/SLAM-Hive/slam_hive_results/mapping_results/3026/2234_vins-fusion-stereo+MH_03_medium+Image_comb_test-14.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720503913.205207576]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720503913.207104303]: init begins[0m
[31m[ERROR] [1720503913.208150943]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/695905a8-3db6-11ef-a652-0242ac110005/roslaunch-4f1bfa232630-117.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://4f1bfa232630:45673/[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] [1720503914.311557058]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720503914.313076399]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720503914.318826669]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720503914.319022217]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720503914.319044894]: 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] [1720503914.319308226]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720503914.319540151]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720503914.319711366]: 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://4f1bfa232630:11311/[0m
]2;roscore http://4f1bfa232630:11311/
[1msetting /run_id to 695905a8-3db6-11ef-a652-0242ac110005[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_03_medium.bag  --clock 
[0m[ INFO] [1720503923.363353535]: 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: 316866793.03 
[0m[ INFO] [1720503928.007840273]: Initialization finish![0m
time: 1403637134.738319, t: 0.304387 -0.027549 -0.037668 q: 0.996919 -0.077460 -0.008655 -0.008794 
time: 1403637135.138319, t: 0.084351 -0.088397 0.123723 q: 0.994437 -0.069916 -0.074793 0.024739 
feature tracking not enough, please slowly move you device! 
time: 1403637135.538319, t: 0.084351 -0.088397 0.123723 q: 0.994437 -0.069916 -0.074793 0.024739 
time: 1403637135.938319, t: 0.317510 -0.224678 -0.330442 q: 0.995462 -0.091517 -0.012063 0.023130 
time: 1403637136.338319, t: 0.105287 -0.057101 -0.155789 q: 0.993861 -0.088614 -0.064681 0.014288 
time: 1403637136.738319, t: -0.036151 -0.036343 0.105544 q: 0.991849 -0.067951 -0.103181 0.031178 
time: 1403637137.138319, t: 0.261931 -0.072792 -0.025128 q: 0.995011 -0.096400 -0.014878 0.020953 
time: 1403637137.538319, t: 0.181908 -0.048481 0.033912 q: 0.996120 -0.086779 0.000451 0.014616 
time: 1403637137.938319, t: -0.077923 0.004578 0.137755 q: 0.992824 -0.068752 -0.094381 0.025799 
feature tracking not enough, please slowly move you device! 
time: 1403637138.338319, t: 0.117415 -0.048041 0.034130 q: 0.994710 -0.086496 -0.054124 -0.011917 
time: 1403637138.738319, t: 0.269088 -0.072771 -0.011916 q: 0.994230 -0.105702 0.016082 -0.008610 
time: 1403637139.138319, t: -0.027050 -0.027914 0.116625 q: 0.996267 -0.078176 -0.032894 0.016109 
time: 1403637139.538319, t: -0.142821 -0.073047 0.135380 q: 0.997390 -0.058007 -0.041130 0.012554 
time: 1403637139.938319, t: -0.181231 -0.060537 0.159365 q: 0.998351 -0.056403 -0.007980 -0.007126 
time: 1403637140.338319, t: -0.164487 -0.049452 0.146922 q: 0.997548 -0.065821 0.009209 0.021911 
time: 1403637140.738319, t: -0.142234 -0.046072 0.142102 q: 0.997235 -0.059458 0.002202 0.044515 
time: 1403637141.138319, t: -0.165419 -0.047239 0.151075 q: 0.997619 -0.064148 0.010732 0.022937 
time: 1403637141.538319, t: -0.166653 -0.047311 0.151405 q: 0.997625 -0.064338 0.011153 0.021943 
time: 1403637141.938319, t: -0.166851 -0.047387 0.151424 q: 0.997622 -0.064367 0.011246 0.021922 
time: 1403637142.338319, t: -0.166930 -0.047403 0.151434 q: 0.997621 -0.064403 0.011322 0.021844 
