/SLAM-Hive/slam_hive_results/mapping_results/2957/2165_vins-fusion-stereo+MH_01_easy+Image_comb_test-5.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720490117.613677848]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720490117.615977998]: init begins[0m
[31m[ERROR] [1720490117.617197023]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/4a898c80-3d96-11ef-9aa0-0242ac110005/roslaunch-854909b4d368-118.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://854909b4d368:41141/[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] [1720490118.719823788]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720490118.722268922]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720490118.728386123]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720490118.728610028]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720490118.728634229]: ROW: 96 COL: 150 [0m
no imu, fix extrinsic param; no time offset calibration
 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
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1720490118.728873849]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720490118.729066049]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720490118.729217837]: 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://854909b4d368:11311/[0m
]2;roscore http://854909b4d368:11311/
[1msetting /run_id to 4a898c80-3d96-11ef-9aa0-0242ac110005[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
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720490127.736258987]: 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: 316853549.01 
[0m[ INFO] [1720490129.979957961]: Initialization finish![0m
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time: 1403636593.813555, t: -0.132061 -0.003877 -0.138234 q: 0.973791 0.010820 -0.219114 0.060023 
time: 1403636593.913555, t: -0.183869 0.016658 -0.179994 q: 0.980093 -0.035418 -0.180659 0.074339 
feature tracking not enough, please slowly move you device! 
time: 1403636594.113555, t: -0.139820 0.113842 -0.289348 q: 0.967135 -0.131118 -0.193538 0.100007 
time: 1403636594.213556, t: -0.223349 0.200890 -0.238613 q: 0.974279 -0.134648 -0.146515 0.105756 
time: 1403636594.313555, t: 0.022937 0.145898 -0.239235 q: 0.931779 -0.209892 -0.280873 0.094044 
feature tracking not enough, please slowly move you device! 
time: 1403636594.413555, t: -0.124258 0.240803 -0.240723 q: 0.959220 -0.226415 -0.168667 -0.013632 
time: 1403636594.513556, t: 0.042686 0.304056 -0.365743 q: 0.958057 -0.218205 -0.176117 -0.059135 
time: 1403636594.613555, t: -0.080722 0.341215 -0.219228 q: 0.967247 -0.241446 -0.076090 -0.018622 
feature tracking not enough, please slowly move you device! 
time: 1403636594.713556, t: -0.106857 0.311941 -0.170121 q: 0.968979 -0.222352 -0.100213 -0.039972 
time: 1403636594.813555, t: -0.088666 0.358993 -0.164938 q: 0.977626 -0.172356 -0.110642 -0.047943 
time: 1403636594.913555, t: -0.128866 0.257457 -0.167641 q: 0.976902 -0.180135 -0.099802 -0.057030 
feature tracking not enough, please slowly move you device! 
time: 1403636595.013556, t: -0.317892 0.287528 0.397854 q: 0.974504 -0.167017 -0.071860 -0.131467 
time: 1403636595.113555, t: -0.342994 0.455051 0.128940 q: 0.992036 -0.063623 -0.080038 -0.073550 
time: 1403636595.213556, t: -0.428588 0.175324 -0.056428 q: 0.981417 -0.065462 -0.109279 -0.143501 
unstable tracking...
time: 1403636595.313555, t: -0.410981 0.205774 0.053796 q: 0.985188 -0.016589 -0.106393 -0.133456 
unstable tracking...
time: 1403636595.413555, t: -0.405324 0.168378 0.164233 q: 0.991553 0.040337 -0.107121 -0.060999 
unstable tracking...
time: 1403636595.513556, t: -1.403094 0.630378 1.453820 q: 0.985918 0.031409 -0.157816 -0.045543 
time: 1403636595.613555, t: -0.795004 -0.073474 0.248111 q: 0.954704 0.073435 -0.250015 -0.143665 
time: 1403636595.713556, t: -0.315164 -0.867321 0.137543 q: 0.838621 -0.254509 -0.354143 -0.326377 
time: 1403636595.813555, t: -0.289655 -1.112404 0.429110 q: 0.623093 -0.483228 -0.511497 -0.341492 
feature tracking not enough, please slowly move you device! 
time: 1403636595.913555, t: -0.289655 -1.112404 0.429110 q: 0.623093 -0.483228 -0.511497 -0.341492 
time: 1403636596.013556, t: -0.242271 -1.027783 0.374446 q: 0.588811 -0.563038 -0.478902 -0.327020 
time: 1403636596.113555, t: 0.050907 -0.812915 0.237905 q: 0.695276 -0.408789 -0.558198 -0.194674 
time: 1403636596.213556, t: -0.173095 -1.102054 0.258926 q: 0.599589 -0.567389 -0.458069 -0.329749 
unstable tracking...
time: 1403636596.313555, t: 0.265974 -1.361398 0.521951 q: 0.618360 -0.579647 -0.529749 -0.031723 
unstable tracking...
time: 1403636596.413555, t: 0.770241 -1.274822 0.634935 q: 0.620151 -0.472836 -0.612922 0.127148 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636596.513556, t: 0.770241 -1.274822 0.634935 q: 0.620151 -0.472836 -0.612922 0.127148 
unstable tracking...
time: 1403636596.613555, t: 0.562708 -1.483577 0.790545 q: -0.468872 0.479356 0.728380 0.140855 
time: 1403636596.713556, t: 0.629866 -1.321371 0.653750 q: 0.008047 -0.097751 0.833942 0.543066 
time: 1403636596.813555, t: 35.739899 -13.188890 17.620939 q: 0.495127 0.329565 0.673486 0.438922 
time: 1403636596.913555, t: -21.901358 3.168214 -3.458479 q: -0.364879 -0.536293 0.371470 0.664277 
time: 1403636597.013556, t: 676.667510 194.467439 -166.108690 q: -0.219326 0.887823 -0.343681 0.213423 
unstable tracking...
