/SLAM-Hive/slam_hive_results/mapping_results/2850/2058_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-18.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720472444.950294937]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720472444.952363475]: init begins[0m
[31m[ERROR] [1720472444.953579603]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/24cd2cdc-3d6d-11ef-ac47-0242ac110005/roslaunch-e8f5999369fd-119.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://e8f5999369fd:37179/[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 [156][0m
[0m[ INFO] [1720472446.059332724]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720472446.060022191]: 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] [1720472446.065936028]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720472446.066137814]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720472446.066162928]: 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] [1720472446.066328027]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720472446.066570815]: waiting for image and imu...[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://e8f5999369fd:11311/[0m
]2;roscore http://e8f5999369fd:11311/
[1msetting /run_id to 24cd2cdc-3d6d-11ef-ac47-0242ac110005[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 [243][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720472455.107923377]: 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: 316835598.48 
init first imu pose
averge acc 9.530741 -0.420674 -3.109175
init R0 
  0.312691   0.127356   0.941278
         0  -0.990971   0.134079
  0.949855 -0.0419253  -0.309867
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720472468.799749344]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472469.820786204]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472470.788848362]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472471.811258404]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472472.789729944]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472473.821691372]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472474.807698995]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472475.816729959]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472476.829128770]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472477.830148713]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472478.823214486]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472479.827571265]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472480.829719651]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472481.820875454]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472482.821229358]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472483.828248087]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472484.825590864]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472485.840951152]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472486.825319165]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472487.832134360]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472488.810820617]: 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!
[0m[ INFO] [1720472495.813617062]: Not enough features or parallax; Move device around[0m
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0708 21:01:36.938922   180 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 21:01:36.943861   180 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 21:01:36.948374   180 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0708 21:01:36.952860   180 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!