time: 1403637142.738319, t: -0.167006 -0.047222 0.151575 q: 0.997622 -0.064428 0.011339 0.021688 
time: 1403637143.138319, t: -0.166976 -0.047259 0.151522 q: 0.997621 -0.064402 0.011362 0.021788 
time: 1403637143.538319, t: -0.167063 -0.047332 0.151467 q: 0.997620 -0.064431 0.011344 0.021799 
time: 1403637143.938319, t: -0.167084 -0.047441 0.151429 q: 0.997633 -0.064284 0.011433 0.021581 
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time: 1403637144.738319, t: -0.167097 -0.047328 0.151507 q: 0.997620 -0.064425 0.011519 0.021719 
time: 1403637145.138319, t: -0.167162 -0.047289 0.151506 q: 0.997627 -0.064397 0.011368 0.021556 
time: 1403637145.538319, t: -0.167163 -0.047272 0.151507 q: 0.997618 -0.064510 0.011425 0.021597 
time: 1403637145.938319, t: -0.167113 -0.047245 0.151525 q: 0.997622 -0.064426 0.011434 0.021644 
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time: 1403637147.938319, t: -0.167029 -0.047146 0.151563 q: 0.997623 -0.064501 0.011415 0.021405 
time: 1403637148.338319, t: -0.167008 -0.047155 0.151518 q: 0.997637 -0.064335 0.011358 0.021289 
time: 1403637148.738319, t: -0.167066 -0.047188 0.151438 q: 0.997759 -0.062734 0.010614 0.020716 
time: 1403637149.138319, t: -0.167526 -0.047331 0.151220 q: 0.997934 -0.060354 0.009574 0.019813 
time: 1403637149.538319, t: -0.167697 -0.047138 0.150728 q: 0.998198 -0.056750 0.007774 0.017864 
time: 1403637149.938319, t: -0.170866 -0.038743 0.148349 q: 0.998662 -0.041370 -0.030649 0.004758 
time: 1403637150.338319, t: -0.094730 0.020781 0.154322 q: 0.995994 -0.064819 -0.058258 -0.019991 
time: 1403637150.738319, t: -0.046790 0.108058 0.247494 q: 0.997023 -0.072292 -0.026006 -0.006475 
time: 1403637151.138319, t: 0.077279 0.149826 0.374414 q: 0.997143 -0.074745 -0.000242 -0.010933 
time: 1403637151.538319, t: -0.008471 0.177560 0.570993 q: 0.998027 -0.061589 -0.000758 0.012174 
time: 1403637151.938319, t: 0.759277 0.465434 -0.332857 q: 0.994654 -0.066857 -0.065493 -0.043637 
time: 1403637152.338319, t: 0.213057 -0.222967 -0.028527 q: 0.956973 -0.179803 0.045735 -0.223118 
time: 1403637152.738319, t: 0.590269 0.061938 0.445489 q: 0.944733 -0.175078 0.050000 -0.272629 
time: 1403637153.138319, t: 0.685811 0.137622 0.010301 q: 0.990454 -0.114820 -0.016465 -0.074468 
time: 1403637153.538319, t: 0.722532 0.238464 0.057864 q: 0.990470 -0.115213 -0.028364 -0.069927 
time: 1403637153.938319, t: 0.796504 0.315274 0.112707 q: 0.991868 -0.110933 -0.023316 -0.057865 
time: 1403637154.338319, t: 0.800292 0.389422 0.202031 q: 0.993650 -0.101707 -0.044106 -0.019231 
time: 1403637154.738319, t: 0.752712 0.562819 0.277534 q: 0.990754 -0.118757 -0.040436 -0.051649 
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time: 1403637155.938319, t: 0.845977 1.030137 0.785952 q: 0.966681 -0.253998 0.006463 0.031176 
time: 1403637156.338319, t: 0.841487 1.247922 0.874285 q: 0.936175 -0.342218 0.027286 0.075627 
time: 1403637156.738319, t: 0.803193 1.506729 0.918528 q: 0.890343 -0.441272 0.039725 0.104834 
time: 1403637157.138319, t: 0.681354 1.813245 0.936518 q: 0.868751 -0.482155 0.016948 0.111849 
time: 1403637157.538319, t: 0.648519 2.134864 0.873707 q: 0.874327 -0.466918 0.026698 0.129721 
time: 1403637157.938319, t: 0.669777 2.528051 0.751538 q: 0.878276 -0.463169 0.036832 0.112908 
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time: 1403637158.738319, t: 0.675944 3.331478 0.336104 q: 0.834704 -0.532047 0.057647 0.129893 
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time: 1403637199.938319, t: 1.705112 5.964827 0.267656 q: 0.803250 -0.583367 0.002551 0.120273 
feature tracking not enough, please slowly move you device! 
