/SLAM-Hive/slam_hive_results/mapping_results/2851/2059_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-19.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720472636.117453935]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720472636.119006676]: init begins[0m
[31m[ERROR] [1720472636.120024541]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/96c035be-3d6d-11ef-9fa5-0242ac110005/roslaunch-8c4cb94a7309-117.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://8c4cb94a7309:38371/[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] [1720472637.223647892]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720472637.225039234]: 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] [1720472637.230770207]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720472637.230980017]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720472637.231003141]: ROW: 384 COL: 601 [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] [1720472637.231151351]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720472637.231418144]: 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://8c4cb94a7309:11311/[0m
]2;roscore http://8c4cb94a7309:11311/
[1msetting /run_id to 96c035be-3d6d-11ef-9fa5-0242ac110005[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_02_easy.bag  --clock 
[0m[ INFO] [1720472646.269433223]: 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: 316835789.64 
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
wait for imu ... 
wait for imu ... 
unstable features tracking, please slowly move you device!
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720472659.981846194]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472660.977719564]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472661.971976805]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472662.978001773]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472663.980467416]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472664.950801159]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472665.974238030]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472666.978055934]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472667.961768233]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472668.988596474]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472669.983036416]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472670.985003983]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472671.985528238]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472672.989539157]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472673.994493482]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472674.995934217]: 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] [1720472678.995345294]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472679.994304542]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472680.962763708]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472681.980806768]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472682.981865770]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472683.994319837]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472684.998198906]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472685.981010553]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472686.998596796]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472687.971588369]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472689.966013199]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720472690.972224859]: 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!
