/SLAM-Hive/slam_hive_results/mapping_results/2964/2172_vins-fusion-stereo+MH_01_easy+Image_comb_test-12.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720491697.782069210]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720491697.783260132]: init begins[0m
[31m[ERROR] [1720491697.784270466]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/f86295b0-3d99-11ef-9837-0242ac110005/roslaunch-4ef621ce9cce-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://4ef621ce9cce:43149/[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://4ef621ce9cce:11311/[0m
]2;roscore http://4ef621ce9cce:11311/
[1msetting /run_id to f86295b0-3d99-11ef-9837-0242ac110005[0m
[0m[ INFO] [1720491698.938203925]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720491698.942296713]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720491698.948062065]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720491698.948294812]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720491698.948321580]: ROW: 480 COL: 752 [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] [1720491698.948659567]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720491698.948904504]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720491698.949083295]: 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
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [216][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720491707.901653563]: 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: 316855129.18 
[0m[ INFO] [1720491713.371296192]: Initialization finish![0m
time: 1403636583.963556, t: -0.124134 0.006508 -0.041242 q: 0.998243 -0.035191 -0.042783 -0.021005 
time: 1403636584.363555, t: 0.353681 0.025583 -0.188185 q: 0.994466 -0.018948 -0.097437 -0.034415 
time: 1403636584.763556, t: 0.933971 -0.224323 -0.226767 q: 0.994664 -0.075750 -0.020482 -0.066980 
time: 1403636585.163555, t: 1.089651 -0.097596 -0.264142 q: 0.993449 -0.064475 -0.080180 -0.049730 
time: 1403636585.563555, t: 0.884964 -0.186378 -0.127484 q: 0.988905 -0.071444 -0.112195 -0.066149 
time: 1403636585.963556, t: 0.829316 -0.181693 -0.186347 q: 0.981749 -0.044553 -0.179934 -0.042527 
time: 1403636586.363555, t: 1.094768 -0.246807 -0.229876 q: 0.956228 -0.085843 -0.277140 -0.038109 
time: 1403636586.763556, t: 0.924713 -0.145941 -0.282989 q: 0.954752 -0.070250 -0.287924 -0.024774 
time: 1403636587.163555, t: 0.952526 -0.143432 -0.260018 q: 0.957252 -0.058034 -0.280988 -0.036702 
time: 1403636587.563555, t: 0.981453 -0.073329 -0.240827 q: 0.954755 -0.066063 -0.288560 -0.028485 
time: 1403636587.963556, t: 1.028970 0.059576 -0.230994 q: 0.955726 -0.092185 -0.278905 -0.017362 
time: 1403636588.363555, t: 1.021969 0.137585 -0.230223 q: 0.952066 -0.099606 -0.288921 -0.013201 
time: 1403636588.763556, t: 1.019968 0.084489 -0.236233 q: 0.952356 -0.096193 -0.289137 -0.012804 
time: 1403636589.163555, t: 1.004753 -0.069308 -0.240930 q: 0.955941 -0.073629 -0.283569 -0.018551 
time: 1403636589.563555, t: 0.982943 -0.263210 -0.252985 q: 0.955708 -0.057343 -0.287424 -0.026847 
time: 1403636589.963556, t: 0.942738 -0.434268 -0.255209 q: 0.954121 -0.035297 -0.295656 -0.031530 
time: 1403636590.363555, t: 0.937032 -0.472477 -0.258095 q: 0.957317 -0.022338 -0.286135 -0.034229 
time: 1403636590.763556, t: 0.966797 -0.342519 -0.273243 q: 0.957656 -0.045975 -0.281786 -0.037128 
time: 1403636591.163555, t: 0.987002 -0.157850 -0.268253 q: 0.955719 -0.051025 -0.288477 -0.027895 
time: 1403636591.563555, t: 0.982827 -0.036747 -0.250722 q: 0.954996 -0.069119 -0.287555 -0.022734 
time: 1403636591.963556, t: 0.980845 -0.001952 -0.224013 q: 0.967995 -0.111815 -0.223008 -0.027380 
time: 1403636592.363555, t: 0.992390 0.047781 -0.150002 q: 0.958015 -0.138052 -0.251249 -0.004746 
time: 1403636592.763556, t: 1.004897 0.001510 -0.025171 q: 0.967234 -0.072295 -0.242160 -0.024285 
time: 1403636593.163555, t: 0.958360 -0.215032 0.003145 q: 0.962520 0.039465 -0.265301 -0.040174 
time: 1403636593.563555, t: 0.921415 -0.370625 -0.165391 q: 0.956423 0.062309 -0.282003 -0.042979 
time: 1403636593.963556, t: 0.838140 -0.558871 -0.002713 q: 0.941066 -0.184998 -0.279750 -0.043709 
feature tracking not enough, please slowly move you device! 
