/SLAM-Hive/slam_hive_results/mapping_results/3074/2282_vins-fusion-stereo+MH_05_difficult+Image_comb_test-2.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720511145.270329996]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720511145.272130525]: init begins[0m
[31m[ERROR] [1720511145.273188489]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/3ffd389e-3dc7-11ef-ae7f-0242ac110005/roslaunch-7f58bc2ba518-119.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://7f58bc2ba518:33815/[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 [156][0m
[1mROS_MASTER_URI=http://7f58bc2ba518:11311/[0m
]2;roscore http://7f58bc2ba518:11311/
[1msetting /run_id to 3ffd389e-3dc7-11ef-ae7f-0242ac110005[0m
[0m[ INFO] [1720511146.426155400]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720511146.428038715]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720511146.434801564]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720511146.435057780]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720511146.435091609]: 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] [1720511146.435399131]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720511146.435652219]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720511146.435885329]: 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 [226][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720511155.431262483]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316872637.50 
[0m[ INFO] [1720511156.829928217]: Initialization finish![0m
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time: 1403638519.527829, t: 0.000086 0.000182 -0.000158 q: 1.000000 0.000016 0.000005 -0.000014 
time: 1403638519.627830, t: 0.000094 0.000189 -0.000165 q: 1.000000 0.000012 0.000024 -0.000006 
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time: 1403638523.627830, t: -0.087711 0.131805 0.285759 q: 0.994068 0.030153 0.103106 -0.016992 
unstable tracking...
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time: 1403638531.027829, t: -0.248456 0.204596 0.479824 q: 0.993157 -0.093225 0.065416 0.025873 
optimize pose graph 
time: 1403638531.127830, t: -0.248932 0.203365 0.479663 q: 0.992651 -0.094395 0.072108 0.023096 
time: 1403638531.227829, t: -0.249254 0.202137 0.480577 q: 0.992644 -0.094782 0.072708 0.019702 
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time: 1403638539.927830, t: -0.063828 0.201516 0.484654 q: 0.990888 -0.088494 0.100517 0.014339 
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time: 1403638540.627830, t: 0.130150 0.239062 0.614739 q: 0.993202 -0.060108 0.099606 -0.004049 
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time: 1403638541.027829, t: 0.284057 0.169608 0.764511 q: 0.992457 0.021560 0.097806 -0.070702 
optimize pose graph 
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time: 1403638541.627830, t: 0.475918 0.005703 1.031041 q: 0.988698 0.062355 0.100803 -0.091794 
time: 1403638541.727829, t: 0.519530 -0.045130 1.065757 q: 0.987946 0.070546 0.102587 -0.091990 
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time: 1403638542.827830, t: 0.935811 -0.723693 1.391622 q: 0.949358 0.236584 0.108828 -0.175794 
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time: 1403638543.027829, t: 1.009901 -0.881349 1.384748 q: 0.951807 0.241228 0.092190 -0.165447 
time: 1403638543.127830, t: 1.037574 -0.960416 1.389253 q: 0.952659 0.241716 0.089324 -0.161356 
optimize pose graph 
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time: 1403638603.327830, t: 7.214260 -7.883693 7.109206 q: 0.903299 0.378625 0.120475 -0.161803 
