/SLAM-Hive/slam_hive_results/mapping_results/2975/2183_vins-fusion-stereo+MH_01_easy+Image_comb_test-23.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720494157.960304385]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720494157.961995617]: init begins[0m
[31m[ERROR] [1720494157.963123245]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/b2c44d0e-3d9f-11ef-818b-0242ac110005/roslaunch-da1b20f35c95-118.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://da1b20f35c95:38695/[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] [1720494159.066612788]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720494159.068299851]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720494159.074270331]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720494159.074483910]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720494159.074506965]: 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] [1720494159.074694672]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720494159.074910915]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720494159.075073849]: 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://da1b20f35c95:11311/[0m
]2;roscore http://da1b20f35c95:11311/
[1msetting /run_id to b2c44d0e-3d9f-11ef-818b-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] [1720494168.088069678]: 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: 316857589.36 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
[0m[ INFO] [1720494179.780369309]: Initialization finish![0m
time: 1403636590.263556, t: 0.021445 0.036772 0.106503 q: 0.996917 -0.065892 -0.017881 -0.038671 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636591.263556, t: 0.021445 0.036772 0.106503 q: 0.996917 -0.065892 -0.017881 -0.038671 
unstable tracking...
time: 1403636592.263556, t: 0.125056 0.110742 0.300944 q: 0.970930 -0.201694 -0.025690 -0.126313 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636593.263556, t: 0.094564 0.029638 0.371087 q: 0.979672 -0.164754 -0.038347 -0.107833 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636594.263556, t: 0.094564 0.029638 0.371087 q: 0.979672 -0.164754 -0.038347 -0.107833 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636595.263556, t: 0.094564 0.029638 0.371087 q: 0.979672 -0.164754 -0.038347 -0.107833 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636596.263556, t: 0.094564 0.029638 0.371087 q: 0.979672 -0.164754 -0.038347 -0.107833 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636597.263556, t: 0.094564 0.029638 0.371087 q: 0.979672 -0.164754 -0.038347 -0.107833 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636598.263556, t: 0.094564 0.029638 0.371087 q: 0.979672 -0.164754 -0.038347 -0.107833 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636599.263556, t: 0.094564 0.029638 0.371087 q: 0.979672 -0.164754 -0.038347 -0.107833 
feature tracking not enough, please slowly move you device! 
time: 1403636600.263556, t: 0.094564 0.029638 0.371087 q: 0.979672 -0.164754 -0.038347 -0.107833 
time: 1403636601.263556, t: 0.094564 0.029638 0.371087 q: 0.979672 -0.164754 -0.038347 -0.107833 
time: 1403636602.263556, t: 0.094564 0.029638 0.371087 q: 0.979672 -0.164754 -0.038347 -0.107833 
time: 1403636603.263556, t: 0.094564 0.029639 0.371087 q: 0.979673 -0.164748 -0.038345 -0.107832 
unstable tracking...
time: 1403636604.263556, t: 0.094564 0.029639 0.371087 q: 0.979673 -0.164748 -0.038346 -0.107832 
unstable tracking...
time: 1403636605.263556, t: 0.094564 0.029639 0.371087 q: 0.979673 -0.164748 -0.038346 -0.107832 
unstable tracking...
time: 1403636606.263556, t: 0.094564 0.029639 0.371087 q: 0.979673 -0.164748 -0.038345 -0.107831 
unstable tracking...
time: 1403636607.263556, t: 0.094564 0.029639 0.371087 q: 0.979674 -0.164746 -0.038340 -0.107831 
unstable tracking...
time: 1403636608.263556, t: 0.094564 0.029639 0.371087 q: 0.979674 -0.164745 -0.038337 -0.107831 
unstable tracking...
