/SLAM-Hive/slam_hive_results/mapping_results/3147/2352_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-12.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720549635.623136148]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720549635.623614160]: init begins[0m
[31m[ERROR] [1720549635.624629688]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/de08bb86-3e20-11ef-a384-0242ac110005/roslaunch-3fb27bba72b5-118.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://3fb27bba72b5:37615/[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] [1720549636.729392435]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720549636.730103514]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720549636.736571680]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720549636.736773261]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720549636.736803455]: ROW: 480 COL: 752 [0m
 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 9.81007
[0m[ INFO] [1720549636.737019459]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720549636.737239646]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720549636.737407608]: 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://3fb27bba72b5:11311/[0m
]2;roscore http://3fb27bba72b5:11311/
[1msetting /run_id to de08bb86-3e20-11ef-a384-0242ac110005[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
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720549645.772651200]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316912789.14 
init first imu pose
averge acc 9.704770 -0.367023 -3.127050
init R0 
 0.308595  0.110881  0.944709
        0 -0.993182   0.11657
 0.951193 -0.035973 -0.306492
[33m[ WARN] [1720549652.197506560]: gyroscope bias initial calibration -0.00189809    0.021531   0.0732825[0m
[0m[ INFO] [1720549652.237582668]: Initialization finish![0m
time: 1403636862.851666, t: 0.010037 -0.091920 0.390261 q: -0.002969 0.833979 0.016106 0.551553 
time: 1403636863.251667, t: 0.005487 -0.092802 0.424444 q: 0.014212 0.817779 0.016558 0.575119 
time: 1403636863.651666, t: -0.008716 -0.094507 0.166126 q: 0.025075 0.837624 -0.006472 0.545634 
time: 1403636864.051666, t: -0.015152 -0.100936 0.155718 q: -0.001678 0.854188 0.004130 0.519945 
time: 1403636864.451667, t: -0.002227 -0.101337 0.418889 q: -0.018357 0.836108 0.022461 0.547797 
time: 1403636864.851666, t: 0.004153 -0.095101 0.406995 q: -0.014097 0.819203 0.023294 0.572857 
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time: 1403636865.651666, t: 0.005549 -0.086034 0.166872 q: -0.039267 0.855402 0.030960 0.515546 
time: 1403636866.051666, t: 0.014732 -0.081143 0.421277 q: -0.049493 0.815769 0.021495 0.575856 
time: 1403636866.451667, t: 0.008855 -0.084296 0.467591 q: -0.026128 0.807349 0.023546 0.589025 
time: 1403636866.851666, t: 0.000532 -0.094367 0.274818 q: -0.028851 0.832892 0.032823 0.551707 
time: 1403636867.251667, t: -0.031169 -0.093248 0.208179 q: -0.058213 0.854685 0.040634 0.514269 
time: 1403636867.651666, t: -0.064080 -0.095481 0.218682 q: -0.049148 0.892539 0.050574 0.445422 
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time: 1403636868.851666, t: -0.132713 -0.066067 0.235056 q: -0.038183 0.934257 0.029461 0.353325 
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time: 1403636872.851666, t: -0.055409 0.009908 0.224408 q: -0.057066 0.927616 0.027997 0.368086 
