/SLAM-Hive/slam_hive_results/mapping_results/2993/2201_vins-fusion-stereo+MH_02_easy+Image_comb_test-11.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720497862.795802261]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720497862.795882576]: init begins[0m
[31m[ERROR] [1720497862.797021330]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/53059216-3da8-11ef-91c2-0242ac110005/roslaunch-0ac77f02b260-118.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://0ac77f02b260:36947/[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] [1720497863.902851196]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720497863.903125574]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720497863.909619826]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720497863.909809219]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720497863.909833873]: 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] [1720497863.910054612]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720497863.910247326]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720497863.910411304]: 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://0ac77f02b260:11311/[0m
]2;roscore http://0ac77f02b260:11311/
[1msetting /run_id to 53059216-3da8-11ef-91c2-0242ac110005[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] [1720497872.934626577]: 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: 316861016.29 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720497877.218458484]: Initialization finish![0m
time: 1403636860.751667, t: -0.151997 1.597644 0.937026 q: 0.820800 0.542874 0.069275 -0.163638 
time: 1403636860.951667, t: -0.216411 1.808586 -0.065780 q: 0.887409 0.455390 0.047311 -0.053734 
feature tracking not enough, please slowly move you device! 
time: 1403636861.151666, t: -0.210769 1.808880 -0.069378 q: 0.887346 0.455450 0.047800 -0.053820 
feature tracking not enough, please slowly move you device! 
time: 1403636861.351666, t: -0.210769 1.808880 -0.069378 q: 0.887346 0.455450 0.047800 -0.053820 
time: 1403636861.551666, t: 0.012482 1.858556 -0.171005 q: 0.888668 0.451952 0.067232 -0.038586 
time: 1403636861.751667, t: -0.049173 1.844954 -0.145306 q: 0.888417 0.453786 0.050244 -0.047629 
feature tracking not enough, please slowly move you device! 
time: 1403636861.951667, t: -0.049173 1.844954 -0.145306 q: 0.888417 0.453786 0.050244 -0.047629 
feature tracking not enough, please slowly move you device! 
time: 1403636862.151666, t: -0.049173 1.844954 -0.145306 q: 0.888417 0.453786 0.050244 -0.047629 
time: 1403636862.351666, t: -0.116364 1.860993 -0.166760 q: 0.888607 0.446552 0.018535 -0.103082 
unstable tracking...
time: 1403636862.551666, t: -0.019411 1.850125 -0.156278 q: 0.888072 0.450843 -0.009720 -0.089297 
unstable tracking...
time: 1403636862.751667, t: 0.095340 1.806028 -0.191463 q: 0.899358 0.427855 0.023591 -0.086823 
unstable tracking...
time: 1403636862.951667, t: 0.172382 1.859973 -0.265031 q: 0.900939 0.428505 0.027518 -0.062727 
unstable tracking...
time: 1403636863.151666, t: 0.195711 1.808528 -0.228297 q: 0.901219 0.425880 0.050716 -0.062121 
unstable tracking...
time: 1403636863.351666, t: 0.162947 1.808378 -0.217105 q: 0.899918 0.428279 0.046517 -0.067530 
unstable tracking...
time: 1403636863.551666, t: 0.042936 1.798350 -0.168828 q: 0.901710 0.426060 0.028527 -0.067660 
unstable tracking...
time: 1403636863.751667, t: -0.049244 1.731881 -0.157165 q: 0.899312 0.432064 -0.006925 -0.067159 
unstable tracking...
time: 1403636863.951667, t: -0.075301 1.725977 -0.172412 q: 0.896955 0.435876 -0.026453 -0.069164 
time: 1403636864.151666, t: -0.016230 1.776285 -0.309789 q: 0.899631 0.429253 -0.012964 -0.078982 
time: 1403636864.351666, t: 0.319629 1.162558 -0.428853 q: 0.914350 0.395638 -0.010761 -0.085549 
time: 1403636864.551666, t: 0.146777 1.048531 -0.306121 q: 0.910898 0.410686 0.036736 -0.015870 
time: 1403636864.751667, t: 0.120385 1.098197 -0.319007 q: 0.910880 0.408285 0.057904 -0.015763 
time: 1403636864.951667, t: 0.057071 1.094384 -0.299478 q: 0.913213 0.404182 0.041178 -0.031354 
time: 1403636865.151666, t: -0.047323 1.067713 -0.254069 q: 0.913926 0.404131 0.017141 -0.033529 
time: 1403636865.351666, t: -0.114677 1.052586 -0.231510 q: 0.909227 0.415862 -0.000896 -0.019081 
time: 1403636865.551666, t: -0.121759 1.095582 -0.252143 q: 0.910172 0.412133 -0.011744 -0.039942 
time: 1403636865.751667, t: -0.062645 1.094076 -0.274198 q: 0.907070 0.419213 -0.007545 -0.037784 
time: 1403636865.951667, t: 0.029648 1.087080 -0.304250 q: 0.905948 0.422397 0.026291 -0.012170 
time: 1403636866.151666, t: 0.124622 1.148452 -0.328452 q: 0.904518 0.420022 0.072873 0.010882 
time: 1403636866.351666, t: 0.114594 1.137262 -0.312080 q: 0.906677 0.413527 0.082804 0.008652 
