/SLAM-Hive/slam_hive_results/mapping_results/3095/2303_vins-fusion-stereo+MH_05_difficult+Image_comb_test-23.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720514313.294112012]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720514313.296053041]: init begins[0m
[31m[ERROR] [1720514313.297294476]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/a048e5b6-3dce-11ef-abdd-0242ac110005/roslaunch-bbab3a9307c6-117.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://bbab3a9307c6:42925/[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] [1720514314.403522305]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720514314.404107204]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720514314.410066781]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720514314.410271559]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720514314.410295256]: 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] [1720514314.410528216]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720514314.410755107]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720514314.410930453]: 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://bbab3a9307c6:11311/[0m
]2;roscore http://bbab3a9307c6:11311/
[1msetting /run_id to a048e5b6-3dce-11ef-abdd-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_05_difficult.bag  --clock 
[0m[ INFO] [1720514323.446108482]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316875805.51 
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! 
[0m[ INFO] [1720514334.256709672]: Initialization finish![0m
time: 1403638528.577830, t: -0.322361 -4.642348 4.011396 q: 0.958543 -0.168220 0.173277 0.151233 
feature tracking not enough, please slowly move you device! 
time: 1403638529.577830, t: -0.322361 -4.642348 4.011396 q: 0.958543 -0.168220 0.173277 0.151233 
feature tracking not enough, please slowly move you device! 
time: 1403638530.577830, t: -0.322361 -4.642348 4.011396 q: 0.958543 -0.168220 0.173277 0.151233 
feature tracking not enough, please slowly move you device! 
time: 1403638531.577830, t: -0.322361 -4.642348 4.011396 q: 0.958543 -0.168220 0.173277 0.151233 
time: 1403638532.577830, t: -0.223642 -4.569581 4.063268 q: 0.952443 -0.157646 0.193329 0.174995 
time: 1403638533.577830, t: -0.443234 -4.604904 4.021996 q: 0.953258 -0.161270 0.192408 0.168137 
time: 1403638534.577830, t: -0.339431 -4.617958 3.953346 q: 0.957508 -0.170323 0.176046 0.152236 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638535.577830, t: -0.339431 -4.617958 3.953346 q: 0.957508 -0.170323 0.176046 0.152236 
unstable tracking...
time: 1403638536.577830, t: -0.101292 -4.074714 4.176100 q: 0.958067 -0.169001 0.175389 0.150943 
unstable tracking...
time: 1403638537.577830, t: -0.345049 -2.436433 6.212029 q: 0.954066 -0.163540 0.215995 0.127898 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638539.577830, t: -0.255278 -4.303690 4.234115 q: 0.958564 -0.164765 0.177285 0.150259 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638541.577830, t: 0.061909 -4.128130 4.790104 q: 0.976920 -0.026944 0.205313 0.052424 
unstable tracking...
time: 1403638542.577830, t: 0.913600 -4.501007 5.699400 q: 0.960606 0.105189 0.249874 -0.061105 
unstable tracking...
time: 1403638543.577830, t: 0.166275 -6.380976 3.879299 q: 0.953446 0.160425 0.254939 -0.014544 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403638547.577830, t: 1.602373 -3.572737 5.855270 q: 0.816728 0.453334 0.166295 -0.315895 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403638550.577830, t: 3.222392 -10.682794 5.925498 q: 0.728158 0.579511 0.108708 -0.349478 
unstable tracking...
unstable tracking...
time: 1403638553.577830, t: 5.205765 -13.549748 6.185514 q: 0.816807 0.460409 0.163673 -0.306694 
time: 1403638554.577830, t: 5.561492 -12.445207 6.582445 q: 0.832066 0.440317 0.145215 -0.304467 
time: 1403638555.577830, t: 6.481010 -11.223158 6.833751 q: 0.847806 0.411698 0.137120 -0.304841 
time: 1403638556.577830, t: 6.859250 -9.949601 8.015547 q: 0.838793 0.441071 0.133917 -0.289737 
time: 1403638557.577830, t: 7.778245 -11.538399 7.341927 q: 0.873350 0.373499 0.067754 -0.305233 
time: 1403638558.577830, t: 9.623651 -9.254484 9.337949 q: 0.806030 0.505273 0.020452 -0.307564 
time: 1403638559.577830, t: 9.424300 -9.543909 9.025351 q: 0.855840 0.381299 0.181984 -0.298379 
time: 1403638560.577830, t: 12.456531 -6.548231 12.434316 q: 0.680918 0.686125 0.081217 -0.242870 
time: 1403638561.577830, t: 14.639972 -6.722778 20.674008 q: 0.397680 0.832134 -0.384773 -0.036789 
time: 1403638562.577830, t: 15.741505 -3.710635 18.434808 q: 0.615446 0.729033 -0.294568 -0.054470 
time: 1403638563.577830, t: 12.540667 -2.741647 18.066165 q: 0.814816 0.566453 -0.077202 0.096158 
time: 1403638564.577830, t: 11.455514 -1.749040 18.985334 q: 0.791153 0.593747 -0.054930 0.136101 
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: 1403638567.577830, t: 11.455514 -1.749040 18.985334 q: 0.791153 0.593747 -0.054930 0.136101 
time: 1403638568.577830, t: 9.574356 -3.602101 22.630843 q: 0.566021 0.808578 -0.072682 0.143315 
time: 1403638569.577830, t: 9.489562 -3.110689 22.943291 q: 0.587755 0.773881 -0.120110 0.203043 
time: 1403638570.577830, t: 9.741676 -1.771855 21.572054 q: 0.669116 0.693275 -0.044348 0.263981 
time: 1403638571.577830, t: 8.825319 -2.070147 21.829088 q: 0.762000 0.545537 -0.080048 0.339613 
time: 1403638572.577830, t: 8.273624 -1.917503 22.726977 q: 0.840055 0.392435 -0.181811 0.327486 
time: 1403638573.577830, t: 8.565053 -1.223473 23.952785 q: 0.867528 0.381025 -0.217088 0.234706 
feature tracking not enough, please slowly move you device! 
