/SLAM-Hive/slam_hive_results/mapping_results/3142/2347_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-7.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720548685.170088713]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720548685.171408259]: init begins[0m
[31m[ERROR] [1720548685.172451722]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/a785b994-3e1e-11ef-887d-0242ac110005/roslaunch-eaa973ff06ce-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://eaa973ff06ce:37019/[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
[1mROS_MASTER_URI=http://eaa973ff06ce:11311/[0m
]2;roscore http://eaa973ff06ce:11311/
[1msetting /run_id to a785b994-3e1e-11ef-887d-0242ac110005[0m
[0m[ INFO] [1720548686.376575135]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720548686.378262638]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720548686.384423826]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720548686.384663908]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720548686.384698268]: ROW: 384 COL: 601 [0m
 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 9.81007
[0m[ INFO] [1720548686.384952283]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720548686.385191579]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720548686.385367257]: 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
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [210][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720548695.326405446]: 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: 316911838.70 
init first imu pose
averge acc 9.580116 -0.442934 -3.147281
init R0 
   0.314883    0.132273    0.939868
3.08149e-33   -0.990242    0.139362
    0.94913  -0.0438827    -0.31181
[33m[ WARN] [1720548699.647662609]: gyroscope bias initial calibration -0.0049178  0.0180231  0.0710984[0m
[0m[ INFO] [1720548699.703414104]: Initialization finish![0m
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optimize pose graph 
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time: 1403636903.751667, t: 1.514387 -1.477295 0.386556 q: -0.058135 0.820713 0.080382 0.562663 
optimize pose graph 
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time: 1403636981.551666, t: 5.417609 -5.469089 -1.387160 q: 0.176164 0.770162 -0.273493 0.548652 
time: 1403636981.751667, t: 5.493696 -5.531463 -1.403593 q: 0.192483 0.778345 -0.267759 0.534260 
time: 1403636981.951667, t: 5.578032 -5.590583 -1.389651 q: 0.192469 0.786801 -0.273308 0.518848 
time: 1403636982.151666, t: 5.683371 -5.652658 -1.376345 q: 0.183537 0.794260 -0.282642 0.505548 
time: 1403636982.351666, t: 5.812368 -5.728667 -1.378425 q: 0.174284 0.788551 -0.289484 0.513820 
time: 1403636982.551666, t: 5.956861 -5.826337 -1.378327 q: 0.176648 0.772887 -0.285285 0.538567 
time: 1403636982.751667, t: 6.102715 -5.938727 -1.360171 q: 0.174719 0.774890 -0.282309 0.537885 
time: 1403636982.951667, t: 6.245234 -6.061216 -1.348128 q: 0.177123 0.780231 -0.277939 0.531617 
time: 1403636983.151666, t: 6.388526 -6.190190 -1.358643 q: 0.183238 0.775100 -0.272824 0.539639 
time: 1403636983.351666, t: 6.530036 -6.317594 -1.392072 q: 0.190123 0.773034 -0.268532 0.542367 
time: 1403636983.551666, t: 6.669351 -6.435012 -1.429192 q: 0.192400 0.773319 -0.269214 0.540818 
time: 1403636983.751667, t: 6.805898 -6.536972 -1.443919 q: 0.193087 0.779565 -0.272660 0.529767 
