/SLAM-Hive/slam_hive_results/mapping_results/2746/1957_vins-mono+MH_04_difficult+Image_comb_test-12.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/ef620150-3c66-11ef-80eb-0242ac110004/roslaunch-dfb6172dde11-117.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://dfb6172dde11:33991/[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 ef620150-3c66-11ef-80eb-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [154][0m
[0m[ INFO] [1720359830.068833596]: init begins[0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720359830.325727723]: 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] [1720359830.327401936]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1720359830.327508757]:  fix extrinsic param [0m
[0m[ INFO] [1720359830.328071672]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720359830.328238405]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720359830.328367528]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720359830.328584732]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [191][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_04_difficult.bag  --clock 
[0m[ INFO] [1720359837.347847955]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316721710.24 
[0m[ INFO] [1720359840.270693764]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359840.458024529]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359840.645125690]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720359841.866902532]: Not enough features or parallax; Move device around[0m
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0707 13:44:02.135419   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 13:44:02.144279   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 13:44:02.145421   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0707 13:44:02.150245   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
[0m[ INFO] [1720359843.869570735]: Not enough features or parallax; Move device around[0m
W0707 13:44:04.159854   228 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
[33m[ WARN] [1720359844.160414600]: gyroscope bias initial calibration -0.00501375   0.0261502   0.0761925[0m
[0m[ INFO] [1720359844.210127119]: Initialization finish![0m
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position: 7.172239, -4.940271, 1.836662
position: 7.159701, -4.824684, 1.829501
position: 7.170976, -4.722698, 1.859057
position: 7.193601, -4.631690, 1.891413
position: 7.225299, -4.550967, 1.895243
position: 7.272182, -4.486236, 1.877560
position: 7.339218, -4.437029, 1.862205
position: 7.411557, -4.398964, 1.870309
position: 7.490226, -4.362066, 1.906688
position: 7.565698, -4.311680, 1.968692
position: 7.638956, -4.248717, 2.034840
position: 7.710314, -4.173283, 2.069444
position: 7.764248, -4.089158, 2.033903
position: 7.808786, -3.990943, 1.961827
position: 7.849160, -3.882897, 1.874953
position: 7.892115, -3.741790, 1.798156
position: 7.935313, -3.545263, 1.753815
position: 7.987616, -3.294250, 1.751701
position: 8.041633, -2.999889, 1.786409
position: 8.097070, -2.658367, 1.845468
position: 8.159090, -2.273584, 1.917010
position: 8.220677, -1.873356, 1.970365
position: 8.283099, -1.468417, 2.016312
position: 8.342385, -1.044972, 2.083096
position: 8.392628, -0.598108, 2.179381
position: 8.434128, -0.120948, 2.291984
position: 8.470077, 0.388850, 2.382464
position: 8.494230, 0.915960, 2.438537
position: 8.509091, 1.439823, 2.471543
position: 8.512372, 1.964081, 2.472257
position: 8.499784, 2.485830, 2.434536
position: 8.455067, 3.003033, 2.384233
position: 8.394848, 3.522310, 2.358941
position: 8.330949, 4.030607, 2.357649
position: 8.282319, 4.523294, 2.333863
position: 8.238379, 4.986908, 2.284556
position: 8.205744, 5.424077, 2.227327
position: 8.172569, 5.833277, 2.194806
position: 8.140030, 6.228520, 2.176682
position: 8.105264, 6.610032, 2.145394
position: 8.065336, 6.974755, 2.133032
position: 8.021108, 7.325690, 2.144240
position: 7.972669, 7.660119, 2.181533
position: 7.927179, 7.955776, 2.239996
position: 7.895266, 8.207350, 2.286155
position: 7.862001, 8.436233, 2.303874
position: 7.812605, 8.661215, 2.291500
