/SLAM-Hive/slam_hive_results/mapping_results/2936/2144_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-14.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720486491.438079722]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720486491.439591392]: init begins[0m
[31m[ERROR] [1720486491.440884188]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/d92a507c-3d8d-11ef-9255-0242ac110005/roslaunch-835c1fca3aee-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://835c1fca3aee:41659/[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
[1mROS_MASTER_URI=http://835c1fca3aee:11311/[0m
]2;roscore http://835c1fca3aee:11311/
[1msetting /run_id to d92a507c-3d8d-11ef-9255-0242ac110005[0m
[0m[ INFO] [1720486492.593512374]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720486492.596112724]: 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] [1720486492.603313840]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720486492.603539095]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720486492.603582807]: 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] [1720486492.603813863]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720486492.604131042]: 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
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 [219][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720486501.565893582]: 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: 316847983.64 
init first imu pose
averge acc 9.017038 -0.028934 -3.796764
init R0 
   0.388077  0.00702325      0.9216
          0   -0.999971  0.00762049
   0.921627 -0.00295733   -0.388065
[0m[ INFO] [1720486506.113904902]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486506.489075926]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486506.908145971]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486507.292805618]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486507.716572755]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486508.092322266]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486508.490546169]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486508.876317934]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486509.300395240]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486509.679270457]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486510.065475255]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486510.492224822]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720486511.261543798]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486511.688076467]: 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!
[0m[ INFO] [1720486513.286758322]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486513.694676156]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486514.085956936]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486514.488311930]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486514.903431931]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486515.300155365]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486515.696358726]: 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!
[0m[ INFO] [1720486516.499249129]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486516.897757761]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486517.294710426]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486517.691636354]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486518.100382024]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486518.464434168]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486518.891111038]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486519.294945298]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486519.694310754]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486520.089607310]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486520.515624103]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486520.914488546]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486521.301058383]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486521.676749404]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486522.098894048]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486522.495005290]: Not enough features or parallax; Move device around[0m
