/SLAM-Hive/slam_hive_results/mapping_results/3097/2305_vins-fusion-stereo+MH_05_difficult+Image_comb_test-25.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720514614.522346704]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720514614.523820154]: init begins[0m
[31m[ERROR] [1720514614.524956413]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/53d3fa3a-3dcf-11ef-ba97-0242ac110005/roslaunch-77027dfcebec-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://77027dfcebec:43897/[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] [1720514615.628423301]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720514615.630005328]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720514615.635780393]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720514615.635991205]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720514615.636017115]: ROW: 384 COL: 601 [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] [1720514615.636258375]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720514615.636452635]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720514615.636643748]: 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://77027dfcebec:11311/[0m
]2;roscore http://77027dfcebec:11311/
[1msetting /run_id to 53d3fa3a-3dcf-11ef-ba97-0242ac110005[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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720514624.690014682]: 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: 316876106.75 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
[0m[ INFO] [1720514646.029015671]: Initialization finish![0m
time: 1403638539.077830, t: 0.451616 -1.433596 0.434757 q: 0.997905 0.017794 0.045799 0.042091 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638541.077830, t: -5.670367 -8.887884 -9.169860 q: 0.992146 0.100606 0.029616 -0.068173 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638543.077830, t: -5.670367 -8.887884 -9.169860 q: 0.992146 0.100606 0.029616 -0.068173 
unstable tracking...
time: 1403638547.077830, t: -3.138420 -16.219299 -9.579992 q: 0.952655 0.245984 -0.091577 -0.153474 
time: 1403638549.077830, t: -3.128891 -16.857359 -7.864355 q: 0.897700 0.393971 -0.098556 -0.170904 
time: 1403638551.077830, t: -3.491292 -19.589554 -6.346415 q: 0.912147 0.382290 0.008773 -0.147532 
time: 1403638553.077830, t: -1.776564 -20.550319 -4.515255 q: 0.958430 0.239320 -0.020638 -0.153984 
time: 1403638555.077830, t: -0.773846 -18.396796 -4.434695 q: 0.951623 0.249773 -0.039790 -0.174481 
time: 1403638557.077830, t: 0.883603 -17.884574 -4.768456 q: 0.972146 0.130769 -0.126753 -0.147531 
time: 1403638559.077830, t: -0.904342 -22.494397 -4.054023 q: 0.925512 -0.317034 -0.047619 -0.201617 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638563.077830, t: -0.112228 -14.980885 -8.909644 q: 0.878660 -0.104801 0.046156 -0.463512 
unstable tracking...
time: 1403638565.077830, t: 0.263619 -20.067667 -3.376592 q: 0.581620 -0.679971 -0.153578 -0.419251 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638567.077830, t: 0.263619 -20.067667 -3.376592 q: 0.581620 -0.679971 -0.153578 -0.419251 
time: 1403638569.077830, t: 0.701157 -19.790297 -4.151489 q: -0.480139 0.697753 0.215320 0.486050 
time: 1403638571.077830, t: 1.099969 -20.190779 -4.469733 q: -0.475510 0.757002 0.070920 0.442502 
feature tracking not enough, please slowly move you device! 
time: 1403638573.077830, t: 1.099969 -20.190779 -4.469733 q: -0.475510 0.757002 0.070920 0.442502 
time: 1403638575.077830, t: 3.702027 -20.334754 -5.179587 q: -0.340828 0.836715 -0.104894 0.415622 
time: 1403638577.077830, t: 6.345327 -20.524313 -5.917260 q: -0.330215 0.836260 -0.071740 0.431834 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638581.077830, t: 8.422844 -20.205128 -6.931934 q: -0.348475 0.822169 -0.065345 0.445345 
unstable tracking...
unstable tracking...
time: 1403638585.077830, t: 8.763127 -19.904136 -6.297210 q: -0.332096 0.813216 -0.075628 0.471881 
unstable tracking...
time: 1403638587.077830, t: 6.957593 -19.450905 -4.722071 q: -0.321845 0.822793 -0.054122 0.465293 
unstable tracking...
time: 1403638589.077830, t: 6.977904 -18.110476 -4.833951 q: -0.332600 0.810822 -0.077488 0.475333 
unstable tracking...
time: 1403638591.077830, t: 5.743570 -17.119270 -3.395389 q: -0.322577 0.831330 -0.085251 0.444485 
time: 1403638593.077830, t: 5.468703 -16.821423 -2.332665 q: -0.387685 0.820507 -0.036019 0.418534 
time: 1403638595.077830, t: 5.949607 -16.763673 -1.338041 q: -0.384591 0.800176 -0.015873 0.459951 
time: 1403638597.077830, t: 6.514003 -14.250081 -1.917198 q: -0.300816 0.805953 0.059736 0.506341 
feature tracking not enough, please slowly move you device! 
time: 1403638599.077830, t: 6.514003 -14.250081 -1.917198 q: -0.300816 0.805953 0.059736 0.506341 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638601.077830, t: 6.514003 -14.250081 -1.917198 q: -0.300816 0.805953 0.059736 0.506341 
feature tracking not enough, please slowly move you device! 
time: 1403638603.077830, t: 6.514003 -14.250081 -1.917198 q: -0.300816 0.805953 0.059736 0.506341 
time: 1403638605.077830, t: 6.844583 -14.749935 -1.799997 q: -0.298108 0.839216 0.180431 0.417484 
time: 1403638607.077830, t: 6.667196 -14.196665 -1.905575 q: -0.342056 0.804644 0.284714 0.393044 
time: 1403638609.077830, t: 1.720926 -13.363809 -3.113226 q: -0.353258 0.750043 0.112210 0.547772 
time: 1403638611.077830, t: 1.373876 -12.948853 -3.819389 q: -0.373124 0.739875 0.119053 0.546983 
time: 1403638613.077830, t: 1.429543 -13.687743 -3.984088 q: -0.346983 0.766281 0.181619 0.509344 
time: 1403638615.077830, t: -0.328767 -15.065599 -3.903952 q: -0.239219 0.859203 -0.044361 0.450085 
feature tracking not enough, please slowly move you device! 
time: 1403638617.077830, t: -0.328767 -15.065599 -3.903952 q: -0.239219 0.859203 -0.044361 0.450085 
unstable tracking...
time: 1403638619.077830, t: 1.262619 -16.686942 -4.579178 q: -0.204772 0.858404 -0.042392 0.468417 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638621.077830, t: 1.262619 -16.686942 -4.579178 q: -0.204772 0.858404 -0.042392 0.468417 
unstable tracking...
unstable tracking...
time: 1403638625.077830, t: 0.105633 -18.140168 -4.980353 q: -0.213960 0.850515 -0.037529 0.478996 
unstable tracking...
time: 1403638627.077830, t: -1.560036 -19.156403 -4.975984 q: -0.215933 0.864141 -0.020331 0.454115 
time: 1403638629.077830, t: -1.736918 -18.982475 -5.232759 q: -0.205312 0.855655 -0.030959 0.474071 
time: 1403638631.077830, t: -1.622251 -17.157708 -4.911148 q: -0.183126 0.874549 -0.047134 0.446551 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720514740.329486292]: Shutdown request received.[0m
[33m[ WARN] [1720514740.329522825]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720514740.330496329]: Shutdown request received.[0m
[33m[ WARN] [1720514740.330524503]: Reason given for shutdown: [user request][0m
killed
