/SLAM-Hive/slam_hive_results/mapping_results/2970/2178_vins-fusion-stereo+MH_01_easy+Image_comb_test-18.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720493040.632915832]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720493040.634810509]: init begins[0m
[31m[ERROR] [1720493040.635919609]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/18c9e7ba-3d9d-11ef-b291-0242ac110005/roslaunch-2321555f7051-118.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://2321555f7051:43947/[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] [1720493041.739289893]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720493041.740967309]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720493041.748089987]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720493041.748282346]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720493041.748305781]: 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] [1720493041.748562505]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720493041.748770775]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720493041.748932108]: 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://2321555f7051:11311/[0m
]2;roscore http://2321555f7051:11311/
[1msetting /run_id to 18c9e7ba-3d9d-11ef-b291-0242ac110005[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] [1720493050.787554787]: 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: 316856472.06 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720493062.533271704]: Initialization finish![0m
time: 1403636590.263556, t: 1.847197 4.558652 4.581605 q: 0.975468 -0.044950 -0.214865 -0.016565 
feature tracking not enough, please slowly move you device! 
time: 1403636591.263556, t: 1.847197 4.558652 4.581605 q: 0.975468 -0.044950 -0.214865 -0.016565 
time: 1403636592.263556, t: 1.856232 4.675211 4.734072 q: 0.974361 -0.140161 -0.174905 -0.019605 
feature tracking not enough, please slowly move you device! 
time: 1403636593.263556, t: 1.856232 4.675211 4.734072 q: 0.974361 -0.140161 -0.174905 -0.019605 
feature tracking not enough, please slowly move you device! 
time: 1403636594.263556, t: 1.856232 4.675211 4.734072 q: 0.974361 -0.140161 -0.174905 -0.019605 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636596.263556, t: 1.856232 4.675211 4.734072 q: 0.974361 -0.140161 -0.174905 -0.019605 
time: 1403636597.263556, t: 1.666871 4.742625 4.643373 q: 0.993252 -0.047936 -0.074920 0.074434 
feature tracking not enough, please slowly move you device! 
time: 1403636598.263556, t: 1.666871 4.742625 4.643373 q: 0.993252 -0.047936 -0.074920 0.074434 
time: 1403636599.263556, t: 1.609471 4.897031 4.856236 q: 0.996818 0.023773 0.027495 0.070946 
unstable tracking...
time: 1403636600.263556, t: 1.588001 4.908522 4.902178 q: 0.993331 0.004112 0.076466 0.086191 
unstable tracking...
time: 1403636601.263556, t: -0.899313 -1.780468 0.151410 q: 0.992850 -0.004315 0.087376 0.081215 
time: 1403636602.263556, t: 0.004867 4.982682 3.657805 q: 0.975307 -0.064024 0.070043 0.199426 
unstable tracking...
time: 1403636604.263556, t: -0.450488 3.448522 4.348705 q: 0.974252 0.024935 0.086855 0.206561 
unstable tracking...
unstable tracking...
