/SLAM-Hive/slam_hive_results/mapping_results/2693/1904_vins-mono+MH_02_easy+Image_comb_test-19.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/932669ea-3c51-11ef-8475-0242ac110004/roslaunch-73a0d003f36f-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;/home/catkin_ws/src/VINS-Mono/vins_estimator/launch/euroc.launch
[1mstarted roslaunch server http://73a0d003f36f:46667/[0m

SUMMARY
========

PARAMETERS
 * /feature_tracker/config_file: /slamhive/mapping...
 * /feature_tracker/vins_folder: /home/catkin_ws/s...
 * /pose_graph/config_file: /slamhive/mapping...
 * /pose_graph/skip_cnt: 0
 * /pose_graph/skip_dis: 0.0
 * /pose_graph/visualization_shift_x: 0
 * /pose_graph/visualization_shift_y: 0
 * /rosdistro: kinetic
 * /rosversion: 1.12.17
 * /vins_estimator/config_file: /slamhive/mapping...
 * /vins_estimator/vins_folder: /home/catkin_ws/s...

NODES
  /
    feature_tracker (feature_tracker/feature_tracker)
    pose_graph (pose_graph/pose_graph)
    vins_estimator (vins_estimator/vins_estimator)

auto-starting new master
[1mprocess[master]: started with pid [129][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/home/catkin_ws/src/VINS-Mono/vins_estimator/launch/euroc.launch http://localhost:11311
[1msetting /run_id to 932669ea-3c51-11ef-8475-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [156][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720350655.932214680]: init begins[0m
[0m[ INFO] [1720350655.937112245]: Loaded config_file: /slamhive/mappingtask.yaml[0m
result path /home/shaozu/output//vins_result_no_loop.csv
/home/shaozu/output/ not exists, trying to create it 
/home/shaozu not exists, trying to create it 
[0m[ INFO] [1720350655.937592557]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720350655.937614688]:  fix extrinsic param [0m
[0m[ INFO] [1720350655.937748781]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720350655.937785156]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720350655.937826330]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720350655.937885891]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [181][0m
vocabulary_file/home/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_pattern.yml
/home/shaozu/output/pose_graph/ not exists, trying to create it 
no previous pose graph
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720350663.143754098]: 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: 316713806.51 
[0m[ INFO] [1720350671.851284795]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350672.342457767]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350672.853892159]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350673.321081350]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350673.860176267]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350674.360323925]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350674.847159154]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350675.349405545]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720350676.340593327]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350676.827812350]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350677.354447085]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350677.841231933]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350678.325381542]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350678.855641550]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350679.368079316]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350679.832388674]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350680.367119498]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350680.850468241]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350681.358016872]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350681.854889886]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350682.353637511]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350682.855102086]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350683.335006779]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350683.854512503]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350684.363719510]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350684.861873160]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350685.354341429]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350685.864318981]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350686.354944933]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350686.858996322]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350687.346275747]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350687.858169159]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350688.358747395]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350688.856081669]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350689.320280848]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350690.353852660]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350690.841137612]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350691.335586433]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350691.823981072]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350692.348930643]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350692.829796178]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350693.319971535]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350693.817167976]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350694.314857233]