position: 7.773712, 8.879300, 2.273303
position: 7.740802, 9.097550, 2.285769
position: 7.694447, 9.3optimize pose graph 
14352, 2.324808
position: 7.619661, 9.538867, 2.386287
position: 7.500477, 9.787905, 2.461205
position: 7.342587, 10.040488, 2.552655
position: 7.172067, 10.286059, 2.628193
position: 6.983966, 10.511684, 2.679051
position: 6.782607, 10.716045, 2.704884
position: 6.563698, 10.891912, 2.710897
position: 6.329988, 11.027004, 2.690810
position: 6.083825, 11.145819, 2.645530
position: 5.822633, 11.222609, 2.615975
position: 5.560119, 11.263988, 2.616549
position: 5.313309, 11.289077, 2.642074
position: 5.079379, 11.305756, 2.656285
position: 4.854125, 11.311778, 2.639179
position: 4.633627, 11.310063, 2.625042
position: 4.422770, 11.295499, 2.636303
position: 4.226876, 11.269880, 2.638315
position: 4.040471, 11.232437, 2.612646
position: 3.859378, 11.190197, 2.561638
position: 3.680651, 11.144016, 2.474791
position: 3.508314, 11.081045, 2.318768
position: 3.339548, 11.002418, 2.122458
position: 3.182231, 10.904531, 1.935766
position: 3.038511, 10.777584, 1.764696
position: 2.887551, 10.620587, 1.579010
position: optimize pose graph 
2.740436, 10.438347, 1.390752
position: 2.598680, 10.231852, 1.229659
position: 2.466778, 10.007867, 1.104931
position: 2.351390, 9.778079, 1.003546
position: 2.255736, 9.540037, 0.887595
position: 2.177646, 9.290325, 0.755298
position: 2.123986, 9.030222, 0.641666
position: 2.091149, 8.757074, 0.558748
position: 2.069621, 8.470735, 0.510112
position: 2.051287, 8.166115, 0.490128
position: 2.038070, 7.848610, 0.497956
position: 2.026423, 7.522988, 0.526752
position: 2.020518, 7.189046, 0.560091
position: 2.026878, 6.845454, 0.567774
position: 2.059791, 6.478322, 0.560235
position: 2.110520, 6.097065, 0.567491
position: 2.160634, 5.714248, 0.590509
position: 2.204804, 5.325213, 0.616844
position: 2.253358, 4.936171, 0.627318
position: 2.327057, 4.564586, 0.626044
position: 2.400038, 4.208292, 0.608923
position: 2.471871, 3.862313, 0.573199
position: 2.540531, 3.520323, 0.520099
position: 2.608864, 3.188902, 0.460258
position: 2.671797, 2.874113, 0.426570
position: 2.724812, 2.583258, 0.410290
position: 2.76477optimize pose graph 
optimize pose graph 
optimize pose graph 
optimize pose graph 
8, 0.173887
position: 1.283426, 0.396916, 0.171319
position: 1.190818, 0.410232, 0.161228
position: 1.108056, 0.417684, 0.145486
position: 1.026748, 0.422932, 0.156841
position: 0.949127, 0.428969, 0.172719
position: 0.881133, 0.437278, 0.168722
position: 0.837216, 0.444052, 0.153871
position: 0.804372, 0.451721, 0.127323
position: 0.759927, 0.462832, 0.095365
position: 0.713096, 0.477011, 0.077709
position: 0.666835, 0.489025, 0.065614
position: 0.625371, 0.486967, 0.046758
position: 0.586880, 0.473057, 0.020771
position: 0.550165, 0.462699, -0.013203
position: 0.521193, 0.461170, -0.052116
position: 0.511614, 0.467403, -0.078785
position: 0.510989, 0.473878, -0.104420
position: 0.508761, 0.483877, -0.126729
position: 0.514904, 0.496650, -0.130557
position: 0.530389, 0.498538, -0.119407
position: 0.543279, 0.497538, -0.107818
position: 0.554675, 0.497568, -0.122003
position: 0.533744, 0.504147, -0.174056
position: 0.523340, 0.519513, -0.235791
position: 0.540085, 0.534342, -0.229760
position: 0.537800, 0.536optimize pose graph 

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720359940.813661531]: Shutdown request received.[0m
[33m[ WARN] [1720359940.813727649]: Reason given for shutdown: [user request][0m
556, -0.215209
position: 0.535920, 0.532076, -0.196811
position: 0.531187, 0.527135, -0.177191
position: 0.524809, 0.522355, -0.157356
position: 0.516387, 0.518644, -0.137003
position: 0.506765, 0.515770, -0.116155
position: 0.495525, 0.513071, -0.094261
position: 0.482899, 0.511268, -0.071917
position: 0.469369, 0.510345, -0.049071
position: 0.454722, 0.509632, -0.025343
position: 0.439269, 0.509009, -0.001093
position: 0.422417, 0.508879, 0.023656
position: 0.404456, 0.509199, 0.049234
[33m[ WARN] [1720359940.814495501]: Shutdown request received.[0m
[33m[ WARN] [1720359940.814542062]: Reason given for shutdown: [user request][0m
killed
