/SLAM-Hive/slam_hive_results/mapping_results/3198/2403_vins-fusion-stereo-imu+MH_04_difficult+Image_comb_test-3.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720558673.068302655]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720558673.069486003]: init begins[0m
[31m[ERROR] [1720558673.070512268]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/e8c4bc2c-3e35-11ef-a615-0242ac110005/roslaunch-b507aea4ca46-118.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://b507aea4ca46:35151/[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] [1720558674.174888269]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720558674.175572824]: 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] [1720558674.181293459]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720558674.181475411]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720558674.181501694]: ROW: 240 COL: 376 [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] [1720558674.181735995]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720558674.181975558]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720558674.182143068]: 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://b507aea4ca46:11311/[0m
]2;roscore http://b507aea4ca46:11311/
[1msetting /run_id to e8c4bc2c-3e35-11ef-a615-0242ac110005[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_04_difficult.bag  --clock 
[0m[ INFO] [1720558683.213626400]: 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: 316920556.10 
throw img0
init first imu pose
averge acc 8.949590 -0.194601 -3.927257
init R0 
  0.402246  0.0453102    0.91441
         0  -0.998775  0.0494906
  0.915532 -0.0199074  -0.401753
[33m[ WARN] [1720558684.618108504]: gyroscope bias initial calibration -0.00181857   0.0204008   0.0776915[0m
[0m[ INFO] [1720558684.670031539]: Initialization finish![0m
time: 1403638128.345097, t: 0.000388 0.000449 -0.000160 q: -0.009426 0.837723 0.005907 0.545982 
time: 1403638128.445097, t: 0.000169 0.000508 -0.000233 q: -0.009417 0.837779 0.005631 0.545900 
time: 1403638128.545097, t: 0.000160 0.000291 -0.000151 q: -0.009285 0.837798 0.005445 0.545874 
time: 1403638128.645097, t: 0.000174 0.000250 -0.000118 q: -0.009165 0.837834 0.005389 0.545822 
time: 1403638128.745097, t: 0.000495 0.000455 -0.000145 q: -0.009360 0.838354 0.004435 0.545028 
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time: 1403638129.045097, t: 0.000586 -0.000014 0.000087 q: -0.008502 0.838691 0.005719 0.544511 
time: 1403638129.145097, t: 0.000680 0.000670 0.001930 q: -0.003596 0.838641 0.009273 0.544593 
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time: 1403638129.445097, t: 0.000660 -0.005639 0.027274 q: -0.052994 0.817117 -0.038441 0.572742 
time: 1403638129.545097, t: 0.001721 -0.004321 0.035513 q: -0.048375 0.830861 -0.019222 0.554041 
time: 1403638129.645097, t: 0.003495 -0.001692 0.046689 q: -0.023360 0.844310 -0.002239 0.535340 
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time: 1403638137.545097, t: 0.040576 0.020117 0.105784 q: 0.006609 0.840088 -0.053450 0.539769 
time: 1403638137.645097, t: 0.042689 0.026627 0.078159 q: 0.019461 0.844895 -0.046297 0.532569 
time: 1403638137.745097, t: 0.043524 0.029469 0.056986 q: 0.025651 0.843105 -0.050449 0.534762 
time: 1403638137.845097, t: 0.032427 0.032947 0.040087 q: 0.029871 0.845281 -0.053369 0.530810 
time: 1403638137.945097, t: 0.029320 0.035804 0.025892 q: 0.038257 0.853612 -0.046550 0.517413 
time: 1403638138.045097, t: 0.028644 0.037911 0.016602 q: 0.041700 0.858482 -0.040165 0.509565 
time: 1403638138.145097, t: 0.027417 0.038209 0.013861 q: 0.040315 0.852886 -0.044286 0.518651 
