/SLAM-Hive/slam_hive_results/mapping_results/2954/2162_vins-fusion-stereo+MH_01_easy+Image_comb_test-2.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720489443.858008011]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720489443.859944941]: init begins[0m
[31m[ERROR] [1720489443.861017451]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/b8f0a82c-3d94-11ef-9742-0242ac110005/roslaunch-c8350214214e-117.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://c8350214214e:35141/[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 [154][0m
[0m[ INFO] [1720489444.967486208]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720489444.969990701]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720489444.983893130]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720489444.984369514]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720489444.984440455]: ROW: 288 COL: 451 [0m
no imu, fix extrinsic param; no time offset calibration
 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 9.8
[0m[ INFO] [1720489444.985294977]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720489444.985773498]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720489444.986207072]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://c8350214214e:11311/[0m
]2;roscore http://c8350214214e:11311/
[1msetting /run_id to b8f0a82c-3d94-11ef-9742-0242ac110005[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
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720489454.017330314]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316852875.30 
[0m[ INFO] [1720489456.316055698]: Initialization finish![0m
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time: 1403636597.813555, t: -0.081890 0.007298 0.121530 q: 0.987134 0.064544 -0.144510 -0.022767 
optimize pose graph 
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time: 1403636599.513556, t: -0.246835 0.060255 0.191905 q: 0.994611 0.096863 -0.018221 -0.032167 
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time: 1403636599.813555, t: -0.293679 0.063442 0.225153 q: 0.995602 0.091360 0.011850 -0.017038 
optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403636751.513556, t: 0.168902 2.534415 2.215615 q: 0.941009 -0.323302 -0.009599 0.099423 
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time: 1403636751.813555, t: 0.273465 2.478461 2.167906 q: 0.946009 -0.305206 -0.013728 0.108297 
time: 1403636751.913555, t: 0.307055 2.470640 2.154897 q: 0.946923 -0.303937 -0.023550 0.102003 
time: 1403636752.013556, t: 0.338181 2.468640 2.142416 q: 0.947482 -0.304594 -0.029058 0.093035 
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optimize pose graph 
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time: 1403636752.713556, t: 0.589124 2.477214 2.084597 q: 0.973756 -0.222239 -0.009512 0.048145 
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time: 1403636752.913555, t: 0.636770 2.472879 2.072235 q: 0.983148 -0.180201 -0.014371 0.027220 
time: 1403636753.013556, t: 0.653089 2.469271 2.071650 q: 0.987075 -0.158809 -0.017025 0.013170 
time: 1403636753.113555, t: 0.661457 2.464595 2.070754 q: 0.990547 -0.135789 -0.019412 0.000546 
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time: 1403636753.313555, t: 0.658392 2.452029 2.071475 q: 0.995548 -0.088001 -0.022198 -0.025454 
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time: 1403636754.113555, t: 0.650655 2.280782 2.088461 q: 0.998906 -0.040150 -0.006378 -0.023098 
time: 1403636754.213556, t: 0.651797 2.254500 2.080877 q: 0.998754 -0.043526 -0.001081 -0.024382 
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time: 1403636754.413555, t: 0.673400 2.193446 2.050597 q: 0.998517 -0.047231 -0.000157 -0.027090 
time: 1403636754.513556, t: 0.682418 2.155429 2.026932 q: 0.998675 -0.042757 -0.001347 -0.028589 
optimize pose graph 
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time: 1403636755.113555, t: 0.633770 1.882684 1.870392 q: 0.998297 0.027126 -0.008912 -0.050872 
time: 1403636755.213556, t: 0.619265 1.831968 1.836645 q: 0.998177 0.032193 -0.009834 -0.050105 
