/SLAM-Hive/slam_hive_results/mapping_results/2822/2030_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-20.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720466587.527475954]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720466587.529468082]: init begins[0m
[31m[ERROR] [1720466587.530543955]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/81831346-3d5f-11ef-acf0-0242ac110005/roslaunch-f3c938f16cc6-118.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://f3c938f16cc6:37937/[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] [1720466588.636018190]: 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] [1720466588.640781393]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720466588.641081763]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720466588.641104094]: ROW: 288 COL: 451 [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] [1720466588.641299750]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720466588.641565521]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://f3c938f16cc6:11311/[0m
]2;roscore http://f3c938f16cc6:11311/
[1msetting /run_id to 81831346-3d5f-11ef-acf0-0242ac110005[0m
[0m[ INFO] [1720466588.682926079]: 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
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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720466597.677430014]: 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: 316830018.96 
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] [1720466609.399768408]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466610.408930099]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720466611.375284369]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466612.402223991]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466613.384861912]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466614.403201919]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466615.385769396]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466616.408123439]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466617.396343301]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466618.392114159]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466619.404587761]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466620.425844328]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466621.408551546]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466622.426665796]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466623.408280935]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466624.428239105]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466625.382580553]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466626.394046089]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466627.394130011]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466628.418401431]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466629.391250948]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466630.419841673]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466631.397608897]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466632.421616530]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466633.385942552]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466634.411490659]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466635.403927616]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466636.401709494]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466637.396491246]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466638.411208423]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466639.382622259]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466640.417695326]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466641.393746582]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466643.388387763]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466644.394518878]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466645.388692825]: 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!
[0m[ INFO] [1720466650.399459707]: 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!
[0m[ INFO] [1720466660.395941020]: 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!
[0m[ INFO] [1720466666.369420212]: 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!
[0m[ INFO] [1720466668.401560569]: 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!
[0m[ INFO] [1720466672.386899222]: 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!
[0m[ INFO] [1720466675.397395406]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720466677.399816620]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466678.394233297]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466679.394864649]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466680.395099861]: 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!
[0m[ INFO] [1720466683.377701213]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466684.391762449]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466685.386058390]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466686.424786918]: 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] [1720466689.394883140]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466690.393800277]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466691.373387062]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720466692.371570423]: 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!
[0m[ INFO] [1720466697.395471067]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
wait for imu ... 
[0m[ INFO] [1720466699.381872323]: 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!
[0m[ INFO] [1720466708.384729735]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466709.394028266]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466710.418712080]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466711.373880968]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466712.412470569]: 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!
[0m[ INFO] [1720466718.399885055]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466719.405998472]: 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!
wait for imu ... 
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!
[0m[ INFO] [1720466734.397912936]: 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] [1720466736.379039888]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720466737.376345052]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720466738.396560093]: 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!