time: 1403636873.251667, t: -0.027114 -0.179550 0.205494 q: -0.039347 0.930043 0.002565 0.365329 
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time: 1403636878.451667, t: 0.147250 -0.157279 0.103458 q: -0.027478 0.922422 -0.072236 0.378371 
time: 1403636878.851666, t: 0.270165 -0.398702 0.125488 q: 0.038414 0.908661 -0.139732 0.391580 
time: 1403636879.251667, t: 0.520861 -0.510172 0.145286 q: 0.035695 0.899734 -0.135619 0.413295 
time: 1403636879.651666, t: 0.723711 -0.384379 0.168799 q: -0.012855 0.898754 -0.044808 0.435968 
time: 1403636880.051666, t: 0.286818 -0.155688 0.163838 q: -0.058679 0.909869 0.008674 0.410634 
time: 1403636880.451667, t: 0.035492 -0.211743 0.199726 q: -0.011700 0.906116 -0.043392 0.420635 
time: 1403636880.851666, t: -0.137656 -0.189800 0.226789 q: 0.014733 0.910123 -0.086111 0.405023 
time: 1403636881.251667, t: -0.131137 -0.042970 0.236512 q: -0.031910 0.898715 -0.022152 0.436809 
time: 1403636881.651666, t: 0.048206 -0.037531 0.239846 q: -0.043005 0.889080 0.043824 0.453616 
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time: 1403636883.651666, t: 0.302031 -0.160616 -0.039411 q: -0.137638 0.797377 0.140950 0.570419 
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time: 1403636898.451667, t: 0.268259 -0.270288 0.074328 q: -0.119806 0.804511 0.176877 0.554188 
time: 1403636898.851666, t: 0.308037 -0.258486 0.154134 q: -0.127156 0.804452 0.183656 0.550417 
time: 1403636899.251667, t: 0.387805 -0.234570 0.201377 q: -0.123756 0.803622 0.152111 0.561906 
time: 1403636899.651666, t: 0.474049 -0.259075 0.235004 q: -0.083456 0.814161 0.078453 0.569230 
time: 1403636900.051666, t: 0.563686 -0.319623 0.245514 q: -0.055418 0.813290 0.067352 0.575284 
time: 1403636900.451667, t: 0.641921 -0.390425 0.303164 q: -0.053430 0.814335 0.073774 0.573203 
time: 1403636900.851666, t: 0.718463 -0.465674 0.361654 q: -0.064344 0.825127 0.078653 0.555733 
time: 1403636901.251667, t: 0.839776 -0.559602 0.351128 q: -0.078900 0.818686 0.070235 0.564443 
time: 1403636901.651666, t: 0.987699 -0.711393 0.378103 q: -0.063266 0.814964 0.079835 0.570488 
optimize pose graph 
time: 1403636902.051666, t: 1.144446 -0.872169 0.350382 q: -0.062566 0.813223 0.081878 0.572756 
time: 1403636902.451667, t: 1.291002 -1.035502 0.321395 q: -0.063636 0.814370 0.077925 0.571559 
time: 1403636902.851666, t: 1.428078 -1.197875 0.239242 q: -0.050173 0.812167 0.077351 0.576094 
time: 1403636903.251667, t: 1.542373 -1.341808 0.271997 q: -0.057930 0.812972 0.081397 0.573668 
time: 1403636903.651666, t: 1.650133 -1.464623 0.332425 q: -0.057839 0.816415 0.088324 0.567733 
optimize pose graph 
time: 1403636904.051666, t: 1.776922 -1.572914 0.348472 q: -0.074180 0.817755 0.079370 0.565221 
time: 1403636904.451667, t: 1.930396 -1.705958 0.445354 q: -0.073439 0.814473 0.076987 0.570363 
time: 1403636904.851666, t: 2.088514 -1.873866 0.493351 q: -0.059030 0.814370 0.079924 0.571777 
time: 1403636905.251667, t: 2.239350 -2.035061 0.505988 q: -0.046918 0.814272 0.079267 0.573128 
time: 1403636905.651666, t: 2.388105 -2.155565 0.567941 q: -0.045481 0.817482 0.092454 0.566663 
time: 1403636906.051666, t: 2.543210 -2.222617 0.553928 q: -0.057294 0.821877 0.098766 0.558105 
time: 1403636906.451667, t: 2.727495 -2.249475 0.543374 q: -0.074047 0.811983 0.092181 0.571579 
time: 1403636906.851666, t: 2.910814 -2.286433 0.553252 q: -0.069325 0.814727 0.094954 0.567800 