time: 1403636597.113555, t: 858.717483 246.811963 -243.359751 q: -0.224946 0.869784 -0.346749 0.269518 
unstable tracking...
time: 1403636597.213556, t: 113056.340045 -1534.228126 -6936.184477 q: 0.553658 0.558700 0.554171 0.272417 
unstable tracking...
time: 1403636597.313555, t: 368776.294955 -109669.439191 -105469.860842 q: 0.268120 0.633694 0.274820 0.671578 
unstable tracking...
time: 1403636597.413555, t: 370273.815810 -118407.011327 -109009.560631 q: 0.540043 0.467762 0.589500 0.376884 
unstable tracking...
time: 1403636597.513556, t: 364889.915141 -1202990.809959 4896443.196646 q: -0.351038 0.494698 0.793136 -0.054602 
unstable tracking...
time: 1403636597.613555, t: 364856.496427 -1202841.220916 4896501.299937 q: -0.135271 0.262087 0.945895 -0.135260 
unstable tracking...
time: 1403636597.713556, t: 365532.247724 -1202156.424894 4896439.345580 q: 0.018982 0.011321 0.932616 0.360194 
unstable tracking...
time: 1403636597.813555, t: 363714.590219 -1200573.733300 4896076.820912 q: -0.210930 0.073293 0.868182 0.443167 
unstable tracking...
time: 1403636597.913555, t: 364137.236289 -1200750.995478 4894752.281348 q: -0.456542 0.246385 0.668942 0.532335 
unstable tracking...
time: 1403636598.013556, t: -34448.875092 -934853.079018 4911042.383438 q: -0.132461 -0.445575 0.660596 0.589517 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636598.113555, t: -54465.596523 -923476.182964 4901106.301737 q: -0.461093 -0.463087 0.594141 0.468978 
unstable tracking...
time: 1403636598.213556, t: -54465.435617 -923476.244181 4901106.332092 q: -0.461093 -0.463087 0.594141 0.468978 
unstable tracking...
unstable tracking...
time: 1403636598.413555, t: -535409.519880 -992066.899119 4962164.287311 q: 0.054072 0.714281 0.061638 -0.695039 
unstable tracking...
time: 1403636598.513556, t: -599556.596014 -1002313.242879 4959649.124956 q: -0.038289 -0.635425 -0.060136 0.768865 
unstable tracking...
time: 1403636598.613555, t: -599938.766426 -1002380.508375 4959203.999107 q: -0.003296 -0.174172 -0.214313 0.961105 
unstable tracking...
time: 1403636598.713556, t: -875689.374349 -1408581.316339 5084929.761931 q: 0.741724 0.345436 -0.477930 -0.319535 
unstable tracking...
time: 1403636598.813555, t: -607419.103294 -1470961.286174 5097632.965450 q: 0.754534 -0.025652 -0.654929 -0.032986 
unstable tracking...
time: 1403636598.913555, t: -608403.979157 -1474495.447583 5097831.015072 q: -0.460759 0.680099 0.545044 -0.167612 
unstable tracking...
time: 1403636599.013556, t: -611743.391163 -1472929.195052 5109240.044255 q: 0.563982 -0.709445 -0.274670 0.321197 
unstable tracking...
time: 1403636599.113555, t: -713794.856082 -1413099.534311 5105679.868116 q: 0.008119 0.975373 0.088156 0.202016 
unstable tracking...
time: 1403636599.213556, t: -217653.942279 -1113142.546733 4483293.183170 q: 0.666225 -0.261519 0.651781 -0.250865 
unstable tracking...
time: 1403636599.313555, t: -209057.305063 -1109707.552939 4482134.297460 q: 0.430139 -0.356853 0.829186 -0.009386 
unstable tracking...
time: 1403636599.413555, t: -209019.212508 -1109448.593110 4482364.182497 q: 0.355387 -0.552915 0.749346 -0.080408 
unstable tracking...
time: 1403636599.513556, t: -209953.489345 -1109114.993916 4484348.813534 q: 0.363671 -0.583270 0.725726 -0.029339 
unstable tracking...
time: 1403636599.613555, t: -210341.125764 -1109589.478515 4483400.254388 q: 0.444178 -0.606943 0.655082 -0.072069 
unstable tracking...
time: 1403636599.713556, t: -209983.699121 -1109775.456937 4482856.200200 q: 0.585243 -0.689227 0.427138 -0.003150 
unstable tracking...
time: 1403636599.813555, t: -210391.674302 -1110332.104957 4482360.719357 q: 0.661333 -0.687353 0.224123 -0.199881 
unstable tracking...
time: 1403636599.913555, t: -208080.964778 -1113585.751040 4484252.851258 q: 0.694422 -0.616735 0.333861 -0.161097 
unstable tracking...
time: 1403636600.013556, t: -194902.295790 -1113494.053592 4489066.655435 q: 0.534646 -0.677666 0.025099 -0.504274 
unstable tracking...
unstable tracking...
time: 1403636600.213556, t: 919886.168158 -1267986.319654 3104163.478427 q: 0.739953 -0.152171 0.142682 0.639496 
unstable tracking...
time: 1403636600.313555, t: 903868.789181 -1306104.961748 3101740.603343 q: 0.069878 0.076339 -0.103562 0.989224 
unstable tracking...
