/SLAM-Hive/slam_hive_results/mapping_results/2820/2028_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-18.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720466128.621614965]: init begins[0m
[31m[ERROR] [1720466128.622894756]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720466128.627192694]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/6ffabda0-3d5e-11ef-9db1-0242ac110005/roslaunch-2e07a7248583-117.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://2e07a7248583:33083/[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 [154][0m
[0m[ INFO] [1720466129.930921473]: 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] [1720466129.935654736]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720466129.935936058]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720466129.935964815]: ROW: 480 COL: 752 [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
set g       0       0 9.81007
[0m[ INFO] [1720466129.936165488]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720466129.936465709]: waiting for image and imu...[0m
[0m[ INFO] [1720466129.937115260]: Connected to master at [localhost:11311][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://2e07a7248583:11311/[0m
]2;roscore http://2e07a7248583:11311/
[1msetting /run_id to 6ffabda0-3d5e-11ef-9db1-0242ac110005[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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720466138.783531744]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316829560.07 
init first imu pose
averge acc 8.893766 -0.424314 -3.324727
init R0 
  0.352648   0.118464   0.928227
         0  -0.991954   0.126597
  0.935756 -0.0446441  -0.349811
[0m[ INFO] [1720466150.539291251]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466151.522933752]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466152.526544699]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466153.501273047]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466154.521846263]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466155.530411838]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466156.520934038]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466157.533520787]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466158.519735305]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466159.536383707]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466160.531241837]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466162.519015865]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466163.503193995]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466164.520617300]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466165.501546416]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466166.532486969]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466167.522928306]: 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!
[0m[ INFO] [1720466170.537210245]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466172.499295251]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466173.536130796]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466175.533509170]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466176.530795930]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466177.529999271]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466178.539431904]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466180.536517465]: 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!
pts_3_vector size 1
[0m[ INFO] [1720466184.530156912]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466185.516030428]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466186.529216900]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466187.511741380]: 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!
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!
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!
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] [1720466196.641209235]: gyroscope bias initial calibration -0.00284708   0.0220411   0.0783537[0m
[0m[ INFO] [1720466196.701773921]: Initialization finish![0m
time: 1403636636.263556, t: 3.497890 -2.605924 0.122574 q: 0.004265 0.820795 -0.008661 0.571142 
time: 1403636637.263556, t: 4.075121 -2.862994 0.179999 q: 0.005390 0.817404 0.000913 0.576039 