time: 1403636983.951667, t: 6.952325 -6.634210 -1.426104 q: 0.193806 0.783388 -0.275962 0.522099 
time: 1403636984.151666, t: 7.113859 -6.732922 -1.391385 q: 0.194503 0.783591 -0.279227 0.519794 
time: 1403636984.351666, t: 7.264025 -6.859021 -1.368931 q: 0.196100 0.776860 -0.278406 0.529645 
time: 1403636984.551666, t: 7.465808 -6.933970 -1.395481 q: 0.202940 0.771934 -0.279046 0.533916 
time: 1403636984.751667, t: 7.652270 -7.022579 -1.409230 q: 0.202184 0.770669 -0.278263 0.536434 
time: 1403636984.951667, t: 7.837789 -7.101883 -1.402932 q: 0.194292 0.768408 -0.282777 0.540220 
time: 1403636985.151666, t: 8.013120 -7.171478 -1.384641 q: 0.196090 0.770212 -0.281869 0.537469 
time: 1403636985.351666, t: 8.187727 -7.236595 -1.401448 q: 0.199932 0.770623 -0.278917 0.537004 
time: 1403636985.551666, t: 8.369758 -7.292531 -1.420580 q: 0.195023 0.776963 -0.262319 0.538037 
time: 1403636985.751667, t: 8.555146 -7.334866 -1.409687 q: 0.194509 0.779254 -0.245534 0.542810 
optimize pose graph 
time: 1403636985.951667, t: 8.741990 -7.359330 -1.384666 q: 0.197159 0.762563 -0.232560 0.570562 
time: 1403636986.151666, t: 8.910951 -7.353824 -1.391373 q: 0.196982 0.761856 -0.228819 0.573076 
time: 1403636986.351666, t: 9.063618 -7.316908 -1.422714 q: 0.189672 0.778661 -0.234442 0.550226 
time: 1403636986.551666, t: 9.211085 -7.262693 -1.457494 q: 0.174758 0.780608 -0.244382 0.548077 
time: 1403636986.751667, t: 9.353832 -7.202189 -1.458362 q: 0.164423 0.779132 -0.250595 0.550564 
time: 1403636986.951667, t: 9.489120 -7.146593 -1.424912 q: 0.161549 0.776958 -0.253108 0.553330 
time: 1403636987.151666, t: 9.610471 -7.096512 -1.362019 q: 0.170064 0.776051 -0.250072 0.553433 
time: 1403636987.351666, t: 9.723137 -7.045645 -1.317089 q: 0.173071 0.773209 -0.251010 0.556047 
time: 1403636987.551666, t: 9.827456 -6.988851 -1.292644 q: 0.176003 0.769516 -0.241520 0.564390 
time: 1403636987.751667, t: 9.918175 -6.920954 -1.281397 q: 0.175987 0.767616 -0.234643 0.569857 
time: 1403636987.951667, t: 9.989507 -6.838568 -1.255266 q: 0.165373 0.769370 -0.237010 0.569691 
optimize pose graph 
time: 1403636988.151666, t: 10.041838 -6.749975 -1.224559 q: 0.148626 0.773913 -0.248255 0.563328 
time: 1403636988.351666, t: 10.074247 -6.671522 -1.209379 q: 0.143754 0.766703 -0.253450 0.572071 
time: 1403636988.551666, t: 10.079379 -6.604954 -1.173018 q: 0.147922 0.758048 -0.250838 0.583577 
time: 1403636988.751667, t: 10.043440 -6.541345 -1.125940 q: 0.149467 0.755577 -0.249548 0.586931 
time: 1403636988.951667, t: 9.974133 -6.483911 -1.101331 q: 0.148133 0.750296 -0.250270 0.593699 
time: 1403636989.151666, t: 9.864918 -6.430178 -1.096388 q: 0.147460 0.747106 -0.252085 0.597110 
time: 1403636989.351666, t: 9.712996 -6.379857 -1.089260 q: 0.157798 0.758461 -0.248486 0.581456 
time: 1403636989.551666, t: 9.530028 -6.331128 -1.055636 q: 0.162982 0.773880 -0.247831 0.559577 
time: 1403636989.751667, t: 9.342061 -6.283297 -1.015496 q: 0.170902 0.779281 -0.242919 0.551820 
time: 1403636989.951667, t: 9.156182 -6.229998 -0.998481 q: 0.170708 0.775497 -0.242980 0.557157 
time: 1403636990.151666, t: 8.966390 -6.169735 -0.984829 q: 0.172435 0.768528 -0.241042 0.567035 
time: 1403636990.351666, t: 8.768870 -6.101066 -0.949833 q: 0.173600 0.773391 -0.238496 0.561115 
