/SLAM-Hive/slam_hive_results/mapping_results/2878/2086_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-16.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720477626.283471357]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720477626.283720428]: init begins[0m
[31m[ERROR] [1720477626.284731283]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/351f0b76-3d79-11ef-9924-0242ac110005/roslaunch-8d9ba1afd8f3-118.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://8d9ba1afd8f3:35515/[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] [1720477627.390284209]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720477627.391008055]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720477627.396973621]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720477627.397172231]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720477627.397196013]: ROW: 192 COL: 300 [0m
 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
set g       0       0 9.81007
[0m[ INFO] [1720477627.397356291]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720477627.397602011]: 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://8d9ba1afd8f3:11311/[0m
]2;roscore http://8d9ba1afd8f3:11311/
[1msetting /run_id to 351f0b76-3d79-11ef-9924-0242ac110005[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
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720477636.437139967]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 316840506.11 
init first imu pose
averge acc 9.438567 -0.684964 -2.448160
init R0 
  0.260071   0.260169   0.929879
         0  -0.963017    0.26944
  0.965589 -0.0700736  -0.250453
[0m[ INFO] [1720477640.988246481]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477641.392813003]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477641.809424791]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477642.205156597]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477642.613822262]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477642.995252257]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477643.396614120]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477643.808436589]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477644.202658375]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477644.604658469]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477644.997516940]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477645.397258977]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477645.793094391]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477646.204529128]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477646.615748430]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477647.013164093]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477647.392251585]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477647.821771883]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477648.213275479]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477648.594150126]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477649.012323894]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477649.406717111]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477649.820120127]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477650.220791889]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477650.621379114]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477651.010813903]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477651.395016932]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477651.824897112]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477652.197201159]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477652.606833399]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477653.014857779]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477653.411850852]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477653.809655530]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477654.204420881]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477654.605944981]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477655.011368539]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477655.419934320]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477655.802923646]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477656.265860825]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477656.613326941]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477657.000939530]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477657.407315428]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477657.804890120]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477658.190383230]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477658.603246492]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720477659.012973535]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720477660.617640511]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
