/SLAM-Hive/slam_hive_results/mapping_results/3045/2253_vins-fusion-stereo+MH_04_difficult+Image_comb_test-3.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720507086.562860184]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720507086.564266873]: init begins[0m
[31m[ERROR] [1720507086.565478068]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ccd1d59a-3dbd-11ef-a4a4-0242ac110005/roslaunch-0729c2504c57-118.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://0729c2504c57:43289/[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] [1720507087.668963460]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720507087.670481884]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720507087.677561242]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720507087.677757659]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720507087.677782282]: ROW: 240 COL: 376 [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] [1720507087.678017243]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720507087.678204198]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720507087.678369715]: 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://0729c2504c57:11311/[0m
]2;roscore http://0729c2504c57:11311/
[1msetting /run_id to ccd1d59a-3dbd-11ef-a4a4-0242ac110005[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
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_04_difficult.bag  --clock 
[0m[ INFO] [1720507096.723697976]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316868969.61 
[0m[ INFO] [1720507098.153676113]: Initialization finish![0m
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403638222.345097, t: 1.579647 0.869786 -1.028931 q: 0.986278 -0.161173 -0.013825 0.032973 
time: 1403638222.445097, t: 1.564109 0.859503 -1.055722 q: 0.986157 -0.161183 -0.018681 0.034143 
time: 1403638222.545097, t: 1.546496 0.852144 -1.078545 q: 0.986183 -0.161052 -0.018098 0.034324 
optimize pose graph 
time: 1403638222.645097, t: 1.531602 0.836313 -1.097517 q: 0.986323 -0.161049 -0.008372 0.034049 
time: 1403638222.745097, t: 1.512936 0.823963 -1.115058 q: 0.986312 -0.161468 -0.002052 0.033356 
time: 1403638222.845097, t: 1.490091 0.816733 -1.128786 q: 0.986306 -0.161712 0.002461 0.032300 
time: 1403638222.945097, t: 1.470910 0.808755 -1.144104 q: 0.986281 -0.161403 0.015366 0.031021 
time: 1403638223.045097, t: 1.449221 0.800648 -1.160131 q: 0.986356 -0.160846 0.015942 0.031252 
time: 1403638223.145097, t: 1.434549 0.791906 -1.181279 q: 0.986384 -0.161373 0.005766 0.031191 
time: 1403638223.245097, t: 1.418106 0.778433 -1.205235 q: 0.986346 -0.159490 -0.011471 0.039407 
time: 1403638223.345097, t: 1.410426 0.766540 -1.229274 q: 0.986283 -0.158574 -0.015672 0.043066 
time: 1403638223.445097, t: 1.397747 0.760864 -1.244123 q: 0.986411 -0.156064 -0.009301 0.050512 
time: 1403638223.545097, t: 1.381075 0.756095 -1.258984 q: 0.986473 -0.152464 -0.001118 0.060197 
time: 1403638223.645097, t: 1.369485 0.756749 -1.278661 q: 0.986463 -0.155610 0.000466 0.051725 
time: 1403638223.745097, t: 1.355011 0.770124 -1.293141 q: 0.986337 -0.160085 -0.000858 0.038887 
time: 1403638223.845097, t: 1.336897 0.767448 -1.309890 q: 0.986051 -0.163640 -0.002917 0.030264 
time: 1403638223.945097, t: 1.317417 0.773380 -1.325141 q: 0.985876 -0.165667 -0.003434 0.024303 
time: 1403638224.045097, t: 1.299592 0.763946 -1.345256 q: 0.985761 -0.166337 -0.007568 0.023473 
time: 1403638224.145097, t: 1.271567 0.784285 -1.345613 q: 0.985862 -0.164663 -0.017042 0.025932 
time: 1403638224.245097, t: 1.268879 0.750354 -1.360634 q: 0.985542 -0.165284 -0.023991 0.028509 
time: 1403638224.345097, t: 1.234774 0.812360 -1.343626 q: 0.986112 -0.163052 -0.015138 0.027698 
time: 1403638224.445097, t: 1.219038 0.812580 -1.336502 q: 0.986411 -0.160533 -0.003772 0.034752 
time: 1403638224.545097, t: 1.212368 0.802614 -1.337100 q: 0.986414 -0.160491 0.008420 0.034044 
time: 1403638224.645097, t: 1.197623 0.794778 -1.335338 q: 0.986387 -0.161245 0.004343 0.031967 
time: 1403638224.745097, t: 1.184563 0.789045 -1.335478 q: 0.986241 -0.161139 -0.013557 0.034351 
optimize pose graph 
time: 1403638224.845097, t: 1.176171 0.780553 -1.334636 q: 0.986160 -0.160894 -0.018468 0.035505 
