/SLAM-Hive/slam_hive_results/mapping_results/2965/2173_vins-fusion-stereo+MH_01_easy+Image_comb_test-13.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720491922.659010301]: init begins[0m
[31m[ERROR] [1720491922.660237476]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720491922.660419014]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/7e6c27a2-3d9a-11ef-997a-0242ac110005/roslaunch-a86c593d733b-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://a86c593d733b:40171/[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] [1720491923.767027640]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720491923.767645032]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720491923.773938556]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720491923.774124089]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720491923.774151100]: ROW: 384 COL: 601 [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] [1720491923.774471047]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720491923.774666242]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720491923.774822322]: 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://a86c593d733b:11311/[0m
]2;roscore http://a86c593d733b:11311/
[1msetting /run_id to 7e6c27a2-3d9a-11ef-997a-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] [1720491932.790180886]: 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: 316855354.07 
[0m[ INFO] [1720491938.243766557]: Initialization finish![0m
time: 1403636583.963556, t: -0.482989 -0.188636 0.268430 q: 0.997813 -0.033556 0.051877 0.023493 
time: 1403636584.363555, t: -0.258326 -0.271634 0.178732 q: 0.999313 -0.034429 0.007674 0.011407 
time: 1403636584.763556, t: 1.822024 0.033266 -0.633267 q: 0.964478 0.077116 -0.177798 0.179510 
time: 1403636585.163555, t: -2.312553 1.286730 -2.220840 q: 0.901184 0.187184 0.281583 0.271184 
time: 1403636585.963556, t: 0.649806 1.600765 -2.910506 q: 0.989011 0.110243 -0.054664 0.081946 
time: 1403636586.363555, t: 0.656812 1.598863 -2.944555 q: 0.981796 0.089438 -0.142048 0.088879 
time: 1403636586.763556, t: 0.659382 1.625818 -2.964675 q: 0.975594 0.097567 -0.175736 0.088397 
time: 1403636587.163555, t: 0.665708 1.638598 -2.944040 q: 0.977269 0.108483 -0.165139 0.076852 
time: 1403636587.563555, t: 0.661478 1.712875 -2.904708 q: 0.975603 0.103850 -0.173737 0.085031 
time: 1403636587.963556, t: 0.647142 1.850857 -2.859380 q: 0.977394 0.079143 -0.167828 0.101345 
time: 1403636588.363555, t: 0.622184 1.922368 -2.837320 q: 0.975329 0.073471 -0.179944 0.104666 
time: 1403636588.763556, t: 0.632194 1.874275 -2.856594 q: 0.975176 0.076873 -0.179638 0.104172 
time: 1403636589.163555, t: 0.652240 1.729065 -2.905869 q: 0.975965 0.097814 -0.168575 0.097510 
time: 1403636589.563555, t: 0.680033 1.546087 -2.967167 q: 0.975331 0.113003 -0.168747 0.086516 
time: 1403636589.963556, t: 0.689221 1.370526 -3.023632 q: 0.972386 0.133971 -0.173628 0.079812 
time: 1403636590.363555, t: 0.687276 1.335798 -3.026506 q: 0.973691 0.144651 -0.158935 0.075768 
time: 1403636590.763556, t: 0.679432 1.470766 -3.008314 q: 0.976590 0.121971 -0.159814 0.076510 
time: 1403636591.163555, t: 0.652123 1.646004 -2.952491 q: 0.974851 0.118963 -0.168449 0.084493 
time: 1403636591.563555, t: 0.622964 1.753127 -2.898209 q: 0.975555 0.102195 -0.171718 0.091442 
time: 1403636591.963556, t: 0.619927 1.779884 -2.863984 q: 0.986887 0.052145 -0.113412 0.102339 
time: 1403636592.363555, t: 0.637016 1.812107 -2.779799 q: 0.980612 0.032294 -0.148927 0.123198 
time: 1403636592.763556, t: 0.690160 1.734298 -2.669689 q: 0.982948 0.092317 -0.125211 0.098051 
time: 1403636593.163555, t: 0.729613 1.529707 -2.730586 q: 0.968146 0.202064 -0.133224 0.064154 
time: 1403636593.563555, t: 0.652554 1.393698 -2.897501 q: 0.959703 0.232931 -0.139069 0.073305 
time: 1403636593.963556, t: 0.550167 1.539559 -3.010277 q: 0.971004 0.133682 -0.153780 0.125029 
feature tracking not enough, please slowly move you device! 
time: 1403636594.363555, t: 0.550167 1.539559 -3.010277 q: 0.971004 0.133682 -0.153780 0.125029 
time: 1403636594.763556, t: 0.638786 1.586016 -2.822892 q: 0.978765 0.128728 -0.117663 0.107720 
time: 1403636595.163555, t: 0.613808 1.718622 -2.988440 q: 0.960221 0.257223 -0.092686 0.056755 
time: 1403636595.963556, t: -1.077038 2.527297 -3.511685 q: 0.943999 0.307526 -0.039308 0.112907 
time: 1403636596.363555, t: -1.086686 2.501662 -3.511731 q: 0.949277 0.262970 -0.056029 0.163034 
time: 1403636596.763556, t: -1.101610 2.526198 -3.541550 q: 0.940209 0.297144 -0.049672 0.158885 
time: 1403636597.163555, t: -1.090944 2.501606 -3.502018 q: 0.934499 0.311888 -0.026658 0.169492 
time: 1403636597.563555, t: -1.192036 2.684646 -3.573730 q: 0.867920 0.311892 0.061816 0.381598 
unstable tracking...