time: 1403636866.551666, t: 0.047951 1.125467 -0.295720 q: 0.910568 0.408299 0.064075 -0.007272 
time: 1403636866.751667, t: -0.006050 1.111141 -0.284750 q: 0.913542 0.404045 0.040252 -0.023858 
time: 1403636866.951667, t: -0.058814 1.109677 -0.276848 q: 0.907000 0.419928 0.012690 -0.029151 
time: 1403636867.151666, t: -0.091236 1.158190 -0.270068 q: 0.904385 0.424868 -0.011465 -0.037992 
time: 1403636867.351666, t: -0.119644 1.132021 -0.280216 q: 0.897024 0.439653 -0.020422 -0.040453 
time: 1403636867.551666, t: -0.111726 1.158242 -0.295771 q: 0.898750 0.432132 -0.046226 -0.058080 
time: 1403636867.751667, t: -0.134786 1.177400 -0.304665 q: 0.891322 0.422551 -0.133108 -0.096322 
time: 1403636867.951667, t: -0.144710 1.179167 -0.321446 q: 0.888830 0.398544 -0.194471 -0.115429 
time: 1403636868.151666, t: -0.122841 1.178398 -0.320272 q: 0.891071 0.402611 -0.183201 -0.101653 
time: 1403636868.351666, t: -0.136081 1.198787 -0.324320 q: 0.888416 0.414246 -0.174992 -0.092174 
time: 1403636868.551666, t: -0.146130 1.201004 -0.351692 q: 0.895385 0.407356 -0.159878 -0.082375 
time: 1403636868.751667, t: -0.111573 1.181562 -0.389520 q: 0.902331 0.379910 -0.179300 -0.096536 
time: 1403636868.951667, t: -0.078403 1.178582 -0.383581 q: 0.891600 0.385571 -0.204711 -0.120325 
time: 1403636869.151666, t: -0.095681 1.176303 -0.393164 q: 0.892410 0.397003 -0.183775 -0.110543 
time: 1403636869.351666, t: -0.105192 1.173466 -0.393570 q: 0.891868 0.400824 -0.179045 -0.108877 
time: 1403636869.551666, t: -0.108364 1.173260 -0.387737 q: 0.892534 0.400513 -0.175594 -0.110176 
time: 1403636869.751667, t: -0.101656 1.185932 -0.366390 q: 0.895511 0.389251 -0.182568 -0.114945 
time: 1403636869.951667, t: -0.077397 1.222891 -0.302648 q: 0.899069 0.382339 -0.185050 -0.106061 
time: 1403636870.151666, t: -0.029656 1.239282 -0.234899 q: 0.907704 0.343351 -0.214410 -0.110505 
time: 1403636870.351666, t: 0.070793 1.284186 -0.155794 q: 0.896219 0.330928 -0.267988 -0.124344 
time: 1403636870.551666, t: 0.192176 1.368024 0.006973 q: 0.848012 0.372505 -0.357026 -0.121033 
time: 1403636870.751667, t: 0.052787 1.390019 0.034978 q: 0.887587 0.361684 -0.256728 -0.124355 
time: 1403636870.951667, t: 0.041167 1.392103 0.030374 q: 0.901763 0.345830 -0.238528 -0.101639 
time: 1403636871.151666, t: 0.123013 1.418333 0.084398 q: 0.860901 0.375601 -0.322058 -0.118541 
time: 1403636871.351666, t: 0.165087 1.494183 0.112972 q: 0.823259 0.435846 -0.351426 -0.093720 
time: 1403636871.551666, t: 0.159442 1.436605 0.007718 q: 0.847105 0.403543 -0.332612 -0.094531 
time: 1403636871.751667, t: 0.157728 1.399428 -0.053323 q: 0.836335 0.425604 -0.332020 -0.095748 
time: 1403636871.951667, t: 0.168560 1.343680 -0.162461 q: 0.833684 0.435426 -0.327534 -0.089979 
time: 1403636872.151666, t: 0.178680 1.297938 -0.260122 q: 0.821622 0.466691 -0.316480 -0.083524 
time: 1403636872.351666, t: 0.170643 1.238379 -0.355313 q: 0.816301 0.467900 -0.319737 -0.111762 
time: 1403636872.551666, t: 0.160753 1.209150 -0.390497 q: 0.809971 0.475238 -0.322242 -0.119393 
time: 1403636872.751667, t: 0.175887 1.230281 -0.380862 q: 0.804399 0.492160 -0.313932 -0.110302 
time: 1403636872.951667, t: 0.179158 1.252957 -0.329618 q: 0.805335 0.483880 -0.323595 -0.112169 
time: 1403636873.151666, t: 0.182245 1.288907 -0.230581 q: 0.806192 0.471681 -0.340031 -0.109318 
time: 1403636873.351666, t: 0.175715 1.332398 -0.114776 q: 0.809580 0.456614 -0.353668 -0.104893 
time: 1403636873.551666, t: 0.177558 1.371323 -0.007234 q: 0.808859 0.442921 -0.363493 -0.132064 
time: 1403636873.751667, t: 0.182601 1.399913 0.132410 q: 0.767448 0.449705 -0.432904 -0.146233 
time: 1403636873.951667, t: 0.149842 1.426856 0.156508 q: 0.776878 0.446880 -0.426695 -0.121200 
time: 1403636874.151666, t: 0.173865 1.421176 0.092784 q: 0.816521 0.399779 -0.389423 -0.147716 
time: 1403636874.351666, t: 0.178363 1.394587 0.050422 q: 0.814013 0.394965 -0.398344 -0.150690 
time: 1403636874.551666, t: 0.180594 1.339167 -0.030115 q: 0.811061 0.408576 -0.387802 -0.157653 
time: 1403636874.751667, t: 0.195561 1.249312 -0.125322 q: 0.789770 0.418657 -0.400385 -0.201698 
time: 1403636874.951667, t: 0.191327 1.272973 -0.165434 q: 0.738664 0.519171 -0.406851 -0.138957 
time: 1403636875.151666, t: 0.169541 1.215042 -0.263924 q: 0.810310 0.455334 -0.364253 -0.058210 
time: 1403636875.351666, t: 0.231472 1.200350 -0.325653 q: 0.814762 0.422617 -0.393743 -0.050236 
time: 1403636875.551666, t: 0.222515 1.191209 -0.270630 q: 0.776708 0.447810 -0.430299 -0.105043 
time: 1403636875.751667, t: 0.567628 1.854408 -0.481156 q: 0.793164 0.346935 -0.500507 0.004427 
feature tracking not enough, please slowly move you device! 