time: 1403636609.263556, t: 0.094564 0.029639 0.371087 q: 0.979675 -0.164740 -0.038326 -0.107832 
time: 1403636610.263556, t: 0.094563 0.029639 0.371087 q: 0.979675 -0.164742 -0.038329 -0.107830 
time: 1403636611.263556, t: 0.094564 0.029639 0.371088 q: 0.979675 -0.164743 -0.038351 -0.107826 
time: 1403636612.263556, t: 0.094565 0.029638 0.371086 q: 0.979667 -0.164783 -0.038397 -0.107818 
time: 1403636613.263556, t: 0.094564 0.029638 0.371086 q: 0.979666 -0.164790 -0.038410 -0.107810 
time: 1403636614.263556, t: 0.094564 0.029637 0.371084 q: 0.979661 -0.164817 -0.038433 -0.107804 
time: 1403636615.263556, t: 0.094563 0.029636 0.371081 q: 0.979663 -0.164818 -0.038371 -0.107812 
time: 1403636616.263556, t: 0.094562 0.029635 0.371079 q: 0.979660 -0.164841 -0.038384 -0.107802 
time: 1403636617.263556, t: 0.094562 0.029635 0.371077 q: 0.979657 -0.164858 -0.038385 -0.107796 
time: 1403636618.263556, t: 0.094561 0.029634 0.371075 q: 0.979655 -0.164877 -0.038384 -0.107789 
time: 1403636619.263556, t: 0.094559 0.029634 0.371071 q: 0.979659 -0.164867 -0.038304 -0.107800 
time: 1403636620.263556, t: 0.094559 0.029633 0.371068 q: 0.979653 -0.164900 -0.038324 -0.107788 
time: 1403636621.263556, t: 0.094558 0.029631 0.371065 q: 0.979645 -0.164950 -0.038358 -0.107774 
time: 1403636622.263556, t: 0.094557 0.029631 0.371063 q: 0.979643 -0.164970 -0.038378 -0.107760 
time: 1403636623.263556, t: 0.094556 0.029630 0.371061 q: 0.979648 -0.164945 -0.038280 -0.107781 
time: 1403636624.263556, t: 0.094556 0.029629 0.371058 q: 0.979639 -0.165001 -0.038350 -0.107753 
feature tracking not enough, please slowly move you device! 
time: 1403636625.263556, t: 0.089285 0.081817 0.204274 q: 0.974899 -0.186943 -0.055103 -0.107651 
feature tracking not enough, please slowly move you device! 
time: 1403636627.263556, t: 0.275874 -0.187453 -0.129264 q: 0.976351 -0.197550 0.028045 -0.083227 
time: 1403636628.263556, t: -11.030189 144.495164 608.881446 q: -0.387380 -0.392845 -0.099544 0.828070 
time: 1403636629.263556, t: -19.860179 40.925292 20.536063 q: 0.056376 -0.269629 0.314471 0.908422 
feature tracking not enough, please slowly move you device! 
time: 1403636631.263556, t: -19.953464 40.476616 20.241077 q: 0.065626 -0.259607 0.278093 0.922476 
time: 1403636632.263556, t: -19.949413 40.091442 17.889648 q: -0.019422 -0.199069 0.262345 0.944018 
time: 1403636633.263556, t: -20.048567 39.994202 19.504671 q: 0.030934 -0.214159 0.379868 0.899377 
feature tracking not enough, please slowly move you device! 
time: 1403636634.263556, t: -20.488785 40.592718 19.938661 q: -0.070199 -0.181349 0.383786 0.902714 
time: 1403636635.263556, t: -20.784940 40.493079 20.371344 q: 0.002793 -0.226834 0.412786 0.882126 
time: 1403636636.263556, t: -21.518668 40.552896 20.413958 q: -0.014218 -0.204672 0.412927 0.887355 
unstable tracking...
time: 1403636637.263556, t: -19.971640 39.210618 22.956331 q: 0.033547 -0.306124 0.486751 0.817457 
unstable tracking...
time: 1403636638.263556, t: -22.382841 40.961673 21.354024 q: -0.017402 -0.234578 0.438620 0.867342 
unstable tracking...
time: 1403636639.263556, t: -22.811358 40.845368 22.164274 q: -0.033994 -0.244873 0.497878 0.831264 
unstable tracking...