time: 1403636597.963556, t: -1.104201 2.646504 -3.415249 q: 0.889336 0.434073 0.059298 0.130939 
unstable tracking...
time: 1403636598.363555, t: -1.322654 3.129339 -3.716018 q: 0.870430 0.448770 -0.126663 0.157838 
unstable tracking...
time: 1403636598.763556, t: -1.072039 2.779544 -3.779476 q: 0.943450 0.275559 -0.099478 0.155154 
unstable tracking...
time: 1403636599.163555, t: -1.217241 2.772162 -3.735680 q: 0.929394 0.305754 0.017437 0.206002 
unstable tracking...
time: 1403636599.563555, t: -1.250695 2.752799 -3.628549 q: 0.925252 0.285233 0.093702 0.231884 
unstable tracking...
time: 1403636599.963556, t: -1.262416 2.751024 -3.620411 q: 0.923292 0.277153 0.110366 0.241943 
unstable tracking...
time: 1403636600.363555, t: -1.265147 2.751486 -3.620118 q: 0.920854 0.278146 0.112510 0.249007 
time: 1403636600.763556, t: -1.265460 2.751665 -3.619869 q: 0.920541 0.278718 0.112346 0.249595 
time: 1403636601.163555, t: -1.265374 2.751763 -3.619891 q: 0.920595 0.278682 0.112188 0.249510 
time: 1403636601.563555, t: -1.265355 2.751860 -3.619815 q: 0.920619 0.278667 0.112127 0.249466 
time: 1403636601.963556, t: -1.265301 2.751961 -3.619740 q: 0.920697 0.278672 0.111956 0.249247 
time: 1403636602.363555, t: -1.265266 2.752052 -3.619674 q: 0.920725 0.278703 0.111849 0.249158 
time: 1403636602.763556, t: -1.265197 2.752125 -3.619617 q: 0.920721 0.278758 0.111738 0.249163 
time: 1403636603.163555, t: -1.265158 2.752206 -3.619568 q: 0.920727 0.278811 0.111640 0.249122 
time: 1403636603.563555, t: -1.265102 2.752302 -3.619492 q: 0.920765 0.278846 0.111513 0.249002 
time: 1403636603.963556, t: -1.265048 2.752404 -3.619419 q: 0.920815 0.278825 0.111441 0.248874 
time: 1403636604.363555, t: -1.264997 2.752489 -3.619357 q: 0.920814 0.278930 0.111277 0.248830 
time: 1403636604.763556, t: -1.264933 2.752571 -3.619280 q: 0.920827 0.278998 0.111145 0.248767 
time: 1403636605.163555, t: -1.264874 2.752656 -3.619210 q: 0.920841 0.279052 0.111018 0.248709 
time: 1403636605.563555, t: -1.264812 2.752749 -3.619135 q: 0.920869 0.279101 0.110886 0.248612 
time: 1403636605.963556, t: -1.264870 2.752876 -3.619407 q: 0.920904 0.279091 0.110795 0.248531 
time: 1403636606.363555, t: -1.264875 2.752954 -3.619596 q: 0.920930 0.279110 0.110700 0.248457 
time: 1403636606.763556, t: -1.264904 2.753037 -3.619735 q: 0.920945 0.279156 0.110630 0.248382 
time: 1403636607.163555, t: -1.264928 2.753121 -3.619879 q: 0.920961 0.279206 0.110564 0.248296 
time: 1403636607.563555, t: -1.264956 2.753202 -3.620027 q: 0.920974 0.279262 0.110484 0.248221 
time: 1403636607.963556, t: -1.264984 2.753282 -3.620167 q: 0.920981 0.279321 0.110417 0.248158 
time: 1403636608.363555, t: -1.265007 2.753361 -3.620316 q: 0.920991 0.279375 0.110347 0.248090 
time: 1403636608.763556, t: -1.265038 2.753444 -3.620466 q: 0.921004 0.279429 0.110275 0.248012 
time: 1403636609.163555, t: -1.265069 2.753529 -3.620616 q: 0.921012 0.279487 0.110208 0.247946 
time: 1403636609.563555, t: -1.265099 2.753609 -3.620752 q: 0.921032 0.279530 0.110138 0.247856 
time: 1403636609.963556, t: -1.265135 2.753685 -3.620902 q: 0.921041 0.279583 0.110058 0.247797 
time: 1403636610.363555, t: -1.265159 2.753767 -3.621063 q: 0.921053 0.279634 0.109977 0.247731 
time: 1403636610.763556, t: -1.265123 2.753858 -3.621195 q: 0.921121 0.279694 0.109769 0.247506 
