/SLAM-Hive/slam_hive_results/mapping_results/3043/2251_vins-fusion-stereo+MH_04_difficult+Image_comb_test-1.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720506807.431912826]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720506807.433432597]: init begins[0m
[31m[ERROR] [1720506807.434436968]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/26713466-3dbd-11ef-a410-0242ac110005/roslaunch-4971b7ccc8e0-118.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://4971b7ccc8e0:33571/[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] [1720506808.538665893]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720506808.539551567]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720506808.545737335]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720506808.545970908]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720506808.545998557]: ROW: 384 COL: 601 [0m
no imu, fix extrinsic param; no time offset calibration
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1720506808.546270219]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720506808.546485376]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720506808.546665083]: 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://4971b7ccc8e0:11311/[0m
]2;roscore http://4971b7ccc8e0:11311/
[1msetting /run_id to 26713466-3dbd-11ef-a410-0242ac110005[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_04_difficult.bag  --clock 
[0m[ INFO] [1720506817.586179526]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316868690.48 
throw img0
[0m[ INFO] [1720506819.007846061]: Initialization finish![0m
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time: 1403638128.445097, t: -0.000048 -0.000034 0.000058 q: 1.000000 -0.000112 -0.000768 0.000435 
time: 1403638128.545097, t: -0.000057 -0.000052 0.000054 q: 1.000000 -0.000217 -0.000814 0.000475 
time: 1403638128.645097, t: -0.000045 -0.000051 0.000049 q: 1.000000 -0.000292 -0.000803 0.000402 
time: 1403638128.745097, t: -0.000157 -0.000008 0.000136 q: 0.999997 -0.000284 -0.001432 0.001696 
time: 1403638128.845097, t: -0.000097 -0.000032 0.000066 q: 0.999996 -0.001195 -0.001901 0.001399 
time: 1403638128.945097, t: 0.000058 -0.000060 0.000011 q: 0.999997 -0.001537 -0.001723 0.000092 
time: 1403638129.045097, t: 0.000131 -0.000054 0.000062 q: 0.999999 -0.001145 -0.001226 -0.000413 
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time: 1403638129.945097, t: 0.091478 -0.005959 -0.033830 q: 0.999878 0.012481 -0.009068 0.002238 
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time: 1403638132.345097, t: 0.202530 0.007414 -0.108318 q: 0.998462 0.032487 0.039073 -0.022154 
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time: 1403638137.645097, t: 0.084948 -0.024123 -0.034882 q: 0.996590 -0.074242 -0.007567 0.035210 
time: 1403638137.745097, t: 0.066275 -0.027864 -0.027013 q: 0.996028 -0.081680 -0.004974 0.035104 
time: 1403638137.845097, t: 0.056843 -0.027744 -0.025201 q: 0.995677 -0.085228 -0.010126 0.035504 
time: 1403638137.945097, t: 0.046339 -0.028994 -0.020766 q: 0.995405 -0.088396 -0.026411 0.025651 
time: 1403638138.045097, t: 0.038926 -0.031524 -0.018180 q: 0.995321 -0.087710 -0.035916 0.018784 
time: 1403638138.145097, t: 0.035406 -0.032536 -0.015505 q: 0.995474 -0.088842 -0.025199 0.022434 
optimize pose graph 
time: 1403638138.245097, t: 0.034600 -0.031556 -0.016385 q: 0.995457 -0.089219 -0.016200 0.029035 
time: 1403638138.345097, t: 0.034077 -0.031692 -0.017048 q: 0.995432 -0.090205 -0.009235 0.029886 
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time: 1403638138.645097, t: 0.033480 -0.032076 -0.017626 q: 0.995451 -0.090414 -0.003546 0.029845 
time: 1403638138.745097, t: 0.033648 -0.031898 -0.017349 q: 0.995459 -0.090280 -0.003585 0.029974 
time: 1403638138.845097, t: 0.033190 -0.032359 -0.017208 q: 0.995476 -0.090295 -0.003657 0.029337 