time: 1403636600.413555, t: 905548.035436 -1582974.443135 3452988.330097 q: 0.892692 0.208865 -0.027590 -0.398391 
unstable tracking...
time: 1403636600.513556, t: 914858.450781 -1567242.041765 3451678.134707 q: 0.830356 0.407653 -0.330400 0.187521 
unstable tracking...
time: 1403636600.613555, t: 912003.992933 -1565929.718546 3453029.360604 q: 0.761472 0.410459 0.494177 -0.086444 
unstable tracking...
time: 1403636600.713556, t: 998312.149736 -1676509.907736 3422817.950145 q: 0.300850 0.894463 -0.059528 0.325395 
unstable tracking...
unstable tracking...
time: 1403636600.913555, t: 1115445.641233 -1777045.179170 3299047.947249 q: 0.125459 0.944169 -0.055917 0.299464 
unstable tracking...
time: 1403636601.013556, t: 1108703.134810 -1724226.160932 3320202.769760 q: -0.073268 0.890085 0.161412 0.419912 
unstable tracking...
unstable tracking...
time: 1403636601.213556, t: 1265395.707015 -1781369.952866 3520031.237737 q: -0.190773 -0.480831 0.799179 0.306138 
unstable tracking...
time: 1403636601.313555, t: 1240674.456678 -1820546.023183 3529106.702308 q: -0.308133 0.770026 -0.438618 -0.346017 
unstable tracking...
time: 1403636601.413555, t: 1242184.050811 -1822856.275651 3527826.262409 q: -0.231262 0.961530 -0.144875 -0.031456 
unstable tracking...
time: 1403636601.513556, t: 1242296.779858 -1822827.310325 3527585.092545 q: -0.202558 0.793030 -0.557913 -0.137140 
unstable tracking...
time: 1403636601.613555, t: 1241884.353177 -1820412.292895 3522673.993684 q: -0.192838 0.881072 -0.428810 0.051465 
unstable tracking...
time: 1403636601.713556, t: 1126663.808433 -1695227.276015 3552078.860535 q: 0.762632 -0.009117 0.453002 -0.461626 
unstable tracking...
time: 1403636601.813555, t: 1107643.085286 -1695242.690133 3550598.706249 q: 0.078076 0.121250 -0.406058 0.902396 
unstable tracking...
time: 1403636601.913555, t: 1091205.552562 -1807545.186167 3632865.080976 q: 0.355641 0.915886 0.052202 -0.178737 
unstable tracking...
time: 1403636602.013556, t: 265439.407348 -1527570.211080 4202021.827815 q: -0.200570 0.326642 -0.025487 0.923270 
unstable tracking...
unstable tracking...
time: 1403636602.213556, t: -1426696.176806 -5996848.610340 7057883.816328 q: 0.789200 -0.154860 -0.490014 -0.336257 
unstable tracking...
time: 1403636602.313555, t: -1428339.023820 -6019399.226393 7061602.339623 q: -0.396115 0.773699 0.466113 -0.164990 
time: 1403636602.413555, t: -1428466.711399 -6019307.895124 7061527.650672 q: -0.398779 0.776563 0.454533 -0.176989 
unstable tracking...
time: 1403636602.513556, t: -1430582.538741 -6020461.520601 7060064.259266 q: -0.295753 0.288154 0.378693 0.828305 
unstable tracking...
time: 1403636602.613555, t: -1427916.441684 -6021438.693765 7057863.262209 q: -0.338394 0.311276 0.274581 0.844513 
unstable tracking...
time: 1403636602.713556, t: -109291.756857 -5824808.915409 6358769.111951 q: 0.128778 0.726081 0.575736 0.353200 
unstable tracking...
time: 1403636602.813555, t: 1281244.420081 -5309117.630959 7858486.619017 q: 0.356914 0.095150 -0.019452 0.929075 
unstable tracking...
time: 1403636602.913555, t: 2358766.320064 -7163536.316489 22239751.996768 q: -0.110324 -0.134904 0.948822 0.263373 
unstable tracking...
time: 1403636603.013556, t: 2358765.375910 -7163535.790688 22239752.266268 q: -0.110324 -0.134904 0.948822 0.263373 
unstable tracking...
time: 1403636603.113555, t: 1628642.761609 -6280938.843559 23347536.241693 q: 0.354669 0.111970 0.714574 -0.592500 
unstable tracking...
time: 1403636603.213556, t: 1436799.866984 -5721772.581435 23535968.505580 q: 0.301820 0.057491 0.866041 -0.394426 
unstable tracking...
time: 1403636603.413555, t: 1462552.119831 -5719546.157844 23510234.717867 q: 0.150307 0.876310 -0.333620 0.313346 
unstable tracking...
time: 1403636603.613555, t: 1462550.672608 -5719547.933820 23510234.638813 q: 0.150118 0.876372 -0.333528 0.313361 
unstable tracking...
unstable tracking...
time: 1403636603.813555, t: 1462550.511170 -5719547.701586 23510234.680058 q: 0.150225 0.876360 -0.333595 0.313274 
unstable tracking...
time: 1403636603.913555, t: 1462550.652953 -5719547.840415 23510234.552983 q: 0.150153 0.876353 -0.333633 0.313288 
unstable tracking...
time: 1403636604.013556, t: 1462550.658196 -5719547.849293 23510234.534067 q: 0.150254 0.876313 -0.333758 0.313218 
unstable tracking...
time: 1403636604.113555, t: 1462550.656918 -5719547.845315 23510234.545880 q: 0.150298 0.876284 -0.333742 0.313294 
unstable tracking...
