/SLAM-Hive/slam_hive_results/mapping_results/3020/2228_vins-fusion-stereo+MH_03_medium+Image_comb_test-8.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720502881.283640639]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720502881.289741633]: init begins[0m
[31m[ERROR] [1720502881.291094434]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/02473152-3db4-11ef-9ad6-0242ac110005/roslaunch-38b975907f7a-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://38b975907f7a:40763/[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] [1720502882.396732640]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720502882.401511493]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720502882.401706104]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720502882.401728575]: ROW: 288 COL: 451 [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] [1720502882.401953673]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720502882.402139758]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720502882.402296563]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://38b975907f7a:11311/[0m
]2;roscore http://38b975907f7a:11311/
[1msetting /run_id to 02473152-3db4-11ef-9ad6-0242ac110005[0m
[0m[ INFO] [1720502882.439119793]: Connected to master at [localhost:11311][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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720502891.455108920]: 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: 316865761.12 
[0m[ INFO] [1720502893.959564176]: Initialization finish![0m
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time: 1403637133.038319, t: -0.000146 0.000140 -0.000057 q: 0.999997 -0.000784 0.001355 0.001828 
time: 1403637133.238319, t: 0.000962 -0.000659 -0.001488 q: 0.999976 -0.003881 0.005048 -0.002858 
time: 1403637133.438319, t: 0.014518 0.000848 -0.012819 q: 0.999893 -0.012886 -0.001642 -0.006758 
time: 1403637133.638319, t: 0.026355 0.006216 -0.015725 q: 0.999626 -0.017553 -0.020917 0.001512 
time: 1403637133.838319, t: 0.066383 0.010007 -0.028592 q: 0.999247 -0.030514 -0.023973 0.000538 
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time: 1403637200.838319, t: 1.007082 4.742645 1.877778 q: 0.952800 -0.295085 0.003930 0.071286 
time: 1403637201.238319, t: 1.039310 4.174589 2.155849 q: 0.940534 -0.328110 0.002738 0.087930 
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time: 1403637201.638319, t: 1.028403 3.700210 2.274698 q: 0.919774 -0.351205 0.009604 0.174868 
time: 1403637201.838319, t: 1.023461 3.518773 2.234629 q: 0.914961 -0.366530 0.016174 0.168051 
time: 1403637202.038319, t: 1.006589 3.406378 2.166914 q: 0.913835 -0.368483 0.011880 0.170251 
time: 1403637202.438319, t: 0.959536 3.318769 1.930874 q: 0.915344 -0.375526 -0.048082 0.137160 
time: 1403637202.638319, t: 0.942227 3.343110 1.794475 q: 0.916793 -0.378488 -0.034610 0.122638 
time: 1403637202.838319, t: 0.947455 3.389016 1.654441 q: 0.917257 -0.383724 -0.028010 0.103008 
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time: 1403637203.438319, t: 0.885760 3.562882 1.293059 q: 0.915934 -0.391009 -0.031241 0.084856 
optimize pose graph 