[0m[ INFO] [1720472499.815223345]: 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!
[33m[ WARN] [1720472508.863041966]: gyroscope bias initial calibration -0.00439139    0.021129   0.0758832[0m
[0m[ INFO] [1720472508.923739693]: Initialization finish![0m
time: 1403636910.151666, t: 4.198101 -3.054824 0.404038 q: -0.015642 0.806721 0.059791 0.587692 
time: 1403636911.151666, t: 4.844047 -3.163275 0.326764 q: -0.040480 0.806218 0.049548 0.588149 
time: 1403636912.151666, t: 5.353803 -3.288075 0.314054 q: -0.041649 0.820896 0.043304 0.567908 
time: 1403636913.151666, t: 5.965014 -3.556358 0.208018 q: -0.033883 0.810976 0.043214 0.582497 
time: 1403636914.151666, t: 6.472814 -3.972395 0.167693 q: -0.034491 0.816536 0.041301 0.574781 
time: 1403636915.151666, t: 6.844321 -4.386714 0.185758 q: -0.019398 0.821484 0.043210 0.568261 
time: 1403636916.151666, t: 7.271193 -4.759352 0.177184 q: -0.021552 0.817714 0.044368 0.573507 
time: 1403636917.151666, t: 7.577096 -5.065938 0.187057 q: 0.017016 0.819360 -0.003926 0.573013 
time: 1403636918.151666, t: 7.712784 -5.157565 -0.023850 q: 0.082099 0.812525 -0.088729 0.570255 
time: 1403636919.151666, t: 7.897356 -5.074999 0.188999 q: 0.051104 0.806661 -0.119142 0.576621 
time: 1403636920.151666, t: 7.967841 -5.204019 0.383023 q: 0.074012 0.798029 -0.124929 0.584863 
time: 1403636921.151666, t: 7.741722 -5.339430 0.395911 q: 0.084540 0.815465 -0.110355 0.561864 
time: 1403636922.151666, t: 7.515291 -5.437309 0.265260 q: 0.088365 0.808346 -0.121169 0.569285 
time: 1403636923.151666, t: 7.440648 -5.547759 0.157318 q: 0.113557 0.786864 -0.185038 0.577677 
time: 1403636924.151666, t: 7.390728 -5.676217 0.043851 q: 0.148935 0.809432 -0.209616 0.527920 
time: 1403636925.151666, t: 7.719068 -5.986508 -0.006550 q: 0.140394 0.780996 -0.227326 0.564497 
time: 1403636926.151666, t: 8.112227 -6.461252 -0.151388 q: 0.168005 0.778956 -0.229519 0.558858 
time: 1403636927.151666, t: 8.480738 -6.878601 -0.237068 q: 0.172237 0.767237 -0.285027 0.548125 
time: 1403636928.151666, t: 8.715616 -7.474184 -0.360128 q: 0.231234 0.757527 -0.346699 0.502478 
time: 1403636929.151666, t: 9.151262 -8.171620 -0.383222 q: 0.230264 0.736207 -0.339308 0.538375 
time: 1403636930.151666, t: 9.414400 -8.783274 -0.283723 q: 0.227418 0.741125 -0.334873 0.535608 
time: 1403636931.151666, t: 9.404226 -9.205340 -0.210919 q: 0.230204 0.724397 -0.360389 0.540717 
time: 1403636932.151666, t: 9.101901 -9.432918 -0.167906 q: 0.263240 0.721594 -0.367316 0.524486 
time: 1403636933.151666, t: 8.743528 -9.103140 -0.043132 q: 0.311580 0.689354 -0.427591 0.494848 
time: 1403636934.151666, t: 8.495090 -8.667014 -0.093513 q: 0.323887 0.669038 -0.461451 0.484302 
time: 1403636935.151666, t: 8.147839 -8.203413 -0.075536 q: 0.402544 0.581056 -0.577931 0.407832 
time: 1403636936.151666, t: 7.734124 -7.807377 -0.047975 q: 0.370977 0.602773 -0.582161 0.400161 
time: 1403636937.151666, t: 7.277269 -7.712931 -0.101272 q: 0.401663 0.584996 -0.572248 0.411070 
time: 1403636938.151666, t: 7.081321 -7.834727 -0.221046 q: 0.434792 0.570637 -0.559864 0.414586 
time: 1403636939.151666, t: 6.763704 -7.503460 -0.296622 q: -0.408949 -0.559856 0.598540 -0.401337 
time: 1403636940.151666, t: 6.250856 -7.097038 -0.354105 q: -0.416359 -0.546274 0.598348 -0.412564 
time: 1403636941.151666, t: 5.639914 -6.562317 -0.433640 q: -0.420857 -0.544636 0.616668 -0.382063 