time: 1403636604.213556, t: 1462550.664741 -5719547.851115 23510234.536791 q: 0.150320 0.876292 -0.333717 0.313286 
time: 1403636604.313555, t: 1462550.661895 -5719547.849579 23510234.542505 q: 0.150693 0.875935 -0.334515 0.313256 
time: 1403636604.413555, t: 1462550.657668 -5719547.848844 23510234.539985 q: 0.150566 0.875904 -0.334562 0.313354 
time: 1403636604.513556, t: 1462550.451445 -5719547.793818 23510234.305610 q: 0.150766 0.876138 -0.334055 0.313144 
time: 1403636604.613555, t: 1462550.455238 -5719547.801001 23510234.284951 q: 0.150705 0.876130 -0.334119 0.313128 
time: 1403636604.713556, t: 1462550.454515 -5719547.794069 23510234.300757 q: 0.150805 0.876168 -0.333948 0.313155 
time: 1403636604.813555, t: 1462550.452075 -5719547.801562 23510234.285089 q: 0.150854 0.876203 -0.333993 0.312987 
time: 1403636604.913555, t: 1462550.453060 -5719547.800462 23510234.286949 q: 0.150859 0.876183 -0.334039 0.312991 
time: 1403636605.013556, t: 1462550.457537 -5719547.802352 23510234.288298 q: 0.150898 0.876159 -0.334062 0.313014 
time: 1403636605.113555, t: 1462550.455875 -5719547.806192 23510234.281163 q: 0.150876 0.876168 -0.334086 0.312975 
time: 1403636605.213556, t: 1462550.457313 -5719547.798612 23510234.294322 q: 0.150814 0.876189 -0.334042 0.312993 
time: 1403636605.313555, t: 1462550.451940 -5719547.803766 23510234.283373 q: 0.150863 0.876192 -0.334049 0.312952 
time: 1403636605.413555, t: 1462550.454489 -5719547.803920 23510234.278199 q: 0.150927 0.876212 -0.334013 0.312903 
time: 1403636605.513556, t: 1462550.454245 -5719547.796207 23510234.299560 q: 0.150708 0.876147 -0.334097 0.313102 
time: 1403636605.613555, t: 1462550.452320 -5719547.793229 23510234.303296 q: 0.150881 0.876174 -0.334021 0.313024 
time: 1403636605.713556, t: 1462550.453867 -5719547.777366 23510234.300226 q: 0.151078 0.875679 -0.334720 0.313569 
time: 1403636605.813555, t: 1462550.432503 -5719547.810775 23510234.308420 q: 0.149471 0.876491 -0.333212 0.313675 
time: 1403636605.913555, t: 1462550.452303 -5719547.786918 23510234.303058 q: 0.150604 0.876066 -0.334131 0.313342 
time: 1403636606.013556, t: 1462550.453999 -5719547.785301 23510234.304958 q: 0.150691 0.876052 -0.334431 0.313020 
time: 1403636606.113555, t: 1462550.457580 -5719547.779391 23510234.300282 q: 0.151301 0.875753 -0.334779 0.313189 
time: 1403636606.213556, t: 1462550.456665 -5719547.781721 23510234.301317 q: 0.151042 0.875942 -0.334560 0.313021 
time: 1403636606.313555, t: 1462550.458941 -5719547.781431 23510234.298883 q: 0.151012 0.875972 -0.334583 0.312927 
time: 1403636606.413555, t: 1462550.457645 -5719547.781964 23510234.295910 q: 0.150806 0.875877 -0.334739 0.313125 
time: 1403636606.513556, t: 1462550.458400 -5719547.782956 23510234.294233 q: 0.150746 0.875954 -0.334717 0.312960 
time: 1403636606.613555, t: 1462550.489576 -5719547.786757 23510234.282523 q: 0.151117 0.875902 -0.334739 0.312905 
time: 1403636606.713556, t: 1462550.464058 -5719547.784475 23510234.296239 q: 0.150943 0.875927 -0.334610 0.313057 
time: 1403636606.813555, t: 1462550.467020 -5719547.784613 23510234.290328 q: 0.150840 0.875894 -0.334593 0.313215 
time: 1403636606.913555, t: 1462550.469748 -5719547.784011 23510234.286094 q: 0.150959 0.875931 -0.334651 0.312992 
time: 1403636607.013556, t: 1462550.466014 -5719547.783587 23510234.287694 q: 0.151128 0.875964 -0.334597 0.312878 
time: 1403636607.113555, t: 1462550.464896 -5719547.783753 23510234.286964 q: 0.151026 0.875874 -0.334694 0.313075 
time: 1403636607.213556, t: 1462550.467140 -5719547.783528 23510234.285453 q: 0.151101 0.875966 -0.334650 0.312829 
time: 1403636607.313555, t: 1462550.467641 -5719547.779811 23510234.277235 q: 0.151553 0.875919 -0.334559 0.312838 
time: 1403636607.413555, t: 1462550.466999 -5719547.782611 23510234.282175 q: 0.151069 0.875899 -0.334788 0.312883 
time: 1403636607.513556, t: 1462550.464526 -5719547.781412 23510234.278360 q: 0.151245 0.875947 -0.334598 0.312868 
time: 1403636607.613555, t: 1462550.470916 -5719547.799034 23510234.256401 q: 0.151088 0.875916 -0.334712 0.312909 
time: 1403636607.713556, t: 1462550.471267 -5719547.786077 23510234.280154 q: 0.150923 0.875872 -0.334735 0.313088 
time: 1403636607.813555, t: 1462550.472647 -5719547.786741 23510234.275778 q: 0.150921 0.875901 -0.334714 0.313028 
time: 1403636607.913555, t: 1462550.472443 -5719547.784418 23510234.270150 q: 0.151171 0.875924 -0.334714 0.312843 