time: 1403636875.951667, t: 0.692036 1.804161 -0.558048 q: 0.795094 0.263094 -0.544217 0.049349 
feature tracking not enough, please slowly move you device! 
time: 1403636876.151666, t: 0.692036 1.804161 -0.558048 q: 0.795094 0.263094 -0.544217 0.049349 
feature tracking not enough, please slowly move you device! 
time: 1403636876.351666, t: 0.692036 1.804161 -0.558048 q: 0.795094 0.263094 -0.544217 0.049349 
time: 1403636876.551666, t: 0.692036 1.804161 -0.558048 q: 0.795094 0.263094 -0.544217 0.049349 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636876.951667, t: 0.548143 1.639568 -0.336771 q: 0.795116 0.317356 -0.516462 0.018516 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636877.951667, t: 1.139590 1.696035 -0.691235 q: 0.688800 0.297747 -0.641270 0.160230 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636878.151666, t: 1.139590 1.696035 -0.691235 q: 0.688800 0.297747 -0.641270 0.160230 
feature tracking not enough, please slowly move you device! 
time: 1403636878.351666, t: 1.139590 1.696035 -0.691235 q: 0.688800 0.297747 -0.641270 0.160230 
feature tracking not enough, please slowly move you device! 
time: 1403636878.551666, t: 0.992583 1.813496 -0.687373 q: 0.675505 0.136181 -0.698411 0.193313 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636879.151666, t: 0.992583 1.813496 -0.687373 q: 0.675505 0.136181 -0.698411 0.193313 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636879.351666, t: 0.992583 1.813496 -0.687373 q: 0.675505 0.136181 -0.698411 0.193313 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636879.551666, t: 0.992580 1.813500 -0.687372 q: 0.675517 0.136191 -0.698403 0.193294 
feature tracking not enough, please slowly move you device! 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636879.951667, t: 0.992580 1.813500 -0.687372 q: 0.675517 0.136191 -0.698403 0.193294 
unstable tracking...
time: 1403636880.151666, t: 0.656870 1.923411 -0.596981 q: -0.468901 -0.340546 0.710450 -0.399276 
unstable tracking...
time: 1403636880.351666, t: 1.031021 1.720022 -0.821306 q: 0.690934 0.111134 -0.685977 0.199235 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636880.751667, t: 1.050597 1.990322 -0.892395 q: 0.631894 0.079199 -0.710854 0.298537 
unstable tracking...
unstable tracking...
time: 1403636881.151666, t: 1.178636 1.888546 -0.876057 q: 0.650614 0.108335 -0.686238 0.306662 
unstable tracking...
time: 1403636881.351666, t: 1.161895 1.831481 -0.836714 q: 0.659867 0.155118 -0.656748 0.330449 
unstable tracking...
time: 1403636881.551666, t: 1.126237 1.780983 -0.758408 q: 0.667768 0.172277 -0.654540 0.309812 
time: 1403636881.751667, t: 1.053335 1.793056 -0.670579 q: 0.654065 0.202784 -0.671629 0.282829 
time: 1403636881.951667, t: 0.977528 1.669361 -0.820431 q: 0.758199 0.115911 -0.596750 0.235773 
time: 1403636882.151666, t: 0.495557 2.070783 -0.882287 q: 0.714846 0.058006 -0.665560 0.206544 
time: 1403636882.351666, t: 0.196923 1.061789 -0.394703 q: 0.720825 -0.546198 -0.378417 0.197180 
time: 1403636882.551666, t: 0.289213 1.950902 1.189776 q: -0.378314 0.781106 -0.121644 -0.481617 
feature tracking not enough, please slowly move you device! 
time: 1403636882.951667, t: -0.755258 0.347146 1.092970 q: 0.105410 -0.419094 0.865303 -0.253968 
time: 1403636883.151666, t: -0.881122 0.396157 0.906417 q: 0.046351 -0.175363 0.970139 -0.161026 
time: 1403636883.351666, t: -0.890345 0.355549 1.367957 q: 0.033994 -0.269416 0.949938 -0.154522 
time: 1403636883.551666, t: -0.947655 0.394159 0.940085 q: -0.062161 -0.060112 0.860062 -0.502808 
time: 1403636883.751667, t: -0.698620 2.657622 0.541960 q: -0.060894 -0.391546 0.764477 -0.508487 
time: 1403636883.951667, t: 0.721490 0.909665 -0.571462 q: -0.064231 -0.260966 -0.506789 0.819106 
unstable tracking...
time: 1403636884.151666, t: -4.590359 0.694243 -0.303812 q: -0.328245 0.364320 -0.559103 0.668529 
unstable tracking...
time: 1403636884.351666, t: -4.738843 1.078121 -0.667655 q: -0.375757 0.256195 -0.529363 0.716202 
unstable tracking...
time: 1403636884.551666, t: -4.733853 1.227093 -0.482050 q: 0.568010 -0.202750 0.517765 -0.606776 
unstable tracking...
