/SLAM-Hive/slam_hive_results/mapping_results/3184/2389_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-19.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720556358.790933615]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720556358.792583679]: init begins[0m
[31m[ERROR] [1720556358.793706193]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/855abbdc-3e30-11ef-b17d-0242ac110005/roslaunch-cbee967eea1c-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://cbee967eea1c:39747/[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://cbee967eea1c:11311/[0m
]2;roscore http://cbee967eea1c:11311/
[1msetting /run_id to 855abbdc-3e30-11ef-b17d-0242ac110005[0m
[0m[ INFO] [1720556359.946745291]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720556359.949120511]: 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] [1720556359.955917563]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720556359.956139700]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720556359.956172242]: ROW: 384 COL: 601 [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] [1720556359.956630859]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720556359.956862800]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720556359.957040957]: 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
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [218][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720556368.949407232]: 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: 316919238.61 
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! 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720556379.832524947]: gyroscope bias initial calibration 0.00432891  0.0123151  0.0453294[0m
[0m[ INFO] [1720556379.890781405]: Initialization finish![0m
time: 1403637141.038319, t: -1.500319 0.839767 -0.686628 q: -0.055789 0.791375 0.022287 0.608373 
time: 1403637142.038319, t: 0.094263 -0.021416 0.008434 q: -0.062222 0.797577 0.023701 0.599531 
time: 1403637143.038319, t: 0.059501 -0.185216 -0.025399 q: -0.065458 0.800857 0.026927 0.594658 
time: 1403637144.038319, t: 0.056661 -0.177686 -0.031925 q: -0.067407 0.801351 0.028047 0.593722 
time: 1403637145.038319, t: 0.063030 -0.165473 -0.028505 q: -0.066694 0.801152 0.027483 0.594097 
time: 1403637146.038319, t: 0.070747 -0.151363 -0.028233 q: -0.066985 0.800996 0.027107 0.594293 
time: 1403637148.038319, t: 0.070673 -0.148098 -0.011292 q: -0.066676 0.799675 0.027441 0.596088 
time: 1403637149.038319, t: 0.084289 -0.127992 -0.004832 q: -0.062901 0.799338 0.026635 0.596986 
time: 1403637150.038319, t: 0.125350 -0.118925 0.004585 q: -0.059539 0.831748 0.062317 0.548422 
time: 1403637151.038319, t: 0.368673 -0.237576 0.244468 q: -0.031199 0.811934 0.051558 0.580630 
time: 1403637152.038319, t: 0.601318 -0.310097 0.458046 q: -0.040956 0.819594 0.058308 0.568497 
time: 1403637153.038319, t: 0.861259 -0.460733 0.530640 q: -0.042518 0.815654 0.053324 0.574506 
time: 1403637154.038319, t: 1.082714 -0.624338 0.641441 q: -0.033597 0.818283 0.055566 0.571136 
time: 1403637155.038319, t: 1.435122 -0.824528 0.516655 q: -0.004185 0.834820 0.023381 0.550010 
time: 1403637156.038319, t: 1.979405 -1.050052 0.524372 q: 0.059609 0.810498 -0.120205 0.570167 
time: 1403637157.038319, t: 2.124893 -1.608452 0.306687 q: 0.204840 0.763063 -0.303943 0.532347 
time: 1403637158.038319, t: 2.263396 -2.379418 0.152488 q: 0.178536 0.762859 -0.286208 0.551594 
time: 1403637159.038319, t: 2.112060 -3.483532 0.177593 q: 0.239777 0.729960 -0.376297 0.517750 