time: 1403636608.013556, t: 1462550.463537 -5719547.784841 23510234.288609 q: 0.150808 0.875896 -0.334713 0.313098 
time: 1403636608.113555, t: 1462550.461931 -5719547.781329 23510234.290032 q: 0.150927 0.875842 -0.334827 0.313068 
time: 1403636608.213556, t: 1462550.456459 -5719547.784196 23510234.290815 q: 0.151104 0.876032 -0.334549 0.312751 
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time: 1403636622.713556, t: 1462550.460290 -5719547.806226 23510234.289534 q: 0.149508 0.877151 -0.335180 0.309689 
time: 1403636622.813555, t: 1462550.463293 -5719547.808068 23510234.298732 q: 0.149009 0.877310 -0.335497 0.309136 
time: 1403636622.913555, t: 1462550.464359 -5719547.789391 23510234.279301 q: 0.150901 0.876521 -0.335349 0.310613 
time: 1403636623.013556, t: 1462550.453072 -5719547.801126 23510234.293775 q: 0.149341 0.877023 -0.335128 0.310187 
time: 1403636623.113555, t: 1462550.468269 -5719547.810979 23510234.276845 q: 0.150612 0.876758 -0.335458 0.309967 
time: 1403636623.213556, t: 1462550.465631 -5719547.801455 23510234.292597 q: 0.149661 0.876824 -0.335695 0.309985 
time: 1403636623.313555, t: 1462550.469303 -5719547.791530 23510234.284291 q: 0.151062 0.876514 -0.335534 0.310354 
time: 1403636623.413555, t: 1462550.470407 -5719547.795106 23510234.275683 q: 0.150714 0.876350 -0.335570 0.310946 
time: 1403636623.513556, t: 1462550.420510 -5719547.765401 23510234.175869 q: 0.155313 0.875328 -0.331561 0.315826 
time: 1403636623.613555, t: 1462550.476330 -5719547.815394 23510234.297885 q: 0.149184 0.877114 -0.336216 0.308828 
time: 1403636623.713556, t: 1462550.478866 -5719547.804383 23510234.281126 q: 0.149986 0.877063 -0.335678 0.309169 
time: 1403636623.813555, t: 1462550.471703 -5719547.801238 23510234.281498 q: 0.149945 0.876665 -0.336268 0.309676 
time: 1403636623.913555, t: 1462550.460751 -5719547.809124 23510234.299975 q: 0.150102 0.877200 -0.335661 0.308742 
time: 1403636624.013556, t: 1462550.465204 -5719547.812505 23510234.305778 q: 0.149640 0.877344 -0.336148 0.308025 
time: 1403636624.113555, t: 1462550.474178 -5719547.807167 23510234.278424 q: 0.151256 0.876871 -0.336017 0.308727 
time: 1403636624.213556, t: 1462550.470322 -5719547.816892 23510234.265542 q: 0.150303 0.876472 -0.336423 0.309878 
time: 1403636624.313555, t: 1462550.456876 -5719547.833158 23510234.321295 q: 0.148056 0.879786 -0.335803 0.302145 
time: 1403636624.413555, t: 1462550.405996 -5719547.841005 23510234.330725 q: 0.148876 0.883005 -0.334898 0.293225 
time: 1403636624.513556, t: 1462550.344551 -5719547.924816 23510234.325631 q: 0.140481 0.885794 -0.335775 0.287905 
time: 1403636624.613555, t: 1462550.389669 -5719547.816327 23510234.356939 q: 0.149425 0.888111 -0.334920 0.277057 
time: 1403636624.713556, t: 1462550.178722 -5719547.688659 23510234.548712 q: 0.149425 0.888111 -0.334920 0.277057 
time: 1403636624.813555, t: 1462549.449969 -5719547.478724 23510234.794909 q: 0.168450 0.911689 -0.207036 0.312383 
time: 1403636624.913555, t: 1462548.275589 -5719548.160570 23510236.311562 q: 0.017339 0.941413 -0.201420 0.269946 
time: 1403636625.013556, t: 1462547.660760 -5719548.741482 23510236.163712 q: 0.014007 0.954378 -0.157523 0.253284 
feature tracking not enough, please slowly move you device! 
time: 1403636625.113555, t: 1462549.933578 -5719547.287168 23510235.057009 q: 0.146326 0.917783 -0.239201 0.281151 
feature tracking not enough, please slowly move you device! 
time: 1403636625.213556, t: 1462549.933578 -5719547.287168 23510235.057009 q: 0.146326 0.917783 -0.239201 0.281151 
feature tracking not enough, please slowly move you device! 
time: 1403636625.313555, t: 1462549.933578 -5719547.287168 23510235.057009 q: 0.146326 0.917783 -0.239201 0.281151 
time: 1403636625.413555, t: 1462550.438849 -5719547.671686 23510234.932035 q: 0.146326 0.917783 -0.239201 0.281151 
time: 1403636625.513556, t: 1462551.833715 -5719548.591093 23510234.009638 q: 0.139418 0.887013 -0.284705 0.335728 
time: 1403636625.613555, t: 1462550.480265 -5719547.775148 23510234.586867 q: 0.151179 0.904458 -0.202541 0.343623 
time: 1403636625.713556, t: 1462550.357085 -5719547.932814 23510234.395729 q: 0.151179 0.904458 -0.202541 0.343623 
time: 1403636625.813555, t: 1462550.515935 -5719547.972678 23510234.466148 q: -0.016120 0.499548 -0.422313 0.756203 
time: 1403636625.913555, t: 1462550.391826 -5719547.379843 23510234.266392 q: -0.016120 0.499548 -0.422313 0.756203 
unstable tracking...
