/SLAM-Hive/slam_hive_results/mapping_results/3098/2306_vins-fusion-stereo+MH_05_difficult+Image_comb_test-26.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720514764.835022396]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720514764.836814212]: init begins[0m
[31m[ERROR] [1720514764.837914463]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ad6beefe-3dcf-11ef-84e8-0242ac110005/roslaunch-da108fbf494d-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://da108fbf494d:46553/[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] [1720514765.941547973]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720514765.943106941]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720514765.948969906]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720514765.949167461]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720514765.949191449]: ROW: 288 COL: 451 [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] [1720514765.949442543]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720514765.949648095]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720514765.949807938]: 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://da108fbf494d:11311/[0m
]2;roscore http://da108fbf494d:11311/
[1msetting /run_id to ad6beefe-3dcf-11ef-84e8-0242ac110005[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] [1720514774.967971632]: 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: 316876257.03 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720514796.269957365]: Initialization finish![0m
time: 1403638539.077830, t: -0.727786 -0.047960 0.358372 q: 0.994479 0.052950 0.080257 0.042026 
feature tracking not enough, please slowly move you device! 
time: 1403638541.077830, t: -0.727786 -0.047960 0.358372 q: 0.994479 0.052950 0.080257 0.042026 
time: 1403638543.077830, t: 0.893725 -0.892143 0.493431 q: 0.960324 0.251964 0.065119 -0.100255 
time: 1403638545.077830, t: 1.399666 -2.772425 0.645759 q: 0.908105 0.384731 0.065108 -0.151951 
unstable tracking...
unstable tracking...
time: 1403638549.077830, t: 1.458358 -7.420710 0.682939 q: 0.763698 0.585282 0.066745 -0.264113 
time: 1403638551.077830, t: 2.486747 -10.288757 0.026605 q: 0.769574 0.594056 0.076449 -0.221382 
time: 1403638553.077830, t: 7.185055 -12.200765 1.650016 q: 0.765743 0.521926 -0.148201 -0.345352 
time: 1403638555.077830, t: 6.716270 -11.016593 2.113862 q: 0.861354 0.428626 -0.122193 -0.243756 
time: 1403638557.077830, t: 6.051452 -8.266371 2.643819 q: 0.917291 0.367367 -0.106050 -0.111226 
time: 1403638559.077830, t: 4.810528 -13.156978 0.486792 q: 0.981626 -0.089328 -0.035923 -0.164744 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638561.077830, t: 4.810528 -13.156978 0.486792 q: 0.981626 -0.089328 -0.035923 -0.164744 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638563.077830, t: 4.810528 -13.156978 0.486792 q: 0.981626 -0.089328 -0.035923 -0.164744 
unstable tracking...
time: 1403638565.077830, t: 3.063036 -15.072867 1.682906 q: 0.884294 -0.413143 0.107721 -0.189033 
feature tracking not enough, please slowly move you device! 
time: 1403638567.077830, t: 3.063036 -15.072867 1.682906 q: 0.884294 -0.413143 0.107721 -0.189033 
feature tracking not enough, please slowly move you device! 
time: 1403638569.077830, t: 3.063036 -15.072867 1.682906 q: 0.884294 -0.413143 0.107721 -0.189033 
time: 1403638571.077830, t: 3.724253 -15.871872 2.573961 q: 0.776839 -0.610624 0.149910 -0.034439 
feature tracking not enough, please slowly move you device! 
time: 1403638573.077830, t: 3.724253 -15.871872 2.573961 q: 0.776839 -0.610624 0.149910 -0.034439 
time: 1403638575.077830, t: 1.754792 -22.462478 1.986407 q: 0.647025 -0.728028 0.220348 0.052742 
time: 1403638577.077830, t: 3.112799 -24.486525 3.836746 q: 0.639829 -0.739625 0.203640 0.045871 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638583.077830, t: 5.791204 -20.025142 3.313222 q: 0.624390 -0.742251 0.243110 0.009883 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403638589.077830, t: 6.292114 -20.808137 7.500447 q: 0.608661 -0.753772 0.247660 0.004949 
unstable tracking...
time: 1403638591.077830, t: 6.080582 -21.630898 9.327942 q: 0.612436 -0.753021 0.239532 0.022503 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403638597.077830, t: 8.014327 -22.246375 11.053119 q: 0.659280 -0.727849 0.163219 -0.094584 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638599.077830, t: 8.014327 -22.246375 11.053119 q: 0.659280 -0.727849 0.163219 -0.094584 
feature tracking not enough, please slowly move you device! 
time: 1403638601.077830, t: 8.014327 -22.246375 11.053119 q: 0.659280 -0.727849 0.163219 -0.094584 
feature tracking not enough, please slowly move you device! 
time: 1403638603.077830, t: 8.014327 -22.246375 11.053119 q: 0.659280 -0.727849 0.163219 -0.094584 
time: 1403638605.077830, t: 8.849758 -22.584348 10.674804 q: 0.691028 -0.720354 -0.058880 -0.010161 
time: 1403638607.077830, t: 8.444411 -22.890524 10.931610 q: 0.755464 -0.653397 -0.047777 0.007965 
time: 1403638609.077830, t: 6.277199 -23.449195 15.493474 q: 0.644187 -0.755519 0.053519 -0.106537 
time: 1403638611.077830, t: 5.376037 -23.176783 15.781646 q: 0.651270 -0.748333 0.063030 -0.108960 
time: 1403638613.077830, t: 4.618919 -23.353149 14.112676 q: 0.714674 -0.693054 0.065917 -0.067615 
feature tracking not enough, please slowly move you device! 
time: 1403638615.077830, t: 7.455904 -20.265797 6.692974 q: 0.893299 -0.381480 -0.205467 -0.119471 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638619.077830, t: 8.383401 -18.382654 7.343266 q: 0.870992 -0.431741 -0.181558 -0.148352 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638621.077830, t: 8.383401 -18.382654 7.343266 q: 0.870992 -0.431741 -0.181558 -0.148352 
unstable tracking...
unstable tracking...
time: 1403638625.077830, t: 8.627551 -18.363150 5.390969 q: 0.881012 -0.413045 -0.171635 -0.154123 
time: 1403638627.077830, t: 8.673012 -19.339418 3.681770 q: 0.874407 -0.415134 -0.204789 -0.145388 
time: 1403638629.077830, t: 8.652203 -19.772082 3.242288 q: 0.870839 -0.421761 -0.195854 -0.159367 
time: 1403638631.077830, t: 7.218161 -24.855794 3.070341 q: 0.866276 -0.420691 -0.238445 -0.125415 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720514890.648296661]: Shutdown request received.[0m
[33m[ WARN] [1720514890.648350429]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720514890.649389338]: Shutdown request received.[0m
[33m[ WARN] [1720514890.649415798]: Reason given for shutdown: [user request][0m
killed
