/SLAM-Hive/slam_hive_results/mapping_results/3096/2304_vins-fusion-stereo+MH_05_difficult+Image_comb_test-24.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720514463.755558868]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720514463.757776508]: init begins[0m
[31m[ERROR] [1720514463.758884360]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/f9f6a95e-3dce-11ef-8afc-0242ac110005/roslaunch-d36be4cfb4c5-118.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://d36be4cfb4c5:42391/[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] [1720514464.864411972]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720514464.869200520]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720514464.869431952]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720514464.869455387]: ROW: 480 COL: 752 [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] [1720514464.869706648]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720514464.869896573]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720514464.870059408]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://d36be4cfb4c5:11311/[0m
]2;roscore http://d36be4cfb4c5:11311/
[1msetting /run_id to f9f6a95e-3dce-11ef-8afc-0242ac110005[0m
[0m[ INFO] [1720514464.911296806]: 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_05_difficult.bag  --clock 
[0m[ INFO] [1720514473.911187374]: 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: 316875955.97 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
[0m[ INFO] [1720514495.227854501]: Initialization finish![0m
time: 1403638539.077830, t: 0.088366 -0.428935 -0.040135 q: 0.997843 0.035927 0.044656 0.032010 
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
time: 1403638543.077830, t: 3.383580 -2.920279 7.558386 q: 0.968919 0.233858 0.073650 -0.032897 
unstable tracking...
time: 1403638545.077830, t: 4.064703 -4.560266 7.871589 q: 0.917663 0.376935 0.088777 -0.089071 
time: 1403638547.077830, t: 7.542879 -6.968608 16.419748 q: 0.573614 0.728858 0.222307 -0.300520 
time: 1403638549.077830, t: 7.114708 -8.673947 15.397471 q: 0.488458 0.765521 0.248720 -0.336935 
time: 1403638551.077830, t: 7.862097 -10.807917 13.673950 q: 0.429114 0.714834 0.318560 -0.450991 
time: 1403638553.077830, t: 9.412492 -12.971106 11.899423 q: 0.534592 0.541099 0.349565 -0.547017 
time: 1403638555.077830, t: 11.187842 -12.417843 11.812208 q: 0.530772 0.528475 0.346271 -0.564882 
time: 1403638557.077830, t: 11.790074 -11.031695 13.209355 q: 0.644554 0.541988 0.328280 -0.427822 
time: 1403638559.077830, t: 6.172445 -11.991010 11.538699 q: 0.766167 0.227425 0.513926 -0.311683 
feature tracking not enough, please slowly move you device! 
time: 1403638561.077830, t: 6.172445 -11.991010 11.538699 q: 0.766167 0.227425 0.513926 -0.311683 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638565.077830, t: 4.886185 -11.454449 12.069462 q: 0.784962 0.173195 0.563758 -0.189775 
feature tracking not enough, please slowly move you device! 
time: 1403638567.077830, t: 4.886185 -11.454449 12.069462 q: 0.784962 0.173195 0.563758 -0.189775 
time: 1403638569.077830, t: 6.322659 -9.460763 13.404530 q: 0.747471 0.197095 0.576321 -0.265132 
time: 1403638571.077830, t: 6.352410 -9.211269 13.740307 q: 0.767424 0.189602 0.607247 -0.079765 
feature tracking not enough, please slowly move you device! 
time: 1403638573.077830, t: 6.352410 -9.211269 13.740307 q: 0.767424 0.189602 0.607247 -0.079765 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638577.077830, t: 5.949518 -2.266716 12.346170 q: 0.762936 0.196001 0.589125 -0.180124 
unstable tracking...
time: 1403638579.077830, t: 8.482545 -4.483618 11.893504 q: 0.757529 0.203988 0.594908 -0.174996 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638583.077830, t: 9.064978 -4.444206 11.542826 q: 0.749324 0.187475 0.612225 -0.168958 
unstable tracking...
time: 1403638585.077830, t: 8.580522 -4.920090 11.321041 q: 0.742116 0.195796 0.617827 -0.170933 
unstable tracking...
time: 1403638587.077830, t: 7.515512 -5.824600 11.788065 q: 0.722248 0.200864 0.641416 -0.163087 
unstable tracking...
time: 1403638589.077830, t: 5.341719 -6.771805 11.772504 q: 0.730159 0.206725 0.632888 -0.153576 
unstable tracking...
time: 1403638591.077830, t: 3.782872 -7.543215 11.993939 q: 0.742666 0.200541 0.620397 -0.152768 
unstable tracking...
time: 1403638593.077830, t: 3.481859 -9.046863 11.599271 q: 0.744930 0.214385 0.598329 -0.202781 
unstable tracking...
unstable tracking...
time: 1403638597.077830, t: 3.533594 -8.735446 9.733328 q: 0.701096 0.222998 0.601274 -0.311779 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638599.077830, t: 3.533594 -8.735446 9.733328 q: 0.701096 0.222998 0.601274 -0.311779 
feature tracking not enough, please slowly move you device! 
time: 1403638601.077830, t: 3.533594 -8.735446 9.733328 q: 0.701096 0.222998 0.601274 -0.311779 
feature tracking not enough, please slowly move you device! 
time: 1403638603.077830, t: 3.533594 -8.735446 9.733328 q: 0.701096 0.222998 0.601274 -0.311779 
feature tracking not enough, please slowly move you device! 
time: 1403638605.077830, t: 3.533594 -8.735446 9.733328 q: 0.701096 0.222998 0.601274 -0.311779 
time: 1403638607.077830, t: 3.332028 -9.466770 8.056790 q: 0.766229 0.092028 0.372451 -0.515464 
time: 1403638609.077830, t: -0.751337 -11.941710 8.361475 q: 0.861756 -0.051330 0.402425 -0.304625 
time: 1403638611.077830, t: -1.200670 -11.555166 9.149462 q: 0.855999 -0.023905 0.407742 -0.316923 
time: 1403638613.077830, t: -0.897587 -10.915942 8.227289 q: 0.794350 -0.079881 0.334038 -0.501044 
feature tracking not enough, please slowly move you device! 
time: 1403638615.077830, t: -0.296374 -8.735630 6.940968 q: 0.910371 -0.089216 0.318988 -0.248017 
feature tracking not enough, please slowly move you device! 
time: 1403638617.077830, t: -0.296374 -8.735630 6.940968 q: 0.910371 -0.089216 0.318988 -0.248017 
unstable tracking...
time: 1403638619.077830, t: 1.665160 -7.561919 6.568669 q: 0.896720 -0.122151 0.338369 -0.257836 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638621.077830, t: 1.665160 -7.561919 6.568669 q: 0.896720 -0.122151 0.338369 -0.257836 
unstable tracking...
unstable tracking...
time: 1403638625.077830, t: 1.061673 -6.083189 5.491074 q: 0.893796 -0.102881 0.345513 -0.266768 
time: 1403638627.077830, t: -0.193855 -5.254981 4.322889 q: 0.902434 -0.112509 0.313458 -0.273311 
time: 1403638629.077830, t: -0.582797 -5.027425 3.987429 q: 0.895972 -0.114796 0.328606 -0.275816 
time: 1403638631.077830, t: -0.134630 -5.686155 3.883788 q: 0.911377 -0.126116 0.285196 -0.268608 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720514589.613102517]: Shutdown request received.[0m
[33m[ WARN] [1720514589.613132862]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720514589.614094523]: Shutdown request received.[0m
[33m[ WARN] [1720514589.614122292]: Reason given for shutdown: [user request][0m
killed
