roslaunch vins_estimator euroc.launch
... logging to /home/mindbeat/.ros/log/b63c02ba-1fee-11eb-b95b-6cc21762b5e1/roslaunch-DESKTOP-HBDV97J-2717.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
process[feature_tracker-1]: started with pid [2732]
process[vins_estimator-2]: started with pid [2733]
process[pose_graph-3]: started with pid [2734]
[ INFO] [1604639873.948654900]: init begins
[ INFO] [1604639873.979830200]: Loaded config_file: /home/mindbeat/catkin_ws/src/VINS-Mono/feature_tracker/../config/euroc/euroc_config.yaml
[ WARN] [1604639873.991865400]: Shutdown request received.
[ WARN] [1604639873.992285200]: Reason given for shutdown: [[/vins_estimator] Reason: new node registered with same name]
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
Failed to create folder /home/shaozu
[ INFO] [1604639874.014453300]: ROW: 480.000000 COL: 752.000000
[ WARN] [1604639874.016359300]: fix extrinsic param
[ INFO] [1604639874.021914100]: Extrinsic_R :
0.0148655 -0.999881 0.0041403
0.999557 0.0149672 0.0257155
-0.0257744 0.00375619 0.999661
[ INFO] [1604639874.040076900]: Extrinsic_T :
-0.0216401 -0.064677 0.00981073
[ INFO] [1604639874.049951900]: Synchronized sensors, fix time offset: 0
[ WARN] [1604639874.051535000]: waiting for image and imu...
terminate called without an active exception
vocabulary_file/home/mindbeat/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_k10L6.bin
OpenCV Error: Assertion failed (0 <= _rowRange.start && _rowRange.start <= _rowRange.end && _rowRange.end <= m.rows) in Mat, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp, line 483
terminate called after throwing an instance of 'cv::Exception'
what(): /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp:483: error: (-215) 0 <= _rowRange.start && _rowRange.start <= _rowRange.end && _rowRange.end <= m.rows in function Mat
[feature_tracker-1] process has died [pid 2732, exit code -6, cmd /home/mindbeat/catkin_ws/devel/lib/feature_tracker/feature_tracker __name:=feature_tracker __log:=/home/mindbeat/.ros/log/b63c02ba-1fee-11eb-b95b-6cc21762b5e1/feature_tracker-1.log].
log file: /home/mindbeat/.ros/log/b63c02ba-1fee-11eb-b95b-6cc21762b5e1/feature_tracker-1*.log
loop start load vocabulary
BRIEF_PATTERN_FILE/home/mindbeat/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_pattern.yml
/home/shaozu/output/pose_graph/ not exists, trying to create it
/home/shaozu/output not exists, trying to create it
/home/shaozu not exists, trying to create it
Failed to create folder /home/shaozu
/home/shaozu/output/ not exists, trying to create it
/home/shaozu not exists, trying to create it
Failed to create folder /home/shaozu
no previous pose graph
[ WARN] [1604639881.445128300]: image discontinue! detect a new sequence!
new sequence
sequence cnt 2
[ WARN] [1604639881.459762000]: imu message in disorder!
[ WARN] [1604639881.460358200]: imu message in disorder!
[ WARN] [1604639881.463181400]: imu message in disorder!
[ WARN] [1604639881.480963300]: imu message in disorder!
[ WARN] [1604639881.498830100]: imu message in disorder!
[ WARN] [1604639881.526077700]: imu message in disorder!
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[ WARN] [1604639881.598084200]: imu message in disorder!
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[ WARN] [1604639881.643226100]: imu message in disorder!
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[ WARN] [1604639881.675785700]: imu message in disorder!
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[ WARN] [1604639881.713618600]: imu message in disorder!
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[ WARN] [1604639881.780027500]: imu message in disorder!
[ WARN] [1604639881.796133100]: imu message in disorder!
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[ WARN] [1604639881.852257100]: imu message in disorder!
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[ WARN] [1604639881.893436200]: imu message in disorder!
[ WARN] [1604639881.910522200]: imu message in disorder!
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[ WARN] [1604639881.950915800]: imu message in disorder!
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[ WARN] [1604639882.008596800]: imu message in disorder!