unstable features tracking, please slowly move you device!
[0m[ INFO] [1720486523.269706585]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486523.683449224]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486524.079740686]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720486524.464655359]: 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!
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0709 00:55:28.557309   187 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0709 00:55:28.562522   187 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
W0709 00:55:28.563217   187 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.
[33m[ WARN] [1720486528.564491230]: gyroscope bias initial calibration 0.00243215  0.0193278   0.077974[0m
[0m[ INFO] [1720486528.605330355]: Initialization finish![0m
time: 1403638545.077830, t: 1.309864 3.306674 0.665513 q: -0.254420 0.729912 0.377522 0.509879 
time: 1403638545.477829, t: 1.343212 3.335190 0.590610 q: -0.262806 0.725325 0.384119 0.507237 
time: 1403638545.877830, t: 1.375836 3.654792 0.572053 q: -0.297624 0.698192 0.439575 0.480334 
time: 1403638546.277829, t: 1.403269 3.993571 0.626280 q: -0.329105 0.658738 0.501352 0.454312 
time: 1403638546.677830, t: 1.421927 4.377297 0.619325 q: -0.345664 0.648165 0.515985 0.440634 
time: 1403638547.077830, t: 1.438664 4.844825 0.680156 q: -0.347147 0.633284 0.535312 0.438043 
time: 1403638547.477829, t: 1.387452 5.279942 0.669386 q: -0.351960 0.633264 0.535514 0.433966 
time: 1403638547.877830, t: 1.273750 5.649088 0.604035 q: -0.352507 0.632746 0.535114 0.434770 
time: 1403638548.277829, t: 1.136327 6.103518 0.577832 q: -0.368241 0.620349 0.553128 0.416672 
time: 1403638548.677830, t: 0.986048 6.593466 0.648650 q: -0.396146 0.586288 0.588466 0.391207 
time: 1403638549.077830, t: 0.836744 7.134690 0.732216 q: -0.402810 0.578319 0.596894 0.383417 
time: 1403638549.477829, t: 0.697081 7.648385 0.894232 q: -0.408551 0.582399 0.590832 0.380546 
time: 1403638549.877830, t: 0.563144 8.188741 1.024919 q: -0.408133 0.584085 0.588374 0.382215 
time: 1403638550.277829, t: 0.454249 8.764577 1.245134 q: -0.407632 0.585750 0.588805 0.379528 
time: 1403638550.677830, t: 0.368251 9.369162 1.486519 q: -0.418454 0.585062 0.581705 0.379761 
time: 1403638551.077830, t: 0.328331 9.909616 1.653483 q: -0.436539 0.574715 0.567448 0.396409 
time: 1403638551.477829, t: 0.353646 10.359521 1.808762 q: -0.429091 0.597690 0.551717 0.392754 
time: 1403638551.877830, t: 0.502827 10.691448 1.896374 q: -0.396646 0.656508 0.484666 0.420437 
time: 1403638552.277829, t: 0.768447 10.982249 1.999326 q: -0.365087 0.671110 0.468244 0.443925 
time: 1403638552.677830, t: 1.084457 11.199322 2.104002 q: -0.380112 0.663416 0.456884 0.454588 
time: 1403638553.077830, t: 1.469486 11.267532 2.109712 q: -0.369050 0.656769 0.473692 0.456150 
time: 1403638553.477829, t: 1.867059 11.251702 2.108824 q: -0.380087 0.637057 0.472678 0.475676 
time: 1403638553.877830, t: 2.241351 11.098416 2.202081 q: -0.370907 0.634200 0.480776 0.478616 
time: 1403638554.277829, t: 2.547477 10.823520 2.298233 q: -0.355342 0.649193 0.491663 0.458856 
time: 1403638554.677830, t: 2.811920 10.512048 2.334613 q: -0.353514 0.656945 0.494057 0.446495 
time: 1403638555.077830, t: 3.072309 10.208784 2.401081 q: -0.360338 0.662036 0.481110 0.447658 
time: 1403638555.477829, t: 3.360446 9.901470 2.399851 q: -0.334756 0.680243 0.458927 0.463243 
time: 1403638555.877830, t: 3.645757 9.575005 2.430857 q: -0.329904 0.684706 0.455542 0.463490 
time: 1403638556.277829, t: 3.933522 9.278839 2.516137 q: -0.324246 0.691010 0.460155 0.453462 
time: 1403638556.677830, t: 4.241578 9.043960 2.550522 q: -0.327096 0.701674 0.455703 0.439314 
time: 1403638557.077830, t: 4.611983 8.873096 2.637177 q: -0.341639 0.694385 0.445272 0.450383 
time: 1403638557.477829, t: 5.048549 8.706475 2.674762 q: -0.331447 0.687250 0.454384 0.459745 