time: 1403636611.163555, t: -1.265093 2.753856 -3.621119 q: 0.921144 0.279738 0.109716 0.247392 
time: 1403636611.563555, t: -1.265569 2.754103 -3.620766 q: 0.921093 0.279688 0.109453 0.247754 
time: 1403636611.963556, t: -1.265494 2.754064 -3.620878 q: 0.920992 0.279800 0.109634 0.247922 
time: 1403636612.363555, t: -1.265626 2.754494 -3.620674 q: 0.921652 0.278997 0.109992 0.246211 
time: 1403636612.763556, t: -1.265599 2.754387 -3.620765 q: 0.921387 0.279215 0.109767 0.247055 
time: 1403636613.163555, t: -1.265539 2.754263 -3.620946 q: 0.921080 0.279473 0.109743 0.247917 
time: 1403636613.563555, t: -1.265555 2.754330 -3.620989 q: 0.921203 0.279333 0.109667 0.247651 
time: 1403636613.963556, t: -1.265569 2.754390 -3.621016 q: 0.921314 0.279153 0.109620 0.247462 
time: 1403636614.363555, t: -1.265538 2.754443 -3.621035 q: 0.921385 0.279016 0.109601 0.247362 
time: 1403636614.763556, t: -1.265549 2.754452 -3.621098 q: 0.921410 0.279010 0.109448 0.247340 
time: 1403636615.163555, t: -1.265536 2.754460 -3.621128 q: 0.921426 0.278988 0.109315 0.247366 
time: 1403636615.563555, t: -1.265519 2.754485 -3.621161 q: 0.921451 0.278927 0.109262 0.247364 
time: 1403636615.963556, t: -1.265511 2.754511 -3.621207 q: 0.921495 0.278853 0.109185 0.247319 
time: 1403636616.363555, t: -1.265503 2.754538 -3.621235 q: 0.921535 0.278789 0.109087 0.247284 
time: 1403636616.763556, t: -1.265500 2.754564 -3.621271 q: 0.921575 0.278722 0.109017 0.247244 
time: 1403636617.163555, t: -1.265494 2.754591 -3.621308 q: 0.921614 0.278664 0.108916 0.247208 
time: 1403636617.563555, t: -1.265478 2.754615 -3.621348 q: 0.921639 0.278615 0.108841 0.247202 
time: 1403636617.963556, t: -1.265658 2.754564 -3.621036 q: 0.921695 0.278539 0.108817 0.247088 
time: 1403636618.363555, t: -1.265454 2.754659 -3.621393 q: 0.921708 0.278489 0.108676 0.247160 
time: 1403636618.763556, t: -1.265475 2.754678 -3.621455 q: 0.921740 0.278418 0.108591 0.247158 
time: 1403636619.163555, t: -1.265463 2.754689 -3.621489 q: 0.921759 0.278379 0.108405 0.247214 
time: 1403636619.563555, t: -1.265462 2.754708 -3.621524 q: 0.921774 0.278421 0.108355 0.247130 
time: 1403636619.963556, t: -1.265455 2.754758 -3.621545 q: 0.921838 0.278329 0.108320 0.247010 
time: 1403636620.363555, t: -1.265456 2.754806 -3.621564 q: 0.921910 0.278248 0.108217 0.246878 
time: 1403636620.763556, t: -1.265453 2.754828 -3.621604 q: 0.921944 0.278184 0.108127 0.246865 
time: 1403636621.163555, t: -1.265424 2.754920 -3.621571 q: 0.922100 0.277978 0.108124 0.246512 
time: 1403636621.563555, t: -1.265418 2.754915 -3.621616 q: 0.922095 0.277978 0.108000 0.246588 
time: 1403636622.363555, t: -1.265384 2.754959 -3.621663 q: 0.922140 0.277924 0.107818 0.246559 
time: 1403636622.763556, t: -1.265368 2.754999 -3.621677 q: 0.922182 0.277838 0.107765 0.246522 
time: 1403636623.163555, t: -1.265326 2.755215 -3.621678 q: 0.922199 0.277439 0.107941 0.246831 
time: 1403636623.563555, t: -1.265311 2.755288 -3.621641 q: 0.922254 0.277247 0.107751 0.246922 
time: 1403636623.963556, t: -1.265326 2.755472 -3.621671 q: 0.922532 0.276281 0.106748 0.247402 
time: 1403636624.363555, t: -1.266521 2.757125 -3.622169 q: 0.924630 0.274751 0.098012 0.244879 
unstable tracking...
unstable tracking...
time: 1403636625.163555, t: -1.292567 2.864933 -3.664314 q: 0.944054 0.263049 0.052448 0.191874 
unstable tracking...
unstable tracking...