time: 1403637160.038319, t: 1.718810 -4.716663 0.051727 q: 0.255551 0.726607 -0.385818 0.507820 
time: 1403637161.038319, t: 1.316173 -5.787319 -0.136007 q: 0.363913 0.622660 -0.549768 0.421446 
time: 1403637162.038319, t: 0.822426 -6.926669 0.147759 q: -0.425959 -0.553891 0.557489 -0.448296 
time: 1403637163.038319, t: -0.026551 -7.383041 0.157082 q: -0.449927 -0.507830 0.597860 -0.426894 
time: 1403637164.038319, t: -1.569382 -7.115425 0.018708 q: -0.475408 -0.358911 0.730842 -0.333226 
time: 1403637165.038319, t: -3.211899 -5.971398 0.143241 q: 0.507919 0.383398 -0.709706 0.302227 
time: 1403637166.038319, t: -4.745886 -4.602949 0.140127 q: 0.544028 0.342808 -0.744506 0.179518 
time: 1403637167.038319, t: -5.333817 -3.748539 -0.138681 q: 0.558761 0.414708 -0.693012 0.188516 
time: 1403637168.038319, t: -4.156328 -4.511954 -0.270594 q: -0.494965 -0.415285 0.719387 -0.255010 
time: 1403637169.038319, t: -2.926141 -3.452922 -0.680256 q: 0.507651 0.422380 -0.701417 0.268143 
time: 1403637170.038319, t: -1.244087 -3.454500 -0.823786 q: 0.458034 0.585473 -0.545992 0.386418 
time: 1403637171.038319, t: 0.919636 -2.760530 -1.203894 q: 0.282589 0.700497 -0.343139 0.558304 
time: 1403637172.038319, t: 2.277512 -1.022702 -1.249260 q: 0.263187 0.730860 -0.265447 0.571065 
time: 1403637173.038319, t: 2.788634 1.452475 -1.251544 q: 0.181429 0.751878 -0.385026 0.503506 
time: 1403637174.038319, t: 2.665447 2.766962 -1.547053 q: 0.276659 0.656531 -0.548554 0.437623 
time: 1403637175.038319, t: 1.869169 3.124743 -1.401687 q: -0.395105 -0.552650 0.591911 -0.433718 
time: 1403637176.038319, t: 0.535217 4.044584 -1.435671 q: -0.428274 -0.516544 0.610060 -0.421414 
time: 1403637177.038319, t: -1.117637 5.667119 -1.429719 q: -0.429382 -0.504313 0.652155 -0.368773 
time: 1403637178.038319, t: -2.750209 6.900648 -1.703409 q: -0.462358 -0.506524 0.670207 -0.283694 
time: 1403637179.038319, t: -3.317269 7.147174 -1.865597 q: 0.522368 0.427289 -0.674633 0.299042 
time: 1403637180.038319, t: -3.812731 -1.090593 -1.437009 q: 0.528070 0.455123 -0.664924 0.268108 
time: 1403637181.038319, t: -2.782241 -2.082090 -1.715633 q: 0.522366 0.454911 -0.674473 0.255493 
time: 1403637182.038319, t: -0.794906 -2.639735 -1.183219 q: 0.513613 0.410389 -0.697660 0.284699 
time: 1403637183.038319, t: 0.989537 -3.173474 -0.810887 q: 0.520059 0.383803 -0.683472 0.339264 
time: 1403637184.038319, t: 2.314567 -2.108382 -0.955928 q: -0.467011 -0.355301 0.719167 -0.372103 
time: 1403637185.038319, t: 2.564217 -0.338231 -1.063543 q: -0.450156 -0.419147 0.735604 -0.283836 
time: 1403637186.038319, t: 2.062587 0.546126 -0.678854 q: -0.491611 -0.417442 0.711226 -0.279677 
time: 1403637187.038319, t: 1.495844 0.921728 -0.180033 q: -0.465985 -0.382828 0.730432 -0.320577 
time: 1403637188.038319, t: 0.112148 1.481529 -0.674919 q: -0.470068 -0.394570 0.745761 -0.259212 
time: 1403637189.038319, t: -0.899035 1.700829 -1.152912 q: 0.511193 0.321135 -0.755096 0.255702 
time: 1403637190.038319, t: -2.122243 1.766486 -1.375965 q: 0.528877 0.325242 -0.747281 0.236806 
time: 1403637191.038319, t: -3.184934 1.989995 -1.186511 q: 0.525166 0.348543 -0.730808 0.261989 
time: 1403637192.038319, t: -3.856808 2.301707 -1.164716 q: 0.521750 0.378970 -0.731996 0.219865 
time: 1403637193.038319, t: -4.112682 2.094852 -0.827417 q: 0.503425 0.365957 -0.746981 0.233789 
time: 1403637194.038319, t: -4.645795 1.396495 -0.541609 q: 0.517106 0.369826 -0.736032 0.232564 
time: 1403637195.038319, t: -4.947001 0.402065 -0.431478 q: 0.511112 0.361731 -0.743605 0.234451 