time: 1403636990.551666, t: 8.567596 -6.023508 -0.912331 q: 0.169888 0.778686 -0.237598 0.555277 
time: 1403636990.751667, t: 8.370358 -5.940969 -0.897921 q: 0.168187 0.782753 -0.235760 0.550844 
time: 1403636990.951667, t: 8.182495 -5.859161 -0.906956 q: 0.168233 0.783846 -0.234109 0.549978 
time: 1403636991.151666, t: 8.006134 -5.773880 -0.932258 q: 0.169389 0.782695 -0.234312 0.551175 
time: 1403636991.351666, t: 7.832612 -5.688767 -0.946900 q: 0.169793 0.783312 -0.236006 0.549448 
time: 1403636991.551666, t: 7.670030 -5.599709 -0.924489 q: 0.170323 0.783479 -0.238888 0.547798 
time: 1403636991.751667, t: 7.519838 -5.514583 -0.874066 q: 0.160824 0.781132 -0.251214 0.548508 
time: 1403636991.951667, t: 7.372845 -5.439323 -0.817999 q: 0.156753 0.779005 -0.260330 0.548460 
time: 1403636992.151666, t: 7.226112 -5.377925 -0.788582 q: 0.171473 0.776187 -0.255318 0.550403 
time: 1403636992.351666, t: 7.081515 -5.320403 -0.780524 q: 0.179540 0.774126 -0.253857 0.551408 
time: 1403636992.551666, t: 6.942305 -5.258847 -0.776792 q: 0.182158 0.779518 -0.257106 0.541357 
time: 1403636992.751667, t: 6.813048 -5.197589 -0.748252 q: 0.184207 0.780986 -0.260064 0.537117 
time: 1403636992.951667, t: 6.695940 -5.134297 -0.729440 q: 0.190313 0.780421 -0.259900 0.535888 
time: 1403636993.151666, t: 6.592343 -5.065466 -0.732404 q: 0.185156 0.773224 -0.262244 0.546872 
time: 1403636993.351666, t: 6.497740 -4.990806 -0.719695 q: 0.168324 0.775523 -0.245682 0.556661 
time: 1403636993.551666, t: 6.402311 -4.914101 -0.674134 q: 0.146295 0.783505 -0.214341 0.564602 
time: 1403636993.751667, t: 6.302478 -4.838560 -0.618004 q: 0.126590 0.793534 -0.187648 0.564860 
time: 1403636993.951667, t: 6.202185 -4.764998 -0.583001 q: 0.118850 0.796798 -0.172677 0.566719 
time: 1403636994.151666, t: 6.098329 -4.689772 -0.567336 q: 0.121555 0.788719 -0.162992 0.580155 
time: 1403636994.351666, t: 5.986220 -4.606608 -0.572865 q: 0.123795 0.780390 -0.159503 0.591798 
time: 1403636994.551666, t: 5.853698 -4.508374 -0.586746 q: 0.121154 0.780649 -0.162537 0.591178 
time: 1403636994.751667, t: 5.703733 -4.396615 -0.579777 q: 0.108325 0.790808 -0.173738 0.576805 
time: 1403636994.951667, t: 5.543074 -4.288789 -0.555999 q: 0.095306 0.794344 -0.185077 0.570684 
time: 1403636995.151666, t: 5.379746 -4.193196 -0.544417 q: 0.107104 0.788562 -0.176648 0.579219 
time: 1403636995.351666, t: 5.205145 -4.103882 -0.521701 q: 0.114130 0.787056 -0.168897 0.582230 
time: 1403636995.551666, t: 5.018001 -4.005006 -0.469198 q: 0.112611 0.794174 -0.167418 0.573217 
time: 1403636995.751667, t: 4.826729 -3.902771 -0.408788 q: 0.109147 0.795352 -0.169873 0.571529 
time: 1403636995.951667, t: 4.634073 -3.803998 -0.375285 q: 0.095936 0.796728 -0.180817 0.568617 
optimize pose graph 
time: 1403636996.151666, t: 4.443379 -3.722556 -0.361782 q: 0.103000 0.799731 -0.176821 0.564407 
time: 1403636996.351666, t: 4.256564 -3.650055 -0.335969 q: 0.108459 0.801928 -0.169856 0.562402 
time: 1403636996.551666, t: 4.082962 -3.581030 -0.274563 q: 0.100170 0.805475 -0.151833 0.564024 
time: 1403636996.751667, t: 3.917257 -3.511344 -0.213217 q: 0.079085 0.812378 -0.121364 0.564852 
time: 1403636996.951667, t: 3.756885 -3.437321 -0.202548 q: 0.049189 0.818556 -0.084697 0.566016 
time: 1403636997.151666, t: 3.612686 -3.366903 -0.215473 q: 0.023802 0.822824 -0.049579 0.565629 
