/SLAM-Hive/slam_hive_results/mapping_results/2987/2195_vins-fusion-stereo+MH_02_easy+Image_comb_test-5.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720496718.579997302]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720496718.581160344]: init begins[0m
[31m[ERROR] [1720496718.582189871]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/a903e986-3da5-11ef-9e72-0242ac110005/roslaunch-bd2874391aaa-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://bd2874391aaa:34537/[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] [1720496719.686422974]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720496719.688280655]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720496719.694015535]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720496719.694332673]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720496719.694355783]: 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] [1720496719.694603981]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720496719.694822573]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720496719.694980881]: 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://bd2874391aaa:11311/[0m
]2;roscore http://bd2874391aaa:11311/
[1msetting /run_id to a903e986-3da5-11ef-9e72-0242ac110005[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_02_easy.bag  --clock 
[0m[ INFO] [1720496728.741923507]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316859872.10 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720496731.980111996]: Initialization finish![0m
time: 1403636859.701667, t: 0.057766 0.053181 -0.138870 q: 0.997601 -0.053100 0.028324 -0.034213 
time: 1403636859.801666, t: 0.044605 0.034659 -0.106358 q: 0.994413 -0.072945 0.054635 -0.053271 
feature tracking not enough, please slowly move you device! 
time: 1403636859.901666, t: 0.044605 0.034659 -0.106358 q: 0.994413 -0.072945 0.054635 -0.053271 
time: 1403636860.001667, t: 0.179559 0.045913 -0.305341 q: 0.992051 -0.079938 0.043827 -0.086740 
time: 1403636860.101666, t: 0.082185 0.031887 -0.144270 q: 0.992500 -0.083203 0.056255 -0.069683 
time: 1403636860.201667, t: 0.075891 0.036489 -0.164753 q: 0.992019 -0.090078 0.046754 -0.074820 
time: 1403636860.301666, t: 0.021157 0.014828 -0.130389 q: 0.993149 -0.088076 0.034102 -0.068811 
time: 1403636860.401666, t: -0.033584 0.035343 -0.119701 q: 0.994347 -0.087558 0.012320 -0.058789 
time: 1403636860.501667, t: -0.081011 0.047020 -0.106658 q: 0.994814 -0.086947 -0.015964 -0.050302 
time: 1403636860.601666, t: -0.109739 0.049514 -0.087152 q: 0.993595 -0.087457 -0.050278 -0.050914 
feature tracking not enough, please slowly move you device! 
time: 1403636860.701667, t: -0.133899 0.048615 -0.098286 q: 0.990468 -0.091544 -0.065510 0.079375 
time: 1403636860.801666, t: -0.319506 0.025050 -0.044753 q: 0.988469 -0.106575 0.088973 0.060456 
time: 1403636860.901666, t: -0.057032 0.115449 -0.112457 q: 0.988199 -0.064192 -0.108998 -0.086379 
time: 1403636861.001667, t: -0.239570 -0.012302 0.015897 q: 0.985322 -0.149002 0.082342 -0.012634 
feature tracking not enough, please slowly move you device! 
time: 1403636861.101666, t: -0.239570 -0.012302 0.015897 q: 0.985322 -0.149002 0.082342 -0.012634 
time: 1403636861.201667, t: -0.200753 -0.009528 -0.004483 q: 0.983147 -0.147990 0.106190 -0.015615 
time: 1403636861.301666, t: -0.166767 -0.017178 -0.028464 q: 0.980039 -0.148175 0.131288 -0.018199 
time: 1403636861.401666, t: -0.141302 -0.016503 -0.046709 q: 0.977302 -0.146477 0.152040 -0.017608 
time: 1403636861.501667, t: -0.129843 -0.000795 -0.009771 q: 0.974537 -0.146600 0.168621 -0.018812 
unstable tracking...
time: 1403636861.601666, t: -0.134426 0.000171 -0.014621 q: 0.974531 -0.148691 0.166840 -0.018546 
unstable tracking...
time: 1403636861.701667, t: -0.151703 0.003688 0.004035 q: 0.976645 -0.147799 0.155084 -0.016383 
unstable tracking...
time: 1403636861.801666, t: -0.203771 0.016805 0.017160 q: 0.978609 -0.147841 0.142045 -0.017069 
unstable tracking...
time: 1403636861.901666, t: -0.252692 0.021768 0.055352 q: 0.981010 -0.144034 0.129105 -0.014347 
unstable tracking...