time: 1403636907.251667, t: 3.099707 -2.328263 0.551693 q: -0.065437 0.819669 0.104725 0.559369 
time: 1403636907.651666, t: 3.320324 -2.350834 0.563312 q: -0.084548 0.823207 0.095136 0.553291 
time: 1403636908.051666, t: 3.599959 -2.396106 0.614745 q: -0.078733 0.815980 0.101098 0.563700 
time: 1403636908.451667, t: 3.890690 -2.456830 0.617453 q: -0.078501 0.811627 0.112055 0.567929 
time: 1403636908.851666, t: 4.168144 -2.513646 0.610307 q: -0.085664 0.817990 0.115892 0.556887 
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time: 1403636909.651666, t: 4.818517 -2.613049 0.685286 q: -0.089490 0.815025 0.108332 0.562130 
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time: 1403636910.451667, t: 5.446348 -2.695669 0.551274 q: -0.078537 0.811115 0.117006 0.567656 
time: 1403636910.851666, t: 5.721427 -2.689851 0.531920 q: -0.081229 0.812360 0.118235 0.565237 
time: 1403636911.251667, t: 5.975916 -2.693826 0.488090 q: -0.087991 0.806285 0.115310 0.573468 
time: 1403636911.651666, t: 6.197135 -2.711158 0.530978 q: -0.079490 0.810817 0.119074 0.567519 
time: 1403636912.051666, t: 6.412716 -2.724599 0.522355 q: -0.091384 0.815786 0.107482 0.560884 
time: 1403636912.451667, t: 6.649283 -2.753146 0.510002 q: -0.085556 0.812809 0.108887 0.565832 
time: 1403636912.851666, t: 6.893343 -2.804271 0.472465 q: -0.097441 0.813571 0.096460 0.565069 
time: 1403636913.251667, t: 7.142172 -2.903795 0.390952 q: -0.081672 0.803734 0.107624 0.579446 
time: 1403636913.651666, t: 7.362679 -3.022078 0.374586 q: -0.084004 0.811382 0.105103 0.568819 
time: 1403636914.051666, t: 7.565100 -3.153005 0.354901 q: -0.079944 0.810008 0.108371 0.570746 
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time: 1403636978.451667, t: 4.328484 -4.161562 -1.223520 q: 0.166786 0.786297 -0.251220 0.539266 
time: 1403636978.851666, t: 4.336710 -4.356681 -1.213193 q: 0.164285 0.798810 -0.256819 0.518611 
time: 1403636979.251667, t: 4.430167 -4.568940 -1.285989 q: 0.173274 0.780339 -0.250076 0.546360 
time: 1403636979.651666, t: 4.553877 -4.758209 -1.343459 q: 0.166488 0.795745 -0.255896 0.523057 
time: 1403636980.051666, t: 4.758542 -4.959572 -1.319166 q: 0.179862 0.784716 -0.255685 0.535253 
time: 1403636980.451667, t: 4.993495 -5.142042 -1.352738 q: 0.180740 0.773072 -0.260145 0.549562 
time: 1403636980.851666, t: 5.220327 -5.297682 -1.420587 q: 0.177247 0.774505 -0.257529 0.549913 
time: 1403636981.251667, t: 5.438240 -5.425970 -1.439472 q: 0.169295 0.774463 -0.261984 0.550373 
time: 1403636981.651666, t: 5.618214 -5.545522 -1.502887 q: 0.182475 0.777834 -0.261673 0.541484 
time: 1403636982.051666, t: 5.794243 -5.665753 -1.487922 q: 0.184055 0.793604 -0.270627 0.512911 
time: 1403636982.451667, t: 6.053144 -5.818930 -1.487312 q: 0.170159 0.782788 -0.280973 0.528529 
time: 1403636982.851666, t: 6.340882 -6.034405 -1.457486 q: 0.170058 0.780866 -0.272812 0.535632 
time: 1403636983.251667, t: 6.624229 -6.281311 -1.481197 q: 0.182858 0.776339 -0.261923 0.543376 
time: 1403636983.651666, t: 6.910017 -6.509802 -1.550629 q: 0.188185 0.778884 -0.263065 0.537329 
time: 1403636984.051666, t: 7.208078 -6.704720 -1.517248 q: 0.188459 0.786903 -0.270334 0.521715 
time: 1403636984.451667, t: 7.551280 -6.933647 -1.472704 q: 0.193772 0.777367 -0.270486 0.533845 