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time: 1403637204.238319, t: 0.660597 3.688708 1.022510 q: 0.914145 -0.396442 -0.028709 0.079681 
time: 1403637204.438319, t: 0.652568 3.698882 0.966805 q: 0.914086 -0.395878 -0.024172 0.084518 
time: 1403637204.638319, t: 0.660207 3.684319 0.918404 q: 0.912617 -0.398646 -0.018528 0.088708 
time: 1403637205.038319, t: 0.670128 3.640416 0.818946 q: 0.909513 -0.403637 -0.033066 0.093652 
time: 1403637205.238319, t: 0.651295 3.617305 0.786631 q: 0.910065 -0.402030 -0.036624 0.093874 
time: 1403637205.438319, t: 0.635431 3.590890 0.772712 q: 0.915495 -0.391128 -0.037044 0.086698 
optimize pose graph 
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time: 1403637205.838319, t: 0.618317 3.532570 0.764181 q: 0.922295 -0.377707 -0.029986 0.076222 
time: 1403637206.038319, t: 0.596617 3.504023 0.772149 q: 0.923260 -0.375319 -0.028840 0.076779 
time: 1403637206.238319, t: 0.588530 3.457397 0.780687 q: 0.924324 -0.370649 -0.023697 0.087657 
time: 1403637206.438319, t: 0.615406 3.412018 0.778558 q: 0.924453 -0.369609 -0.020837 0.091334 
time: 1403637206.638319, t: 0.651971 3.367950 0.767638 q: 0.923911 -0.371396 -0.021508 0.089392 
time: 1403637206.838319, t: 0.662425 3.326772 0.757429 q: 0.923194 -0.374025 -0.021359 0.085805 
time: 1403637207.038319, t: 0.674742 3.278927 0.742452 q: 0.922634 -0.375780 -0.017814 0.084967 
time: 1403637207.238319, t: 0.689058 3.228048 0.721828 q: 0.921647 -0.378024 -0.015204 0.086218 
time: 1403637207.438319, t: 0.669424 3.178377 0.700359 q: 0.920915 -0.379620 -0.015589 0.086959 
optimize pose graph 
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time: 1403637207.838319, t: 0.618378 3.069219 0.652116 q: 0.919416 -0.377744 -0.030237 0.105214 
time: 1403637208.038319, t: 0.641443 3.033543 0.606221 q: 0.918954 -0.382033 -0.028545 0.093594 
time: 1403637208.238319, t: 0.688493 2.993024 0.558213 q: 0.918230 -0.384683 -0.029884 0.089327 
time: 1403637208.438319, t: 0.723299 2.958727 0.520790 q: 0.917875 -0.383064 -0.021536 0.101509 
time: 1403637208.638319, t: 0.730990 2.928081 0.480635 q: 0.917142 -0.386427 -0.021767 0.095135 
time: 1403637208.838319, t: 0.717469 2.898428 0.443688 q: 0.916744 -0.388842 -0.020698 0.089188 
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time: 1403637209.238319, t: 0.633941 2.819872 0.398106 q: 0.921265 -0.381681 -0.032751 0.067222 
time: 1403637209.438319, t: 0.631718 2.768417 0.384340 q: 0.931782 -0.351832 -0.045168 0.077182 
optimize pose graph 
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time: 1403637210.038319, t: 0.732584 2.658425 0.477892 q: 0.934888 -0.323813 -0.110558 0.094377 
time: 1403637210.238319, t: 0.736773 2.690914 0.602917 q: 0.931656 -0.321488 -0.133789 0.103746 
time: 1403637210.438319, t: 0.732961 2.762908 0.793738 q: 0.930667 -0.320632 -0.140755 0.106031 
time: 1403637210.638319, t: 0.758953 2.878904 1.060819 q: 0.934723 -0.322670 -0.112774 0.097252 
time: 1403637210.838319, t: 0.782129 3.016445 1.372885 q: 0.937457 -0.319916 -0.091954 0.101842 
time: 1403637211.038319, t: 0.798866 3.199755 1.707152 q: 0.940058 -0.316460 -0.059577 0.112221 
time: 1403637211.238319, t: 0.813037 3.410902 2.031653 q: 0.940202 -0.322030 -0.042858 0.102368 
