/SLAM-Hive/slam_hive_results/mapping_results/3100/2308_vins-fusion-stereo+MH_05_difficult+Image_comb_test-28.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720515065.168540340]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720515065.170279790]: init begins[0m
[31m[ERROR] [1720515065.171418286]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/606f0158-3dd0-11ef-86fa-0242ac110005/roslaunch-124c929e6f95-117.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://124c929e6f95:34067/[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] [1720515066.274682048]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720515066.276091201]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720515066.282523292]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720515066.282723331]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720515066.282750320]: ROW: 192 COL: 300 [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] [1720515066.282985299]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720515066.283179308]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720515066.283344889]: 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://124c929e6f95:11311/[0m
]2;roscore http://124c929e6f95:11311/
[1msetting /run_id to 606f0158-3dd0-11ef-86fa-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] [1720515075.339534837]: 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: 316876557.40 
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! 
unstable tracking...
unstable tracking...
[0m[ INFO] [1720515096.665067177]: Initialization finish![0m
time: 1403638539.077830, t: 1.136556 -1.914753 0.772484 q: 0.997021 -0.063010 -0.038225 -0.022752 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638543.077830, t: 1.136556 -1.914753 0.772484 q: 0.997021 -0.063010 -0.038225 -0.022752 
unstable tracking...
time: 1403638545.077830, t: 3.869720 -5.943973 -0.301723 q: 0.990992 0.033529 -0.129534 -0.005564 
time: 1403638547.077830, t: 4.258189 -7.116162 1.353137 q: 0.966232 0.201063 -0.148949 -0.061509 
time: 1403638549.077830, t: 4.267092 -8.686429 3.113332 q: 0.946473 0.277074 -0.159015 -0.046181 
time: 1403638551.077830, t: 3.943112 -8.993850 4.624201 q: 0.931374 0.361427 -0.036972 -0.023354 
time: 1403638553.077830, t: 4.722148 -9.023173 6.887944 q: 0.973445 0.224544 -0.039829 0.019962 
time: 1403638555.077830, t: 5.876748 -8.799074 7.172529 q: 0.977311 0.098090 -0.180758 0.050671 
time: 1403638559.077830, t: 6.082736 -9.112133 6.364940 q: 0.942456 -0.199369 -0.175843 -0.202753 
feature tracking not enough, please slowly move you device! 
time: 1403638563.077830, t: 5.164809 -9.090779 7.095241 q: 0.825632 -0.531854 -0.026468 -0.186445 
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: 1403638571.077830, t: 4.614334 -9.271547 7.109895 q: 0.745067 -0.645757 0.121783 -0.114203 
feature tracking not enough, please slowly move you device! 
time: 1403638573.077830, t: 4.614334 -9.271547 7.109895 q: 0.745067 -0.645757 0.121783 -0.114203 
time: 1403638575.077830, t: 4.114368 -8.731086 24.083946 q: 0.058079 0.882856 0.411966 0.217888 
feature tracking not enough, please slowly move you device! 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
time: 1403638585.077830, t: 8.829223 3.214318 9.921909 q: 0.043246 0.875397 0.375869 0.300887 
unstable tracking...
unstable tracking...
time: 1403638593.077830, t: 5.738942 4.222751 8.673145 q: -0.057445 0.864216 0.423145 0.266044 
time: 1403638595.077830, t: 3.227689 5.104075 10.023685 q: -0.082010 0.837086 0.442865 0.310534 
time: 1403638597.077830, t: 2.971807 5.027396 9.899200 q: -0.059417 0.779384 0.515112 0.351696 
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: 1403638611.077830, t: 4.467112 2.556732 9.017800 q: -0.319134 0.660615 0.640449 0.227082 
unstable tracking...
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...
unstable tracking...
time: 1403638625.077830, t: 10.026088 2.156109 13.827405 q: 0.015796 0.677994 0.670024 0.301899 
time: 1403638627.077830, t: 9.813976 0.818535 15.218239 q: 0.038457 0.681822 0.675131 0.278995 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720515190.940073410]: Shutdown request received.[0m
[33m[ WARN] [1720515190.940126650]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720515190.941148266]: Shutdown request received.[0m
[33m[ WARN] [1720515190.941171476]: Reason given for shutdown: [user request][0m
killed