time: 1403636984.851666, t: 7.933962 -7.056958 -1.506526 q: 0.193681 0.771914 -0.273079 0.540429 
time: 1403636985.251667, t: 8.294449 -7.188623 -1.486800 q: 0.194936 0.772357 -0.273431 0.539166 
time: 1403636985.651666, t: 8.654966 -7.291148 -1.522520 q: 0.190265 0.780867 -0.246101 0.541739 
time: 1403636986.051666, t: 9.018412 -7.328903 -1.487375 q: 0.195932 0.758386 -0.220796 0.581128 
time: 1403636986.451667, t: 9.329833 -7.261065 -1.542728 q: 0.177898 0.782220 -0.232159 0.550078 
time: 1403636986.851666, t: 9.625163 -7.143247 -1.543487 q: 0.156387 0.779455 -0.245533 0.554713 
time: 1403636987.251667, t: 9.872805 -7.031630 -1.431149 q: 0.166523 0.776227 -0.243805 0.557047 
time: 1403636987.651666, t: 10.081453 -6.909521 -1.380422 q: 0.171898 0.769728 -0.229828 0.570219 
optimize pose graph 
time: 1403636988.051666, t: 10.216292 -6.742515 -1.331299 q: 0.150261 0.774171 -0.234926 0.568234 
time: 1403636988.451667, t: 10.274384 -6.591738 -1.288838 q: 0.139644 0.763665 -0.243889 0.581235 
time: 1403636988.851666, t: 10.202389 -6.477061 -1.205771 q: 0.142135 0.755608 -0.241251 0.592158 
time: 1403636989.251667, t: 9.979788 -6.374309 -1.188214 q: 0.142716 0.751961 -0.243435 0.595757 
time: 1403636989.651666, t: 9.619215 -6.283345 -1.130722 q: 0.159953 0.779205 -0.237227 0.557654 
optimize pose graph 
time: 1403636990.051666, t: 9.244827 -6.188569 -1.087665 q: 0.164755 0.773195 -0.234042 0.565906 
time: 1403636990.451667, t: 8.852047 -6.059036 -1.016487 q: 0.165257 0.779168 -0.229561 0.559364 
time: 1403636990.851666, t: 8.463908 -5.908574 -0.976923 q: 0.161269 0.786514 -0.225687 0.551773 
time: 1403636991.251667, t: 8.106388 -5.751533 -1.017350 q: 0.162658 0.786575 -0.225861 0.551208 
time: 1403636991.651666, t: 7.771348 -5.586768 -0.976833 q: 0.159599 0.785891 -0.234532 0.549453 
optimize pose graph 
time: 1403636992.051666, t: 7.470213 -5.446778 -0.875272 q: 0.156049 0.782072 -0.249004 0.549554 
time: 1403636992.451667, t: 7.172300 -5.338608 -0.860091 q: 0.172734 0.780912 -0.245814 0.547646 
time: 1403636992.851666, t: 6.910171 -5.222884 -0.813025 q: 0.179566 0.784613 -0.249966 0.538197 
time: 1403636993.251667, t: 6.703265 -5.094222 -0.803114 q: 0.169727 0.777212 -0.246164 0.553658 
time: 1403636993.651666, t: 6.499930 -4.946039 -0.714584 q: 0.126377 0.792377 -0.188533 0.566235 
time: 1403636994.051666, t: 6.283194 -4.798868 -0.646112 q: 0.111607 0.796418 -0.156023 0.573514 
time: 1403636994.451667, t: 6.038730 -4.634179 -0.652658 q: 0.116094 0.781212 -0.148724 0.595073 
time: 1403636994.851666, t: 5.725367 -4.417772 -0.636521 q: 0.090571 0.796560 -0.170302 0.572963 
time: 1403636995.251667, t: 5.380986 -4.225104 -0.609829 q: 0.102963 0.789076 -0.161186 0.583761 
time: 1403636995.651666, t: 5.002016 -4.040566 -0.513414 q: 0.102437 0.797793 -0.156911 0.573072 
time: 1403636996.051666, t: 4.608655 -3.858445 -0.443082 q: 0.089497 0.800805 -0.168093 0.567843 
time: 1403636996.451667, t: 4.228669 -3.724000 -0.385316 q: 0.096532 0.805808 -0.151180 0.564358 
time: 1403636996.851666, t: 3.884262 -3.591524 -0.282936 q: 0.056911 0.817138 -0.090184 0.566492 
time: 1403636997.251667, t: 3.578005 -3.465107 -0.307830 q: 0.007168 0.824327 -0.024688 0.565530 
time: 1403636997.651666, t: 3.341742 -3.365956 -0.315739 q: 0.000969 0.825969 -0.011232 0.563602 
optimize pose graph 
time: 1403636998.051666, t: 3.185760 -3.273017 -0.198533 q: 0.009657 0.827769 -0.017093 0.560725 
