/SLAM-Hive/slam_hive_results/mapping_results/3075/2283_vins-fusion-stereo+MH_05_difficult+Image_comb_test-3.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720511298.106089405]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720511298.108350035]: init begins[0m
[31m[ERROR] [1720511298.109454348]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/9b15203e-3dc7-11ef-ae24-0242ac110005/roslaunch-2589034caa94-119.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://2589034caa94:45133/[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] [1720511299.212562500]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720511299.214906331]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720511299.220924840]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720511299.221165851]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720511299.221197335]: 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] [1720511299.221492865]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720511299.221699470]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720511299.221845309]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://2589034caa94:11311/[0m
]2;roscore http://2589034caa94:11311/
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1msetting /run_id to 9b15203e-3dc7-11ef-ae24-0242ac110005[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 [243][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720511308.241073745]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316872790.31 
[0m[ INFO] [1720511309.638385839]: Initialization finish![0m
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time: 1403638519.427830, t: 0.000484 -0.000410 0.001454 q: 1.000000 0.000008 -0.000046 0.000053 
time: 1403638519.527829, t: 0.000488 -0.000418 0.001498 q: 1.000000 0.000011 -0.000049 0.000052 
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time: 1403638531.027829, t: 0.061294 0.088291 0.023032 q: 0.995610 -0.083867 -0.024493 0.033578 
optimize pose graph 
time: 1403638531.127830, t: 0.060817 0.086969 0.022772 q: 0.995724 -0.085238 -0.017727 0.030894 
time: 1403638531.227829, t: 0.060379 0.085730 0.023507 q: 0.995821 -0.085432 -0.016903 0.027492 
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time: 1403638531.627830, t: 0.059233 0.084559 0.023393 q: 0.995910 -0.085983 -0.010372 0.025726 
time: 1403638531.727829, t: 0.059174 0.084513 0.023404 q: 0.995891 -0.086062 -0.010574 0.026112 
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time: 1403638541.027829, t: 0.501408 0.080689 0.399054 q: 0.997860 0.039521 0.012783 -0.050498 
optimize pose graph 
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time: 1403638543.127830, t: 1.161522 -1.063684 1.146176 q: 0.956107 0.265987 0.014655 -0.122045 
optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403638631.427830, t: -0.205622 0.307450 -1.132758 q: 0.979107 -0.184347 -0.020680 0.083296 
time: 1403638631.527829, t: -0.226553 0.330361 -1.135321 q: 0.979255 -0.183650 -0.019997 0.083262 
time: 1403638631.627830, t: -0.225814 0.334926 -1.141451 q: 0.979297 -0.183493 -0.020278 0.083044 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720511423.891442707]: Shutdown request received.[0m
[33m[ WARN] [1720511423.891502027]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720511423.892414965]: Shutdown request received.[0m
[33m[ WARN] [1720511423.892446929]: Reason given for shutdown: [user request][0m
killed