time: 1403636884.751667, t: -4.934383 1.182901 -0.246112 q: 0.551395 -0.234851 0.514506 -0.613264 
unstable tracking...
unstable tracking...
time: 1403636885.151666, t: -6.183373 0.051623 -0.853463 q: 0.505836 -0.425365 0.511339 -0.549297 
unstable tracking...
time: 1403636885.351666, t: -6.475758 0.925433 -0.961457 q: 0.538127 -0.472426 0.471480 -0.514723 
unstable tracking...
time: 1403636885.551666, t: -7.123857 -4.993803 1.280125 q: 0.560921 -0.746179 -0.087954 -0.347633 
unstable tracking...
time: 1403636885.751667, t: -6.493907 5.860892 1.493766 q: 0.617004 -0.656882 0.281893 -0.329163 
unstable tracking...
time: 1403636885.951667, t: -7.871397 -9.273199 -5.591316 q: 0.880121 -0.442244 -0.130050 -0.113554 
unstable tracking...
time: 1403636886.151666, t: -471.813425 -486.028992 209.097671 q: 0.508798 -0.799929 -0.310988 -0.067261 
unstable tracking...
time: 1403636886.351666, t: 505.448747 3186.539357 53535.216009 q: -0.340985 0.809128 0.381906 0.288425 
unstable tracking...
time: 1403636886.551666, t: 85921.611623 -114185.597305 137492.166334 q: -0.158579 -0.570183 0.615995 0.519898 
unstable tracking...
time: 1403636886.751667, t: -14486.149100 -112683.194736 22819.891816 q: 0.512411 -0.519200 -0.580549 0.361702 
unstable tracking...
time: 1403636886.951667, t: 16460.341454 -117265.119527 964.266589 q: -0.210318 -0.219591 0.952582 -0.011586 
unstable tracking...
time: 1403636887.151666, t: 38296.552743 -123259.430934 34518.289808 q: -0.282178 -0.259205 0.908702 -0.165677 
unstable tracking...
time: 1403636887.351666, t: 54351.345942 -126672.270055 -28124.351419 q: 0.207483 0.824331 0.093100 -0.518422 
unstable tracking...
time: 1403636887.551666, t: -59083.270589 -124561.785897 54797.353521 q: 0.147618 0.226285 0.909865 -0.314881 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636888.151666, t: -1507682.614483 -2279106.274157 -577665.316203 q: -0.264750 0.194544 0.717426 -0.614296 
unstable tracking...
time: 1403636888.351666, t: -5630569.889985 9991274.478975 -6871405.915656 q: 0.837592 -0.434103 -0.299349 -0.142774 
unstable tracking...
time: 1403636888.551666, t: -3088851.057168 -9224072.941446 -953625.259665 q: 0.280510 0.771617 -0.556747 -0.126311 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636889.151666, t: 1832459.500609 -14047001.187388 -2322742.209264 q: 0.557594 0.769581 0.264653 -0.163686 
unstable tracking...
time: 1403636889.351666, t: 1813576.458064 -14051725.933907 -2332770.821923 q: 0.515826 0.784277 0.333193 -0.088407 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636889.751667, t: 1281100.525732 -14338531.923154 -2489772.975865 q: 0.922530 0.104471 -0.271501 0.253595 
unstable tracking...
unstable tracking...
time: 1403636890.151666, t: 1271678.396502 -14335598.319507 -2484685.694722 q: 0.948187 0.162823 -0.048722 -0.268434 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636890.351666, t: 1271678.396502 -14335598.319507 -2484685.694722 q: 0.948187 0.162823 -0.048722 -0.268434 
unstable tracking...
time: 1403636890.551666, t: 1271678.358219 -14335598.345051 -2484685.566952 q: 0.948187 0.162823 -0.048722 -0.268434 
unstable tracking...
time: 1403636890.751667, t: 1271678.306978 -14335598.383619 -2484685.370674 q: 0.948187 0.162823 -0.048722 -0.268434 
unstable tracking...
time: 1403636890.951667, t: 1271678.352771 -14335598.336775 -2484685.600280 q: 0.948546 0.162131 -0.046579 -0.267964 
unstable tracking...
time: 1403636891.151666, t: 1271678.442812 -14335598.280263 -2484685.880261 q: 0.948546 0.162131 -0.046579 -0.267964 
unstable tracking...
time: 1403636891.351666, t: 1271678.289417 -14335598.409198 -2484685.470393 q: 0.948546 0.162131 -0.046579 -0.267964 
unstable tracking...
unstable tracking...
time: 1403636891.751667, t: 1271678.376546 -14335598.331362 -2484685.816955 q: 0.948488 0.162080 -0.046939 -0.268137 
unstable tracking...
unstable tracking...
time: 1403636892.151666, t: 1271678.378828 -14335598.387788 -2484685.499008 q: 0.948493 0.162326 -0.047134 -0.267936 
unstable tracking...
time: 1403636892.351666, t: 1271678.425047 -14335598.351824 -2484685.656111 q: 0.948453 0.162127 -0.046887 -0.268241 
unstable tracking...
unstable tracking...
