/SLAM-Hive/slam_hive_results/mapping_results/2662/1873_vins-mono+MH_01_easy+Image_comb_test-18.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/548d7872-3c42-11ef-bf88-0242ac110004/roslaunch-0ca4d52c2199-117.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;/home/catkin_ws/src/VINS-Mono/vins_estimator/launch/euroc.launch
[1mstarted roslaunch server http://0ca4d52c2199:43903/[0m

SUMMARY
========

PARAMETERS
 * /feature_tracker/config_file: /slamhive/mapping...
 * /feature_tracker/vins_folder: /home/catkin_ws/s...
 * /pose_graph/config_file: /slamhive/mapping...
 * /pose_graph/skip_cnt: 0
 * /pose_graph/skip_dis: 0.0
 * /pose_graph/visualization_shift_x: 0
 * /pose_graph/visualization_shift_y: 0
 * /rosdistro: kinetic
 * /rosversion: 1.12.17
 * /vins_estimator/config_file: /slamhive/mapping...
 * /vins_estimator/vins_folder: /home/catkin_ws/s...

NODES
  /
    feature_tracker (feature_tracker/feature_tracker)
    pose_graph (pose_graph/pose_graph)
    vins_estimator (vins_estimator/vins_estimator)

auto-starting new master
[1mprocess[master]: started with pid [128][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/home/catkin_ws/src/VINS-Mono/vins_estimator/launch/euroc.launch http://localhost:11311
[1msetting /run_id to 548d7872-3c42-11ef-bf88-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [154][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720344108.445197116]: init begins[0m
[0m[ INFO] [1720344108.450357178]: Loaded config_file: /slamhive/mappingtask.yaml[0m
result path /home/shaozu/output//vins_result_no_loop.csv
/home/shaozu/output/ not exists, trying to create it 
/home/shaozu not exists, trying to create it 
[0m[ INFO] [1720344108.450868593]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1720344108.450888830]:  fix extrinsic param [0m
[0m[ INFO] [1720344108.451038436]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720344108.451071210]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720344108.451109164]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720344108.451152601]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [180][0m
vocabulary_file/home/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_pattern.yml
/home/shaozu/output/pose_graph/ not exists, trying to create it 
no previous pose graph
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720344115.706384028]: 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: 316707536.99 
[0m[ INFO] [1720344123.450467193]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344124.445827680]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344124.964884456]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344125.447533023]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344125.930757765]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344126.449465625]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344126.954010411]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344127.456405328]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344127.949930474]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344128.434343323]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344128.944825372]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344129.443607519]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344129.951208005]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344130.445756780]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344131.445325545]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344132.451001274]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344132.950748947]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344133.452081210]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344133.915239192]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344134.460163336]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344134.944989169]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344135.451266006]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344135.959550229]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344136.459241964]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344136.949041200]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344137.404168403]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344137.923347426]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344138.419526727]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344138.928118994]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344139.397852855]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344139.909562929]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344140.411589140]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344140.926671554]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344141.411609020]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344141.909439829]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344142.415306047]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344142.902040793]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344143.398517676]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344143.909085927]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344144.428661140]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344144.903152234]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344145.398980010]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344145.908249986]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344146.409504133]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344146.897412797]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344147.404071118]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344147.911834139]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344148.403525039]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344148.936524488]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344149.419001800]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344149.932093351]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344150.403175523]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344150.940154468]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344151.429539073]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344151.911157766]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344152.414154161]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344152.913310863]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344153.398342191]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344153.910761208]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344154.411221587]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344154.921716915]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344155.421123746]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344155.929804789]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344156.406976925]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344156.908991404]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344157.406320584]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344157.899440304]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344158.407081893]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344158.905429168]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344159.406686600]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344159.908100136]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344160.413131718]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344160.916625366]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344161.397238684]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344161.941448290]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344162.929426735]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344163.421083254]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344163.930833205]: 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] [1720344166.964803737]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720344167.940231987]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720344168.932829747]: 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!
