/SLAM-Hive/slam_hive_results/mapping_results/3080/2288_vins-fusion-stereo+MH_05_difficult+Image_comb_test-8.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720512056.854380045]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720512056.855727822]: init begins[0m
[31m[ERROR] [1720512056.856992591]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/5f56b38a-3dc9-11ef-90a6-0242ac110005/roslaunch-c8773202a2d2-118.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://c8773202a2d2:42901/[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
[1mROS_MASTER_URI=http://c8773202a2d2:11311/[0m
]2;roscore http://c8773202a2d2:11311/
[1msetting /run_id to 5f56b38a-3dc9-11ef-90a6-0242ac110005[0m
[0m[ INFO] [1720512058.010072342]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720512058.012189003]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720512058.018787955]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720512058.019011188]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720512058.019047735]: 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] [1720512058.019374576]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720512058.019677437]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720512058.019878254]: 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 [216][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720512067.007152676]: 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: 316873549.07 
[0m[ INFO] [1720512069.474112644]: Initialization finish![0m
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optimize pose graph 
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time: 1403638605.377830, t: 6.477757 -8.075786 6.447783 q: 0.908727 0.380145 -0.022251 -0.170910 
time: 1403638605.577830, t: 6.429545 -8.062680 6.266438 q: 0.907458 0.376017 0.008734 -0.187228 
time: 1403638605.777829, t: 6.362014 -8.082985 6.076356 q: 0.906714 0.373439 0.019385 -0.195030 
time: 1403638605.977829, t: 6.314462 -8.118669 5.849182 q: 0.906621 0.369934 0.020559 -0.201903 
time: 1403638606.177830, t: 6.250295 -8.166057 5.602098 q: 0.906541 0.367355 0.021451 -0.206818 
time: 1403638606.377830, t: 6.155771 -8.251189 5.334196 q: 0.908141 0.367168 0.006210 -0.201070 
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time: 1403638606.977829, t: 5.732379 -8.645373 4.599403 q: 0.884516 0.419826 -0.049399 -0.197325 
optimize pose graph time: 1403638607.177830, t: 5.637877 -8.839317 4.384575 q: 0.866372 0.456477 -0.046619 -0.197115 
time: 1403638607.377830, t: 5.544934 -9.062247 4.203455 q: 0.856861 0.479996 -0.023644 -0.186640 
time: 1403638607.577830, t: 5.415121 -9.259573 4.075421 q: 0.852377 0.489019 -0.021200 -0.184024 
time: 1403638607.777829, t: 5.283433 -9.450813 3.964107 q: 0.852007 0.489716 -0.015323 -0.184465 
time: 1403638607.977829, t: 5.148939 -9.633790 3.864026 q: 0.853541 0.488962 -0.024529 -0.178274 
time: 1403638608.177830, t: 5.004872 -9.801498 3.793819 q: 0.855719 0.485552 -0.013855 -0.178304 
time: 1403638608.377830, t: 4.850155 -9.954200 3.730970 q: 0.857091 0.483584 0.005618 -0.177511 
time: 1403638608.577830, t: 4.689959 -10.088436 3.673019 q: 0.857615 0.482126 0.003211 -0.179001 
time: 1403638608.777829, t: 4.524583 -10.195038 3.643996 q: 0.856538 0.486593 0.007404 -0.171798 
time: 1403638608.977829, t: 4.380823 -10.279774 3.580695 q: 0.856239 0.486244 -0.006015 -0.174313 
optimize pose graph 
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time: 1403638609.577830, t: 4.022216 -10.431537 3.415552 q: 0.856570 0.486364 -0.010509 -0.172125 
time: 1403638609.777829, t: 3.882157 -10.455849 3.413217 q: 0.855986 0.485924 -0.008741 -0.176322 
time: 1403638609.977829, t: 3.759104 -10.466729 3.397556 q: 0.856179 0.486279 -0.008114 -0.174425 
time: 1403638610.177830, t: 3.675561 -10.475302 3.373979 q: 0.856524 0.487506 0.000637 -0.169421 
time: 1403638610.377830, t: 3.594119 -10.463686 3.378372 q: 0.855992 0.489544 0.002526 -0.166184 
time: 1403638610.577830, t: 3.484587 -10.431720 3.372922 q: 0.856185 0.490231 0.013398 -0.162609 
time: 1403638610.777829, t: 3.364890 -10.370104 3.363091 q: 0.855990 0.491163 0.012252 -0.160900 