time: 1403636755.313555, t: 0.611652 1.778086 1.803039 q: 0.998001 0.034105 -0.017859 -0.050119 
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time: 1403636755.913555, t: 0.578344 1.434503 1.601175 q: 0.998265 0.030559 -0.020302 -0.046050 
time: 1403636756.013556, t: 0.566462 1.373778 1.572572 q: 0.998381 0.031112 -0.018182 -0.044001 
time: 1403636756.113555, t: 0.562551 1.309144 1.543537 q: 0.998379 0.030656 -0.016661 -0.044964 
time: 1403636756.213556, t: 0.559397 1.246510 1.510488 q: 0.998413 0.030989 -0.014011 -0.044887 
time: 1403636756.313555, t: 0.558762 1.183640 1.476356 q: 0.998410 0.031833 -0.013650 -0.044466 
time: 1403636756.413555, t: 0.555266 1.121636 1.441499 q: 0.998333 0.032458 -0.012568 -0.046040 
time: 1403636756.513556, t: 0.546193 1.058635 1.406169 q: 0.998324 0.033677 -0.012332 -0.045427 
time: 1403636756.613555, t: 0.531134 0.994527 1.373356 q: 0.998297 0.034449 -0.011705 -0.045591 
time: 1403636756.713556, t: 0.514907 0.929942 1.342125 q: 0.998283 0.035613 -0.010180 -0.045382 
time: 1403636756.813555, t: 0.503661 0.863350 1.301945 q: 0.998262 0.036899 -0.008905 -0.045089 
optimize pose graph 
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time: 1403636757.313555, t: 0.468695 0.541604 1.066050 q: 0.998092 0.038962 -0.011630 -0.046456 
time: 1403636757.413555, t: 0.449277 0.478481 1.017182 q: 0.997981 0.038775 -0.014720 -0.048110 
time: 1403636757.513556, t: 0.428952 0.412348 0.968553 q: 0.997635 0.039242 -0.019746 -0.052869 
time: 1403636757.613555, t: 0.409059 0.344534 0.917792 q: 0.996980 0.044533 -0.029752 -0.056231 
time: 1403636757.713556, t: 0.397717 0.277383 0.873690 q: 0.996062 0.050997 -0.042610 -0.058689 
time: 1403636757.813555, t: 0.394538 0.211648 0.829695 q: 0.995191 0.057720 -0.051752 -0.059867 
time: 1403636757.913555, t: 0.400171 0.138466 0.790495 q: 0.994763 0.063535 -0.054123 -0.059004 
time: 1403636758.013556, t: 0.420826 0.070771 0.737751 q: 0.994984 0.068787 -0.044067 -0.057743 
time: 1403636758.113555, t: 0.412161 0.012328 0.704503 q: 0.995366 0.074132 -0.027976 -0.054484 
time: 1403636758.213556, t: 0.441482 -0.076638 0.692258 q: 0.995486 0.075714 -0.019500 -0.053809 
time: 1403636758.313555, t: 0.427568 -0.127584 0.642199 q: 0.995494 0.078443 -0.014790 -0.051192 
time: 1403636758.413555, t: 0.422833 -0.202631 0.621285 q: 0.995465 0.079122 -0.023342 -0.047373 
time: 1403636758.513556, t: 0.403946 -0.273031 0.601797 q: 0.995018 0.080970 -0.043903 -0.038140 
time: 1403636758.613555, t: 0.379026 -0.331385 0.586002 q: 0.994064 0.084773 -0.063022 -0.026062 
time: 1403636758.713556, t: 0.368748 -0.384598 0.569325 q: 0.994384 0.084453 -0.058614 -0.025156 
time: 1403636758.813555, t: 0.356626 -0.438143 0.569561 q: 0.995314 0.082469 -0.041125 -0.029293 
time: 1403636758.913555, t: 0.345067 -0.482864 0.566221 q: 0.995743 0.079728 -0.026593 -0.037846 
time: 1403636759.013556, t: 0.330307 -0.524489 0.566245 q: 0.995837 0.078451 -0.019658 -0.042038 
time: 1403636759.113555, t: 0.311877 -0.560729 0.564595 q: 0.995941 0.082295 -0.016263 -0.032613 
optimize pose graph 
time: 1403636759.213556, t: 0.291360 -0.596391 0.569062 q: 0.995734 0.090039 -0.016623 -0.011408 
time: 1403636759.313555, t: 0.270530 -0.622675 0.568986 q: 0.995421 0.094013 -0.017290 -0.000566 
time: 1403636759.413555, t: 0.247812 -0.639507 0.569017 q: 0.995744 0.089419 -0.015956 -0.015631 
time: 1403636759.513556, t: 0.219368 -0.647371 0.570119 q: 0.995817 0.084636 -0.013673 -0.031604 
time: 1403636759.613555, t: 0.189770 -0.651811 0.570636 q: 0.995614 0.082080 -0.011849 -0.043314 
time: 1403636759.713556, t: 0.168716 -0.655199 0.566441 q: 0.995419 0.081063 -0.012380 -0.049159 
time: 1403636759.813555, t: 0.158623 -0.657574 0.556876 q: 0.995352 0.081542 -0.011014 -0.050034 
time: 1403636759.913555, t: 0.149933 -0.659633 0.544893 q: 0.995281 0.081446 -0.017270 -0.049842 
time: 1403636760.013556, t: 0.138376 -0.661153 0.531157 q: 0.995096 0.080548 -0.027571 -0.050359 
time: 1403636760.113555, t: 0.125587 -0.662500 0.518648 q: 0.994885 0.079924 -0.036675 -0.049711 
