/SLAM-Hive/slam_hive_results/mapping_results/3027/2235_vins-fusion-stereo+MH_03_medium+Image_comb_test-15.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720504084.710776988]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720504084.712603561]: init begins[0m
[31m[ERROR] [1720504084.713735732]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/cf926b0c-3db6-11ef-838f-0242ac110005/roslaunch-e7f159d358dc-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://e7f159d358dc:44449/[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] [1720504085.872628324]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720504085.875047756]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://e7f159d358dc:11311/[0m
]2;roscore http://e7f159d358dc:11311/
[1msetting /run_id to cf926b0c-3db6-11ef-838f-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720504085.904439548]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720504085.905159856]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720504085.905235463]: 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] [1720504085.905933481]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720504085.906521367]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720504085.907027850]: 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
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] [1720504094.873920714]: 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: 316866964.54 
[0m[ INFO] [1720504099.474143099]: Initialization finish![0m
time: 1403637134.738319, t: 0.265655 -0.026035 -0.112479 q: 0.996868 -0.077515 -0.012332 -0.009655 
feature tracking not enough, please slowly move you device! 
time: 1403637135.138319, t: 0.157329 -0.064705 -0.114443 q: 0.987320 -0.066475 -0.073102 0.124247 
feature tracking not enough, please slowly move you device! 
time: 1403637135.538319, t: 0.157329 -0.064705 -0.114443 q: 0.987320 -0.066475 -0.073102 0.124247 
time: 1403637135.938319, t: 0.331150 -0.004582 -0.116454 q: 0.987400 -0.082011 -0.009152 0.135027 
time: 1403637136.338319, t: 0.100558 0.018657 -0.054131 q: 0.987601 -0.081191 -0.049581 0.124877 
time: 1403637136.738319, t: 0.064839 0.089615 -0.130630 q: 0.983397 -0.060386 -0.105442 0.134778 
time: 1403637137.138319, t: 0.382987 0.176643 -0.167387 q: 0.987570 -0.089576 -0.021971 0.127274 
time: 1403637137.538319, t: 0.310835 0.190638 -0.137344 q: 0.989473 -0.084900 -0.004714 0.117104 
time: 1403637137.938319, t: 0.018206 0.141716 -0.092989 q: 0.985272 -0.064814 -0.095571 0.126114 
time: 1403637138.338319, t: 0.118699 0.128561 -0.165844 q: 0.989977 -0.102938 0.012708 0.095852 
time: 1403637138.738319, t: 0.242604 0.156701 -0.208394 q: 0.983646 -0.125265 0.082132 0.100019 
time: 1403637139.138319, t: -0.013631 0.112741 -0.073283 q: 0.986817 -0.095426 0.035060 0.125926 
time: 1403637139.538319, t: -0.001460 -0.025339 0.075555 q: 0.989586 -0.076314 0.028044 0.118785 
time: 1403637139.938319, t: -0.100701 0.029685 0.069117 q: 0.988748 -0.069976 0.058321 0.118655 
time: 1403637140.338319, t: -0.303749 0.100100 0.064692 q: 0.983257 -0.078630 0.086757 0.139629 
time: 1403637140.738319, t: -0.171774 0.128986 0.032544 q: 0.982931 -0.084436 0.079841 0.142626 
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time: 1403637151.538319, t: 0.065398 -0.495844 0.332067 q: 0.956445 -0.217322 0.113079 0.158738 
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time: 1403637156.338319, t: 1.288247 1.940963 0.882575 q: 0.886824 -0.408366 -0.047137 0.211087 time: 1403637156.738319, t: 1.178182 2.162794 0.891546 q: 0.830026 -0.505954 -0.047504 0.229806 