time: 1403637211.438319, t: 0.813940 3.621338 2.353846 q: 0.938890 -0.332115 -0.027746 0.086114 
time: 1403637211.638319, t: 0.809717 3.834878 2.661754 q: 0.938059 -0.332523 -0.033230 0.091481 
optimize pose graph 
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time: 1403637212.238319, t: 0.955753 4.559319 3.504151 q: 0.937392 -0.336617 -0.022564 0.086468 
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time: 1403637212.838319, t: 1.283333 5.330218 4.167022 q: 0.934571 -0.341158 -0.044844 0.090431 
time: 1403637213.038319, t: 1.396873 5.554294 4.384317 q: 0.934745 -0.342007 -0.047341 0.083913 
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optimize pose graph 
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optimize pose graph 
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time: 1403637254.838319, t: 0.771189 2.726888 1.382682 q: 0.981642 -0.185249 -0.032479 0.031739 
time: 1403637255.038319, t: 0.753050 2.659784 1.331276 q: 0.982222 -0.183151 -0.026394 0.031603 
time: 1403637255.238319, t: 0.731963 2.584111 1.269349 q: 0.985097 -0.167616 -0.025804 0.028700 
time: 1403637255.438319, t: 0.726831 2.499883 1.196773 q: 0.988381 -0.147405 -0.026197 0.026233 
time: 1403637255.638319, t: 0.707386 2.410664 1.133591 q: 0.992174 -0.120622 -0.029396 0.013273 
time: 1403637255.838319, t: 0.685483 2.325749 1.046845 q: 0.995742 -0.083011 -0.039971 -0.002927 
optimize pose graph 
time: 1403637256.038319, t: 0.685316 2.228991 0.955953 q: 0.997765 -0.045968 -0.046110 -0.015051 
time: 1403637256.238319, t: 0.697450 2.120028 0.866108 q: 0.998499 -0.029215 -0.040181 -0.023074 
time: 1403637256.438319, t: 0.697930 2.006002 0.781963 q: 0.998705 -0.025742 -0.034480 -0.027136 
time: 1403637256.638319, t: 0.667526 1.893588 0.699052 q: 0.998672 -0.028074 -0.035544 -0.024534 
time: 1403637256.838319, t: 0.620307 1.771961 0.611427 q: 0.998247 -0.025674 -0.053311 0.001275 
time: 1403637257.038319, t: 0.574457 1.654848 0.528328 q: 0.998762 -0.018948 -0.045502 -0.006735 
time: 1403637257.238319, t: 0.546865 1.560357 0.445365 q: 0.998897 -0.004986 -0.042249 -0.019872 
time: 1403637257.438319, t: 0.550068 1.429395 0.385340 q: 0.998479 0.003742 -0.046998 -0.028587 
time: 1403637257.638319, t: 0.546008 1.322074 0.309235 q: 0.998043 0.009041 -0.053189 -0.031614 
time: 1403637257.838319, t: 0.512854 1.209975 0.251423 q: 0.997211 0.018596 -0.066122 -0.029210 
time: 1403637258.038319, t: 0.468229 1.094165 0.210372 q: 0.995994 0.042834 -0.072049 -0.031157 
optimize pose graph 
time: 1403637258.238319, t: 0.447275 0.971223 0.178814 q: 0.993948 0.079334 -0.061091 -0.045177 
time: 1403637258.438319, t: 0.423468 0.832691 0.158341 q: 0.991904 0.105465 -0.048362 -0.051618 
time: 1403637258.638319, t: 0.380659 0.731880 0.179397 q: 0.990242 0.121778 -0.052196 -0.043195 
time: 1403637258.838319, t: 0.332371 0.622088 0.189390 q: 0.990348 0.124440 -0.042811 -0.043502 
time: 1403637259.038319, t: 0.305218 0.532081 0.178915 q: 0.990616 0.124628 -0.042005 -0.037193 
time: 1403637259.238319, t: 0.323687 0.445011 0.156902 q: 0.991102 0.121330 -0.041266 -0.035969 
time: 1403637259.438319, t: 0.351541 0.382899 0.139538 q: 0.991414 0.120886 -0.041148 -0.028127 