time: 1403636640.263556, t: -22.932379 41.417035 22.584379 q: 0.010807 -0.285273 0.469274 0.835634 
time: 1403636641.263556, t: -23.342915 41.285059 23.042370 q: 0.040705 -0.273160 0.508311 0.815688 
time: 1403636642.263556, t: -23.708983 41.412819 23.312666 q: 0.012878 -0.270876 0.485233 0.831270 
time: 1403636643.263556, t: -23.906849 41.643634 23.183431 q: 0.001621 -0.261964 0.467189 0.844456 
time: 1403636644.263556, t: -24.165751 41.661274 23.439986 q: 0.013585 -0.243383 0.476911 0.844474 
time: 1403636646.263556, t: -25.554737 42.073919 24.840717 q: -0.012032 -0.210930 0.491485 0.844870 
time: 1403636647.263556, t: -25.254555 42.850992 24.889895 q: -0.109966 -0.273207 0.327009 0.897959 
time: 1403636648.263556, t: -27.947336 40.979879 26.210112 q: 0.018806 -0.155093 0.428497 0.889934 
feature tracking not enough, please slowly move you device! 
time: 1403636650.263556, t: -31.982902 35.947999 31.416202 q: 0.048666 0.201231 0.738170 0.642061 
time: 1403636651.263556, t: -27.892288 37.168213 28.522454 q: -0.330562 0.021933 0.460150 0.823717 
time: 1403636652.263556, t: -29.137659 36.812389 27.512256 q: -0.274302 0.160690 0.288839 0.903055 
time: 1403636653.263556, t: -28.788605 36.448614 27.587682 q: -0.282786 0.214952 0.189378 0.915404 
time: 1403636654.263556, t: -28.550825 36.210635 27.513093 q: -0.288215 0.200900 0.180396 0.918710 
time: 1403636655.263556, t: -28.511075 36.215872 27.104927 q: -0.308744 0.240322 0.031529 0.919744 
time: 1403636656.263556, t: -28.171099 35.643788 26.638110 q: -0.331204 0.311672 -0.078982 0.887089 
time: 1403636657.263556, t: -27.465294 35.218292 26.579470 q: -0.334335 0.243988 -0.057285 0.908520 
feature tracking not enough, please slowly move you device! 
time: 1403636658.263556, t: -27.451285 35.023367 28.463292 q: -0.371034 0.233672 -0.088444 0.894376 
feature tracking not enough, please slowly move you device! 
time: 1403636659.263556, t: -27.451285 35.023367 28.463292 q: -0.371034 0.233672 -0.088444 0.894376 
time: 1403636660.263556, t: -27.301618 34.048191 28.202161 q: -0.365764 0.350289 -0.003777 0.862264 
time: 1403636661.263556, t: -28.155992 34.257957 28.426498 q: 0.529897 -0.311525 -0.025245 -0.788368 
time: 1403636662.263556, t: -26.453997 36.624526 28.105797 q: -0.411554 0.015879 -0.041672 0.910294 
time: 1403636663.263556, t: -26.589247 36.892956 28.205741 q: -0.447137 0.057904 -0.013529 0.892487 
time: 1403636664.263556, t: -26.648590 37.036391 28.494406 q: -0.389752 0.030003 -0.028867 0.919978 
feature tracking not enough, please slowly move you device! 
time: 1403636665.263556, t: -26.984318 37.221109 28.057368 q: -0.427118 0.015104 -0.003392 0.904063 
feature tracking not enough, please slowly move you device! 
time: 1403636666.263556, t: -27.583583 37.603458 28.521974 q: -0.421831 -0.013557 -0.008306 0.906535 
time: 1403636667.263556, t: -28.054585 37.622044 28.111383 q: -0.412790 -0.009596 0.010068 0.910720 
unstable tracking...
time: 1403636668.263556, t: -28.338866 37.762817 28.461166 q: -0.411462 0.013593 0.034020 0.910691 
unstable tracking...
time: 1403636669.263556, t: -28.846031 38.264956 28.845339 q: -0.456328 0.001097 -0.013755 0.889705 
feature tracking not enough, please slowly move you device! 
time: 1403636670.263556, t: -29.374180 38.500876 28.294310 q: -0.483353 -0.019643 0.006608 0.875180 
feature tracking not enough, please slowly move you device! 