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[ WARN] [1604639882.046868800]: imu message in disorder!
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[ WARN] [1604639882.126608600]: imu message in disorder!
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[ WARN] [1604639882.305930300]: imu message in disorder!
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[ WARN] [1604639882.379774400]: imu message in disorder!
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[ WARN] [1604639882.451992300]: imu message in disorder!
[ WARN] [1604639882.464752100]: imu message in disorder!
[ WARN] [1604639882.480318600]: imu message in disorder!
[ WARN] [1604639882.498610400]: imu message in disorder!
[ WARN] [1604639882.516788500]: imu message in disorder!
[ WARN] [1604639882.537018600]: imu message in disorder!
[ WARN] [1604639882.562419900]: imu message in disorder!
[ WARN] [1604639882.577143500]: imu message in disorder!
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[ WARN] [1604639882.614855300]: imu message in disorder!
[ WARN] [1604639882.635085000]: imu message in disorder!
[ WARN] [1604639882.656368100]: imu message in disorder!
[ WARN] [1604639882.673568900]: imu message in disorder!
[ WARN] [1604639882.696486100]: imu message in disorder!
[ WARN] [1604639882.712670700]: imu message in disorder!
[ WARN] [1604639882.732903800]: imu message in disorder!
[ WARN] [1604639882.759227500]: imu message in disorder!
[ WARN] [1604639882.772081100]: imu message in disorder!
[ WARN] [1604639882.793879300]: imu message in disorder!
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[ WARN] [1604639882.852611900]: imu message in disorder!
[ WARN] [1604639882.869720400]: imu message in disorder!
[ WARN] [1604639882.889350600]: imu message in disorder!
[ WARN] [1604639882.922365300]: imu message in disorder!
[ WARN] [1604639882.930344200]: imu message in disorder!
[ WARN] [1604639882.949604500]: imu message in disorder!
[ WARN] [1604639882.968783500]: imu message in disorder!
[ WARN] [1604639882.987353500]: imu message in disorder!
[ WARN] [1604639883.009855400]: imu message in disorder!
[ WARN] [1604639883.026971400]: imu message in disorder!
[ WARN] [1604639883.045720100]: imu message in disorder!
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[ WARN] [1604639883.126602700]: imu message in disorder!
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[ WARN] [1604639883.182664400]: imu message in disorder!
[ WARN] [1604639883.204269600]: imu message in disorder!
[ WARN] [1604639883.222898200]: imu message in disorder!
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[ WARN] [1604639883.263232200]: imu message in disorder!
[ WARN] [1604639883.281034300]: imu message in disorder!
[ WARN] [1604639883.301788900]: imu message in disorder!
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[ WARN] [1604639883.362861900]: imu message in disorder!
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[ WARN] [1604639883.399085900]: imu message in disorder!
[ WARN] [1604639883.420044000]: imu message in disorder!
[ WARN] [1604639883.437602800]: imu message in disorder!
[ WARN] [1604639883.460717000]: imu message in disorder!
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[ WARN] [1604639883.536905500]: imu message in disorder!
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[ WARN] [1604639883.594820500]: imu message in disorder!
[ WARN] [1604639883.613578000]: imu message in disorder!
[ WARN] [1604639883.633958600]: imu message in disorder!
[ WARN] [1604639883.653794700]: imu message in disorder!
[ WARN] [1604639883.672653000]: imu message in disorder!
[ WARN] [1604639883.693397200]: imu message in disorder!
[ WARN] [1604639883.712577700]: imu message in disorder!
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[ WARN] [1604639883.790423500]: imu message in disorder!
[ WARN] [1604639883.810528400]: imu message in disorder!
[ WARN] [1604639883.829748700]: imu message in disorder!
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[ WARN] [1604639883.869695100]: imu message in disorder!
[ WARN] [1604639883.888998800]: imu message in disorder!
[ WARN] [1604639883.908150300]: imu message in disorder!
[ WARN] [1604639883.927302400]: imu message in disorder!
[ WARN] [1604639883.946618000]: imu message in disorder!
[ WARN] [1604639883.972978600]: imu message in disorder!
[ WARN] [1604639883.986062800]: imu message in disorder!
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[ WARN] [1604639884.026848000]: imu message in disorder!