time: 1403638603.427830, t: 7.200918 -7.912493 7.061491 q: 0.903756 0.378743 0.098332 -0.173519 
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time: 1403638603.627830, t: 7.165263 -7.933115 6.973393 q: 0.899773 0.385933 0.097214 -0.178923 
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time: 1403638603.827830, t: 7.110149 -7.947241 6.896692 q: 0.894517 0.384244 0.122358 -0.192934 
time: 1403638603.927830, t: 7.071880 -7.948206 6.852965 q: 0.892570 0.381026 0.133939 -0.200495 
time: 1403638604.027829, t: 7.023802 -7.951499 6.811888 q: 0.891432 0.377815 0.142595 -0.205599 
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time: 1403638604.327830, t: 6.859782 -7.941016 6.614859 q: 0.892755 0.381015 0.134367 -0.199402 
time: 1403638604.427830, t: 6.807576 -7.922454 6.523071 q: 0.894672 0.382234 0.120846 -0.197119 
time: 1403638604.527829, t: 6.755000 -7.903426 6.430167 q: 0.896298 0.380471 0.109135 -0.199952 
time: 1403638604.627830, t: 6.700624 -7.887362 6.334320 q: 0.897012 0.379795 0.103708 -0.200924 
time: 1403638604.727829, t: 6.640925 -7.873751 6.242898 q: 0.897741 0.381629 0.099214 -0.196413 
time: 1403638604.827830, t: 6.580268 -7.858566 6.146444 q: 0.898436 0.382834 0.095189 -0.192847 
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time: 1403638605.127830, t: 6.430665 -7.790246 5.854287 q: 0.901353 0.378372 0.065099 -0.200400 
optimize pose graph 
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time: 1403638605.327830, t: 6.357714 -7.757995 5.665176 q: 0.901257 0.374313 0.063202 -0.208880 
time: 1403638605.427830, t: 6.317919 -7.750654 5.582183 q: 0.899715 0.370997 0.076406 -0.216876 
time: 1403638605.527829, t: 6.279895 -7.744461 5.504090 q: 0.897396 0.368443 0.093419 -0.224062 
time: 1403638605.627830, t: 6.234128 -7.742021 5.422831 q: 0.895431 0.365514 0.105482 -0.231248 
time: 1403638605.727829, t: 6.183863 -7.742332 5.334150 q: 0.894482 0.364348 0.110556 -0.234371 
time: 1403638605.827830, t: 6.135401 -7.752024 5.241917 q: 0.894538 0.363447 0.109505 -0.236045 
time: 1403638605.927830, t: 6.085436 -7.770280 5.143056 q: 0.894535 0.361552 0.110736 -0.238380 
time: 1403638606.027829, t: 6.040981 -7.789968 5.036015 q: 0.894333 0.359230 0.112052 -0.242006 
time: 1403638606.127830, t: 5.990944 -7.812538 4.924223 q: 0.894388 0.357407 0.112182 -0.244430 
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time: 1403638606.327830, t: 5.859501 -7.882370 4.696961 q: 0.895642 0.355508 0.106465 -0.245162 
time: 1403638606.427830, t: 5.775332 -7.927717 4.583982 q: 0.898511 0.358488 0.090530 -0.236578 
time: 1403638606.527829, t: 5.686558 -7.972898 4.469158 q: 0.901087 0.362589 0.073595 -0.226173 
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time: 1403638606.727829, t: 5.506153 -8.079317 4.263399 q: 0.897714 0.374509 0.052012 -0.226157 
time: 1403638606.827830, t: 5.408291 -8.145162 4.164363 q: 0.891686 0.385691 0.045781 -0.232471 
time: 1403638606.927830, t: 5.319006 -8.213152 4.065415 q: 0.882969 0.401274 0.041675 -0.240016 
time: 1403638607.027829, t: 5.243034 -8.290220 3.972693 q: 0.872122 0.420770 0.038390 -0.246743 
time: 1403638607.127830, t: 5.171159 -8.378005 3.885814 q: 0.862507 0.440561 0.035961 -0.246363 
time: 1403638607.227829, t: 5.096667 -8.478181 3.805234 q: 0.854295 0.456376 0.047224 -0.244274 
optimize pose graph 
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time: 1403638607.727829, t: 4.735821 -8.962808 3.483281 q: 0.840588 0.482752 0.070092 -0.235476 
time: 1403638607.827830, t: 4.665252 -9.048796 3.436803 q: 0.840779 0.482357 0.069521 -0.235774 
time: 1403638607.927830, t: 4.594564 -9.134639 3.396506 q: 0.842065 0.482991 0.063011 -0.231681 