pts_3_vector size 5
[33m[ WARN] [1720477661.414352052]: gyroscope bias initial calibration -0.00174156    0.019478   0.0737087[0m
[0m[ INFO] [1720477661.444082877]: Initialization finish![0m
time: 1403637155.138319, t: 0.933500 -0.767883 0.271941 q: 0.047847 0.823534 -0.060182 0.562033 
time: 1403637155.538319, t: 1.207375 -0.936353 0.335538 q: 0.069067 0.805252 -0.099977 0.580348 
time: 1403637155.938319, t: 1.393179 -1.072323 0.295821 q: 0.088219 0.799035 -0.164034 0.571710 
time: 1403637156.338319, t: 1.551262 -1.271891 0.215024 q: 0.137852 0.771731 -0.253952 0.566513 
time: 1403637156.738319, t: 1.624774 -1.532797 0.131755 q: 0.204559 0.738269 -0.336610 0.547547 
time: 1403637157.138319, t: 1.631144 -1.829342 -0.028698 q: 0.233829 0.739351 -0.363452 0.516320 
time: 1403637157.538319, t: 1.631656 -2.175821 -0.125208 q: 0.207506 0.736509 -0.369396 0.527298 
time: 1403637157.938319, t: 1.573849 -2.585444 -0.115524 q: 0.208641 0.735141 -0.353413 0.539570 
time: 1403637158.338319, t: 1.466650 -3.035600 -0.088321 q: 0.225508 0.734519 -0.344834 0.539182 
time: 1403637158.738319, t: 1.305026 -3.489994 -0.078913 q: 0.247984 0.700030 -0.410262 0.529289 
time: 1403637159.138319, t: 1.065360 -3.942939 -0.112089 q: 0.276309 0.694085 -0.438455 0.499657 
time: 1403637159.538319, t: 0.768309 -4.400163 -0.169180 q: 0.266556 0.693224 -0.439936 0.504822 
time: 1403637159.938319, t: 0.485959 -4.952790 -0.239909 q: 0.281986 0.699672 -0.433002 0.493408 
time: 1403637160.338319, t: 0.125086 -5.357365 -0.288035 q: 0.330950 0.644969 -0.498577 0.475297 
time: 1403637160.738319, t: -0.216930 -5.780447 -0.395231 q: 0.390258 0.587873 -0.577276 0.410922 
time: 1403637161.138319, t: -0.473361 -6.188289 -0.421537 q: -0.388443 -0.564650 0.609816 -0.398004 
time: 1403637161.538319, t: -0.731429 -6.625052 -0.303614 q: -0.386326 -0.546218 0.617975 -0.412922 
time: 1403637161.938319, t: -1.125960 -7.051812 -0.179487 q: -0.443893 -0.511214 0.612177 -0.408483 
time: 1403637162.338319, t: -1.561894 -7.429898 -0.159249 q: -0.443663 -0.492177 0.619959 -0.420209 
time: 1403637162.738319, t: -1.979895 -7.541065 -0.195277 q: -0.438872 -0.495247 0.623951 -0.415700 
time: 1403637163.138319, t: -2.358455 -7.399586 -0.206090 q: -0.497226 -0.432920 0.656702 -0.366181 
time: 1403637163.538319, t: -2.732594 -7.143353 -0.281142 q: 0.529018 0.337893 -0.718535 0.299459 
time: 1403637163.938319, t: -3.128734 -6.818247 -0.306175 q: -0.496583 -0.297885 0.762514 -0.288518 
time: 1403637164.338319, t: -3.664090 -6.417206 -0.203843 q: 0.513458 0.310679 -0.748778 0.281373 
time: 1403637164.738319, t: -4.250510 -5.913381 -0.133336 q: 0.500161 0.325290 -0.749192 0.287639 
time: 1403637165.138319, t: -4.931024 -5.358203 -0.170452 q: 0.538245 0.306000 -0.744177 0.250711 
time: 1403637165.538319, t: -5.522219 -4.758092 -0.188979 q: 0.539896 0.252509 -0.779798 0.191484 
time: 1403637165.938319, t: -6.039029 -4.225965 -0.152892 q: 0.552474 0.265199 -0.778180 0.137398 
time: 1403637166.338319, t: -6.462746 -3.834715 -0.244611 q: 0.565120 0.296511 -0.754660 0.152346 
time: 1403637166.738319, t: -6.689101 -3.604775 -0.333872 q: 0.558176 0.318416 -0.745751 0.175802 
time: 1403637167.138319, t: -6.705469 -3.475702 -0.415680 q: 0.580436 0.361965 -0.716619 0.136134 
time: 1403637167.538319, t: -6.296464 -3.645768 -0.426769 q: 0.558884 0.340575 -0.738084 0.163977 
time: 1403637167.938319, t: -5.797325 -3.836130 -0.518135 q: 0.512349 0.333972 -0.760602 0.217822 
time: 1403637168.338319, t: -5.298986 -4.175163 -0.577506 q: 0.515583 0.354842 -0.745010 0.230699 
time: 1403637168.738319, t: -4.902149 -4.578591 -0.714091 q: 0.523802 0.352443 -0.737583 0.239555 
time: 1403637169.138319, t: -4.491883 -5.024418 -0.867393 q: 0.526737 0.364314 -0.735911 0.219676 
