/SLAM-Hive/slam_hive_results/mapping_results/3015/2223_vins-fusion-stereo+MH_03_medium+Image_comb_test-3.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720502016.221216449]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720502016.223813228]: init begins[0m
[31m[ERROR] [1720502016.224963761]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/fea74eb2-3db1-11ef-b5c9-0242ac110005/roslaunch-c9a07ab9f502-118.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://c9a07ab9f502:39171/[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] [1720502017.330241745]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720502017.330898644]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720502017.338617516]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720502017.338831362]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720502017.338857425]: 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] [1720502017.339097094]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720502017.339298935]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720502017.339467019]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://c9a07ab9f502:11311/[0m
]2;roscore http://c9a07ab9f502:11311/
[1msetting /run_id to fea74eb2-3db1-11ef-b5c9-0242ac110005[0m
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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720502026.372452080]: 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: 316864896.05 
[0m[ INFO] [1720502027.791971506]: Initialization finish![0m
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403637257.088319, t: 1.538045 1.459934 0.149393 q: 0.999645 -0.010435 -0.021287 0.012140 
time: 1403637257.188319, t: 1.532750 1.406926 0.109870 q: 0.999783 -0.004309 -0.019689 0.005323 
time: 1403637257.288319, t: 1.512344 1.365684 0.063773 q: 0.999785 0.002459 -0.020555 0.001062 
time: 1403637257.388319, t: 1.517539 1.304637 0.035953 q: 0.999707 0.006600 -0.023009 -0.003640 
time: 1403637257.488319, t: 1.529433 1.243324 0.001083 q: 0.999620 0.009511 -0.024917 -0.006939 
time: 1403637257.588319, t: 1.526681 1.187996 -0.035042 q: 0.999505 0.011527 -0.027615 -0.009728 
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time: 1403637257.788319, t: 1.504087 1.071263 -0.096923 q: 0.998991 0.018697 -0.040362 -0.006147 
time: 1403637257.888319, t: 1.488611 1.007479 -0.126241 q: 0.998577 0.026198 -0.045959 -0.006668 
time: 1403637257.988319, t: 1.472806 0.953226 -0.150451 q: 0.998044 0.038363 -0.048704 -0.008027 
time: 1403637258.088319, t: 1.455723 0.906463 -0.173364 q: 0.997196 0.055610 -0.049134 -0.009719 
time: 1403637258.188319, t: 1.446790 0.841438 -0.181753 q: 0.996197 0.074433 -0.041858 -0.017306 
optimize pose graph 
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time: 1403637258.388319, t: 1.442758 0.719297 -0.200287 q: 0.993897 0.102323 -0.025152 -0.032665 
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time: 1403637258.588319, t: 1.402807 0.595351 -0.185065 q: 0.991793 0.122437 -0.029267 -0.022334 
time: 1403637258.688319, t: 1.383757 0.538532 -0.181316 q: 0.991578 0.125181 -0.024401 -0.022542 
time: 1403637258.788319, t: 1.364102 0.486385 -0.179484 q: 0.991501 0.126452 -0.020552 -0.022674 
time: 1403637258.888319, t: 1.344171 0.438846 -0.174631 q: 0.991508 0.127140 -0.017011 -0.021399 
time: 1403637258.988319, t: 1.329855 0.395235 -0.173499 q: 0.991550 0.127226 -0.017135 -0.018674 
time: 1403637259.088319, t: 1.326527 0.353532 -0.176707 q: 0.991702 0.126157 -0.017714 -0.017264 
time: 1403637259.188319, t: 1.335413 0.315816 -0.185363 q: 0.991753 0.125962 -0.017398 -0.016046 
time: 1403637259.288319, t: 1.350622 0.281425 -0.195726 q: 0.991878 0.125292 -0.016246 -0.014729 
time: 1403637259.388319, t: 1.365649 0.250059 -0.208531 q: 0.991993 0.124465 -0.017183 -0.012737 
time: 1403637259.488319, t: 1.374617 0.221638 -0.217010 q: 0.991848 0.126346 -0.016230 -0.003207 
time: 1403637259.588319, t: 1.380502 0.198034 -0.224802 q: 0.991719 0.127404 -0.016058 0.001837 
time: 1403637259.688319, t: 1.383746 0.182650 -0.232655 q: 0.991959 0.125532 -0.016024 -0.001642 
time: 1403637259.788319, t: 1.381289 0.170891 -0.237748 q: 0.992182 0.122636 -0.021398 -0.008768 
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time: 1403637259.988319, t: 1.370308 0.159489 -0.245397 q: 0.992178 0.123372 -0.018224 -0.005577 
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time: 1403637260.788319, t: 1.206130 0.161710 -0.265336 q: 0.992066 0.114967 -0.031796 -0.039694 
time: 1403637260.888319, t: 1.184029 0.152840 -0.264580 q: 0.992172 0.116959 -0.023308 -0.037029 
time: 1403637260.988319, t: 1.162134 0.142092 -0.262899 q: 0.992254 0.117907 -0.015628 -0.035849 