time: 1403636626.013556, t: 1462551.038427 -5719546.860515 23510234.579475 q: 0.119592 0.565439 -0.339111 0.742281 
unstable tracking...
time: 1403636626.113555, t: 1462550.868771 -5719546.372330 23510234.708801 q: 0.119592 0.565439 -0.339111 0.742281 
unstable tracking...
unstable tracking...
time: 1403636626.313555, t: 1462550.904432 -5719546.585893 23510234.692466 q: 0.106635 0.557431 -0.341168 0.749336 
unstable tracking...
time: 1403636626.413555, t: 1462550.922016 -5719546.696810 23510234.577622 q: 0.123511 0.550883 -0.323756 0.759246 
unstable tracking...
time: 1403636626.513556, t: 1462550.791539 -5719546.597611 23510234.721326 q: 0.137515 0.558608 -0.325572 0.750366 
unstable tracking...
time: 1403636626.613555, t: 1462550.496502 -5719547.071885 23510234.675715 q: 0.109581 0.542042 -0.281429 0.784207 
unstable tracking...
time: 1403636626.713556, t: 1462550.419404 -5719547.067855 23510234.662756 q: 0.113372 0.543999 -0.277969 0.783546 
unstable tracking...
time: 1403636626.813555, t: 1462550.667698 -5719547.103848 23510234.524904 q: 0.118229 0.536758 -0.276896 0.788189 
unstable tracking...
time: 1403636626.913555, t: 1462550.466863 -5719547.085599 23510234.650040 q: 0.109695 0.553951 -0.276877 0.777460 
unstable tracking...
time: 1403636627.013556, t: 1462550.541387 -5719547.065864 23510234.611526 q: 0.109103 0.558238 -0.280200 0.773275 
unstable tracking...
unstable tracking...
time: 1403636627.213556, t: 1462550.593785 -5719547.092691 23510234.505449 q: 0.107986 0.556235 -0.278455 0.775503 
unstable tracking...
time: 1403636627.313555, t: 1462550.496623 -5719547.064761 23510234.606188 q: 0.108975 0.556132 -0.279512 0.775058 
time: 1403636627.413555, t: 1462550.471252 -5719547.071714 23510234.606222 q: 0.106769 0.554351 -0.279213 0.776746 
time: 1403636627.513556, t: 1462550.584964 -5719547.138652 23510234.608362 q: 0.103159 0.545970 -0.283163 0.781725 
time: 1403636627.613555, t: 1462550.491348 -5719547.025989 23510234.624264 q: 0.107710 0.550444 -0.292479 0.774510 
time: 1403636627.713556, t: 1462550.443503 -5719547.151020 23510234.647096 q: 0.105661 0.559559 -0.298379 0.765963 
time: 1403636627.813555, t: 1462550.398740 -5719547.091167 23510234.656816 q: 0.106012 0.569319 -0.309676 0.754148 
time: 1403636627.913555, t: 1462550.481900 -5719546.963880 23510234.618532 q: 0.109835 0.572769 -0.326345 0.743889 
time: 1403636628.013556, t: 1462550.538866 -5719547.181685 23510234.595686 q: 0.114046 0.572746 -0.329205 0.742010 
time: 1403636628.113555, t: 1462550.436624 -5719547.185070 23510234.716022 q: 0.118312 0.568130 -0.335631 0.742012 
time: 1403636628.213556, t: 1462550.373665 -5719547.125047 23510234.616157 q: 0.119869 0.548930 -0.337236 0.755367 
time: 1403636628.313555, t: 1462550.415722 -5719547.212070 23510234.707166 q: 0.116927 0.540560 -0.341362 0.759997 
time: 1403636628.413555, t: 1462550.607516 -5719547.329537 23510234.723771 q: 0.123395 0.535652 -0.344206 0.761165 
time: 1403636628.513556, t: 1462550.344904 -5719547.198391 23510234.723278 q: 0.110935 0.537825 -0.341618 0.762716 
time: 1403636628.613555, t: 1462550.502312 -5719547.294165 23510234.712835 q: 0.108428 0.529438 -0.346190 0.766871 
time: 1403636628.713556, t: 1462550.357162 -5719547.239223 23510234.710670 q: 0.111191 0.538316 -0.340222 0.762956 
time: 1403636628.813555, t: 1462550.306578 -5719547.251034 23510234.773878 q: 0.116267 0.545783 -0.345803 0.754336 
time: 1403636628.913555, t: 1462550.353648 -5719547.313515 23510234.664427 q: 0.120636 0.548984 -0.351208 0.748810 
time: 1403636629.013556, t: 1462550.290669 -5719547.311728 23510234.757350 q: 0.122277 0.556313 -0.358326 0.739707 
time: 1403636629.113555, t: 1462550.270428 -5719547.327205 23510234.725390 q: 0.122917 0.555057 -0.363506 0.738015 
time: 1403636629.213556, t: 1462550.284073 -5719547.383254 23510234.759641 q: 0.125390 0.551823 -0.372741 0.735413 
time: 1403636629.313555, t: 1462550.207885 -5719547.405178 23510234.693609 q: 0.126158 0.544950 -0.379355 0.737024 
time: 1403636629.413555, t: 1462550.272371 -5719547.444959 23510234.765462 q: 0.127154 0.537880 -0.390137 0.736417 
time: 1403636629.513556, t: 1462550.297376 -5719547.512973 23510234.771816 q: 0.125942 0.528287 -0.400583 0.737960 
time: 1403636629.613555, t: 1462550.361477 -5719547.585159 23510234.664615 q: 0.127135 0.520680 -0.416128 0.734551 
