/SLAM-Hive/slam_hive_results/mapping_results/3183/2388_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-18.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720556187.122166236]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720556187.123819553]: init begins[0m
[31m[ERROR] [1720556187.125178324]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/1f0764fc-3e30-11ef-8143-0242ac110005/roslaunch-37ac9435f419-118.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://37ac9435f419:45619/[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] [1720556188.281943084]: 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] [1720556188.286934639]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720556188.287171278]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720556188.287194613]: 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] [1720556188.287384426]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720556188.287600996]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720556188.287773509]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://37ac9435f419:11311/[0m
]2;roscore http://37ac9435f419:11311/
[1msetting /run_id to 1f0764fc-3e30-11ef-8143-0242ac110005[0m
[0m[ INFO] [1720556188.328401691]: Connected to master at [localhost:11311][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
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_03_medium.bag  --clock 
[0m[ INFO] [1720556197.276189230]: 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: 316919066.94 
init first imu pose
averge acc 9.442349 -0.663823 -2.451513
init R0 
    0.259747     0.252397     0.932109
-6.16298e-33    -0.965239     0.261368
    0.965677   -0.0678897    -0.250718
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720556208.179205454]: gyroscope bias initial calibration 0.0481889 0.0790645  0.145463[0m
[0m[ INFO] [1720556208.230860461]: Initialization finish![0m
time: 1403637141.038319, t: -2.009038 1.067436 -0.490256 q: -0.032198 0.790044 0.006508 0.612170 
time: 1403637142.038319, t: 0.325423 0.521458 0.052506 q: -0.076778 0.802186 0.024909 0.591593 
time: 1403637143.038319, t: -0.018234 -0.023084 -0.024086 q: -0.043716 0.796486 0.009788 0.602995 
time: 1403637144.038319, t: 0.006022 -0.013695 -0.023011 q: -0.064212 0.796791 0.025595 0.600288 
time: 1403637145.038319, t: -0.004284 -0.055454 -0.032882 q: -0.070318 0.797355 0.030683 0.598614 
time: 1403637146.038319, t: 0.001143 -0.047689 -0.033172 q: -0.071919 0.797294 0.031172 0.598480 
time: 1403637147.038319, t: 0.003596 -0.047959 -0.034600 q: -0.073842 0.797167 0.032715 0.598332 
time: 1403637148.038319, t: 0.006984 -0.045343 -0.038124 q: -0.076778 0.796973 0.034537 0.598119 
time: 1403637150.038319, t: 0.002026 -0.050500 -0.034776 q: -0.081902 0.830233 0.079037 0.545672 
time: 1403637151.038319, t: 0.243032 -0.171248 0.200269 q: -0.056865 0.811371 0.067962 0.577776 
time: 1403637152.038319, t: 0.449400 -0.252829 0.411237 q: -0.061938 0.818273 0.072005 0.566929 
time: 1403637154.038319, t: 0.958715 -0.527810 0.602082 q: -0.054547 0.816286 0.070967 0.570672 
time: 1403637155.038319, t: 1.322774 -0.720129 0.481164 q: -0.024047 0.834305 0.039050 0.549392 
time: 1403637156.038319, t: 1.861179 -0.919897 0.482086 q: 0.041436 0.812782 -0.106883 0.571179 
time: 1403637157.038319, t: 2.119739 -1.413223 0.240576 q: 0.184293 0.774465 -0.286746 0.532932 
time: 1403637158.038319, t: 2.190753 -2.339630 0.094191 q: 0.169923 0.764612 -0.279844 0.555141 
time: 1403637159.038319, t: 2.002824 -3.340693 0.098875 q: 0.235282 0.731952 -0.372095 0.520032 