time: 1403636892.751667, t: 1271678.408543 -14335598.352495 -2484685.603918 q: 0.947680 0.162527 -0.048167 -0.270494 
time: 1403636892.951667, t: 1271678.247741 -14335596.272958 -2484685.734183 q: 0.950503 0.162337 -0.041710 -0.261633 
time: 1403636893.151666, t: 1271678.558287 -14335596.320162 -2484686.044240 q: 0.950489 0.162380 -0.041733 -0.261651 
time: 1403636893.351666, t: 1271678.537374 -14335596.277613 -2484686.300454 q: 0.950489 0.162380 -0.041733 -0.261651 
time: 1403636893.551666, t: 1271678.528679 -14335596.259212 -2484686.411085 q: 0.950489 0.162380 -0.041733 -0.261651 
time: 1403636893.751667, t: 1271678.520450 -14335595.769218 -2484686.310441 q: 0.950489 0.162380 -0.041733 -0.261651 
time: 1403636893.951667, t: 1271678.462923 -14335595.798665 -2484686.170006 q: 0.950489 0.162380 -0.041733 -0.261651 
time: 1403636894.151666, t: 1271678.476842 -14335595.791462 -2484686.204456 q: 0.950489 0.162380 -0.041733 -0.261651 
time: 1403636894.351666, t: 1271678.337133 -14335596.628653 -2484686.078067 q: 0.950546 0.162375 -0.041854 -0.261429 
time: 1403636894.551666, t: 1271678.310543 -14335596.777722 -2484686.208904 q: 0.950546 0.162375 -0.041854 -0.261429 
time: 1403636894.751667, t: 1271678.283735 -14335596.784839 -2484686.110708 q: 0.950546 0.162375 -0.041854 -0.261429 
time: 1403636894.951667, t: 1271678.227999 -14335596.790802 -2484685.944326 q: 0.950546 0.162375 -0.041854 -0.261429 
time: 1403636895.151666, t: 1271678.178360 -14335596.758578 -2484685.998858 q: 0.950473 0.162151 -0.041587 -0.261876 
time: 1403636895.351666, t: 1271678.219564 -14335596.796903 -2484686.116169 q: 0.950473 0.162151 -0.041587 -0.261876 
time: 1403636895.551666, t: 1271678.224495 -14335596.802100 -2484685.919095 q: 0.950473 0.162151 -0.041587 -0.261876 
time: 1403636895.751667, t: 1271678.227816 -14335596.796341 -2484685.950642 q: 0.950473 0.162151 -0.041587 -0.261876 
time: 1403636895.951667, t: 1271678.243732 -14335596.689232 -2484686.105951 q: 0.950473 0.162261 -0.041516 -0.261817 
time: 1403636896.151666, t: 1271678.257449 -14335596.751678 -2484686.116428 q: 0.950473 0.162261 -0.041516 -0.261817 
time: 1403636896.351666, t: 1271678.241443 -14335596.760974 -2484686.026683 q: 0.950473 0.162261 -0.041516 -0.261817 
time: 1403636896.551666, t: 1271678.221749 -14335597.173567 -2484685.541955 q: 0.950690 0.160793 -0.042400 -0.261796 
time: 1403636896.751667, t: 1271677.954540 -14335596.833701 -2484685.232886 q: 0.950431 0.161140 -0.043389 -0.262357 
time: 1403636896.951667, t: 1271677.963735 -14335596.785780 -2484685.504685 q: 0.950431 0.161140 -0.043389 -0.262357 
time: 1403636897.151666, t: 1271678.140776 -14335596.799594 -2484686.137569 q: 0.950431 0.161140 -0.043389 -0.262357 
time: 1403636897.351666, t: 1271677.874668 -14335596.312529 -2484686.258088 q: 0.950431 0.161140 -0.043389 -0.262357 
feature tracking not enough, please slowly move you device! 
time: 1403636897.551666, t: 1271677.874668 -14335596.312529 -2484686.258088 q: 0.950431 0.161140 -0.043389 -0.262357 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403636898.151666, t: 1271141.134024 -14334186.379529 -2486391.067098 q: 0.913474 -0.112976 -0.107278 0.375889 
time: 1403636898.351666, t: 1272033.075980 -14333604.746228 -2480532.893930 q: 0.467417 0.205524 0.244879 0.824206 
time: 1403636898.551666, t: 1273601.688303 -14331452.746710 -2473208.663255 q: 0.335775 0.183473 0.214355 0.898691 
time: 1403636898.751667, t: 1274454.513279 -14332229.241410 -2472909.920797 q: 0.272889 0.275960 0.307354 0.868856 
time: 1403636898.951667, t: 1274454.630472 -14332229.140372 -2472909.752467 q: 0.272889 0.275960 0.307354 0.868856 
time: 1403636899.151666, t: 1275100.032457 -14317835.735924 -2470574.622563 q: 0.473440 0.022165 0.758865 0.446640 
time: 1403636899.351666, t: 1277934.422323 -14309153.842692 -2472626.417430 q: 0.493796 -0.428908 0.582464 0.482637 
time: 1403636899.551666, t: 1279027.789192 -14306736.506833 -2473606.487408 q: 0.536482 -0.490025 0.430904 0.535149 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636900.151666, t: 1423081.217041 -14267169.421656 -2875911.860121 q: 0.953333 -0.137954 0.229525 -0.139442 
unstable tracking...
time: 1403636900.351666, t: 450112.222836 -15379688.757454 -2786165.430854 q: 0.029671 0.735851 -0.524711 0.426991 
unstable tracking...
time: 1403636900.551666, t: 450200.278842 -15380142.614073 -2786690.757419 q: 0.296072 0.686830 -0.151374 0.646290 
unstable tracking...
unstable tracking...
time: 1403636900.951667, t: 721417.726146 -15513397.068802 -2577775.434448 q: -0.278202 0.551777 -0.392572 0.681200 
unstable tracking...
time: 1403636901.151666, t: 841319.897674 -15663819.174414 -2995872.114177 q: 0.880752 0.242231 0.292671 -0.282742 
unstable tracking...