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0708 21:05:00.109088   179 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
[33m[ WARN] [1720472700.983555961]: gyroscope bias initial calibration -0.00410896   0.0195848   0.0768671[0m
[0m[ INFO] [1720472701.043594931]: Initialization finish![0m
time: 1403636911.151666, t: 4.789502 -2.513053 0.180108 q: -0.066037 0.803098 0.084044 0.586182 
time: 1403636912.151666, t: 5.788300 -2.642582 0.160679 q: -0.059317 0.819101 0.073205 0.565859 
time: 1403636913.151666, t: 6.020288 -2.899806 0.081045 q: -0.054495 0.808242 0.074549 0.581565 
time: 1403636914.151666, t: 6.515209 -3.268980 0.067515 q: -0.054511 0.813508 0.072719 0.574409 
time: 1403636915.151666, t: 6.980986 -3.693851 0.098153 q: -0.038677 0.817693 0.074332 0.569524 
time: 1403636916.151666, t: 7.390439 -4.012708 0.095613 q: -0.040369 0.813286 0.074874 0.575613 
time: 1403636917.151666, t: 7.730968 -4.305234 0.120999 q: -0.001739 0.816036 0.026063 0.577410 
time: 1403636918.151666, t: 7.942020 -4.409451 -0.084145 q: 0.062229 0.812222 -0.058747 0.577037 
time: 1403636919.151666, t: 8.105503 -4.281944 0.115394 q: 0.029093 0.808466 -0.087481 0.581277 
time: 1403636920.151666, t: 8.221123 -4.412756 0.303996 q: 0.050601 0.800856 -0.092256 0.589540 
time: 1403636921.151666, t: 7.994370 -4.547601 0.309957 q: 0.062377 0.818361 -0.077060 0.566088 
time: 1403636922.151666, t: 7.775558 -4.663837 0.184214 q: 0.066905 0.811937 -0.088810 0.573058 
time: 1403636923.151666, t: 7.691583 -4.782948 0.080063 q: 0.092755 0.792774 -0.154263 0.582331 
time: 1403636924.151666, t: 7.636028 -4.919918 -0.029291 q: 0.130666 0.816112 -0.178620 0.533837 
time: 1403636925.151666, t: 7.988256 -5.202892 -0.077248 q: 0.121155 0.788426 -0.197286 0.569898 
time: 1403636926.151666, t: 8.425165 -5.653650 -0.219770 q: 0.148353 0.786648 -0.199025 0.565301 
time: 1403636927.151666, t: 8.851541 -6.056097 -0.315227 q: 0.152370 0.777087 -0.254480 0.555120 
time: 1403636928.151666, t: 9.142558 -6.656361 -0.430754 q: 0.212832 0.769572 -0.316393 0.512208 
time: 1403636929.151666, t: 9.662648 -7.342080 -0.457821 q: 0.209765 0.748368 -0.309424 0.547905 
time: 1403636930.151666, t: 9.963630 -7.919163 -0.353527 q: 0.206945 0.753185 -0.304655 0.545042 
time: 1403636931.151666, t: 9.981975 -8.332518 -0.278711 q: 0.209525 0.737534 -0.331055 0.550042 
time: 1403636932.151666, t: 9.686839 -8.576692 -0.236766 q: 0.243265 0.734957 -0.338176 0.535067 
time: 1403636933.151666, t: 9.290784 -8.262579 -0.110576 q: 0.292689 0.705110 -0.399759 0.507292 
time: 1403636934.151666, t: 8.998798 -7.827508 -0.159953 q: 0.305194 0.686461 -0.434348 0.496961 
time: 1403636935.151666, t: 8.607019 -7.382875 -0.136419 q: 0.386673 0.603266 -0.554279 0.423472 
time: 1403636936.151666, t: 8.151327 -7.006896 -0.100277 q: 0.355059 0.625445 -0.557692 0.414406 
time: 1403636937.151666, t: 7.661105 -6.898806 -0.157767 q: 0.385605 0.607044 -0.548829 0.426138 
time: 1403636938.151666, t: 7.483861 -7.060929 -0.256950 q: 0.417853 0.592686 -0.537070 0.430904 
time: 1403636939.151666, t: 7.158269 -6.772990 -0.339263 q: 0.392289 0.583660 -0.576044 0.416682 
time: 1403636940.151666, t: 6.591285 -6.380780 -0.381493 q: -0.399418 -0.569952 0.576477 -0.428129 
time: 1403636941.151666, t: 5.917988 -5.860727 -0.454810 q: -0.405254 -0.568957 0.594934 -0.397631 
