/SLAM-Hive/slam_hive_results/mapping_results/2984/2192_vins-fusion-stereo+MH_02_easy+Image_comb_test-2.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720496145.931880628]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720496145.934220188]: init begins[0m
[31m[ERROR] [1720496145.935314008]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/53b11694-3da4-11ef-a783-0242ac110005/roslaunch-d9765c71aa58-118.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://d9765c71aa58:46147/[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] [1720496147.087496607]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://d9765c71aa58:11311/[0m
]2;roscore http://d9765c71aa58:11311/
[1msetting /run_id to 53b11694-3da4-11ef-a783-0242ac110005[0m
[0m[ INFO] [1720496147.091507145]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720496147.099095895]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720496147.099355369]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720496147.099387561]: 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] [1720496147.099664137]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720496147.099882662]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720496147.100076399]: 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
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720496156.087111783]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316859299.46 
[0m[ INFO] [1720496159.376012977]: Initialization finish![0m
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time: 1403636859.901666, t: 0.354828 0.059159 -0.099718 q: 0.997400 -0.068000 0.000223 -0.023871 
time: 1403636860.001667, t: 0.379130 0.062144 -0.105757 q: 0.997230 -0.070357 0.002574 -0.023972 
time: 1403636860.101666, t: 0.385400 0.065009 -0.105599 q: 0.997081 -0.073479 -0.001029 -0.020739 
time: 1403636860.201667, t: 0.365587 0.072052 -0.099157 q: 0.997077 -0.073925 -0.009082 -0.017040 
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time: 1403636867.801666, t: 0.235111 0.079642 -0.176464 q: 0.964015 -0.057389 -0.259214 0.013752 
optimize pose graph 
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time: 1403637004.001667, t: 0.566924 0.692738 0.450708 q: 0.981318 -0.188814 -0.020325 0.030851 
time: 1403637004.101666, t: 0.543819 0.638497 0.417292 q: 0.981451 -0.187930 -0.024135 0.029226 
time: 1403637004.201667, t: 0.520027 0.591428 0.389210 q: 0.981627 -0.186904 -0.026130 0.028143 
time: 1403637004.401666, t: 0.491632 0.489978 0.340352 q: 0.982044 -0.184514 -0.023887 0.031190 
time: 1403637004.501667, t: 0.496669 0.441468 0.312563 q: 0.982030 -0.185349 -0.016557 0.031432 
time: 1403637004.601666, t: 0.508889 0.389518 0.278867 q: 0.981788 -0.186584 -0.012106 0.033638 
time: 1403637004.701667, t: 0.525945 0.344190 0.249437 q: 0.981537 -0.185510 -0.009868 0.045538 
time: 1403637004.801666, t: 0.533511 0.297261 0.216281 q: 0.981153 -0.184895 -0.008076 0.055567 
time: 1403637004.901666, t: 0.531906 0.258412 0.181288 q: 0.980668 -0.185628 -0.012781 0.060579 
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time: 1403637005.201667, t: 0.455330 0.163611 0.104404 q: 0.979392 -0.195988 -0.020964 0.044048 
time: 1403637005.301666, t: 0.423486 0.138882 0.080111 q: 0.979181 -0.197318 -0.024811 0.040684 
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time: 1403637005.501667, t: 0.359368 0.094918 0.044719 q: 0.979683 -0.196416 -0.021890 0.034090 
time: 1403637005.601666, t: 0.335324 0.072873 0.026912 q: 0.980142 -0.194297 -0.020189 0.034114 
time: 1403637005.701667, t: 0.321017 0.043477 0.003974 q: 0.980397 -0.190935 -0.026963 0.040483 
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time: 1403637006.201667, t: 0.331940 -0.067628 -0.094486 q: 0.980968 -0.189547 -0.020080 0.037025 
time: 1403637006.301666, t: 0.327499 -0.085530 -0.107534 q: 0.980871 -0.188390 -0.026821 0.041019 
time: 1403637006.401666, t: 0.321977 -0.102515 -0.118764 q: 0.980593 -0.186950 -0.037559 0.045577 
time: 1403637006.501667, t: 0.316867 -0.115377 -0.127343 q: 0.980553 -0.184228 -0.041377 0.053514 
time: 1403637006.601666, t: 0.313994 -0.124739 -0.132424 q: 0.981669 -0.180095 -0.033089 0.052878 
time: 1403637006.701667, t: 0.310587 -0.127194 -0.132576 q: 0.983683 -0.172605 -0.024964 0.044182 