time: 1403636625.963556, t: -1.164372 2.910778 -3.670978 q: 0.935775 0.269319 0.084533 0.211297 
time: 1403636626.363555, t: -1.097594 3.027950 -3.711275 q: 0.926917 0.281510 0.089323 0.231515 
time: 1403636626.763556, t: -1.003382 3.006906 -3.666750 q: 0.932603 0.272093 0.102797 0.213659 
time: 1403636627.163555, t: -1.064670 3.014266 -3.664198 q: 0.935004 0.279322 0.077759 0.204205 
time: 1403636627.563555, t: -1.042743 3.092063 -3.691813 q: 0.933205 0.275133 0.085549 0.214738 
time: 1403636627.963556, t: -1.096254 3.123237 -3.681856 q: 0.943796 0.244225 0.042394 0.218648 
time: 1403636628.363555, t: -1.051594 3.180926 -3.647183 q: 0.940245 0.224969 0.071585 0.245364 
time: 1403636628.763556, t: -1.026842 3.261862 -3.602130 q: 0.939906 0.226380 0.067412 0.246543 
time: 1403636629.163555, t: -1.035765 3.358870 -3.538534 q: 0.948435 0.202123 0.040546 0.240776 
time: 1403636629.563555, t: -1.041604 3.457751 -3.454447 q: 0.946476 0.166119 0.040281 0.273798 
time: 1403636629.963556, t: -1.133610 3.511568 -3.274025 q: 0.951391 0.096333 -0.006774 0.292455 
time: 1403636630.363555, t: -1.145948 3.631086 -3.073593 q: 0.950456 0.057342 0.011755 0.305298 
time: 1403636630.763556, t: -1.103211 3.774991 -2.890908 q: 0.954261 0.061933 0.004409 0.292456 
time: 1403636631.163555, t: -1.091036 3.878820 -2.694293 q: 0.951953 0.070040 0.010189 0.297953 
time: 1403636631.563555, t: -1.113953 3.948998 -2.486744 q: 0.953132 0.071611 0.014780 0.293585 
time: 1403636631.963556, t: -1.120150 4.015001 -2.290174 q: 0.955305 0.074410 0.012631 0.285826 
time: 1403636632.363555, t: -1.088261 4.073203 -2.119835 q: 0.956076 0.069408 0.017457 0.284247 
time: 1403636632.763556, t: -1.086181 4.050143 -1.933371 q: 0.948901 0.111739 0.001761 0.295124 
time: 1403636633.163555, t: -1.026541 4.072085 -1.729675 q: 0.953786 0.166955 0.040710 0.246497 
time: 1403636633.563555, t: -0.987011 4.071343 -1.506331 q: 0.949657 0.185985 0.031670 0.250115 
time: 1403636633.963556, t: -0.927580 4.083732 -1.249261 q: 0.946959 0.180015 0.029111 0.264606 
time: 1403636634.363555, t: -0.825648 4.141545 -0.963365 q: 0.949485 0.175469 0.036590 0.257586 
time: 1403636634.763556, t: -0.738662 4.189478 -0.663438 q: 0.951330 0.182484 0.055841 0.241978 
time: 1403636635.163555, t: -0.640221 4.233706 -0.400708 q: 0.950236 0.205027 0.050404 0.229074 
time: 1403636635.563555, t: -0.553754 4.248769 -0.130737 q: 0.945010 0.217224 0.043894 0.240508 
time: 1403636635.963556, t: -0.386388 4.333242 0.144660 q: 0.940134 0.217975 0.048135 0.257522 
time: 1403636636.363555, t: -0.186811 4.472194 0.440676 q: 0.948265 0.203436 0.062536 0.235576 
time: 1403636636.763556, t: -0.033654 4.573100 0.710554 q: 0.954456 0.188819 0.082964 0.215588 
time: 1403636637.163555, t: 0.011526 4.568130 0.925318 q: 0.949007 0.205152 0.066101 0.230063 
time: 1403636637.563555, t: 0.067399 4.545108 1.085815 q: 0.948422 0.214402 0.051632 0.227730 
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time: 1403636702.763556, t: -1.777101 5.198318 2.504082 q: 0.900119 -0.178403 -0.089675 0.387191 
time: 1403636703.163555, t: -1.932674 5.209089 2.641903 q: 0.898001 -0.177304 -0.076867 0.395284 
time: 1403636703.563555, t: -2.018727 5.301181 2.759950 q: 0.900596 -0.180051 -0.067930 0.389735 
time: 1403636703.963556, t: -2.083679 5.423931 2.845968 q: 0.900703 -0.175141 -0.063475 0.392468 
time: 1403636704.363555, t: -2.190400 5.509340 2.940821 q: 0.902878 -0.166230 -0.076691 0.388969 
time: 1403636704.763556, t: -2.258348 5.637304 3.047173 q: 0.904726 -0.159295 -0.096653 0.383084 
time: 1403636705.163555, t: -2.350008 5.755002 3.252941 q: 0.906729 -0.155492 -0.097845 0.379593 