time: 1403636862.001667, t: -0.296468 0.029250 0.084124 q: 0.984238 -0.140143 0.107611 -0.007427 
time: 1403636862.101666, t: -0.317932 0.033523 0.096895 q: 0.988050 -0.136247 0.071086 0.011877 
time: 1403636862.201667, t: -0.336880 0.041973 0.066757 q: 0.990170 -0.127615 0.057244 -0.000454 
time: 1403636862.301666, t: -0.397139 0.029761 0.104035 q: 0.984225 -0.145778 0.097978 -0.021215 
time: 1403636862.401666, t: -0.360610 0.031248 0.064882 q: 0.987651 -0.140537 0.068753 -0.008191 
time: 1403636862.501667, t: -0.319984 0.024182 0.030696 q: 0.987130 -0.142124 0.072434 -0.011335 
time: 1403636862.601666, t: -0.237427 0.015082 0.000992 q: 0.986996 -0.152208 0.051439 -0.005143 
time: 1403636862.701667, t: -0.159302 0.011670 -0.025131 q: 0.985243 -0.164992 0.043590 -0.013153 
time: 1403636862.801666, t: -0.088946 -0.030079 -0.024644 q: 0.980844 -0.183634 0.047977 -0.043828 
time: 1403636862.901666, t: -0.114828 -0.010481 -0.035483 q: 0.979615 -0.165228 0.113652 -0.011733 
time: 1403636863.001667, t: -0.085338 0.010556 -0.091022 q: 0.980071 -0.145781 0.134620 -0.009335 
time: 1403636863.101666, t: -0.082406 -0.008384 -0.093134 q: 0.976763 -0.154902 0.146979 -0.018332 
time: 1403636863.201667, t: -0.151711 0.018496 -0.049864 q: 0.974953 -0.159423 0.153054 -0.025014 
time: 1403636863.301666, t: -0.238622 0.070302 -0.045460 q: 0.974742 -0.162121 0.150827 -0.029079 
time: 1403636863.401666, t: -0.232613 0.061754 0.013112 q: 0.974592 -0.167962 0.144742 -0.031772 
time: 1403636863.501667, t: -0.319085 0.071943 0.053397 q: 0.975563 -0.168098 0.139465 -0.023855 
time: 1403636863.601666, t: -0.359797 0.093726 0.060118 q: 0.979262 -0.158420 0.125394 -0.015018 
time: 1403636863.701667, t: -0.400963 0.094727 0.071755 q: 0.982242 -0.152933 0.108485 -0.006635 
time: 1403636863.801666, t: -0.438634 0.090472 0.093054 q: 0.983761 -0.151589 0.096058 0.002983 
time: 1403636863.901666, t: -0.456291 0.081092 0.099060 q: 0.984473 -0.152581 0.086676 0.004360 
time: 1403636864.001667, t: -0.431499 0.066968 0.102423 q: 0.984891 -0.150917 0.084874 0.003178 
time: 1403636864.101666, t: -0.375863 0.049710 0.067710 q: 0.984487 -0.153259 0.085205 -0.006124 
time: 1403636864.201667, t: -0.320403 0.042931 0.021252 q: 0.983099 -0.157677 0.092338 -0.011334 
time: 1403636864.301666, t: -0.265836 0.041941 -0.043512 q: 0.982549 -0.157752 0.097731 -0.012696 
time: 1403636864.401666, t: -0.229723 0.021040 -0.029256 q: 0.981765 -0.156315 0.107714 -0.010058 
time: 1403636864.501667, t: -0.172690 0.013863 -0.031252 q: 0.979378 -0.157763 0.125979 -0.007611 
time: 1403636864.601666, t: 0.129454 -0.063369 -0.248531 q: 0.978765 -0.166989 0.117871 -0.015490 
time: 1403636864.701667, t: -0.161377 0.041971 -0.070798 q: 0.975036 -0.157133 0.156533 -0.010568 
time: 1403636864.801666, t: -0.218892 0.067649 -0.007814 q: 0.974893 -0.156739 0.157537 -0.014083 
time: 1403636864.901666, t: -0.255279 0.064161 0.020393 q: 0.975988 -0.159128 0.148133 -0.013485 
time: 1403636865.001667, t: -0.294310 0.072889 0.030851 q: 0.976829 -0.165498 0.134990 -0.013932 
time: 1403636865.101666, t: -0.405830 0.109219 0.109411 q: 0.978086 -0.162761 0.129492 -0.009439 
time: 1403636865.201667, t: -1.062455 0.312863 0.590416 q: 0.973854 -0.125028 0.187256 0.030200 
time: 1403636865.301666, t: -0.444526 0.092801 0.109468 q: 0.982420 -0.148096 0.112450 0.016520 
time: 1403636865.401666, t: -0.437934 0.083592 0.088818 q: 0.982052 -0.154077 0.108392 0.009219 
time: 1403636865.501667, t: -0.460620 0.098109 0.104315 q: 0.983233 -0.153063 0.098853 0.007217 
