/SLAM-Hive/slam_hive_results/mapping_results/2864/2072_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-2.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720475158.995188379]: init begins[0m
[31m[ERROR] [1720475158.996222125]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720475158.996273709]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/76802010-3d73-11ef-99b5-0242ac110005/roslaunch-f86c4f3c9c20-118.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://f86c4f3c9c20:38727/[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] [1720475160.104039974]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720475160.104648399]: 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] [1720475160.110204819]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720475160.110434193]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720475160.110457833]: 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] [1720475160.110637960]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720475160.110903246]: 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://f86c4f3c9c20:11311/[0m
]2;roscore http://f86c4f3c9c20:11311/
[1msetting /run_id to 76802010-3d73-11ef-99b5-0242ac110005[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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720475169.148657248]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 316838038.82 
init first imu pose
averge acc 9.410943 -0.689906 -2.446931
init R0 
 0.260797  0.261977  0.929168
        0 -0.962476  0.271368
 0.965394 -0.070772 -0.251011
[0m[ INFO] [1720475170.562828043]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475170.765300892]: IMU excitation not enouth![0m
[0m[ INFO] [1720475170.765662071]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475170.960114521]: IMU excitation not enouth![0m
[0m[ INFO] [1720475170.960389023]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475171.067014140]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475171.269205816]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475171.469654572]: IMU excitation not enouth![0m
[0m[ INFO] [1720475171.570258520]: IMU excitation not enouth![0m
[0m[ INFO] [1720475171.770578544]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475171.980311702]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475172.056364278]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475172.271832899]: IMU excitation not enouth![0m
[0m[ INFO] [1720475172.476771286]: IMU excitation not enouth![0m
[0m[ INFO] [1720475172.477594964]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720475172.558080171]: IMU excitation not enouth![0m
[33m[ WARN] [1720475173.171660606]: gyroscope bias initial calibration 0.00451737   0.035525  0.0954499[0m
[0m[ INFO] [1720475173.213533656]: Initialization finish![0m
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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wait for imu ... 
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time: 1403637206.888319, t: 2.023496 -3.042195 0.098701 q: 0.139583 0.787595 -0.201666 0.565280 
time: 1403637206.988319, t: 2.011577 -3.021264 0.106915 q: 0.140040 0.786266 -0.202062 0.566873 
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time: 1403637207.588319, t: 1.912876 -2.887519 0.101614 q: 0.138495 0.786374 -0.212085 0.563431 
optimize pose graph 
time: 1403637207.688319, t: 1.889730 -2.863286 0.086295 q: 0.129154 0.791584 -0.219242 0.555560 
wait for imu ... 
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time: 1403637207.888319, t: 1.840362 -2.823538 0.085807 q: 0.135238 0.792344 -0.216548 0.554084 
wait for imu ... 
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time: 1403637209.188319, t: 1.565126 -2.679316 0.191330 q: 0.167089 0.791341 -0.192635 0.555655 
time: 1403637209.288319, t: 1.552022 -2.657678 0.179818 q: 0.148310 0.795915 -0.188473 0.555879 
time: 1403637209.388319, t: 1.533170 -2.627257 0.177407 q: 0.133973 0.802147 -0.181741 0.552794 
time: 1403637209.488319, t: 1.522025 -2.601495 0.178129 q: 0.124706 0.810394 -0.175302 0.544959 
time: 1403637209.588319, t: 1.515598 -2.577048 0.185979 q: 0.117915 0.821984 -0.169696 0.530700 
optimize pose graph 
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time: 1403637209.888319, t: 1.562107 -2.519419 0.244245 q: 0.105334 0.838489 -0.165158 0.508491 
time: 1403637209.988319, t: 1.597749 -2.505657 0.253160 q: 0.103562 0.843184 -0.166034 0.500748 
time: 1403637210.088319, t: 1.648768 -2.496802 0.244210 q: 0.102563 0.849453 -0.167145 0.489870 
time: 1403637210.188319, t: 1.707351 -2.489296 0.221438 q: 0.099901 0.855242 -0.169460 0.479441 
time: 1403637210.288319, t: 1.786447 -2.487691 0.192881 q: 0.098679 0.859957 -0.170591 0.470782 
time: 1403637210.388319, t: 1.885014 -2.493003 0.164103 q: 0.097418 0.862084 -0.171691 0.466736 
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wait for imu ... 
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time: 1403637211.688319, t: 4.065154 -3.039257 -0.329088 q: 0.100702 0.803535 -0.179417 0.558570 
optimize pose graph 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
time: 1403637218.488319, t: 6.113162 -2.372385 0.252245 q: -0.156352 0.759504 0.219318 0.592121 
wait for imu ... 
wait for imu ... 