time: 1403638608.027829, t: 4.521451 -9.219091 3.361895 q: 0.843226 0.483115 0.061370 -0.227603 
time: 1403638608.127830, t: 4.446982 -9.298452 3.330748 q: 0.843721 0.481359 0.067591 -0.227728 
time: 1403638608.227829, t: 4.368889 -9.371107 3.313423 q: 0.843649 0.479149 0.076021 -0.229984 
time: 1403638608.327830, t: 4.291834 -9.443629 3.297355 q: 0.843286 0.478643 0.085743 -0.228951 
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time: 1403638608.627830, t: 4.016109 -9.627651 3.256611 q: 0.843329 0.479005 0.091364 -0.225839 
time: 1403638608.727829, t: 3.928551 -9.679440 3.255598 q: 0.842076 0.482273 0.095406 -0.221851 
time: 1403638608.827830, t: 3.847507 -9.728950 3.241607 q: 0.842504 0.481539 0.090468 -0.223882 
time: 1403638608.927830, t: 3.766383 -9.773223 3.207527 q: 0.843767 0.479799 0.083408 -0.225594 
time: 1403638609.027829, t: 3.695801 -9.813440 3.179795 q: 0.844579 0.479526 0.076738 -0.225505 
time: 1403638609.127830, t: 3.630101 -9.844869 3.158686 q: 0.844820 0.479054 0.074458 -0.226369 
time: 1403638609.227829, t: 3.574069 -9.876073 3.134365 q: 0.844899 0.482384 0.074100 -0.218997 
time: 1403638609.327830, t: 3.511862 -9.903867 3.109887 q: 0.845279 0.483839 0.073643 -0.214427 
time: 1403638609.427830, t: 3.449857 -9.926459 3.107178 q: 0.845087 0.482572 0.074270 -0.217801 
optimize pose graph 
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time: 1403638610.127830, t: 2.998939 -9.984974 3.131403 q: 0.844280 0.481468 0.084573 -0.219606 
time: 1403638610.227829, t: 2.948342 -9.979920 3.128276 q: 0.843949 0.481907 0.089579 -0.217924 
time: 1403638610.327830, t: 2.895105 -9.970616 3.132728 q: 0.843949 0.482353 0.091502 -0.216132 
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time: 1403638610.827830, t: 2.611409 -9.851424 3.186012 q: 0.843347 0.484588 0.093916 -0.212416 
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time: 1403638611.327830, t: 2.358097 -9.580174 3.176009 q: 0.843425 0.484275 0.094324 -0.212638 
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time: 1403638613.327830, t: 1.671569 -7.927097 2.909227 q: 0.854320 0.459684 0.087758 -0.226111 
time: 1403638613.427830, t: 1.665075 -7.840592 2.884087 q: 0.853990 0.459627 0.088195 -0.227303 
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optimize pose graph 
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time: 1403638630.727829, t: -0.419304 0.614976 0.156479 q: 0.980044 -0.171010 0.070010 0.073260 
time: 1403638630.827830, t: -0.234554 0.622896 0.108342 q: 0.979547 -0.176241 0.065655 0.071533 
time: 1403638630.927830, t: -0.228007 0.612861 0.112759 q: 0.979925 -0.175046 0.064387 0.070425 
time: 1403638631.027829, t: -0.249999 0.610682 0.121845 q: 0.979883 -0.174744 0.065308 0.070908 
time: 1403638631.127830, t: -0.253395 0.610252 0.121276 q: 0.979821 -0.175078 0.065286 0.070968 
time: 1403638631.227829, t: -0.252829 0.611084 0.121060 q: 0.979834 -0.175114 0.065269 0.070708 
time: 1403638631.327830, t: -0.252496 0.611263 0.121082 q: 0.979804 -0.175190 0.065518 0.070712 
time: 1403638631.427830, t: -0.252991 0.611726 0.121116 q: 0.979814 -0.175249 0.065451 0.070489 
time: 1403638631.527829, t: -0.252967 0.611710 0.121104 q: 0.979801 -0.175442 0.065280 0.070339 
time: 1403638631.627830, t: -0.252928 0.611682 0.121059 q: 0.979790 -0.175715 0.065126 0.069957 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720511271.085281567]: Shutdown request received.[0m
[33m[ WARN] [1720511271.085327208]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720511271.086168513]: Shutdown request received.[0m
[33m[ WARN] [1720511271.086195975]: Reason given for shutdown: [user request][0m
killed