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time: 1403636872.601666, t: 0.050944 -0.317644 -0.370145 q: 0.983319 -0.147727 -0.095174 0.046921 
time: 1403636872.701667, t: 0.051705 -0.314533 -0.374328 q: 0.984040 -0.146152 -0.092389 0.042062 
time: 1403636872.801666, t: 0.053032 -0.308237 -0.373256 q: 0.982293 -0.158080 -0.090364 0.044107 
time: 1403636872.901666, t: 0.057335 -0.286883 -0.377951 q: 0.980410 -0.165453 -0.095415 0.048133 
time: 1403636873.001667, t: 0.065008 -0.256448 -0.389520 q: 0.977701 -0.175710 -0.104037 0.049028 
time: 1403636873.101666, t: 0.064299 -0.197946 -0.399670 q: 0.977632 -0.175927 -0.100974 0.055592 
time: 1403636873.201667, t: 0.094195 -0.153042 -0.426956 q: 0.973810 -0.178182 -0.124998 0.065732 
time: 1403636873.301666, t: 0.103951 -0.089404 -0.446219 q: 0.972491 -0.177859 -0.133965 0.068419 
time: 1403636873.401666, t: 0.118084 -0.033493 -0.464188 q: 0.968795 -0.186778 -0.145181 0.073983 
time: 1403636873.501667, t: 0.105190 0.023706 -0.465094 q: 0.969128 -0.193293 -0.139591 0.062801 
time: 1403636873.601666, t: 0.177626 -0.025766 -0.443643 q: 0.927701 -0.301693 -0.218145 -0.027639 
time: 1403636873.701667, t: 0.176287 0.089754 -0.493321 q: 0.948926 -0.235992 -0.207727 0.026383 
time: 1403636873.801666, t: 0.142944 0.102293 -0.486364 q: 0.948459 -0.256198 -0.185764 0.016746 
time: 1403636873.901666, t: 0.166718 0.141171 -0.507086 q: 0.949851 -0.235546 -0.205131 0.014890 
time: 1403636874.001667, t: 0.157852 0.149617 -0.506129 q: 0.950809 -0.237689 -0.197875 0.017640 
time: 1403636874.101666, t: 0.163902 0.151791 -0.506922 q: 0.949892 -0.236059 -0.204046 0.018625 
time: 1403636874.201667, t: 0.158026 0.140216 -0.501708 q: 0.949907 -0.237982 -0.201566 0.020298 
time: 1403636874.301666, t: 0.146033 0.116582 -0.493663 q: 0.950599 -0.240052 -0.195731 0.020640 
time: 1403636874.401666, t: 0.134636 0.076952 -0.478686 q: 0.951169 -0.241078 -0.191849 0.018765 
time: 1403636874.501667, t: 0.125292 0.028015 -0.461577 q: 0.951448 -0.242227 -0.189056 0.018206 
time: 1403636874.601666, t: 0.117544 -0.016446 -0.443318 q: 0.955118 -0.232787 -0.181891 0.021784 
time: 1403636874.701667, t: 0.101116 -0.066356 -0.428126 q: 0.961246 -0.217276 -0.167789 0.025381 
time: 1403636874.801666, t: 0.085253 -0.134495 -0.386307 q: 0.958555 -0.230091 -0.167305 0.015440 
time: 1403636874.901666, t: 0.076718 -0.187539 -0.361655 q: 0.958795 -0.223370 -0.175106 0.012518 
time: 1403636875.001667, t: 0.047670 -0.208270 -0.339075 q: 0.966819 -0.207145 -0.148683 0.015670 
time: 1403636875.101666, t: 0.055891 -0.252852 -0.322940 q: 0.964140 -0.220406 -0.146777 0.017646 
time: 1403636875.201667, t: 0.045444 -0.257882 -0.317213 q: 0.968773 -0.219957 -0.110958 0.028049 
time: 1403636875.301666, t: 0.049308 -0.301867 -0.301685 q: 0.959433 -0.257548 -0.106388 0.042877 
time: 1403636875.401666, t: 0.018947 -0.290783 -0.299130 q: 0.961172 -0.257634 -0.082244 0.054854 
time: 1403636875.501667, t: 0.027415 -0.278140 -0.317259 q: 0.959980 -0.243245 -0.110475 0.084051 
time: 1403636875.601666, t: -0.002219 -0.255913 -0.348449 q: 0.964037 -0.226257 -0.093300 0.103613 
time: 1403636875.701667, t: -0.047863 0.024592 -0.327003 q: 0.992393 -0.054749 -0.093486 0.058471 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636875.901666, t: 0.017610 0.002560 -0.460281 q: 0.991891 -0.017526 -0.005110 0.125776 
time: 1403636876.001667, t: 0.730792 2.147082 1.540767 q: 0.786384 -0.326516 -0.053608 0.521646 
feature tracking not enough, please slowly move you device! 