time: 1403636594.363555, t: 0.838140 -0.558871 -0.002713 q: 0.941066 -0.184998 -0.279750 -0.043709 
time: 1403636594.763556, t: 0.838140 -0.558871 -0.002713 q: 0.941066 -0.184998 -0.279750 -0.043709 
time: 1403636595.163555, t: 0.310673 -0.547132 -0.335900 q: 0.973440 -0.027950 -0.220572 -0.054601 
feature tracking not enough, please slowly move you device! 
time: 1403636595.563555, t: 0.310673 -0.547132 -0.335900 q: 0.973440 -0.027950 -0.220572 -0.054601 
time: 1403636595.963556, t: 2.812852 1.741287 -4.273822 q: 0.939780 -0.005238 -0.321282 -0.116463 
time: 1403636596.363555, t: 1.465603 1.123385 -2.744693 q: 0.942203 -0.028159 -0.317382 -0.103581 
time: 1403636596.763556, t: -16.921472 -6.323674 85.882197 q: 0.360055 -0.229675 0.903820 -0.026809 
time: 1403636597.163555, t: 58.678114 224.443841 85.775950 q: 0.250616 0.925850 -0.254259 0.123878 
time: 1403636597.563555, t: 8123.702300 62726.168256 -19422.801311 q: -0.407104 0.742315 -0.531883 -0.018315 
unstable tracking...
time: 1403636597.963556, t: 5583.021499 85577.851985 -53774.763073 q: -0.186962 0.779732 -0.558535 -0.212371 
unstable tracking...
time: 1403636598.363555, t: 37279.552199 53568.987364 -190113.282792 q: -0.173939 0.877026 0.393989 0.212940 
unstable tracking...
time: 1403636598.763556, t: 40073.725978 51365.049147 -192314.300649 q: -0.048419 0.835863 -0.310661 0.449976 
unstable tracking...
time: 1403636599.163555, t: 92094.587551 178118.634387 -234009.569794 q: 0.196783 0.735200 0.624136 0.176669 
unstable tracking...
time: 1403636599.563555, t: 113001.706947 263072.052303 -244084.081670 q: 0.311528 0.552470 0.607267 0.478491 
unstable tracking...
unstable tracking...
time: 1403636600.763556, t: -2594689.675723 4487026.446984 -625457.757743 q: 0.711213 0.657314 -0.021817 0.248272 
unstable tracking...
time: 1403636601.163555, t: -2594689.728946 4487026.479378 -625457.761537 q: 0.711213 0.657314 -0.021817 0.248272 
time: 1403636601.563555, t: -2813782.141018 5505947.749968 -793735.913061 q: 0.233346 0.425217 -0.578097 0.656159 
unstable tracking...
time: 1403636602.363555, t: -2865175.012631 6053644.559007 230006.007997 q: 0.378530 -0.049649 0.338457 0.860056 
unstable tracking...
time: 1403636602.763556, t: -2865174.983475 6053644.440248 230006.010777 q: 0.378530 -0.049649 0.338457 0.860056 
time: 1403636603.163555, t: -2862917.108141 6072414.057737 232118.053115 q: 0.529493 -0.075107 0.445780 0.717827 
unstable tracking...
time: 1403636603.563555, t: -2862917.390261 6072394.238671 232132.836742 q: 0.529493 -0.075107 0.445780 0.717828 
time: 1403636603.963556, t: -2862866.252805 6072577.653590 232190.463378 q: 0.626934 -0.157403 0.429434 0.630686 
unstable tracking...
time: 1403636604.363555, t: -2862971.018595 6072180.440255 231950.189835 q: 0.625458 -0.156543 0.431977 0.630629 
time: 1403636604.763556, t: -2862919.754960 6072557.586172 232040.263339 q: 0.636679 -0.133212 0.422750 0.631013 
unstable tracking...
