/SLAM-Hive/slam_hive_results/mapping_results/2928/2136_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-6.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720485260.169430610]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720485260.171097126]: init begins[0m
[31m[ERROR] [1720485260.172131923]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/fb4554d4-3d8a-11ef-900a-0242ac110005/roslaunch-1348a071c78a-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://1348a071c78a:41361/[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] [1720485261.275794741]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720485261.277424888]: 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] [1720485261.283659509]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720485261.283870685]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720485261.283893269]: 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] [1720485261.284056937]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720485261.284342285]: 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://1348a071c78a:11311/[0m
]2;roscore http://1348a071c78a:11311/
[1msetting /run_id to fb4554d4-3d8a-11ef-900a-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_05_difficult.bag  --clock 
[0m[ INFO] [1720485270.330334659]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316846752.40 
init first imu pose
averge acc 9.020195 -0.033170 -3.796231
init R0 
  0.387918 0.00805299   0.921659
         0  -0.999962 0.00873716
  0.921694 -0.0033893  -0.387903
[0m[ INFO] [1720485272.738015362]: IMU excitation not enouth![0m
[0m[ INFO] [1720485272.739158861]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485272.942999165]: IMU excitation not enouth![0m
[0m[ INFO] [1720485272.943454743]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485273.138222179]: IMU excitation not enouth![0m
[0m[ INFO] [1720485273.139121616]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485273.347647942]: IMU excitation not enouth![0m
[0m[ INFO] [1720485273.541839334]: IMU excitation not enouth![0m
[0m[ INFO] [1720485273.760447020]: IMU excitation not enouth![0m
[0m[ INFO] [1720485273.761412245]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485273.922838589]: IMU excitation not enouth![0m
[0m[ INFO] [1720485273.923123995]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485274.149814298]: IMU excitation not enouth![0m
[0m[ INFO] [1720485274.337612599]: IMU excitation not enouth![0m
[0m[ INFO] [1720485274.338286995]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485274.565899628]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720485274.771696568]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720485275.138094177]: gyroscope bias initial calibration -0.00140453   0.0174856   0.0757664[0m
[0m[ INFO] [1720485275.248963700]: Initialization finish![0m
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time: 1403638601.977829, t: 9.737599 7.195309 2.691948 q: -0.064884 0.808012 0.129528 0.571077 
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time: 1403638602.577830, t: 10.107017 8.062763 2.812974 q: -0.182742 0.739648 0.202794 0.615142 
time: 1403638602.777829, t: 10.138184 8.302516 2.889622 q: -0.214263 0.724858 0.235734 0.610820 
time: 1403638602.977829, t: 10.107086 8.475264 2.981539 q: -0.244649 0.721472 0.270669 0.588526 
time: 1403638603.177830, t: 10.040040 8.600242 3.061411 q: -0.275263 0.709142 0.299490 0.575893 