time: 1403636638.263556, t: 4.647076 -2.927885 0.268377 q: -0.005632 0.813246 0.008506 0.581830 
time: 1403636639.263556, t: 5.506956 -3.074092 0.219060 q: -0.035125 0.823691 -0.013073 0.565799 
time: 1403636640.263556, t: 5.832992 -3.358126 0.106243 q: -0.019751 0.811481 0.031168 0.583212 
time: 1403636641.263556, t: 6.207481 -3.548883 0.117796 q: -0.029792 0.812475 0.046389 0.580383 
time: 1403636642.263556, t: 6.580085 -3.759001 0.103598 q: -0.012298 0.810171 0.017370 0.585808 
time: 1403636643.263556, t: 6.755522 -3.921564 0.020554 q: 0.000521 0.816049 -0.014166 0.577809 
time: 1403636644.263556, t: 7.087645 -4.134631 0.091619 q: -0.003189 0.830492 -0.012100 0.556890 
time: 1403636645.263556, t: 7.635769 -4.536368 -0.172074 q: 0.006125 0.843841 -0.015357 0.536338 
time: 1403636646.263556, t: 8.433651 -4.933259 -0.157980 q: 0.021445 0.813659 -0.068366 0.576910 
time: 1403636647.263556, t: 9.088536 -5.469540 -0.004074 q: 0.099109 0.801088 -0.149849 0.570948 
time: 1403636648.263556, t: 9.367059 -5.929444 -0.004764 q: 0.141680 0.778988 -0.215441 0.571567 
time: 1403636649.263556, t: 9.291490 -6.416806 -0.059337 q: 0.221257 0.748044 -0.311373 0.542699 
time: 1403636650.263556, t: 9.317384 -6.845235 0.223983 q: 0.247344 0.726829 -0.343239 0.541042 
time: 1403636651.263556, t: 9.059844 -7.118452 0.186676 q: 0.308506 0.684299 -0.431572 0.500304 
time: 1403636652.263556, t: 8.612527 -6.991376 0.175904 q: 0.349762 0.635322 -0.504628 0.468383 
time: 1403636653.263556, t: 8.009450 -6.959047 0.088162 q: 0.398608 0.587002 -0.569075 0.415565 
time: 1403636654.263556, t: 7.555023 -7.049020 0.136949 q: 0.401020 0.582935 -0.559114 0.432159 
time: 1403636655.263556, t: 7.221606 -6.974543 0.176239 q: -0.450676 -0.513733 0.618775 -0.387409 
time: 1403636656.263556, t: 6.856339 -6.511173 0.023369 q: -0.471226 -0.432636 0.701494 -0.314130 
time: 1403636657.263556, t: 6.321125 -6.071903 0.050324 q: -0.489882 -0.427126 0.681275 -0.336814 
time: 1403636658.263556, t: 5.770638 -5.477087 -0.081833 q: -0.473018 -0.429336 0.704321 -0.309606 
time: 1403636659.263556, t: 5.141291 -5.016230 -0.311545 q: 0.501899 0.426528 -0.686410 0.308242 
time: 1403636660.263556, t: 4.827275 -4.623640 -0.629041 q: -0.482064 -0.433977 0.706050 -0.284202 
time: 1403636661.263556, t: 4.664045 -5.075099 -0.922277 q: 0.505718 0.427922 -0.687027 0.298539 
time: 1403636662.263556, t: 4.976648 -5.141567 -0.974140 q: 0.501941 0.425978 -0.687189 0.307195 
time: 1403636663.263556, t: 5.279566 -5.039659 -1.083339 q: -0.464873 -0.420080 0.718732 -0.301414 
time: 1403636664.263556, t: 5.377328 -5.356534 -1.254245 q: 0.507070 0.447467 -0.680355 0.282436 
time: 1403636665.263556, t: 5.967171 -5.915016 -1.358759 q: -0.471864 -0.452808 0.684671 -0.321768 
time: 1403636666.263556, t: 6.535609 -6.417340 -1.180459 q: -0.488007 -0.438512 0.680344 -0.326631 
time: 1403636667.263556, t: 7.541653 -6.343081 -1.150600 q: -0.481355 -0.452278 0.676868 -0.324950 
time: 1403636668.263556, t: 7.166312 -7.228869 -1.160731 q: -0.469112 -0.455423 0.690080 -0.310344 
time: 1403636669.263556, t: 7.405540 -7.834479 -1.417408 q: -0.496919 -0.439691 0.680927 -0.309972 
time: 1403636670.263556, t: 8.087659 -8.072031 -1.438870 q: -0.460161 -0.401552 0.691791 -0.385270 
time: 1403636671.263556, t: 7.705443 -7.358275 -1.228832 q: -0.357473 -0.540821 0.578661 -0.494851 
time: 1403636672.263556, t: 6.322933 -6.403306 -0.844300 q: 0.342106 0.686381 -0.519110 0.377319 
time: 1403636673.263556, t: 5.874266 -6.292363 -0.804280 q: 0.322601 0.695921 -0.474235 0.432116 
time: 1403636674.263556, t: 6.098341 -6.543298 -0.792062 q: 0.324761 0.687425 -0.448817 0.469617 
time: 1403636675.263556, t: 6.662378 -6.884952 -1.107900 q: 0.277521 0.728474 -0.427744 0.457540 
time: 1403636676.263556, t: 7.355186 -7.480577 -1.244958 q: 0.220709 0.762776 -0.304352 0.526146 
time: 1403636677.263556, t: 8.206844 -7.822762 -1.390588 q: 0.155313 0.792022 -0.202952 0.554427 
time: 1403636678.263556, t: 8.887212 -7.970060 -1.434452 q: 0.034912 0.815107 -0.063821 0.574725 
time: 1403636679.263556, t: 9.345107 -8.025621 -1.448402 q: -0.078058 0.801841 0.128565 0.578298 
time: 1403636680.263556, t: 9.411149 -7.591166 -1.409036 q: -0.122128 0.769810 0.228151 0.583459 
time: 1403636681.263556, t: 8.894420 -7.386774 -1.117629 q: -0.132054 0.801611 0.202371 0.546834 