time: 1403636605.563555, t: -2862920.692735 6072556.271966 232040.034057 q: 0.636679 -0.133212 0.422750 0.631013 
unstable tracking...
time: 1403636606.363555, t: -2862920.168073 6072556.941240 232040.159739 q: 0.637008 -0.133193 0.422563 0.630810 
unstable tracking...
time: 1403636607.163555, t: -2862920.185108 6072556.943530 232040.151513 q: 0.636753 -0.133106 0.422714 0.630984 
time: 1403636607.563555, t: -2862920.186463 6072556.942372 232040.151520 q: 0.636721 -0.133080 0.422743 0.631003 
unstable tracking...
time: 1403636607.963556, t: -2862920.162072 6072556.955843 232040.163510 q: 0.635938 -0.133566 0.423032 0.631496 
time: 1403636608.363555, t: -2862920.187121 6072556.940923 232040.151951 q: 0.636556 -0.133168 0.422804 0.631110 
time: 1403636608.763556, t: -2862920.188117 6072556.940202 232040.151865 q: 0.636511 -0.133158 0.422852 0.631125 
time: 1403636609.163555, t: -2862920.177795 6072556.950594 232040.159825 q: 0.636032 -0.133165 0.423243 0.631344 
time: 1403636609.563555, t: -2862920.190728 6072556.938274 232040.151390 q: 0.636426 -0.133157 0.422922 0.631165 
time: 1403636609.963556, t: -2862920.192546 6072556.936593 232040.150531 q: 0.636399 -0.133156 0.422916 0.631196 
time: 1403636610.363555, t: -2862920.194559 6072556.934943 232040.149685 q: 0.636377 -0.133151 0.422913 0.631220 
time: 1403636610.763556, t: -2862920.196227 6072556.934000 232040.148939 q: 0.636485 -0.133104 0.422787 0.631206 
time: 1403636611.163555, t: -2862920.197989 6072556.933187 232040.147989 q: 0.636606 -0.133084 0.422749 0.631114 
time: 1403636611.563555, t: -2862920.201671 6072556.932444 232040.150209 q: 0.636332 -0.132948 0.422819 0.631372 
time: 1403636611.963556, t: -2862920.204192 6072556.927744 232040.146777 q: 0.636142 -0.132857 0.423024 0.631446 
time: 1403636612.363555, t: -2862920.206013 6072556.928145 232040.148813 q: 0.637125 -0.133993 0.422676 0.630446 
time: 1403636612.763556, t: -2862920.205604 6072556.928028 232040.148515 q: 0.636508 -0.133583 0.422949 0.630973 
time: 1403636613.163555, t: -2862920.204404 6072556.928418 232040.148349 q: 0.635762 -0.133212 0.423385 0.631511 
time: 1403636613.563555, t: -2862920.204428 6072556.928605 232040.149158 q: 0.635791 -0.133342 0.423374 0.631462 
time: 1403636613.963556, t: -2862920.205930 6072556.927487 232040.148828 q: 0.635865 -0.133461 0.423333 0.631390 
time: 1403636614.363555, t: -2862920.206805 6072556.927349 232040.148524 q: 0.635882 -0.133564 0.423326 0.631355 
time: 1403636614.763556, t: -2862920.207413 6072556.926335 232040.147645 q: 0.635888 -0.133489 0.423301 0.631383 
time: 1403636615.163555, t: -2862920.207509 6072556.926662 232040.147284 q: 0.635851 -0.133425 0.423295 0.631437 
time: 1403636615.563555, t: -2862920.207956 6072556.926460 232040.146857 q: 0.635817 -0.133445 0.423317 0.631452 
time: 1403636615.963556, t: -2862920.208418 6072556.926143 232040.146442 q: 0.635809 -0.133466 0.423313 0.631458 