time: 1403636901.351666, t: 857911.629562 -15682094.088270 -2968755.704382 q: 0.281175 0.602307 0.546949 -0.508934 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636901.951667, t: -215817.943487 -16117563.251916 -2857273.040538 q: 0.164549 -0.497591 -0.215574 0.823927 
unstable tracking...
time: 1403636902.151666, t: -215853.776468 -16117412.609044 -2856873.096970 q: -0.074779 0.659041 0.416307 -0.621902 
unstable tracking...
time: 1403636902.351666, t: -227803.079648 -16122370.819874 -2867738.517353 q: 0.338968 -0.425718 -0.386164 0.744810 
unstable tracking...
time: 1403636902.551666, t: 618921.821273 -29747236.447530 -3373107.679185 q: 0.547964 0.501236 0.537891 -0.398963 
unstable tracking...
time: 1403636902.751667, t: 618605.451402 -29747871.264395 -3373892.681013 q: 0.193383 0.122021 0.781473 -0.580530 
unstable tracking...
unstable tracking...
time: 1403636903.151666, t: 619666.024605 -29746029.290448 -3374299.125098 q: 0.449801 0.609650 0.356149 -0.546959 
unstable tracking...
time: 1403636903.351666, t: 607291.920146 -29749948.155179 -3322600.585610 q: 0.080704 0.143890 0.852650 0.495753 
unstable tracking...
time: 1403636903.551666, t: 802295.927274 -29698319.796076 -2754789.467774 q: -0.403051 0.014601 0.914686 0.026188 
time: 1403636903.751667, t: 985263.442109 -29738700.280352 -2692684.435694 q: -0.373076 -0.535278 0.625274 0.428164 
unstable tracking...
time: 1403636903.951667, t: 996194.803720 -29563740.841132 -2676143.662150 q: -0.176440 -0.414899 0.880382 0.147160 
unstable tracking...
time: 1403636904.151666, t: 1354956.930130 -30102152.116488 -3448224.608934 q: 0.859537 0.296877 -0.338715 0.241523 
unstable tracking...
unstable tracking...
time: 1403636904.551666, t: 1527909.065565 -30073565.556409 -3305809.868311 q: 0.520714 -0.025847 0.691516 -0.499995 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636905.151666, t: 1463352.628900 -29917554.816308 -3262249.435142 q: 0.482331 -0.164769 0.817544 0.268011 
unstable tracking...
time: 1403636905.351666, t: 1466510.647097 -29913707.219805 -3264447.173016 q: -0.244525 -0.337363 0.907630 0.051005 
unstable tracking...
time: 1403636905.551666, t: 1441826.095040 -29949311.253176 -3272350.699285 q: -0.210173 -0.677446 0.699389 -0.088030 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636906.151666, t: 1309601.158546 -30081144.094303 -2287425.234915 q: 0.963976 -0.044150 -0.114781 -0.235852 
unstable tracking...
time: 1403636906.351666, t: 1308065.876274 -30078849.360153 -2284191.063665 q: 0.875792 -0.164978 0.125440 -0.435931 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636907.151666, t: 1710732.020161 -30020912.796084 -2238339.345927 q: -0.182368 -0.232968 0.918749 0.261472 
unstable tracking...
unstable tracking...
time: 1403636907.551666, t: 1922241.394319 -27723836.051695 -3225766.063465 q: 0.762321 0.635174 -0.033423 -0.119599 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636908.151666, t: 732457.793435 -28291105.085730 -1974567.301821 q: 0.351539 0.334589 0.871636 -0.068710 
unstable tracking...
time: 1403636908.351666, t: 700532.937665 -28288190.634938 -1976992.781909 q: 0.320452 0.415852 0.322686 0.787561 
unstable tracking...
time: 1403636908.551666, t: 701827.607740 -28315523.928893 -1905905.939255 q: 0.135147 0.924426 -0.261320 0.242661 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636909.151666, t: 733188.347952 -28063141.175568 -1922541.178462 q: 0.736116 0.556711 -0.014415 0.384705 
unstable tracking...
time: 1403636909.351666, t: 705269.699323 -28008470.437696 -1927866.271838 q: 0.123597 -0.008040 0.804941 -0.580284 
time: 1403636909.551666, t: 705119.077753 -28008459.615941 -1923313.067477 q: 0.043039 0.219682 -0.609590 0.760452 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636910.151666, t: 693170.689675 -27996649.633770 -1925409.560516 q: 0.324869 0.064105 0.774239 -0.539356 
unstable tracking...
time: 1403636910.351666, t: 2711936.502716 -26613685.918842 2222009.502498 q: 0.343994 -0.586359 0.722301 0.127015 
unstable tracking...
time: 1403636910.551666, t: 2734914.509488 -26597201.005219 2207554.192896 q: -0.089191 -0.593448 0.707123 -0.373954 
unstable tracking...
time: 1403636910.751667, t: 2734240.810186 -26594559.810126 2206809.363304 q: -0.246699 -0.370299 0.895005 -0.031372 
unstable tracking...
unstable tracking...
time: 1403636911.151666, t: 3058211.714363 -27609444.901019 939311.295025 q: -0.118120 0.914144 -0.385980 -0.037534 
unstable tracking...
unstable tracking...
time: 1403636911.551666, t: 3034993.376310 -27576805.440517 927035.735972 q: 0.070724 0.939947 0.322764 -0.085563 
unstable tracking...
time: 1403636911.751667, t: 3035713.125158 -27580850.344089 924659.580693 q: 0.091058 0.934058 0.331346 -0.097230 
unstable tracking...
unstable tracking...