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time: 1403636683.263556, t: 7.842587 -6.284431 -1.017215 q: -0.138309 0.784906 0.203141 0.568794 
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time: 1403636688.263556, t: 4.862988 -4.528833 -1.264510 q: -0.150836 0.783489 0.214538 0.563353 
time: 1403636689.263556, t: 4.370445 -4.294768 -1.456219 q: -0.169750 0.787567 0.238695 0.542169 
time: 1403636690.263556, t: 4.068307 -3.925173 -1.274697 q: -0.179323 0.797196 0.235322 0.526257 
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time: 1403636711.263556, t: 8.566579 -8.646685 -2.006661 q: 0.180783 0.780432 -0.218487 0.557232 
time: 1403636712.263556, t: 8.902944 -8.288730 -1.891679 q: 0.159422 0.770318 -0.233282 0.571642 
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time: 1403636714.263556, t: 8.382594 -7.037755 -1.320260 q: 0.125799 0.787722 -0.196115 0.570270 
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time: 1403636716.263556, t: 7.561482 -6.446427 -1.104937 q: 0.052641 0.804353 -0.085893 0.585549 
time: 1403636717.263556, t: 7.052362 -6.304485 -1.088354 q: 0.000335 0.814171 0.005923 0.580595 
time: 1403636718.263556, t: 6.556220 -6.051987 -1.093742 q: -0.048137 0.811450 0.085239 0.576165 
time: 1403636719.263556, t: 6.011611 -5.457652 -1.165069 q: -0.103362 0.794760 0.147974 0.579462 
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time: 1403636738.263556, t: 0.457579 -2.513356 -0.026717 q: -0.039888 0.819922 0.030890 0.570248 
time: 1403636739.263556, t: 0.439321 -2.548493 -0.046981 q: 0.060389 0.807412 -0.126593 0.573074 
time: 1403636740.263556, t: 0.442369 -2.791933 -0.219063 q: 0.148482 0.791174 -0.202978 0.557491 
time: 1403636741.263556, t: 0.434468 -2.961184 -0.532140 q: 0.150044 0.784190 -0.202249 0.567122 
time: 1403636742.263556, t: 0.423688 -3.015051 -0.887831 q: 0.142382 0.802001 -0.210997 0.540372 
time: 1403636743.263556, t: 0.519826 -3.111749 -1.094168 q: 0.135044 0.807967 -0.224072 0.527962 
time: 1403636744.263556, t: 0.824469 -3.393682 -1.421873 q: 0.170877 0.771995 -0.250199 0.558770 
time: 1403636745.263556, t: 0.999400 -3.648088 -2.063387 q: 0.161820 0.782572 -0.248970 0.547183 
time: 1403636746.263556, t: 1.088861 -3.801449 -2.065175 q: 0.205905 0.765158 -0.254650 0.554337 
time: 1403636747.263556, t: 1.216963 -3.662971 -1.975479 q: 0.178875 0.776375 -0.257480 0.546762 
time: 1403636748.263556, t: 1.503951 -3.607673 -1.707750 q: 0.170117 0.765239 -0.289098 0.549448 
time: 1403636749.263556, t: 1.691980 -3.636345 -1.500642 q: 0.179933 0.755662 -0.298426 0.554564 
time: 1403636750.263556, t: 1.687207 -3.689970 -1.305124 q: 0.195821 0.758459 -0.270111 0.559852 
time: 1403636751.263556, t: 1.576199 -3.513889 -0.832621 q: 0.183881 0.780844 -0.259399 0.537756 
time: 1403636752.263556, t: 1.544660 -3.415476 -0.432734 q: 0.161451 0.783685 -0.240415 0.549519 
time: 1403636753.263556, t: 1.541840 -3.400460 -0.175578 q: 0.055080 0.816898 -0.044229 0.572441 
time: 1403636754.263556, t: 1.482225 -3.184008 -0.157975 q: 0.015604 0.805089 -0.006387 0.592915 
time: 1403636755.263556, t: 1.177625 -2.755747 -0.115573 q: -0.032476 0.809318 0.061887 0.583197 
time: 1403636756.263556, t: 0.869996 -2.189514 -0.039839 q: -0.033918 0.810560 0.056628 0.581924 
time: 1403636757.263556, t: 0.470936 -1.580765 0.016094 q: -0.042246 0.807649 0.061259 0.584950 
time: 1403636758.263556, t: -0.005834 -0.929487 0.148491 q: -0.068332 0.807600 0.091175 0.578619 
time: 1403636759.263556, t: -0.128295 -0.438947 0.086994 q: -0.109563 0.807840 0.060395 0.575971 
time: 1403636760.263556, t: -0.184984 -0.391427 -0.078395 q: -0.072157 0.814564 0.089928 0.568500 
time: 1403636761.263556, t: -0.242262 -0.363659 -0.215031 q: -0.064851 0.829614 0.099745 0.545514 
time: 1403636762.263556, t: -0.250025 -0.217469 -0.179340 q: -0.045978 0.814244 0.106203 0.568871 
time: 1403636763.263556, t: -0.287899 -0.183537 -0.289519 q: -0.069935 0.805971 0.030888 0.586997 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720466327.467240866]: Shutdown request received.[0m
[33m[ WARN] [1720466327.467279336]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720466327.468142701]: Shutdown request received.[0m
[33m[ WARN] [1720466327.468186286]: Reason given for shutdown: [user request][0m
killed