[33m[ WARN] [1720344170.959270852]: gyroscope bias initial calibration -0.00510096   0.0198253   0.0783261[0m
[0m[ INFO] [1720344171.000901087]: Initialization finish![0m
position: 1.817022, -1.515053, -0.192801
position: 2.146875, -1.621453, -0.178361
position: 2.543488, -1.790076, -0.151327
position: 2.920851, -1.940675, -0.131032
position: 3.312310, -2.075021, -0.113642
position: 3.750518, -2.256750, 0.016812
position: 4.192199, -2.456009, 0.136365
position: 4.505812, -2.541846, 0.079398
position: 4.819119, -2.584481, 0.107143
position: 5.188980, -2.615896, 0.182483
position: 5.410932, -2.594373, 0.124532
position: 5.744741, -2.659928, 0.165579
position: 6.000216, -2.777150, 0.033852
position: 6.215115, -2.888868, 0.016454
position: 6.387148, -2.981549, 0.006423
position: 6.605929, -3.086045, -0.012102
position: 6.817935, -3.186740, -0.103423
position: 6.981635, -3.268675, -0.057556
position: 7.069200, -3.345192, -0.109685
position: 7.142923, -3.401876, -0.121413
position: 7.243899, -3.488445, -0.093711
position: 7.455381, -3.580816, -0.048174
position: 7.752533, -3.737546, -0.148354
position: 7.976107, -3.944879, -0.293640
position: 8.312365, -4.131312, -0.338440
position: 8.721800, -4.298965, -0.263833
position: 9.064129, -4.540273, -0.203623
position: 9.290865, -4.771794, -0.100218
position: 9.433187, -4.984824, -0.083161
position: 9.488542, -5.199441, -0.118651
position: 9.609444, -5.341576, -0.226949
position: 9.519046, -5.471890, -0.194209
position: 9.490408, -5.618716, -0.004970
position: 9.406558, -5.709239, 0.068670
position: 9.576619, -6.083607, 0.001769
position: 9.498542, -6.267660, 0.057003
position: 9.391493, -6.402761, 0.139406
position: 9.142690, -6.394257, 0.066007
position: 8.813428, -6.335218, -0.047781
position: 8.532235, -6.406696, -0.052159
position: 8.288776, -6.489752, -0.031894
position: 8.081177, -6.529424, -0.048113
position: 7.947345, -6.495358, 0.089478
position: 7.802869, -6.434178, 0.064668
position: 7.632838, -6.263357, 0.020114
position: 7.413845, -6.052932, -0.082871
position: 7.148451, -5.891356, -0.017491
position: 6.891768, -5.706653, -0.051187
position: 6.630707, -5.447266, -0.101153
position: 6.279778, -5.202337, -0.158535
position: 5.894889, -4.982345, -0.235203
position: 5.559863, -4.799169, -0.377906
position: 5.324662, -4.620160, -0.479786
position: 5.162020, -4.500613, -0.658785
position: 5.131227, -4.571277, -0.803947
position: 5.187369, -4.722633, -1.019025
position: 5.312903, -4.787102, -1.142611
position: 5.459339, -4.770651, -1.102954
position: 5.631637, -4.704058, -1.129998
position: 5.736977, -4.658599, -1.216077
position: 5.741671, -4.706335, -1.339884
position: 5.843631, -4.971792, -1.378471
position: 6.097693, -5.272128, -1.490681
position: 6.432396, -5.499323, -1.485018
position: 6.756694, -5.706172, -1.409306
position: 7.101180, -5.896664, -1.355901
position: 7.385059, -6.016417, -1.332148
position: 7.588389, -6.141574, -1.274888
position: 7.741819, -6.342762, -1.301047
position: 7.834572, -6.695971, -1.381121
position: 7.973333, -6.971839, -1.528823
position: 8.207666, -7.210344, -1.573622
position: 8.534821, -7.404752, -1.657463
position: 8.853906, -7.443180, -1.624713
position: 8.853448, -7.240041, -1.556588
position: 8.370249, -6.832615, -1.402210
[0m[ INFO] [1720344208.957280669]:  little feature 1[0m
position: 7.540967, -6.354932, -1.222868
position: 6.843721, -6.143831, -1.051784
position: 6.471869, -6.195551, -0.979293
position: 6.291595, -6.283850, -1.050590
position: 6.301586, -6.479398, -1.009189