time: 1403637160.038319, t: 1.586219 -4.540560 0.035476 q: 0.252060 0.728216 -0.382323 0.509899 
time: 1403637161.038319, t: 1.236350 -5.693560 -0.196444 q: 0.360362 0.625013 -0.546918 0.424710 
time: 1403637162.038319, t: 0.757497 -6.878231 0.053649 q: 0.422223 0.556353 -0.555095 0.451739 
time: 1403637163.038319, t: -0.083850 -7.387118 0.028748 q: -0.446109 -0.510825 0.595564 -0.430520 
time: 1403637164.038319, t: -1.090866 -6.922737 -0.085132 q: -0.472483 -0.365256 0.728230 -0.336197 
time: 1403637165.038319, t: -2.483071 -5.830104 0.032880 q: 0.505309 0.389501 -0.706681 0.305866 
time: 1403637166.038319, t: -3.806683 -4.583534 0.023882 q: 0.542435 0.349330 -0.741666 0.183482 
time: 1403637167.038319, t: -4.290586 -3.806101 -0.264221 q: 0.557127 0.420790 -0.689503 0.192694 
time: 1403637168.038319, t: -2.871038 -3.565830 -0.431293 q: -0.494596 -0.418550 0.716213 -0.259287 
time: 1403637169.038319, t: -3.092649 -6.293887 -0.415314 q: 0.502078 0.431687 -0.697529 0.273894 
time: 1403637170.038319, t: -1.502165 -6.975349 -0.521407 q: 0.450927 0.592557 -0.540167 0.392123 
time: 1403637171.038319, t: 0.553805 -7.020274 -0.865551 q: 0.273412 0.704408 -0.335830 0.562382 
time: 1403637172.038319, t: 1.799885 -6.061053 -0.873805 q: 0.253920 0.733764 -0.257659 0.575088 
time: 1403637173.038319, t: 2.196134 -4.445381 -0.842925 q: 0.172774 0.756316 -0.376598 0.506270 
time: 1403637174.038319, t: 2.004659 -4.054302 -1.112787 q: 0.268741 0.663450 -0.541298 0.441146 
time: 1403637175.038319, t: 1.179033 -4.684014 -0.948698 q: -0.387346 -0.560465 0.586115 -0.438534 
time: 1403637176.038319, t: -0.206148 -4.824542 -0.962224 q: -0.420687 -0.524780 0.604687 -0.426593 
time: 1403637177.038319, t: -1.939955 -4.348171 -0.931853 q: -0.422411 -0.513295 0.646762 -0.373893 
time: 1403637178.038319, t: -3.621328 -4.329295 -1.188070 q: -0.456460 -0.516034 0.664598 -0.289246 
time: 1403637179.038319, t: -4.204149 -5.347268 -1.342735 q: 0.516382 0.437063 -0.670170 0.305283 
time: 1403637180.038319, t: -3.711643 -6.369259 -1.596950 q: 0.526753 0.458593 -0.660498 0.275620 
time: 1403637181.038319, t: -2.528635 -7.279118 -1.963530 q: 0.521226 0.458545 -0.669946 0.263121 
time: 1403637182.038319, t: -0.769688 -8.230731 -1.672056 q: 0.513605 0.414055 -0.691979 0.293143 
time: 1403637183.038319, t: 1.228022 -8.582351 -1.455327 q: 0.519524 0.387386 -0.677560 0.347764 
time: 1403637184.038319, t: 2.966110 -7.669067 -1.812371 q: -0.466248 -0.361282 0.713680 -0.377822 
time: 1403637185.038319, t: 3.613397 -5.949208 -2.109393 q: -0.450602 -0.424915 0.729844 -0.289365 
time: 1403637186.038319, t: 3.625496 -5.066869 -1.905877 q: -0.492147 -0.422934 0.705258 -0.285533 
time: 1403637187.038319, t: 3.669016 -4.683714 -1.594001 q: -0.466198 -0.388779 0.724566 -0.326366 
time: 1403637188.038319, t: -1.367668 -4.072044 -1.328131 q: -0.467547 -0.402603 0.740051 -0.267648 
time: 1403637189.038319, t: -2.422400 -3.593677 -1.436269 q: 0.508798 0.328184 -0.751055 0.263318 
time: 1403637190.038319, t: -3.598291 -3.582103 -1.671311 q: 0.526836 0.332041 -0.743060 0.245061 
time: 1403637192.038319, t: -5.252901 -3.159823 -1.467251 q: 0.520140 0.385684 -0.727267 0.227565 
time: 1403637193.038319, t: -5.526724 -3.365125 -1.141227 q: 0.501548 0.372590 -0.742457 0.241626 
time: 1403637194.038319, t: -6.001120 -4.033712 -0.856407 q: 0.515072 0.375708 -0.732074 0.240027 
time: 1403637195.038319, t: -6.230936 -5.028734 -0.742664 q: 0.509009 0.368276 -0.739595 0.241418 
time: 1403637196.038319, t: -6.238866 -6.126830 -0.677941 q: 0.534835 0.401899 -0.701808 0.244734 
