/SLAM-Hive/slam_hive_results/mapping_results/3078/2286_vins-fusion-stereo+MH_05_difficult+Image_comb_test-6.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720511753.609571628]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720511753.611652980]: init begins[0m
[31m[ERROR] [1720511753.612921388]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/aa96fd7e-3dc8-11ef-a428-0242ac110005/roslaunch-be4d0a85a80a-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://be4d0a85a80a:40113/[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
[1mROS_MASTER_URI=http://be4d0a85a80a:11311/[0m
]2;roscore http://be4d0a85a80a:11311/
[0m[ INFO] [1720511754.768196354]: Connected to master at [localhost:11311][0m
[1msetting /run_id to aa96fd7e-3dc8-11ef-a428-0242ac110005[0m
[0m[ INFO] [1720511754.777458340]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720511754.804196858]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720511754.804671362]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720511754.804715163]: ROW: 480 COL: 752 [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] [1720511754.805229337]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720511754.805628219]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720511754.805939200]: 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 [230][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720511763.774305162]: 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: 316873245.84 
[0m[ INFO] [1720511766.244798442]: Initialization finish![0m
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time: 1403638603.577830, t: 6.842953 -8.114675 7.933857 q: 0.909533 0.394170 0.035320 -0.127010 
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time: 1403638603.977829, t: 6.727583 -8.152981 7.764951 q: 0.903943 0.391182 0.084770 -0.150593 
time: 1403638604.177830, t: 6.635450 -8.155112 7.648430 q: 0.903730 0.387232 0.091717 -0.157837 
time: 1403638604.377830, t: 6.548436 -8.145290 7.471610 q: 0.905161 0.392755 0.072429 -0.145536 
time: 1403638604.577830, t: 6.466721 -8.118893 7.265340 q: 0.906838 0.390647 0.051865 -0.149498 
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time: 1403638604.977829, t: 6.289127 -8.047739 6.839547 q: 0.908080 0.392713 0.026453 -0.143062 
optimize pose graph 
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time: 1403638605.377830, t: 6.183409 -7.978601 6.433323 q: 0.908155 0.386336 0.013515 -0.160675 
time: 1403638605.577830, t: 6.129916 -7.966578 6.254401 q: 0.906517 0.381007 0.043894 -0.176447 
time: 1403638605.777829, t: 6.058489 -7.978801 6.066426 q: 0.905614 0.378223 0.054423 -0.183981 
time: 1403638605.977829, t: 6.001883 -8.003362 5.844242 q: 0.905587 0.374782 0.055584 -0.190685 
time: 1403638606.177830, t: 5.928467 -8.055418 5.602756 q: 0.905924 0.371138 0.056548 -0.195856 
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time: 1403638606.777829, t: 5.543190 -8.367335 4.852285 q: 0.902155 0.393737 -0.007101 -0.176174 
optimize pose graph 
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time: 1403638610.577830, t: 3.103425 -10.324526 3.374948 q: 0.856248 0.491038 0.054801 -0.150723 
time: 1403638610.777829, t: 2.989739 -10.274070 3.378761 q: 0.855770 0.492594 0.052657 -0.149117 
time: 1403638610.977829, t: 2.869339 -10.181169 3.364865 q: 0.855898 0.492251 0.041084 -0.153103 
time: 1403638611.177830, t: 2.764385 -10.078567 3.353254 q: 0.855093 0.494534 0.046373 -0.148665 