time: 1403636876.101666, t: 0.968166 1.762803 2.291477 q: 0.822386 -0.287463 -0.066513 0.486439 
time: 1403636876.201667, t: 1.073901 1.223934 2.392677 q: -0.347396 0.198795 0.429720 0.809406 
time: 1403636876.301666, t: -0.354353 1.577837 0.210632 q: 0.919346 -0.323747 -0.019438 0.222739 
feature tracking not enough, please slowly move you device! 
time: 1403636876.401666, t: 1.104968 1.323105 0.389366 q: 0.903940 -0.331960 -0.115185 0.243776 
feature tracking not enough, please slowly move you device! 
time: 1403636876.501667, t: 1.104968 1.323105 0.389366 q: 0.903940 -0.331960 -0.115185 0.243776 
time: 1403636876.601666, t: 1.104969 1.323105 0.389366 q: 0.903940 -0.331960 -0.115185 0.243776 
time: 1403636876.701667, t: 1.104969 1.323105 0.389366 q: 0.903941 -0.331960 -0.115184 0.243775 
unstable tracking...
time: 1403636876.801666, t: 1.011042 1.465993 0.507543 q: 0.914888 -0.315650 0.068029 0.242317 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636876.901666, t: 1.031186 1.455429 0.521779 q: 0.931911 -0.303093 0.070318 0.186366 
unstable tracking...
time: 1403636877.001667, t: 0.991499 1.629367 0.612508 q: 0.935771 -0.260153 0.141838 0.191141 
unstable tracking...
time: 1403636877.101666, t: 1.869711 1.456199 0.262123 q: 0.952222 -0.189512 0.057491 0.232492 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636877.201667, t: 1.869711 1.456199 0.262123 q: 0.952222 -0.189512 0.057491 0.232492 
unstable tracking...
time: 1403636877.301666, t: 1.770568 0.283087 0.101265 q: 0.936101 -0.190736 0.033361 0.293635 
unstable tracking...
time: 1403636877.401666, t: 1.925075 1.096107 -0.350981 q: 0.931845 -0.007120 0.054065 0.358736 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636877.501667, t: 1.925075 1.096107 -0.350981 q: 0.931845 -0.007120 0.054065 0.358736 
feature tracking not enough, please slowly move you device! 
time: 1403636877.601666, t: 1.925075 1.096107 -0.350981 q: 0.931845 -0.007120 0.054065 0.358736 
time: 1403636877.701667, t: 1.925078 1.096101 -0.350980 q: 0.931847 -0.007133 0.054079 0.358727 
time: 1403636877.801666, t: 1.774333 1.080215 -0.901798 q: 0.914421 0.181254 0.025482 0.361016 
feature tracking not enough, please slowly move you device! 
time: 1403636877.901666, t: 1.774333 1.080215 -0.901798 q: 0.914421 0.181254 0.025482 0.361016 
feature tracking not enough, please slowly move you device! 
time: 1403636878.001667, t: 1.774333 1.080215 -0.901798 q: 0.914421 0.181254 0.025482 0.361016 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636878.101666, t: 1.774333 1.080215 -0.901798 q: 0.914421 0.181254 0.025482 0.361016 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636878.301666, t: 1.774333 1.080215 -0.901798 q: 0.914421 0.181254 0.025482 0.361016 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636878.401666, t: 1.774333 1.080215 -0.901798 q: 0.914421 0.181254 0.025482 0.361016 
unstable tracking...
time: 1403636878.501667, t: 1.774333 1.080215 -0.901798 q: 0.914421 0.181254 0.025482 0.361016 
unstable tracking...