time: 1403636671.263556, t: -30.182471 39.140195 27.319945 q: 0.561186 0.020090 -0.081739 -0.823399 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636673.263556, t: -29.800717 39.561294 26.450507 q: -0.367585 0.007688 0.082720 0.926272 
time: 1403636674.263556, t: -30.206561 39.345189 26.571477 q: -0.361946 -0.014453 0.099744 0.926735 
time: 1403636675.263556, t: -29.482833 39.486409 27.264587 q: -0.339198 -0.062504 0.205487 0.915867 
time: 1403636676.263556, t: -30.497235 39.410124 27.791375 q: -0.287192 -0.105636 0.329234 0.893290 
time: 1403636677.263556, t: -31.263244 40.642385 27.909012 q: -0.248652 -0.167374 0.357656 0.884443 
time: 1403636678.263556, t: -31.059244 41.898967 28.427940 q: -0.206872 -0.355996 0.431050 0.802911 
time: 1403636679.263556, t: -31.470263 41.692135 27.911120 q: -0.104741 -0.246832 0.614123 0.742264 
time: 1403636680.263556, t: -32.788806 40.604334 27.651997 q: -0.186442 -0.556681 0.515710 0.624009 
time: 1403636681.263556, t: -31.773704 40.777833 27.288208 q: -0.166388 -0.537506 0.528715 0.635501 
time: 1403636682.263556, t: -30.933004 41.709876 27.486903 q: 0.126820 0.621786 -0.471037 -0.612717 
time: 1403636683.263556, t: -30.622663 41.386256 27.842176 q: -0.166731 -0.575719 0.604514 0.524701 
feature tracking not enough, please slowly move you device! 
time: 1403636684.263556, t: -30.622663 41.386256 27.842176 q: -0.166731 -0.575719 0.604514 0.524701 
feature tracking not enough, please slowly move you device! 
time: 1403636685.263556, t: -30.111479 41.875320 27.220180 q: 0.084578 0.614309 -0.576623 -0.531956 
time: 1403636686.263556, t: -29.147335 42.006835 26.853167 q: -0.109303 -0.585211 0.585347 0.550409 
feature tracking not enough, please slowly move you device! 
time: 1403636687.263556, t: -28.905414 42.521769 26.000602 q: 0.134330 0.585585 -0.570798 -0.559674 
feature tracking not enough, please slowly move you device! 
time: 1403636688.263556, t: -28.198895 42.451128 26.129330 q: 0.112186 0.594238 -0.571000 -0.555206 
feature tracking not enough, please slowly move you device! 
time: 1403636689.263556, t: -28.685497 42.900851 25.796130 q: -0.091117 -0.585172 0.587295 0.551684 
time: 1403636690.263556, t: -27.395534 43.122926 25.506826 q: -0.090162 -0.581111 0.593482 0.549508 
feature tracking not enough, please slowly move you device! 
time: 1403636691.263556, t: -28.252514 42.866233 25.311812 q: 0.087026 0.609052 -0.574610 -0.539727 
feature tracking not enough, please slowly move you device! 
time: 1403636692.263556, t: -28.252514 42.866233 25.311812 q: 0.087026 0.609052 -0.574610 -0.539727 
time: 1403636693.263556, t: -28.717161 42.254045 26.749572 q: -0.075388 -0.619835 0.627474 0.465186 
time: 1403636694.263556, t: -28.872256 41.807057 26.929593 q: -0.099242 -0.627512 0.633327 0.441901 
time: 1403636695.263556, t: -28.945905 41.679551 26.758906 q: -0.109491 -0.602610 0.613278 0.498762 
time: 1403636696.263556, t: -29.109009 41.824903 26.502250 q: 0.107547 0.603053 -0.588127 -0.528078 
time: 1403636697.263556, t: -29.121746 41.887245 26.533756 q: 0.114311 0.627049 -0.563175 -0.525905 
time: 1403636698.263556, t: -28.733971 41.735583 26.188145 q: -0.195648 -0.554395 0.565293 0.578629 
time: 1403636699.263556, t: -28.186771 42.148601 25.576909 q: -0.396246 -0.417748 0.463708 0.673388 
time: 1403636700.263556, t: -28.016285 42.355493 25.336873 q: 0.511346 0.325164 -0.354612 -0.712070 
time: 1403636701.263556, t: -28.209672 42.497301 25.816760 q: 0.533662 0.277165 -0.325732 -0.729577 
time: 1403636702.263556, t: -28.030665 42.560532 25.737435 q: 0.596827 0.225951 -0.248872 -0.728565 
time: 1403636703.263556, t: -27.916953 42.422690 26.300963 q: 0.591283 0.199255 -0.248291 -0.740967 
time: 1403636704.263556, t: -27.913584 42.387465 26.584722 q: 0.579663 0.203080 -0.253876 -0.747192 
time: 1403636705.263556, t: -28.063212 42.260836 26.860020 q: 0.559484 0.195854 -0.257832 -0.762982 
feature tracking not enough, please slowly move you device! 