time: 1403638557.877830, t: 5.505265 8.535822 2.749070 q: -0.321922 0.683181 0.460242 0.466699 
time: 1403638558.277829, t: 5.942859 8.387016 2.768280 q: -0.311031 0.697972 0.465779 0.446257 
time: 1403638558.677830, t: 6.391269 8.348080 2.868346 q: -0.308975 0.706264 0.464217 0.436152 
time: 1403638559.077830, t: 6.869236 8.406967 2.970970 q: -0.322173 0.695730 0.453996 0.453930 
time: 1403638559.477829, t: 7.371857 8.506876 2.980182 q: -0.315063 0.684815 0.461891 0.467354 
time: 1403638559.877830, t: 7.828306 8.632984 2.931173 q: -0.316513 0.681407 0.463409 0.469846 
time: 1403638560.277829, t: 8.255809 8.781540 2.867292 q: -0.288226 0.714279 0.406080 0.491763 
time: 1403638560.677830, t: 8.653809 8.910828 2.739015 q: -0.243445 0.751710 0.302560 0.533032 
time: 1403638561.077830, t: 8.991428 8.953595 2.643332 q: -0.200936 0.775163 0.213639 0.559558 
time: 1403638561.477829, t: 9.297173 8.873676 2.651127 q: -0.160456 0.787746 0.181493 0.566366 
time: 1403638561.877830, t: 9.506694 8.684929 2.599370 q: -0.143521 0.791892 0.191124 0.561943 
time: 1403638562.277829, t: 9.683447 8.498190 2.524623 q: -0.117099 0.797634 0.159952 0.569635 
time: 1403638562.677830, t: 9.816909 8.299889 2.536901 q: -0.084901 0.806769 0.087801 0.578106 
time: 1403638563.077830, t: 9.913877 8.072945 2.554012 q: -0.039615 0.811482 -0.009143 0.582962 
time: 1403638563.477829, t: 9.937888 7.777978 2.491476 q: -0.009033 0.795246 -0.058811 0.603360 
time: 1403638563.877830, t: 9.861516 7.441945 2.443836 q: -0.009071 0.801251 -0.057959 0.595445 
time: 1403638564.277829, t: 9.703249 7.026366 2.446920 q: -0.017838 0.799128 -0.044041 0.599280 
time: 1403638564.677830, t: 9.430646 6.542795 2.481250 q: -0.024807 0.799919 -0.037273 0.598435 
time: 1403638565.077830, t: 9.086378 5.985572 2.421790 q: -0.033686 0.800066 -0.045272 0.597253 
time: 1403638565.477829, t: 8.697952 5.324412 2.190736 q: -0.026709 0.802144 -0.042348 0.595028 
time: 1403638565.877830, t: 8.264803 4.620982 2.023475 q: 0.007891 0.804323 -0.026318 0.593557 
time: 1403638566.277829, t: 7.753442 3.965555 1.875794 q: 0.010613 0.806727 -0.028171 0.590156 
time: 1403638566.677830, t: 7.237077 3.356146 1.617138 q: 0.006130 0.820082 -0.024079 0.571706 
time: 1403638567.077830, t: 6.802672 2.813700 1.290616 q: 0.003638 0.835278 -0.016269 0.549575 
time: 1403638567.477829, t: 6.462847 2.320101 0.936511 q: 0.012802 0.813081 -0.012682 0.581871 
time: 1403638567.877830, t: 6.105228 1.853440 0.646837 q: 0.018915 0.826440 -0.017410 0.562438 
time: 1403638568.277829, t: 5.803466 1.468131 0.473334 q: 0.025256 0.826076 -0.015940 0.562767 
time: 1403638568.677830, t: 5.519091 1.114179 0.315616 q: 0.028192 0.830231 -0.014275 0.556523 
time: 1403638569.077830, t: 5.259392 0.801411 0.200193 q: 0.028981 0.829806 -0.013112 0.557145 
time: 1403638569.477829, t: 5.077268 0.593223 0.141613 q: 0.032898 0.830064 -0.011408 0.556580 
time: 1403638569.877830, t: 5.009152 0.519811 0.100787 q: 0.034544 0.825464 -0.010448 0.563300 
time: 1403638570.277829, t: 5.005149 0.544974 0.089355 q: 0.018315 0.823136 -0.020526 0.567178 
time: 1403638570.677830, t: 5.023481 0.576822 -0.008468 q: 0.001544 0.815444 -0.099809 0.570165 
time: 1403638571.077830, t: 4.987485 0.464290 -0.161317 q: 0.053398 0.782901 -0.192626 0.589161 
time: 1403638571.477829, t: 4.829167 0.209895 -0.263373 q: 0.113945 0.783654 -0.221763 0.568968 
time: 1403638571.877830, t: 4.608056 -0.093248 -0.324331 q: 0.142980 0.777718 -0.266575 0.551044 
time: 1403638572.277829, t: 4.339591 -0.452443 -0.357921 q: 0.190278 0.754066 -0.337435 0.530392 
time: 1403638572.677830, t: 4.056702 -0.867684 -0.373557 q: 0.234613 0.739861 -0.382813 0.501016 
time: 1403638573.077830, t: 3.832770 -1.336022 -0.328636 q: 0.246148 0.747821 -0.379515 0.485945 
time: 1403638573.477829, t: 3.664564 -1.835533 -0.290326 q: 0.245335 0.751387 -0.375825 0.483719 
time: 1403638573.877830, t: 3.606960 -2.385256 -0.182950 q: 0.270454 0.737724 -0.386115 0.483252 
time: 1403638574.277829, t: 3.612290 -2.927710 -0.121102 q: 0.302881 0.662056 -0.468505 0.500448 