time: 1403636878.601666, t: 1.774333 1.080215 -0.901798 q: 0.914421 0.181253 0.025481 0.361016 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636878.801666, t: 7.025251 -5.429000 -24.912107 q: 0.882011 -0.318721 -0.087454 0.335894 
unstable tracking...
time: 1403636878.901666, t: 6.310656 -0.339255 -23.284171 q: 0.920861 0.152714 -0.186244 0.306605 
unstable tracking...
time: 1403636879.001667, t: 6.616347 -4.298970 -24.530194 q: 0.873072 -0.373452 -0.039835 0.310953 
unstable tracking...
time: 1403636879.101666, t: 7.892907 -6.107952 -22.584752 q: 0.789677 -0.600134 -0.086009 0.094088 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636879.201667, t: 7.892907 -6.107952 -22.584752 q: 0.789677 -0.600134 -0.086009 0.094088 
unstable tracking...
time: 1403636879.301666, t: 7.892907 -6.107952 -22.584752 q: 0.789677 -0.600134 -0.086009 0.094088 
unstable tracking...
time: 1403636879.401666, t: 7.892848 -6.107926 -22.584788 q: 0.789633 -0.600290 -0.085857 0.093600 
unstable tracking...
time: 1403636879.501667, t: 8.447509 -1.897301 -21.116994 q: 0.865543 -0.489667 -0.071039 0.077556 
unstable tracking...
time: 1403636879.601666, t: 8.298114 -11.004702 -22.581648 q: 0.944115 -0.313277 -0.100647 -0.019363 
unstable tracking...
unstable tracking...
time: 1403636879.801666, t: 7.977947 -14.890512 -21.800915 q: 0.782284 -0.618732 -0.001524 0.072110 
unstable tracking...
time: 1403636879.901666, t: 8.724210 -16.087317 -21.091304 q: 0.752885 -0.626874 -0.158308 0.123015 
unstable tracking...
time: 1403636880.001667, t: 8.383470 -15.379385 -20.687984 q: 0.733144 -0.636799 -0.104582 0.214592 
unstable tracking...
time: 1403636880.101666, t: 8.492771 -15.621853 -21.684562 q: 0.761581 -0.608504 -0.179646 0.132079 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636880.401666, t: -1879.160407 -638.039384 -3700.590719 q: -0.184276 0.146710 0.933216 0.271340 
unstable tracking...
unstable tracking...
time: 1403636880.601666, t: 211087.940022 -26680.228923 -324124.349863 q: 0.453322 0.586079 0.671063 -0.026166 
unstable tracking...
unstable tracking...
time: 1403636880.801666, t: 159459.344091 -19428.417852 -318386.807303 q: 0.281833 0.838371 0.334303 0.325493 
unstable tracking...
time: 1403636880.901666, t: 200523.174915 -86537.385111 -346461.077543 q: 0.237466 0.396649 0.770546 0.438792 
unstable tracking...
unstable tracking...
time: 1403636881.101666, t: 161259.021227 -41245.267083 -646128.119779 q: -0.193326 -0.014487 0.954296 0.227451 
unstable tracking...
unstable tracking...
time: 1403636881.301666, t: 65805.851841 -12223.978180 -702549.390458 q: -0.379157 -0.313438 0.772034 0.402441 
unstable tracking...
time: 1403636881.401666, t: 92807.154113 -1093.182731 -948924.720411 q: -0.347733 0.646785 0.477700 -0.482238 
unstable tracking...
time: 1403636881.501667, t: 306773.786770 94596.088317 -978301.753750 q: 0.680131 0.024415 0.732532 -0.014884 
unstable tracking...
time: 1403636881.601666, t: 393311.885154 -241648.377757 -1195132.281112 q: 0.301448 -0.089551 0.636492 0.704264 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636881.901666, t: 365496.480240 -219938.181609 -1139966.677606 q: 0.775088 -0.427388 0.127810 0.447485 
unstable tracking...
time: 1403636882.001667, t: 364492.620795 -213197.352899 -1130763.712815 q: 0.873911 -0.192969 -0.185148 0.405911 
unstable tracking...
time: 1403636882.101666, t: 364492.642280 -213197.297862 -1130763.839165 q: 0.873911 -0.192969 -0.185148 0.405911 
unstable tracking...
time: 1403636882.201667, t: 363530.072655 -183294.826675 -1129893.891358 q: 0.610711 -0.269679 -0.057252 0.742312 
unstable tracking...