optimize pose graph 
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time: 1403638611.777829, t: 2.498647 -9.635605 3.307217 q: 0.856918 0.483616 0.047138 -0.172005 
time: 1403638611.977829, t: 2.407335 -9.480791 3.256149 q: 0.858301 0.485944 0.032456 -0.161629 
time: 1403638612.177830, t: 2.319172 -9.313628 3.224998 q: 0.858816 0.486113 0.027832 -0.159231 
time: 1403638612.377830, t: 2.269276 -9.146830 3.199585 q: 0.858758 0.485803 0.029071 -0.160263 
time: 1403638612.577830, t: 2.201832 -8.983571 3.169058 q: 0.860023 0.482428 0.037396 -0.161943 
time: 1403638612.777829, t: 2.124163 -8.816871 3.142920 q: 0.862004 0.475987 0.044482 -0.168545 
time: 1403638612.977829, t: 2.040190 -8.649728 3.123127 q: 0.863310 0.474703 0.047937 -0.164485 
time: 1403638613.177830, t: 1.989325 -8.480091 3.096120 q: 0.863612 0.475320 0.039498 -0.163358 
time: 1403638613.377830, t: 1.945684 -8.307827 3.037223 q: 0.863805 0.474459 0.040000 -0.164711 
time: 1403638613.577830, t: 1.906781 -8.144375 2.967506 q: 0.866375 0.470971 0.042048 -0.160662 
time: 1403638613.777829, t: 1.823364 -7.969547 2.905923 q: 0.869915 0.469050 0.049512 -0.144180 
time: 1403638613.977829, t: 1.733954 -7.783529 2.856415 q: 0.881189 0.449991 0.051942 -0.135333 
time: 1403638614.177830, t: 1.636111 -7.582395 2.803093 q: 0.900047 0.413724 0.046196 -0.128898 
time: 1403638614.377830, t: 1.530257 -7.374110 2.736891 q: 0.914594 0.384024 0.040236 -0.120102 
time: 1403638614.577830, t: 1.487899 -7.163794 2.649683 q: 0.922660 0.367915 0.034538 -0.110196 
time: 1403638614.777829, t: 1.446136 -6.944916 2.548636 q: 0.933274 0.347336 0.023783 -0.088265 
time: 1403638614.977829, t: 1.439443 -6.714143 2.469801 q: 0.948232 0.309849 0.010854 -0.068793 
time: 1403638615.177830, t: 1.483317 -6.469259 2.395550 q: 0.965904 0.252418 0.017822 -0.054751 
optimize pose graph 
time: 1403638615.377830, t: 1.524517 -6.217157 2.347634 q: 0.980897 0.187566 0.031002 -0.041228 
time: 1403638615.577830, t: 1.550209 -5.935495 2.302897 q: 0.990660 0.130201 0.035299 -0.019840 
time: 1403638615.777829, t: 1.569074 -5.688118 2.245042 q: 0.994877 0.094554 0.035177 -0.006448 
time: 1403638615.977829, t: 1.583799 -5.438731 2.185783 q: 0.996793 0.071113 0.036318 0.005231 
time: 1403638616.177830, t: 1.589866 -5.189344 2.130696 q: 0.998333 0.041250 0.035833 0.018587 
time: 1403638616.377830, t: 1.552587 -4.951425 2.097035 q: 0.998838 0.000051 0.032802 0.035305 
time: 1403638616.577830, t: 1.467096 -4.709734 2.070877 q: 0.997807 -0.033300 0.027549 0.050136 
time: 1403638616.777829, t: 1.367287 -4.471742 2.060258 q: 0.996736 -0.046057 0.002520 0.066249 
time: 1403638616.977829, t: 1.267484 -4.218974 2.059532 q: 0.996369 -0.048532 -0.004317 0.069822 
time: 1403638617.177830, t: 1.222099 -3.955676 2.067279 q: 0.997235 -0.051564 0.007717 0.052957 
time: 1403638617.377830, t: 1.211178 -3.691484 2.090385 q: 0.997794 -0.047830 -0.003803 0.045884 
time: 1403638617.577830, t: 1.235877 -3.434850 2.121464 q: 0.998161 -0.043941 -0.009940 0.040557 
time: 1403638617.777829, t: 1.300344 -3.188786 2.156306 q: 0.998518 -0.041856 -0.004300 0.034526 
time: 1403638617.977829, t: 1.399111 -2.953366 2.209167 q: 0.998731 -0.038960 -0.002172 0.031850 
time: 1403638618.177830, t: 1.494802 -2.733607 2.279773 q: 0.998828 -0.035962 -0.001840 0.032343 
time: 1403638618.377830, t: 1.575341 -2.522478 2.375543 q: 0.998937 -0.034835 -0.000445 0.030185 
