/SLAM-Hive/slam_hive_results/mapping_results/2747/1958_vins-mono+MH_04_difficult+Image_comb_test-13.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/435f6f22-3c67-11ef-b1af-0242ac110004/roslaunch-48b35eaaf382-118.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://48b35eaaf382:37353/[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 435f6f22-3c67-11ef-b1af-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] [1720359970.999207811]: init begins[0m
[0m[ INFO] [1720359971.004276030]: 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] [1720359971.004722508]: ROW: 384.000000 COL: 601.000000 [0m
[33m[ WARN] [1720359971.004743289]:  fix extrinsic param [0m
[0m[ INFO] [1720359971.004928853]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720359971.004977877]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720359971.005016266]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720359971.005064717]: 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_04_difficult.bag  --clock 
[0m[ INFO] [1720359978.228252391]: 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: 316721851.12 
[0m[ INFO] [1720359981.145328426]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359981.352413373]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359981.560197137]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359981.755328040]: 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!
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0707 13:46:21.999053   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 13:46:22.001535   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 13:46:22.004487   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 13:46:22.009712   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 13:46:22.012298   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 13:46:22.013188   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
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] [1720359982.574489125]: gyroscope bias initial calibration 0.00287674  0.0207524  0.0787937[0m
[0m[ INFO] [1720359982.598873985]: Initialization finish![0m
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positiooptimize pose graph 
optimize pose graph 
n: 5.396102, 11.084823, 2.902854
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position: 4.980197, 11.083000, 2.898740
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position: 4.052893, 10.909069, 2.584941
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position: 3.568844, 10.642604, 2.028605
position: 3.410144, 10.494328, 1.841918
position: 3.252634, 10.319971, 1.652718
position: 3.102849, 10.119510, 1.490933
position: 2.959918, 9.901795, 1.365270
position: 2.835540, 9.680277, 1.262559
position: 2.726100, 9.445362, 1.145119
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position: 2.479934, 4.866702, 0.859003
position: 2.538016, 4.498528, 0.858734
position: 2.603839, 4.148391, 0.841718
position: 2.660858, 3.805927, 0.806377
position: 2.709364, 3.470532, 0.753048
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position: 2.841786, 2.540768, 0.647879
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position: 2.870201, 1.995108, 0.585028
position: 2.875865, 1.739297, 0.576158
position: 2.872350, 1.498244, 0.569757
position: 2.865379, 1.278592, 0.537261
position: 2.848872, 1.082344, 0.489528
position: 2.817563, 0.893025, 0.431384
position: 2.779504, 0.725984, 0.394123
position: 2.736757, 0.580160, 0.390500
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position: 2.651223, 0.357634, 0.437527
position: 2.612398, 0.288730, 0.440668
position: 2.569053, 0.259365, 0.440561
position: 2.521290, 0.246995, 0.461668
position: 2.4optimize pose graph 
optimize pose graph 
58867, 0.257636, 0.486032
position: 2.413504, 0.277094, 0.488215
position: 2.368581, 0.299139, 0.481260
position: 2.317468, 0.318028, 0.467152
position: 2.249544, 0.342663, 0.466029
position: 2.160486, 0.370032, 0.467048
position: 2.051359, 0.389004, 0.449622
position: 1.946115, 0.382327, 0.431160
position: 1.835500, 0.370301, 0.438689
position: 1.722158, 0.365874, 0.462533
position: 1.610435, 0.369176, 0.465603
position: 1.504162, 0.379148, 0.443774
position: 1.401216, 0.394544, 0.417150
position: 1.295463, 0.410764, 0.414469
position: 1.204956, 0.426924, 0.405014
position: 1.119043, 0.438334, 0.389024
position: 1.038480, 0.446921, 0.399912
position: 0.960787, 0.455638, 0.414960
position: 0.894440, 0.466615, 0.413521
position: 0.845059, 0.476043, 0.396376
position: 0.809222, 0.485115, 0.364658
position: 0.764990, 0.498779, 0.332129
position: 0.713522, 0.517565, 0.312438
position: 0.665542, 0.531338, 0.300867
position: 0.624876, 0.530124, 0.282683
position: 0.583010, 0.517839, 0.256582
position: 0.545878, 0.5optimize pose graph 

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720360081.619074264]: Shutdown request received.[0m
[33m[ WARN] [1720360081.619131612]: Reason given for shutdown: [user request][0m
08820, 0.227347
position: 0.519196, 0.508638, 0.191628
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position: 0.501830, 0.525455, 0.134943
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position: 0.430711, 0.562936, 0.234509
position: 0.413200, 0.563193, 0.258933
position: 0.394544, 0.563885, 0.284144
[33m[ WARN] [1720360081.620092541]: Shutdown request received.[0m
[33m[ WARN] [1720360081.620125698]: Reason given for shutdown: [user request][0m
killed
