/SLAM-Hive/slam_hive_results/mapping_results/2874/2082_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-12.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720476923.057133800]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720476923.059152840]: init begins[0m
[31m[ERROR] [1720476923.060223910]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/91f6abc6-3d77-11ef-9c5e-0242ac110005/roslaunch-2b323f0bffd4-118.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://2b323f0bffd4:34717/[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] [1720476924.163632046]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720476924.165370415]: 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] [1720476924.171001820]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720476924.171201342]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720476924.171230565]: 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] [1720476924.171448264]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720476924.171708483]: 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://2b323f0bffd4:11311/[0m
]2;roscore http://2b323f0bffd4:11311/
[1msetting /run_id to 91f6abc6-3d77-11ef-9c5e-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] [1720476933.204370864]: 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: 316839802.88 
init first imu pose
averge acc 9.438567 -0.684964 -2.448160
init R0 
  0.260071   0.260169   0.929879
         0  -0.963017    0.26944
  0.965589 -0.0700736  -0.250453
[0m[ INFO] [1720476938.192966002]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476938.603033944]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476939.006948113]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476939.384809253]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476939.769051256]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476940.199262113]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476940.578902307]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476940.996724991]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476941.385830114]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720476941.814638891]: 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] [1720476942.998490735]: 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!
[33m[ WARN] [1720476945.481933977]: gyroscope bias initial calibration -0.0123039  0.0254156  0.0762176[0m
[0m[ INFO] [1720476945.530073204]: Initialization finish![0m
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time: 1403637143.538319, t: 0.023353 0.006488 -0.316074 q: -0.014455 0.795017 -0.036736 0.605301 
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time: 1403637197.938319, t: -3.615865 -5.967270 -0.114458 q: -0.471191 -0.541515 0.598860 -0.355116 
time: 1403637198.338319, t: -2.702278 -6.188036 0.045733 q: 0.428782 0.616772 -0.518869 0.408060 
time: 1403637198.738319, t: -1.688951 -6.289961 0.134929 q: 0.431272 0.643033 -0.467636 0.426415 
time: 1403637199.138319, t: -0.592354 -6.281621 0.056596 q: 0.408805 0.621877 -0.470955 0.473655 
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time: 1403637199.938319, t: 1.620995 -5.519835 -0.172575 q: 0.261856 0.685384 -0.343382 0.586319 
time: 1403637200.338319, t: 2.446820 -4.941881 -0.473671 q: 0.181894 0.727094 -0.223836 0.623014 
time: 1403637200.738319, t: 2.972177 -4.277609 -0.713252 q: 0.139479 0.774429 -0.208267 0.580888 
time: 1403637201.138319, t: 3.386016 -3.641860 -0.782157 q: 0.151749 0.763485 -0.241752 0.579327 