time: 1403637196.038319, t: -5.005964 -0.735560 -0.349434 q: 0.536804 0.395028 -0.707035 0.236422 
time: 1403637197.038319, t: -4.035342 -1.661686 -0.462528 q: 0.568394 0.379148 -0.684938 0.253051 
time: 1403637198.038319, t: -1.980559 -2.112883 -0.424051 q: 0.431325 0.607159 -0.532498 0.402198 
time: 1403637199.038319, t: 0.521047 -1.893858 -0.247521 q: 0.386270 0.655466 -0.420272 0.494501 
time: 1403637200.038319, t: 2.971538 -0.481285 -0.487398 q: 0.182683 0.706757 -0.265679 0.629711 
time: 1403637201.038319, t: 3.925839 1.280934 -0.996740 q: 0.098516 0.780422 -0.177027 0.591521 
time: 1403637202.038319, t: 3.953475 2.372810 -1.059408 q: 0.097788 0.763073 -0.285709 0.571427 
time: 1403637203.038319, t: 3.367989 2.318979 -1.017206 q: 0.165963 0.788179 -0.225793 0.547948 
time: 1403637204.038319, t: 2.606423 1.550508 -0.913364 q: 0.176411 0.783679 -0.227873 0.550273 
time: 1403637205.038319, t: 2.418627 1.475083 -0.890193 q: 0.174920 0.784445 -0.244375 0.542521 
time: 1403637206.038319, t: 2.351826 1.564547 -0.963389 q: 0.159799 0.788256 -0.212933 0.554776 
time: 1403637207.038319, t: 2.304378 1.777014 -0.880089 q: 0.155422 0.781550 -0.220238 0.562600 
time: 1403637208.038319, t: 2.147092 1.982002 -0.876621 q: 0.157294 0.785854 -0.230462 0.551887 
time: 1403637209.038319, t: 1.935598 2.107684 -0.769250 q: 0.182137 0.783641 -0.221268 0.551156 
optimize pose graph 
time: 1403637210.038319, t: 1.962675 2.336184 -0.724084 q: 0.117091 0.842714 -0.186971 0.491084 
time: 1403637211.038319, t: 3.231604 2.091864 -1.012509 q: 0.095178 0.816769 -0.200109 0.532716 
optimize pose graph 
time: 1403637212.038319, t: 4.985533 1.354780 -1.417965 q: 0.108506 0.807607 -0.204207 0.542491 
time: 1403637213.038319, t: 6.462217 0.464035 -1.303423 q: 0.136233 0.805258 -0.192466 0.544019 
time: 1403637214.038319, t: 7.902607 -0.253212 -1.283587 q: 0.154556 0.803795 -0.167043 0.549657 
time: 1403637215.038319, t: 9.173579 -0.357358 -1.109110 q: 0.101489 0.791935 -0.013843 0.601952 
time: 1403637216.038319, t: 9.631302 0.733861 -0.951066 q: -0.042722 0.796578 0.082565 0.597345 
time: 1403637218.038319, t: 7.708332 2.188374 -0.702556 q: -0.121460 0.764276 0.175288 0.608608 
time: 1403637219.038319, t: 5.810365 2.029265 -0.724394 q: -0.115060 0.774723 0.210824 0.584909 
time: 1403637220.038319, t: 3.210356 2.108683 -1.005592 q: -0.115742 0.809060 0.201443 0.539858 
time: 1403637221.038319, t: 1.508479 2.497804 -0.706626 q: -0.135665 0.810054 0.176863 0.542335 
time: 1403637222.038319, t: 0.232180 2.743202 -0.854427 q: -0.075844 0.832226 0.088514 0.542045 
time: 1403637223.038319, t: 0.102304 2.830528 -0.978988 q: -0.016028 0.834267 0.008124 0.551067 
time: 1403637224.038319, t: -0.074326 2.815672 -0.637416 q: -0.017693 0.815888 0.026707 0.577322 
time: 1403637225.038319, t: -0.180788 2.860090 -0.712182 q: -0.016499 0.813561 0.026841 0.580625 
time: 1403637226.038319, t: -0.428266 2.997256 -0.717868 q: -0.016067 0.815072 0.035339 0.578057 
time: 1403637227.038319, t: -0.511049 3.283365 -0.666939 q: -0.029179 0.826836 0.024727 0.561140 
time: 1403637228.038319, t: -0.426905 3.478011 -0.705491 q: -0.019141 0.813745 0.020505 0.580545 
time: 1403637229.038319, t: -0.470338 3.571502 -0.700995 q: -0.014783 0.816162 0.029231 0.576893 
time: 1403637230.038319, t: -0.641075 3.646272 -0.857623 q: 0.095044 0.810262 -0.130855 0.563311 
time: 1403637231.038319, t: -0.619192 3.608709 -0.819936 q: 0.183324 0.772021 -0.305479 0.526363 
time: 1403637232.038319, t: -0.777600 3.310655 -1.286094 q: -0.371283 -0.568367 0.607222 -0.412782 