time: 1403636616.363555, t: -2862920.208873 6072556.925958 232040.146107 q: 0.635799 -0.133461 0.423315 0.631469 
time: 1403636616.763556, t: -2862920.209455 6072556.925593 232040.145625 q: 0.635796 -0.133478 0.423316 0.631467 
time: 1403636617.163555, t: -2862920.209945 6072556.925254 232040.145163 q: 0.635791 -0.133476 0.423300 0.631483 
time: 1403636617.563555, t: -2862920.210334 6072556.925071 232040.144787 q: 0.635756 -0.133462 0.423330 0.631502 
time: 1403636617.963556, t: -2862920.210917 6072556.924684 232040.144291 q: 0.635757 -0.133474 0.423312 0.631510 
time: 1403636618.363555, t: -2862920.211338 6072556.924461 232040.143896 q: 0.635734 -0.133481 0.423326 0.631522 
time: 1403636618.763556, t: -2862920.209620 6072556.925133 232040.143144 q: 0.635576 -0.133553 0.423289 0.631691 
time: 1403636619.163555, t: -2862920.209693 6072556.925134 232040.142892 q: 0.635556 -0.133491 0.423225 0.631767 
time: 1403636619.563555, t: -2862920.209752 6072556.925003 232040.142662 q: 0.635602 -0.133455 0.423258 0.631706 
time: 1403636619.963556, t: -2862920.209810 6072556.925020 232040.142642 q: 0.635641 -0.133526 0.423259 0.631651 
time: 1403636620.363555, t: -2862920.209898 6072556.925032 232040.142647 q: 0.635699 -0.133560 0.423212 0.631617 
time: 1403636620.763556, t: -2862920.209933 6072556.925064 232040.142630 q: 0.635679 -0.133562 0.423207 0.631639 
time: 1403636621.163555, t: -2862920.210149 6072556.925111 232040.142648 q: 0.635867 -0.133772 0.423109 0.631472 
time: 1403636621.563555, t: -2862920.210160 6072556.925107 232040.142613 q: 0.635798 -0.133695 0.423132 0.631543 
time: 1403636621.963556, t: -2862920.210123 6072556.925157 232040.142580 q: 0.635734 -0.133608 0.423217 0.631569 
time: 1403636622.363555, t: -2862920.210190 6072556.925209 232040.142605 q: 0.635767 -0.133646 0.423162 0.631564 
time: 1403636622.763556, t: -2862920.210290 6072556.925228 232040.142570 q: 0.635755 -0.133682 0.423164 0.631566 
time: 1403636623.163555, t: -2862920.210894 6072556.925409 232040.142515 q: 0.635468 -0.133966 0.423270 0.631725 
time: 1403636623.563555, t: -2862920.211283 6072556.925650 232040.142645 q: 0.635387 -0.133967 0.423172 0.631871 
time: 1403636623.963556, t: -2862920.211843 6072556.925955 232040.142637 q: 0.635130 -0.134137 0.422242 0.632716 
time: 1403636624.363555, t: -2862920.213873 6072556.924162 232040.142162 q: 0.638392 -0.131412 0.414654 0.635019 
unstable tracking...
time: 1403636624.763556, t: -2862920.249661 6072556.905432 232040.139780 q: 0.648188 -0.134784 0.397763 0.635194 
unstable tracking...
time: 1403636625.163555, t: -2862920.308613 6072556.889094 232040.083821 q: 0.683014 -0.127294 0.359350 0.623022 
unstable tracking...
time: 1403636625.563555, t: -2862920.322678 6072556.902207 232040.051574 q: 0.676354 -0.120963 0.368960 0.625924 
unstable tracking...
time: 1403636625.963556, t: -2862920.416401 6072556.906337 232039.973390 q: 0.667223 -0.132515 0.393709 0.618261 
unstable tracking...