time: 1403636942.151666, t: 5.064651 -6.107888 -0.352874 q: -0.415158 -0.550150 0.605645 -0.397711 
time: 1403636943.151666, t: 4.406783 -5.625533 -0.345093 q: -0.424857 -0.540451 0.611030 -0.392494 
time: 1403636944.151666, t: 3.808638 -5.177253 -0.504766 q: -0.398224 -0.568101 0.615283 -0.374307 
time: 1403636945.151666, t: 3.400428 -4.939410 -0.460403 q: 0.413575 0.577544 -0.570913 0.411651 
time: 1403636946.151666, t: 3.314071 -4.665057 -0.524837 q: -0.408704 -0.579489 0.582832 -0.396813 
time: 1403636947.151666, t: 3.485909 -4.578032 -0.883721 q: -0.381397 -0.549296 0.613452 -0.420102 
time: 1403636948.151666, t: 3.297163 -4.648137 -0.977615 q: -0.405706 -0.583778 0.595313 -0.374444 
time: 1403636949.151666, t: 3.540203 -5.079314 -1.140933 q: -0.408581 -0.571450 0.574814 -0.419637 
time: 1403636950.151666, t: 3.919581 -5.369832 -1.251485 q: -0.380320 -0.585811 0.591403 -0.403020 
time: 1403636951.151666, t: 4.218228 -5.735169 -1.262408 q: -0.396388 -0.576054 0.577943 -0.420738 
time: 1403636952.151666, t: 4.538139 -6.161263 -1.249004 q: 0.410507 0.587338 -0.570266 0.401640 
time: 1403636953.151666, t: 4.937590 -6.581049 -1.420299 q: -0.383780 -0.579890 0.588801 -0.412012 
time: 1403636955.151666, t: 5.744769 -7.616217 -1.469150 q: -0.417320 -0.573839 0.581815 -0.397546 
time: 1403636956.151666, t: 6.421316 -8.180197 -1.506886 q: -0.407880 -0.543852 0.610290 -0.406699 
time: 1403636957.151666, t: 6.947766 -8.499852 -1.525052 q: 0.359308 0.632877 -0.511828 0.456505 
time: 1403636958.151666, t: 7.310668 -8.602264 -1.564841 q: 0.241257 0.731213 -0.367928 0.521298 
time: 1403636959.151666, t: 7.437843 -8.724299 -1.484838 q: 0.209769 0.763336 -0.305442 0.529170 
time: 1403636960.151666, t: 7.665702 -8.895804 -1.637169 q: 0.220577 0.756780 -0.314663 0.528788 
time: 1403636961.151666, t: 8.108618 -8.948820 -1.795467 q: 0.164095 0.780681 -0.234868 0.555380 
time: 1403636962.151666, t: 8.383199 -8.729398 -1.598124 q: 0.044796 0.813256 -0.062451 0.576808 
time: 1403636963.151666, t: 8.534269 -8.403470 -1.351080 q: -0.047274 0.799247 0.084816 0.593107 
time: 1403636964.151666, t: 8.393644 -7.964088 -1.258257 q: -0.034534 0.808097 0.059895 0.584978 
time: 1403636965.151666, t: 8.065718 -7.359923 -1.227107 q: -0.093221 0.790669 0.165158 0.582130 
time: 1403636966.151666, t: 7.607607 -6.553723 -0.720284 q: -0.114435 0.789574 0.176842 0.576372 
time: 1403636967.151666, t: 7.123314 -5.942820 -0.699762 q: -0.117036 0.790598 0.154857 0.580756 
time: 1403636968.151666, t: 6.558445 -5.522661 -0.879669 q: -0.110576 0.787868 0.153760 0.585999 
time: 1403636969.151666, t: 5.535644 -5.221054 -0.937557 q: -0.109119 0.794078 0.153318 0.577950 
time: 1403636970.151666, t: 4.617610 -4.852896 -0.810504 q: -0.104280 0.800866 0.151741 0.569837 
time: 1403636971.151666, t: 3.899300 -4.349144 -0.802449 q: -0.120521 0.821649 0.147744 0.537159 
time: 1403636972.151666, t: 3.599190 -4.039306 -1.008271 q: -0.124175 0.795679 0.150876 0.573333 
time: 1403636973.151666, t: 3.647577 -4.175220 -0.971518 q: -0.099423 0.809925 0.133386 0.562446 
time: 1403636974.151666, t: 3.447158 -4.138026 -1.094321 q: -0.077419 0.812759 0.096305 0.569346 
time: 1403636975.151666, t: 3.408688 -4.150687 -1.228979 q: 0.066254 0.815430 -0.127055 0.560840 
time: 1403636976.151666, t: 3.440935 -4.186968 -1.256867 q: 0.103566 0.797298 -0.182064 0.566076 
time: 1403636977.151666, t: 3.412089 -4.466817 -1.451631 q: 0.183027 0.769091 -0.302012 0.532718 
time: 1403636978.151666, t: 3.401215 -4.857677 -1.603832 q: 0.191870 0.760525 -0.296496 0.544865 