time: 1403637169.538319, t: -3.927065 -5.383672 -0.894824 q: 0.519226 0.422284 -0.691923 0.270782 
time: 1403637169.938319, t: -3.352858 -5.751420 -0.869274 q: -0.491383 -0.514638 0.616661 -0.336779 
time: 1403637170.338319, t: -2.567618 -6.041820 -0.942877 q: 0.460100 0.581196 -0.547903 0.387714 
time: 1403637170.738319, t: -1.680707 -6.261846 -1.076846 q: 0.395585 0.606423 -0.470591 0.504290 
time: 1403637171.138319, t: -0.874423 -6.201850 -1.198046 q: 0.302650 0.681456 -0.388108 0.541657 
time: 1403637171.538319, t: -0.065056 -6.089301 -1.207378 q: 0.285375 0.705658 -0.335498 0.555021 
time: 1403637171.938319, t: 0.579434 -5.753104 -1.213231 q: 0.305902 0.703901 -0.330985 0.548996 
time: 1403637172.338319, t: 0.962057 -5.094321 -1.232369 q: 0.273735 0.700448 -0.369972 0.545492 
time: 1403637172.738319, t: 1.266092 -4.378038 -1.193008 q: 0.237511 0.695003 -0.408243 0.542123 
time: 1403637173.138319, t: 1.362952 -3.694839 -1.132110 q: 0.222051 0.710162 -0.468761 0.476053 
time: 1403637173.538319, t: 1.473471 -3.321996 -1.178480 q: 0.278610 0.648085 -0.534479 0.465504 
time: 1403637173.938319, t: 1.099248 -3.096778 -1.348007 q: -0.283481 -0.599594 0.612348 -0.430296 
time: 1403637174.338319, t: 0.888863 -3.248671 -1.328419 q: 0.380224 0.574427 -0.572562 0.444563 
time: 1403637174.738319, t: 0.668130 -3.278766 -1.204523 q: -0.397820 -0.534571 0.595717 -0.448435 
time: 1403637175.138319, t: 0.646529 -3.833722 -1.195199 q: -0.442568 -0.476723 0.652078 -0.389439 
time: 1403637175.538319, t: 0.100737 -3.810230 -1.190460 q: -0.465685 -0.434743 0.660397 -0.397508 
time: 1403637175.938319, t: -0.522258 -3.639586 -1.185661 q: -0.452612 -0.455975 0.667281 -0.376782 
time: 1403637176.338319, t: -1.090864 -3.301722 -1.082443 q: -0.480229 -0.452415 0.644574 -0.386297 
time: 1403637176.738319, t: -1.721205 -2.904596 -1.062250 q: -0.474908 -0.440284 0.675088 -0.353368 
time: 1403637177.138319, t: -2.295747 -2.450587 -1.108751 q: -0.442999 -0.445507 0.712209 -0.313104 
time: 1403637177.538319, t: -2.938013 -2.121611 -1.224493 q: -0.430748 -0.462109 0.723487 -0.278351 
time: 1403637177.938319, t: -3.614175 -2.029399 -1.298344 q: -0.471608 -0.449461 0.714171 -0.255990 
time: 1403637178.338319, t: -4.196088 -2.060101 -1.362420 q: 0.527463 0.418124 -0.715379 0.187582 
time: 1403637178.738319, t: -4.439916 -2.445627 -1.364294 q: 0.542189 0.390873 -0.716732 0.198858 
time: 1403637179.138319, t: -4.536833 -2.874303 -1.410673 q: 0.539204 0.361333 -0.719079 0.248238 
time: 1403637179.538319, t: -4.528159 -3.276862 -1.413335 q: 0.529196 0.373727 -0.723065 0.239702 
time: 1403637179.938319, t: -4.458532 -3.665597 -1.501282 q: 0.551829 0.385305 -0.707689 0.214942 
time: 1403637180.338319, t: -4.192552 -4.083256 -1.710069 q: 0.527256 0.367662 -0.725336 0.246400 
time: 1403637180.738319, t: -3.840832 -4.509639 -1.785075 q: 0.515720 0.375997 -0.734338 0.231099 
time: 1403637181.138319, t: -3.423756 -4.944230 -1.706935 q: 0.542974 0.376408 -0.721196 0.208262 
time: 1403637181.538319, t: -2.896678 -5.468495 -1.525616 q: 0.544953 0.351821 -0.725956 0.228550 
time: 1403637181.938319, t: -2.305468 -5.989063 -1.277840 q: 0.537051 0.336839 -0.737177 0.233852 
time: 1403637182.338319, t: -1.641947 -6.435459 -1.086664 q: 0.546807 0.321902 -0.726146 0.264753 
time: 1403637182.738319, t: -0.966995 -6.769301 -0.911912 q: 0.560980 0.326709 -0.711131 0.269917 
time: 1403637183.138319, t: -0.221574 -6.825970 -0.766774 q: 0.547193 0.303566 -0.720948 0.297762 
time: 1403637183.538319, t: 0.503398 -6.717530 -0.805276 q: 0.537010 0.293962 -0.728039 0.308491 
time: 1403637183.938319, t: 1.124932 -6.295955 -0.900877 q: 0.509733 0.282316 -0.745592 0.323362 
time: 1403637184.338319, t: 1.461631 -5.644980 -0.919504 q: 0.507621 0.300128 -0.751801 0.295025 
time: 1403637184.738319, t: 1.729698 -4.932089 -1.003176 q: -0.486271 -0.333909 0.767487 -0.251015 
time: 1403637185.138319, t: 1.845044 -4.305906 -1.011687 q: -0.472254 -0.341495 0.776161 -0.240688 
time: 1403637185.538319, t: 1.857135 -3.857154 -0.857231 q: -0.466486 -0.354439 0.780635 -0.217656 
time: 1403637185.938319, t: 1.545841 -3.484376 -0.716844 q: 0.508970 0.345431 -0.754303 0.229465 
time: 1403637186.338319, t: 1.443244 -3.063514 -0.591177 q: 0.521274 0.341836 -0.744861 0.237913 
wait for imu ... 
wait for imu ... 