time: 1403636942.151666, t: 5.297237 -5.447524 -0.369302 q: -0.398855 -0.574112 0.583707 -0.413032 
time: 1403636943.151666, t: 4.617430 -5.060314 -0.398104 q: -0.408626 -0.564829 0.589538 -0.407968 
time: 1403636944.151666, t: 3.973903 -4.606475 -0.551650 q: -0.382763 -0.592462 0.592615 -0.388959 
time: 1403636945.151666, t: 3.588174 -4.456425 -0.537102 q: 0.396565 0.600256 -0.548038 0.426712 
time: 1403636946.151666, t: 3.489559 -4.197324 -0.566200 q: 0.392154 0.602649 -0.559841 0.411833 
time: 1403636947.151666, t: 3.619234 -4.052784 -0.935086 q: -0.364011 -0.573736 0.591427 -0.434209 
time: 1403636948.151666, t: 3.444579 -4.158282 -1.039529 q: 0.389970 0.607519 -0.572009 0.389423 
time: 1403636949.151666, t: 3.712003 -4.563117 -1.207996 q: 0.390990 0.594415 -0.552049 0.434786 
time: 1403636950.151666, t: 4.127322 -4.820626 -1.328231 q: 0.363435 0.609539 -0.567736 0.417196 
time: 1403636951.151666, t: 4.470076 -5.186297 -1.347906 q: 0.378872 0.599379 -0.554773 0.435233 
time: 1403636952.151666, t: 4.823178 -5.576957 -1.333570 q: 0.393512 0.610307 -0.546439 0.417227 
time: 1403636953.151666, t: 5.258312 -5.970109 -1.501167 q: 0.366305 0.603544 -0.565309 0.426593 
time: 1403636954.151666, t: 5.621153 -6.397713 -1.546216 q: 0.381516 0.617370 -0.547882 0.416083 
time: 1403636955.151666, t: 6.179851 -6.949320 -1.554875 q: 0.400575 0.596997 -0.558785 0.413391 
time: 1403636956.151666, t: 6.880144 -7.438636 -1.587341 q: -0.390731 -0.567996 0.588544 -0.422287 
time: 1403636957.151666, t: 7.413162 -7.722052 -1.611727 q: 0.340164 0.652874 -0.486760 0.470222 
time: 1403636958.151666, t: 7.740561 -7.794389 -1.647901 q: 0.219622 0.745201 -0.339089 0.530529 
time: 1403636959.151666, t: 7.897015 -7.918877 -1.569711 q: 0.188074 0.774885 -0.275232 0.537056 
time: 1403636960.151666, t: 8.206483 -8.123018 -1.722522 q: 0.199314 0.768785 -0.284719 0.536823 
time: 1403636961.151666, t: 8.619789 -8.083117 -1.854593 q: 0.142196 0.789464 -0.204390 0.561028 
time: 1403636963.151666, t: 8.993378 -7.500118 -1.409381 q: -0.070555 0.795417 0.115949 0.590668 
time: 1403636964.151666, t: 8.894998 -7.049766 -1.305292 q: -0.056799 0.805554 0.091167 0.582705 
time: 1403636965.151666, t: 8.404178 -6.479730 -1.170410 q: -0.115645 0.783945 0.195667 0.577729 
time: 1403636966.151666, t: 7.912894 -5.691898 -0.762831 q: -0.136603 0.782283 0.207410 0.571275 
time: 1403636967.151666, t: 7.361803 -5.090756 -0.721138 q: -0.139359 0.784118 0.185562 0.575591 
time: 1403636968.151666, t: 6.737768 -4.775572 -0.890340 q: -0.133012 0.781513 0.184352 0.580998 
time: 1403636969.151666, t: 5.738090 -4.529373 -0.959395 q: -0.131230 0.787777 0.183891 0.573036 
time: 1403636970.151666, t: 4.733718 -4.243266 -0.820333 q: -0.126142 0.794535 0.182693 0.565177 
time: 1403636971.151666, t: 3.994556 -3.810359 -0.808363 q: -0.140935 0.815552 0.179597 0.531750 
time: 1403636972.151666, t: 3.673099 -3.544671 -1.009909 q: -0.146104 0.789438 0.181848 0.567779 
time: 1403636973.151666, t: 3.636216 -3.626684 -0.981405 q: -0.120937 0.804262 0.164708 0.558040 
time: 1403636974.151666, t: 3.448710 -3.601206 -1.099799 q: -0.099257 0.808625 0.127756 0.565643 
time: 1403636975.151666, t: 3.388383 -3.631180 -1.237191 q: 0.044665 0.819870 -0.095512 0.562757 
time: 1403636976.151666, t: 3.436672 -3.709058 -1.251829 q: 0.081564 0.803934 -0.151269 0.569347 
time: 1403636977.151666, t: 3.441942 -3.935645 -1.471338 q: 0.162655 0.780419 -0.271872 0.539050 