time: 1403636705.563555, t: -2.397438 5.901358 3.542214 q: 0.908513 -0.159755 -0.086179 0.376370 
time: 1403636705.963556, t: -2.430232 6.029059 3.889658 q: 0.904593 -0.162190 -0.065777 0.388688 
time: 1403636706.363555, t: -2.462953 6.187074 4.196436 q: 0.909319 -0.160985 -0.060120 0.378956 
time: 1403636706.763556, t: -2.502804 6.340641 4.519044 q: 0.912091 -0.157080 -0.078015 0.370579 
time: 1403636707.163555, t: -2.464826 6.498257 4.842680 q: 0.909715 -0.166614 -0.077035 0.372458 
time: 1403636707.563555, t: -2.344936 6.682478 5.165452 q: 0.906308 -0.172149 -0.084369 0.376633 
time: 1403636707.963556, t: -2.235455 6.833940 5.523841 q: 0.900899 -0.164591 -0.076312 0.394293 
time: 1403636708.363555, t: -2.231236 6.927865 5.938628 q: 0.901082 -0.159442 -0.057289 0.399183 
time: 1403636708.763556, t: -2.238870 7.039424 6.316486 q: 0.906449 -0.170299 -0.054118 0.382648 
time: 1403636709.163555, t: -2.275272 7.161983 6.632038 q: 0.909237 -0.189632 -0.053277 0.366727 
time: 1403636709.563555, t: -2.215528 7.240455 6.880940 q: 0.907681 -0.186097 -0.072582 0.369073 
time: 1403636709.963556, t: -2.143270 7.226163 7.141451 q: 0.909414 -0.181080 -0.072756 0.367264 
time: 1403636710.363555, t: -2.018533 7.173638 7.416281 q: 0.907824 -0.168839 -0.060212 0.379108 
time: 1403636710.763556, t: -1.948665 7.066536 7.694306 q: 0.914174 -0.115900 -0.036888 0.386643 
time: 1403636711.163555, t: -1.868817 6.985816 7.910738 q: 0.939225 -0.069069 -0.025056 0.335347 
time: 1403636711.563555, t: -1.721898 6.896110 8.062921 q: 0.938277 -0.070253 0.005102 0.338638 
time: 1403636711.963556, t: -1.549166 6.754357 8.108726 q: 0.933121 -0.071566 -0.007198 0.352295 
time: 1403636712.363555, t: -1.355373 6.642767 8.054318 q: 0.937917 -0.054922 -0.003883 0.342463 
time: 1403636712.763556, t: -1.146767 6.541411 7.918185 q: 0.944436 -0.021271 0.024258 0.327107 
time: 1403636713.163555, t: -0.999145 6.386613 7.724766 q: 0.944516 -0.007310 0.016601 0.327964 
time: 1403636713.563555, t: -0.834909 6.266898 7.448570 q: 0.941202 -0.001680 0.008216 0.337740 
optimize pose graph 
time: 1403636713.963556, t: -0.711419 6.171430 7.147545 q: 0.937073 -0.001390 -0.001742 0.349126 
time: 1403636714.363555, t: -0.693378 6.053946 6.881966 q: 0.937249 -0.011740 -0.002759 0.348453 
time: 1403636714.763556, t: -0.731073 5.949338 6.637309 q: 0.942431 0.031419 -0.016204 0.332526 
time: 1403636715.163555, t: -0.693255 5.916056 6.426414 q: 0.951976 0.106642 0.007636 0.286898 
time: 1403636715.563555, t: -0.632670 5.910844 6.280430 q: 0.943336 0.130840 0.029466 0.303529 
optimize pose graph 
time: 1403636715.963556, t: -0.647698 5.890551 6.184435 q: 0.948387 0.108784 0.058748 0.292021 
time: 1403636716.363555, t: -0.674944 5.910771 6.011351 q: 0.947389 0.106821 0.033965 0.299817 
time: 1403636716.763556, t: -0.757432 5.903513 5.842042 q: 0.948874 0.114931 0.037759 0.291552 
time: 1403636717.163555, t: -0.845066 5.877124 5.667578 q: 0.945697 0.185971 0.060134 0.259722 
time: 1403636717.563555, t: -0.896355 5.875191 5.467438 q: 0.949329 0.206280 0.073560 0.225417 
time: 1403636717.963556, t: -0.966642 5.794436 5.262113 q: 0.947556 0.221997 0.078694 0.216014 
time: 1403636718.363555, t: -0.978478 5.668652 5.007519 q: 0.930153 0.288643 0.093883 0.206605 
time: 1403636718.763556, t: -1.038229 5.485893 4.788862 q: 0.910085 0.345675 0.100623 0.205252 
time: 1403636719.163555, t: -1.097045 5.333215 4.611187 q: 0.913228 0.344641 0.120880 0.180622 
time: 1403636719.563555, t: -1.150078 5.229505 4.407761 q: 0.910490 0.342406 0.127617 0.193596 
time: 1403636719.963556, t: -1.227352 5.160499 4.193459 q: 0.913943 0.338365 0.107661 0.196535 
time: 1403636720.363555, t: -1.306625 5.099864 4.012428 q: 0.914601 0.337053 0.104714 0.197321 