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0708 19:25:48.459177   169 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 19:25:48.467448   169 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 19:25:48.468106   169 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
pts_3_vector size 5
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720466749.447156792]: gyroscope bias initial calibration -0.00847992   0.0241707   0.0749056[0m
[0m[ INFO] [1720466749.501406298]: Initialization finish![0m
time: 1403636731.263556, t: -2.807212 2.267156 0.836654 q: 0.084652 0.800692 -0.153816 0.572772 
time: 1403636732.263556, t: -2.855774 2.278820 0.668997 q: 0.100572 0.799689 -0.140307 0.575063 
time: 1403636733.263556, t: -3.135959 2.485385 0.698577 q: 0.112937 0.799945 -0.125832 0.575760 
time: 1403636734.263556, t: -3.538998 2.965231 0.840163 q: 0.105008 0.802749 -0.130679 0.572268 
time: 1403636735.263556, t: -3.836618 3.419302 0.914357 q: 0.091320 0.812914 -0.132986 0.559595 
time: 1403636736.263556, t: -4.012666 3.773508 1.153977 q: 0.086429 0.806670 -0.120147 0.572170 
time: 1403636737.263556, t: -4.094375 4.091810 1.170847 q: 0.063709 0.809592 -0.084545 0.577368 
time: 1403636738.263556, t: -4.194119 4.440137 1.309053 q: 0.053150 0.816349 -0.090835 0.567889 
time: 1403636739.263556, t: -4.183749 4.410162 1.276409 q: 0.154305 0.778970 -0.245562 0.555963 
time: 1403636740.263556, t: -4.231058 4.214186 1.118543 q: 0.240218 0.750351 -0.319002 0.526788 
time: 1403636741.263556, t: -4.353035 4.078496 0.804308 q: 0.242718 0.743741 -0.317137 0.536062 
time: 1403636742.263556, t: -4.401209 3.985797 0.464386 q: 0.225771 0.762680 -0.325127 0.511507 
time: 1403636743.263556, t: -4.348322 3.845908 0.269393 q: 0.212636 0.768770 -0.335736 0.501059 
time: 1403636744.263556, t: -4.135629 3.490473 -0.051495 q: 0.250953 0.730196 -0.355057 0.527040 
time: 1403636745.263556, t: -4.041697 3.204748 -0.697681 q: 0.239465 0.741107 -0.354829 0.517217 
time: 1403636746.263556, t: -3.995978 3.025153 -0.702332 q: 0.283382 0.723226 -0.357553 0.518454 
time: 1403636747.263556, t: -3.834743 3.128500 -0.606235 q: 0.255298 0.734140 -0.361913 0.514666 
time: 1403636748.263556, t: -3.518176 3.088030 -0.324115 q: 0.247196 0.718863 -0.391908 0.518206 
time: 1403636749.263556, t: -3.336820 3.016459 -0.098221 q: 0.258084 0.707980 -0.399979 0.521703 
time: 1403636750.263556, t: -3.352995 2.969068 0.085435 q: 0.274493 0.714513 -0.372246 0.524936 
time: 1403636751.263556, t: -3.417656 3.167168 0.563524 q: 0.259047 0.738316 -0.364427 0.504953 
time: 1403636752.263556, t: -3.421422 3.269976 0.977427 q: 0.238261 0.743926 -0.345840 0.519808 
time: 1403636753.263556, t: -3.417747 3.271743 1.240933 q: 0.135516 0.804468 -0.156388 0.556786 
time: 1403636754.263556, t: -3.365529 3.463581 1.241401 q: 0.099048 0.798258 -0.117092 0.582464 
time: 1403636755.263556, t: -3.455137 3.889481 1.309197 q: 0.049839 0.812031 -0.050499 0.579285 
time: 1403636756.263556, t: -3.661387 4.524912 1.314922 q: 0.046382 0.811893 -0.053175 0.579526 
time: 1403636757.263556, t: -3.881356 5.246348 1.369205 q: 0.037572 0.809593 -0.046924 0.583906 
time: 1403636758.263556, t: -4.130931 6.012939 1.488579 q: 0.010310 0.813405 -0.016819 0.581364 
time: 1403636759.263556, t: -4.150065 6.560066 1.426083 q: -0.031420 0.809317 -0.047010 0.584644 
time: 1403636761.263556, t: -4.363179 6.769778 1.136984 q: 0.008216 0.835679 -0.010357 0.549060 
time: 1403636762.263556, t: -4.309400 6.892926 1.182724 q: 0.030113 0.821288 -0.001770 0.569715 
time: 1403636763.263556, t: -4.321293 6.926573 1.067170 q: 0.008839 0.803151 -0.075234 0.590940 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720466786.286054681]: Shutdown request received.[0m
[33m[ WARN] [1720466786.286093782]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720466786.286927388]: Shutdown request received.[0m
[33m[ WARN] [1720466786.286966178]: Reason given for shutdown: [user request][0m
killed