time: 1403638574.677830, t: 3.523929 -3.438925 -0.104822 q: 0.351374 0.620912 -0.528021 0.460650 
time: 1403638575.077830, t: 3.383115 -3.905016 -0.036862 q: 0.354709 0.624113 -0.543257 0.435358 
time: 1403638575.477829, t: 3.205983 -4.357014 -0.035487 q: 0.340425 0.628826 -0.545768 0.436836 
time: 1403638575.877830, t: 3.038049 -4.906076 -0.025779 q: 0.344115 0.651066 -0.532379 0.417457 
time: 1403638576.277829, t: 2.901635 -5.475305 0.109055 q: 0.349269 0.650686 -0.527265 0.420251 
time: 1403638576.677830, t: 2.851899 -6.147564 0.205440 q: 0.365436 0.660395 -0.516393 0.404566 
time: 1403638577.077830, t: 2.902250 -6.826834 0.239983 q: 0.366257 0.642800 -0.516532 0.431113 
time: 1403638577.477829, t: 3.057689 -7.448537 0.316019 q: 0.374904 0.647185 -0.510202 0.424609 
time: 1403638577.877830, t: 3.259878 -8.067093 0.384033 q: 0.365405 0.645923 -0.515488 0.428409 
time: 1403638578.277829, t: 3.550392 -8.625273 0.425816 q: 0.351929 0.637907 -0.522296 0.443201 
time: 1403638578.677830, t: 3.829261 -9.179260 0.469803 q: 0.352482 0.634574 -0.523870 0.445682 
time: 1403638579.077830, t: 4.087685 -9.688329 0.477991 q: 0.366042 0.641796 -0.513584 0.436283 
time: 1403638579.477829, t: 4.385054 -10.225578 0.552464 q: 0.352544 0.633645 -0.521611 0.449587 
time: 1403638579.877830, t: 4.670876 -10.687812 0.558009 q: 0.340688 0.661680 -0.466517 0.477988 
time: 1403638580.277829, t: 4.961798 -11.067526 0.506119 q: 0.262179 0.725976 -0.335289 0.540187 
time: 1403638580.677830, t: 5.186035 -11.337051 0.391111 q: 0.172753 0.770205 -0.264396 0.554107 
time: 1403638581.077830, t: 5.352179 -11.574926 0.343139 q: 0.150346 0.789430 -0.232655 0.547785 
time: 1403638581.477829, t: 5.532047 -11.862051 0.397630 q: 0.162844 0.786311 -0.233689 0.548257 
time: 1403638581.877830, t: 5.739246 -12.029039 0.486723 q: 0.176386 0.775255 -0.237461 0.558104 
time: 1403638582.677830, t: 5.843419 -11.826707 0.767095 q: 0.181461 0.775408 -0.235122 0.557253 
time: 1403638583.077830, t: 5.930963 -11.786084 1.030097 q: 0.178216 0.782965 -0.240540 0.545294 
time: 1403638583.477829, t: 6.003062 -11.685229 1.178841 q: 0.177478 0.785454 -0.241841 0.541366 
time: 1403638583.877830, t: 6.112245 -11.566204 1.314618 q: 0.179744 0.784521 -0.239704 0.542919 
time: 1403638584.277829, t: 6.245843 -11.404302 1.423552 q: 0.189065 0.763046 -0.231787 0.572966 
time: 1403638584.677830, t: 6.321346 -11.163175 1.454715 q: 0.188961 0.762117 -0.231357 0.574409 
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time: 1403638626.677830, t: 0.585624 0.921847 0.285023 q: 0.098181 0.811044 -0.142023 0.558925 
time: 1403638627.077830, t: 0.301887 0.912287 0.274179 q: 0.093846 0.818626 -0.143326 0.548181 
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time: 1403638627.877830, t: -0.059586 0.887267 0.178631 q: 0.102723 0.811593 -0.137708 0.558392 
time: 1403638628.277829, t: -0.150083 0.899765 0.121575 q: 0.105376 0.815456 -0.139239 0.551852 
time: 1403638628.677830, t: -0.191052 0.937651 0.101861 q: 0.084539 0.802025 -0.155307 0.570516 
time: 1403638629.077830, t: -0.225834 0.951333 0.062517 q: 0.100470 0.805570 -0.145541 0.565491 
time: 1403638629.477829, t: -0.266492 1.000734 0.052827 q: 0.103456 0.814543 -0.144759 0.552142 
time: 1403638629.877830, t: -0.249025 1.024693 0.060306 q: 0.080748 0.803533 -0.163068 0.566766 
time: 1403638630.277829, t: -0.245910 1.008708 -0.030148 q: 0.105833 0.801680 -0.146048 0.569893 
time: 1403638630.677830, t: -0.219383 1.010953 -0.070611 q: 0.098592 0.821309 -0.143262 0.543330 
time: 1403638631.077830, t: -0.246875 1.008460 -0.092357 q: 0.097435 0.826686 -0.138168 0.536662 
time: 1403638631.477829, t: -0.233656 1.006099 -0.118145 q: 0.096858 0.826896 -0.138903 0.536253 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720486617.264323827]: Shutdown request received.[0m
[33m[ WARN] [1720486617.264364897]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720486617.265261545]: Shutdown request received.[0m
[33m[ WARN] [1720486617.265291121]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/d92a507c-3d8d-11ef-9255-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
