/SLAM-Hive/slam_hive_results/mapping_results/2748/1959_vins-mono+MH_04_difficult+Image_comb_test-14.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/968ef7d0-3c67-11ef-92d2-0242ac110004/roslaunch-9ce89980f259-118.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://9ce89980f259:40699/[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 968ef7d0-3c67-11ef-92d2-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [155][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720360110.568557792]: init begins[0m
[0m[ INFO] [1720360110.573136530]: 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] [1720360110.573616292]: ROW: 288.000000 COL: 451.000000 [0m
[33m[ WARN] [1720360110.573639014]:  fix extrinsic param [0m
[0m[ INFO] [1720360110.573798086]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720360110.573838517]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720360110.573871553]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720360110.573921944]: 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] [1720360117.818201119]: 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: 316721990.71 
[0m[ INFO] [1720360120.717385625]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360120.937211966]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360121.149294635]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360121.327763585]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360121.509499694]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360121.730020295]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360121.953331486]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360122.133988289]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360122.326102397]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360122.533324067]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360122.704530021]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360122.950239024]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360123.126692102]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360123.308023609]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360123.526855480]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360123.716406569]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360123.911158266]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720360124.113757589]: 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 13:48:44.577909   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 13:48:44.578512   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 13:48:44.581027   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 13:48:44.581568   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 13:48:44.583942   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 13:48:44.585481   229 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
[0m[ INFO] [1720360124.614032870]: Initialization finish![0m
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position: 7.488153, -3.954437, 1.998179
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position: 7.398568, -3.673957, 1.929839
position: 7.382748, -3.553846, 1.922667
position: 7.393348, -3.450950, 1.952133
position: 7.405674, -3.345235, 1.983034
position: 7.434177, -3.258793, 1.985719
position: 7.478524, -3.190321, 1.967114
position: 7.540342, -3.136856, 1.952168
position: 7.609944, -3.096703, 1.960746
position: 7.682547, -3.054770, 1.998181
position: 7.758309, -3.001597, 2.058661
position: 7.831260, -2.935905, 2.123556
position: 7.899463, -2.858051, 2.157625
position: 7.953777, -2.772209, 2.121055
position: 7.994257, -2.674350, 2.047155
position: 8.031391, -2.565660, 1.960313
position: 8.074746, -2.422497, 1.884838
position: 8.116325, -2.223049, 1.841569
position: 8.161834, -1.970316, 1.840010
position: 8.208386, -1.671858, 1.874899
position: 8.253520, -1.327370, 1.933188
position: 8.303222, -0.939411, 2.003498
position: 8.351840, -0.537203, 2.056123
position: 8.400499, -0.129262, 2.102123
position: 8.445534, 0.295725, 2.171242
position: 8.482395, 0.743616, 2.267927
position: 8.509404, 1.222132, 2.379358
position: 8.530346, 1.733335, 2.466147
position: 8.544115, 2.260531, 2.520171
position: 8.551882, 2.786986, 2.550067
position: 8.554297, 3.313522, 2.549882
position: 8.534317, 3.838166, 2.512527
position: 8.494391, 4.364772, 2.462643
position: 8.433093, 4.892715, 2.431248
position: 8.368103, 5.402888, 2.419742
position: 8.319066, 5.896409, 2.391416
position: 8.272242, 6.358890, 2.339224
position: 8.225207, 6.799330, 2.284272
position: 8.179426, 7.217438, 2.255264
position: 8.127717, 7.613126, 2.240230
position: 8.071914, 8.001610, 2.210693
position: 8.012828, 8.374446, 2.200867
position: 7.949910, 8.730362, 2.215315
position: 7.880878, 9.064954, 2.254772
position: 7.818131, 9.372565, 2.310595
position: 7.770002, 9.642037, 2.353540
position: 7.729458, 9.877081, 2.370343
position: 7.689337, 10.104289, 2.358509
position: 7.646692, 10.324758, 2.340786
position: 7.601329, 10.543613, 2.351087
position: 7.546909, 10.7optimize pose graph 