time: 1403636882.301666, t: 325749.171086 -220790.179277 -1087968.291964 q: 0.307182 -0.021377 -0.367527 0.877557 
unstable tracking...
time: 1403636882.401666, t: 334922.947782 -236284.742573 -1087483.440133 q: 0.240637 -0.048489 -0.220762 0.943932 
unstable tracking...
unstable tracking...
time: 1403636882.601666, t: -692882.092647 -8153555.734764 -3176684.294082 q: 0.742737 0.665257 0.050580 -0.056722 
unstable tracking...
unstable tracking...
time: 1403636882.801666, t: -692986.726570 -8153516.642061 -3176499.541856 q: -0.111074 -0.140937 -0.279601 0.943198 
unstable tracking...
time: 1403636882.901666, t: -693069.955424 -8156521.766464 -3174139.817394 q: -0.312590 -0.354780 -0.156856 0.867072 
unstable tracking...
unstable tracking...
time: 1403636883.101666, t: -713021.966362 -8120212.124851 -3160815.169587 q: -0.144873 -0.055582 0.399553 0.903482 
unstable tracking...
unstable tracking...
time: 1403636883.301666, t: -717057.728756 -8087339.674479 -3162934.028899 q: 0.453639 -0.289748 0.175489 0.824294 
unstable tracking...
time: 1403636883.401666, t: -718172.638383 -8081237.308111 -3144329.010325 q: 0.858104 -0.359716 -0.173075 0.322965 
unstable tracking...
time: 1403636883.501667, t: -718172.532755 -8081237.285104 -3144329.093584 q: 0.858104 -0.359716 -0.173075 0.322965 
unstable tracking...
time: 1403636883.601666, t: -716815.852281 -8080787.854640 -3141436.047892 q: 0.927015 -0.014976 0.113265 0.357198 
unstable tracking...
time: 1403636883.701667, t: -585426.866483 -8070751.012746 -3093547.334124 q: -0.357636 0.466479 -0.414575 0.694709 
unstable tracking...
time: 1403636883.801666, t: -578965.932286 -8065008.214431 -3074658.808322 q: 0.542873 -0.454275 0.009938 -0.706275 
unstable tracking...
time: 1403636883.901666, t: -933409.046468 -8097794.142811 -3012701.515224 q: -0.029594 0.199066 0.067109 0.977238 
unstable tracking...
time: 1403636884.001667, t: -950179.441606 -8117025.794917 -3017632.689540 q: 0.429243 0.084897 0.869774 0.228113 
unstable tracking...
time: 1403636884.101666, t: -954564.171577 -8112011.008845 -3009620.163577 q: 0.201594 0.488342 0.384434 0.757029 
unstable tracking...
unstable tracking...
time: 1403636884.301666, t: -2239747.647689 -8523272.000437 -3510877.572315 q: 0.799085 0.035689 -0.579726 -0.155269 
unstable tracking...
time: 1403636884.401666, t: -2037185.949903 -8604786.168871 -3434073.938508 q: -0.449253 0.037451 0.892593 0.006849 
unstable tracking...
unstable tracking...
time: 1403636884.601666, t: -2254004.818137 -8463690.930847 -3529816.800247 q: 0.693706 0.045915 -0.715319 -0.070593 
unstable tracking...
time: 1403636884.801666, t: -1551472.552700 -8002165.878904 -3932437.425611 q: -0.015050 -0.353338 -0.494328 0.794082 
unstable tracking...
time: 1403636884.901666, t: -3370492.146797 -2323244.494464 -211533.338358 q: 0.736547 0.674848 -0.011630 0.044093 
unstable tracking...
time: 1403636885.001667, t: -1064838.248368 -3515754.301288 9346352.240624 q: 0.252869 -0.417589 0.770448 -0.409983 
unstable tracking...
time: 1403636885.101666, t: -1101617.380341 -3550408.686928 9367441.384984 q: 0.069882 0.838822 -0.488873 0.229123 
unstable tracking...
unstable tracking...
time: 1403636885.301666, t: 1165755.597912 -4722603.452460 10969207.327584 q: 0.500089 -0.337037 0.455455 -0.654888 
unstable tracking...
time: 1403636885.401666, t: -4582440.068455 -5990592.053128 -8397990.695325 q: -0.058999 0.266694 0.928949 -0.249895 
unstable tracking...