time: 1403638603.377830, t: 9.952210 8.673466 3.105235 q: -0.266267 0.729257 0.331012 0.536393 
time: 1403638603.577830, t: 9.860518 8.728992 3.127747 q: -0.263884 0.735434 0.342563 0.521683 
time: 1403638603.777829, t: 9.767108 8.768489 3.131843 q: -0.259926 0.718898 0.351484 0.540447 
time: 1403638603.977829, t: 9.653651 8.785791 3.110118 q: -0.248575 0.704242 0.359525 0.559460 
time: 1403638604.177830, t: 9.503259 8.781838 3.074437 q: -0.241667 0.699961 0.363319 0.565376 
time: 1403638604.377830, t: 9.310477 8.763409 3.062630 q: -0.253281 0.711651 0.356598 0.549763 
time: 1403638604.577830, t: 9.088373 8.730831 3.074364 q: -0.248966 0.724117 0.359624 0.533236 
time: 1403638604.777829, t: 8.860901 8.686951 3.076303 q: -0.255972 0.729278 0.355567 0.525551 
time: 1403638604.977829, t: 8.633690 8.636529 3.077619 q: -0.254508 0.738472 0.356745 0.512463 
optimize pose graph 
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time: 1403638605.377830, t: 8.217824 8.546655 3.139538 q: -0.239433 0.744821 0.367964 0.502509 
time: 1403638605.577830, t: 8.030118 8.528385 3.156260 q: -0.226926 0.726278 0.377572 0.527698 
time: 1403638605.777829, t: 7.828436 8.529425 3.161081 q: -0.220825 0.719621 0.381871 0.536243 
time: 1403638605.977829, t: 7.598287 8.551739 3.194972 q: -0.213920 0.718875 0.385373 0.537536 
time: 1403638606.177830, t: 7.343203 8.598900 3.223624 q: -0.207768 0.718838 0.387589 0.538404 
time: 1403638606.377830, t: 7.061456 8.668275 3.224135 q: -0.211049 0.728718 0.383139 0.526909 
time: 1403638606.577830, t: 6.766592 8.762501 3.197054 q: -0.225850 0.747746 0.371916 0.501544 
time: 1403638606.777829, t: 6.479999 8.877820 3.149198 q: -0.236070 0.750747 0.383272 0.483480 
time: 1403638606.977829, t: 6.210737 9.019946 3.098474 q: -0.255560 0.739539 0.411461 0.467409 
optimize pose graph 
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time: 1403638607.377830, t: 5.765752 9.376212 3.065013 q: -0.312867 0.698648 0.437195 0.472087 
time: 1403638607.577830, t: 5.574697 9.561952 3.020228 q: -0.320764 0.694450 0.439645 0.470703 
time: 1403638607.777829, t: 5.406678 9.739504 2.955231 q: -0.320934 0.691276 0.440046 0.474867 
time: 1403638607.977829, t: 5.258912 9.908358 2.875470 q: -0.324251 0.698011 0.434645 0.467682 
time: 1403638608.177830, t: 5.129256 10.071038 2.776986 q: -0.321232 0.693845 0.432344 0.477983 
time: 1403638608.377830, t: 5.008483 10.221400 2.661559 q: -0.320270 0.683626 0.430208 0.494978 
time: 1403638608.577830, t: 4.892945 10.352558 2.524925 q: -0.318535 0.685116 0.430497 0.493786 
time: 1403638608.777829, t: 4.777209 10.460387 2.391872 q: -0.324549 0.682541 0.426236 0.497120 
time: 1403638608.977829, t: 4.662277 10.544319 2.281757 q: -0.322244 0.690081 0.428502 0.486142 
optimize pose graph 
time: 1403638609.177830, t: 4.556470 10.614611 2.199621 q: -0.323425 0.693380 0.427640 0.481398 
time: 1403638609.377830, t: 4.462042 10.670513 2.114759 q: -0.330168 0.693835 0.422348 0.480837 
time: 1403638609.577830, t: 4.381126 10.713019 2.000238 q: -0.322944 0.693893 0.426453 0.482035 
time: 1403638609.777829, t: 4.311308 10.741069 1.868807 q: -0.319751 0.692961 0.428703 0.483506 
time: 1403638609.977829, t: 4.253316 10.759155 1.761641 q: -0.321218 0.692691 0.427586 0.483909 
time: 1403638610.177830, t: 4.206245 10.763673 1.685344 q: -0.325734 0.687407 0.424114 0.491422 
time: 1403638610.377830, t: 4.164315 10.748522 1.596995 q: -0.329049 0.685765 0.421387 0.493848 
