/SLAM-Hive/slam_hive_results/mapping_results/3192/2397_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-27.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720557730.138934932]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720557730.140412572]: init begins[0m
[31m[ERROR] [1720557730.141498161]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/b6bd4b74-3e33-11ef-8f5a-0242ac110005/roslaunch-cf45fbc1e608-119.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://cf45fbc1e608:44887/[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 [156][0m
[0m[ INFO] [1720557731.245688245]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720557731.246501856]: 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] [1720557731.252564056]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720557731.252761417]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720557731.252787999]: ROW: 240 COL: 376 [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] [1720557731.253013422]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720557731.253223865]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720557731.253397776]: 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://cf45fbc1e608:11311/[0m
]2;roscore http://cf45fbc1e608:11311/
[1msetting /run_id to b6bd4b74-3e33-11ef-8f5a-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 [249][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720557740.294100364]: 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: 316920609.95 
init first imu pose
averge acc 9.443749 -0.647051 -2.458075
init R0 
  0.259903   0.245815   0.933823
         0  -0.967056   0.254563
  0.965635 -0.0661618  -0.251341
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] [1720557761.667160716]: gyroscope bias initial calibration -0.040487 0.0313909 0.0677552[0m
[0m[ INFO] [1720557761.744693839]: Initialization finish![0m
time: 1403637151.538319, t: -1.194060 -1.001474 3.149379 q: -0.175928 0.780612 0.147448 0.581337 
time: 1403637153.538319, t: -0.340473 -0.904952 2.274513 q: -0.125415 0.798052 0.138820 0.572812 
time: 1403637155.538319, t: 0.092665 -0.733403 1.448006 q: -0.092522 0.800729 0.059567 0.588833 
time: 1403637157.538319, t: 1.067767 -1.488734 -0.549713 q: 0.050761 0.799351 -0.215966 0.558409 
time: 1403637159.538319, t: 3.556401 -4.909877 -2.994410 q: 0.115928 0.774414 -0.294934 0.547592 
time: 1403637161.538319, t: 9.690561 -11.268115 -6.808822 q: 0.238322 0.689492 -0.485513 0.481747 
time: 1403637163.538319, t: 22.665685 -20.994431 -12.500105 q: -0.392263 -0.546948 0.617358 -0.407243 
time: 1403637165.538319, t: 43.000695 -13.674629 -12.972151 q: -0.469187 -0.469604 0.694629 -0.277174 
time: 1403637167.538319, t: 63.545036 -22.964274 -16.928985 q: -0.494854 -0.537492 0.633683 -0.254298 
time: 1403637169.538319, t: 95.222200 -37.787240 -23.689554 q: 0.428321 0.604019 -0.573689 0.350119 
time: 1403637171.538319, t: 133.969775 -54.900292 -31.944014 q: 0.114529 0.786072 -0.174326 0.581880 
time: 1403637173.538319, t: 173.384402 -70.408422 -40.392498 q: 0.133922 0.777509 -0.375798 0.486129 
time: 1403637175.538319, t: 216.254931 -90.454732 -49.473800 q: 0.341142 0.609545 -0.542584 0.466561 
time: 1403637177.538319, t: 263.079286 -112.189039 -59.179157 q: 0.336294 0.649699 -0.591099 0.339705 
time: 1403637179.538319, t: 318.838106 -139.210368 -70.658002 q: -0.445818 -0.568390 0.608566 -0.328370 
time: 1403637181.538319, t: 384.279535 -170.063282 -84.024999 q: -0.466128 -0.548346 0.615020 -0.322169 
time: 1403637183.538319, t: 457.099008 -204.354084 -98.122101 q: -0.442003 -0.494091 0.634477 -0.397426 
time: 1403637187.538319, t: 614.708930 -286.546168 -129.685875 q: -0.423826 -0.526702 0.671843 -0.302630 
time: 1403637189.538319, t: 702.456240 -338.236239 -148.375861 q: -0.478410 -0.448705 0.699769 -0.283039 
time: 1403637191.538319, t: 797.718264 -394.868869 -168.069426 q: -0.486154 -0.492553 0.655960 -0.301267 