time: 1403636607.263556, t: -0.330050 3.441568 4.257054 q: 0.977636 0.012962 0.088611 0.190286 
time: 1403636608.263556, t: -0.330125 3.441568 4.256884 q: 0.977637 0.013026 0.088592 0.190286 
time: 1403636609.263556, t: -0.330125 3.441571 4.256863 q: 0.977640 0.013022 0.088578 0.190275 
time: 1403636610.263556, t: -0.330114 3.441623 4.256841 q: 0.977659 0.012976 0.088537 0.190199 
time: 1403636611.263556, t: -0.329956 3.441642 4.257109 q: 0.977665 0.013107 0.088431 0.190207 
time: 1403636612.263556, t: -0.329986 3.441811 4.256123 q: 0.978201 0.011178 0.087892 0.187813 
time: 1403636613.263556, t: -0.330191 3.441768 4.256571 q: 0.977688 0.012507 0.088343 0.190173 
time: 1403636614.263556, t: -0.330156 3.441785 4.256497 q: 0.977771 0.012183 0.088311 0.189782 
time: 1403636615.263556, t: -0.330178 3.441786 4.256514 q: 0.977732 0.012275 0.088414 0.189926 
time: 1403636616.263556, t: -0.330177 3.441790 4.256510 q: 0.977744 0.012267 0.088341 0.189899 
time: 1403636617.263556, t: -0.330179 3.441795 4.256501 q: 0.977749 0.012255 0.088341 0.189873 
time: 1403636618.263556, t: -0.330185 3.441797 4.256502 q: 0.977744 0.012268 0.088352 0.189897 
time: 1403636619.263556, t: -0.330209 3.441799 4.256491 q: 0.977714 0.012194 0.088365 0.190049 
time: 1403636620.263556, t: -0.330173 3.441806 4.256491 q: 0.977776 0.012268 0.088236 0.189784 
time: 1403636621.263556, t: -0.330130 3.441809 4.256442 q: 0.977846 0.011974 0.088231 0.189443 
time: 1403636622.263556, t: -0.330158 3.441808 4.256472 q: 0.977797 0.012144 0.088311 0.189649 
time: 1403636623.263556, t: -0.330188 3.441803 4.256387 q: 0.977731 0.011558 0.088801 0.189796 
time: 1403636624.263556, t: -0.330278 3.441777 4.256047 q: 0.977759 0.008973 0.087059 0.190600 
unstable tracking...
time: 1403636625.263556, t: -0.362827 3.809718 3.809930 q: 0.986280 0.012186 0.030664 0.161750 
unstable tracking...
time: 1403636626.263556, t: -0.336970 3.901696 3.609518 q: 0.977431 0.031373 0.076954 0.194223 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636629.263556, t: -0.293651 4.339520 3.548104 q: 0.974645 -0.063026 0.034736 0.211869 
time: 1403636630.263556, t: -0.408379 4.715266 3.803783 q: 0.943001 -0.197204 0.021548 0.267201 
time: 1403636631.263556, t: -0.372467 5.234065 4.064983 q: 0.947381 -0.187229 0.023302 0.258594 
time: 1403636632.263556, t: -0.414739 5.615418 4.464911 q: 0.950922 -0.188165 0.023810 0.244487 
time: 1403636633.263556, t: -0.399431 5.860341 4.879640 q: 0.973615 -0.081353 0.035868 0.210163 
time: 1403636634.263556, t: -0.314046 6.200843 5.439305 q: 0.969004 -0.078101 0.028059 0.232687 
time: 1403636635.263556, t: -0.165757 6.669345 6.016394 q: 0.977858 -0.041906 0.040914 0.200909 
time: 1403636636.263556, t: 0.146683 7.118000 6.563924 q: 0.976796 -0.044912 0.044338 0.204663 
time: 1403636637.263556, t: 0.327076 7.555901 7.076478 q: 0.978203 -0.043935 0.052228 0.196113 
time: 1403636638.263556, t: 0.563402 7.702694 7.444077 q: 0.978413 -0.037937 0.061844 0.193505 
time: 1403636639.263556, t: 0.722132 7.929889 7.972286 q: 0.971971 -0.018556 0.049008 0.229187 
time: 1403636640.263556, t: 0.772552 8.354255 8.656830 q: 0.980624 -0.016707 0.067366 0.183192 
time: 1403636641.263556, t: 0.850098 8.642702 9.097653 q: 0.981832 -0.002209 0.068409 0.176976 
time: 1403636642.263556, t: 0.904797 8.870448 9.348897 q: 0.978510 -0.032045 0.068712 0.191757 
time: 1403636643.263556, t: 0.845930 9.025288 9.474627 q: 0.974244 -0.055346 0.054487 0.211701 
time: 1403636644.263556, t: 0.951254 9.296223 9.720580 q: 0.975543 -0.044780 0.031077 0.212943 