time: 1403636720.763556, t: -1.381807 5.054851 3.864283 q: 0.913291 0.340296 0.103818 0.198291 
time: 1403636721.163555, t: -1.439358 5.049497 3.753309 q: 0.924212 0.295875 0.095314 0.221822 
time: 1403636721.563555, t: -1.504654 5.074338 3.643638 q: 0.934067 0.250218 0.083695 0.240633 
time: 1403636721.963556, t: -1.598916 5.098222 3.549281 q: 0.940214 0.228025 0.077924 0.240687 
optimize pose graph 
time: 1403636722.363555, t: -1.670973 5.123127 3.435571 q: 0.939658 0.232829 0.077601 0.238351 
time: 1403636722.763556, t: -1.767182 5.123784 3.319969 q: 0.942906 0.218374 0.074171 0.240291 
time: 1403636723.163555, t: -1.818914 5.135330 3.177508 q: 0.941388 0.218723 0.073441 0.246079 
time: 1403636723.563555, t: -1.870635 5.141224 3.027768 q: 0.945265 0.193129 0.079154 0.250819 
time: 1403636723.963556, t: -1.906756 5.152749 2.845793 q: 0.946118 0.175638 0.052866 0.266866 
time: 1403636724.363555, t: -1.992719 5.123617 2.702111 q: 0.950070 0.126353 0.026656 0.284062 
time: 1403636724.763556, t: -2.023078 5.119361 2.576591 q: 0.950354 0.082782 0.023725 0.299018 
time: 1403636725.163555, t: -1.945533 5.166428 2.408269 q: 0.946087 0.090669 0.019737 0.310338 
time: 1403636725.563555, t: -1.870892 5.228190 2.271778 q: 0.949243 0.089205 0.018949 0.301033 
optimize pose graph 
time: 1403636725.963556, t: -1.862438 5.240138 2.183990 q: 0.948608 0.090590 0.019194 0.302601 
time: 1403636726.363555, t: -1.897566 5.210770 2.134744 q: 0.949774 0.091309 0.026484 0.298147 
time: 1403636726.763556, t: -1.887009 5.227738 2.060157 q: 0.941752 0.102102 0.035019 0.318514 
time: 1403636727.163555, t: -1.838827 5.331035 1.945493 q: 0.950965 0.102292 0.039260 0.289243 
time: 1403636727.563555, t: -1.807431 5.401497 1.816181 q: 0.952925 0.102053 0.038915 0.282852 
time: 1403636727.963556, t: -1.726059 5.464018 1.646899 q: 0.956398 0.098203 0.036594 0.272617 
optimize pose graph 
time: 1403636728.363555, t: -1.665036 5.462861 1.475956 q: 0.952315 0.101193 0.038709 0.285234 
time: 1403636728.763556, t: -1.669286 5.407057 1.308697 q: 0.948762 0.120427 0.042581 0.289025 
time: 1403636729.163555, t: -1.661925 5.370975 1.117965 q: 0.950639 0.154979 0.063072 0.261323 
time: 1403636729.563555, t: -1.695941 5.291313 0.918612 q: 0.949004 0.165354 0.062915 0.260943 
time: 1403636729.963556, t: -1.696750 5.240752 0.675323 q: 0.949104 0.167903 0.051436 0.261467 
time: 1403636730.363555, t: -1.738424 5.154910 0.464416 q: 0.948037 0.171884 0.047821 0.263430 
time: 1403636730.763556, t: -1.753186 5.077793 0.282874 q: 0.948483 0.178438 0.029749 0.260105 
time: 1403636731.163555, t: -1.681276 5.044462 0.154729 q: 0.938500 0.182991 0.043691 0.289522 
time: 1403636731.563555, t: -1.681230 5.010675 0.097072 q: 0.943891 0.172574 0.052256 0.276691 
time: 1403636731.963556, t: -1.744784 4.981997 0.064298 q: 0.945421 0.171626 0.053001 0.271871 
time: 1403636732.363555, t: -1.854352 4.936208 0.053650 q: 0.946772 0.170066 0.058879 0.266897 
time: 1403636732.763556, t: -1.899179 4.939677 -0.033780 q: 0.952180 0.158662 0.078349 0.249080 
time: 1403636733.163555, t: -1.925358 4.913404 -0.208530 q: 0.950643 0.166418 0.067131 0.253134 
time: 1403636733.563555, t: -1.906519 4.904106 -0.452837 q: 0.948661 0.175397 0.054971 0.257404 
time: 1403636733.963556, t: -1.904202 4.867115 -0.690909 q: 0.950086 0.175938 0.052247 0.252296 
time: 1403636734.363555, t: -1.913159 4.798386 -0.912893 q: 0.947760 0.176831 0.058394 0.258984 
time: 1403636734.763556, t: -1.893013 4.751144 -1.147037 q: 0.947769 0.183994 0.048724 0.255942 
time: 1403636735.163555, t: -1.918979 4.664006 -1.331748 q: 0.946421 0.187924 0.048212 0.258162 