time: 1403636629.713556, t: 1462550.357231 -5719547.627220 23510234.703044 q: 0.133485 0.526929 -0.433243 0.718908 
time: 1403636629.813555, t: 1462550.384016 -5719547.663003 23510234.647454 q: 0.138481 0.523109 -0.454565 0.707496 
time: 1403636629.913555, t: 1462550.355980 -5719547.756767 23510234.651111 q: 0.141585 0.521080 -0.470822 0.697679 
time: 1403636630.013556, t: 1462550.336998 -5719547.790714 23510234.657781 q: 0.147446 0.520268 -0.485259 0.687099 
time: 1403636630.113555, t: 1462550.263161 -5719547.854834 23510234.615968 q: 0.152363 0.513932 -0.491255 0.686533 
time: 1403636630.213556, t: 1462550.298489 -5719547.912932 23510234.602996 q: 0.162891 0.499952 -0.496634 0.690557 
time: 1403636630.413555, t: 1462550.299190 -5719548.091053 23510234.668450 q: 0.170407 0.495132 -0.500334 0.689545 
time: 1403636630.513556, t: 1462550.234661 -5719548.108849 23510234.678379 q: 0.167805 0.498931 -0.500554 0.687281 
time: 1403636630.613555, t: 1462550.217493 -5719548.181642 23510234.646079 q: 0.172142 0.503938 -0.496383 0.685578 
time: 1403636630.713556, t: 1462550.233127 -5719548.253916 23510234.740666 q: 0.176027 0.507924 -0.496035 0.681892 
time: 1403636630.813555, t: 1462550.105394 -5719548.283002 23510234.697120 q: 0.169085 0.509453 -0.490176 0.686728 
time: 1403636630.913555, t: 1462550.213386 -5719548.348677 23510234.704422 q: 0.165939 0.505677 -0.492425 0.688674 
time: 1403636631.013556, t: 1462550.235610 -5719548.400947 23510234.730710 q: 0.165291 0.505146 -0.492949 0.688846 
time: 1403636631.113555, t: 1462550.274648 -5719548.510161 23510234.859369 q: 0.167384 0.506034 -0.494457 0.686603 
time: 1403636631.213556, t: 1462550.338008 -5719548.569850 23510234.878788 q: 0.168393 0.502582 -0.495013 0.688489 
time: 1403636631.313555, t: 1462550.253624 -5719548.580261 23510234.761572 q: 0.167469 0.501055 -0.490780 0.692844 
time: 1403636631.413555, t: 1462550.262370 -5719548.647364 23510234.796745 q: 0.167703 0.502613 -0.490426 0.691910 
time: 1403636631.513556, t: 1462550.251305 -5719548.691585 23510234.751770 q: 0.169258 0.504081 -0.487998 0.692179 
time: 1403636631.613555, t: 1462550.255025 -5719548.756355 23510234.739532 q: 0.170128 0.506175 -0.487156 0.691030 
time: 1403636631.713556, t: 1462550.289461 -5719548.813379 23510234.729740 q: 0.171504 0.507647 -0.486093 0.690359 
time: 1403636631.813555, t: 1462550.257481 -5719548.843308 23510234.736811 q: 0.170934 0.508688 -0.485014 0.690492 
time: 1403636631.913555, t: 1462550.266365 -5719548.896750 23510234.744606 q: 0.172293 0.510727 -0.484317 0.689138 
time: 1403636632.013556, t: 1462550.256719 -5719548.935591 23510234.758310 q: 0.172147 0.510739 -0.484510 0.689029 
time: 1403636632.113555, t: 1462550.292766 -5719549.007823 23510234.768666 q: 0.175058 0.509670 -0.483987 0.689454 
time: 1403636632.213556, t: 1462550.307326 -5719549.048651 23510234.757269 q: 0.180115 0.508626 -0.483184 0.689486 
time: 1403636632.313555, t: 1462550.334943 -5719549.102284 23510234.779904 q: 0.179977 0.507483 -0.485107 0.689015 
time: 1403636632.413555, t: 1462550.340926 -5719549.155281 23510234.785052 q: 0.178585 0.507519 -0.486004 0.688717 
time: 1403636632.513556, t: 1462550.324898 -5719549.194445 23510234.776949 q: 0.167995 0.509978 -0.487437 0.688553 
time: 1403636632.613555, t: 1462550.326146 -5719549.223849 23510234.768791 q: 0.152180 0.515578 -0.485581 0.689370 
time: 1403636632.713556, t: 1462550.462297 -5719549.242805 23510234.736343 q: 0.146137 0.515797 -0.481617 0.693284 
time: 1403636632.813555, t: 1462550.404555 -5719549.333952 23510234.742384 q: 0.135323 0.528474 -0.459777 0.700720 
time: 1403636632.913555, t: 1462550.442048 -5719549.372988 23510234.733467 q: 0.140364 0.531477 -0.435991 0.712560 
time: 1403636633.013556, t: 1462550.435656 -5719549.411824 23510234.764343 q: 0.145181 0.537190 -0.415179 0.719705 
time: 1403636633.113555, t: 1462550.488912 -5719549.458407 23510234.777041 q: 0.145083 0.539148 -0.403223 0.725039 
time: 1403636633.213556, t: 1462550.493848 -5719549.515924 23510234.787373 q: 0.142819 0.542276 -0.393430 0.728527 
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time: 1403636633.513556, t: 1462550.463924 -5719549.678702 23510234.846072 q: 0.125124 0.552533 -0.386543 0.727761 
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time: 1403636633.713556, t: 1462550.656535 -5719549.793966 23510234.847891 q: 0.124120 0.550865 -0.395486 0.724384 