time: 1403636978.151666, t: 3.821675 -4.365083 -1.566660 q: 0.169555 0.773816 -0.264969 0.549774 
time: 1403636979.151666, t: 3.389189 -4.750067 -1.612901 q: 0.186094 0.772379 -0.265129 0.546357 
time: 1403636980.151666, t: 3.828775 -5.236892 -1.726496 q: 0.192205 0.776841 -0.272022 0.534397 
time: 1403636981.151666, t: 4.376547 -5.603238 -1.849843 q: 0.187325 0.773461 -0.270896 0.541557 
time: 1403636982.151666, t: 4.792902 -5.959252 -1.860265 q: 0.188906 0.790762 -0.291894 0.503794 
time: 1403636983.151666, t: 5.510330 -6.564881 -1.857749 q: 0.189341 0.771886 -0.281495 0.537683 
time: 1403636984.151666, t: 6.231553 -7.108508 -1.883986 q: 0.200632 0.780384 -0.287938 0.517532 
time: 1403636985.151666, t: 7.114434 -7.533371 -1.870274 q: 0.203693 0.766655 -0.290699 0.535017 
time: 1403636986.151666, t: 8.001252 -7.727037 -1.903467 q: 0.204736 0.758460 -0.237675 0.571255 
time: 1403636987.151666, t: 8.776484 -7.576029 -1.855602 q: 0.177240 0.772717 -0.259129 0.551676 
time: 1403636988.151666, t: 9.292752 -7.303028 -1.727552 q: 0.154928 0.771446 -0.255925 0.561579 
time: 1403636989.151666, t: 9.041622 -6.944955 -1.587447 q: 0.153159 0.744388 -0.258897 0.596155 
time: 1403636990.151666, t: 8.139830 -6.676998 -1.458207 q: 0.177239 0.766430 -0.247828 0.565467 
time: 1403636991.151666, t: 7.213750 -6.280416 -1.390095 q: 0.172928 0.781646 -0.239962 0.549129 
time: 1403636992.151666, t: 6.440609 -5.857427 -1.246071 q: 0.175489 0.774272 -0.260038 0.549624 
time: 1403636993.151666, t: 5.787247 -5.521475 -1.173964 q: 0.188794 0.771535 -0.266224 0.546091 
time: 1403636994.151666, t: 5.270173 -5.124725 -1.022033 q: 0.124597 0.787705 -0.166873 0.579784 
time: 1403636995.151666, t: 4.556159 -4.627831 -1.015324 q: 0.109994 0.787337 -0.180277 0.579225 
time: 1403636996.151666, t: 3.660633 -4.175573 -0.854740 q: 0.105977 0.798553 -0.179704 0.564613 
time: 1403636998.151666, t: 2.406561 -3.632862 -0.593188 q: 0.020137 0.826337 -0.034247 0.561772 
time: 1403636999.151666, t: 2.343898 -3.495616 -0.290424 q: 0.041432 0.808628 -0.031504 0.586014 
time: 1403637000.151666, t: 2.060694 -3.170025 -0.269566 q: 0.038614 0.808551 -0.037520 0.585958 
time: 1403637001.151666, t: 1.568241 -2.702995 -0.186591 q: 0.034402 0.808672 -0.042916 0.585683 
time: 1403637002.151666, t: 0.981117 -2.227971 -0.093497 q: 0.032192 0.816009 -0.051274 0.574859 
time: 1403637003.151666, t: 0.464351 -1.801788 -0.082253 q: 0.038557 0.815646 -0.053757 0.574756 
time: 1403637004.151666, t: 0.005910 -1.399720 -0.091076 q: 0.038938 0.819640 -0.052984 0.569093 
time: 1403637005.151666, t: -0.375656 -1.076193 -0.073270 q: 0.034495 0.817499 -0.072154 0.570351 
time: 1403637006.151666, t: -0.639117 -0.940797 -0.143810 q: 0.034477 0.815566 -0.061105 0.574395 
time: 1403637007.151666, t: -0.768155 -0.892388 -0.203355 q: -0.021792 0.816434 0.023289 0.576558 
time: 1403637008.151666, t: -0.888464 -0.848980 -0.299265 q: -0.030794 0.819865 0.038388 0.570438 
time: 1403637009.151666, t: -1.212124 -0.679672 -0.312778 q: -0.030205 0.820726 0.018882 0.570211 
time: 1403637010.151666, t: -0.856687 -0.755451 -0.392201 q: -0.067357 0.790091 0.021565 0.608896 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720472800.917665952]: Shutdown request received.[0m
[33m[ WARN] [1720472800.917717193]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720472800.918624814]: Shutdown request received.[0m
[33m[ WARN] [1720472800.918650142]: Reason given for shutdown: [user request][0m
killed
