/SLAM-Hive/slam_hive_results/mapping_results/3185/2390_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-20.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720556530.389909870]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720556530.391664160]: init begins[0m
[31m[ERROR] [1720556530.392690641]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/eba22d9e-3e30-11ef-b4ec-0242ac110005/roslaunch-3927d4175bb8-118.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://3927d4175bb8:37539/[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://3927d4175bb8:11311/[0m
]2;roscore http://3927d4175bb8:11311/
[1msetting /run_id to eba22d9e-3e30-11ef-b4ec-0242ac110005[0m
[0m[ INFO] [1720556531.545878088]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720556531.548066500]: 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] [1720556531.554101325]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720556531.554322003]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720556531.554349230]: ROW: 288 COL: 451 [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] [1720556531.554564688]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720556531.554791252]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720556531.554959429]: 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 [212][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720556540.556856464]: 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: 316919410.22 
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] [1720556551.443349736]: gyroscope bias initial calibration -0.00227774  0.00727582   0.0444404[0m
[0m[ INFO] [1720556551.486173800]: Initialization finish![0m
time: 1403637141.038319, t: -4.543541 -0.560722 -2.312818 q: 0.044005 0.758762 -0.053222 0.647697 
time: 1403637142.038319, t: -3.377211 1.681037 0.158554 q: 0.130269 0.778573 -0.135406 0.598765 
time: 1403637143.038319, t: -0.253032 0.090948 -0.021163 q: -0.014902 0.791113 -0.015089 0.611303 
time: 1403637144.038319, t: -0.156006 0.112975 -0.045519 q: -0.017826 0.791008 -0.012573 0.611416 
time: 1403637145.038319, t: 0.027412 0.112598 -0.056777 q: 0.010461 0.790560 -0.031353 0.611492 
time: 1403637146.038319, t: 0.028947 0.116863 -0.056937 q: 0.007040 0.790879 -0.029474 0.611222 
time: 1403637147.038319, t: 0.029407 0.111490 -0.056700 q: 0.009151 0.790643 -0.030551 0.611446 
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time: 1403637149.038319, t: 0.038118 0.097529 -0.054896 q: 0.007024 0.791416 -0.026858 0.610647 
time: 1403637150.038319, t: 0.064609 0.074490 -0.050574 q: 0.003758 0.827538 0.007465 0.561347 
time: 1403637151.038319, t: 0.302898 -0.042351 0.190991 q: 0.033653 0.804978 -0.000976 0.592348 
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time: 1403637153.038319, t: 0.635144 -0.292927 0.520283 q: 0.018171 0.808057 0.003479 0.588813 
time: 1403637154.038319, t: 0.919281 -0.569248 0.609605 q: 0.024289 0.810460 0.006312 0.585256 
time: 1403637155.038319, t: 1.232581 -0.813017 0.490133 q: 0.049631 0.824508 -0.025664 0.563085 
time: 1403637156.038319, t: 1.726894 -1.077252 0.525020 q: 0.106949 0.791378 -0.163503 0.579266 
time: 1403637157.038319, t: 1.978722 -1.581421 0.273526 q: 0.223144 0.748530 -0.325380 0.532951 
time: 1403637158.038319, t: 2.016879 -2.419143 0.139951 q: 0.192760 0.751468 -0.303441 0.553230 
time: 1403637159.038319, t: 1.874420 -3.511166 0.145475 q: 0.247452 0.721042 -0.388706 0.517469 
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time: 1403637164.038319, t: -1.878579 -7.108258 0.005908 q: -0.479635 -0.348371 0.735612 -0.327816 
time: 1403637165.038319, t: -3.568441 -6.021140 0.152227 q: 0.511468 0.372991 -0.714875 0.297040 
time: 1403637166.038319, t: -5.186395 -4.729755 0.146093 q: 0.546020 0.332049 -0.749375 0.173330 
time: 1403637167.038319, t: -5.930450 -3.950199 -0.085110 q: 0.561282 0.404331 -0.698756 0.182262 
time: 1403637168.038319, t: -5.026608 -3.766275 -0.169035 q: 0.500255 0.401378 -0.725230 0.250364 