time: 1403636645.263556, t: 0.786733 9.670773 10.272188 q: 0.976454 -0.047772 0.002954 0.210349 
time: 1403636646.263556, t: 1.021995 10.204554 10.951053 q: 0.963587 -0.098123 0.039843 0.245529 
time: 1403636647.263556, t: 0.879244 10.653955 10.656159 q: 0.947604 -0.162432 0.041461 0.271925 
time: 1403636648.263556, t: 1.088144 11.485537 11.689736 q: 0.913947 -0.273752 0.022196 0.298777 
time: 1403636649.263556, t: 0.846526 11.511389 11.781709 q: 0.826925 -0.370966 0.054940 0.419000 
time: 1403636650.263556, t: 0.549065 12.474758 11.083407 q: 0.857422 -0.403825 0.005445 0.318941 
time: 1403636651.263556, t: 0.831083 12.559834 11.127086 q: 0.767586 -0.521606 -0.051862 0.368848 
time: 1403636652.263556, t: 0.725863 12.324425 10.962057 q: 0.686340 -0.608796 -0.063391 0.392792 
time: 1403636653.263556, t: 0.185410 12.017518 10.703242 q: 0.602619 -0.687797 -0.072734 0.398115 
time: 1403636654.263556, t: -0.011934 11.972218 10.308401 q: 0.610088 -0.689041 -0.054790 0.387315 
time: 1403636655.263556, t: 0.591879 12.166760 9.575073 q: 0.533894 -0.738163 -0.122336 0.393836 
time: 1403636656.263556, t: 0.273159 11.452682 9.793805 q: -0.390474 0.804695 0.122186 -0.430195 
time: 1403636657.263556, t: 0.320508 11.007015 9.412934 q: -0.401309 0.814717 0.104677 -0.405253 
time: 1403636658.263556, t: 0.424822 10.331367 9.154697 q: -0.376839 0.810171 0.132651 -0.428974 
time: 1403636659.263556, t: -0.144497 9.498370 9.198696 q: -0.366775 0.850699 0.211101 -0.311808 
time: 1403636660.263556, t: -0.288055 9.168053 8.811908 q: -0.375034 0.822975 0.203808 -0.374866 
time: 1403636661.263556, t: -1.163048 8.389985 8.651225 q: -0.389819 0.825286 0.148070 -0.380814 
time: 1403636662.263556, t: -1.082313 9.886042 8.819434 q: -0.373969 0.833783 0.131212 -0.384366 
time: 1403636663.263556, t: -1.101360 9.881218 9.116661 q: -0.357152 0.821867 0.121389 -0.426898 
time: 1403636664.263556, t: -1.343373 10.102445 9.175623 q: -0.379972 0.828322 0.160971 -0.378936 
time: 1403636665.263556, t: -1.712940 10.593242 9.463747 q: -0.418049 0.809475 0.107814 -0.397945 
time: 1403636666.263556, t: -1.488159 11.419309 9.908861 q: -0.397578 0.824385 0.116796 -0.385589 
time: 1403636667.263556, t: -2.204400 11.983082 9.208945 q: 0.514435 -0.736617 -0.085383 0.430653 
time: 1403636668.263556, t: -2.122654 12.194095 9.337511 q: -0.492436 0.755399 0.145965 -0.406907 
time: 1403636669.263556, t: -2.424579 12.456111 10.074808 q: -0.457476 0.808804 0.122317 -0.348697 
time: 1403636670.263556, t: -0.855250 14.089905 10.183679 q: -0.406425 0.738373 0.231326 -0.485914 
time: 1403636671.263556, t: -2.992287 11.980648 11.944808 q: 0.610505 -0.733081 -0.071599 0.291118 
feature tracking not enough, please slowly move you device! 
time: 1403636672.263556, t: -2.992287 11.980648 11.944808 q: 0.610505 -0.733081 -0.071599 0.291118 
time: 1403636673.263556, t: -2.759269 11.232825 12.378119 q: 0.659861 -0.715166 -0.031789 0.228277 
time: 1403636674.263556, t: -2.766033 10.221446 12.231290 q: 0.677233 -0.702613 0.004452 0.218336 
time: 1403636675.263556, t: -2.942716 10.629256 12.351117 q: 0.721884 -0.649693 -0.021734 0.237297 
time: 1403636676.263556, t: -2.864692 11.415339 12.663215 q: 0.817562 -0.550571 0.004900 0.168642 
time: 1403636677.263556, t: -2.720364 12.132071 13.337805 q: 0.881790 -0.454365 0.005558 0.126363 
time: 1403636678.263556, t: -2.482683 12.518098 13.748347 q: 0.955129 -0.281053 0.009867 0.092951 
time: 1403636679.263556, t: -2.467806 12.973048 14.214155 q: 0.996265 -0.080209 0.030833 0.008482 
unstable tracking...