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optimize pose graph 
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optimize pose graph 
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time: 1403637257.388319, t: 0.655507 -1.404094 0.530042 q: -0.099728 0.803730 0.150327 0.566987 
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time: 1403637257.588319, t: 0.543289 -1.326279 0.552244 q: -0.099982 0.804517 0.158862 0.563488 
time: 1403637257.688319, t: 0.491170 -1.285035 0.554840 q: -0.102361 0.808507 0.159214 0.557215 
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time: 1403637258.088319, t: 0.301011 -1.092305 0.519936 q: -0.130383 0.811049 0.186599 0.538869 
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time: 1403637258.888319, t: 0.081965 -0.669083 0.428397 q: -0.183910 0.779475 0.235510 0.550573 
time: 1403637258.988319, t: 0.063827 -0.624228 0.412381 q: -0.185492 0.780001 0.233329 0.550227 
time: 1403637259.088319, t: 0.048667 -0.584696 0.407064 q: -0.185301 0.780800 0.231631 0.549874 
time: 1403637259.188319, t: 0.034304 -0.547778 0.414547 q: -0.185985 0.780666 0.230300 0.550392 
time: 1403637259.288319, t: 0.017672 -0.511483 0.429745 q: -0.186403 0.780293 0.228388 0.551576 
time: 1403637259.388319, t: 0.002669 -0.482187 0.443747 q: -0.187093 0.781071 0.226335 0.551087 
time: 1403637259.488319, t: -0.011815 -0.455903 0.453318 q: -0.194400 0.781365 0.219859 0.550762 
time: 1403637259.588319, t: -0.024227 -0.432428 0.457921 q: -0.198119 0.781702 0.216372 0.550340 
time: 1403637259.688319, t: -0.034708 -0.424998 0.464536 q: -0.194861 0.781401 0.217981 0.551294 
time: 1403637259.788319, t: -0.044050 -0.416202 0.463982 q: -0.187704 0.783999 0.222588 0.548240 
time: 1403637259.888319, t: -0.053414 -0.413012 0.463528 q: -0.186402 0.784114 0.223249 0.548252 
time: 1403637259.988319, t: -0.059771 -0.410541 0.456291 q: -0.190420 0.782328 0.220403 0.550569 
time: 1403637260.088319, t: -0.066414 -0.415699 0.447934 q: -0.187011 0.779941 0.223204 0.553985 
time: 1403637260.188319, t: -0.071287 -0.420511 0.432303 q: -0.180987 0.779957 0.227820 0.554084 
time: 1403637260.288319, t: -0.076706 -0.427690 0.414266 q: -0.173529 0.779774 0.233778 0.554246 
time: 1403637260.388319, t: -0.084459 -0.437087 0.396599 q: -0.164702 0.777536 0.240716 0.557106 
optimize pose graph 
time: 1403637260.488319, t: -0.093544 -0.444232 0.376481 q: -0.159622 0.777406 0.245174 0.556822 
time: 1403637260.588319, t: -0.104610 -0.448234 0.353676 q: -0.158301 0.783959 0.246413 0.547385 
time: 1403637260.688319, t: -0.114852 -0.447934 0.331126 q: -0.159220 0.788575 0.245463 0.540875 
time: 1403637260.788319, t: -0.124478 -0.443671 0.309222 q: -0.162673 0.786269 0.243444 0.544109 
time: 1403637260.888319, t: -0.133224 -0.436627 0.286826 q: -0.166965 0.781545 0.241655 0.550376 
time: 1403637260.988319, t: -0.142186 -0.428572 0.264797 q: -0.169193 0.776999 0.240767 0.556487 
time: 1403637261.088319, t: -0.152356 -0.419570 0.241170 q: -0.169849 0.778732 0.240591 0.553935 
time: 1403637261.188319, t: -0.163985 -0.410310 0.217665 q: -0.166973 0.785524 0.242403 0.544346 
time: 1403637261.288319, t: -0.175048 -0.398968 0.197840 q: -0.164133 0.790908 0.244147 0.536578 
time: 1403637261.388319, t: -0.183202 -0.384553 0.186272 q: -0.166210 0.787545 0.242429 0.541641 
time: 1403637261.488319, t: -0.189828 -0.369108 0.179689 q: -0.173377 0.783815 0.237367 0.547020 
time: 1403637261.588319, t: -0.195243 -0.354295 0.173590 q: -0.172051 0.788868 0.237708 0.539982 
time: 1403637261.688319, t: -0.197956 -0.338886 0.171130 q: -0.167431 0.794493 0.240463 0.531908 
time: 1403637261.788319, t: -0.196683 -0.321258 0.176155 q: -0.166382 0.792186 0.240836 0.535497 
time: 1403637261.888319, t: -0.192532 -0.301268 0.183814 q: -0.168867 0.785199 0.238544 0.545934 