time: 1403637261.088319, t: 1.137457 0.129116 -0.260829 q: 0.992168 0.118600 -0.018386 -0.034621 
time: 1403637261.188319, t: 1.112976 0.115590 -0.261809 q: 0.991908 0.117987 -0.030614 -0.035492 
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time: 1403637261.388319, t: 1.080567 0.085745 -0.261167 q: 0.991832 0.117654 -0.033968 -0.035679 
time: 1403637261.488319, t: 1.073332 0.068342 -0.261086 q: 0.992028 0.119979 -0.025961 -0.028491 
time: 1403637261.588319, t: 1.067602 0.053263 -0.258858 q: 0.991794 0.119742 -0.034708 -0.028328 
time: 1403637261.688319, t: 1.066505 0.038835 -0.256501 q: 0.991435 0.118419 -0.045104 -0.031614 
time: 1403637261.788319, t: 1.072390 0.065561 -0.280527 q: 0.990840 0.125399 -0.040261 -0.029853 
time: 1403637261.888319, t: 1.082913 0.010677 -0.246967 q: 0.992144 0.117588 -0.028247 -0.032012 
time: 1403637261.988319, t: 1.089783 -0.011963 -0.235176 q: 0.992480 0.116889 -0.019792 -0.030468 
time: 1403637262.088319, t: 1.083630 -0.025981 -0.224054 q: 0.992654 0.117295 -0.014109 -0.026080 
time: 1403637262.188319, t: 1.068519 -0.041163 -0.210088 q: 0.992754 0.117593 -0.013326 -0.020849 
time: 1403637262.288319, t: 1.045730 -0.051985 -0.197141 q: 0.992878 0.117278 -0.011748 -0.017344 
time: 1403637262.388319, t: 1.045858 -0.046309 -0.203700 q: 0.992875 0.117649 0.010384 -0.015824 
time: 1403637262.488319, t: 1.039729 -0.037152 -0.207314 q: 0.995774 0.091403 -0.007422 0.005005 
time: 1403637262.588319, t: 1.040859 -0.033673 -0.214834 q: 0.995292 0.092801 0.022323 0.016830 
time: 1403637262.688319, t: 1.036930 -0.033097 -0.211256 q: 0.995735 0.091007 0.005120 0.014259 
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time: 1403637262.888319, t: 1.037351 -0.034088 -0.212046 q: 0.995662 0.091345 0.006469 0.016479 
time: 1403637262.988319, t: 1.037304 -0.033362 -0.211933 q: 0.995691 0.091040 0.007049 0.016182 
time: 1403637263.088319, t: 1.037279 -0.033186 -0.211971 q: 0.995731 0.090707 0.007043 0.015598 
time: 1403637263.188319, t: 1.037287 -0.032963 -0.212088 q: 0.995760 0.090411 0.007341 0.015279 
time: 1403637263.288319, t: 1.037263 -0.033043 -0.212065 q: 0.995749 0.090531 0.007041 0.015461 
time: 1403637263.388319, t: 1.037253 -0.033149 -0.212028 q: 0.995735 0.090653 0.007044 0.015645 
time: 1403637263.488319, t: 1.037231 -0.033048 -0.212062 q: 0.995754 0.090481 0.007099 0.015374 
time: 1403637263.588319, t: 1.037271 -0.033076 -0.212050 q: 0.995747 0.090551 0.007021 0.015475 
time: 1403637263.688319, t: 1.037200 -0.033129 -0.212050 q: 0.995741 0.090607 0.006944 0.015542 
time: 1403637263.788319, t: 1.037188 -0.033233 -0.212042 q: 0.995722 0.090753 0.006959 0.015930 
time: 1403637263.888319, t: 1.037200 -0.033228 -0.212053 q: 0.995721 0.090768 0.006951 0.015905 
time: 1403637263.988319, t: 1.037188 -0.033141 -0.212063 q: 0.995742 0.090591 0.006958 0.015562 
time: 1403637264.088319, t: 1.037186 -0.033134 -0.212033 q: 0.995742 0.090616 0.006882 0.015450 
time: 1403637264.188319, t: 1.037184 -0.033061 -0.212078 q: 0.995748 0.090549 0.006996 0.015413 
time: 1403637264.288319, t: 1.037220 -0.033111 -0.212126 q: 0.995738 0.090638 0.006937 0.015601 
time: 1403637264.388319, t: 1.037149 -0.033144 -0.212044 q: 0.995736 0.090668 0.006903 0.015571 
time: 1403637264.488319, t: 1.037173 -0.033124 -0.212149 q: 0.995741 0.090618 0.006940 0.015510 
time: 1403637264.588319, t: 1.037149 -0.033184 -0.212164 q: 0.995739 0.090642 0.006860 0.015502 
time: 1403637264.688319, t: 1.037139 -0.033143 -0.212010 q: 0.995736 0.090656 0.006890 0.015611 
time: 1403637264.788319, t: 1.037122 -0.033087 -0.211805 q: 0.995724 0.090761 0.006918 0.015747 
time: 1403637264.888319, t: 1.037144 -0.033024 -0.211857 q: 0.995726 0.090751 0.006917 0.015712 
time: 1403637264.988319, t: 1.037155 -0.033017 -0.211842 q: 0.995735 0.090677 0.006905 0.015547 
time: 1403637265.088319, t: 1.037194 -0.033022 -0.211843 q: 0.995731 0.090724 0.006843 0.015582 
time: 1403637265.188319, t: 1.037186 -0.033033 -0.211937 q: 0.995730 0.090726 0.006897 0.015609 
time: 1403637265.288319, t: 1.037136 -0.033048 -0.211964 q: 0.995732 0.090719 0.006844 0.015552 
time: 1403637265.388319, t: 1.037136 -0.033055 -0.211983 q: 0.995734 0.090703 0.006844 0.015518 
time: 1403637265.488319, t: 1.037036 -0.033110 -0.211963 q: 0.995733 0.090709 0.006882 0.015516 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720502163.108725906]: Shutdown request received.[0m
[33m[ WARN] [1720502163.108777851]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720502163.109733431]: Shutdown request received.[0m
[33m[ WARN] [1720502163.109764587]: Reason given for shutdown: [user request][0m
killed