time: 1403637006.801666, t: 0.303902 -0.131195 -0.131847 q: 0.986320 -0.159964 -0.018267 0.035361 
time: 1403637006.901666, t: 0.294042 -0.133318 -0.129823 q: 0.989330 -0.141444 -0.018882 0.029393 
time: 1403637007.001667, t: 0.283775 -0.134432 -0.128625 q: 0.992267 -0.120683 -0.022791 0.017927 
time: 1403637007.101666, t: 0.273602 -0.134126 -0.127519 q: 0.994363 -0.103322 -0.022639 0.007351 
time: 1403637007.201667, t: 0.263312 -0.133408 -0.126678 q: 0.995762 -0.089608 -0.020668 -0.000579 
time: 1403637007.301666, t: 0.254153 -0.132638 -0.127065 q: 0.996518 -0.081583 -0.013800 -0.010234 
time: 1403637007.401666, t: 0.243794 -0.133067 -0.129541 q: 0.996872 -0.076871 -0.009333 -0.015826 
time: 1403637007.501667, t: 0.230641 -0.135539 -0.133578 q: 0.997064 -0.073825 -0.012133 -0.016334 
time: 1403637007.601666, t: 0.214982 -0.140434 -0.139169 q: 0.997056 -0.072518 -0.019995 -0.014822 
time: 1403637007.701667, t: 0.197195 -0.146424 -0.145089 q: 0.996673 -0.073007 -0.034081 -0.012305 
time: 1403637007.801666, t: 0.182044 -0.153839 -0.149615 q: 0.996316 -0.074547 -0.040524 -0.012417 
time: 1403637007.901666, t: 0.171365 -0.163177 -0.152396 q: 0.996673 -0.074876 -0.031138 -0.008129 
time: 1403637008.001667, t: 0.162302 -0.173872 -0.154612 q: 0.997047 -0.074487 -0.018661 -0.000861 
optimize pose graph 
time: 1403637008.101666, t: 0.152152 -0.183121 -0.157833 q: 0.996733 -0.077766 -0.021752 -0.001631 
time: 1403637008.201667, t: 0.141925 -0.191800 -0.161473 q: 0.995964 -0.081331 -0.037899 -0.002065 
time: 1403637008.301666, t: 0.136019 -0.200672 -0.164360 q: 0.995154 -0.085001 -0.049265 -0.004154 
time: 1403637008.401666, t: 0.136064 -0.209799 -0.163795 q: 0.994909 -0.087520 -0.049698 -0.005050 
time: 1403637008.501667, t: 0.142317 -0.219675 -0.160202 q: 0.995509 -0.087637 -0.035771 -0.001338 
time: 1403637008.601666, t: 0.149333 -0.229615 -0.155247 q: 0.995801 -0.088216 -0.024379 0.002208 
time: 1403637008.701667, t: 0.152297 -0.238284 -0.148193 q: 0.995930 -0.087480 -0.019739 0.008988 
time: 1403637008.801666, t: 0.149006 -0.245858 -0.139912 q: 0.995869 -0.083963 -0.024015 0.024858 
time: 1403637008.901666, t: 0.142167 -0.248706 -0.130748 q: 0.995590 -0.081371 -0.030365 0.035455 
time: 1403637009.001667, t: 0.133742 -0.244914 -0.121797 q: 0.995466 -0.083672 -0.031158 0.032791 
time: 1403637009.101666, t: 0.122962 -0.233782 -0.110724 q: 0.995378 -0.088892 -0.030304 0.020041 
time: 1403637009.201667, t: 0.110193 -0.219278 -0.098806 q: 0.995111 -0.093865 -0.029856 0.007242 
time: 1403637009.301666, t: 0.095827 -0.204110 -0.085624 q: 0.994358 -0.100512 -0.032332 -0.010212 
time: 1403637009.401666, t: 0.085176 -0.191445 -0.075540 q: 0.995706 -0.089144 -0.024451 -0.005039 
time: 1403637009.501667, t: 0.082780 -0.182525 -0.075358 q: 0.997424 -0.070246 -0.010532 -0.009978 
time: 1403637009.601666, t: 0.077616 -0.176205 -0.076687 q: 0.998521 -0.043704 0.027529 0.016994 
time: 1403637009.701667, t: 0.071838 -0.172952 -0.088455 q: 0.997720 -0.060622 0.018921 0.022862 
time: 1403637009.801666, t: 0.070848 -0.169717 -0.087731 q: 0.997541 -0.061752 0.020842 0.025758 
time: 1403637009.901666, t: 0.070907 -0.169491 -0.087538 q: 0.997599 -0.061268 0.020462 0.024962 
time: 1403637010.001667, t: 0.071066 -0.169417 -0.087497 q: 0.997602 -0.061057 0.020816 0.025078 
time: 1403637010.101666, t: 0.071087 -0.169635 -0.087650 q: 0.997606 -0.060727 0.020665 0.025817 
time: 1403637010.201667, t: 0.071191 -0.169704 -0.087738 q: 0.997608 -0.060613 0.020716 0.025974 
optimize pose graph 
time: 1403637010.301666, t: 0.071179 -0.169786 -0.087770 q: 0.997617 -0.060466 0.020471 0.026161 
time: 1403637010.401666, t: 0.071190 -0.169785 -0.087762 q: 0.997614 -0.060476 0.020646 0.026112 
time: 1403637010.501667, t: 0.071164 -0.169787 -0.087776 q: 0.997615 -0.060495 0.020547 0.026126 
time: 1403637010.601666, t: 0.071203 -0.169810 -0.087757 q: 0.997617 -0.060432 0.020543 0.026193 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720496310.819253454]: Shutdown request received.[0m
[33m[ WARN] [1720496310.819304905]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720496310.820169206]: Shutdown request received.[0m
[33m[ WARN] [1720496310.820196506]: Reason given for shutdown: [user request][0m
killed