time: 1403636680.263556, t: -1.748815 13.699963 12.167405 q: 0.989359 0.129530 0.064434 0.015446 
unstable tracking...
time: 1403636681.263556, t: -2.320769 11.835264 13.956218 q: 0.999502 -0.015108 0.005466 -0.027171 
time: 1403636682.263556, t: -2.182054 11.114620 13.841945 q: 0.999704 -0.001695 0.013875 -0.019904 
time: 1403636683.263556, t: -2.316933 10.694922 13.616136 q: 0.999141 0.006735 0.031512 -0.026044 
time: 1403636684.263556, t: -2.470886 9.880413 13.307422 q: 0.999241 0.024975 0.022121 -0.020101 
time: 1403636685.263556, t: -2.680436 9.201434 12.920744 q: 0.999013 0.017932 0.021195 -0.034678 
time: 1403636686.263556, t: -2.940322 8.586461 12.475462 q: 0.999552 0.016670 0.013868 -0.020626 
time: 1403636687.263556, t: -3.068591 8.003442 12.160962 q: 0.999431 0.020985 0.020073 -0.017155 
time: 1403636688.263556, t: -3.360812 7.565967 11.930217 q: 0.999089 0.020340 0.024246 -0.028630 
time: 1403636689.263556, t: -3.766595 7.119665 11.678991 q: 0.997979 0.052709 0.009173 -0.034293 
time: 1403636690.263556, t: -3.650223 6.775118 11.656764 q: 0.997856 0.060536 -0.005498 -0.024245 
time: 1403636691.263556, t: -3.511078 6.813712 11.925695 q: 0.994183 0.076043 0.076165 0.004185 
time: 1403636692.263556, t: -3.298961 7.559294 11.872042 q: 0.996162 0.065068 0.036184 -0.046034 
time: 1403636693.263556, t: -2.985933 8.083039 11.494494 q: 0.997151 0.057692 0.018517 -0.044939 
time: 1403636694.263556, t: -2.866945 8.297305 11.501631 q: 0.995799 0.076134 0.044896 -0.023929 
time: 1403636695.263556, t: -2.741992 8.413227 11.669449 q: 0.997099 0.067507 0.025262 -0.024456 
time: 1403636696.263556, t: -2.703487 8.565960 11.838480 q: 0.997918 0.050237 0.017333 -0.036552 
time: 1403636697.263556, t: -2.760220 8.562282 11.883999 q: 0.996724 0.035125 0.039559 -0.061182 
time: 1403636698.263556, t: -2.693188 8.186598 11.700782 q: 0.998313 -0.052183 0.023690 0.009352 
time: 1403636699.263556, t: -2.889360 7.702751 11.681169 q: 0.953139 -0.277673 0.025753 0.117302 
time: 1403636700.263556, t: -3.021601 7.490009 11.648457 q: 0.882846 -0.433014 0.037652 0.177945 
time: 1403636701.263556, t: -3.403283 7.587358 11.492837 q: 0.851545 -0.480993 0.019148 0.207727 
time: 1403636702.263556, t: -3.424820 7.639972 11.156300 q: 0.808192 -0.544613 0.029092 0.222206 
time: 1403636703.263556, t: -3.912231 8.111877 11.271804 q: 0.788772 -0.563880 0.041832 0.241098 
time: 1403636704.263556, t: -4.021439 8.496401 11.162540 q: 0.796643 -0.557077 0.028937 0.232783 
time: 1403636705.263556, t: -4.122095 9.032903 11.187764 q: 0.800979 -0.556267 0.008536 0.221192 
time: 1403636706.263556, t: -4.107687 9.878273 11.466600 q: 0.802483 -0.550805 0.042128 0.225524 
time: 1403636707.263556, t: -4.009186 10.670537 11.713099 q: 0.797840 -0.561717 0.013049 0.218527 
time: 1403636708.263556, t: -3.740318 11.550120 12.131771 q: 0.800625 -0.553881 0.029858 0.226549 