time: 1403636707.263556, t: -27.111221 41.367753 28.235598 q: 0.508596 0.254386 -0.325164 -0.755570 
time: 1403636708.263556, t: -28.087779 41.400112 28.100751 q: 0.522965 0.255743 -0.301591 -0.755080 
time: 1403636709.263556, t: -28.638294 41.242531 29.530688 q: -0.494906 -0.311761 0.329463 0.741166 
time: 1403636710.263556, t: -29.292961 40.955790 29.818563 q: -0.448102 -0.312978 0.385861 0.743210 
time: 1403636711.263556, t: -30.007569 40.242963 29.753477 q: -0.311452 -0.331050 0.529228 0.716465 
time: 1403636712.263556, t: -30.222473 40.724321 29.237159 q: -0.374459 -0.342017 0.526796 0.682123 
time: 1403636713.263556, t: -28.630426 40.287749 29.057325 q: -0.320317 -0.386621 0.574979 0.646004 
time: 1403636714.263556, t: -28.456925 40.862316 28.731097 q: -0.381096 -0.398139 0.571588 0.607897 
feature tracking not enough, please slowly move you device! 
time: 1403636715.263556, t: -29.679779 41.015438 28.391942 q: -0.386353 -0.394332 0.597364 0.581713 
time: 1403636716.263556, t: -24.054534 41.772900 27.462493 q: -0.238883 -0.605802 0.451304 0.610134 
feature tracking not enough, please slowly move you device! 
time: 1403636717.263556, t: -26.664258 43.350554 29.221136 q: -0.469807 -0.187213 0.692949 0.513861 
feature tracking not enough, please slowly move you device! 
time: 1403636718.263556, t: -26.664258 43.350554 29.221136 q: -0.469807 -0.187213 0.692949 0.513861 
feature tracking not enough, please slowly move you device! 
time: 1403636719.263556, t: -26.664258 43.350554 29.221136 q: -0.469807 -0.187213 0.692949 0.513861 
time: 1403636720.263556, t: -26.157302 42.569161 27.546030 q: -0.470511 -0.172939 0.663608 0.555281 
time: 1403636721.263556, t: -26.652265 42.191534 26.600729 q: 0.510959 0.102849 -0.603281 -0.603652 
time: 1403636722.263556, t: -26.758550 43.024624 26.786543 q: -0.469241 -0.109538 0.526836 0.700185 
time: 1403636723.263556, t: -26.386937 42.385760 26.383577 q: -0.432830 -0.092541 0.516063 0.733331 
time: 1403636724.263556, t: -26.126234 41.980830 26.056437 q: -0.444636 -0.017377 0.470842 0.761778 
unstable tracking...
time: 1403636725.263556, t: -26.236460 41.945162 25.800091 q: -0.467849 0.008165 0.413594 0.781019 
unstable tracking...
time: 1403636726.263556, t: -26.156616 41.610339 25.675671 q: -0.453636 0.003156 0.421359 0.785278 
unstable tracking...
unstable tracking...
time: 1403636728.263556, t: -26.322224 41.015067 25.296779 q: -0.436306 -0.009974 0.420885 0.795232 
unstable tracking...