time: 1403637197.038319, t: -5.261717 -7.068675 -0.773397 q: 0.566398 0.384724 -0.680665 0.260532 
time: 1403637198.038319, t: -3.189438 -7.511640 -0.725286 q: 0.428309 0.611220 -0.525975 0.407813 
time: 1403637199.038319, t: -0.686738 -7.257365 -0.554976 q: 0.382649 0.658292 -0.413388 0.499342 
time: 1403637200.038319, t: 1.809692 -5.817276 -0.812522 q: 0.177606 0.708696 -0.257440 0.632401 
time: 1403637201.038319, t: 2.879357 -3.924473 -1.343177 q: 0.093887 0.781775 -0.167750 0.593189 
time: 1403637202.038319, t: 2.972626 -2.697512 -1.437006 q: 0.093059 0.765594 -0.276415 0.573411 
time: 1403637203.038319, t: 2.577260 -2.566932 -1.411030 q: 0.161404 0.790003 -0.216054 0.550604 
time: 1403637204.038319, t: 1.446425 -4.015275 -1.232352 q: 0.170573 0.785017 -0.220794 0.553085 
time: 1403637205.038319, t: 1.173743 -4.050811 -1.179921 q: 0.169141 0.785716 -0.237932 0.545371 
time: 1403637206.038319, t: 1.100698 -3.919605 -1.242458 q: 0.153974 0.789681 -0.206287 0.556904 
time: 1403637207.038319, t: 1.063227 -3.730477 -1.159663 q: 0.149425 0.782861 -0.213760 0.564897 
time: 1403637208.038319, t: 0.905092 -3.528268 -1.159716 q: 0.151327 0.787305 -0.223972 0.554155 
time: 1403637209.038319, t: 0.679767 -3.430406 -1.051508 q: 0.175744 0.785139 -0.214334 0.553834 
time: 1403637210.038319, t: 0.701903 -3.220794 -1.009937 q: 0.110736 0.843917 -0.178883 0.493501 
time: 1403637211.038319, t: 1.974505 -3.444991 -1.300941 q: 0.088392 0.818059 -0.191964 0.534899 
time: 1403637212.038319, t: 3.704543 -4.115338 -1.708561 q: 0.101931 0.808830 -0.196008 0.544963 
time: 1403637213.038319, t: 5.153638 -4.909096 -1.573018 q: 0.129859 0.806316 -0.183788 0.547003 
time: 1403637214.038319, t: 6.552836 -5.622484 -1.529488 q: 0.147352 0.804351 -0.159899 0.552938 
time: 1403637215.038319, t: 7.785577 -5.688816 -1.342988 q: 0.094428 0.790867 -0.006827 0.604621 
time: 1403637216.038319, t: 8.076256 -4.566649 -1.157552 q: -0.049672 0.794194 0.090066 0.598896 
time: 1403637217.038319, t: 7.466352 -3.443396 -0.945727 q: -0.099105 0.767769 0.103320 0.624526 
time: 1403637219.038319, t: 3.699625 -3.363705 -0.905789 q: -0.121572 0.771025 0.218164 0.585785 
time: 1403637220.038319, t: 0.990015 -3.371692 -1.183880 q: -0.122104 0.805811 0.209063 0.540418 
time: 1403637221.038319, t: -0.604539 -3.050310 -0.862089 q: -0.141738 0.807792 0.184631 0.541567 
time: 1403637222.038319, t: -1.670381 -2.812261 -0.909393 q: -0.081956 0.830994 0.096154 0.541744 
time: 1403637223.038319, t: -1.727652 -2.744117 -1.087408 q: -0.022496 0.834095 0.016447 0.550917 
time: 1403637224.038319, t: -1.689000 -2.685829 -0.791344 q: -0.024300 0.815544 0.033953 0.577187 
time: 1403637225.038319, t: -1.741376 -2.649327 -0.867124 q: -0.022729 0.813071 0.034005 0.580726 
time: 1403637226.038319, t: -1.934515 -2.517381 -0.872482 q: -0.022196 0.814544 0.042449 0.578121 
time: 1403637227.038319, t: -2.025851 -2.227794 -0.823494 q: -0.035117 0.826267 0.031945 0.561275 
time: 1403637228.038319, t: -1.952621 -2.036415 -0.860977 q: -0.025613 0.813143 0.027914 0.580830 
time: 1403637229.038319, t: -1.975461 -1.952948 -0.849228 q: -0.021383 0.815602 0.036715 0.577052 
time: 1403637230.038319, t: -2.148426 -1.870303 -1.020473 q: 0.088756 0.810943 -0.123275 0.565063 
time: 1403637231.038319, t: -2.140391 -1.900387 -0.981078 q: 0.177051 0.774643 -0.298070 0.528900 
time: 1403637232.038319, t: -2.298327 -2.204486 -1.450397 q: -0.365728 -0.574703 0.601663 -0.417087 
time: 1403637233.038319, t: -3.041806 -2.671405 -1.517722 q: -0.432412 -0.401875 0.749059 -0.300711 