time: 1403636709.263556, t: -3.703348 12.348081 12.488395 q: 0.790021 -0.576843 0.029580 0.205531 
time: 1403636710.263556, t: -3.564771 12.799102 12.968474 q: 0.797627 -0.566104 0.022226 0.206941 
time: 1403636711.263556, t: -3.531571 13.077008 13.585670 q: 0.868054 -0.469319 0.031613 0.158815 
time: 1403636712.263556, t: -3.236388 12.919784 13.987809 q: 0.866710 -0.462505 0.054897 0.178576 
time: 1403636713.263556, t: -2.915048 12.354843 14.095650 q: 0.898001 -0.410479 0.054150 0.148894 
time: 1403636714.263556, t: -2.708011 11.608586 13.879011 q: 0.891518 -0.417479 0.047446 0.169280 
time: 1403636715.263556, t: -2.816846 11.104899 13.639610 q: 0.946036 -0.300633 0.024661 0.118440 
time: 1403636716.263556, t: -2.750390 10.800884 13.417492 q: 0.944288 -0.303392 0.051683 0.116633 
time: 1403636717.263556, t: -2.879101 10.448277 13.163221 q: 0.972181 -0.218794 0.039080 0.073936 
time: 1403636718.263556, t: -2.650517 10.505738 12.396064 q: 0.994526 -0.094510 0.008492 0.043743 
time: 1403636719.263556, t: -2.804495 10.226788 11.708678 q: 0.999645 0.021048 0.012849 0.010087 
time: 1403636720.263556, t: -4.653617 13.510389 11.675134 q: 0.974577 0.173014 0.091704 -0.108887 
time: 1403636721.263556, t: -6.017978 6.356539 7.482366 q: 0.954841 -0.232583 0.048385 0.178447 
time: 1403636722.263556, t: -5.504199 7.606700 8.191336 q: 0.957593 -0.228813 0.013403 0.174586 
time: 1403636723.263556, t: -5.587884 7.364148 7.940112 q: 0.952580 -0.241656 0.013882 0.184395 
time: 1403636724.263556, t: -5.625410 7.041484 7.664098 q: 0.922636 -0.316991 -0.009038 0.219494 
time: 1403636725.263556, t: -5.483224 6.794334 7.425028 q: 0.897059 -0.368621 -0.001866 0.243722 
time: 1403636726.263556, t: -5.400917 6.633941 7.272320 q: 0.899988 -0.369002 -0.001457 0.232070 
time: 1403636727.263556, t: -5.261166 6.544067 7.043844 q: 0.909196 -0.357161 0.003483 0.213976 
time: 1403636728.263556, t: -5.004077 6.328476 6.771673 q: 0.908901 -0.357326 0.005343 0.214915 
time: 1403636729.263556, t: -4.918682 5.917803 6.603775 q: 0.934296 -0.298236 0.013482 0.194844 
time: 1403636730.263556, t: -4.877539 5.394741 6.382170 q: 0.935754 -0.288837 0.001268 0.202328 
time: 1403636731.263556, t: -4.789265 5.018357 6.278229 q: 0.932800 -0.281459 0.017240 0.224427 
time: 1403636732.263556, t: -4.932479 4.888726 6.257076 q: 0.935452 -0.288281 0.015273 0.203937 
time: 1403636733.263556, t: -4.943275 4.620380 6.053946 q: 0.938984 -0.289519 0.012788 0.185269 
time: 1403636734.263556, t: -4.812652 4.104306 5.798245 q: 0.938924 -0.284272 0.011601 0.193588 
time: 1403636735.263556, t: -4.712712 3.587018 5.619739 q: 0.940278 -0.272006 -0.001915 0.204660 
time: 1403636736.263556, t: -4.486410 3.312116 5.521795 q: 0.944395 -0.264039 0.011347 0.195635 
time: 1403636737.263556, t: -4.397646 3.018980 5.530371 q: 0.957209 -0.226901 0.017896 0.178738 
optimize pose graph 