time: 1403636729.263556, t: -26.223997 40.796455 24.872320 q: -0.421931 -0.049067 0.471497 0.772824 
time: 1403636730.263556, t: -26.046244 40.523591 24.310411 q: -0.418144 -0.039439 0.483968 0.767708 
time: 1403636731.263556, t: -26.613946 40.022733 24.122889 q: -0.443956 0.025795 0.497722 0.744655 
time: 1403636732.263556, t: -26.431835 40.213043 23.978212 q: -0.440008 0.010603 0.487618 0.753995 
time: 1403636733.263556, t: -26.460741 40.122747 23.687120 q: -0.420756 0.004769 0.480498 0.769456 
time: 1403636734.263556, t: -26.575469 39.917791 23.137539 q: -0.414913 0.011465 0.479606 0.773107 
time: 1403636735.263556, t: -26.637331 39.735616 22.652787 q: -0.405687 0.026879 0.492984 0.769196 
time: 1403636736.263556, t: -26.800734 39.427362 22.373126 q: -0.403514 0.011011 0.497806 0.767623 
time: 1403636737.263556, t: -26.921647 39.328454 22.061745 q: -0.394819 -0.013148 0.526427 0.752874 
time: 1403636738.263556, t: -27.161421 39.137205 21.704879 q: -0.390143 0.001125 0.534520 0.749717 
time: 1403636739.263556, t: -26.823479 39.149365 21.930824 q: -0.446999 0.073988 0.417637 0.787589 
time: 1403636740.263556, t: -27.582654 38.951657 22.572139 q: -0.384244 0.196020 0.335204 0.837598 
time: 1403636741.263556, t: -26.153490 39.094286 22.639788 q: -0.425490 0.115224 0.366908 0.819183 
time: 1403636742.263556, t: -24.704608 40.297207 22.167421 q: 0.509758 -0.059288 -0.354749 -0.781527 
time: 1403636743.263556, t: -24.853709 40.288745 22.254297 q: -0.498957 0.095437 0.359251 0.782861 
time: 1403636744.263556, t: -24.931423 40.908958 22.578111 q: 0.525063 -0.078318 -0.289369 -0.796518 
time: 1403636745.263556, t: -24.618411 41.518136 22.498050 q: 0.521515 -0.094962 -0.287109 -0.797855 
time: 1403636746.263556, t: -24.787990 41.604790 22.617781 q: 0.507691 -0.098581 -0.228015 -0.824949 
time: 1403636747.263556, t: -24.873459 41.626967 22.547870 q: 0.522749 -0.098043 -0.253211 -0.808088 
time: 1403636748.263556, t: -25.027084 41.435797 22.686144 q: 0.559455 -0.103392 -0.249229 -0.783712 
time: 1403636749.263556, t: -25.289730 41.228324 22.877485 q: 0.560768 -0.109100 -0.234388 -0.786574 
time: 1403636750.263556, t: -25.445427 40.888200 23.060376 q: 0.531175 -0.107120 -0.247637 -0.803153 
time: 1403636751.263556, t: -25.749215 40.274375 23.008387 q: 0.510547 -0.137841 -0.284820 -0.799512 
time: 1403636752.263556, t: -26.052365 39.756251 23.066783 q: 0.505963 -0.130742 -0.313315 -0.792932 
time: 1403636753.263556, t: -26.234262 39.314652 23.230373 q: -0.437422 0.004596 0.483117 0.758445 
time: 1403636754.263556, t: -26.282910 39.309049 23.014662 q: -0.447311 -0.044659 0.511664 0.732201 
time: 1403636755.263556, t: -26.284982 39.068452 22.459937 q: -0.423928 -0.089782 0.569261 0.698689 
time: 1403636756.263556, t: -26.543119 39.025150 21.549684 q: -0.421225 -0.085880 0.552852 0.713827 
time: 1403636757.263556, t: -27.592851 39.325013 20.518214 q: -0.447286 -0.047346 0.505089 0.736599 
feature tracking not enough, please slowly move you device! 
time: 1403636758.263556, t: -27.713200 39.508874 20.108792 q: -0.286472 -0.145014 0.518848 0.792276 
time: 1403636759.263556, t: -28.045518 38.314429 21.111805 q: -0.320929 -0.025282 0.716523 0.618837 
feature tracking not enough, please slowly move you device! 
time: 1403636760.263556, t: -26.797353 37.499939 20.336872 q: -0.288126 -0.062314 0.635456 0.713650 
feature tracking not enough, please slowly move you device! 
time: 1403636761.263556, t: -26.797353 37.499939 20.336872 q: -0.288126 -0.062314 0.635456 0.713650 
feature tracking not enough, please slowly move you device! 
time: 1403636762.263556, t: -26.904118 37.544704 20.265798 q: -0.256670 -0.093913 0.656251 0.703304 
feature tracking not enough, please slowly move you device! 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720494356.713850944]: Shutdown request received.[0m
[33m[ WARN] [1720494356.713903431]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720494356.714832524]: Shutdown request received.[0m
[33m[ WARN] [1720494356.714873209]: Reason given for shutdown: [user request][0m
killed
