/SLAM-Hive/slam_hive_results/mapping_results/3046/2254_vins-fusion-stereo+MH_04_difficult+Image_comb_test-4.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720507225.172126701]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720507225.174280734]: init begins[0m
[31m[ERROR] [1720507225.175271412]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/1f6e0814-3dbe-11ef-a1ff-0242ac110005/roslaunch-8ba857f51588-117.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://8ba857f51588:41195/[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] [1720507226.278081007]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720507226.280107525]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720507226.286218053]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720507226.286453307]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720507226.286482350]: ROW: 192 COL: 300 [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] [1720507226.286754413]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720507226.286957411]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720507226.287117526]: 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://8ba857f51588:11311/[0m
]2;roscore http://8ba857f51588:11311/
[1msetting /run_id to 1f6e0814-3dbe-11ef-a1ff-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_04_difficult.bag  --clock 
[0m[ INFO] [1720507235.343356001]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316869108.23 
throw img0
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time: 1403638128.645097, t: 0.000261 -0.001048 0.000904 q: 0.999999 0.000143 -0.000787 0.000811 
time: 1403638128.745097, t: 0.001967 0.000563 0.004558 q: 0.999997 0.000363 -0.000996 0.002221 
time: 1403638128.845097, t: 0.001885 0.003560 0.007398 q: 0.999997 -0.000301 -0.001194 0.001978 
time: 1403638128.945097, t: 0.001597 0.006715 0.009371 q: 0.999999 -0.000684 -0.001157 0.000676 
time: 1403638129.045097, t: 0.002758 0.009512 0.011711 q: 1.000000 -0.000313 -0.000563 0.000209 
time: 1403638129.145097, t: 0.008227 0.012100 0.015490 q: 0.999989 -0.001217 0.002054 -0.003979 
time: 1403638129.245097, t: 0.040304 0.031459 0.056521 q: 0.999822 0.001941 0.017121 0.007655 
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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: 1403638228.745097, t: 1.813903 -0.448809 -2.565126 q: 0.978962 -0.187855 -0.041370 0.068060 
time: 1403638228.845097, t: 1.813880 -0.448784 -2.565110 q: 0.978972 -0.187802 -0.041270 0.068129 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720507338.771183666]: Shutdown request received.[0m
[33m[ WARN] [1720507338.771230148]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720507338.772110320]: Shutdown request received.[0m
[33m[ WARN] [1720507338.772136471]: Reason given for shutdown: [user request][0m
killed
