/SLAM-Hive/slam_hive_results/mapping_results/3146/2351_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-11.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720549444.653265293]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720549444.655323673]: init begins[0m
[31m[ERROR] [1720549444.656353240]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/6c33f278-3e20-11ef-9d7d-0242ac110005/roslaunch-0c0a6bbc07c0-118.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://0c0a6bbc07c0:45427/[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] [1720549445.759538921]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720549445.760962397]: 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] [1720549445.766873087]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720549445.767112266]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720549445.767135917]: ROW: 96 COL: 150 [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] [1720549445.767329066]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720549445.767556180]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720549445.767721725]: 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://0c0a6bbc07c0:11311/[0m
]2;roscore http://0c0a6bbc07c0:11311/
[1msetting /run_id to 6c33f278-3e20-11ef-9d7d-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
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720549454.795772087]: 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: 316912598.15 
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
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720549459.067008298]: gyroscope bias initial calibration  0.040754 0.0427561  0.141345[0m
[0m[ INFO] [1720549459.104905688]: Initialization finish![0m
time: 1403636860.751667, t: -0.047851 -0.086875 0.114114 q: 0.008200 0.851328 -0.022081 0.524106 
time: 1403636860.951667, t: -0.049035 -0.083941 0.155047 q: 0.047267 0.853978 -0.036174 0.516893 
time: 1403636861.151666, t: -0.001331 -0.063796 0.256371 q: 0.097906 0.836936 -0.067744 0.534195 
time: 1403636861.351666, t: 0.023598 -0.051998 0.364324 q: 0.116218 0.807316 -0.074944 0.573688 
time: 1403636861.551666, t: 0.075159 -0.026513 0.365192 q: 0.110776 0.789592 -0.070409 0.599430 
time: 1403636861.751667, t: 0.007895 -0.080397 0.346590 q: 0.124463 0.797136 -0.085200 0.584657 
time: 1403636861.951667, t: 0.012380 -0.088647 0.212572 q: 0.121722 0.815479 -0.090818 0.558506 
time: 1403636862.151666, t: 0.007441 -0.082348 0.089752 q: 0.105974 0.833916 -0.096065 0.533034 
time: 1403636862.351666, t: -0.008890 -0.117882 0.074598 q: 0.110650 0.844128 -0.089492 0.516910 
time: 1403636862.551666, t: -0.029043 -0.081177 0.216334 q: 0.158461 0.826548 -0.113389 0.528064 
time: 1403636862.751667, t: 0.002779 -0.057900 0.320420 q: 0.184316 0.802619 -0.121668 0.554100 
time: 1403636862.951667, t: -0.049781 -0.050819 0.469968 q: 0.193439 0.788625 -0.140876 0.566397 
wait for imu ... 
time: 1403636863.151666, t: -0.056257 -0.049696 0.481350 q: 0.206685 0.777508 -0.130887 0.579337 
time: 1403636863.351666, t: -0.050892 -0.064899 0.387481 q: 0.215561 0.782347 -0.122690 0.571326 
time: 1403636863.551666, t: -0.087107 -0.094661 0.267735 q: 0.218466 0.788802 -0.139336 0.557359 
time: 1403636863.751667, t: -0.093678 -0.097331 0.160740 q: 0.194442 0.804930 -0.151297 0.539805 
time: 1403636863.951667, t: -0.106426 -0.092169 0.155537 q: 0.185416 0.817104 -0.152342 0.524170 
time: 1403636864.151666, t: -0.089090 -0.081383 0.269014 q: 0.177114 0.816613 -0.130871 0.533522 
time: 1403636864.351666, t: -0.129429 -0.040373 0.407748 q: 0.194183 0.806738 -0.135674 0.541350 
time: 1403636864.551666, t: -0.132269 -0.019407 0.496178 q: 0.191290 0.784867 -0.140374 0.572440 
time: 1403636864.751667, t: -0.125539 -0.036318 0.488827 q: 0.200893 0.774741 -0.131356 0.584947 
time: 1403636864.951667, t: -0.082421 -0.067811 0.408516 q: 0.204890 0.785835 -0.133238 0.568095 
time: 1403636865.151666, t: -0.106932 -0.091264 0.292745 q: 0.200566 0.797816 -0.145159 0.549720 
time: 1403636865.351666, t: -0.119012 -0.104742 0.204154 q: 0.174814 0.802039 -0.155795 0.549455 
time: 1403636865.551666, t: -0.119838 -0.105948 0.194520 q: 0.182486 0.812760 -0.148274 0.533043 