time: 1403637259.638319, t: 0.364332 0.338293 0.123245 q: 0.991552 0.122094 -0.039996 -0.017810 
time: 1403637259.838319, t: 0.366184 0.318807 0.107435 q: 0.991508 0.116742 -0.048023 -0.031247 
time: 1403637260.038319, t: 0.353021 0.316677 0.095972 q: 0.991767 0.118104 -0.041329 -0.027234 
time: 1403637260.238319, t: 0.322413 0.328782 0.089056 q: 0.991604 0.114556 -0.042641 -0.042199 
time: 1403637260.438319, t: 0.281588 0.339555 0.082610 q: 0.991245 0.109172 -0.039548 -0.062853 
time: 1403637260.638319, t: 0.233455 0.341891 0.071181 q: 0.990240 0.109728 -0.058964 -0.062512 
time: 1403637260.838319, t: 0.187155 0.331979 0.069005 q: 0.990688 0.112330 -0.051565 -0.057097 
time: 1403637261.038319, t: 0.141507 0.315153 0.067339 q: 0.991090 0.114643 -0.039951 -0.054786 
time: 1403637261.238319, t: 0.093109 0.290373 0.064214 q: 0.989982 0.113925 -0.061590 -0.056254 
time: 1403637261.438319, t: 0.066659 0.260518 0.063900 q: 0.990511 0.115233 -0.053971 -0.051923 
time: 1403637261.638319, t: 0.055658 0.229192 0.065770 q: 0.989869 0.115076 -0.066195 -0.050349 
time: 1403637261.838319, t: 0.066899 0.197871 0.075663 q: 0.990305 0.113444 -0.059469 -0.053759 
time: 1403637262.038319, t: 0.071798 0.164190 0.098430 q: 0.991428 0.113809 -0.042501 -0.048084 
time: 1403637262.238319, t: 0.041246 0.135624 0.124135 q: 0.991915 0.114221 -0.038548 -0.039653 
time: 1403637262.438319, t: 0.028032 0.139301 0.123412 q: 0.994306 0.098208 -0.026637 -0.031638 
time: 1403637262.638319, t: 0.025661 0.150134 0.111711 q: 0.996226 0.086636 -0.002079 -0.004819 
time: 1403637262.838319, t: 0.021950 0.148568 0.116063 q: 0.996115 0.086281 -0.016558 -0.005994 
time: 1403637263.038319, t: 0.021924 0.148231 0.117154 q: 0.996048 0.086740 -0.018227 -0.005702 
time: 1403637263.238319, t: 0.022051 0.146924 0.118204 q: 0.996042 0.086809 -0.018305 -0.005404 
time: 1403637263.438319, t: 0.022025 0.147119 0.118268 q: 0.996052 0.086672 -0.018335 -0.005613 
time: 1403637263.638319, t: 0.021989 0.147158 0.118265 q: 0.996055 0.086644 -0.018305 -0.005633 
time: 1403637263.838319, t: 0.021999 0.147313 0.118302 q: 0.996068 0.086463 -0.018266 -0.006180 
time: 1403637264.038319, t: 0.022002 0.147144 0.118237 q: 0.996055 0.086638 -0.018327 -0.005704 
time: 1403637264.238319, t: 0.021982 0.147124 0.118293 q: 0.996051 0.086674 -0.018388 -0.005678 
time: 1403637264.438319, t: 0.021973 0.147144 0.118276 q: 0.996054 0.086646 -0.018330 -0.005729 
time: 1403637264.638319, t: 0.021959 0.147180 0.118295 q: 0.996055 0.086624 -0.018345 -0.005807 
time: 1403637264.838319, t: 0.021948 0.147176 0.118255 q: 0.996060 0.086562 -0.018339 -0.005897 
time: 1403637265.038319, t: 0.021948 0.147112 0.118183 q: 0.996056 0.086601 -0.018401 -0.005822 
time: 1403637265.238319, t: 0.021953 0.147068 0.118343 q: 0.996051 0.086643 -0.018468 -0.005836 
time: 1403637265.438319, t: 0.021901 0.146933 0.118304 q: 0.996053 0.086625 -0.018439 -0.005835 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720503028.147701119]: Shutdown request received.[0m
[33m[ WARN] [1720503028.147741031]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720503028.148624815]: Shutdown request received.[0m
[33m[ WARN] [1720503028.148659515]: Reason given for shutdown: [user request][0m
killed