optimize pose graph 
time: 1403638138.245097, t: 0.026600 0.037972 0.008044 q: 0.037617 0.848069 -0.050494 0.526131 
time: 1403638138.345097, t: 0.025752 0.037602 0.009816 q: 0.037734 0.844178 -0.051333 0.532263 
time: 1403638138.445097, t: 0.024528 0.037744 0.009797 q: 0.038143 0.841359 -0.051433 0.536669 
time: 1403638138.545097, t: 0.024659 0.037635 0.009585 q: 0.037927 0.841089 -0.051521 0.537100 
time: 1403638138.645097, t: 0.024603 0.037781 0.009473 q: 0.037578 0.841103 -0.051767 0.537079 
time: 1403638138.745097, t: 0.024688 0.037804 0.009312 q: 0.037311 0.841041 -0.051698 0.537201 
time: 1403638138.845097, t: 0.024654 0.037803 0.009305 q: 0.037251 0.841076 -0.051104 0.537207 
time: 1403638138.945097, t: 0.024692 0.037876 0.009144 q: 0.036816 0.841101 -0.051465 0.537163 
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optimize pose graph 
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time: 1403638152.145097, t: 1.162454 1.118418 0.540655 q: -0.102542 0.809321 0.174053 0.551534 
optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403638222.645097, t: 0.873091 0.023289 0.410110 q: 0.066446 0.818178 -0.099582 0.562364 
time: 1403638222.745097, t: 0.849866 0.028394 0.395301 q: 0.066999 0.814490 -0.099300 0.567676 
time: 1403638222.845097, t: 0.828919 0.036395 0.381883 q: 0.067729 0.811931 -0.098860 0.571320 
time: 1403638222.945097, t: 0.808887 0.042741 0.362939 q: 0.067911 0.804319 -0.098439 0.582038 
time: 1403638223.045097, t: 0.783346 0.049556 0.344302 q: 0.067262 0.803907 -0.098275 0.582711 
time: 1403638223.145097, t: 0.756030 0.057833 0.332719 q: 0.067912 0.809739 -0.098057 0.574540 
time: 1403638223.245097, t: 0.726851 0.066458 0.324277 q: 0.061834 0.819715 -0.102845 0.560060 
time: 1403638223.345097, t: 0.699891 0.075389 0.321892 q: 0.058934 0.822009 -0.105170 0.556567 
time: 1403638223.445097, t: 0.677971 0.081403 0.319180 q: 0.052443 0.818579 -0.109926 0.561333 
time: 1403638223.545097, t: 0.658812 0.084661 0.313350 q: 0.043918 0.814133 -0.115999 0.567276 
time: 1403638223.645097, t: 0.638912 0.081731 0.304462 q: 0.051287 0.813037 -0.111126 0.569203 
time: 1403638223.745097, t: 0.617938 0.075398 0.293843 q: 0.062893 0.813534 -0.103202 0.568820 
time: 1403638223.845097, t: 0.597799 0.068430 0.282237 q: 0.070442 0.814485 -0.097992 0.567495 
time: 1403638223.945097, t: 0.576910 0.062071 0.271880 q: 0.075537 0.814669 -0.094206 0.567216 
time: 1403638224.045097, t: 0.555594 0.061351 0.257299 q: 0.077043 0.816819 -0.093295 0.564063 
time: 1403638224.145097, t: 0.544046 0.056970 0.239307 q: 0.074575 0.822564 -0.094554 0.555775 
time: 1403638224.245097, t: 0.532723 0.049365 0.223520 q: 0.072454 0.825996 -0.095663 0.550753 
time: 1403638224.345097, t: 0.527302 0.041854 0.211856 q: 0.072028 0.821831 -0.095441 0.557043 
time: 1403638224.445097, t: 0.530127 0.048924 0.199929 q: 0.066190 0.815731 -0.100499 0.565775 
time: 1403638224.545097, t: 0.530056 0.053896 0.191347 q: 0.066388 0.808543 -0.100403 0.575995 
optimize pose graph 
time: 1403638224.745097, t: 0.521067 0.063794 0.163251 q: 0.067411 0.821092 -0.099742 0.557957 
time: 1403638224.845097, t: 0.521534 0.067816 0.159004 q: 0.066457 0.824007 -0.100218 0.553671 
time: 1403638224.945097, t: 0.522929 0.075263 0.154089 q: 0.059457 0.816728 -0.104731 0.564316 
time: 1403638225.045097, t: 0.526170 0.079517 0.156889 q: 0.053077 0.810274 -0.107973 0.573569 
time: 1403638225.145097, t: 0.529399 0.080160 0.161181 q: 0.057202 0.809579 -0.104175 0.574855 
time: 1403638225.245097, t: 0.531283 0.080161 0.165620 q: 0.061688 0.816170 -0.100138 0.565714 
time: 1403638225.345097, t: 0.533708 0.079702 0.171423 q: 0.064605 0.819916 -0.097793 0.560358 