time: 1403638610.577830, t: 4.125509 10.710440 1.487159 q: -0.332077 0.678930 0.418691 0.503465 
time: 1403638610.777829, t: 4.082300 10.650549 1.373582 q: -0.333946 0.679297 0.418114 0.502211 
time: 1403638610.977829, t: 4.041564 10.562336 1.286581 q: -0.330681 0.685982 0.422544 0.491463 
optimize pose graph 
time: 1403638611.177830, t: 4.007475 10.455868 1.197983 q: -0.335229 0.682224 0.420820 0.495078 
time: 1403638611.377830, t: 3.975133 10.321240 1.109179 q: -0.328353 0.679460 0.426111 0.498946 
time: 1403638611.577830, t: 3.936539 10.165891 1.047836 q: -0.307373 0.674658 0.439294 0.507326 
time: 1403638611.777829, t: 3.876305 10.004340 0.996613 q: -0.311272 0.682916 0.435415 0.497141 
time: 1403638611.977829, t: 3.809959 9.837061 0.928391 q: -0.319073 0.691970 0.428415 0.485625 
time: 1403638612.177830, t: 3.751770 9.667331 0.869275 q: -0.319891 0.695190 0.426578 0.482091 
time: 1403638612.377830, t: 3.705412 9.501548 0.839711 q: -0.318765 0.694777 0.426473 0.483522 
time: 1403638612.577830, t: 3.664990 9.331065 0.800050 q: -0.315213 0.691451 0.426227 0.490782 
time: 1403638612.777829, t: 3.622318 9.159873 0.735534 q: -0.306471 0.688685 0.428325 0.498324 
time: 1403638612.977829, t: 3.572266 8.986143 0.668903 q: -0.307525 0.688222 0.423902 0.502082 
time: 1403638613.177830, t: 3.512057 8.814119 0.631186 q: -0.307573 0.693476 0.422478 0.495986 
time: 1403638613.377830, t: 3.447813 8.641080 0.623099 q: -0.305976 0.693497 0.423193 0.496335 
time: 1403638613.577830, t: 3.378546 8.468502 0.611823 q: -0.305796 0.694331 0.417713 0.499910 
time: 1403638613.777829, t: 3.304751 8.291647 0.572100 q: -0.313491 0.693821 0.403282 0.507642 
time: 1403638613.977829, t: 3.229632 8.094545 0.506833 q: -0.302820 0.702132 0.385270 0.516602 
time: 1403638614.177830, t: 3.149877 7.881799 0.427534 q: -0.276209 0.720660 0.360397 0.523900 
time: 1403638614.377830, t: 3.065258 7.660361 0.362439 q: -0.256573 0.736477 0.337315 0.527248 
time: 1403638614.577830, t: 2.974078 7.432624 0.330242 q: -0.249144 0.745812 0.319913 0.528533 
time: 1403638614.777829, t: 2.890216 7.204918 0.334592 q: -0.244163 0.761094 0.291276 0.525622 
time: 1403638614.977829, t: 2.825011 6.971582 0.374968 q: -0.223480 0.781676 0.254682 0.523618 
time: 1403638615.177830, t: 2.788138 6.726950 0.435174 q: -0.184240 0.792722 0.211878 0.541068 
time: 1403638615.377830, t: 2.768416 6.485973 0.510030 q: -0.138019 0.798989 0.165173 0.561503 
time: 1403638615.577830, t: 2.751176 6.248449 0.566083 q: -0.100682 0.805693 0.115125 0.572249 
time: 1403638615.777829, t: 2.726708 6.005172 0.610656 q: -0.079772 0.809258 0.085466 0.575702 
time: 1403638615.977829, t: 2.695592 5.760958 0.671092 q: -0.067448 0.812175 0.061919 0.576185 
time: 1403638616.177830, t: 2.657894 5.515049 0.706426 q: -0.048750 0.814117 0.035648 0.577552 
time: 1403638616.377830, t: 2.619971 5.269002 0.678017 q: -0.024846 0.816030 -0.001727 0.577473 
time: 1403638616.577830, t: 2.579551 5.029013 0.613514 q: -0.004713 0.818381 -0.032155 0.573757 
time: 1403638616.977829, t: 2.518519 4.562474 0.457170 q: 0.000176 0.835455 -0.056597 0.546636 
time: 1403638617.177830, t: 2.523992 4.307086 0.417616 q: 0.011917 0.828932 -0.044656 0.557436 
time: 1403638617.377830, t: 2.549084 4.053368 0.405319 q: 0.013443 0.835379 -0.037116 0.548255 
time: 1403638617.577830, t: 2.595839 3.805136 0.421850 q: 0.013136 0.838928 -0.030966 0.543201 
time: 1403638617.777829, t: 2.668357 3.561064 0.469926 q: 0.014287 0.836006 -0.024331 0.547995 