position: 6.554887, -6.661540, -1.017634
position: 6.988276, -6.357315, -1.227155
position: 7.208906, -6.541287, -1.346010
position: 7.563925, -6.830525, -1.343793
position: 7.961764, -7.033563, -1.472869
position: 8.387214, -7.176485, -1.561885
position: 8.836277, -7.287558, -1.613023
position: 9.231775, -7.331456, -1.683564
position: 9.510415, -7.359226, -1.671887
position: 9.734986, -7.439353, -1.634551
position: 9.901340, -7.446868, -1.697544
position: 9.984597, -7.374667, -1.697288
position: 10.003063, -7.342956, -1.540363
position: 9.832488, -7.227227, -1.485293
position: 9.415212, -6.874409, -1.440260
position: 9.128657, -6.524146, -1.335835
position: 8.838248, -6.249145, -1.285676
position: 8.536278, -5.992979, -1.270015
position: 8.217616, -5.736792, -1.233094
position: 7.863640, -5.492573, -1.288480
position: 7.534911, -5.265582, -1.254447
position: 7.200397, -5.072660, -1.207554
position: 6.841200, -4.961732, -1.241296
position: 6.454893, -4.848498, -1.243498
position: 6.083021, -4.710678, -1.302992
position: 5.746556, -4.560503, -1.299878
position: 5.438302, -4.416001, -1.266435
position: 5.167219, -4.304895, -1.306374
position: 4.939533, -4.244329, -1.458713
position: 4.707685, -4.183318, -1.585341
position: 4.446658, -4.060107, -1.650787
position: 4.225836, -3.911159, -1.535365
position: 4.147008, -3.767376, -1.449820
position: 4.226715, -3.620648, -1.367536
position: 4.432988, -3.630163, -1.400075
position: 4.707191, -3.939470, -1.259423
position: 4.851344, -4.277887, -1.110790
position: 4.930949, -4.614322, -0.852263
position: 4.918742, -4.914952, -0.671830
position: 4.920939, -5.084580, -0.617668
position: 5.123536, -5.045728, -0.610278
position: 5.284875, -5.003041, -0.608478
position: 5.414280, -5.009619, -0.662581
position: 5.533294, -5.050129, -0.627854
position: 5.622944, -5.069504, -0.682701
position: 5.686525, -5.059920, -0.719208
position: 5.669652, -5.061539, -0.744817
position: 5.525937, -4.954878, -0.630358
position: 5.352827, -4.802122, -0.598336
position: 5.196689, -4.615105, -0.675931
position: 5.073786, -4.408390, -0.751603
position: 5.007062, -4.274439, -0.743542
position: 4.968777, -4.240042, -0.814155
position: 4.914134, -4.290486, -0.990527
position: 4.816607, -4.504565, -1.057834
position: 4.718010, -4.655573, -1.038725
position: 4.652359, -4.818888, -1.103375
position: 4.634346, -4.982242, -1.280836
position: 4.717874, -5.149949, -1.447844
position: 4.778621, -5.360110, -1.460742
position: 4.791978, -5.570341, -1.532189
position: 4.840748, -5.807413, -1.577588
position: 5.023901, -6.076827, -1.659750
position: 5.342034, -6.370440, -1.717675
position: 5.697905, -6.666272, -1.750766
position: 6.012496, -6.950139, -1.806742
position: 6.400577, -7.223289, -1.771726
position: 6.850496, -7.456558, -1.645306
position: 7.345072, -7.725074, -1.688076
position: 7.774650, -8.018875, -1.769optimize pose graph 
optimize pose graph 
093
position: 8.071982, -8.231836, -1.827706
position: 8.310030, -8.279204, -1.876382
position: 8.672631, -8.288507, -1.915116
position: 9.049310, -8.229573, -2.043734
position: 9.330705, -8.158043, -2.103785
position: 9.531657, -7.978854, -2.070892
position: 9.617758, -7.705004, -1.979721
position: 9.634297, -7.430227, -1.790206
position: 9.452242, -7.079861, -1.670516
position: 9.194074, -6.719908, -1.462918
position: 8.857210, -6.460996, -1.366190
position: 8.536293, -6.316350, -1.382431
position: 8.320162, -6.168600, -1.278170
position: 8.195026, -6.062816, -1.241239
position: 8.013671, -6.007247, -1.175107