time: 1403636912.151666, t: 3044417.035565 -27591998.262993 924171.268952 q: 0.371456 0.670673 0.265100 -0.584757 
time: 1403636912.351666, t: 3054425.150716 -27723300.981516 883183.300225 q: -0.048729 -0.043418 0.821172 -0.566937 
unstable tracking...
time: 1403636912.551666, t: 1078987.365102 -25801725.340593 638720.470260 q: 0.570973 -0.586147 -0.468852 0.332565 
unstable tracking...
time: 1403636912.751667, t: 1167343.097693 -25789039.430214 551386.495487 q: -0.023444 -0.132420 0.990795 -0.015478 
unstable tracking...
time: 1403636912.951667, t: 1167871.239184 -25788530.204762 548231.106517 q: 0.209702 0.120255 0.938502 -0.246530 
unstable tracking...
time: 1403636913.151666, t: 1247487.013414 -25800969.553680 540112.424141 q: 0.094268 0.355980 0.013152 0.929634 
unstable tracking...
time: 1403636913.351666, t: 1392185.294822 -25835263.752086 507844.464263 q: 0.119701 0.455032 0.301702 0.829213 
unstable tracking...
time: 1403636913.551666, t: 1393859.444305 -25833670.892589 510889.807700 q: -0.208951 0.866653 -0.149726 0.427590 
unstable tracking...
time: 1403636913.751667, t: 1441308.803331 -25819995.415693 516780.694038 q: -0.167676 0.493026 -0.018593 0.853501 
unstable tracking...
time: 1403636914.151666, t: 1279465.579139 -26148196.941389 1191681.447087 q: -0.216467 0.357603 0.906290 0.062453 
unstable tracking...
time: 1403636914.351666, t: 1279376.719718 -26151605.887000 1184781.093025 q: 0.373029 0.309849 0.725736 -0.488006 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636915.151666, t: 524293.090050 -25692175.102104 2226568.953171 q: 0.650145 0.164845 -0.254064 -0.696842 
unstable tracking...
time: 1403636915.351666, t: 508314.217946 -25775995.168751 2229546.062182 q: -0.342629 -0.054900 -0.191697 0.918065 
unstable tracking...
time: 1403636915.551666, t: 494917.223797 -25746933.122802 2233013.362739 q: 0.218412 0.294855 -0.287797 0.884607 
unstable tracking...
time: 1403636915.751667, t: 494916.834133 -25746932.489095 2233012.978508 q: 0.218412 0.294855 -0.287797 0.884607 
unstable tracking...
time: 1403636915.951667, t: 484312.535947 -25767269.809320 2234641.333658 q: 0.814673 -0.419783 0.346495 0.200078 
unstable tracking...
time: 1403636916.151666, t: 394599.657050 -25787970.149968 2217191.043272 q: 0.360726 -0.393170 0.771678 -0.346132 
unstable tracking...
time: 1403636916.351666, t: 369851.289565 -25846670.023473 2227941.037194 q: 0.365496 -0.310782 0.847643 0.226559 
unstable tracking...
time: 1403636916.551666, t: 337417.587297 -25750529.305833 2310059.644654 q: 0.586763 0.127874 -0.775500 0.194827 
unstable tracking...
time: 1403636916.751667, t: 401452.315728 -25357054.930882 3208033.359473 q: 0.798101 0.068225 0.005963 0.598619 
unstable tracking...
time: 1403636916.951667, t: 534930.878425 -24985224.643012 3206749.202924 q: 0.671707 -0.683753 0.279856 0.054508 
unstable tracking...
time: 1403636917.151666, t: 547715.197021 -24896490.573518 3250520.244495 q: -0.445235 0.163544 -0.378433 0.794863 
unstable tracking...
time: 1403636917.351666, t: 620170.752551 -24777503.021713 3452545.568032 q: 0.586554 -0.066031 -0.037691 -0.806333 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636918.151666, t: 657440.339706 -24764288.417646 3404536.273802 q: -0.467684 -0.414860 0.567636 0.535679 
unstable tracking...
time: 1403636918.351666, t: 654103.640924 -24746443.646501 3404505.744231 q: 0.258941 0.826982 -0.216082 0.449844 
time: 1403636918.551666, t: 654103.423154 -24746443.615742 3404506.009665 q: 0.258941 0.826982 -0.216082 0.449844 
unstable tracking...
time: 1403636918.751667, t: 654103.662101 -24746444.094775 3404505.965063 q: 0.258941 0.826982 -0.216082 0.449844 
unstable tracking...
time: 1403636918.951667, t: 654103.772044 -24746443.790198 3404505.880362 q: 0.247517 0.818554 -0.230175 0.464461 
unstable tracking...
time: 1403636919.151666, t: 654103.944278 -24746443.740497 3404506.237228 q: 0.240138 0.819603 -0.252352 0.454866 
unstable tracking...
time: 1403636919.351666, t: 654104.157927 -24746443.773408 3404506.450525 q: 0.252340 0.821310 -0.261548 0.439736 
unstable tracking...