time: 1403638617.977829, t: 2.763909 3.339928 0.546639 q: 0.013237 0.835076 -0.020654 0.549588 
time: 1403638618.177830, t: 2.876788 3.126540 0.610355 q: 0.010008 0.834920 -0.019310 0.549941 
time: 1403638618.377830, t: 3.003378 2.929346 0.651435 q: 0.010195 0.834211 -0.016813 0.551094 
time: 1403638618.577830, t: 3.144092 2.741821 0.681677 q: 0.011090 0.833329 -0.014715 0.552470 
time: 1403638618.777829, t: 3.297315 2.567440 0.712041 q: 0.017631 0.832501 -0.020941 0.553346 
time: 1403638618.977829, t: 3.464144 2.406919 0.758221 q: 0.026695 0.826626 -0.033135 0.561141 
time: 1403638619.177830, t: 3.636389 2.250728 0.785910 q: 0.052143 0.819530 -0.065618 0.566873 
time: 1403638619.377830, t: 3.808097 2.107409 0.780323 q: 0.082337 0.811246 -0.114139 0.567514 
time: 1403638619.577830, t: 3.977791 1.976028 0.757966 q: 0.099418 0.803432 -0.150964 0.567294 
time: 1403638619.777829, t: 4.143583 1.853719 0.721659 q: 0.092053 0.797567 -0.178823 0.568713 
time: 1403638619.977829, t: 4.294780 1.721904 0.680998 q: 0.093030 0.794589 -0.188772 0.569507 
time: 1403638620.177830, t: 4.422659 1.580919 0.647004 q: 0.099770 0.788999 -0.189100 0.575993 
time: 1403638620.377830, t: 4.521875 1.432767 0.641262 q: 0.105226 0.790958 -0.185658 0.573449 
time: 1403638620.577830, t: 4.602053 1.282586 0.655344 q: 0.105926 0.793516 -0.181825 0.571010 
time: 1403638620.777829, t: 4.666853 1.129520 0.651474 q: 0.099483 0.799471 -0.181955 0.563775 
time: 1403638620.977829, t: 4.728189 0.967152 0.628655 q: 0.107188 0.803237 -0.171455 0.560290 
time: 1403638621.177830, t: 4.790216 0.805166 0.606439 q: 0.109487 0.800488 -0.164512 0.565834 
time: 1403638621.377830, t: 4.848285 0.651836 0.604695 q: 0.111390 0.800199 -0.158812 0.567497 
time: 1403638621.577830, t: 4.895742 0.511707 0.595225 q: 0.111855 0.796234 -0.154575 0.574114 
time: 1403638621.777829, t: 4.933090 0.384259 0.563379 q: 0.112319 0.793588 -0.152314 0.578276 
time: 1403638621.977829, t: 4.956227 0.271419 0.519509 q: 0.114467 0.787685 -0.149651 0.586562 
time: 1403638622.177830, t: 4.961880 0.176898 0.460277 q: 0.109786 0.788226 -0.152678 0.585949 
time: 1403638622.377830, t: 4.944374 0.100480 0.415511 q: 0.107590 0.788604 -0.155362 0.585141 
time: 1403638622.577830, t: 4.905708 0.034680 0.402920 q: 0.114653 0.789153 -0.152450 0.583825 
time: 1403638622.777829, t: 4.846314 -0.011823 0.427360 q: 0.121118 0.773945 -0.149213 0.603386 
time: 1403638622.977829, t: 4.762275 -0.035509 0.469403 q: 0.121279 0.772960 -0.151098 0.604147 
time: 1403638623.177830, t: 4.643747 -0.038905 0.489798 q: 0.112659 0.783448 -0.158315 0.590300 
optimize pose graph 
time: 1403638623.377830, t: 4.502538 -0.034331 0.487364 q: 0.107248 0.789390 -0.162439 0.582215 
time: 1403638623.577830, t: 4.347964 -0.022910 0.477918 q: 0.109261 0.791231 -0.161626 0.579562 
time: 1403638623.777829, t: 4.180374 -0.011772 0.491706 q: 0.112889 0.792775 -0.160857 0.576966 
time: 1403638623.977829, t: 3.999711 0.002233 0.521938 q: 0.115907 0.795032 -0.161475 0.573075 
time: 1403638624.177830, t: 3.811939 0.022934 0.535536 q: 0.111840 0.795261 -0.166891 0.572014 
time: 1403638624.377830, t: 3.623491 0.041295 0.533431 q: 0.109304 0.794516 -0.171266 0.572245 
time: 1403638624.577830, t: 3.430107 0.061020 0.513879 q: 0.106069 0.786028 -0.176465 0.582898 
time: 1403638624.777829, t: 3.232734 0.075682 0.492483 q: 0.112452 0.787735 -0.164263 0.582963 