time: 1403636997.351666, t: 3.483121 -3.306286 -0.245671 q: 0.011580 0.824836 -0.030794 0.564414 
time: 1403636997.551666, t: 3.367431 -3.253418 -0.252879 q: 0.009701 0.825128 -0.024439 0.564334 
time: 1403636997.751667, t: 3.274349 -3.204262 -0.227108 q: 0.013148 0.826430 -0.025380 0.562314 
optimize pose graph 
time: 1403636998.151666, t: 3.136171 -3.113240 -0.089847 q: 0.019019 0.826612 -0.033082 0.561478 
time: 1403636998.351666, t: 3.092561 -3.069637 -0.022349 q: 0.019133 0.826135 -0.037343 0.561907 
time: 1403636998.551666, t: 3.059680 -3.029445 0.029787 q: 0.020113 0.824364 -0.039676 0.564309 
time: 1403636998.951667, t: 3.005806 -2.959264 0.183688 q: 0.035016 0.807647 -0.032791 0.587712 
time: 1403636999.151666, t: 2.964408 -2.913431 0.237901 q: 0.040608 0.808724 -0.030431 0.585995 
time: 1403636999.351666, t: 2.927150 -2.857487 0.268263 q: 0.037694 0.812413 -0.033911 0.580873 
time: 1403636999.551666, t: 2.880321 -2.791581 0.277115 q: 0.031891 0.810537 -0.038852 0.583526 
time: 1403636999.751667, t: 2.825096 -2.722335 0.273103 q: 0.030176 0.807559 -0.040989 0.587586 
time: 1403636999.951667, t: 2.762351 -2.652846 0.259740 q: 0.033669 0.807414 -0.040141 0.587655 
time: 1403637000.151666, t: 2.685088 -2.576594 0.256948 q: 0.038082 0.808982 -0.036839 0.585440 
optimize pose graph 
time: 1403637000.351666, t: 2.604586 -2.493836 0.275247 q: 0.035643 0.811556 -0.038126 0.581939 
time: 1403637000.551666, t: 2.518322 -2.404231 0.280828 q: 0.036988 0.811010 -0.037378 0.582664 
wait for imu ... 
time: 1403637000.751667, t: 2.427811 -2.310140 0.295524 q: 0.034984 0.810039 -0.038822 0.584043 
time: 1403637000.951667, t: 2.330064 -2.210002 0.327907 q: 0.034489 0.809743 -0.041079 0.584328 
time: 1403637001.151666, t: 2.227789 -2.108146 0.338899 q: 0.034124 0.808951 -0.042495 0.585344 
time: 1403637001.351666, t: 2.117956 -2.008235 0.352112 q: 0.031161 0.808937 -0.045617 0.585294 
time: 1403637001.551666, t: 2.003600 -1.907743 0.389957 q: 0.030102 0.813662 -0.048546 0.578525 
time: 1403637001.751667, t: 1.885577 -1.811785 0.420770 q: 0.031097 0.814249 -0.050372 0.577490 
time: 1403637001.951667, t: 1.764841 -1.721546 0.425924 q: 0.031476 0.815140 -0.051555 0.576106 
time: 1403637002.151666, t: 1.645682 -1.633660 0.414922 q: 0.031785 0.816329 -0.051839 0.574378 
time: 1403637002.351666, t: 1.531198 -1.547465 0.393002 q: 0.033747 0.816763 -0.050807 0.573740 
time: 1403637002.551666, t: 1.419856 -1.462345 0.392068 q: 0.039433 0.816762 -0.046626 0.573734 
time: 1403637002.751667, t: 1.311333 -1.374424 0.418962 q: 0.040652 0.816861 -0.047254 0.573456 
time: 1403637002.951667, t: 1.206080 -1.281755 0.434220 q: 0.037870 0.815782 -0.052038 0.574767 
time: 1403637003.151666, t: 1.102224 -1.189332 0.423591 q: 0.038129 0.815953 -0.054977 0.574234 
time: 1403637003.351666, t: 1.002521 -1.095690 0.405121 q: 0.037577 0.814170 -0.058454 0.576453 
time: 1403637003.551666, t: 0.906261 -1.005147 0.405993 q: 0.037480 0.812344 -0.060665 0.578803 
time: 1403637003.751667, t: 0.806815 -0.917405 0.426550 q: 0.037175 0.812706 -0.061925 0.578180 
time: 1403637003.951667, t: 0.704867 -0.833044 0.435185 q: 0.037053 0.816405 -0.059027 0.573259 
time: 1403637004.151666, t: 0.610775 -0.748192 0.416053 q: 0.039202 0.820156 -0.053887 0.568246 
optimize pose graph 
time: 1403637004.351666, t: 0.523348 -0.664103 0.405524 q: 0.035726 0.821234 -0.053667 0.566938 