time: 1403636760.213556, t: 0.112100 -0.664093 0.510387 q: 0.994948 0.079974 -0.036168 -0.048731 
time: 1403636760.313555, t: 0.100540 -0.664502 0.503588 q: 0.995400 0.080980 -0.021816 -0.046317 
time: 1403636760.413555, t: 0.084003 -0.665804 0.500725 q: 0.995468 0.080309 -0.013477 -0.049126 
time: 1403636760.513556, t: 0.065317 -0.665579 0.494152 q: 0.995388 0.078898 -0.013892 -0.052768 
time: 1403636760.613555, t: 0.044295 -0.664712 0.486564 q: 0.995107 0.078156 -0.024463 -0.055280 
time: 1403636760.713556, t: 0.024877 -0.665387 0.479685 q: 0.994752 0.076809 -0.031692 -0.059699 
time: 1403636760.813555, t: 0.008396 -0.668351 0.474746 q: 0.994687 0.076667 -0.028618 -0.062453 
time: 1403636760.913555, t: -0.006384 -0.672748 0.468884 q: 0.994652 0.076752 -0.021754 -0.065606 
time: 1403636761.013556, t: -0.023141 -0.679826 0.462380 q: 0.994579 0.077554 -0.025963 -0.064220 
time: 1403636761.113555, t: -0.041490 -0.688791 0.456164 q: 0.994348 0.079318 -0.037473 -0.059807 
time: 1403636761.213556, t: -0.058886 -0.700022 0.450680 q: 0.993655 0.078891 -0.052331 -0.060717 
time: 1403636761.313555, t: -0.072517 -0.712909 0.450524 q: 0.993365 0.079349 -0.057835 -0.059878 
optimize pose graph 
time: 1403636761.413555, t: -0.078332 -0.728470 0.454336 q: 0.993902 0.080204 -0.047958 -0.058539 
time: 1403636761.513556, t: -0.079042 -0.745421 0.460782 q: 0.994550 0.080611 -0.032310 -0.057694 
time: 1403636761.613555, t: -0.076501 -0.763183 0.467338 q: 0.994945 0.080605 -0.021409 -0.055929 
time: 1403636761.713556, t: -0.073230 -0.781148 0.472041 q: 0.995320 0.083511 -0.018263 -0.045065 
time: 1403636761.813555, t: -0.071820 -0.793931 0.483692 q: 0.995449 0.087580 -0.017552 -0.033202 
time: 1403636761.913555, t: -0.063334 -0.808020 0.478771 q: 0.995526 0.086619 -0.019371 -0.032391 
time: 1403636762.013556, t: -0.055956 -0.814941 0.479343 q: 0.995483 0.081844 -0.018394 -0.044473 
time: 1403636762.113555, t: -0.046917 -0.819728 0.477395 q: 0.995006 0.074096 -0.015966 -0.064943 
time: 1403636762.213556, t: -0.039127 -0.827409 0.474905 q: 0.994442 0.069030 -0.021549 -0.076527 
time: 1403636762.313555, t: -0.035549 -0.840048 0.472451 q: 0.994216 0.068633 -0.037607 -0.073548 
time: 1403636762.413555, t: -0.039356 -0.856255 0.474444 q: 0.994117 0.070322 -0.049043 -0.066196 
time: 1403636762.513556, t: -0.049362 -0.876157 0.482800 q: 0.994881 0.077714 -0.047316 -0.043969 
time: 1403636762.613555, t: -0.065705 -0.895052 0.497803 q: 0.995406 0.086734 -0.036728 -0.017197 
time: 1403636762.713556, t: -0.088296 -0.907207 0.516706 q: 0.995611 0.088941 -0.026015 -0.013064 
time: 1403636762.813555, t: -0.117296 -0.911394 0.539097 q: 0.995799 0.084420 -0.021083 -0.028507 
time: 1403636762.913555, t: -0.117314 -0.903775 0.534493 q: 0.995771 0.085333 0.022069 -0.025917 
time: 1403636763.013556, t: -0.127208 -0.886965 0.518943 q: 0.997256 0.065369 -0.015542 -0.031073 
time: 1403636763.113555, t: -0.139995 -0.858302 0.485201 q: 0.998602 0.051328 -0.005395 -0.011443 
time: 1403636763.213556, t: -0.140928 -0.866370 0.508000 q: 0.999050 0.043477 0.001332 -0.002516 
time: 1403636763.313555, t: -0.139178 -0.862893 0.509951 q: 0.999020 0.044025 -0.004495 -0.000707 
time: 1403636763.413555, t: -0.139769 -0.864084 0.509947 q: 0.999015 0.044023 -0.005523 -0.000295 
time: 1403636763.513556, t: -0.140302 -0.864643 0.509447 q: 0.999030 0.043726 -0.005127 -0.000383 
time: 1403636763.613555, t: -0.140305 -0.864630 0.509374 q: 0.999035 0.043628 -0.005091 -0.000463 
time: 1403636763.713556, t: -0.140211 -0.864692 0.509480 q: 0.999033 0.043681 -0.005047 -0.000327 
time: 1403636763.813555, t: -0.140246 -0.864744 0.509477 q: 0.999031 0.043718 -0.005009 -0.000153 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720489642.558849227]: Shutdown request received.[0m
[33m[ WARN] [1720489642.558901203]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720489642.559758565]: Shutdown request received.[0m
[33m[ WARN] [1720489642.559797681]: Reason given for shutdown: [user request][0m
killed