time: 1403636633.813555, t: 1462550.696500 -5719549.861266 23510234.840086 q: 0.126276 0.549434 -0.397980 0.723732 
time: 1403636633.913555, t: 1462550.687395 -5719549.917695 23510234.865614 q: 0.122956 0.546635 -0.400747 0.724896 
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time: 1403636634.513556, t: 1462550.787185 -5719550.333607 23510235.007334 q: 0.141352 0.537822 -0.392268 0.732730 
time: 1403636634.613555, t: 1462550.789348 -5719550.416014 23510234.995037 q: 0.142185 0.535506 -0.387347 0.736871 
time: 1403636634.713556, t: 1462550.835035 -5719550.500902 23510235.017205 q: 0.142178 0.536536 -0.379470 0.740214 
time: 1403636634.813555, t: 1462550.881954 -5719550.575971 23510235.022863 q: 0.138209 0.539710 -0.372483 0.742205 
time: 1403636634.913555, t: 1462550.867420 -5719550.624470 23510235.036444 q: 0.135553 0.545915 -0.366327 0.741220 
time: 1403636635.013556, t: 1462550.898341 -5719550.647897 23510235.049476 q: 0.136332 0.548256 -0.363214 0.740881 
time: 1403636635.113555, t: 1462550.907281 -5719550.721150 23510235.086102 q: 0.132328 0.553171 -0.357839 0.740568 
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time: 1403636635.313555, t: 1462550.960804 -5719550.853725 23510235.090256 q: 0.125442 0.555623 -0.352943 0.742279 
time: 1403636635.413555, t: 1462550.967116 -5719550.872701 23510235.098517 q: 0.120594 0.555393 -0.356894 0.741365 
time: 1403636635.513556, t: 1462550.963653 -5719550.956328 23510235.116216 q: 0.113373 0.556977 -0.355196 0.742131 
time: 1403636635.613555, t: 1462551.084710 -5719551.059455 23510235.099170 q: 0.114020 0.550551 -0.356683 0.746104 
time: 1403636635.713556, t: 1462551.026199 -5719551.074469 23510235.223070 q: 0.111789 0.552830 -0.357880 0.744180 
time: 1403636635.813555, t: 1462551.025279 -5719551.123663 23510235.260180 q: 0.110949 0.546909 -0.360361 0.747476 
time: 1403636635.913555, t: 1462551.045280 -5719551.229895 23510235.262394 q: 0.102230 0.540677 -0.361646 0.752616 
time: 1403636636.013556, t: 1462551.039178 -5719551.274085 23510235.344038 q: 0.103663 0.550606 -0.363399 0.744331 
time: 1403636636.113555, t: 1462551.033662 -5719551.337837 23510235.384563 q: 0.108613 0.557566 -0.363460 0.738390 
time: 1403636636.213556, t: 1462551.027336 -5719551.544335 23510235.393711 q: 0.110926 0.554776 -0.355690 0.743911 
time: 1403636636.313555, t: 1462551.020878 -5719551.464750 23510235.412721 q: 0.126142 0.545076 -0.359720 0.746714 
time: 1403636636.413555, t: 1462551.068841 -5719551.574878 23510235.488811 q: 0.137555 0.534739 -0.354941 0.754420 
time: 1403636636.513556, t: 1462551.032670 -5719551.642136 23510235.539644 q: 0.143111 0.529385 -0.351758 0.758641 
time: 1403636636.613555, t: 1462551.081062 -5719551.739203 23510235.596702 q: 0.152568 0.530656 -0.349660 0.756879 
time: 1403636636.713556, t: 1462551.070339 -5719551.783396 23510235.585235 q: 0.159694 0.531611 -0.347387 0.755784 
time: 1403636636.813555, t: 1462551.221889 -5719551.864343 23510235.649681 q: 0.170693 0.531524 -0.348502 0.752922 
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feature tracking not enough, please slowly move you device! 
time: 1403636762.913555, t: 1462561.669135 -5719546.421383 23510233.518492 q: -0.028143 0.200545 -0.447589 0.871008 
time: 1403636763.013556, t: 1462561.680590 -5719546.429974 23510233.332083 q: -0.047874 0.226613 -0.464145 0.854941 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636763.313555, t: 1462561.797353 -5719546.496067 23510233.226362 q: -0.040937 0.223368 -0.476085 0.849573 
time: 1403636763.413555, t: 1462567.465343 -5719544.854279 23510235.368518 q: 0.132816 -0.190982 -0.676552 0.698686 
time: 1403636763.513556, t: 1462566.247750 -5719549.241125 23510234.847283 q: 0.067679 -0.077208 -0.559801 0.822241 
time: 1403636763.613555, t: 1462564.360749 -5719550.281929 23510233.392075 q: -0.032103 0.024435 -0.500134 0.865008 
time: 1403636763.713556, t: 1462564.571091 -5719549.657698 23510233.730391 q: -0.032559 0.023281 -0.499922 0.865145 
time: 1403636763.813555, t: 1462564.578945 -5719550.068101 23510233.630062 q: -0.032559 0.023281 -0.499922 0.865145 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720490316.377152590]: Shutdown request received.[0m
[33m[ WARN] [1720490316.377184760]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720490316.377996539]: Shutdown request received.[0m
[33m[ WARN] [1720490316.378039598]: Reason given for shutdown: [user request][0m
killed