time: 1403638618.577830, t: 1.651639 -2.325337 2.487978 q: 0.999001 -0.034761 0.001441 0.028042 
time: 1403638618.777829, t: 1.731857 -2.136024 2.621041 q: 0.998620 -0.043307 0.002616 0.029579 
time: 1403638618.977829, t: 1.833257 -1.958767 2.752815 q: 0.997659 -0.057705 0.012473 0.034499 
time: 1403638619.177830, t: 1.921039 -1.788249 2.892500 q: 0.993925 -0.096940 0.020943 0.047720 
time: 1403638619.377830, t: 1.978891 -1.642314 3.042410 q: 0.985982 -0.148819 0.025338 0.071070 
time: 1403638619.577830, t: 2.027909 -1.501189 3.198203 q: 0.978306 -0.183247 0.028612 0.092301 
time: 1403638619.777829, t: 2.043715 -1.361131 3.354434 q: 0.973653 -0.191517 0.033598 0.119127 
time: 1403638619.977829, t: 2.060625 -1.219498 3.496938 q: 0.971437 -0.197479 0.035380 0.126733 
time: 1403638620.177830, t: 2.076627 -1.080709 3.630018 q: 0.970273 -0.204014 0.043146 0.122831 
time: 1403638620.377830, t: 2.108442 -0.925980 3.724180 q: 0.970622 -0.206762 0.039197 0.116645 
time: 1403638620.577830, t: 2.154169 -0.771883 3.795936 q: 0.971469 -0.205632 0.035135 0.112825 
time: 1403638620.777829, t: 2.171087 -0.612159 3.860552 q: 0.972426 -0.200314 0.025823 0.116595 
time: 1403638620.977829, t: 2.168447 -0.449242 3.926711 q: 0.973820 -0.201231 0.020625 0.103710 
time: 1403638621.177830, t: 2.164936 -0.286157 3.991029 q: 0.974725 -0.199768 0.026669 0.096394 
time: 1403638621.377830, t: 2.180237 -0.126765 4.028338 q: 0.975618 -0.198080 0.028006 0.090270 
time: 1403638621.577830, t: 2.187665 0.019591 4.073690 q: 0.976103 -0.196289 0.035386 0.086259 
time: 1403638621.777829, t: 2.169273 0.150668 4.119913 q: 0.976284 -0.195504 0.040118 0.083894 
time: 1403638621.977829, t: 2.133778 0.265754 4.155686 q: 0.976031 -0.195899 0.050321 0.080343 
time: 1403638622.177830, t: 2.081379 0.363534 4.179533 q: 0.976118 -0.193563 0.049121 0.085526 
time: 1403638622.377830, t: 2.036668 0.443757 4.177456 q: 0.975953 -0.193078 0.047829 0.089153 
time: 1403638622.577830, t: 2.007647 0.512565 4.142575 q: 0.975804 -0.197039 0.046227 0.082732 
time: 1403638622.777829, t: 2.012070 0.562030 4.075365 q: 0.974075 -0.201098 0.070165 0.076257 
time: 1403638622.977829, t: 2.011657 0.586101 3.974355 q: 0.973635 -0.202170 0.071224 0.078036 
time: 1403638623.177830, t: 1.976914 0.593233 3.853882 q: 0.974553 -0.198268 0.054348 0.089341 
time: 1403638623.377830, t: 1.919762 0.586687 3.720833 q: 0.974955 -0.195707 0.044368 0.095883 
optimize pose graph 
time: 1403638623.577830, t: 1.852317 0.570784 3.579295 q: 0.975017 -0.196872 0.040903 0.094391 
time: 1403638623.777829, t: 1.798668 0.551050 3.421988 q: 0.974819 -0.199677 0.037883 0.091771 
time: 1403638623.977829, t: 1.759307 0.530242 3.246619 q: 0.974518 -0.202349 0.033698 0.090740 
time: 1403638624.177830, t: 1.704496 0.503957 3.077374 q: 0.973954 -0.201956 0.033083 0.097635 
time: 1403638624.377830, t: 1.628095 0.478804 2.912642 q: 0.973359 -0.202113 0.033921 0.102819 
time: 1403638624.577830, t: 1.536639 0.450319 2.750399 q: 0.972045 -0.202709 0.047577 0.108510 
time: 1403638624.777829, t: 1.431770 0.423761 2.585992 q: 0.973750 -0.201600 0.046744 0.094786 
time: 1403638624.977829, t: 1.359321 0.385925 2.395626 q: 0.976815 -0.191365 0.034254 0.089654 
time: 1403638625.177830, t: 1.288872 0.342745 2.196642 q: 0.978358 -0.179769 0.033270 0.096914 
time: 1403638625.377830, t: 1.201386 0.304490 2.002930 q: 0.979080 -0.176015 0.032526 0.096760 