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time: 1403638139.945097, t: 0.033201 -0.032566 -0.017098 q: 0.995454 -0.090186 -0.003638 0.030400 
time: 1403638140.045097, t: 0.033199 -0.032573 -0.017092 q: 0.995454 -0.090169 -0.003652 0.030443 
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time: 1403638140.845097, t: 0.033195 -0.032566 -0.017087 q: 0.995454 -0.090179 -0.003644 0.030420 
time: 1403638140.945097, t: 0.033197 -0.032565 -0.017087 q: 0.995454 -0.090185 -0.003663 0.030420 
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optimize pose graph 
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time: 1403638152.245097, t: 1.038590 -1.103707 0.877944 q: 0.985824 0.142950 0.020910 -0.085320 
optimize pose graph 
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time: 1403638206.345097, t: 6.460417 -8.891862 6.535296 q: 0.942335 0.304320 0.042881 -0.132497 
time: 1403638206.445097, t: 6.474925 -9.040203 6.459113 q: 0.937837 0.320195 0.041617 -0.127295 
time: 1403638206.545097, t: 6.473860 -9.178602 6.374476 q: 0.934775 0.330574 0.043604 -0.122534 
time: 1403638206.645097, t: 6.477481 -9.311602 6.284963 q: 0.932691 0.336779 0.045002 -0.121003 
time: 1403638206.745097, t: 6.467218 -9.439382 6.198816 q: 0.929283 0.345803 0.044079 -0.122107 
time: 1403638206.845097, t: 6.451110 -9.558119 6.112939 q: 0.925747 0.354677 0.042404 -0.124088 
time: 1403638206.945097, t: 6.418056 -9.674354 6.023275 q: 0.923110 0.361390 0.045224 -0.123371 
time: 1403638207.045097, t: 6.386396 -9.788819 5.932340 q: 0.921333 0.366317 0.047714 -0.121166 
time: 1403638207.145097, t: 6.342440 -9.895852 5.844490 q: 0.920227 0.368888 0.050125 -0.120797 
time: 1403638207.245097, t: 6.297270 -9.987611 5.745251 q: 0.918098 0.374205 0.050689 -0.120406 
time: 1403638207.345097, t: 6.237673 -10.079222 5.647807 q: 0.913760 0.384061 0.053183 -0.121287 
time: 1403638207.445097, t: 6.176373 -10.165213 5.545679 q: 0.906873 0.398473 0.056478 -0.124942 
time: 1403638207.545097, t: 6.114933 -10.242744 5.438163 q: 0.898081 0.416689 0.054902 -0.129640 
time: 1403638207.645097, t: 6.053923 -10.310656 5.328535 q: 0.890499 0.431379 0.045621 -0.137268 
time: 1403638207.745097, t: 6.000030 -10.370412 5.207794 q: 0.885022 0.441901 0.033027 -0.142721 
time: 1403638207.845097, t: 5.954248 -10.425321 5.082679 q: 0.881421 0.448378 0.022213 -0.146836 
time: 1403638207.945097, t: 5.915743 -10.470193 4.968365 q: 0.879173 0.451875 0.012187 -0.150716 
time: 1403638208.045097, t: 5.882975 -10.506084 4.849907 q: 0.878242 0.453014 0.009427 -0.152906 
time: 1403638208.145097, t: 5.844224 -10.541290 4.733443 q: 0.878262 0.454191 0.014375 -0.148862 
optimize pose graph 
time: 1403638208.345097, t: 5.759816 -10.597513 4.519689 q: 0.879518 0.452087 0.019317 -0.147281 
time: 1403638208.445097, t: 5.707429 -10.618435 4.419840 q: 0.879876 0.450568 0.014984 -0.150271 
time: 1403638208.545097, t: 5.656957 -10.636076 4.315384 q: 0.877409 0.454680 0.011035 -0.152636 
time: 1403638208.645097, t: 5.615167 -10.652729 4.209549 q: 0.871590 0.463958 0.010277 -0.158013 
time: 1403638208.745097, t: 5.582503 -10.666134 4.108987 q: 0.865765 0.474352 0.008696 -0.159265 
time: 1403638208.845097, t: 5.549540 -10.675054 4.007685 q: 0.860928 0.482631 0.009905 -0.160537 
time: 1403638208.945097, t: 5.513438 -10.683706 3.915128 q: 0.856956 0.488365 0.013122 -0.164178 
time: 1403638209.045097, t: 5.474059 -10.690538 3.818957 q: 0.854631 0.491987 0.013875 -0.165413 
time: 1403638209.145097, t: 5.433828 -10.691258 3.726103 q: 0.853067 0.494532 0.012968 -0.165971 
time: 1403638209.245097, t: 5.386490 -10.687886 3.646343 q: 0.852034 0.496269 0.012319 -0.166142 
time: 1403638209.345097, t: 5.334039 -10.684171 3.568663 q: 0.851520 0.497538 0.010216 -0.165119 
time: 1403638209.445097, t: 5.278134 -10.677233 3.491320 q: 0.851271 0.498379 0.009005 -0.163936 
time: 1403638209.545097, t: 5.213060 -10.667463 3.420143 q: 0.851269 0.499177 0.012851 -0.161239 
time: 1403638209.645097, t: 5.136807 -10.654328 3.356058 q: 0.851627 0.499142 0.013065 -0.159431 