time: 1403636735.563555, t: -1.883626 4.621436 -1.494372 q: 0.945825 0.181701 0.045596 0.265181 
time: 1403636735.963556, t: -1.813508 4.605001 -1.627764 q: 0.947055 0.173401 0.045467 0.266368 
time: 1403636736.363555, t: -1.733684 4.597587 -1.744677 q: 0.943932 0.204355 0.066370 0.250654 
time: 1403636736.763556, t: -1.689055 4.556222 -1.844242 q: 0.947275 0.212741 0.077230 0.226820 
time: 1403636737.163555, t: -1.678951 4.449441 -1.956019 q: 0.941403 0.226794 0.078852 0.236869 
time: 1403636737.563555, t: -1.672052 4.326609 -2.076236 q: 0.939424 0.239667 0.068594 0.235240 
time: 1403636737.963556, t: -1.595005 4.285478 -2.197508 q: 0.934290 0.247671 0.061491 0.248958 
time: 1403636738.363555, t: -1.491430 4.309471 -2.275974 q: 0.937575 0.237858 0.064864 0.245296 
time: 1403636738.763556, t: -1.454297 4.309799 -2.289727 q: 0.941644 0.200012 0.048134 0.266431 
time: 1403636739.163555, t: -1.517427 4.308640 -2.244690 q: 0.941434 0.107451 0.025570 0.318595 
time: 1403636739.563555, t: -1.622363 4.319783 -2.178128 q: 0.942858 -0.003603 -0.007482 0.333090 
time: 1403636739.963556, t: -1.685299 4.375091 -2.133250 q: 0.935579 -0.033544 -0.018902 0.351011 
optimize pose graph 
time: 1403636740.363555, t: -1.794748 4.386164 -2.077815 q: 0.941441 -0.032788 -0.015719 0.335212 
time: 1403636740.763556, t: -1.916125 4.366037 -2.018355 q: 0.939012 -0.020351 -0.014602 0.342970 
time: 1403636741.163555, t: -2.051900 4.346901 -1.978604 q: 0.945598 -0.034111 -0.008010 0.323446 
time: 1403636741.563555, t: -2.225691 4.264211 -1.946352 q: 0.932760 -0.037630 -0.034577 0.356857 
time: 1403636741.963556, t: -2.336618 4.242555 -1.923892 q: 0.939541 -0.043010 -0.030102 0.338389 
optimize pose graph 
time: 1403636742.363555, t: -2.417161 4.201435 -1.867294 q: 0.938402 -0.027331 -0.033607 0.342820 
time: 1403636742.763556, t: -2.429238 4.213741 -1.804767 q: 0.939272 -0.026663 -0.012901 0.341892 
time: 1403636743.163555, t: -2.522120 4.171915 -1.725935 q: 0.935373 -0.026743 -0.039395 0.350444 
time: 1403636743.563555, t: -2.591724 4.177311 -1.603021 q: 0.932434 -0.033887 -0.052526 0.355894 
time: 1403636743.963556, t: -2.670946 4.182821 -1.388744 q: 0.933812 -0.060624 -0.027479 0.351519 
time: 1403636744.363555, t: -2.816776 4.132597 -1.159904 q: 0.926690 -0.084699 -0.026028 0.365231 
time: 1403636744.763556, t: -3.031946 4.032132 -0.941257 q: 0.922921 -0.085132 -0.016493 0.375097 
time: 1403636745.163555, t: -3.246618 3.965983 -0.787639 q: 0.927707 -0.073736 -0.038653 0.363907 
time: 1403636745.563555, t: -3.356728 3.974614 -0.668594 q: 0.932539 -0.070739 -0.019916 0.353513 
time: 1403636745.963556, t: -3.379475 4.024648 -0.612593 q: 0.932044 -0.096194 -0.027877 0.348230 
time: 1403636746.363555, t: -3.295764 4.070217 -0.605071 q: 0.931438 -0.120202 -0.016293 0.343088 
time: 1403636746.763556, t: -3.221437 4.008279 -0.627579 q: 0.922211 -0.084649 -0.060299 0.372460 
time: 1403636747.163555, t: -3.157434 3.963756 -0.601153 q: 0.925736 -0.084370 -0.043773 0.366032 
time: 1403636747.563555, t: -3.033392 3.991675 -0.567374 q: 0.929027 -0.096684 -0.041192 0.354772 
time: 1403636747.963556, t: -2.871885 4.014219 -0.525716 q: 0.920525 -0.100606 -0.039839 0.375400 
time: 1403636748.363555, t: -2.730787 4.049971 -0.478683 q: 0.920564 -0.106149 -0.045229 0.373160 
time: 1403636748.763556, t: -2.612893 4.101435 -0.432667 q: 0.918967 -0.107123 -0.039313 0.377462 
time: 1403636749.163555, t: -2.530141 4.148845 -0.387772 q: 0.909835 -0.112466 -0.034732 0.397927 
time: 1403636749.563555, t: -2.472863 4.256771 -0.381145 q: 0.921561 -0.127365 -0.044084 0.364087 
time: 1403636749.963556, t: -2.420035 4.332243 -0.389537 q: 0.923459 -0.126966 -0.023209 0.361338 