time: 1403636738.263556, t: -4.189152 2.752067 5.503004 q: 0.956900 -0.219311 0.008253 0.190203 
time: 1403636739.263556, t: -4.230718 2.776691 5.504733 q: 0.889074 -0.380336 0.003752 0.254711 
time: 1403636740.263556, t: -4.448670 2.914052 5.484486 q: 0.833911 -0.485288 -0.019416 0.262129 
time: 1403636741.263556, t: -4.817511 2.946264 5.510633 q: 0.833314 -0.488226 -0.007568 0.259164 
time: 1403636742.263556, t: -5.153997 2.934393 5.527160 q: 0.831556 -0.478169 -0.035303 0.280398 
time: 1403636743.263556, t: -5.343934 3.031079 5.616322 q: 0.826248 -0.476470 -0.044407 0.297183 
time: 1403636744.263556, t: -5.687939 3.376098 5.832928 q: 0.803496 -0.523688 -0.009040 0.282955 
time: 1403636745.263556, t: -6.335430 3.565719 6.104529 q: 0.806440 -0.514348 -0.019810 0.291046 
time: 1403636746.263556, t: -6.389779 3.757744 6.102299 q: 0.790647 -0.551814 -0.018199 0.264666 
time: 1403636747.263556, t: -6.225285 3.720780 6.231467 q: 0.797245 -0.530982 -0.020375 0.286433 
time: 1403636748.263556, t: -5.873589 3.866953 6.358572 q: 0.781023 -0.540368 -0.006740 0.312985 
time: 1403636749.263556, t: -5.652935 4.050936 6.407518 q: 0.772535 -0.553348 0.000141 0.311441 
time: 1403636750.263556, t: -5.495407 4.137566 6.308363 q: 0.784620 -0.552876 -0.005409 0.280481 
time: 1403636751.263556, t: -5.022053 3.995834 6.118371 q: 0.794515 -0.533166 -0.032992 0.288776 
time: 1403636752.263556, t: -4.637464 3.969970 5.993534 q: 0.810971 -0.509816 -0.020721 0.286330 
time: 1403636753.263556, t: -4.177825 3.967763 5.882432 q: 0.919816 -0.334605 -0.015951 0.204263 
time: 1403636754.263556, t: -4.313647 3.806482 5.931030 q: 0.939828 -0.286419 0.020274 0.185137 
time: 1403636755.263556, t: -4.096878 3.313628 6.035817 q: 0.963166 -0.214262 0.016590 0.161642 
time: 1403636756.263556, t: -3.969012 2.671020 5.960220 q: 0.962506 -0.212937 0.019841 0.166874 
time: 1403636757.263556, t: -3.657159 1.750560 6.032486 q: 0.962470 -0.211269 0.023520 0.168711 
optimize pose graph 
time: 1403636758.263556, t: -3.510638 1.121844 5.830413 q: 0.973096 -0.168123 0.022401 0.155940 
time: 1403636759.263556, t: -3.194051 0.697066 5.826736 q: 0.968387 -0.143424 0.011499 0.203775 
optimize pose graph 
time: 1403636760.263556, t: -3.343429 0.524260 5.911881 q: 0.973730 -0.156655 -0.009099 0.165002 
time: 1403636761.263556, t: -3.484082 0.366506 5.902858 q: 0.974624 -0.156439 -0.037599 0.155633 
time: 1403636762.263556, t: -3.515899 0.256486 6.355065 q: 0.972882 -0.177421 0.005748 0.148289 
time: 1403636763.263556, t: -3.500030 0.218330 6.108033 q: 0.957472 -0.200768 0.019465 0.206302 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720493239.492387610]: Shutdown request received.[0m
[33m[ WARN] [1720493239.492431528]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720493239.493353374]: Shutdown request received.[0m
[33m[ WARN] [1720493239.493374160]: Reason given for shutdown: [user request][0m
killed
