/SLAM-Hive/slam_hive_results/mapping_results/3101/2309_vins-fusion-stereo+MH_05_difficult+Image_comb_test-29.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720515216.485977080]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720515216.487944161]: init begins[0m
[31m[ERROR] [1720515216.489145571]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ba9fc7d4-3dd0-11ef-9044-0242ac110005/roslaunch-6f9dc8a06cea-116.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://6f9dc8a06cea:33787/[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 [153][0m
[0m[ INFO] [1720515217.594545365]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720515217.597241555]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720515217.611449299]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720515217.611942672]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720515217.612015216]: ROW: 96 COL: 150 [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] [1720515217.612804350]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[1mROS_MASTER_URI=http://6f9dc8a06cea:11311/[0m
]2;roscore http://6f9dc8a06cea:11311/
[0m[ INFO] [1720515217.613303340]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720515217.613614630]: waiting for image and imu...[0m
[1msetting /run_id to ba9fc7d4-3dd0-11ef-9044-0242ac110005[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 [240][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720515226.634501132]: 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: 316876708.70 
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! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
[0m[ INFO] [1720515247.945089080]: Initialization finish![0m
time: 1403638539.077830, t: -1.973344 1.743038 -4.274507 q: 0.988223 -0.119055 -0.094251 -0.018932 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638541.077830, t: -1.973344 1.743038 -4.274507 q: 0.988223 -0.119055 -0.094251 -0.018932 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638543.077830, t: -1.973344 1.743038 -4.274507 q: 0.988223 -0.119055 -0.094251 -0.018932 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638547.077830, t: -1.973344 1.743038 -4.274507 q: 0.988223 -0.119055 -0.094251 -0.018932 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638551.077830, t: -1.973344 1.743038 -4.274507 q: 0.988223 -0.119055 -0.094251 -0.018932 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638555.077830, t: -1.741264 -2.144349 -2.659434 q: 0.836581 -0.540469 -0.076835 0.046069 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638559.077830, t: -1.741264 -2.144349 -2.659434 q: 0.836581 -0.540469 -0.076835 0.046069 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638563.077830, t: -1.741264 -2.144349 -2.659434 q: 0.836581 -0.540469 -0.076835 0.046069 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638565.077830, t: -1.741264 -2.144349 -2.659434 q: 0.836581 -0.540469 -0.076835 0.046069 
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: 1403638575.077830, t: -2.254877 -2.121577 -3.183435 q: 0.772212 -0.623527 0.040510 0.115157 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638577.077830, t: -2.254877 -2.121577 -3.183435 q: 0.772212 -0.623527 0.040510 0.115157 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638579.077830, t: -0.212290 -7.839218 -9.163951 q: 0.723098 -0.678810 0.088371 0.092396 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638581.077830, t: -0.212290 -7.839218 -9.163951 q: 0.723098 -0.678810 0.088371 0.092396 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638587.077830, t: -1.866632 -9.276805 -9.118977 q: 0.753659 -0.615378 0.224330 0.054622 
unstable tracking...
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: 1403638597.077830, t: 3.504588 -12.752435 -0.967555 q: 0.706159 -0.582235 -0.388359 -0.107330 
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: 1403638603.077830, t: 3.504588 -12.752435 -0.967555 q: 0.706159 -0.582235 -0.388359 -0.107330 
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: 1403638609.077830, t: 3.504588 -12.752435 -0.967555 q: 0.706159 -0.582235 -0.388359 -0.107330 
time: 1403638613.077830, t: 3.169495 -11.559836 -4.877854 q: 0.850902 -0.377397 -0.363532 -0.037178 
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...
time: 1403638627.077830, t: 2.481372 -11.887612 -9.791998 q: 0.839396 -0.434862 -0.276207 0.173263 
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] [1720515342.219197999]: Shutdown request received.[0m
[33m[ WARN] [1720515342.219228154]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720515342.220168215]: Shutdown request received.[0m
[33m[ WARN] [1720515342.220198819]: Reason given for shutdown: [user request][0m
killed