time: 1403636750.363555, t: -2.382025 4.334702 -0.437609 q: 0.925230 -0.110977 -0.030850 0.361500 
time: 1403636750.763556, t: -2.251157 4.384783 -0.557768 q: 0.928333 -0.097343 -0.033612 0.357200 
time: 1403636751.163555, t: -2.098748 4.313058 -0.707593 q: 0.929613 -0.103532 -0.035389 0.351920 
time: 1403636751.563555, t: -1.895438 4.497135 -0.819730 q: 0.921647 -0.088855 -0.038837 0.375718 
time: 1403636752.363555, t: -1.672134 4.646679 -0.923338 q: 0.934420 -0.056841 -0.022479 0.350890 
time: 1403636752.763556, t: -1.552424 4.747730 -0.952483 q: 0.946132 0.018575 -0.000720 0.323246 
time: 1403636753.163555, t: -1.494023 4.765810 -0.961738 q: 0.956406 0.102386 0.026023 0.272264 
time: 1403636753.563555, t: -1.479595 4.720254 -0.979221 q: 0.951264 0.176516 0.055020 0.246802 
time: 1403636753.963556, t: -1.432006 4.659877 -1.025612 q: 0.948668 0.183013 0.060834 0.250666 
optimize pose graph 
time: 1403636754.363555, t: -1.377973 4.586712 -1.103520 q: 0.950672 0.167397 0.071047 0.251305 
time: 1403636754.763556, t: -1.309330 4.511481 -1.258953 q: 0.947509 0.202895 0.076808 0.234864 
time: 1403636755.163555, t: -1.293413 4.373991 -1.431890 q: 0.941070 0.241186 0.087814 0.220239 
time: 1403636755.563555, t: -1.247167 4.257642 -1.658550 q: 0.942092 0.249867 0.066679 0.213503 
time: 1403636755.963556, t: -1.200590 4.104812 -1.865781 q: 0.939917 0.245582 0.078066 0.223946 
optimize pose graph 
time: 1403636756.363555, t: -1.126004 3.952048 -2.094536 q: 0.939257 0.244968 0.084227 0.225152 
time: 1403636756.763556, t: -1.083549 3.781691 -2.329921 q: 0.938020 0.247773 0.088972 0.225415 
time: 1403636757.163555, t: -1.021151 3.639832 -2.601737 q: 0.936755 0.251816 0.088003 0.226569 
time: 1403636757.563555, t: -1.018783 3.463788 -2.875430 q: 0.939388 0.255740 0.079843 0.213945 
time: 1403636757.963556, t: -0.943655 3.315662 -3.161772 q: 0.934436 0.286789 0.061235 0.202069 
optimize pose graph 
time: 1403636758.363555, t: -0.827553 3.165218 -3.397964 q: 0.927981 0.289080 0.095243 0.214972 
time: 1403636758.763556, t: -0.808841 2.942792 -3.588049 q: 0.923577 0.300643 0.063878 0.229214 
time: 1403636759.163555, t: -0.733603 2.782567 -3.668867 q: 0.920489 0.294478 0.090621 0.240354 
time: 1403636759.563555, t: -0.794147 2.663987 -3.679755 q: 0.924251 0.289736 0.098083 0.228457 
time: 1403636759.963556, t: -0.851180 2.638939 -3.721981 q: 0.928735 0.289232 0.090334 0.213626 
time: 1403636760.363555, t: -0.908691 2.615503 -3.764031 q: 0.927550 0.288100 0.095088 0.218194 
optimize pose graph 
time: 1403636760.763556, t: -0.977876 2.592070 -3.790603 q: 0.932422 0.287585 0.083606 0.202224 
time: 1403636761.163555, t: -1.031464 2.550843 -3.829714 q: 0.931716 0.293910 0.070898 0.201237 
time: 1403636761.563555, t: -1.021736 2.487310 -3.848645 q: 0.930232 0.290073 0.088170 0.206766 
time: 1403636761.963556, t: -0.973988 2.452029 -3.866109 q: 0.923627 0.294629 0.090399 0.227891 
time: 1403636762.363555, t: -0.935491 2.441377 -3.893284 q: 0.937228 0.283667 0.069569 0.190519 
optimize pose graph 
time: 1403636762.763556, t: -0.945427 2.337147 -3.869064 q: 0.919303 0.298385 0.084580 0.242268 
time: 1403636763.163555, t: -0.993562 2.359669 -3.871707 q: 0.925285 0.251677 0.100618 0.265296 
time: 1403636763.563555, t: -0.994752 2.355810 -3.864069 q: 0.925275 0.254783 0.085122 0.267779 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720492121.492537314]: Shutdown request received.[0m
[33m[ WARN] [1720492121.492590341]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720492121.493539447]: Shutdown request received.[0m
[33m[ WARN] [1720492121.493572285]: Reason given for shutdown: [user request][0m
killed
