/SLAM-Hive/slam_hive_results/mapping_results/3041/2249_vins-fusion-stereo+MH_03_medium+Image_comb_test-29.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720506486.564921936]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720506486.566815129]: init begins[0m
[31m[ERROR] [1720506486.567837272]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/67307904-3dbc-11ef-82da-0242ac110005/roslaunch-24bb40440e4a-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://24bb40440e4a:36071/[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] [1720506487.673656979]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720506487.678270555]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720506487.678462976]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720506487.678486664]: ROW: 96 COL: 150 [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] [1720506487.678701295]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720506487.678888892]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720506487.679051155]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://24bb40440e4a:11311/[0m
]2;roscore http://24bb40440e4a:11311/
[1msetting /run_id to 67307904-3dbc-11ef-82da-0242ac110005[0m
[0m[ INFO] [1720506487.721135879]: Connected to master at [localhost:11311][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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720506496.719187080]: 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: 316869366.38 
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...
unstable tracking...
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637159.538319, t: 0.409846 0.773985 0.903172 q: 0.992778 -0.092845 0.052744 0.054681 
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: 1403637171.538319, t: 0.409846 0.773985 0.903172 q: 0.992778 -0.092845 0.052744 0.054681 
feature tracking not enough, please slowly move you device! 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637175.538319, t: 0.409846 0.773985 0.903172 q: 0.992778 -0.092845 0.052744 0.054681 
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: 1403637183.538319, t: 0.409846 0.773985 0.903172 q: 0.992778 -0.092845 0.052744 0.054681 
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: 1403637191.538319, t: 0.497394 14.122474 -0.129689 q: 0.968895 0.191659 0.089074 -0.128742 
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! 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637211.538319, t: 0.950627 16.864154 1.212403 q: 0.972112 0.185993 0.111439 -0.089361 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637213.538319, t: 0.950627 16.864154 1.212403 q: 0.972112 0.185993 0.111439 -0.089361 
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: 1403637219.538319, t: 0.950627 16.864154 1.212403 q: 0.972112 0.185993 0.111439 -0.089361 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637223.538319, t: 0.950627 16.864154 1.212403 q: 0.972112 0.185993 0.111439 -0.089361 
time: 1403637225.538319, t: 0.911686 17.054483 1.148666 q: 0.969567 0.184178 0.128974 -0.096868 
time: 1403637227.538319, t: 0.756013 17.279288 1.135773 q: 0.966170 0.210202 0.103041 -0.108226 
time: 1403637229.538319, t: 0.427161 16.818704 1.041705 q: 0.978408 0.161792 0.108511 -0.069044 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637233.538319, t: 0.427161 16.818704 1.041705 q: 0.978408 0.161792 0.108511 -0.069044 
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! 
feature tracking not enough, please slowly move you device! 
time: 1403637247.538319, t: 0.427161 16.818704 1.041705 q: 0.978408 0.161792 0.108511 -0.069044 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637251.538319, t: 0.427161 16.818704 1.041705 q: 0.978408 0.161792 0.108511 -0.069044 
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! 
unstable tracking...
time: 1403637261.538319, t: -1.446369 19.355486 -0.064749 q: 0.849088 0.447715 0.129599 -0.248605 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637263.538319, t: -1.446369 19.355486 -0.064749 q: 0.849088 0.447715 0.129599 -0.248605 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720506633.526611569]: Shutdown request received.[0m
[33m[ WARN] [1720506633.526655397]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720506633.527466500]: Shutdown request received.[0m
[33m[ WARN] [1720506633.527492760]: Reason given for shutdown: [user request][0m
killed
