/SLAM-Hive/slam_hive_results/mapping_results/3099/2307_vins-fusion-stereo+MH_05_difficult+Image_comb_test-27.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720514914.973975466]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720514914.975473109]: init begins[0m
[31m[ERROR] [1720514914.976464826]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/06e8f4f4-3dd0-11ef-86bc-0242ac110005/roslaunch-530e0497a12f-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://530e0497a12f:44307/[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] [1720514916.080441636]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720514916.082047616]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720514916.087904860]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720514916.088111888]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720514916.088141313]: ROW: 240 COL: 376 [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] [1720514916.088443520]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720514916.088690165]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720514916.088855167]: 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://530e0497a12f:11311/[0m
]2;roscore http://530e0497a12f:11311/
[1msetting /run_id to 06e8f4f4-3dd0-11ef-86bc-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] [1720514925.134414733]: 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: 316876407.20 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638541.077830, t: 0.348786 -0.561242 0.233737 q: 0.997118 0.041371 0.035926 0.052480 
unstable tracking...
unstable tracking...
time: 1403638545.077830, t: 1.762275 -4.121016 1.538296 q: 0.932674 0.335714 0.090183 -0.096343 
time: 1403638547.077830, t: 2.413726 -5.956873 2.215631 q: 0.845470 0.486684 0.096390 -0.197555 
time: 1403638549.077830, t: 2.591434 -7.872945 2.556422 q: 0.781867 0.576865 0.088280 -0.219357 
time: 1403638551.077830, t: 3.686584 -9.095832 3.501035 q: 0.701856 0.671268 0.135721 -0.195902 
time: 1403638553.077830, t: 5.059522 -10.459595 4.034002 q: 0.818295 0.549236 0.112264 -0.127002 
time: 1403638555.077830, t: 5.184514 -9.362818 5.043276 q: 0.850195 0.514112 0.088269 -0.071174 
time: 1403638557.077830, t: 5.846443 -7.333098 6.018095 q: 0.878196 0.471822 0.018848 -0.076158 
time: 1403638559.077830, t: 7.507969 -7.797167 3.232150 q: 0.967401 0.188026 -0.169176 -0.012701 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638561.077830, t: 7.507969 -7.797167 3.232150 q: 0.967401 0.188026 -0.169176 -0.012701 
time: 1403638563.077830, t: 7.209634 -6.353941 3.149846 q: 0.987072 -0.058646 -0.145813 0.031424 
time: 1403638565.077830, t: 6.750312 -0.174664 10.565279 q: 0.690648 0.535113 -0.474549 0.107069 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403638569.077830, t: 6.750312 -0.174664 10.565279 q: 0.690648 0.535113 -0.474549 0.107069 
time: 1403638571.077830, t: 6.635542 0.126068 10.608026 q: 0.746907 0.369357 -0.532655 0.148268 
feature tracking not enough, please slowly move you device! 
time: 1403638573.077830, t: 6.635542 0.126068 10.608026 q: 0.746907 0.369357 -0.532655 0.148268 
time: 1403638575.077830, t: 4.632094 0.086956 12.585829 q: 0.801896 0.140716 -0.568295 0.119174 
time: 1403638577.077830, t: 1.540891 -0.260761 15.024269 q: 0.810179 0.160098 -0.553943 0.105483 
time: 1403638579.077830, t: -3.398854 -3.493282 16.509034 q: 0.824305 0.131022 -0.518017 0.187119 
unstable tracking...
time: 1403638581.077830, t: -3.398854 -3.493282 16.509034 q: 0.824305 0.131022 -0.518017 0.187119 
unstable tracking...
time: 1403638583.077830, t: -3.522587 -3.354861 17.290816 q: 0.834307 0.114949 -0.509980 0.175039 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403638589.077830, t: -0.307550 -5.535582 15.613111 q: 0.837167 0.122762 -0.496617 0.193524 
time: 1403638593.077830, t: 0.708753 -8.219962 15.334242 q: 0.813951 0.198494 -0.509747 0.195555 
time: 1403638595.077830, t: 0.930431 -8.626539 16.272091 q: 0.835536 0.211811 -0.468864 0.192825 
time: 1403638597.077830, t: 0.954737 -9.055995 15.894272 q: 0.864111 0.228675 -0.436898 0.100702 
feature tracking not enough, please slowly move you device! 
time: 1403638599.077830, t: 0.954737 -9.055995 15.894272 q: 0.864111 0.228675 -0.436898 0.100702 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403638603.077830, t: 0.954737 -9.055995 15.894272 q: 0.864111 0.228675 -0.436898 0.100702 
time: 1403638605.077830, t: 0.737152 -8.351769 16.253297 q: 0.794956 0.347075 -0.492354 0.071912 
time: 1403638607.077830, t: 0.311799 -8.726922 15.960041 q: 0.748168 0.460876 -0.462945 0.116270 
time: 1403638609.077830, t: 0.415128 -9.305388 11.889082 q: 0.862547 0.411905 -0.247647 0.158169 
time: 1403638611.077830, t: 0.131196 -9.183358 11.658293 q: 0.849274 0.444112 -0.253730 0.130837 
time: 1403638613.077830, t: -0.418169 -8.613714 12.868831 q: 0.784166 0.492816 -0.332926 0.177135 
feature tracking not enough, please slowly move you device! 
time: 1403638615.077830, t: -1.757404 -6.608233 13.684696 q: 0.781643 0.383190 -0.445670 0.208754 
time: 1403638617.077830, t: -1.757404 -6.608233 13.684696 q: 0.781643 0.383190 -0.445670 0.208754 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638621.077830, t: -1.757404 -6.608233 13.684696 q: 0.781643 0.383190 -0.445670 0.208754 
unstable tracking...
time: 1403638623.077830, t: -2.574800 -6.307748 14.146596 q: 0.798415 0.381390 -0.409109 0.222946 
unstable tracking...
time: 1403638625.077830, t: -2.320068 -4.808666 13.374378 q: 0.781899 0.391862 -0.433562 0.217029 
time: 1403638627.077830, t: -2.306473 -3.092096 12.642840 q: 0.767601 0.408867 -0.451727 0.198893 
time: 1403638629.077830, t: -3.005685 -2.609531 11.932030 q: 0.776033 0.398184 -0.421976 0.247302 
feature tracking not enough, please slowly move you device! 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720515040.713228436]: Shutdown request received.[0m
[33m[ WARN] [1720515040.713266207]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720515040.714087672]: Shutdown request received.[0m
[33m[ WARN] [1720515040.714120102]: Reason given for shutdown: [user request][0m
killed