time: 1403636626.363555, t: -2862920.318458 6072557.096796 232039.866163 q: 0.651490 -0.124816 0.403972 0.629912 
time: 1403636626.763556, t: -2862920.342455 6072557.135439 232039.858712 q: 0.661310 -0.140936 0.406039 0.614767 
time: 1403636627.163555, t: -2862920.355734 6072557.083378 232039.910636 q: 0.671983 -0.124823 0.389819 0.617170 
time: 1403636627.563555, t: -2862920.419470 6072557.103031 232039.841324 q: 0.663381 -0.130219 0.395896 0.621478 
time: 1403636627.963556, t: -2862920.434104 6072557.095611 232039.870155 q: 0.664504 -0.133309 0.346258 0.648666 
time: 1403636628.363555, t: -2862920.512388 6072557.123910 232039.858090 q: 0.635757 -0.159129 0.369801 0.658588 
time: 1403636628.763556, t: -2862920.583934 6072557.211609 232039.833233 q: 0.636246 -0.154736 0.366635 0.660928 
time: 1403636629.163555, t: -2862920.690127 6072557.256602 232039.843394 q: 0.640839 -0.160609 0.331805 0.673376 
time: 1403636629.563555, t: -2862920.773612 6072557.312679 232039.893761 q: 0.607934 -0.185257 0.323267 0.701138 
time: 1403636629.963556, t: -2862920.916464 6072557.376246 232040.040274 q: 0.583808 -0.209115 0.255111 0.741861 
time: 1403636630.363555, t: -2862921.054753 6072557.502816 232040.108334 q: 0.564039 -0.247116 0.248107 0.747821 
time: 1403636630.763556, t: -2862921.212097 6072557.690425 232040.244105 q: 0.572092 -0.243641 0.245975 0.743536 
time: 1403636631.163555, t: -2862921.360383 6072557.828405 232040.325865 q: 0.570856 -0.238180 0.256010 0.742868 
time: 1403636631.563555, t: -2862921.492908 6072557.944912 232040.455647 q: 0.574550 -0.239650 0.259334 0.738380 
time: 1403636631.963556, t: -2862921.581576 6072558.088121 232040.593357 q: 0.581151 -0.238493 0.256691 0.734503 
time: 1403636632.363555, t: -2862921.655413 6072558.239184 232040.686632 q: 0.580587 -0.245527 0.256639 0.732647 
time: 1403636632.763556, t: -2862921.638808 6072558.336221 232040.824441 q: 0.584855 -0.202758 0.271303 0.737040 
time: 1403636633.163555, t: -2862921.610970 6072558.465019 232040.911921 q: 0.625848 -0.193376 0.313635 0.687425 
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optimize pose graph 
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optimize pose graph 
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time: 1403636746.763556, t: -2862922.753014 6072557.242696 232042.978577 q: 0.475491 -0.305026 0.141118 0.812990 
time: 1403636747.163555, t: -2862922.732253 6072557.305702 232042.997583 q: 0.479858 -0.314539 0.153331 0.804544 
time: 1403636747.563555, t: -2862922.720699 6072557.429859 232042.941105 q: 0.484097 -0.327490 0.145293 0.798305 
time: 1403636747.963556, t: -2862922.685822 6072557.571438 232042.877501 q: 0.464953 -0.326384 0.150804 0.809043 
time: 1403636748.363555, t: -2862922.677615 6072557.712244 232042.823010 q: 0.465111 -0.327826 0.143359 0.809723 
time: 1403636748.763556, t: -2862922.682242 6072557.843253 232042.775675 q: 0.460633 -0.330849 0.148119 0.810196 
time: 1403636749.163555, t: -2862922.703173 6072557.932175 232042.745124 q: 0.440133 -0.332261 0.155213 0.819630 
time: 1403636749.563555, t: -2862922.775476 6072557.996706 232042.659243 q: 0.463145 -0.346566 0.129982 0.805291 
time: 1403636749.963556, t: -2862922.819846 6072558.047267 232042.615588 q: 0.463789 -0.358720 0.145107 0.796971 
time: 1403636750.363555, t: -2862922.789102 6072558.046789 232042.568932 q: 0.470812 -0.344319 0.148095 0.798654 
time: 1403636750.763556, t: -2862922.756810 6072558.073394 232042.390656 q: 0.480743 -0.334290 0.152077 0.796247 
time: 1403636751.163555, t: -2862922.726992 6072558.128624 232042.146402 q: 0.486375 -0.327655 0.145961 0.796728 
time: 1403636751.563555, t: -2862922.675007 6072558.188417 232041.950785 q: 0.470160 -0.319807 0.158101 0.807265 
