/SLAM-Hive/slam_hive_results/mapping_results/3040/2248_vins-fusion-stereo+MH_03_medium+Image_comb_test-28.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720506315.314370338]: init begins[0m
[31m[ERROR] [1720506315.314710372]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720506315.315487942]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/011d6442-3dbc-11ef-91bf-0242ac110005/roslaunch-c265ceeb2638-117.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://c265ceeb2638:38519/[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
[1mROS_MASTER_URI=http://c265ceeb2638:11311/[0m
]2;roscore http://c265ceeb2638:11311/
[1msetting /run_id to 011d6442-3dbc-11ef-91bf-0242ac110005[0m
[0m[ INFO] [1720506316.470843752]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720506316.471692826]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720506316.478216722]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720506316.478411537]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720506316.478435228]: ROW: 192 COL: 300 [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] [1720506316.478667110]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720506316.478873218]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720506316.479049500]: 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
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 [201][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720506325.471127467]: 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: 316869195.13 
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] [1720506346.848113771]: Initialization finish![0m
time: 1403637151.538319, t: -0.073444 -0.093257 0.211297 q: 0.999797 -0.006156 0.015766 -0.010962 
unstable tracking...
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! 
feature tracking not enough, please slowly move you device! 
time: 1403637163.538319, t: 0.050494 0.778102 0.974273 q: 0.993050 -0.089704 0.063087 0.042722 
feature tracking not enough, please slowly move you device! 
time: 1403637165.538319, t: 0.050494 0.778102 0.974273 q: 0.993050 -0.089704 0.063087 0.042722 
feature tracking not enough, please slowly move you device! 
time: 1403637167.538319, t: 0.050494 0.778102 0.974273 q: 0.993050 -0.089704 0.063087 0.042722 
feature tracking not enough, please slowly move you device! 
time: 1403637169.538319, t: 0.050494 0.778102 0.974273 q: 0.993050 -0.089704 0.063087 0.042722 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637173.538319, t: 0.050494 0.778102 0.974273 q: 0.993050 -0.089704 0.063087 0.042722 
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: 1403637179.538319, t: 0.050494 0.778102 0.974273 q: 0.993050 -0.089704 0.063087 0.042722 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637183.538319, t: 0.050494 0.778102 0.974273 q: 0.993050 -0.089704 0.063087 0.042722 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637187.538319, t: 0.050494 0.778102 0.974273 q: 0.993050 -0.089704 0.063087 0.042722 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637191.538319, t: 1.431329 10.921847 -0.537849 q: 0.981322 0.164032 0.060871 -0.079975 
unstable tracking...
time: 1403637193.538319, t: 2.446164 11.378924 0.348290 q: 0.977234 0.195619 -0.008275 -0.081721 
unstable tracking...
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637199.538319, t: 3.561416 7.710495 2.351905 q: 0.984092 0.155973 0.045318 -0.071983 
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...
time: 1403637213.538319, t: 3.975572 7.302053 3.332698 q: 0.978522 0.096357 0.030131 -0.179729 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637215.538319, t: 3.975572 7.302053 3.332698 q: 0.978522 0.096357 0.030131 -0.179729 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637219.538319, t: 3.975572 7.302053 3.332698 q: 0.978522 0.096357 0.030131 -0.179729 
time: 1403637221.538319, t: 2.255710 7.213893 0.938348 q: 0.990252 0.066951 0.031890 -0.117905 
time: 1403637223.538319, t: 1.886880 6.820309 0.820422 q: 0.993085 -0.077970 0.068330 -0.055078 
time: 1403637225.538319, t: 2.008856 6.946696 0.398640 q: 0.990173 -0.063294 0.077572 -0.097640 
time: 1403637227.538319, t: 1.898000 7.124666 0.063077 q: 0.994089 -0.045269 0.055976 -0.081270 
time: 1403637229.538319, t: 1.762520 6.639738 0.091415 q: 0.992019 -0.088715 0.056993 -0.069140 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637231.538319, t: 1.762520 6.639738 0.091415 q: 0.992019 -0.088715 0.056993 -0.069140 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637233.538319, t: 1.762520 6.639738 0.091415 q: 0.992019 -0.088715 0.056993 -0.069140 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637237.538319, t: 1.762520 6.639738 0.091415 q: 0.992019 -0.088715 0.056993 -0.069140 
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: 1.762520 6.639738 0.091415 q: 0.992019 -0.088715 0.056993 -0.069140 
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: 1403637251.538319, t: 1.762520 6.639738 0.091415 q: 0.992019 -0.088715 0.056993 -0.069140 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637257.538319, t: -0.683466 4.388291 -6.804979 q: 0.959179 0.198289 -0.016920 -0.200924 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637259.538319, t: -0.683466 4.388291 -6.804979 q: 0.959179 0.198289 -0.016920 -0.200924 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637263.538319, t: -0.683466 4.388291 -6.804979 q: 0.959179 0.198289 -0.016920 -0.200924 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720506462.303243278]: Shutdown request received.[0m
[33m[ WARN] [1720506462.303289923]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720506462.304316567]: Shutdown request received.[0m
[33m[ WARN] [1720506462.304345732]: Reason given for shutdown: [user request][0m
killed