time: 1403636979.151666, t: 3.394508 -5.390095 -1.651441 q: 0.206746 0.761469 -0.294956 0.538907 
time: 1403636980.151666, t: 3.732111 -5.914378 -1.706248 q: 0.212569 0.765604 -0.302065 0.526708 
time: 1403636981.151666, t: 4.248097 -6.397000 -1.821646 q: 0.207983 0.761993 -0.300718 0.534489 
time: 1403636982.151666, t: 4.694527 -6.754843 -1.868879 q: 0.208279 0.778581 -0.322531 0.496393 
time: 1403636983.151666, t: 5.393729 -7.407032 -1.846184 q: 0.210341 0.760058 -0.311375 0.530202 
time: 1403636984.151666, t: 6.091592 -8.049652 -1.876206 q: 0.220625 0.768320 -0.318308 0.509596 
time: 1403636985.151666, t: 6.970702 -8.566577 -1.860319 q: 0.224455 0.754484 -0.320775 0.526761 
time: 1403636986.151666, t: 7.897355 -8.876308 -1.883106 q: 0.226959 0.748542 -0.267455 0.562709 
time: 1403636987.151666, t: 8.659194 -8.706716 -1.832843 q: 0.198897 0.761868 -0.289353 0.544309 
time: 1403636988.151666, t: 9.176951 -8.412455 -1.699364 q: 0.177147 0.760577 -0.286384 0.555091 
time: 1403636989.151666, t: 8.864959 -7.992563 -1.559303 q: 0.176568 0.733199 -0.288502 0.589923 
time: 1403636990.151666, t: 7.976930 -7.652287 -1.432220 q: 0.199426 0.755594 -0.278427 0.558378 
time: 1403636991.151666, t: 7.068457 -7.187079 -1.363622 q: 0.194458 0.771097 -0.271303 0.542209 
time: 1403636992.151666, t: 6.318638 -6.701252 -1.227105 q: 0.197172 0.762994 -0.291145 0.542401 
time: 1403636993.151666, t: 5.698773 -6.321285 -1.157773 q: 0.210367 0.760157 -0.297268 0.538088 
time: 1403636994.151666, t: 5.212781 -5.873761 -0.998287 q: 0.147684 0.780310 -0.198619 0.574331 
time: 1403636995.151666, t: 4.525478 -5.298811 -0.990915 q: 0.133170 0.779364 -0.212017 0.574375 
time: 1403636996.151666, t: 3.634991 -4.753783 -0.823130 q: 0.128569 0.790514 -0.211944 0.560033 
time: 1403636997.151666, t: 2.871938 -4.379073 -0.697671 q: 0.048911 0.819535 -0.084838 0.564600 
time: 1403636998.151666, t: 2.454870 -4.153962 -0.576828 q: 0.042564 0.824256 -0.067752 0.560536 
time: 1403636999.151666, t: 2.377792 -3.988862 -0.285688 q: 0.064844 0.806598 -0.064171 0.584018 
time: 1403637000.151666, t: 2.106420 -3.607297 -0.253235 q: 0.062172 0.806263 -0.070240 0.584072 
time: 1403637001.151666, t: 1.664442 -3.102358 -0.161455 q: 0.057915 0.806254 -0.075771 0.583831 
time: 1403637002.151666, t: 1.116676 -2.575718 -0.071335 q: 0.055284 0.813187 -0.084441 0.573185 
time: 1403637003.151666, t: 0.630413 -2.091178 -0.056790 q: 0.061622 0.812777 -0.086877 0.572755 
time: 1403637004.151666, t: 0.179417 -1.623178 -0.064873 q: 0.061851 0.816772 -0.086308 0.567106 
time: 1403637005.151666, t: -0.155105 -1.267837 -0.035895 q: 0.057499 0.813926 -0.105556 0.568398 
time: 1403637006.151666, t: -0.411903 -1.096753 -0.106551 q: 0.057704 0.812391 -0.094354 0.572528 
time: 1403637007.151666, t: -0.535945 -1.019531 -0.171737 q: 0.001693 0.816655 -0.010182 0.577034 
time: 1403637008.151666, t: -0.654592 -0.962688 -0.273209 q: -0.007622 0.820686 0.004754 0.571309 
time: 1403637009.151666, t: -0.832137 -0.895919 -0.262971 q: -0.007315 0.820940 -0.014683 0.570779 
time: 1403637010.151666, t: -0.570952 -0.918787 -0.365389 q: -0.043090 0.789995 -0.010764 0.611502 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720472609.723444221]: Shutdown request received.[0m
[33m[ WARN] [1720472609.723497180]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720472609.724375795]: Shutdown request received.[0m
[33m[ WARN] [1720472609.724413741]: Reason given for shutdown: [user request][0m
killed