58310, 2.390730
position: 7.457631, 10.985348, 2.451794
position: 7.326842, 11.237424, 2.526246
position: 7.164968, 11.489676, 2.618758
position: 6.981456, 11.733523, 2.694227
position: 6.775749, 11.949992, 2.743067
position: 6.561660, 12.151594, 2.768056
position: 6.332197, 12.335053, 2.772849
position: 6.095202, 12.482936, 2.750708
position: 5.847618, 12.609296, 2.700510
position: 5.588493, 12.681847, 2.667840
position: 5.332228, 12.703224, 2.665924
position: 5.082878, 12.712545, 2.694691
position: 4.848717, 12.713662, 2.711890
position: 4.626731, 12.703668, 2.695415
position: 4.409833, 12.696821, 2.680015
position: 4.208046, 12.672648, 2.690560
position: 4.017494, 12.634117, 2.693426
position: 3.832727, 12.592100, 2.667169
position: 3.651854, 12.542217, 2.616027
position: 3.470449, 12.490116, 2.528237
position: 3.294020, 12.429791, 2.369116
position: 3.126461, 12.348579, 2.169883
position: 2.968782, 12.243100, 1.982657
position: 2.827135, 12.108283, 1.810860
position: 2.674255, 11.946836, 1.622537
position: 2.525080, 11.755802, 1.432413
position: 2.385863, 11.538135, 1.269841
position: 2.261130, 11.306101, 1.142408
position: 2.155474, 11.072734, 1.037809
position: 2.066582, 10.826276, 0.918698
position: 1.995181, 10.568979, 0.784543
position: 1.949721, 10.301471, 0.670495
position: 1.923278, 10.026091, 0.586235
position: 1.908343, 9.741466, 0.534915
position: 1.897951, 9.442382, 0.512376
position: 1.891812, 9.128022, 0.516498
position: 1.889447, 8.804286, 0.542237
position: 1.893309, 8.473761, 0.573532
position: 1.914382, 8.139504, 0.583682
position: 1.962699, 7.783060, 0.579767
position: 2.028158, 7.411696, 0.587970
position: 2.090758, 7.035182, 0.611166
position: 2.146990, 6.655239, 0.641063
position: 2.215459, 6.282677, 0.658208
position: 2.301996, 5.921054, 0.656418
position: 2.390498, 5.575328, 0.638243
position: 2.474570, 5.241656, 0.602522
position: 2.552459, 4.917919, 0.548765
position: 2.630217, 4.601750, 0.487859
position: 2.700339, 4.305955, 0.452696
position: 2.761361, 4.021972, 0.434198
position: optimize pose graph 
optimize pose graph 
2.805312, 3.750528, 0.400374
position: 2.841119, 3.491611, 0.370052
position: 2.864704, 3.244241, 0.363852
position: 2.881139, 3.011106, 0.358177
position: 2.889688, 2.791414, 0.325593
position: 2.886149, 2.589259, 0.277975
position: 2.867598, 2.402160, 0.221280
position: 2.845992, 2.228167, 0.185248
position: 2.817562, 2.072091, 0.183500
position: 2.782676, 1.943429, 0.207739
position: 2.749199, 1.841957, 0.233029
position: 2.719578, 1.771750, 0.235384
position: 2.679868, 1.737752, 0.234568
position: 2.633040, 1.718720, 0.255318
position: 2.571476, 1.723921, 0.279249
position: 2.522169, 1.739820, 0.279050
position: 2.475765, 1.757361, 0.270009
position: 2.422563, 1.771975, 0.255592
position: 2.351716, 1.791669, 0.254617
position: 2.263311, 1.811221, 0.254192
position: 2.152834, 1.822040, 0.234222
position: 2.050211, 1.807368, 0.214798
position: 1.941355, 1.785526, 0.222043
position: 1.828335, 1.772750, 0.245709
position: 1.716411, 1.767951, 0.249276
position: 1.609278, 1.770869, 0.227115
position: 1.504201, optimize pose graph 
optimize pose graph 
1.779739, 0.200227
position: 1.395373, 1.788805, 0.196187
position: 1.303541, 1.800676, 0.184463
position: 1.211033, 1.801707, 0.169054
position: 1.129695, 1.803508, 0.179826
position: 1.050033, 1.807558, 0.194686
position: 0.979219, 1.811952, 0.194518
position: 0.928881, 1.816252, 0.179128
position: 0.893580, 1.823027, 0.149828
position: 0.847441, 1.833334, 0.116779
position: 0.793117, 1.846388, 0.101115
position: 0.744978, 1.856600, 0.091271
position: 0.703865, 1.852862, 0.072356
position: 0.665229, 1.839298, 0.045676
position: 0.628329, 1.828579, 0.014402
position: 0.601562, 1.827461, -0.022470
position: 0.588939, 1.834646, -0.051866
position: 0.586837, 1.843127, -0.079104
position: 0.591301, 1.857391, -0.100788
position: 0.598195, 1.871942, -0.105945
position: 0.605221, 1.873350, -0.099807
position: 0.619130, 1.870798, -0.088088
position: 0.638930, 1.870919, -0.097786
position: 0.620596, 1.870508, -0.148064
position: 0.604969, 1.884538, -0.211300
position: 0.621181, 1.898965, -0.205265
position: 0.619269,
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720360221.291578024]: Shutdown request received.[0m
[33m[ WARN] [1720360221.291634742]: Reason given for shutdown: [user request][0m
 1.900506, -0.190773
position: 0.618761, 1.895598, -0.172831
position: 0.615653, 1.889952, -0.153355
position: 0.611061, 1.884318, -0.133582
position: 0.604529, 1.879613, -0.113246
position: 0.596953, 1.875634, -0.092432
position: 0.587880, 1.871679, -0.070546
position: 0.577487, 1.868454, -0.048197
position: 0.566252, 1.865947, -0.025309
position: 0.554085, 1.863529, -0.001582
position: 0.541245, 1.861065, 0.022666
position: 0.527100, 1.858926, 0.047456
position: 0.511973, 1.857068, 0.073070
[33m[ WARN] [1720360221.292454678]: Shutdown request received.[0m
[33m[ WARN] [1720360221.292503132]: Reason given for shutdown: [user request][0m
killed