time: 1403638224.945097, t: 1.175319 0.773407 -1.332942 q: 0.986580 -0.157527 -0.005547 0.042598 
time: 1403638225.045097, t: 1.178719 0.768356 -1.330510 q: 0.986829 -0.154203 0.005920 0.048523 
time: 1403638225.145097, t: 1.183627 0.768590 -1.327465 q: 0.986904 -0.155251 0.007041 0.043220 
time: 1403638225.245097, t: 1.187674 0.767873 -1.325754 q: 0.986901 -0.156770 -0.004321 0.037833 
time: 1403638225.345097, t: 1.194295 0.768688 -1.325279 q: 0.986817 -0.157718 -0.011100 0.034544 
time: 1403638225.445097, t: 1.198946 0.769733 -1.321907 q: 0.986877 -0.158211 -0.003899 0.032062 
time: 1403638225.545097, t: 1.197722 0.769473 -1.314570 q: 0.986752 -0.159193 0.013830 0.028045 
time: 1403638225.645097, t: 1.188381 0.769388 -1.308663 q: 0.986370 -0.159674 0.031049 0.024777 
time: 1403638225.745097, t: 1.165201 0.767335 -1.300054 q: 0.986453 -0.159953 0.027520 0.023829 
time: 1403638225.845097, t: 1.129426 0.766651 -1.270180 q: 0.986776 -0.159697 0.008627 0.026394 
time: 1403638225.945097, t: 1.094111 0.752872 -1.279631 q: 0.986743 -0.159393 -0.009365 0.029071 
time: 1403638226.045097, t: 1.068754 0.736551 -1.274389 q: 0.986802 -0.156160 -0.026942 0.033311 
time: 1403638226.145097, t: 1.077102 0.741224 -1.256225 q: 0.987452 -0.145148 -0.023124 0.057755 
time: 1403638226.245097, t: 1.083603 0.701254 -1.328812 q: 0.986284 -0.158415 -0.034612 0.030818 
time: 1403638226.345097, t: 1.071966 0.716136 -1.269688 q: 0.986855 -0.156122 -0.027303 0.031595 
time: 1403638226.445097, t: 1.076727 0.721385 -1.270076 q: 0.987756 -0.148411 -0.032691 0.035249 
time: 1403638226.545097, t: 1.072607 0.739701 -1.283297 q: 0.987688 -0.149538 -0.027466 0.036817 
time: 1403638226.645097, t: 1.067023 0.737759 -1.292124 q: 0.987060 -0.154998 -0.026150 0.031687 
time: 1403638226.745097, t: 1.067414 0.737790 -1.292056 q: 0.987011 -0.155038 -0.027013 0.032300 
time: 1403638226.845097, t: 1.065555 0.738304 -1.289713 q: 0.987038 -0.155020 -0.026303 0.032154 
time: 1403638226.945097, t: 1.065465 0.743601 -1.286178 q: 0.987029 -0.155234 -0.026446 0.031268 
time: 1403638227.045097, t: 1.065727 0.743736 -1.281919 q: 0.987021 -0.155485 -0.026284 0.030370 
time: 1403638227.145097, t: 1.065903 0.743435 -1.282176 q: 0.987016 -0.155452 -0.026380 0.030619 
time: 1403638227.245097, t: 1.065765 0.742938 -1.282435 q: 0.987032 -0.155297 -0.026393 0.030895 
time: 1403638227.345097, t: 1.066097 0.742458 -1.282333 q: 0.987025 -0.155264 -0.026337 0.031325 
time: 1403638227.445097, t: 1.066007 0.742297 -1.282302 q: 0.987020 -0.155293 -0.026345 0.031340 
time: 1403638227.545097, t: 1.066019 0.742626 -1.282203 q: 0.987025 -0.155318 -0.026316 0.031072 
time: 1403638227.645097, t: 1.066049 0.743055 -1.282143 q: 0.987027 -0.155333 -0.026330 0.030921 
time: 1403638227.745097, t: 1.065889 0.742959 -1.282248 q: 0.987024 -0.155347 -0.026325 0.030963 
time: 1403638227.845097, t: 1.065998 0.742847 -1.282276 q: 0.987027 -0.155315 -0.026361 0.030996 
time: 1403638227.945097, t: 1.066025 0.742780 -1.282282 q: 0.987030 -0.155277 -0.026348 0.031102 
time: 1403638228.045097, t: 1.065971 0.742703 -1.282278 q: 0.987022 -0.155317 -0.026324 0.031178 
time: 1403638228.145097, t: 1.065774 0.743048 -1.282273 q: 0.987039 -0.155199 -0.026235 0.031280 
time: 1403638228.245097, t: 1.065777 0.742753 -1.282077 q: 0.987010 -0.155422 -0.026260 0.031082 
time: 1403638228.345097, t: 1.065814 0.742639 -1.282089 q: 0.986984 -0.155613 -0.026297 0.030905 
time: 1403638228.445097, t: 1.065827 0.742644 -1.282082 q: 0.986999 -0.155503 -0.026426 0.030872 
time: 1403638228.545097, t: 1.065912 0.742932 -1.282226 q: 0.987037 -0.155225 -0.026375 0.031093 
time: 1403638228.645097, t: 1.065942 0.742894 -1.282268 q: 0.987032 -0.155264 -0.026354 0.031087 
time: 1403638228.745097, t: 1.065982 0.742838 -1.282339 q: 0.987034 -0.155253 -0.026334 0.031103 
time: 1403638228.845097, t: 1.065957 0.742974 -1.282050 q: 0.987030 -0.155278 -0.026294 0.031126 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720507200.232059193]: Shutdown request received.[0m
[33m[ WARN] [1720507200.232091543]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720507200.232927659]: Shutdown request received.[0m
[33m[ WARN] [1720507200.232953298]: Reason given for shutdown: [user request][0m
killed