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optimize pose graph 
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time: 1403637252.738319, t: 0.407836 1.854087 4.377076 q: 0.851672 -0.487779 -0.157647 0.108961 
time: 1403637253.138319, t: 0.393249 1.767872 4.414185 q: 0.850057 -0.494520 -0.156364 0.091664 
time: 1403637253.538319, t: 0.376492 1.686372 4.380202 q: 0.849608 -0.496541 -0.153302 0.090070 
time: 1403637253.938319, t: 0.377490 1.586212 4.328350 q: 0.849007 -0.498986 -0.155607 0.077375 
time: 1403637254.338319, t: 0.465625 1.450516 4.277700 q: 0.857827 -0.481448 -0.164342 0.073030 
time: 1403637254.738319, t: 0.543293 1.280004 4.252960 q: 0.868267 -0.460658 -0.169723 0.071416 
time: 1403637255.138319, t: 0.547113 1.103865 4.230792 q: 0.875472 -0.451366 -0.157787 0.070141 
time: 1403637255.538319, t: 0.581308 0.889083 4.203537 q: 0.894353 -0.411354 -0.162161 0.068007 
time: 1403637255.938319, t: 0.595693 0.641083 4.171866 q: 0.920836 -0.340395 -0.182703 0.053025 
time: 1403637256.338319, t: 0.671093 0.382370 4.151226 q: 0.935036 -0.303938 -0.177689 0.041908 
time: 1403637256.738319, t: 0.665764 0.089347 4.143411 q: 0.932384 -0.306316 -0.183455 0.056342 
time: 1403637257.138319, t: 0.635792 -0.192010 4.138052 q: 0.937549 -0.293019 -0.179411 0.054351 
time: 1403637257.538319, t: 0.693376 -0.466562 4.133395 q: 0.942149 -0.272900 -0.190347 0.040597 
time: 1403637257.938319, t: 0.678307 -0.744310 4.152309 q: 0.943585 -0.251759 -0.208270 0.053749 
time: 1403637258.338319, t: 0.641979 -0.973835 4.210472 q: 0.963021 -0.185676 -0.192077 0.034964 
time: 1403637258.738319, t: 0.591280 -1.189582 4.297748 q: 0.968941 -0.157059 -0.185100 0.047167 
time: 1403637259.138319, t: 0.530662 -1.331614 4.438269 q: 0.969684 -0.160129 -0.177450 0.050831 
time: 1403637259.538319, t: 0.579608 -1.443308 4.501317 q: 0.969537 -0.162403 -0.170632 0.067147 
time: 1403637259.938319, t: 0.592920 -1.508048 4.501085 q: 0.968253 -0.165710 -0.176764 0.061492 
time: 1403637260.338319, t: 0.543269 -1.521340 4.460980 q: 0.968001 -0.168534 -0.182441 0.035859 
time: 1403637260.738319, t: 0.466040 -1.545921 4.398911 q: 0.964380 -0.166759 -0.202674 0.032961 
time: 1403637261.138319, t: 0.382851 -1.593750 4.383164 q: 0.966946 -0.164573 -0.191838 0.033600 
time: 1403637261.538319, t: 0.334273 -1.651880 4.389695 q: 0.966566 -0.163362 -0.193176 0.041794 
time: 1403637261.938319, t: 0.340537 -1.690388 4.452567 q: 0.967255 -0.165945 -0.188426 0.037083 
time: 1403637262.338319, t: 0.283356 -1.711829 4.506630 q: 0.973339 -0.163851 -0.141831 0.075157 
time: 1403637262.738319, t: 0.281330 -1.705750 4.488179 q: 0.964632 -0.202482 -0.154445 0.068070 
time: 1403637263.138319, t: 0.282914 -1.706740 4.479356 q: 0.965815 -0.201125 -0.148506 0.068524 
time: 1403637263.538319, t: 0.283508 -1.707090 4.479390 q: 0.965763 -0.201193 -0.148781 0.068465 
time: 1403637263.938319, t: 0.283711 -1.707574 4.480255 q: 0.965727 -0.201320 -0.148972 0.068181 
time: 1403637264.338319, t: 0.283929 -1.707534 4.480237 q: 0.965727 -0.201319 -0.148954 0.068231 
time: 1403637264.738319, t: 0.283919 -1.707515 4.480220 q: 0.965725 -0.201289 -0.149022 0.068201 
time: 1403637265.138319, t: 0.283884 -1.707503 4.480299 q: 0.965722 -0.201281 -0.149045 0.068212 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720504231.680065132]: Shutdown request received.[0m
[33m[ WARN] [1720504231.680118078]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720504231.681046761]: Shutdown request received.[0m
[33m[ WARN] [1720504231.681085297]: Reason given for shutdown: [user request][0m
killed