time: 1403636865.751667, t: -0.094099 -0.081052 0.290317 q: 0.182427 0.811567 -0.145990 0.535506 
time: 1403636865.951667, t: -0.076578 -0.056728 0.414101 q: 0.180736 0.791165 -0.140937 0.567036 
time: 1403636866.151666, t: -0.087513 -0.032879 0.526824 q: 0.193072 0.757124 -0.136575 0.608961 
time: 1403636866.351666, t: -0.090141 -0.024729 0.549055 q: 0.205363 0.753262 -0.133813 0.610342 
time: 1403636866.551666, t: -0.099037 -0.046756 0.472296 q: 0.209520 0.764151 -0.137108 0.594454 
time: 1403636866.751667, t: -0.091981 -0.066340 0.385410 q: 0.214568 0.774750 -0.145822 0.576593 
time: 1403636866.951667, t: -0.101811 -0.075727 0.325699 q: 0.191344 0.791027 -0.147230 0.562127 
time: 1403636867.151666, t: -0.116491 -0.087288 0.296267 q: 0.177687 0.805502 -0.149690 0.545148 
time: 1403636867.351666, t: -0.144988 -0.083972 0.273609 q: 0.140083 0.825467 -0.125589 0.532174 
time: 1403636867.551666, t: -0.162988 -0.076585 0.282145 q: 0.142417 0.841112 -0.126689 0.506161 
time: 1403636867.751667, t: -0.167985 -0.072406 0.262390 q: 0.124004 0.892050 -0.139126 0.411721 
time: 1403636867.951667, t: -0.198023 -0.081118 0.269381 q: 0.096684 0.928931 -0.133518 0.331530 
time: 1403636868.151666, t: -0.196657 -0.075387 0.279454 q: 0.098082 0.924127 -0.127893 0.346428 
time: 1403636868.351666, t: -0.219634 -0.069144 0.289703 q: 0.090397 0.926201 -0.124029 0.344379 
time: 1403636868.551666, t: -0.207449 -0.048688 0.277205 q: 0.097984 0.920873 -0.130417 0.354096 
time: 1403636868.751667, t: -0.236082 -0.038048 0.299090 q: 0.101877 0.920877 -0.133839 0.351701 
time: 1403636868.951667, t: -0.243065 -0.025173 0.296601 q: 0.104847 0.923708 -0.125890 0.346299 
wait for imu ... 
wait for imu ... 
time: 1403636869.151666, t: -0.241390 -0.017130 0.297091 q: 0.095888 0.921823 -0.121820 0.355258 
time: 1403636869.351666, t: -0.237829 -0.015264 0.294168 q: 0.093884 0.922928 -0.118073 0.354188 
time: 1403636869.551666, t: -0.237539 -0.022113 0.293289 q: 0.093231 0.922932 -0.117032 0.354694 
time: 1403636869.751667, t: -0.240500 -0.058310 0.296013 q: 0.095568 0.924654 -0.120842 0.348252 
time: 1403636869.951667, t: -0.241947 -0.130146 0.306038 q: 0.102986 0.919385 -0.132643 0.355711 
time: 1403636870.151666, t: -0.247031 -0.226011 0.317981 q: 0.111811 0.917142 -0.148520 0.352550 
time: 1403636870.351666, t: -0.254703 -0.326459 0.334366 q: 0.120194 0.914385 -0.156250 0.353610 
time: 1403636870.551666, t: -0.253782 -0.420232 0.345048 q: 0.121947 0.911785 -0.166019 0.355268 
time: 1403636870.751667, t: -0.257971 -0.482571 0.337864 q: 0.130525 0.911246 -0.172633 0.350418 
time: 1403636870.951667, t: -0.256912 -0.508703 0.331102 q: 0.119332 0.904483 -0.173505 0.370899 
time: 1403636871.151666, t: -0.246412 -0.511718 0.312950 q: 0.108350 0.909106 -0.176880 0.361247 
time: 1403636871.351666, t: -0.245954 -0.488780 0.318794 q: 0.108221 0.910132 -0.177692 0.358292 
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time: 1403636982.351666, t: 110.081839 1748.307784 353.207312 q: 0.299046 0.721690 -0.380835 0.494671 
time: 1403636982.551666, t: 109.452048 1757.997269 354.650906 q: 0.304636 0.706833 -0.372609 0.518408 
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time: 1403636983.551666, t: 106.035749 1806.547512 361.857679 q: 0.320541 0.709443 -0.355955 0.516952 
time: 1403636983.751667, t: 105.248577 1816.301852 363.301508 q: 0.319480 0.715224 -0.360789 0.506180 
time: 1403636983.951667, t: 104.497840 1826.139937 364.773216 q: 0.319135 0.718512 -0.364948 0.498705 
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time: 1403636984.951667, t: 100.848057 1875.890041 372.090647 q: 0.322838 0.702500 -0.367702 0.516784 
time: 1403636985.151666, t: 96.005005 1885.089653 373.944937 q: 0.321653 0.704523 -0.364753 0.516857 
time: 1403636985.351666, t: 94.834436 1895.110084 375.423226 q: 0.325548 0.705067 -0.361933 0.515658 
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time: 1403636985.751667, t: 92.482961 1915.276372 378.410511 q: 0.321664 0.718832 -0.329847 0.520590 
time: 1403636985.951667, t: 93.532437 1926.625748 379.455351 q: 0.329077 0.704237 -0.313780 0.545253 
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time: 1403636986.551666, t: 90.591012 1957.793712 383.754910 q: 0.304293 0.721650 -0.329056 0.527588 