time: 1403637233.038319, t: -1.530035 2.883178 -1.341936 q: -0.436698 -0.393834 0.752720 -0.295978 
time: 1403637234.038319, t: -2.969345 2.087907 -1.447111 q: 0.542801 0.475918 -0.662357 0.200379 
time: 1403637235.038319, t: -2.730904 0.511954 -2.023441 q: -0.497444 -0.481030 0.629207 -0.353920 
time: 1403637236.038319, t: -1.467686 -0.537605 -2.240459 q: 0.449898 0.616768 -0.513933 0.391231 
time: 1403637237.038319, t: 0.796932 -0.867085 -1.914739 q: 0.381168 0.654147 -0.392014 0.522617 
time: 1403637238.038319, t: 2.718824 0.533005 -1.229206 q: 0.276373 0.661885 -0.398856 0.571350 
time: 1403637239.038319, t: 2.763318 2.484007 -0.857300 q: -0.234532 -0.567026 0.677165 -0.406109 
time: 1403637240.038319, t: 0.803440 2.779972 -0.877918 q: -0.480674 -0.423609 0.696428 -0.323259 
time: 1403637241.038319, t: -1.265752 2.715805 -1.316740 q: 0.533541 0.355457 -0.733476 0.225825 
time: 1403637242.038319, t: -2.576068 2.254461 -1.546692 q: 0.570241 0.362675 -0.691543 0.255069 
time: 1403637243.038319, t: -3.477962 -0.023558 -1.409055 q: 0.565284 0.408514 -0.659535 0.280326 
time: 1403637244.038319, t: -3.153978 -0.737882 -1.531152 q: -0.483504 -0.401436 0.717834 -0.299644 
time: 1403637245.038319, t: -0.724064 -0.399717 -0.800124 q: -0.458504 -0.465818 0.696730 -0.295558 
time: 1403637246.038319, t: -2.876818 -2.236681 -1.123733 q: -0.433840 -0.546481 0.611232 -0.373545 
time: 1403637247.038319, t: -2.418591 -3.035547 -1.441963 q: 0.264382 0.746974 -0.302833 0.529551 
time: 1403637248.038319, t: -2.012442 -2.996253 -1.774894 q: 0.212271 0.756684 -0.228357 0.574650 
time: 1403637249.038319, t: -1.924192 -2.218372 -2.012708 q: 0.167391 0.788091 -0.213060 0.552719 
time: 1403637250.038319, t: 2.598186 0.752911 -1.465498 q: 0.155037 0.782377 -0.204483 0.567483 
time: 1403637251.038319, t: 3.814027 2.115476 -1.671542 q: 0.078664 0.802387 -0.176207 0.564746 
time: 1403637252.038319, t: 3.996645 2.427621 -1.328540 q: 0.052881 0.801503 -0.084075 0.589684 
time: 1403637253.038319, t: 3.704963 2.805400 -1.278887 q: 0.044164 0.811571 -0.088226 0.575863 
time: 1403637254.038319, t: 3.051889 3.102227 -1.110968 q: 0.062933 0.805056 -0.078929 0.584547 
time: 1403637255.038319, t: 2.545018 3.335740 -0.892391 q: 0.032865 0.808571 -0.040009 0.586116 
time: 1403637256.038319, t: 2.091253 3.651310 -0.877600 q: -0.046659 0.814201 0.082869 0.572741 
time: 1403637257.038319, t: 1.530541 4.068494 -0.883757 q: -0.073543 0.812114 0.092436 0.571418 
time: 1403637258.038319, t: 0.992214 4.522871 -0.880252 q: -0.103605 0.818211 0.151263 0.544900 
time: 1403637259.038319, t: 0.752279 5.036135 -1.023200 q: -0.166136 0.788398 0.203783 0.556148 
time: 1403637260.038319, t: 0.720756 5.279844 -0.940571 q: -0.167325 0.789312 0.193166 0.558280 
time: 1403637261.038319, t: 0.692599 5.296469 -1.142326 q: -0.148117 0.785593 0.212144 0.562050 
time: 1403637262.038319, t: 0.584919 5.407303 -1.220262 q: -0.150754 0.787974 0.205421 0.560510 
time: 1403637263.038319, t: 0.594440 5.422104 -1.270178 q: -0.156544 0.783737 0.154527 0.580837 
time: 1403637264.038319, t: 0.582825 5.415510 -1.273697 q: -0.157237 0.783774 0.154021 0.580734 
time: 1403637265.038319, t: 0.589774 5.414531 -1.274788 q: -0.157188 0.783822 0.154217 0.580630 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720556505.749941327]: Shutdown request received.[0m
[33m[ WARN] [1720556505.749987160]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720556505.750920615]: Shutdown request received.[0m
[33m[ WARN] [1720556505.750956119]: Reason given for shutdown: [user request][0m
killed