time: 1403638574.577830, t: 8.169565 -2.129054 34.690384 q: 0.861401 0.304630 -0.263009 0.309864 
unstable tracking...
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403638578.577830, t: 8.346875 -9.679046 39.747203 q: 0.866840 0.041599 -0.234395 0.438083 
time: 1403638579.577830, t: 9.303013 -9.906760 22.790754 q: 0.904227 0.101575 -0.209678 0.357900 
feature tracking not enough, please slowly move you device! 
time: 1403638580.577830, t: 9.303013 -9.906760 22.790754 q: 0.904227 0.101575 -0.209678 0.357900 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403638583.577830, t: 9.303013 -9.906775 22.790753 q: 0.904285 0.101612 -0.209666 0.357749 
time: 1403638584.577830, t: 9.963459 -9.577371 22.764455 q: 0.905944 0.105663 -0.182247 0.367269 
time: 1403638585.577830, t: 11.175206 -8.589069 21.747713 q: 0.879375 0.136067 -0.255134 0.378276 
time: 1403638586.577830, t: 11.884165 -7.658224 21.378257 q: 0.866370 0.193267 -0.260929 0.379431 
time: 1403638587.577830, t: 12.383415 -7.194633 18.383438 q: 0.870091 0.233125 -0.229830 0.368473 
unstable tracking...
unstable tracking...
time: 1403638589.577830, t: 13.123527 -9.578121 21.676627 q: 0.849269 0.150822 -0.151919 0.482614 
unstable tracking...
unstable tracking...
time: 1403638591.577830, t: 13.562869 -10.449816 20.150080 q: 0.849177 0.148817 -0.225573 0.453727 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403638594.577830, t: 18.688705 -11.319185 17.181296 q: 0.941786 0.047997 -0.155339 0.294288 
unstable tracking...
time: 1403638596.577830, t: 16.870702 -13.234752 25.856584 q: 0.951294 -0.090369 -0.273669 -0.109445 
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! 
feature tracking not enough, please slowly move you device! 
time: 1403638604.577830, t: 16.870702 -13.234752 25.856584 q: 0.951294 -0.090369 -0.273669 -0.109445 
time: 1403638605.577830, t: 14.378775 -16.031578 26.630663 q: 0.981300 -0.192029 -0.009645 -0.009010 
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...
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: 1403638616.577830, t: 10.104002 -21.992045 27.933217 q: 0.867152 -0.488208 0.097719 0.012292 
time: 1403638617.577830, t: 10.104002 -21.992045 27.933217 q: 0.867152 -0.488208 0.097719 0.012292 
time: 1403638618.577830, t: 10.103981 -21.992025 27.933405 q: 0.866992 -0.488450 0.097976 0.011951 
feature tracking not enough, please slowly move you device! 
time: 1403638620.577830, t: 10.186648 -23.973454 22.872766 q: 0.735295 -0.654261 0.171747 -0.042272 
time: 1403638621.577830, t: 10.281890 -23.529490 22.199586 q: 0.745544 -0.642919 0.159893 -0.072480 
time: 1403638622.577830, t: 10.213570 -23.094928 21.810344 q: 0.740112 -0.645253 0.172558 -0.078142 
time: 1403638623.577830, t: 10.046606 -23.479385 21.551622 q: 0.741245 -0.646930 0.167863 -0.062130 
time: 1403638624.577830, t: 9.559318 -24.065077 21.275344 q: 0.736777 -0.649223 0.180908 -0.054239 
unstable tracking...
time: 1403638626.577830, t: 8.401963 -25.465596 20.693856 q: 0.748648 -0.645142 0.140597 -0.059588 
time: 1403638627.577830, t: 7.412121 -25.560110 20.410986 q: 0.753325 -0.633141 0.165805 -0.064356 
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: 1403638630.577830, t: 7.406072 -25.867713 20.367212 q: 0.752801 -0.632121 0.174998 -0.055588 
feature tracking not enough, please slowly move you device! 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720514439.152402250]: Shutdown request received.[0m
[33m[ WARN] [1720514439.152441215]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720514439.153304888]: Shutdown request received.[0m
[33m[ WARN] [1720514439.153336152]: Reason given for shutdown: [user request][0m
killed