time: 1403637201.538319, t: 3.616479 -3.007307 -0.760920 q: 0.125478 0.749947 -0.317728 0.566466 
time: 1403637201.938319, t: 3.148079 -2.707640 -0.632521 q: 0.144338 0.736465 -0.336238 0.568972 
time: 1403637202.338319, t: 2.757411 -2.826463 -0.564200 q: 0.149624 0.771675 -0.322839 0.527167 
time: 1403637202.738319, t: 2.476276 -2.949718 -0.526990 q: 0.177924 0.767054 -0.298473 0.539337 
time: 1403637203.138319, t: 2.230706 -3.089419 -0.474427 q: 0.201722 0.768198 -0.282929 0.537709 
optimize pose graph 
time: 1403637203.538319, t: 2.024730 -3.205764 -0.486841 q: 0.207313 0.767205 -0.282344 0.537307 
time: 1403637203.938319, t: 1.869422 -3.283824 -0.561900 q: 0.212163 0.764748 -0.282872 0.538638 
time: 1403637204.338319, t: 1.749873 -3.314825 -0.628333 q: 0.211463 0.764748 -0.285775 0.537380 
time: 1403637204.738319, t: 1.651075 -3.306070 -0.579877 q: 0.211733 0.758402 -0.294433 0.541576 
time: 1403637205.138319, t: 1.558767 -3.272709 -0.559926 q: 0.210120 0.766010 -0.299950 0.528307 
optimize pose graph 
time: 1403637205.538319, t: 1.506786 -3.233268 -0.576857 q: 0.202741 0.770018 -0.278489 0.537040 
time: 1403637205.938319, t: 1.492278 -3.179759 -0.604306 q: 0.197576 0.771086 -0.268934 0.542277 
time: 1403637206.338319, t: 1.493312 -3.099957 -0.609324 q: 0.183221 0.767099 -0.276321 0.549214 
time: 1403637206.738319, t: 1.487858 -3.024464 -0.551648 q: 0.188766 0.766672 -0.275113 0.548538 
time: 1403637207.138319, t: 1.461134 -2.939005 -0.517192 q: 0.193198 0.762709 -0.276581 0.551773 
optimize pose graph 
time: 1403637207.538319, t: 1.407474 -2.832991 -0.533071 q: 0.193926 0.761862 -0.281712 0.550089 
time: 1403637207.938319, t: 1.328872 -2.734857 -0.547110 q: 0.188999 0.767993 -0.288018 0.539918 
time: 1403637208.338319, t: 1.254954 -2.672698 -0.440730 q: 0.191485 0.764875 -0.289731 0.542546 
time: 1403637208.738319, t: 1.175760 -2.616252 -0.397656 q: 0.199829 0.761774 -0.287803 0.544919 
time: 1403637209.138319, t: 1.095487 -2.559260 -0.439141 q: 0.223488 0.768021 -0.267983 0.537012 
optimize pose graph 
time: 1403637209.538319, t: 1.059219 -2.444544 -0.455107 q: 0.170806 0.796497 -0.247714 0.524458 
time: 1403637209.938319, t: 1.128742 -2.374756 -0.383286 q: 0.150913 0.821393 -0.243670 0.493116 
time: 1403637210.738319, t: 1.898704 -2.583030 -0.558176 q: 0.146687 0.822762 -0.244919 0.491488 
time: 1403637211.138319, t: 2.562658 -2.862551 -0.705351 q: 0.130058 0.793313 -0.258148 0.535817 
optimize pose graph 
time: 1403637211.538319, t: 3.232077 -3.225918 -0.896242 q: 0.157079 0.779704 -0.249974 0.552179 
time: 1403637211.938319, t: 3.852851 -3.609586 -1.040778 q: 0.135525 0.792399 -0.265676 0.532122 
time: 1403637212.338319, t: 4.438410 -4.048231 -1.050907 q: 0.164668 0.771874 -0.249571 0.561078 
time: 1403637212.738319, t: 4.954010 -4.457361 -0.983144 q: 0.166347 0.783586 -0.255334 0.541412 
time: 1403637213.138319, t: 5.462398 -4.859178 -0.881051 q: 0.168069 0.789040 -0.250042 0.535394 
time: 1403637213.538319, t: 5.968759 -5.250087 -0.837801 q: 0.167379 0.784408 -0.246934 0.543794 
optimize pose graph 
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time: 1403637214.738319, t: 7.576025 -6.042193 -0.808846 q: 0.151251 0.789991 -0.091400 0.587098 
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time: 1403637215.938319, t: 8.396856 -5.074223 -0.578804 q: 0.017003 0.794726 0.012424 0.606602 
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time: 1403637216.738319, t: 8.192766 -4.046265 -0.387814 q: -0.057617 0.778586 0.046665 0.623143 