time: 1403637193.538319, t: 828.070511 -434.581436 -176.424495 q: -0.460030 -0.496028 0.679469 -0.283993 
time: 1403637195.538319, t: 970.610936 -510.837874 -200.754238 q: -0.488999 -0.486942 0.666289 -0.282535 
time: 1403637197.538319, t: 1095.733541 -603.425414 -229.677054 q: -0.439991 -0.582025 0.587178 -0.350537 
time: 1403637199.538319, t: 1225.498213 -697.039888 -259.525136 q: 0.222328 0.765923 -0.274810 0.537040 
time: 1403637203.538319, t: 1485.878581 -886.119901 -322.035095 q: 0.062829 0.830494 -0.130094 0.537967 
time: 1403637205.538319, t: 1619.996353 -982.732337 -354.220466 q: 0.058676 0.831591 -0.125577 0.537814 
time: 1403637207.538319, t: 1952.520097 -659.941287 -362.112465 q: 0.075142 0.822241 -0.126454 0.549803 
time: 1403637209.538319, t: 1611.702886 -540.072155 -396.261046 q: -0.008552 0.800065 0.073151 0.595376 
time: 1403637211.538319, t: 1798.529591 -714.213063 -318.628098 q: 0.042569 0.830008 -0.099795 0.547097 
time: 1403637213.538319, t: 1992.775118 -900.809427 -373.992214 q: 0.047073 0.833075 -0.100912 0.541837 
time: 1403637215.538319, t: 2163.391921 -1065.228500 -425.267873 q: -0.050363 0.780287 0.073997 0.618983 
time: 1403637217.538319, t: 2322.664172 -1199.103167 -471.066307 q: -0.221327 0.776938 0.144628 0.571371 
time: 1403637219.538319, t: 2478.685388 -1303.460448 -512.958746 q: -0.221615 0.758222 0.291106 0.539670 
time: 1403637221.538319, t: 2627.397598 -1393.826902 -550.899116 q: -0.202492 0.802249 0.222873 0.515482 
time: 1403637223.538319, t: 2774.157611 -1472.925979 -587.625405 q: -0.125627 0.816078 0.120596 0.551082 
time: 1403637225.538319, t: 3201.734796 -831.122407 -511.834159 q: -0.056257 0.828493 0.078082 0.551668 
time: 1403637227.538319, t: 3385.128787 -581.679165 -473.423336 q: -0.040490 0.847383 0.049684 0.527100 
time: 1403637229.538319, t: 3550.410203 -1259.442020 -720.496813 q: -0.069873 0.826102 0.052651 0.556688 
time: 1403637231.538319, t: 3569.175630 -1479.690982 -708.126816 q: 0.211466 0.747582 -0.399094 0.486957 
time: 1403637233.538319, t: 3635.664326 -1599.489038 -745.372160 q: -0.394182 -0.534343 0.694446 -0.277207 
time: 1403637235.538319, t: 3738.202618 -1698.914431 -781.842343 q: 0.375802 0.643253 -0.532440 0.401879 
time: 1403637237.538319, t: 3867.462813 -1780.190657 -818.371099 q: 0.231827 0.713603 -0.275505 0.600936 
time: 1403637239.538319, t: 4002.778252 -1859.845666 -855.312666 q: 0.286428 0.629704 -0.604378 0.395170 
time: 1403637241.538319, t: 4143.614999 -1944.556120 -895.015330 q: 0.505672 0.487138 -0.662215 0.261655 
time: 1403637245.538319, t: 4453.529832 -2121.488411 -976.767159 q: -0.405804 -0.578949 0.622685 -0.335267 
time: 1403637247.538319, t: 4615.601794 -2215.617079 -1020.317720 q: 0.151229 0.784411 -0.193626 0.569507 
time: 1403637249.538319, t: 4779.366278 -2306.316603 -1064.657053 q: 0.085460 0.815837 -0.125870 0.557910 
time: 1403637251.538319, t: 4945.407356 -2393.855557 -1109.525214 q: -0.033141 0.822833 -0.032976 0.566357 
time: 1403637253.538319, t: 5111.584131 -2482.957032 -1154.895950 q: -0.045434 0.817694 0.009170 0.573784 
time: 1403637255.538319, t: 5278.892911 -2568.438614 -1200.736392 q: -0.096805 0.805898 0.095048 0.576302 
time: 1403637257.538319, t: 5835.447065 -2480.714437 -1225.899682 q: -0.022203 0.834180 0.052679 0.548521 
time: 1403637259.538319, t: 5440.171415 -3332.063016 -1310.518684 q: -0.156305 0.801566 0.114012 0.565740 
time: 1403637261.538319, t: 5094.893648 -3630.821930 -1354.690456 q: -0.167383 0.778002 0.193303 0.573872 
time: 1403637263.538319, t: 4986.614785 -3703.380633 -1382.777242 q: -0.187005 0.755995 0.170962 0.603550 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720557877.112349672]: Shutdown request received.[0m
[33m[ WARN] [1720557877.112386115]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720557877.113226124]: Shutdown request received.[0m
[33m[ WARN] [1720557877.113254399]: Reason given for shutdown: [user request][0m
killed