time: 1403636986.751667, t: 89.590677 1968.275751 385.212505 q: 0.294524 0.719841 -0.334620 0.532085 
time: 1403636986.951667, t: 88.574025 1978.787689 386.708450 q: 0.291930 0.717557 -0.336518 0.535392 
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time: 1403636988.751667, t: 71.770615 2073.833016 400.399464 q: 0.279326 0.698648 -0.323348 0.573859 
time: 1403636988.951667, t: 69.908374 2084.600508 401.915952 q: 0.278575 0.693369 -0.322728 0.580932 
time: 1403636989.151666, t: 60.194424 2093.687988 403.516461 q: 0.271356 0.690877 -0.318767 0.589442 
time: 1403636989.351666, t: 57.430671 2104.349971 405.028363 q: 0.279936 0.702156 -0.317515 0.572536 
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time: 1403636989.751667, t: 51.810237 2125.771066 408.122535 q: 0.289931 0.723109 -0.316841 0.540986 
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time: 1403636990.351666, t: 45.431832 2162.735597 411.802412 q: 0.296815 0.716917 -0.313911 0.547167 
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time: 1403636990.751667, t: 40.278156 2185.398015 414.733021 q: 0.289945 0.727755 -0.312649 0.537174 
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time: 1403636991.351666, t: 42.204289 2221.669459 419.098534 q: 0.301598 0.724516 -0.322654 0.529159 
time: 1403636991.551666, t: 40.436054 2233.318534 420.573582 q: 0.302013 0.724127 -0.325200 0.527894 
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time: 1403636994.751667, t: 23.851301 2413.942298 446.305992 q: 0.242728 0.749381 -0.256432 0.560138 
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time: 1403636995.151666, t: 18.810011 2436.406067 450.185261 q: 0.241311 0.745938 -0.257199 0.564973 
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time: 1403636996.151666, t: 10.883192 2494.878199 458.692487 q: 0.236054 0.757312 -0.258727 0.551196 
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time: 1403636996.751667, t: 6.107882 2530.232323 463.868686 q: 0.213151 0.779841 -0.205064 0.551692 
wait for imu ... 
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time: 1403636997.151666, t: 2.956998 2553.915065 467.231350 q: 0.158847 0.804395 -0.135008 0.556318 
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time: 1403636997.551666, t: -0.141963 2577.656272 470.583662 q: 0.144189 0.811340 -0.110029 0.555725 
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time: 1403636997.951667, t: -3.153475 2601.476289 474.064738 q: 0.150240 0.812300 -0.114366 0.551831 
time: 1403636998.151666, t: -4.626926 2613.419423 475.844838 q: 0.152417 0.811126 -0.118287 0.552134 
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time: 1403636999.551666, t: -14.683756 2697.691649 488.164415 q: 0.166550 0.793536 -0.118834 0.573098 
time: 1403636999.751667, t: -16.114538 2709.857024 489.878442 q: 0.165300 0.790309 -0.120071 0.577642 
time: 1403636999.951667, t: -17.552849 2722.052189 491.584073 q: 0.168732 0.790034 -0.118973 0.577253 
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time: 1403637000.551666, t: -21.900184 2758.857808 496.771964 q: 0.171294 0.793758 -0.116818 0.571804 
wait for imu ... 
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time: 1403637002.551666, t: -35.808299 2884.028722 513.379935 q: 0.169798 0.799695 -0.122010 0.562824 
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time: 1403637009.751667, t: -180.072993 3333.157872 574.640454 q: 0.047196 0.782077 -0.028905 0.620719 
time: 1403637009.951667, t: -185.068917 3346.581464 576.361203 q: 0.045518 0.780373 -0.028635 0.622998 
time: 1403637010.151666, t: -190.074983 3360.029558 578.082951 q: 0.046128 0.780393 -0.027851 0.622964 
time: 1403637010.351666, t: -195.090624 3373.501696 579.806722 q: 0.046242 0.780381 -0.027664 0.622979 
time: 1403637010.551666, t: -200.115682 3386.997850 581.532025 q: 0.046154 0.780388 -0.027638 0.622978 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720549609.446345024]: Shutdown request received.[0m
[33m[ WARN] [1720549609.446403844]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720549609.447326588]: Shutdown request received.[0m
[33m[ WARN] [1720549609.447347251]: Reason given for shutdown: [user request][0m
killed