time: 1403637186.738319, t: 1.522531 -2.854887 -0.251541 q: 0.517121 0.326761 -0.750122 0.251259 
time: 1403637187.138319, t: 1.149628 -2.706905 -0.070856 q: -0.498442 -0.303813 0.762570 -0.278819 
time: 1403637187.538319, t: 0.709295 -2.214080 -0.110879 q: -0.493751 -0.318678 0.776055 -0.228895 
time: 1403637187.938319, t: 0.781900 -2.008263 -0.005895 q: -0.488155 -0.314443 0.784209 -0.218739 
time: 1403637188.338319, t: 0.373769 -1.866990 -0.014262 q: 0.521605 0.322329 -0.762836 0.205214 
time: 1403637188.738319, t: -0.038130 -1.797517 -0.128385 q: 0.536735 0.278141 -0.764763 0.222914 
time: 1403637189.138319, t: -0.404434 -1.747721 -0.308131 q: 0.528252 0.242511 -0.791239 0.189946 
time: 1403637189.538319, t: -0.830684 -1.551820 -0.400534 q: 0.538969 0.232136 -0.785968 0.194629 
time: 1403637189.938319, t: -1.287821 -1.512757 -0.504882 q: 0.546052 0.244938 -0.779332 0.185671 
time: 1403637190.338319, t: -1.734361 -1.389979 -0.462257 q: 0.555603 0.241692 -0.773789 0.184775 
time: 1403637190.738319, t: -2.422067 -1.202165 -0.456692 q: 0.555961 0.254844 -0.770032 0.181695 
time: 1403637191.138319, t: -2.744488 -1.010215 -0.431754 q: 0.547166 0.274639 -0.760652 0.215849 
time: 1403637191.538319, t: -3.103788 -0.821550 -0.490183 q: 0.551682 0.283900 -0.755532 0.210283 
time: 1403637191.938319, t: -3.277573 -0.646236 -0.434814 q: 0.541009 0.298792 -0.766212 0.175930 
time: 1403637192.338319, t: -3.424430 -0.568090 -0.283209 q: 0.530184 0.307766 -0.774949 0.153750 
time: 1403637192.738319, t: -3.532466 -0.587699 -0.131629 q: 0.510493 0.289716 -0.790139 0.176470 
time: 1403637193.138319, t: -3.692650 -0.755851 -0.008870 q: 0.513188 0.278813 -0.787526 0.196733 
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wait for imu ... 
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time: 1403637257.538319, t: 1.594044 -1.059731 -0.014745 q: -0.023979 0.816850 0.051746 0.574024 
time: 1403637257.938319, t: 1.415802 -0.833152 -0.026509 q: -0.043296 0.828670 0.063225 0.554467 
time: 1403637258.338319, t: 1.322170 -0.591133 -0.052600 q: -0.080339 0.811291 0.121219 0.566267 
time: 1403637258.738319, t: 1.273575 -0.350165 -0.108469 q: -0.109611 0.806321 0.132498 0.565929 
time: 1403637259.138319, t: 1.335082 -0.167410 -0.131738 q: -0.111731 0.804021 0.127434 0.569936 
time: 1403637259.538319, t: 1.314669 -0.041888 -0.081111 q: -0.123254 0.803571 0.113457 0.571147 
time: 1403637259.938319, t: 1.269377 0.034353 -0.087942 q: -0.115906 0.805776 0.116264 0.569011 
time: 1403637260.338319, t: 1.240270 0.015599 -0.145775 q: -0.095526 0.803636 0.132767 0.572203 
time: 1403637260.738319, t: 1.202449 0.011216 -0.231987 q: -0.089842 0.813411 0.138422 0.557790 
time: 1403637261.138319, t: 1.163131 0.044961 -0.315921 q: -0.096085 0.806849 0.136657 0.566646 
time: 1403637261.538319, t: 1.124774 0.098677 -0.362575 q: -0.101792 0.809468 0.132169 0.562966 
time: 1403637261.938319, t: 1.133731 0.158268 -0.349116 q: -0.097430 0.806546 0.133239 0.567660 
time: 1403637262.338319, t: 1.165419 0.213164 -0.397519 q: -0.136847 0.787826 0.100528 0.592029 
time: 1403637262.738319, t: 1.149095 0.194549 -0.407891 q: -0.100622 0.798000 0.080835 0.588674 
time: 1403637263.138319, t: 1.130875 0.182533 -0.414201 q: -0.103890 0.794411 0.080027 0.593055 
time: 1403637263.538319, t: 1.146605 0.185485 -0.401567 q: -0.103762 0.794641 0.079877 0.592789 
time: 1403637263.938319, t: 1.154863 0.191887 -0.399849 q: -0.103303 0.794717 0.079828 0.592773 
time: 1403637264.338319, t: 1.148763 0.188059 -0.398450 q: -0.103450 0.794784 0.079648 0.592682 
time: 1403637264.738319, t: 1.148444 0.187759 -0.398159 q: -0.103453 0.794850 0.079514 0.592611 
time: 1403637265.138319, t: 1.148257 0.187326 -0.397538 q: -0.103419 0.794949 0.079444 0.592495 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720477773.271982189]: Shutdown request received.[0m
[33m[ WARN] [1720477773.272025619]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720477773.272984874]: Shutdown request received.[0m
[33m[ WARN] [1720477773.273015071]: Reason given for shutdown: [user request][0m
killed