time: 1403636919.551666, t: 654103.698615 -24746443.869035 3404506.165445 q: 0.262771 0.806675 -0.238164 0.472762 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403636920.151666, t: 654103.795758 -24746443.951907 3404506.323453 q: 0.266570 0.804897 -0.248740 0.468199 
time: 1403636920.351666, t: 654103.932640 -24746444.073087 3404506.279390 q: 0.274194 0.809518 -0.243744 0.458352 
time: 1403636920.551666, t: 654103.988086 -24746444.053933 3404506.309519 q: 0.285675 0.815745 -0.241308 0.441272 
time: 1403636920.751667, t: 654103.629987 -24746444.136201 3404506.073634 q: 0.275275 0.812707 -0.235203 0.456520 
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time: 1403637003.951667, t: 654100.835314 -24746437.486409 3404517.784507 q: 0.160205 -0.570369 0.689652 -0.416406 
time: 1403637004.151666, t: 654100.844459 -24746437.416067 3404517.906922 q: 0.162617 -0.575923 0.686039 -0.413786 
time: 1403637004.351666, t: 654100.802825 -24746437.320183 3404517.958792 q: 0.167253 -0.574984 0.684443 -0.415882 
time: 1403637004.551666, t: 654100.614311 -24746437.169875 3404518.047846 q: 0.160733 -0.572727 0.682643 -0.424438 
time: 1403637004.751667, t: 654100.895018 -24746437.393751 3404518.069498 q: 0.166738 -0.557972 0.697820 -0.417029 
time: 1403637004.951667, t: 654100.767408 -24746437.321651 3404518.249039 q: 0.177717 -0.558879 0.700054 -0.407425 
time: 1403637005.151666, t: 654100.599516 -24746436.926149 3404518.239284 q: 0.165477 -0.564315 0.693700 -0.415868 
time: 1403637005.351666, t: 654100.600457 -24746436.832818 3404518.276705 q: 0.163808 -0.570786 0.690679 -0.412713 
time: 1403637005.551666, t: 654100.572085 -24746436.771460 3404518.340183 q: 0.159127 -0.573321 0.687077 -0.417021 
time: 1403637005.751667, t: 654100.628796 -24746436.687555 3404518.382946 q: 0.172126 -0.566716 0.689973 -0.416105 
time: 1403637005.951667, t: 654100.613419 -24746436.703235 3404518.393275 q: 0.165973 -0.568644 0.686642 -0.421450 
time: 1403637006.151666, t: 654100.520937 -24746436.640897 3404518.509239 q: 0.162067 -0.569751 0.687123 -0.420690 
time: 1403637006.351666, t: 654100.690423 -24746436.646928 3404518.501388 q: 0.172133 -0.569430 0.689499 -0.413171 
time: 1403637006.551666, t: 654100.616935 -24746436.628154 3404518.564100 q: 0.184085 -0.565071 0.691761 -0.410212 
time: 1403637006.751667, t: 654100.646794 -24746436.623949 3404518.512684 q: 0.176181 -0.562228 0.681826 -0.433559 
time: 1403637006.951667, t: 654100.658110 -24746436.590133 3404518.591342 q: 0.187928 -0.565909 0.657486 -0.460589 
time: 1403637007.151666, t: 654100.642004 -24746436.558307 3404518.510736 q: 0.198442 -0.570706 0.626927 -0.491812 
time: 1403637007.351666, t: 654100.420082 -24746436.549176 3404518.619792 q: 0.198442 -0.570706 0.626927 -0.491812 
time: 1403637007.551666, t: 654100.285946 -24746436.310725 3404519.310548 q: 0.198566 -0.592018 0.631120 -0.460189 
time: 1403637007.751667, t: 654100.537888 -24746436.640837 3404518.515094 q: -0.169764 0.621559 -0.581784 0.496360 
time: 1403637007.951667, t: 654100.380182 -24746436.663044 3404518.758413 q: -0.171891 0.616040 -0.594842 0.486941 
time: 1403637008.151666, t: 654105.039906 -24746433.479622 3404523.405816 q: -0.226885 -0.543525 0.790209 -0.169330 
time: 1403637008.351666, t: 654104.521597 -24746433.878743 3404524.671624 q: -0.262527 -0.602713 0.735661 -0.163156 
time: 1403637008.551666, t: 654101.661387 -24746435.551503 3404525.509954 q: 0.097547 -0.444982 0.865178 -0.209627 
time: 1403637008.751667, t: 654101.945444 -24746435.351347 3404526.910296 q: 0.097546 -0.444982 0.865178 -0.209627 
time: 1403637008.951667, t: 654101.967459 -24746435.282370 3404525.634313 q: 0.102815 -0.409254 0.881838 -0.210480 
time: 1403637009.151666, t: 654101.850670 -24746435.369138 3404525.011121 q: 0.080260 -0.432033 0.868830 -0.228122 
feature tracking not enough, please slowly move you device! 
time: 1403637009.351666, t: 654101.805394 -24746434.967696 3404524.644173 q: 0.064932 -0.496893 0.830389 -0.243587 
time: 1403637009.551666, t: 654101.834886 -24746435.007584 3404524.700651 q: 0.064231 -0.465961 0.833388 -0.290205 
time: 1403637009.751667, t: 654101.972851 -24746435.150529 3404524.722551 q: 0.072888 -0.388787 0.836897 -0.378333 
feature tracking not enough, please slowly move you device! 
time: 1403637009.951667, t: 654101.912425 -24746434.980348 3404524.882804 q: 0.067959 -0.397928 0.835801 -0.372117 
time: 1403637010.151666, t: 654102.016328 -24746435.198954 3404524.449610 q: 0.051991 -0.404830 0.830725 -0.378557 
unstable tracking...
time: 1403637010.351666, t: 654102.204220 -24746435.559989 3404522.638447 q: -0.117089 -0.610155 0.692527 -0.366616 
unstable tracking...
time: 1403637010.551666, t: 654102.117598 -24746435.708450 3404523.622919 q: -0.009269 -0.510747 0.782060 -0.356979 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720498027.714796402]: Shutdown request received.[0m
[33m[ WARN] [1720498027.714829519]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720498027.715665108]: Shutdown request received.[0m
[33m[ WARN] [1720498027.715693482]: Reason given for shutdown: [user request][0m
killed