time: 1403638610.977829, t: 3.268458 -10.277250 3.343603 q: 0.855247 0.490987 -0.000227 -0.165784 
time: 1403638611.177830, t: 3.188080 -10.170242 3.337282 q: 0.854253 0.494078 0.004274 -0.161618 
optimize pose graph 
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time: 1403638611.577830, t: 3.038066 -9.894523 3.295322 q: 0.854638 0.481628 0.017044 -0.193231 
time: 1403638611.777829, t: 2.998364 -9.742093 3.253897 q: 0.855324 0.482667 0.002927 -0.188266 
time: 1403638611.977829, t: 2.925113 -9.584346 3.221531 q: 0.855849 0.485483 -0.011438 -0.178041 
time: 1403638612.177830, t: 2.854687 -9.423729 3.160709 q: 0.857016 0.484128 -0.016665 -0.175688 
time: 1403638612.377830, t: 2.814498 -9.258852 3.134585 q: 0.856959 0.483890 -0.014786 -0.176788 
time: 1403638612.577830, t: 2.777372 -9.094642 3.121040 q: 0.857584 0.481984 -0.007009 -0.179420 
time: 1403638612.777829, t: 2.694273 -8.926385 3.088953 q: 0.859741 0.475817 0.001557 -0.185583 
time: 1403638612.977829, t: 2.624544 -8.767331 3.055814 q: 0.861574 0.474004 0.004707 -0.181628 
time: 1403638613.177830, t: 2.572823 -8.606247 3.010896 q: 0.862217 0.473289 -0.003036 -0.180474 
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time: 1403638614.377830, t: 2.257952 -7.482589 2.662807 q: 0.912371 0.383113 -0.001273 -0.144228 
time: 1403638614.577830, t: 2.225500 -7.270143 2.594415 q: 0.920191 0.367663 -0.006368 -0.134281 
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time: 1403638614.977829, t: 2.231894 -6.821340 2.431245 q: 0.945845 0.308537 -0.028414 -0.096819 
time: 1403638615.177830, t: 2.289413 -6.577686 2.333626 q: 0.964399 0.249780 -0.019472 -0.084655 
time: 1403638615.377830, t: 2.369757 -6.326181 2.272844 q: 0.980020 0.184551 -0.005284 -0.073991 
time: 1403638615.577830, t: 2.417162 -6.066702 2.194559 q: 0.990795 0.123925 0.001516 -0.054464 
time: 1403638615.777829, t: 2.469418 -5.829407 2.132034 q: 0.995332 0.087753 -0.000479 -0.040158 
time: 1403638615.977829, t: 2.504878 -5.575433 2.098108 q: 0.997334 0.066866 0.000642 -0.029202 
time: 1403638616.177830, t: 2.505237 -5.329460 2.051058 q: 0.999178 0.035975 0.004052 -0.018267 
time: 1403638616.377830, t: 2.475385 -5.069918 2.023408 q: 0.999986 -0.003579 0.003704 -0.001274 
time: 1403638616.577830, t: 2.421888 -4.810585 2.007202 q: 0.999258 -0.036705 -0.001618 0.011529 
time: 1403638616.777829, t: 2.327458 -4.549784 1.987555 q: 0.998071 -0.050095 -0.024640 0.027153 
time: 1403638616.977829, t: 2.250594 -4.279896 1.977273 q: 0.997623 -0.053217 -0.031422 0.030474 
time: 1403638617.177830, t: 2.221455 -3.998510 1.997088 q: 0.998242 -0.054501 -0.018374 0.014288 
time: 1403638617.377830, t: 2.214579 -3.735500 2.030105 q: 0.998209 -0.051899 -0.028812 0.007416 
time: 1403638617.577830, t: 2.249257 -3.480429 2.081091 q: 0.998269 -0.047766 -0.034254 0.002201 
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time: 1403638617.977829, t: 2.425984 -3.008405 2.184971 q: 0.998754 -0.042370 -0.025800 -0.005399 
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time: 1403638619.377830, t: 3.024706 -1.718375 3.066080 q: 0.987988 -0.151142 0.008334 0.031089 
time: 1403638619.577830, t: 3.044592 -1.576340 3.231486 q: 0.981115 -0.185751 0.014568 0.051942 
time: 1403638619.777829, t: 3.074900 -1.454592 3.405109 q: 0.977280 -0.195974 0.019444 0.078361 
time: 1403638619.977829, t: 3.128201 -1.313948 3.534749 q: 0.975467 -0.201477 0.019591 0.086531 
time: 1403638620.177830, t: 3.165922 -1.194598 3.657874 q: 0.974173 -0.208819 0.026373 0.081771 
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time: 1403638620.977829, t: 3.305218 -0.581763 3.932530 q: 0.976528 -0.206337 0.002009 0.061759 
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time: 1403638621.577830, t: 3.348267 -0.142444 4.069789 q: 0.978477 -0.200930 0.016042 0.044188 
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time: 1403638621.977829, t: 3.311252 0.104236 4.158319 q: 0.978546 -0.200082 0.030678 0.038386 
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time: 1403638623.377830, t: 3.154534 0.454616 3.725924 q: 0.977986 -0.199809 0.024764 0.054838 
time: 1403638623.577830, t: 3.093170 0.447543 3.579053 q: 0.977947 -0.200790 0.021392 0.053335 