time: 1403638625.577830, t: 1.128709 0.275560 1.798255 q: 0.979293 -0.175165 0.032742 0.096072 
time: 1403638625.777829, t: 1.071130 0.250357 1.585804 q: 0.979517 -0.174735 0.021995 0.097620 
time: 1403638625.977829, t: 1.007667 0.234441 1.382113 q: 0.979425 -0.175926 0.016225 0.097540 
time: 1403638626.177830, t: 0.926752 0.223727 1.198034 q: 0.979181 -0.176118 0.013005 0.100085 
time: 1403638626.377830, t: 0.836917 0.223964 1.033032 q: 0.979227 -0.181514 0.018443 0.088466 
time: 1403638626.577830, t: 0.737626 0.219408 0.880858 q: 0.979425 -0.182651 0.016680 0.084186 
time: 1403638626.777829, t: 0.645146 0.217936 0.736973 q: 0.979628 -0.180242 0.006686 0.088298 
time: 1403638626.977829, t: 0.583549 0.215784 0.602400 q: 0.979816 -0.179001 0.000417 0.088989 
time: 1403638627.177830, t: 0.531754 0.210992 0.492728 q: 0.980005 -0.177840 0.000636 0.089233 
time: 1403638627.377830, t: 0.477837 0.212420 0.397650 q: 0.980228 -0.178754 0.001740 0.084833 
optimize pose graph 
time: 1403638627.577830, t: 0.420351 0.214758 0.329453 q: 0.980190 -0.179599 0.002946 0.083440 
time: 1403638627.777829, t: 0.369564 0.209236 0.275822 q: 0.979952 -0.182226 0.011024 0.079788 
time: 1403638627.977829, t: 0.319393 0.204829 0.235175 q: 0.979842 -0.183327 0.008164 0.078956 
time: 1403638628.177830, t: 0.280988 0.194873 0.203251 q: 0.979533 -0.185383 0.004298 0.078292 
time: 1403638628.377830, t: 0.254990 0.178025 0.185175 q: 0.979311 -0.185624 0.002548 0.080538 
time: 1403638628.577830, t: 0.248051 0.151721 0.177372 q: 0.978625 -0.180272 0.020085 0.096912 
time: 1403638628.777829, t: 0.241075 0.134288 0.164692 q: 0.978230 -0.179202 0.024992 0.101624 
time: 1403638628.977829, t: 0.217408 0.130958 0.157392 q: 0.978469 -0.183534 0.022516 0.091692 
time: 1403638629.177830, t: 0.195589 0.125929 0.145071 q: 0.978785 -0.186374 0.018377 0.083105 
time: 1403638629.377830, t: 0.182524 0.113302 0.130498 q: 0.978874 -0.187040 0.012178 0.081685 
time: 1403638629.577830, t: 0.177718 0.098317 0.124383 q: 0.978738 -0.185092 -0.001227 0.088387 
optimize pose graph 
time: 1403638629.777829, t: 0.197568 0.094783 0.109248 q: 0.978244 -0.173814 0.009805 0.112835 
time: 1403638629.977829, t: 0.182173 0.092288 0.143554 q: 0.977416 -0.183313 0.032899 0.099858 
time: 1403638630.177830, t: 0.136918 0.100476 0.167250 q: 0.977708 -0.189114 0.034165 0.084592 
time: 1403638630.377830, t: 0.061600 0.097359 0.173291 q: 0.978689 -0.185886 -0.006660 0.087009 
time: 1403638630.577830, t: 0.114963 0.107050 0.204532 q: 0.978543 -0.185074 0.025877 0.086781 
time: 1403638630.777829, t: -0.004185 0.059788 0.280065 q: 0.980108 -0.180146 -0.013069 0.082244 
time: 1403638630.977829, t: 0.009236 0.064888 0.271769 q: 0.980395 -0.177286 -0.010799 0.085313 
time: 1403638631.177830, t: -0.004843 0.084091 0.286892 q: 0.980540 -0.176784 -0.010326 0.084749 
time: 1403638631.377830, t: 0.056343 0.120754 0.235655 q: 0.980698 -0.176610 -0.014260 0.082689 
time: 1403638631.577830, t: 0.049611 0.126069 0.233371 q: 0.980742 -0.175941 -0.013428 0.083726 
optimize pose graph 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720511879.396588704]: Shutdown request received.[0m
[33m[ WARN] [1720511879.396626214]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720511879.397627569]: Shutdown request received.[0m
[33m[ WARN] [1720511879.397659047]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/aa96fd7e-3dc8-11ef-a428-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