time: 1403636751.963556, t: -2862922.657242 6072558.236213 232041.802677 q: 0.486113 -0.297328 0.157006 0.806622 
time: 1403636752.363555, t: -2862922.699407 6072558.312505 232041.683282 q: 0.501636 -0.310903 0.180985 0.786731 
time: 1403636752.763556, t: -2862922.664017 6072558.327367 232041.476470 q: 0.548433 -0.273545 0.229240 0.756203 
time: 1403636753.163555, t: -2862922.724189 6072558.435716 232041.508585 q: 0.610664 -0.233861 0.279370 0.703101 
time: 1403636753.563555, t: -2862922.564110 6072558.395156 232041.427615 q: 0.643431 -0.194209 0.328701 0.663503 
time: 1403636753.963556, t: -2862922.601143 6072558.422129 232041.487884 q: 0.639515 -0.191399 0.341520 0.661627 
optimize pose graph 
time: 1403636754.363555, t: -2862922.514262 6072558.387269 232041.424472 q: 0.634046 -0.208805 0.342395 0.661174 
time: 1403636754.763556, t: -2862922.333705 6072558.336946 232041.295287 q: 0.653099 -0.187332 0.356578 0.641265 
time: 1403636755.163555, t: -2862922.176883 6072558.183992 232041.180033 q: 0.667969 -0.163430 0.380404 0.618385 
time: 1403636755.563555, t: -2862922.031642 6072558.065620 232041.047271 q: 0.677663 -0.146044 0.367497 0.619992 
time: 1403636755.963556, t: -2862921.829363 6072557.945137 232040.924677 q: 0.668274 -0.153307 0.376220 0.623190 
optimize pose graph 
time: 1403636756.363555, t: -2862921.623381 6072557.823620 232040.782704 q: 0.666058 -0.156691 0.381509 0.621502 
time: 1403636756.763556, t: -2862921.405561 6072557.673721 232040.659950 q: 0.665072 -0.156898 0.386784 0.619241 
time: 1403636757.163555, t: -2862921.212919 6072557.514615 232040.492476 q: 0.664803 -0.152878 0.389841 0.618618 
time: 1403636757.563555, t: -2862921.011421 6072557.295825 232040.360129 q: 0.675468 -0.147326 0.382586 0.612916 
time: 1403636757.963556, t: -2862920.839628 6072557.126485 232040.151477 q: 0.693170 -0.111982 0.380893 0.601578 
time: 1403636758.363555, t: -2862920.579477 6072557.019536 232040.000540 q: 0.674229 -0.125930 0.413277 0.598965 
time: 1403636758.763556, t: -2862920.288311 6072556.845261 232040.040313 q: 0.669759 -0.112180 0.407987 0.610233 
time: 1403636759.163555, t: -2862920.174132 6072556.859083 232039.910443 q: 0.657285 -0.111535 0.423067 0.613637 
time: 1403636759.563555, t: -2862920.087437 6072556.808644 232039.932274 q: 0.667063 -0.120639 0.418362 0.604522 
time: 1403636759.963556, t: -2862920.072872 6072556.738594 232039.972841 q: 0.677910 -0.121513 0.409339 0.598427 
time: 1403636760.363555, t: -2862920.077906 6072556.673798 232039.973053 q: 0.675058 -0.123076 0.412580 0.599105 
time: 1403636760.763556, t: -2862920.056248 6072556.611115 232040.019302 q: 0.687921 -0.122464 0.399073 0.593724 
time: 1403636761.163555, t: -2862920.047131 6072556.539408 232040.022086 q: 0.692585 -0.109852 0.391441 0.595846 
time: 1403636761.563555, t: -2862919.985135 6072556.521918 232040.024088 q: 0.685311 -0.120918 0.404090 0.593666 
time: 1403636761.963556, t: -2862919.938791 6072556.526055 232039.993635 q: 0.670624 -0.113836 0.414523 0.604545 
time: 1403636762.363555, t: -2862919.888662 6072556.561031 232039.980124 q: 0.698394 -0.120253 0.383005 0.592530 
time: 1403636762.763556, t: -2862919.813539 6072556.542511 232040.031973 q: 0.660670 -0.105007 0.416699 0.615508 
time: 1403636763.163555, t: -2862919.835239 6072556.552302 232040.078381 q: 0.635771 -0.147227 0.413410 0.634989 
time: 1403636763.563555, t: -2862919.838923 6072556.512486 232040.062453 q: 0.636121 -0.137349 0.403841 0.642960 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720491896.599088753]: Shutdown request received.[0m
[33m[ WARN] [1720491896.599125122]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720491896.599907227]: Shutdown request received.[0m
[33m[ WARN] [1720491896.599933500]: Reason given for shutdown: [user request][0m
killed