time: 1403637261.988319, t: -0.188265 -0.281661 0.184766 q: -0.170282 0.780686 0.236348 0.552877 
time: 1403637262.088319, t: -0.184361 -0.263395 0.176194 q: -0.173921 0.778248 0.232481 0.556808 
time: 1403637262.188319, t: -0.180464 -0.247209 0.158095 q: -0.177688 0.778620 0.228681 0.556671 
time: 1403637262.288319, t: -0.177402 -0.233251 0.132880 q: -0.180436 0.779367 0.225162 0.556176 
time: 1403637262.388319, t: -0.180463 -0.239718 0.130730 q: -0.183864 0.766184 0.222837 0.574020 
time: 1403637262.488319, t: -0.180884 -0.248787 0.121946 q: -0.172011 0.784617 0.193527 0.563326 
time: 1403637262.588319, t: -0.185728 -0.255899 0.126607 q: -0.183924 0.768298 0.182429 0.585329 
time: 1403637262.688319, t: -0.182199 -0.255975 0.121671 q: -0.178800 0.778431 0.184905 0.572613 
time: 1403637262.788319, t: -0.185213 -0.257641 0.127884 q: -0.179812 0.776633 0.182178 0.575603 
time: 1403637262.888319, t: -0.185917 -0.256466 0.128325 q: -0.180336 0.777541 0.183157 0.573901 
time: 1403637262.988319, t: -0.185944 -0.256653 0.128482 q: -0.180178 0.777157 0.182964 0.574531 
time: 1403637263.088319, t: -0.185895 -0.256732 0.128456 q: -0.179630 0.777108 0.183226 0.574686 
time: 1403637263.188319, t: -0.185956 -0.256973 0.128512 q: -0.179251 0.776979 0.183354 0.574938 
wait for imu ... 
time: 1403637263.288319, t: -0.185983 -0.256883 0.128464 q: -0.179491 0.777185 0.183252 0.574617 
time: 1403637263.388319, t: -0.185966 -0.256796 0.128477 q: -0.179787 0.777186 0.183163 0.574551 
time: 1403637263.488319, t: -0.185985 -0.256931 0.128454 q: -0.179473 0.777202 0.183272 0.574593 
time: 1403637263.588319, t: -0.185959 -0.256894 0.128448 q: -0.179689 0.777244 0.183152 0.574508 
time: 1403637263.688319, t: -0.185969 -0.256897 0.128447 q: -0.179759 0.777295 0.183113 0.574429 
time: 1403637263.788319, t: -0.185990 -0.256776 0.128424 q: -0.180099 0.777308 0.182814 0.574400 
time: 1403637263.888319, t: -0.186007 -0.256826 0.128432 q: -0.180131 0.777330 0.182787 0.574370 
time: 1403637263.988319, t: -0.185941 -0.256956 0.128423 q: -0.179832 0.777367 0.182919 0.574371 
time: 1403637264.088319, t: -0.185902 -0.256926 0.128402 q: -0.179797 0.777408 0.182963 0.574312 
time: 1403637264.188319, t: -0.185892 -0.256972 0.128385 q: -0.179747 0.777373 0.182922 0.574388 
time: 1403637264.288319, t: -0.185842 -0.256898 0.128373 q: -0.179937 0.777420 0.182829 0.574295 
time: 1403637264.388319, t: -0.185822 -0.256919 0.128350 q: -0.179907 0.777467 0.182888 0.574222 
time: 1403637264.488319, t: -0.185714 -0.256888 0.128314 q: -0.179807 0.777426 0.182861 0.574318 
time: 1403637264.588319, t: -0.185684 -0.256842 0.128312 q: -0.179857 0.777461 0.182806 0.574271 
time: 1403637264.688319, t: -0.185717 -0.256883 0.128327 q: -0.179883 0.777482 0.182755 0.574251 
time: 1403637264.788319, t: -0.185723 -0.256831 0.128330 q: -0.179933 0.777523 0.182707 0.574195 
time: 1403637264.888319, t: -0.185703 -0.256921 0.128333 q: -0.179910 0.777534 0.182688 0.574193 
time: 1403637264.988319, t: -0.185679 -0.256927 0.128328 q: -0.179750 0.777557 0.182756 0.574191 
time: 1403637265.088319, t: -0.185670 -0.256896 0.128343 q: -0.179764 0.777609 0.182787 0.574106 
time: 1403637265.188319, t: -0.185651 -0.256916 0.128342 q: -0.179716 0.777593 0.182754 0.574154 
time: 1403637265.288319, t: -0.185637 -0.256939 0.128313 q: -0.179730 0.777628 0.182780 0.574094 
time: 1403637265.388319, t: -0.185707 -0.256918 0.128466 q: -0.179721 0.777637 0.182783 0.574083 
time: 1403637265.488319, t: -0.185699 -0.256780 0.128417 q: -0.179726 0.777643 0.182756 0.574083 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720475305.932966068]: Shutdown request received.[0m
[33m[ WARN] [1720475305.933023008]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720475305.933961159]: Shutdown request received.[0m
[33m[ WARN] [1720475305.933996259]: Reason given for shutdown: [user request][0m
killed
