/SLAM-Hive/slam_hive_results/mapping_results/3039/2247_vins-fusion-stereo+MH_03_medium+Image_comb_test-27.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720506143.370159581]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720506143.371722527]: init begins[0m
[31m[ERROR] [1720506143.372707107]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/9aa0acba-3dbb-11ef-82c6-0242ac110005/roslaunch-4a0c58b6aad1-119.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://4a0c58b6aad1:33415/[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
[0m[ INFO] [1720506144.480134959]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720506144.482362517]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720506144.502746255]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720506144.503401257]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720506144.503514002]: ROW: 240 COL: 376 [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] [1720506144.504327097]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720506144.504919411]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720506144.505412251]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://4a0c58b6aad1:11311/[0m
]2;roscore http://4a0c58b6aad1:11311/
[1msetting /run_id to 9aa0acba-3dbb-11ef-82c6-0242ac110005[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 [243][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720506153.507303876]: 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: 316869023.17 
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] [1720506174.898471170]: Initialization finish![0m
time: 1403637151.538319, t: -0.700974 0.074437 0.750709 q: 0.999284 -0.016196 -0.002575 0.034107 
unstable tracking...
time: 1403637153.538319, t: -0.378394 0.466073 1.027886 q: 0.999684 -0.015686 -0.007485 0.018149 
unstable tracking...
time: 1403637155.538319, t: -0.150306 0.943747 1.677738 q: 0.991920 -0.112641 0.004309 0.058201 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637159.538319, t: -0.150306 0.943747 1.677738 q: 0.991920 -0.112641 0.004309 0.058201 
feature tracking not enough, please slowly move you device! 
time: 1403637161.538319, t: -0.150306 0.943747 1.677738 q: 0.991920 -0.112641 0.004309 0.058201 
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: 1403637167.538319, t: -0.150306 0.943747 1.677738 q: 0.991920 -0.112641 0.004309 0.058201 
feature tracking not enough, please slowly move you device! 
time: 1403637169.538319, t: -0.150306 0.943747 1.677738 q: 0.991920 -0.112641 0.004309 0.058201 
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...
time: 1403637181.538319, t: -0.150306 0.943747 1.677738 q: 0.991920 -0.112641 0.004309 0.058201 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637183.538319, t: -0.150306 0.943747 1.677738 q: 0.991920 -0.112641 0.004309 0.058201 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637187.538319, t: -0.150306 0.943747 1.677738 q: 0.991920 -0.112641 0.004309 0.058201 
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637197.538319, t: 3.949422 4.956057 1.680074 q: 0.985576 -0.092230 -0.118048 -0.078730 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637201.538319, t: 3.949422 4.956057 1.680074 q: 0.985576 -0.092230 -0.118048 -0.078730 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637207.538319, t: 4.033339 5.229779 -0.042343 q: 0.972595 -0.126980 -0.114615 -0.157475 
unstable tracking...
time: 1403637209.538319, t: 4.006713 5.045482 -0.505278 q: 0.966955 -0.094463 -0.160327 -0.174273 
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! 
feature tracking not enough, please slowly move you device! 
time: 1403637221.538319, t: -0.074143 2.199560 0.201983 q: 0.938481 -0.301633 -0.019543 -0.166998 
time: 1403637223.538319, t: -0.738286 1.774746 -0.035500 q: 0.899515 -0.413119 0.040058 -0.136385 
time: 1403637225.538319, t: -0.376584 1.501572 0.434387 q: 0.895363 -0.414347 0.052137 -0.154672 
time: 1403637229.538319, t: -0.394616 0.689120 1.122682 q: 0.884078 -0.452459 0.043667 -0.108534 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637231.538319, t: -0.394616 0.689120 1.122682 q: 0.884078 -0.452459 0.043667 -0.108534 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637233.538319, t: -0.394616 0.689120 1.122682 q: 0.884078 -0.452459 0.043667 -0.108534 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637237.538319, t: -0.394616 0.689120 1.122682 q: 0.884078 -0.452459 0.043667 -0.108534 
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: 1403637243.538319, t: -0.394616 0.689120 1.122682 q: 0.884078 -0.452459 0.043667 -0.108534 
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: 1403637257.538319, t: -1.425507 -1.491911 0.783821 q: 0.951251 -0.207049 -0.048994 -0.223276 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637259.538319, t: -1.425507 -1.491911 0.783821 q: 0.951251 -0.207049 -0.048994 -0.223276 
unstable tracking...
feature tracking not enough, please slowly move you device! 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720506290.340363828]: Shutdown request received.[0m
[33m[ WARN] [1720506290.340426236]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720506290.341303869]: Shutdown request received.[0m
[33m[ WARN] [1720506290.341334343]: Reason given for shutdown: [user request][0m
killed