position: 7.771163, -5.984006, -1.152772
position: 7.550670, -6.044187, -1.227536
position: 7.298575, -5.991673, -1.216627
position: 6.968656, -5.785430, -1.196450
[0m[ INFO] [1720344255.943068519]:  little feature 1[0m
optimize pose graph 
optimize pose graph 

position: 2.594688, -4.360314, -0.628037
position: 2.520101, -4.324645, -0.650792
position: 2.463207, -4.354409, -0.775880
position: 2.353001, -4.368055, -0.804982
position: 2.129140, -4.294447, -0.762290
position: 1.854178, -4.170387, -0.656766
position: 1.599177, -4.028191, -0.626772
position: 1.346370, -3.877760, -0.547896
position: 1.141774, -3.733884, -0.551867
position: 1.007794, -3.609393, -0.423458
position: 0.902751, -3.494731, -0.311063
position: 0.743948, -3.367149, -0.255124
position: 0.600769, -3.205827, -0.292809
position: 0.436731, -3.048378, -0.290054
position: 0.343454, -2.962837, -0.131093
position: 0.329079, -2.934574, -0.054186
position: 0.361675, -3.004636, -0.131569
[0m[ INFO] [1720344276.972879835]:  little feature 1[0m
position: 0.344212, -3.113304, -0.199841
position: 0.333626, -3.216762, -0.272557
position: 0.336256, -3.303779, -0.394655
position: 0.354272, -3.296447, -0.559093
position: 0.331095, -3.324977, -0.743852
position: 0.347409, -3.372817, -0.873861
position: 0.411221, -3.417561, -0.924332
position: 0.463064, -3.461682, -1.076949
position: 0.600999, -3.568899, -1.162571
position: 0.788561, -3.697410, -1.379101
position: 0.939713, -3.816543, -1.739875
position: 0.990825, -3.936863, -2.019899
position: 1.053783, -4.048718, -2.124597
position: 1.093175, -4.082681, -2.043458
position: 1.126456, -3.985014, -1.995607
position: 1.216078, -3.944566, -1.962964
position: 1.366611, -3.914454, -1.828162
position: 1.532936, -3.857513, -1.648547
position: 1.656434, -3.828165, -1.530184
position: 1.715074, -3.847702, -1.457985
position: 1.725500, -3.911684, -1.327677
position: 1.710878, -3.912706, -1.280411
position: 1.647542, -3.850746, -1.088463
position: 1.577328, -3.747893, -0.790151
position: 1.537266, -3.642131, -0.560049
position: 1.517969, -3.631166, -0.374050
position: 1.522464, -3.627958, -0.167742
[0m[ INFO] [1720344290.470209730]:  little feature 1[0m

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720344304.453686281]: Shutdown request received.[0m
[33m[ WARN] [1720344304.453746492]: Reason given for shutdown: [user request][0m
position: 1.509460, -3.592700, -0.102327
position: 1.492856, -3.475038, -0.096863
position: 1.429892, -3.320336, -0.070211
position: 1.293494, -3.106773, -0.000780
position: 1.063006, -2.858072, -0.031981
position: 0.809915, -2.596770, 0.015980
position: 0.591745, -2.291297, 0.035865
position: 0.352004, -1.980327, 0.056349
position: 0.035839, -1.726066, 0.104706
position: -0.284813, -1.462758, 0.104569
position: -0.527503, -1.105278, 0.240784
position: -0.721143, -0.782345, 0.249632
position: -0.814822, -0.562867, 0.209363
position: -0.883623, -0.515366, 0.102146
position: -0.729196, -0.782823, 0.011469
position: -0.801789, -0.785027, -0.066735
position: -0.876208, -0.742879, -0.127859
position: -0.881918, -0.654695, -0.124135
position: -0.905099, -0.605248, -0.085919
position: -0.897767, -0.509610, -0.145067
position: -0.962677, -0.532404, -0.215605
position: -0.985536, -0.538881, -0.244439
[33m[ WARN] [1720344304.454568914]: Shutdown request received.[0m
[33m[ WARN] [1720344304.454625336]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/548d7872-3c42-11ef-bf88-0242ac110004/rosout-1*.log[0m
[rosout-1] restarting process