time: 1403638624.977829, t: 3.022136 0.098643 0.494943 q: 0.106584 0.797060 -0.153878 0.574158 
optimize pose graph 
time: 1403638625.377830, t: 2.603947 0.148017 0.489664 q: 0.089467 0.800021 -0.150562 0.573841 
time: 1403638625.577830, t: 2.391893 0.162305 0.497481 q: 0.089051 0.800052 -0.149475 0.574147 
time: 1403638625.777829, t: 2.175813 0.174823 0.526272 q: 0.087988 0.806198 -0.150488 0.565381 
time: 1403638625.977829, t: 1.973136 0.177556 0.544071 q: 0.089260 0.809257 -0.151060 0.560639 
time: 1403638626.177830, t: 1.771199 0.173996 0.541501 q: 0.087925 0.810899 -0.153288 0.557866 
time: 1403638626.377830, t: 1.580775 0.164140 0.522613 q: 0.098744 0.807535 -0.146655 0.562698 
time: 1403638626.577830, t: 1.402129 0.155936 0.491377 q: 0.101862 0.808635 -0.143553 0.561361 
time: 1403638626.777829, t: 1.233413 0.152704 0.463360 q: 0.098077 0.814440 -0.145684 0.553032 
time: 1403638626.977829, t: 1.087378 0.147724 0.461488 q: 0.096876 0.818023 -0.145630 0.547947 
time: 1403638627.177830, t: 0.957901 0.142133 0.457897 q: 0.095464 0.818039 -0.145087 0.548314 
optimize pose graph 
time: 1403638627.377830, t: 0.849989 0.135512 0.440668 q: 0.098818 0.817476 -0.141855 0.549404 
time: 1403638627.577830, t: 0.765279 0.127986 0.414918 q: 0.100277 0.816714 -0.141152 0.550453 
time: 1403638627.777829, t: 0.703039 0.129787 0.379495 q: 0.104260 0.811786 -0.139628 0.557349 
time: 1403638627.977829, t: 0.645134 0.128024 0.346937 q: 0.105522 0.813097 -0.139645 0.555192 
time: 1403638628.177830, t: 0.600191 0.133907 0.317990 q: 0.107566 0.814822 -0.140338 0.552087 
time: 1403638628.377830, t: 0.571439 0.147342 0.298520 q: 0.106452 0.815658 -0.142506 0.550511 
time: 1403638628.577830, t: 0.566506 0.168606 0.290911 q: 0.092606 0.805819 -0.152861 0.564547 
time: 1403638628.777829, t: 0.548659 0.181140 0.288424 q: 0.088754 0.802922 -0.156170 0.568375 
time: 1403638628.977829, t: 0.535018 0.191986 0.272331 q: 0.098298 0.804264 -0.150476 0.566440 
time: 1403638629.177830, t: 0.516464 0.196220 0.257706 q: 0.105400 0.806583 -0.145051 0.563271 
optimize pose graph 
time: 1403638629.377830, t: 0.495320 0.206555 0.251832 q: 0.106922 0.809954 -0.144237 0.558335 
time: 1403638629.577830, t: 0.487991 0.222030 0.251118 q: 0.102075 0.817382 -0.148735 0.547124 
time: 1403638629.777829, t: 0.494679 0.234610 0.254766 q: 0.084363 0.809687 -0.162466 0.557579 
time: 1403638629.977829, t: 0.509302 0.230945 0.249486 q: 0.093705 0.797784 -0.157250 0.574485 
time: 1403638630.177830, t: 0.510514 0.224358 0.202690 q: 0.107064 0.796928 -0.147650 0.575884 
time: 1403638630.377830, t: 0.506965 0.227564 0.141956 q: 0.104222 0.820860 -0.147753 0.541753 
time: 1403638630.577830, t: 0.526551 0.231515 0.151651 q: 0.103208 0.802155 -0.147282 0.569389 
time: 1403638630.777829, t: 0.529984 0.229989 0.123167 q: 0.103449 0.827845 -0.138298 0.533708 
time: 1403638631.177830, t: 0.498585 0.239238 0.105448 q: 0.099495 0.826458 -0.139339 0.536333 
time: 1403638631.377830, t: 0.547931 0.206685 0.135819 q: 0.098783 0.827214 -0.139310 0.535305 
optimize pose graph 
time: 1403638631.577830, t: 0.558360 0.214614 0.138942 q: 0.098728 0.827139 -0.139760 0.535314 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720485385.876242671]: Shutdown request received.[0m
[33m[ WARN] [1720485385.876297784]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720485385.877090680]: Shutdown request received.[0m
[33m[ WARN] [1720485385.877111051]: Reason given for shutdown: [user request][0m
killed