time: 1403637169.038319, t: -3.837964 -3.872978 -0.524556 q: 0.511464 0.411871 -0.706929 0.262712 
time: 1403637170.038319, t: -2.327492 -3.956272 -0.609396 q: 0.463969 0.576998 -0.553417 0.381491 
time: 1403637171.038319, t: -0.320444 -3.381288 -0.927290 q: 0.291177 0.694975 -0.351595 0.555525 
time: 1403637172.038319, t: 0.630588 -1.889405 -0.951421 q: 0.271743 0.726349 -0.274010 0.568763 
time: 1403637173.038319, t: 0.973736 0.310193 -0.880608 q: 0.189102 0.745865 -0.394371 0.502391 
time: 1403637174.038319, t: 0.523744 1.693322 -1.080043 q: 0.283149 0.648175 -0.556742 0.435584 
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time: 1403637177.038319, t: -2.044520 -4.153650 -1.056557 q: -0.432281 -0.494824 0.663632 -0.357597 
time: 1403637178.038319, t: -4.367449 5.782253 -0.893267 q: -0.466714 -0.497170 0.675626 -0.280232 
time: 1403637179.038319, t: -5.783632 5.974964 -0.958700 q: 0.525837 0.418620 -0.678747 0.295895 
time: 1403637180.038319, t: -4.185045 -0.942732 -0.948359 q: 0.532764 0.445213 -0.669789 0.263305 
time: 1403637181.038319, t: -3.136030 -1.719414 -1.146204 q: 0.527116 0.445181 -0.679512 0.249450 
time: 1403637182.038319, t: -1.401438 -2.798857 -0.884938 q: 0.520208 0.400184 -0.700314 0.280707 
time: 1403637183.038319, t: -0.057472 -3.846216 -0.412129 q: 0.524541 0.373705 -0.687434 0.335611 
time: 1403637184.038319, t: 2.517764 -2.073561 -0.761626 q: -0.475121 -0.346680 0.720973 -0.366432 
time: 1403637185.038319, t: 3.306640 -0.226650 -0.910709 q: -0.457536 -0.409811 0.738452 -0.278216 
time: 1403637186.038319, t: 3.468836 0.766830 -0.547594 q: -0.499049 -0.408258 0.713866 -0.273259 
time: 1403637187.038319, t: 1.467556 2.348243 -0.088454 q: -0.470625 -0.374644 0.731886 -0.320150 
time: 1403637188.038319, t: -0.602365 0.770567 -0.720277 q: -0.472190 -0.387293 0.748757 -0.257689 
time: 1403637189.038319, t: -1.758051 0.898615 -0.976515 q: 0.513891 0.313281 -0.757723 0.252243 
time: 1403637190.038319, t: -2.984026 0.980257 -1.204365 q: 0.531457 0.317638 -0.749726 0.233603 
time: 1403637191.038319, t: -4.060904 1.239554 -1.005325 q: 0.527884 0.341419 -0.733545 0.258230 
time: 1403637192.038319, t: -4.697681 1.608497 -1.018801 q: 0.524238 0.371228 -0.735012 0.217077 
time: 1403637193.038319, t: -4.968583 1.402486 -0.683066 q: 0.505663 0.357827 -0.750402 0.230566 
time: 1403637194.038319, t: -5.452365 0.698380 -0.378115 q: 0.519117 0.361562 -0.739897 0.228785 
time: 1403637195.038319, t: -5.783884 -0.338685 -0.246971 q: 0.513202 0.353916 -0.747308 0.229997 
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time: 1403637254.038319, t: 3.337197 1.991939 -0.691699 q: 0.061274 0.804756 -0.077647 0.585307 
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time: 1403637256.038319, t: 2.388077 2.481820 -0.451423 q: -0.048143 0.813815 0.083906 0.573016 
time: 1403637257.038319, t: 1.862383 2.889765 -0.438421 q: -0.075294 0.812011 0.093837 0.571107 
time: 1403637258.038319, t: 1.390123 3.372104 -0.428834 q: -0.106114 0.817996 0.153526 0.544107 
time: 1403637260.038319, t: 1.112483 4.168960 -0.495238 q: -0.169469 0.788271 0.195897 0.558152 
time: 1403637261.038319, t: 0.923932 4.131861 -0.702910 q: -0.150320 0.783947 0.214337 0.562930 
time: 1403637262.038319, t: 0.831095 4.290458 -0.798101 q: -0.153339 0.786388 0.207473 0.561282 
time: 1403637263.038319, t: 0.774821 4.240616 -0.852875 q: -0.160296 0.782395 0.157662 0.580780 
time: 1403637264.038319, t: 0.805071 4.307007 -0.859809 q: -0.160184 0.782640 0.156723 0.580735 
time: 1403637265.038319, t: 0.859401 4.350619 -0.828445 q: -0.159330 0.783244 0.155990 0.580353 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720556677.376933671]: Shutdown request received.[0m
[33m[ WARN] [1720556677.376967968]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720556677.377845439]: Shutdown request received.[0m
[33m[ WARN] [1720556677.377873524]: Reason given for shutdown: [user request][0m
killed