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[ WARN] [1604639884.067018600]: imu message in disorder!
[ WARN] [1604639884.086600500]: imu message in disorder!
[ WARN] [1604639884.103941200]: imu message in disorder!
[ WARN] [1604639884.127800800]: imu message in disorder!
[ WARN] [1604639884.142585500]: imu message in disorder!
[ WARN] [1604639884.166308700]: imu message in disorder!
roslaunch vins_estimator euroc.launch ... logging to /home/mindbeat/.ros/log/b63c02ba-1fee-11eb-b95b-6cc21762b5e1/roslaunch-DESKTOP-HBDV97J-2717.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://DESKTOP-HBDV97J:54357/
SUMMARY
PARAMETERS
NODES / feature_tracker (feature_tracker/feature_tracker) pose_graph (pose_graph/pose_graph) vins_estimator (vins_estimator/vins_estimator)
ROS_MASTER_URI=http://localhost:11311
process[feature_tracker-1]: started with pid [2732] process[vins_estimator-2]: started with pid [2733] process[pose_graph-3]: started with pid [2734] [ INFO] [1604639873.948654900]: init begins [ INFO] [1604639873.979830200]: Loaded config_file: /home/mindbeat/catkin_ws/src/VINS-Mono/feature_tracker/../config/euroc/euroc_config.yaml [ WARN] [1604639873.991865400]: Shutdown request received. [ WARN] [1604639873.992285200]: Reason given for shutdown: [[/vins_estimator] Reason: new node registered with same name] 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 Failed to create folder /home/shaozu [ INFO] [1604639874.014453300]: ROW: 480.000000 COL: 752.000000 [ WARN] [1604639874.016359300]: fix extrinsic param [ INFO] [1604639874.021914100]: Extrinsic_R : 0.0148655 -0.999881 0.0041403 0.999557 0.0149672 0.0257155 -0.0257744 0.00375619 0.999661 [ INFO] [1604639874.040076900]: Extrinsic_T : -0.0216401 -0.064677 0.00981073 [ INFO] [1604639874.049951900]: Synchronized sensors, fix time offset: 0 [ WARN] [1604639874.051535000]: waiting for image and imu... terminate called without an active exception vocabulary_file/home/mindbeat/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_k10L6.bin OpenCV Error: Assertion failed (0 <= _rowRange.start && _rowRange.start <= _rowRange.end && _rowRange.end <= m.rows) in Mat, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp, line 483 terminate called after throwing an instance of 'cv::Exception' what(): /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp:483: error: (-215) 0 <= _rowRange.start && _rowRange.start <= _rowRange.end && _rowRange.end <= m.rows in function Mat
[feature_tracker-1] process has died [pid 2732, exit code -6, cmd /home/mindbeat/catkin_ws/devel/lib/feature_tracker/feature_tracker __name:=feature_tracker __log:=/home/mindbeat/.ros/log/b63c02ba-1fee-11eb-b95b-6cc21762b5e1/feature_tracker-1.log]. log file: /home/mindbeat/.ros/log/b63c02ba-1fee-11eb-b95b-6cc21762b5e1/feature_tracker-1*.log loop start load vocabulary BRIEF_PATTERN_FILE/home/mindbeat/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_pattern.yml /home/shaozu/output/pose_graph/ not exists, trying to create it /home/shaozu/output not exists, trying to create it /home/shaozu not exists, trying to create it Failed to create folder /home/shaozu /home/shaozu/output/ not exists, trying to create it /home/shaozu not exists, trying to create it Failed to create folder /home/shaozu no previous pose graph [ WARN] [1604639881.445128300]: image discontinue! detect a new sequence! new sequence sequence cnt 2 [ WARN] [1604639881.459762000]: imu message in disorder! [ WARN] [1604639881.460358200]: imu message in disorder! [ WARN] [1604639881.463181400]: imu message in disorder! [ WARN] [1604639881.480963300]: imu message in disorder! [ WARN] [1604639881.498830100]: imu message in disorder! [ WARN] [1604639881.526077700]: imu message in disorder! [ WARN] [1604639881.540314800]: imu message in disorder! [ WARN] [1604639881.562224200]: imu message in disorder! [ WARN] [1604639881.579515500]: imu message in disorder! [ WARN] [1604639881.598084200]: imu message in disorder! [ WARN] [1604639881.615671000]: imu message in disorder! [ WARN] [1604639881.643226100]: imu message in disorder! [ WARN] [1604639881.655694400]: imu message in disorder! [ WARN] [1604639881.675785700]: imu message in disorder! [ WARN] [1604639881.695958700]: imu message in disorder! [ WARN] [1604639881.713618600]: imu message in disorder! [ WARN] [1604639881.734309300]: imu message in disorder! [ WARN] [1604639881.753784400]: imu message in disorder! [ WARN] [1604639881.780027500]: imu message in disorder! [ WARN] [1604639881.796133100]: imu message in disorder! [ WARN] [1604639881.811668600]: imu message in disorder! [ WARN] [1604639881.831832500]: imu message in disorder! [ WARN] [1604639881.852257100]: imu message in disorder! [ WARN] [1604639881.871284300]: imu message in disorder! [ WARN] [1604639881.893436200]: imu message in disorder! [ WARN] [1604639881.910522200]: imu message in disorder! [ WARN] [1604639881.929713800]: imu message in disorder! [ WARN] [1604639881.950915800]: imu message in disorder! [ WARN] [1604639881.969109200]: imu message in disorder! [ WARN] [1604639881.988932400]: imu message in disorder! [ WARN] [1604639882.008596800]: imu message in disorder! [ WARN] [1604639882.027830500]: imu message in disorder! [ WARN] [1604639882.046868800]: imu message in disorder! [ WARN] [1604639882.067159300]: imu message in disorder! [ WARN] [1604639882.087852200]: imu message in disorder! [ WARN] [1604639882.105729200]: imu message in disorder! [ WARN] [1604639882.126608600]: imu message in disorder! [ WARN] [1604639882.148226600]: imu message in disorder! [ WARN] [1604639882.165076800]: imu message in disorder! [ WARN] [1604639882.186147800]: imu message in disorder! [ WARN] [1604639882.205774800]: imu message in disorder! [ WARN] [1604639882.223614600]: imu message in disorder! [ WARN] [1604639882.246414500]: imu message in disorder! [ WARN] [1604639882.262779700]: imu message in disorder! [ WARN] [1604639882.281978100]: imu message in disorder! [ WARN] [1604639882.305930300]: imu message in disorder! [ WARN] [1604639882.321859200]: imu message in disorder! [ WARN] [1604639882.342156900]: imu message in disorder! [ WARN] [1604639882.362626200]: imu message in disorder! [ WARN] [1604639882.379774400]: imu message in disorder! [ WARN] [1604639882.402452300]: imu message in disorder! [ WARN] [1604639882.428599000]: imu message in disorder! [ WARN] [1604639882.451992300]: imu message in disorder! [ WARN] [1604639882.464752100]: imu message in disorder! [ WARN] [1604639882.480318600]: imu message in disorder! [ WARN] [1604639882.498610400]: imu message in disorder! [ WARN] [1604639882.516788500]: imu message in disorder! [ WARN] [1604639882.537018600]: imu message in disorder! [ WARN] [1604639882.562419900]: imu message in disorder! [ WARN] [1604639882.577143500]: imu message in disorder! [ WARN] [1604639882.598324800]: imu message in disorder! [ WARN] [1604639882.614855300]: imu message in disorder! [ WARN] [1604639882.635085000]: imu message in disorder! [ WARN] [1604639882.656368100]: imu message in disorder! [ WARN] [1604639882.673568900]: imu message in disorder! [ WARN] [1604639882.696486100]: imu message in disorder! [ WARN] [1604639882.712670700]: imu message in disorder! [ WARN] [1604639882.732903800]: imu message in disorder! [ WARN] [1604639882.759227500]: imu message in disorder! [ WARN] [1604639882.772081100]: imu message in disorder! [ WARN] [1604639882.793879300]: imu message in disorder! [ WARN] [1604639882.811743700]: imu message in disorder! [ WARN] [1604639882.830674900]: imu message in disorder! [ WARN] [1604639882.852611900]: imu message in disorder! [ WARN] [1604639882.869720400]: imu message in disorder! [ WARN] [1604639882.889350600]: imu message in disorder! [ WARN] [1604639882.922365300]: imu message in disorder! [ WARN] [1604639882.930344200]: imu message in disorder! [ WARN] [1604639882.949604500]: imu message in disorder! [ WARN] [1604639882.968783500]: imu message in disorder! [ WARN] [1604639882.987353500]: imu message in disorder! [ WARN] [1604639883.009855400]: imu message in disorder! [ WARN] [1604639883.026971400]: imu message in disorder! [ WARN] [1604639883.045720100]: imu message in disorder! [ WARN] [1604639883.066757700]: imu message in disorder! [ WARN] [1604639883.085779800]: imu message in disorder! [ WARN] [1604639883.105325200]: imu message in disorder! [ WARN] [1604639883.126602700]: imu message in disorder! [ WARN] [1604639883.144426800]: imu message in disorder! [ WARN] [1604639883.163910700]: imu message in disorder! [ WARN] [1604639883.182664400]: imu message in disorder! [ WARN] [1604639883.204269600]: imu message in disorder! [ WARN] [1604639883.222898200]: imu message in disorder! [ WARN] [1604639883.242805900]: imu message in disorder! [ WARN] [1604639883.263232200]: imu message in disorder! [ WARN] [1604639883.281034300]: imu message in disorder! [ WARN] [1604639883.301788900]: imu message in disorder! [ WARN] [1604639883.320071500]: imu message in disorder! [ WARN] [1604639883.339473000]: imu message in disorder! [ WARN] [1604639883.362861900]: imu message in disorder! [ WARN] [1604639883.378463800]: imu message in disorder! [ WARN] [1604639883.399085900]: imu message in disorder! [ WARN] [1604639883.420044000]: imu message in disorder! [ WARN] [1604639883.437602800]: imu message in disorder! [ WARN] [1604639883.460717000]: imu message in disorder! [ WARN] [1604639883.477062200]: imu message in disorder! [ WARN] [1604639883.497600400]: imu message in disorder! [ WARN] [1604639883.516494000]: imu message in disorder! [ WARN] [1604639883.536905500]: imu message in disorder! [ WARN] [1604639883.555559900]: imu message in disorder! [ WARN] [1604639883.576709500]: imu message in disorder! [ WARN] [1604639883.594820500]: imu message in disorder! [ WARN] [1604639883.613578000]: imu message in disorder! [ WARN] [1604639883.633958600]: imu message in disorder! [ WARN] [1604639883.653794700]: imu message in disorder! [ WARN] [1604639883.672653000]: imu message in disorder! [ WARN] [1604639883.693397200]: imu message in disorder! [ WARN] [1604639883.712577700]: imu message in disorder! [ WARN] [1604639883.731444400]: imu message in disorder! [ WARN] [1604639883.754158600]: imu message in disorder! [ WARN] [1604639883.771098700]: imu message in disorder! [ WARN] [1604639883.790423500]: imu message in disorder! [ WARN] [1604639883.810528400]: imu message in disorder! [ WARN] [1604639883.829748700]: imu message in disorder! [ WARN] [1604639883.849180100]: imu message in disorder! [ WARN] [1604639883.869695100]: imu message in disorder! [ WARN] [1604639883.888998800]: imu message in disorder! [ WARN] [1604639883.908150300]: imu message in disorder! [ WARN] [1604639883.927302400]: imu message in disorder! [ WARN] [1604639883.946618000]: imu message in disorder! [ WARN] [1604639883.972978600]: imu message in disorder! [ WARN] [1604639883.986062800]: imu message in disorder! [ WARN] [1604639884.005840700]: imu message in disorder! [ WARN] [1604639884.026848000]: imu message in disorder! [ WARN] [1604639884.045961000]: imu message in disorder! [ WARN] [1604639884.067018600]: imu message in disorder! [ WARN] [1604639884.086600500]: imu message in disorder! [ WARN] [1604639884.103941200]: imu message in disorder! [ WARN] [1604639884.127800800]: imu message in disorder! [ WARN] [1604639884.142585500]: imu message in disorder! [ WARN] [1604639884.166308700]: imu message in disorder!