time: 1403638225.445097, t: 0.538572 0.079070 0.174570 q: 0.066320 0.815839 -0.096354 0.566326 
time: 1403638225.545097, t: 0.544500 0.079404 0.171401 q: 0.068959 0.805486 -0.094530 0.580949 
time: 1403638225.645097, t: 0.547107 0.080012 0.161769 q: 0.070974 0.795080 -0.092801 0.595145 
time: 1403638225.745097, t: 0.545526 0.082907 0.139725 q: 0.071778 0.797349 -0.092020 0.592127 
time: 1403638225.845097, t: 0.539442 0.087993 0.108603 q: 0.070530 0.808757 -0.092995 0.576446 
time: 1403638225.945097, t: 0.533392 0.094500 0.072407 q: 0.069228 0.818993 -0.093940 0.561812 
time: 1403638226.045097, t: 0.531182 0.103105 0.046242 q: 0.064780 0.829209 -0.094017 0.547153 
time: 1403638226.145097, t: 0.541160 0.113948 0.056969 q: 0.041793 0.827376 -0.108385 0.549504 
time: 1403638226.245097, t: 0.551563 0.116339 0.051498 q: 0.067894 0.832169 -0.092464 0.542527 
time: 1403638226.345097, t: 0.545205 0.130987 0.043746 q: 0.066107 0.828163 -0.093632 0.548642 
time: 1403638226.445097, t: 0.547755 0.124243 0.049078 q: 0.065695 0.828153 -0.093626 0.548708 
time: 1403638226.545097, t: 0.530151 0.133263 0.051401 q: 0.066409 0.827611 -0.093307 0.549494 
time: 1403638226.645097, t: 0.548477 0.118023 0.062482 q: 0.064963 0.828091 -0.093086 0.548981 
time: 1403638226.745097, t: 0.552507 0.112295 0.073241 q: 0.064385 0.828948 -0.093343 0.547711 
time: 1403638226.845097, t: 0.550980 0.110019 0.075294 q: 0.064498 0.828840 -0.092890 0.547938 
time: 1403638226.945097, t: 0.550177 0.107926 0.077608 q: 0.065115 0.829113 -0.092541 0.547510 
time: 1403638227.145097, t: 0.551609 0.102373 0.086544 q: 0.065543 0.829278 -0.092255 0.547258 
time: 1403638227.245097, t: 0.551921 0.101483 0.087935 q: 0.065294 0.829319 -0.092297 0.547218 
time: 1403638227.345097, t: 0.553853 0.102012 0.093840 q: 0.064922 0.829361 -0.092744 0.547124 
time: 1403638227.445097, t: 0.555122 0.101668 0.096772 q: 0.064939 0.829407 -0.092773 0.547047 
time: 1403638227.545097, t: 0.556474 0.100950 0.099332 q: 0.065122 0.829417 -0.092593 0.547041 
time: 1403638227.645097, t: 0.557229 0.100124 0.101107 q: 0.065358 0.829445 -0.092454 0.546993 
time: 1403638227.745097, t: 0.558035 0.100059 0.102786 q: 0.065349 0.829486 -0.092507 0.546924 
time: 1403638227.845097, t: 0.558805 0.101932 0.104163 q: 0.065380 0.829535 -0.092574 0.546833 
time: 1403638227.945097, t: 0.559699 0.103934 0.105243 q: 0.065329 0.829529 -0.092691 0.546829 
time: 1403638228.045097, t: 0.560376 0.105170 0.105560 q: 0.065336 0.829528 -0.092772 0.546816 
time: 1403638228.145097, t: 0.559460 0.102420 0.103664 q: 0.065240 0.829477 -0.092667 0.546923 
time: 1403638228.245097, t: 0.560260 0.104983 0.105265 q: 0.065396 0.829517 -0.092649 0.546846 
time: 1403638228.345097, t: 0.560316 0.107386 0.104419 q: 0.065477 0.829491 -0.092731 0.546862 
time: 1403638228.445097, t: 0.560941 0.109990 0.103148 q: 0.065554 0.829490 -0.092726 0.546856 
time: 1403638228.545097, t: 0.562074 0.111199 0.102510 q: 0.065506 0.829462 -0.092730 0.546903 
time: 1403638228.645097, t: 0.561503 0.113367 0.101442 q: 0.065590 0.829462 -0.092762 0.546888 
time: 1403638228.745097, t: 0.561070 0.114472 0.100326 q: 0.065542 0.829438 -0.092794 0.546924 
time: 1403638228.845097, t: 0.561867 0.115604 0.099707 q: 0.065577 0.829414 -0.092816 0.546953 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720558786.755344602]: Shutdown request received.[0m
[33m[ WARN] [1720558786.755395725]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720558786.756261441]: Shutdown request received.[0m
[33m[ WARN] [1720558786.756288169]: Reason given for shutdown: [user request][0m
killed