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time: 1403637202.338319, t: 2.411852 4.150971 3.506646 q: 0.765652 -0.599261 -0.080548 0.219487 
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time: 1403637203.138319, t: 2.418187 3.995826 2.957779 q: 0.768912 -0.613335 -0.091658 0.155543 
optimize pose graph 
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time: 1403637203.938319, t: 2.274323 3.911160 2.561697 q: 0.765317 -0.619909 -0.090830 0.147484 
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time: 1403637205.138319, t: 2.239129 3.719707 2.331991 q: 0.755255 -0.627777 -0.094840 0.162761 
time: 1403637205.538319, t: 2.221697 3.652521 2.331757 q: 0.770054 -0.612716 -0.094046 0.150835 
time: 1403637205.938319, t: 2.193794 3.602573 2.360467 q: 0.777581 -0.604707 -0.091875 0.145795 
time: 1403637206.338319, t: 2.201834 3.542532 2.407684 q: 0.780446 -0.599702 -0.079326 0.158015 
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time: 1403637207.138319, t: 2.312405 3.378619 2.471848 q: 0.776794 -0.606492 -0.077181 0.151004 
optimize pose graph 
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time: 1403637250.738319, t: 1.507655 2.725215 1.900095 q: 0.861769 -0.485958 -0.074998 0.124800 
time: 1403637251.138319, t: 1.609278 2.509753 2.337956 q: 0.864448 -0.479621 -0.074586 0.130882 
time: 1403637251.538319, t: 1.775401 2.364129 2.498485 q: 0.886905 -0.443801 -0.075695 0.103491 
time: 1403637251.938319, t: 1.932803 2.256888 2.689674 q: 0.903775 -0.413219 -0.075920 0.081712 
time: 1403637252.338319, t: 1.977066 2.167948 2.771448 q: 0.908670 -0.407014 -0.061174 0.070114 
time: 1403637252.738319, t: 1.940476 2.034590 2.832951 q: 0.905567 -0.403751 -0.085911 0.097739 
time: 1403637253.138319, t: 1.932165 1.946679 2.831184 q: 0.904543 -0.410012 -0.083525 0.081945 
optimize pose graph 
time: 1403637253.538319, t: 1.923772 1.868872 2.800801 q: 0.903431 -0.412877 -0.081494 0.081880 
time: 1403637253.938319, t: 1.917370 1.786970 2.740804 q: 0.902737 -0.416237 -0.083205 0.069929 
time: 1403637254.338319, t: 1.989752 1.659723 2.656238 q: 0.910317 -0.398658 -0.091592 0.063287 
time: 1403637254.738319, t: 2.055575 1.500201 2.576427 q: 0.919398 -0.376450 -0.097126 0.059661 
time: 1403637255.138319, t: 2.038521 1.338015 2.513032 q: 0.925164 -0.365372 -0.084683 0.058341 
time: 1403637255.538319, t: 2.039189 1.129493 2.447102 q: 0.940374 -0.324445 -0.088041 0.051785 
optimize pose graph 
time: 1403637255.938319, t: 2.012885 0.902957 2.364440 q: 0.961355 -0.252415 -0.105883 0.029533 
time: 1403637256.338319, t: 2.058138 0.642699 2.285304 q: 0.971146 -0.216067 -0.099733 0.015613 
time: 1403637256.738319, t: 2.035252 0.370341 2.205019 q: 0.969934 -0.216550 -0.106806 0.030437 
time: 1403637257.138319, t: 1.979651 0.108338 2.141741 q: 0.973650 -0.201948 -0.102154 0.028070 
time: 1403637257.538319, t: 2.002897 -0.163626 2.084788 q: 0.976696 -0.183090 -0.111378 0.011771 
optimize pose graph 
time: 1403637257.938319, t: 1.962810 -0.432023 2.074203 q: 0.977893 -0.161493 -0.131082 0.021519 
time: 1403637258.338319, t: 1.951470 -0.677311 2.108674 q: 0.988358 -0.096686 -0.117423 -0.003439 
time: 1403637258.738319, t: 1.880784 -0.883233 2.182049 q: 0.991599 -0.066488 -0.110740 0.006880 
time: 1403637259.138319, t: 1.820400 -1.042589 2.275374 q: 0.992284 -0.068326 -0.102712 0.012449 
time: 1403637259.538319, t: 1.852572 -1.162001 2.319631 q: 0.992457 -0.069645 -0.096567 0.029208 
time: 1403637259.938319, t: 1.852103 -1.221380 2.311844 q: 0.991840 -0.073513 -0.101595 0.022962 
time: 1403637260.338319, t: 1.801053 -1.226381 2.280969 q: 0.991349 -0.078284 -0.105305 -0.002998 
time: 1403637260.738319, t: 1.714165 -1.239472 2.253774 q: 0.989116 -0.078244 -0.124453 -0.006263 
time: 1403637261.138319, t: 1.628584 -1.282454 2.244929 q: 0.990685 -0.075194 -0.113473 -0.003545 
time: 1403637261.938319, t: 1.585672 -1.394664 2.295305 q: 0.990823 -0.076173 -0.111658 0.000741 
time: 1403637262.338319, t: 1.544874 -1.423611 2.346529 q: 0.994378 -0.068876 -0.068653 0.041904 
time: 1403637262.738319, t: 1.538815 -1.411745 2.329489 q: 0.990264 -0.108051 -0.079762 0.036608 
time: 1403637263.138319, t: 1.538704 -1.411226 2.328575 q: 0.990830 -0.106736 -0.073815 0.037614 
time: 1403637263.538319, t: 1.540497 -1.410746 2.327606 q: 0.990782 -0.107073 -0.074032 0.037483 
time: 1403637263.938319, t: 1.540702 -1.410846 2.327895 q: 0.990781 -0.107145 -0.074129 0.037116 
time: 1403637264.338319, t: 1.540625 -1.410923 2.327900 q: 0.990783 -0.107121 -0.074098 0.037203 
time: 1403637264.738319, t: 1.540596 -1.410958 2.327878 q: 0.990781 -0.107098 -0.074167 0.037172 
time: 1403637265.138319, t: 1.540556 -1.411021 2.327909 q: 0.990779 -0.107085 -0.074217 0.037181 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720504060.173185583]: Shutdown request received.[0m
[33m[ WARN] [1720504060.173222886]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720504060.174074239]: Shutdown request received.[0m
[33m[ WARN] [1720504060.174111714]: Reason given for shutdown: [user request][0m
killed