time: 1403636885.501667, t: -4706228.502338 -6041569.843894 -9020958.066359 q: 0.049853 0.994737 -0.087356 -0.019526 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636885.901666, t: -3471784.700818 -4671117.532852 -11207695.232912 q: -0.144050 0.884248 0.232825 0.378348 
unstable tracking...
unstable tracking...
time: 1403636886.101666, t: -3470744.515732 -4672466.611140 -11207387.250980 q: 0.183730 0.524843 0.822773 0.117595 
unstable tracking...
time: 1403636886.201667, t: -3476829.278265 -4670167.771513 -11212199.747367 q: 0.180825 0.519183 0.824599 0.133366 
unstable tracking...
time: 1403636886.301666, t: -3472057.362469 -4673829.211798 -11208716.105804 q: 0.181651 0.519346 0.824315 0.133370 
unstable tracking...
time: 1403636886.401666, t: -3472244.653694 -4675363.268186 -11208190.882285 q: 0.181288 0.519287 0.824419 0.133451 
unstable tracking...
unstable tracking...
time: 1403636886.601666, t: -3469698.391977 -4673127.917776 -11210818.817310 q: 0.181340 0.519300 0.824374 0.133605 
unstable tracking...
unstable tracking...
time: 1403636886.801666, t: -3468633.814212 -4673894.923698 -11208727.864983 q: 0.181170 0.519315 0.824441 0.133367 
unstable tracking...
time: 1403636886.901666, t: -3469238.331848 -4674107.892093 -11207686.170950 q: 0.181665 0.519888 0.824005 0.133155 
time: 1403636887.001667, t: -3465254.081910 -4673178.919810 -11208497.050043 q: 0.180800 0.519323 0.824502 0.133462 
time: 1403636887.101666, t: -3465254.129141 -4673179.097587 -11208496.961321 q: 0.180800 0.519323 0.824502 0.133462 
time: 1403636887.201667, t: -3495072.663365 -4675960.456778 -11240737.236263 q: 0.181967 0.519240 0.824246 0.133780 
time: 1403636887.301666, t: -3506852.519847 -4635020.875217 -11277889.064886 q: 0.182520 0.519644 0.823854 0.133872 
time: 1403636887.401666, t: -3483353.655162 -4624050.351590 -11325649.354721 q: 0.183129 0.519557 0.823807 0.133668 
time: 1403636887.501667, t: -3459202.283256 -4653863.993767 -11263298.219231 q: 0.182163 0.519342 0.824166 0.133609 
time: 1403636887.601666, t: -3519127.447193 -4633819.948637 -11258506.711846 q: 0.182333 0.519667 0.823906 0.133716 
time: 1403636887.701667, t: -3513689.555816 -4611939.791626 -11286798.333700 q: 0.182422 0.519828 0.823802 0.133608 
time: 1403636887.801666, t: -3490011.079998 -4643512.817156 -11259177.925702 q: 0.182439 0.519626 0.823767 0.134584 
time: 1403636887.901666, t: -3518935.122794 -4625196.884706 -11259154.930375 q: 0.182118 0.519616 0.823989 0.133698 
time: 1403636888.001667, t: -3517020.646706 -4637489.486472 -11268936.223453 q: 0.182180 0.519547 0.823994 0.133849 
time: 1403636888.101666, t: -3522102.509277 -4617039.852763 -11385550.748579 q: 0.182902 0.518770 0.824397 0.133395 
time: 1403636888.201667, t: -3544121.623679 -4655808.034591 -11332432.963327 q: 0.182834 0.518986 0.824156 0.134137 
time: 1403636888.301666, t: -3518746.406459 -4632570.440362 -11257836.446288 q: 0.182001 0.519616 0.824022 0.133650 
time: 1403636888.401666, t: -3518423.997900 -4632414.948991 -11258001.195624 q: 0.181990 0.519593 0.824036 0.133670 
time: 1403636888.501667, t: -3475289.467346 -4608412.865728 -11350124.842072 q: 0.181802 0.518810 0.824548 0.133808 
time: 1403636888.601666, t: -3542895.975974 -4639969.896652 -11299890.814374 q: 0.181805 0.519238 0.824591 0.131866 
time: 1403636888.701667, t: -3722832.456436 -5133350.309927 -11708068.389513 q: 0.181650 0.518826 0.823757 0.138736 
time: 1403636888.801666, t: -2220351.268408 -2267544.271948 -8805670.800780 q: 0.179227 0.522422 0.825835 0.113797 
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time: 1403636893.301666, t: -4060839.852882 -357027.216068 -7933459.280555 q: 0.231587 0.529745 0.803549 0.141588 
feature tracking not enough, please slowly move you device! 
time: 1403636893.401666, t: -4060848.195801 -357038.404653 -7933466.670522 q: 0.225568 0.435406 0.866697 0.091524 
feature tracking not enough, please slowly move you device! 