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350694.820649490]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350695.313916320]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350695.842143543]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350696.322908615]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350696.833309752]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350697.346773035]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350697.835757130]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350698.314295531]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350698.830545496]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350699.334312274]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350699.837056230]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350700.310638039]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350700.832650190]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350701.337798385]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350701.831333971]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350702.320005141]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350702.834454677]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350703.336273775]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350703.840333222]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720350704.854281159]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350705.852036403]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350706.364330503]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350706.840067960]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350707.336441349]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720350707.835122625]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720350711.879715746]: gyroscope bias initial calibration 0.00263462  0.0187088   0.075604[0m
[0m[ INFO] [1720350711.918570095]: Initialization finish![0m
position: 1.359460, -1.944513, 0.296755
position: 1.545388, -2.185474, 0.386979
position: 1.739445, -2.303239, 0.362718
position: 1.975010, -2.373377, 0.386924
position: 2.195648, -2.457675, 0.380428
position: 2.463829, -2.527460, 0.394198
position: 2.810618, -2.638342, 0.454106
position: 3.150867, -2.761418, 0.445138
position: 3.494400, -2.877117, 0.505857
position: 3.911181, -3.017867, 0.514014
position: 4.336467, -3.169705, 0.404236
position: 4.681345, -3.238956, 0.368369
position: 5.020354, -3.291154, 0.300461
position: 5.297186, -3.358892, 0.321233
position: 5.572084, -3.429892, 0.293647
position: 5.884691, -3.533375, 0.289446
position: 6.189401, -3.692229, 0.206102
position: 6.407195, -3.874783, 0.179611
position: 6.632924, -4.077482, 0.174956
position: 6.824218, -4.296262, 0.179966
position: 7.011039, -4.512166, 0.190006
position: 7.188089, -4.664809, 0.140478
position: 7.370111, -4.830824, 0.211603
position: 7.538139, -5.019843, 0.274537
position: 7.678307, -5.150950, 0.238046
position: 7.791796, -5.238810, 0.094262
position: 7.880416, -5.283357, 0.048265
position: 7.958579, -5.261389, 0.069939
position: 8.092103, -5.204991, 0.252139
position: 8.169265, -5.283145, 0.429657
position: 8.158059, -5.370071, 0.452281
position: 8.040718, -5.465714, 0.387383
position: 7.896505, -5.521568, 0.454504
position: 7.808385, -5.576451, 0.429622
position: 7.709390, -5.648693, 0.329108
position: 7.653193, -5.711236, 0.271660
position: 7.627979, -5.747773, 0.220777
position: 7.540337, -5.794900, 0.119508
position: 7.583290, -5.874374, 0.095241
position: 7.764959, -5.992145, 0.085613
position: 7.937010, -6.199771, 0.030702
position: 8.030100, -6.431224, -0.101572
position: 8.299759, -6.674576, -0.089595
position: 8.546697, -6.879913, -0.162735
position: 8.666983, -7.090833, -0.159760
position: 8.730391, -7.354401, -0.244220
position: 8.906390, -7.689604, -0.272168
position: 9.128999, -8.041132, -0.348572
position: 9.335070, -8.360130, -0.284794
position: 9.504818, -8.700027, -0.199001
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position: 9.636888, -9.186528, -0.096372
position: 9.605979, -9.390730, -0.115451
position: 9.447461, -9.562456, -0.065564
position: 9.280084, -9.585321, -0.072701
position: 9.110332, -9.511792, -0.054746
position: 8.946032, -9.298887, 0.047130
position: 8.816848, -9.064212, -0.015199
position: 8.713458, -8.874135, -0.003521
position: 8.567139, -8.659956, -0.086536
position: 8.381562, -8.429951, 0.019184
position: 8.205169, -8.219951, 0.125628
position: 7.975979, -8.018598, 0.059726
position: 7.715502, -8.005849, 0.019492
position: 7.541276, -8.057849, 0.003054
position: 7.395760, -8.107110, 0.006880
position: 7.301434, -8.130742, -0.116398
position: 7.233929, -8.013521, -0.206634
position: 7.014532, -7.842133, -0.189688
position: 6.762546, -7.672950, -0.217728
position: 6.506388, -7.431462, -0.242666
position: 6.227519, -7.137659, -0.347176
position: 5.927833, -6.878875, -0.308483
position: 5.645855, -6.658810, -0.245089
position: 5.386591, -6.433382, -0.206719
position: 5.087281, -6.195981, -0.215583
position: 4.746911, -5.980533, -0.228088
position: 4.413695, -5.751500, -0.243151
position: 4.126337, -5.495689, -0.382258
position: 3.858272, -5.354325, -0.400354
position: 3.691332, -5.234455, -0.329415
position: 3.651901, -5.109663, -0.319677
position: 3.689599, -5.033169, -0.391690
position: 3.739179, -4.960498, -0.585396
position: 3.761478, -4.852638, -0.749782
position: 3.655790, -4.822813, -0.817237
position: 3.575978, -4.940802, -0.854552
position: 3.605768, -5.146526, -0.975407