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time: 1403637251.938319, t: 2.439092 -2.954693 -0.408061 q: 0.087241 0.796775 -0.145727 0.579916 
time: 1403637252.738319, t: 2.446312 -2.708149 -0.419288 q: 0.072668 0.805236 -0.148980 0.569315 
time: 1403637253.138319, t: 2.391525 -2.626325 -0.429293 q: 0.087355 0.800934 -0.142293 0.575001 
time: 1403637253.538319, t: 2.321491 -2.579881 -0.439036 q: 0.089454 0.799478 -0.143994 0.576280 
optimize pose graph 
time: 1403637253.938319, t: 2.222186 -2.539488 -0.440497 q: 0.100540 0.797989 -0.136874 0.578248 
time: 1403637254.338319, t: 2.098137 -2.471061 -0.354235 q: 0.092165 0.804345 -0.118131 0.574961 
time: 1403637254.738319, t: 1.965555 -2.367366 -0.271817 q: 0.078219 0.809793 -0.098488 0.573077 
time: 1403637255.138319, t: 1.837298 -2.247865 -0.274561 q: 0.068237 0.803379 -0.093023 0.584185 
time: 1403637255.538319, t: 1.685206 -2.106342 -0.261779 q: 0.040582 0.807607 -0.059127 0.585344 
optimize pose graph 
time: 1403637255.938319, t: 1.509261 -1.953587 -0.270659 q: 0.002660 0.816812 0.010543 0.576801 
time: 1403637256.338319, t: 1.327866 -1.784223 -0.200456 q: -0.017812 0.811125 0.044506 0.582905 
time: 1403637256.738319, t: 1.133237 -1.581290 -0.208604 q: -0.024726 0.817403 0.033800 0.574543 
time: 1403637257.138319, t: 0.938091 -1.378604 -0.245733 q: -0.034509 0.814108 0.044705 0.577961 
time: 1403637257.538319, t: 0.751446 -1.186240 -0.205705 q: -0.037600 0.815670 0.071160 0.572892 
optimize pose graph 
time: 1403637257.938319, t: 0.584386 -0.976195 -0.221542 q: -0.056476 0.827197 0.082832 0.552896 
time: 1403637258.338319, t: 0.485591 -0.749086 -0.244680 q: -0.093908 0.808378 0.140363 0.563920 
time: 1403637258.738319, t: 0.432629 -0.527110 -0.298660 q: -0.123210 0.803020 0.151541 0.563039 
time: 1403637259.138319, t: 0.407909 -0.345453 -0.343110 q: -0.125561 0.800430 0.146645 0.567487 
time: 1403637259.538319, t: 0.369864 -0.215044 -0.296341 q: -0.136767 0.800306 0.132599 0.568527 
optimize pose graph 
time: 1403637259.938319, t: 0.322043 -0.163755 -0.296202 q: -0.129498 0.802335 0.135483 0.566686 
time: 1403637260.338319, t: 0.291791 -0.181784 -0.351193 q: -0.108961 0.799910 0.151900 0.570261 
time: 1403637260.738319, t: 0.253341 -0.183844 -0.437823 q: -0.102717 0.809667 0.157703 0.555894 
time: 1403637261.538319, t: 0.195494 -0.092422 -0.579905 q: -0.114496 0.806092 0.151213 0.560572 
time: 1403637261.938319, t: 0.215638 -0.021340 -0.570044 q: -0.110078 0.803378 0.152083 0.565099 
time: 1403637262.338319, t: 0.238802 0.028366 -0.620204 q: -0.150297 0.785303 0.118985 0.588687 
time: 1403637262.738319, t: 0.226269 0.015343 -0.628778 q: -0.113967 0.795828 0.099588 0.586303 
time: 1403637263.138319, t: 0.230292 0.015084 -0.625903 q: -0.117172 0.792216 0.098662 0.590703 
time: 1403637263.538319, t: 0.228597 0.013583 -0.623155 q: -0.117332 0.792306 0.098459 0.590585 
time: 1403637263.938319, t: 0.228527 0.013786 -0.623152 q: -0.117056 0.792331 0.098455 0.590606 
time: 1403637264.338319, t: 0.227299 0.013671 -0.622682 q: -0.117191 0.792398 0.098327 0.590512 
time: 1403637264.738319, t: 0.227357 0.013769 -0.622824 q: -0.117193 0.792434 0.098278 0.590470 
time: 1403637265.138319, t: 0.227000 0.013530 -0.622638 q: -0.117198 0.792519 0.098277 0.590355 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720477070.151061571]: Shutdown request received.[0m
[33m[ WARN] [1720477070.151112664]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720477070.151974038]: Shutdown request received.[0m
[33m[ WARN] [1720477070.152001171]: Reason given for shutdown: [user request][0m
killed
