: 1403637209.538319, t: 2.122867 5.381865 -0.554287 q: 0.935555 -0.334715 0.027846 0.109215 
feature tracking not enough, please slowly move you device! 
time: 1403637213.538319, t: 3.190316 7.295414 1.794523 q: 0.927027 -0.358031 0.020020 0.109703 
time: 1403637215.538319, t: 3.190316 7.295414 1.794523 q: 0.927027 -0.358031 0.020020 0.109703 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637219.538319, t: 3.190316 7.295414 1.794523 q: 0.927027 -0.358031 0.020020 0.109703 
time: 1403637221.538319, t: 3.173813 3.977549 1.313843 q: 0.896372 -0.408571 0.005713 0.171915 
time: 1403637223.538319, t: 2.926700 3.043477 1.136177 q: 0.831966 -0.519763 0.016370 0.193420 
time: 1403637225.538319, t: 2.734796 3.754871 1.785964 q: 0.831365 -0.530563 0.024609 0.163490 
time: 1403637227.538319, t: 2.875472 3.425403 2.045693 q: 0.831127 -0.523024 0.017297 0.188080 
time: 1403637229.538319, t: 2.867750 3.331202 2.239206 q: 0.811841 -0.546101 0.021852 0.205450 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637231.538319, t: 2.867750 3.331202 2.239206 q: 0.811841 -0.546101 0.021852 0.205450 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637233.538319, t: 2.867750 3.331202 2.239206 q: 0.811841 -0.546101 0.021852 0.205450 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637237.538319, t: 2.867750 3.331202 2.239206 q: 0.811841 -0.546101 0.021852 0.205450 
feature tracking not enough, please slowly move you device! 
time: 1403637239.538319, t: 2.867750 3.331202 2.239206 q: 0.811841 -0.546101 0.021852 0.205450 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637243.538319, t: 2.867750 3.331202 2.239206 q: 0.811841 -0.546101 0.021852 0.205450 
feature tracking not enough, please slowly move you device! 
time: 1403637245.538319, t: 2.867750 3.331202 2.239206 q: 0.811841 -0.546101 0.021852 0.205450 
feature tracking not enough, please slowly move you device! 
time: 1403637247.538319, t: 2.867750 3.331202 2.239206 q: 0.811841 -0.546101 0.021852 0.205450 
feature tracking not enough, please slowly move you device! 
time: 1403637249.538319, t: 2.867750 3.331202 2.239206 q: 0.811841 -0.546101 0.021852 0.205450 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637251.538319, t: 2.867750 3.331202 2.239206 q: 0.811841 -0.546101 0.021852 0.205450 
unstable tracking...
time: 1403637253.538319, t: 3.090584 2.965318 2.602856 q: 0.834553 -0.520635 0.017298 0.179334 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637259.538319, t: 3.385116 0.528410 3.337098 q: 0.974850 -0.202887 0.021309 0.089724 
unstable tracking...
unstable tracking...

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720506119.039041770]: Shutdown request received.[0m
[33m[ WARN] [1720506119.039086314]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720506119.040055491]: Shutdown request received.[0m
[33m[ WARN] [1720506119.040086899]: Reason given for shutdown: [user request][0m
killed