time: 1403638623.777829, t: 3.048770 0.439206 3.415578 q: 0.977668 -0.203080 0.018508 0.050795 
time: 1403638623.977829, t: 3.010500 0.422315 3.244258 q: 0.977225 -0.205751 0.014939 0.049739 
time: 1403638624.177830, t: 2.970194 0.395321 3.070282 q: 0.976875 -0.205684 0.014078 0.056673 
time: 1403638624.377830, t: 2.904538 0.368120 2.906150 q: 0.976402 -0.206372 0.014995 0.061838 
time: 1403638624.577830, t: 2.817930 0.356197 2.749570 q: 0.975720 -0.206209 0.028819 0.067955 
time: 1403638624.777829, t: 2.727992 0.334554 2.580002 q: 0.976871 -0.204969 0.027653 0.054280 
time: 1403638624.977829, t: 2.656486 0.302322 2.389018 q: 0.979484 -0.194852 0.015016 0.049165 
time: 1403638625.177830, t: 2.590450 0.269578 2.187069 q: 0.981362 -0.183133 0.013595 0.056620 
time: 1403638625.377830, t: 2.499203 0.250863 1.995559 q: 0.982197 -0.178891 0.013191 0.055800 
time: 1403638625.577830, t: 2.437660 0.232304 1.794792 q: 0.982432 -0.177808 0.013273 0.055100 
time: 1403638625.777829, t: 2.392906 0.217943 1.581492 q: 0.982485 -0.177446 0.002586 0.056826 
time: 1403638625.977829, t: 2.328478 0.217816 1.379302 q: 0.982332 -0.178388 -0.002668 0.056523 
time: 1403638626.177830, t: 2.273196 0.203673 1.187120 q: 0.982028 -0.179159 -0.006736 0.058970 
time: 1403638626.377830, t: 2.194083 0.215761 1.015290 q: 0.981844 -0.183726 -0.001364 0.047169 
time: 1403638626.577830, t: 2.099728 0.214656 0.861601 q: 0.981814 -0.184904 -0.002941 0.042939 
time: 1403638626.777829, t: 2.017116 0.216091 0.717464 q: 0.981857 -0.183176 -0.012932 0.047284 
time: 1403638626.977829, t: 1.954589 0.227018 0.588795 q: 0.981945 -0.182009 -0.018801 0.047987 
time: 1403638627.177830, t: 1.899837 0.228554 0.482835 q: 0.982166 -0.180681 -0.018145 0.048741 
optimize pose graph 
time: 1403638627.377830, t: 1.853254 0.237164 0.385231 q: 0.982257 -0.181398 -0.017134 0.044412 
time: 1403638627.577830, t: 1.799380 0.243591 0.315149 q: 0.982212 -0.182104 -0.015859 0.042967 
time: 1403638627.777829, t: 1.746101 0.254905 0.268374 q: 0.982107 -0.184079 -0.007358 0.039082 
time: 1403638627.977829, t: 1.683752 0.269883 0.235374 q: 0.982003 -0.184685 -0.009570 0.038333 
time: 1403638628.177830, t: 1.640932 0.265488 0.211308 q: 0.981621 -0.186543 -0.013085 0.038094 
time: 1403638628.377830, t: 1.617885 0.256350 0.186586 q: 0.981490 -0.186505 -0.014742 0.040941 
time: 1403638628.577830, t: 1.608015 0.232461 0.176018 q: 0.981808 -0.181076 0.002429 0.057084 
time: 1403638628.777829, t: 1.599247 0.211983 0.163908 q: 0.981714 -0.180129 0.007224 0.061155 
time: 1403638628.977829, t: 1.571348 0.200420 0.143073 q: 0.981495 -0.184527 0.004920 0.050931 
time: 1403638629.177830, t: 1.552935 0.195251 0.123794 q: 0.981400 -0.187169 0.000709 0.042687 
time: 1403638629.377830, t: 1.544116 0.183349 0.096888 q: 0.981302 -0.187843 -0.005782 0.041568 
time: 1403638629.577830, t: 1.534332 0.164480 0.096962 q: 0.981002 -0.186825 -0.018951 0.048710 
time: 1403638630.177830, t: 1.495966 0.165328 0.140332 q: 0.980684 -0.189774 0.016017 0.044595 
time: 1403638630.377830, t: 1.451911 0.162270 0.099830 q: 0.980776 -0.187414 -0.026496 0.047449 
time: 1403638630.577830, t: 1.513357 0.135165 0.215941 q: 0.981255 -0.186685 0.006973 0.047324 
time: 1403638630.777829, t: 0.780486 0.888077 -0.305794 q: 0.985471 -0.164982 -0.018393 0.035925 
time: 1403638630.977829, t: 1.137910 0.594930 -0.234560 q: 0.984299 -0.169648 -0.027473 0.040244 
time: 1403638631.177830, t: 1.408559 0.480747 -0.193200 q: 0.983521 -0.172894 -0.035646 0.039033 
time: 1403638631.377830, t: 1.413423 0.438859 -0.170119 q: 0.983212 -0.174607 -0.036203 0.038687 
time: 1403638631.577830, t: 1.412717 0.420720 -0.142384 q: 0.983344 -0.173709 -0.035221 0.040253 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720512182.688088967]: Shutdown request received.[0m
[33m[ WARN] [1720512182.688138022]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720512182.689002007]: Shutdown request received.[0m
[33m[ WARN] [1720512182.689030533]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/5f56b38a-3dc9-11ef-90a6-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