position: 3.829732, -5.378586, -1.024839
position: 4.058712, -5.546523, -1.124437
position: 4.222261, -5.672487, -1.142075
position: 4.356462, -5.860930, -1.187924
position: 4.545923, -6.035676, -1.155607
position: 4.707449, -6.206646, -1.146143
position: 4.879199, -6.463480, -1.130776
position: 5.078387, -6.687854, -1.205155
position: 5.269218, -6.848226, -1.293052
position: 5.394344, -7.032428, -1.386567
position: 5.558183, -7.283905, -1.335642
position: 5.810051, -7.580810, -1.267552
position: 6.108465, -7.933092, -1.347450
position: 6.449678, -8.256846, -1.390521
position: 6.833603, -8.553155, -1.386794
position: 7.147345, -8.795729, -1.391698
position: 7.424424, -8.956889, -1.406794
position: 7.650047, -9.056718, -1.378896
position: 7.866517, -9.134390, -1.458137
position: 8.016053, -9.224078, -1.385711
position: 8.152411, -9.336094, -1.384846
position: 8.254645, -9.456736, -1.515340
position: 8.220011, -9.369581, -1.556077
position: 8.352527, -9.353332, -1.567765
position: 8.556322, -9.273149, -1.657635
position: 8.724689, -9.172620, -1.600229
position: 8.856712, -9.063088, -1.473397
[0m[ INFO] [1720350769.332691401]:  little feature 0[0m
position: 8.960677, -8.932927, -1.320100
position: 9.001761, -8.735823, -1.228792
position: 8.954526, -8.513998, -1.246363
position: 8.915478, -8.333605, -1.115465
position: 8.786297, -7.999008, -0.990832
position: 8.540237, -7.627210, -0.958869
position: 8.263426, -7.208732, -0.776763
position: 8.087378, -6.789600, -0.572583
position: 7.854233, -6.404098, -0.535029
position: 7.581285, -6.135472, -0.540658
position: 7.295313, -5.991527, -0.578022
position: 6.954484, -5.828682, -0.717757
position: 6.496769, -5.672846, -0.805316
position: 5.973312, -5.517137, -0.783916
position: 5.440802, -5.354556, -0.663577
position: 4.982549, -5.156770, -0.641379
position: 4.572753, -4.957875, -0.664185
position: 4.278274, -4.706517, -0.638051
position: 4.155325, -4.512411, -0.730103
position: 4.084963, -4.434072, -0.864621
position: 4.000278, -4.439673, -0.855736
position: 3.965255, -4.466983, -0.836529
position: 3.884742, -4.501436, -0.870378
position: 3.838102, -4.495241, -0.927438
position: 3.826147, -4.504813, -1.020552
[0m[ INFO] [1720350781.830188595]:  little feature 1[0m
position: 3.809498, -4.504883, -1.066582
position: 3.824211, -4.522011, -1.108042
position: 3.868069, -4.529506, -1.093066
position: 3.883986, -4.634662, -1.153612
position: 3.912110, -4.821539, -1.275954
position: 3.912819, -5.012203, -1.324392
position: 3.858269, -5.215828, -1.433743
position: 3.778356, -5.444325, -1.431695
position: 3.834354, -5.727835, -1.483827
position: 3.961879, -5.994991, -1.572793
position: 4.179883, -6.252800, -1.549088
position: 4.450967, -6.475106, -1.622616
position: 4.713634, -6.690685, -1.647933
position: 4.933899, -6.867928, -1.715924
position: 5.167419, -7.052837, -1.694935
position: 5.511108, -7.322172, -1.688369
position: 5.858126, -7.675598, -1.686085
position: 6.183739, -8.004115, -1.775194
position: 6.524758, -8.280733, -1.725658
position: 6.908615, -8.522246, -1.733214
position: 7.317429, -8.724455, -1.709596
position: 7.740237, -8.894330, -1.749687
position: 8.166958, -8.960813, -1.710917
position: 8.572418, -8.894786, -1.756278
position: 8.967457, -8.825727, -1.643500
position: 9.290207, -8.738304, -1.561627
position: 9.454128, -8.550548, -1.497935
position: 9.475313, -8.380989, -1.420141
position: 9.282124, -8.223978, -1.362979
position: 8.869879, -8.071991, -1.292763
position: 8.427184, -7.904755, -1.240675
position: 7.973435, -7.688397, -1.150858
position: 7.555745, -7.455154, -1.183439
position: 7.179410, -7.207978, -1.159641
position: 6.827639, -6.997617, -1.035519
position: 6.470976, -6.811917, -1.000243
position: 6.176791, -6.620330, -0.962125
position: 5.935998, -6.405719, -0.880069
position: 5.681755, -6.189295, -0.822526
position: 5.371810, -5.922640, -0.851770
position: 5.009225, -5.640230, -0.818577
position: 4.577230, -5.362235, -0.717840
position: 4.119329, -5.092998, -0.644771
position: 3.678846, -4.872247, -0.532563
position: 3.296620, -4.663324, -0.523300
position: 2.990304, -4.508496, -0.551007
position: 2.802919, -4.387814, -0.403986
position: 2.727856, -4.293719, -0.269017
position: 2.791461, -4.264256, -0.120293
position: 2.694907, -4.103560, -0.07974killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720350817.870340050]: Shutdown request received.[0m
[33m[ WARN] [1720350817.870400230]: Reason given for shutdown: [user request][0m
6
position: 2.523729, -3.895108, -0.084675
position: 2.307823, -3.650633, -0.048444
position: 2.079518, -3.383296, 0.016539
position: 1.823070, -3.120941, 0.095874
position: 1.563427, -2.880579, 0.111238
position: 1.321554, -2.658559, 0.099301
position: 1.108466, -2.429023, 0.113356
position: 0.899443, -2.197894, 0.099018
position: 0.676344, -1.969959, 0.101999
position: 0.500291, -1.760692, 0.140451
position: 0.334930, -1.613881, 0.140811
position: 0.194917, -1.516160, 0.038171
position: 0.089547, -1.415721, 0.063535
position: 0.012176, -1.348258, 0.053576
position: -0.002349, -1.336235, 0.010267
position: -0.058716, -1.321541, -0.041074
position: -0.109086, -1.268182, -0.092924
position: -0.117511, -1.211999, -0.088872
position: -0.094478, -1.203553, -0.132079
position: -0.042824, -1.257232, -0.163791
position: -0.050455, -1.259493, -0.172349
[33m[ WARN] [1720350817.871289785]: Shutdown request received.[0m
[33m[ WARN] [1720350817.871320832]: Reason given for shutdown: [user request][0m
killed