time: 1403637234.038319, t: -4.485766 -3.535460 -1.631807 q: 0.539653 0.483225 -0.657695 0.206656 
time: 1403637235.038319, t: -4.239390 -5.177144 -2.212441 q: -0.492665 -0.487758 0.624467 -0.359741 
time: 1403637236.038319, t: -3.017211 -6.290866 -2.439843 q: 0.444760 0.622155 -0.507612 0.396789 
time: 1403637237.038319, t: -4.346304 -4.886209 -2.333933 q: 0.378617 0.650378 -0.388856 0.531459 
time: 1403637238.038319, t: 0.940575 -5.304906 -1.458572 q: 0.268412 0.666298 -0.390773 0.575585 
time: 1403637239.038319, t: 0.863891 -3.454986 -1.100074 q: -0.228392 -0.575209 0.670171 -0.409686 
time: 1403637240.038319, t: -1.190008 -3.333097 -1.138043 q: -0.475538 -0.432233 0.691535 -0.329875 
time: 1403637241.038319, t: -3.348152 -3.587397 -1.596364 q: 0.529606 0.364740 -0.729488 0.233085 
time: 1403637242.038319, t: -4.744473 -4.235161 -1.846388 q: 0.565945 0.371445 -0.687489 0.262858 
time: 1403637243.038319, t: -5.560301 -5.862071 -1.753497 q: 0.561052 0.416742 -0.654374 0.288689 
time: 1403637244.038319, t: -4.467147 -6.220445 -1.731349 q: -0.480155 -0.410266 0.712306 -0.306192 
time: 1403637245.038319, t: -3.328703 -6.368957 -1.244093 q: -0.453449 -0.475436 0.690063 -0.303575 
time: 1403637246.038319, t: -2.689478 -7.044180 -1.119469 q: -0.431565 -0.552650 0.603916 -0.378966 
time: 1403637247.038319, t: -2.019086 -7.726225 -1.515173 q: 0.260159 0.750588 -0.292819 0.532158 
time: 1403637248.038319, t: -1.215570 -7.431375 -1.852164 q: 0.207389 0.759647 -0.218062 0.576520 
time: 1403637249.038319, t: -0.690286 -6.359350 -2.093284 q: 0.162748 0.790946 -0.202415 0.554027 
time: 1403637250.038319, t: 1.434749 -4.600515 -1.674581 q: 0.147910 0.784513 -0.193894 0.570146 
time: 1403637251.038319, t: 2.053233 -3.378318 -1.749208 q: 0.071656 0.804408 -0.164726 0.566267 
time: 1403637252.038319, t: 2.141255 -2.972628 -1.345029 q: 0.045225 0.802052 -0.072542 0.591104 
time: 1403637253.038319, t: 1.977874 -2.625586 -1.344411 q: 0.036185 0.812278 -0.077591 0.576953 
time: 1403637254.038319, t: 1.548515 -2.368062 -1.238369 q: 0.054719 0.805728 -0.068962 0.585707 
time: 1403637255.038319, t: 1.103107 -2.205347 -1.047691 q: 0.024305 0.808790 -0.029871 0.586835 
time: 1403637256.038319, t: 0.649373 -1.904577 -1.028825 q: -0.054776 0.812878 0.093127 0.572325 
time: 1403637257.038319, t: 0.096938 -1.515680 -1.024306 q: -0.081942 0.810796 0.103286 0.570287 
optimize pose graph 
time: 1403637258.038319, t: -0.402253 -1.089134 -1.026474 q: -0.111849 0.816110 0.162415 0.543209 
time: 1403637259.038319, t: -0.667750 -0.644168 -1.171260 q: -0.175120 0.785269 0.214072 0.553949 
time: 1403637260.038319, t: -0.718811 -0.359812 -1.173385 q: -0.175331 0.786389 0.203664 0.556212 
time: 1403637261.038319, t: -0.965647 -0.385162 -1.296061 q: -0.157423 0.781725 0.223040 0.560693 
time: 1403637262.038319, t: -0.957405 -0.258264 -1.350794 q: -0.160325 0.784452 0.217059 0.558406 
time: 1403637263.038319, t: -0.951933 -0.235362 -1.406107 q: -0.166686 0.781049 0.166516 0.578317 
time: 1403637264.038319, t: -0.882994 -0.246597 -1.363554 q: -0.167335 0.782161 0.165958 0.576785 
time: 1403637265.038319, t: -0.952154 -0.225618 -1.406216 q: -0.167039 0.781090 0.165863 0.578348 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720556334.045170483]: Shutdown request received.[0m
[33m[ WARN] [1720556334.045216381]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720556334.046074948]: Shutdown request received.[0m
[33m[ WARN] [1720556334.046096799]: Reason given for shutdown: [user request][0m
killed