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time: 1403636898.501667, t: -4060863.910118 -357024.807251 -7933465.122315 q: 0.336343 0.927315 0.112093 0.119978 
time: 1403636898.601666, t: -4060864.048515 -357024.787390 -7933464.761261 q: 0.336343 0.927315 0.112093 0.119978 
time: 1403636898.701667, t: -4060863.855098 -357024.819805 -7933465.171299 q: 0.328735 0.919690 0.137831 0.164640 
time: 1403636898.801666, t: -4060863.956229 -357024.726678 -7933465.034634 q: 0.328937 0.919552 0.136973 0.165719 
unstable tracking...
time: 1403636898.901666, t: -4060864.185468 -357024.429192 -7933464.721316 q: 0.323623 0.923199 0.140117 0.152773 
unstable tracking...
time: 1403636899.001667, t: -4060864.333321 -357024.414560 -7933464.646295 q: 0.323623 0.923199 0.140117 0.152773 
unstable tracking...
unstable tracking...
time: 1403636899.201667, t: -4060864.321767 -357024.531696 -7933464.892398 q: 0.323623 0.923199 0.140117 0.152773 
unstable tracking...
time: 1403636899.301666, t: -4060864.263160 -357024.488459 -7933464.816597 q: 0.346473 0.911355 0.130735 0.179714 
unstable tracking...
time: 1403636899.401666, t: -4060864.107829 -357024.579887 -7933464.840625 q: 0.360881 0.905271 0.122250 0.187894 
unstable tracking...
time: 1403636899.501667, t: -4060864.056264 -357024.662107 -7933464.833759 q: 0.369792 0.902324 0.106299 0.194333 
unstable tracking...
time: 1403636899.601666, t: -4060864.028431 -357024.793526 -7933464.842753 q: 0.372283 0.902533 0.086351 0.198454 
unstable tracking...
time: 1403636899.701667, t: -4060864.040087 -357024.697898 -7933464.820045 q: 0.390756 0.896655 0.080001 0.192145 
unstable tracking...
time: 1403636899.801666, t: -4060864.015121 -357024.720409 -7933464.807175 q: 0.397197 0.894815 0.075137 0.189460 
unstable tracking...
time: 1403636899.901666, t: -4060863.990944 -357024.745539 -7933464.806910 q: 0.405259 0.891237 0.077858 0.188148 
time: 1403636900.001667, t: -4060864.018315 -357024.749468 -7933464.743055 q: 0.408624 0.888469 0.083612 0.191465 
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time: 1403637009.401666, t: -4060861.097068 -357025.642592 -7933466.016830 q: 0.475158 0.836554 0.058903 0.266331 
feature tracking not enough, please slowly move you device! 
time: 1403637009.601666, t: -4060860.429854 -357025.698541 -7933466.098768 q: 0.466895 0.840775 0.080560 0.261948 
time: 1403637009.701667, t: -4060859.649800 -357025.920862 -7933466.594838 q: 0.494162 0.825609 0.054889 0.266761 
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time: 1403637010.101666, t: -4060860.152785 -357025.758580 -7933466.215049 q: 0.479385 0.831464 0.049166 0.276478 
time: 1403637010.201667, t: -4060860.149231 -357025.750486 -7933466.223141 q: 0.477928 0.831545 0.047438 0.279047 
time: 1403637010.301666, t: -4060860.148170 -357025.748287 -7933466.213227 q: 0.477547 0.831963 0.047280 0.278481 
time: 1403637010.401666, t: -4060860.121820 -357025.772128 -7933466.206482 q: 0.476877 0.832022 0.046531 0.279576 
time: 1403637010.501667, t: -4060860.122307 -357025.770889 -7933466.209300 q: 0.476678 0.832024 0.046274 0.279953 

Done.
time: 1403637010.601666, t: -4060860.118309 -357025.768089 -7933466.203182 q: 0.476558 0.832231 0.046240 0.279546 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720496883.437103668]: Shutdown request received.[0m
[33m[ WARN] [1720496883.437141408]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720496883.438092182]: Shutdown request received.[0m
[33m[ WARN] [1720496883.438113465]: Reason given for shutdown: [user request][0m
killed