time: 1403637004.551666, t: 0.446549 -0.584208 0.433031 q: 0.035369 0.813849 -0.056772 0.577214 
time: 1403637004.751667, t: 0.365433 -0.506784 0.487636 q: 0.023128 0.812021 -0.072060 0.578700 
time: 1403637005.151666, t: 0.205449 -0.391823 0.469570 q: 0.035413 0.818417 -0.072984 0.568870 
time: 1403637005.351666, t: 0.137255 -0.356562 0.427869 q: 0.041178 0.821005 -0.069335 0.565197 
time: 1403637005.551666, t: 0.076478 -0.326378 0.381545 q: 0.042753 0.817140 -0.063072 0.571380 
time: 1403637005.751667, t: 0.022747 -0.284839 0.370044 q: 0.031761 0.822774 -0.066975 0.563514 
time: 1403637005.951667, t: -0.028734 -0.252457 0.392276 q: 0.036238 0.820232 -0.061976 0.567507 
time: 1403637006.151666, t: -0.068015 -0.221861 0.406427 q: 0.035457 0.816655 -0.062716 0.572612 
optimize pose graph 
time: 1403637006.351666, t: -0.105204 -0.193357 0.410621 q: 0.030777 0.824767 -0.065904 0.560776 
time: 1403637006.551666, t: -0.128472 -0.171216 0.407956 q: 0.020459 0.828202 -0.071404 0.555486 
time: 1403637006.751667, t: -0.134662 -0.160623 0.401979 q: 0.016420 0.818983 -0.051631 0.571255 
time: 1403637006.951667, t: -0.139539 -0.154428 0.384880 q: -0.004188 0.818961 -0.018093 0.573549 
time: 1403637007.151666, t: -0.145621 -0.152475 0.366374 q: -0.019838 0.817679 0.019841 0.574990 
time: 1403637007.351666, t: -0.151478 -0.154284 0.347955 q: -0.024907 0.809143 0.042129 0.585570 
time: 1403637007.551666, t: -0.167700 -0.152110 0.325496 q: -0.027034 0.811048 0.048616 0.582329 
time: 1403637007.751667, t: -0.190913 -0.142956 0.296978 q: -0.027024 0.825730 0.047411 0.561420 
time: 1403637007.951667, t: -0.206807 -0.126552 0.278966 q: -0.033433 0.817548 0.038440 0.573602 
time: 1403637008.151666, t: -0.222606 -0.110452 0.262322 q: -0.029147 0.821141 0.034898 0.568911 
time: 1403637008.351666, t: -0.235117 -0.094990 0.254225 q: -0.020488 0.832946 0.035158 0.551857 
optimize pose graph 
time: 1403637008.551666, t: -0.230551 -0.073990 0.263446 q: -0.024124 0.821066 0.028003 0.569635 
time: 1403637008.751667, t: -0.221708 -0.053102 0.266181 q: -0.035617 0.817447 0.015370 0.574697 
time: 1403637008.951667, t: -0.211037 -0.044457 0.249843 q: -0.050226 0.824512 0.002436 0.563606 
time: 1403637009.151666, t: -0.192791 -0.059249 0.221951 q: -0.028889 0.822704 0.014434 0.567553 
time: 1403637009.351666, t: -0.167650 -0.082309 0.186401 q: 0.001223 0.821430 0.033920 0.569298 
time: 1403637009.551666, t: -0.155921 -0.097112 0.172882 q: -0.054582 0.801165 0.042006 0.594467 
time: 1403637009.751667, t: -0.169040 -0.108690 0.167649 q: -0.064842 0.792989 0.017289 0.605528 
time: 1403637009.951667, t: -0.173979 -0.108060 0.169888 q: -0.066711 0.791508 0.017047 0.607268 
time: 1403637010.151666, t: -0.175611 -0.108649 0.170425 q: -0.066033 0.791964 0.017615 0.606731 
time: 1403637010.351666, t: -0.175635 -0.108778 0.170537 q: -0.065614 0.792037 0.017748 0.606678 
time: 1403637010.551666, t: -0.175569 -0.108747 0.170604 q: -0.065445 0.792142 0.017702 0.606560 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720548850.006450416]: Shutdown request received.[0m
[33m[ WARN] [1720548850.006506683]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720548850.007399094]: Shutdown request received.[0m
[33m[ WARN] [1720548850.007427405]: Reason given for shutdown: [user request][0m
killed