time: 1403636998.451667, t: 3.111455 -3.193299 -0.066457 q: 0.009922 0.826714 -0.025554 0.561954 
time: 1403636998.851666, t: 3.070270 -3.119728 0.081318 q: 0.021670 0.809202 -0.021613 0.586732 
time: 1403636999.251667, t: 2.988125 -3.030800 0.191156 q: 0.032141 0.811390 -0.017182 0.583368 
time: 1403636999.651666, t: 2.890112 -2.905134 0.217536 q: 0.021104 0.809392 -0.026808 0.586276 
optimize pose graph 
time: 1403637000.051666, t: 2.751982 -2.767193 0.195641 q: 0.028526 0.808635 -0.023408 0.587152 
time: 1403637000.451667, t: 2.578155 -2.599050 0.222675 q: 0.026424 0.811935 -0.024726 0.582625 
time: 1403637000.851666, t: 2.388560 -2.406844 0.262010 q: 0.024923 0.810177 -0.027249 0.585022 
time: 1403637001.251667, t: 2.176403 -2.208065 0.288931 q: 0.023629 0.809654 -0.030852 0.585620 
time: 1403637001.651666, t: 1.934598 -2.011198 0.355372 q: 0.020296 0.815581 -0.036660 0.577124 
optimize pose graph 
time: 1403637002.051666, t: 1.685532 -1.829249 0.370569 q: 0.023801 0.817364 -0.037070 0.574434 
time: 1403637002.451667, t: 1.453444 -1.665439 0.332788 q: 0.027237 0.817999 -0.034743 0.573524 
time: 1403637002.851666, t: 1.231980 -1.490623 0.371857 q: 0.030875 0.817509 -0.034557 0.574048 
time: 1403637003.251667, t: 1.010054 -1.313490 0.355449 q: 0.029920 0.816925 -0.041138 0.574496 
time: 1403637003.651666, t: 0.806110 -1.132109 0.357845 q: 0.027718 0.813710 -0.046859 0.578716 
optimize pose graph 
time: 1403637004.051666, t: 0.605027 -0.964983 0.374458 q: 0.029423 0.820355 -0.040883 0.569632 
time: 1403637004.451667, t: 0.427014 -0.801925 0.358147 q: 0.024205 0.819644 -0.040665 0.570916 
time: 1403637004.851666, t: 0.256403 -0.662298 0.440112 q: 0.008092 0.814187 -0.063187 0.577097 
time: 1403637005.651666, t: -0.006360 -0.505937 0.307997 q: 0.028258 0.820403 -0.047819 0.569081 
time: 1403637006.051666, t: -0.118083 -0.442330 0.335959 q: 0.026074 0.818910 -0.045387 0.571529 
optimize pose graph 
time: 1403637006.451667, t: -0.198954 -0.395181 0.344440 q: 0.016290 0.830701 -0.051140 0.554125 
time: 1403637006.851666, t: -0.218666 -0.372305 0.331834 q: -0.004288 0.818215 -0.019516 0.574565 
time: 1403637007.251667, t: -0.221070 -0.374296 0.293579 q: -0.036010 0.813722 0.050698 0.577918 
time: 1403637007.651666, t: -0.252259 -0.369651 0.244377 q: -0.039937 0.817565 0.066406 0.570599 
time: 1403637008.051666, t: -0.286820 -0.340251 0.203031 q: -0.046033 0.812821 0.053067 0.578262 
optimize pose graph 
time: 1403637008.451667, t: -0.309551 -0.308086 0.188732 q: -0.032746 0.827365 0.050522 0.558428 
time: 1403637008.851666, t: -0.294418 -0.268103 0.189601 q: -0.059282 0.821533 0.024021 0.566562 
time: 1403637009.251667, t: -0.258704 -0.291861 0.135560 q: -0.027019 0.821410 0.041747 0.568166 
time: 1403637009.651666, t: -0.240468 -0.323852 0.103367 q: -0.082478 0.784047 0.048495 0.613283 
time: 1403637010.051666, t: -0.248634 -0.328841 0.098129 q: -0.080227 0.790961 0.035122 0.605566 
time: 1403637010.451667, t: -0.253420 -0.330722 0.100075 q: -0.079276 0.791445 0.035624 0.605030 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720549800.461700087]: Shutdown request received.[0m
[33m[ WARN] [1720549800.461744908]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720549800.462532508]: Shutdown request received.[0m
[33m[ WARN] [1720549800.462553425]: Reason given for shutdown: [user request][0m
killed