time: 1403638209.745097, t: 5.038511 -10.639238 3.296882 q: 0.852462 0.497470 0.011785 -0.160287 
time: 1403638209.845097, t: 4.926682 -10.618483 3.250461 q: 0.852749 0.495766 0.015510 -0.163692 
time: 1403638209.945097, t: 4.802497 -10.599719 3.216595 q: 0.852767 0.495499 0.022134 -0.163643 
time: 1403638210.045097, t: 4.684920 -10.576077 3.185691 q: 0.852438 0.496426 0.029603 -0.161355 
time: 1403638210.145097, t: 4.570478 -10.544761 3.146662 q: 0.852170 0.498062 0.034779 -0.156621 
time: 1403638210.245097, t: 4.459297 -10.507960 3.106317 q: 0.851808 0.499382 0.037797 -0.153661 
time: 1403638210.345097, t: 4.349466 -10.458152 3.057944 q: 0.851948 0.498593 0.038769 -0.155201 
optimize pose graph 
time: 1403638210.445097, t: 4.242784 -10.404373 3.011118 q: 0.852007 0.498584 0.036658 -0.155416 
time: 1403638210.545097, t: 4.120250 -10.342040 2.953376 q: 0.852514 0.498347 0.037421 -0.153197 
time: 1403638210.645097, t: 4.003230 -10.274938 2.898969 q: 0.852899 0.498175 0.038489 -0.151336 
time: 1403638210.745097, t: 3.887584 -10.200649 2.847837 q: 0.853219 0.498282 0.037621 -0.149388 
time: 1403638210.845097, t: 3.774434 -10.118989 2.795095 q: 0.853489 0.497882 0.035411 -0.149723 
time: 1403638210.945097, t: 3.665012 -10.035609 2.728476 q: 0.854124 0.496594 0.028724 -0.151797 
time: 1403638211.045097, t: 3.565850 -9.944929 2.667203 q: 0.854369 0.496300 0.022305 -0.152455 
time: 1403638211.145097, t: 3.479858 -9.846179 2.616908 q: 0.853977 0.496573 0.016574 -0.154480 
time: 1403638211.245097, t: 3.393054 -9.745940 2.554671 q: 0.854051 0.496405 0.012761 -0.154972 
time: 1403638211.345097, t: 3.314039 -9.641945 2.496982 q: 0.855547 0.493822 0.011606 -0.155061 
time: 1403638211.445097, t: 3.241896 -9.538171 2.440414 q: 0.860598 0.485815 0.010078 -0.152493 
time: 1403638211.545097, t: 3.168143 -9.428005 2.392409 q: 0.867955 0.474130 0.008835 -0.147571 
time: 1403638211.645097, t: 3.103566 -9.308391 2.350292 q: 0.877165 0.459884 0.006560 -0.138005 
time: 1403638211.745097, t: 3.014529 -9.193431 2.314127 q: 0.888770 0.440391 0.004754 -0.126968 
time: 1403638211.845097, t: 2.941997 -9.066563 2.275238 q: 0.901155 0.418345 0.000066 -0.113608 
time: 1403638211.945097, t: 2.861854 -8.931018 2.249945 q: 0.912910 0.395148 -0.001112 -0.102233 
time: 1403638212.045097, t: 2.783312 -8.807827 2.198175 q: 0.924409 0.369981 -0.000987 -0.092636 
time: 1403638212.145097, t: 2.726450 -8.663635 2.173510 q: 0.934289 0.345794 0.000571 -0.086775 
time: 1403638212.245097, t: 2.704138 -8.522351 2.133793 q: 0.943845 0.320034 0.001657 -0.082055 
time: 1403638212.345097, t: 2.639161 -8.381334 2.095218 q: 0.952496 0.295178 0.003395 -0.074898 
time: 1403638212.445097, t: 2.610157 -8.242161 2.051076 q: 0.960545 0.269332 0.004685 -0.069225 
time: 1403638212.545097, t: 2.574918 -8.092759 2.028604 q: 0.967316 0.246631 0.006681 -0.058555 
optimize pose graph 
time: 1403638212.645097, t: 2.543256 -7.936621 1.991600 q: 0.973677 0.222556 0.006452 -0.048780 
time: 1403638212.845097, t: 2.507570 -7.628852 1.901171 q: 0.984983 0.169643 0.006220 -0.031474 
time: 1403638212.945097, t: 2.490796 -7.473255 1.859353 q: 0.989677 0.141694 0.006710 -0.020422 
time: 1403638213.045097, t: 2.488140 -7.306866 1.822493 q: 0.993559 0.112750 0.005764 -0.009710 
time: 1403638213.145097, t: 2.477304 -7.142120 1.806510 q: 0.996354 0.085034 0.003943 0.005678 
time: 1403638213.245097, t: 2.479450 -6.964462 1.756657 q: 0.998045 0.058121 -0.005742 0.022235 
time: 1403638213.345097, t: 2.474249 -6.815166 1.724269 q: 0.998398 0.029948 -0.018236 0.044409 
time: 1403638213.445097, t: 2.445457 -6.646598 1.689463 q: 0.997614 0.004363 -0.023955 0.064596 
time: 1403638213.545097, t: 2.433820 -6.480511 1.663264 q: 0.996197 -0.022861 -0.024056 0.080565 
time: 1403638213.645097, t: 2.439341 -6.290289 1.641159 q: 0.995746 -0.049294 -0.012707 0.076806 
time: 1403638213.745097, t: 2.434446 -6.090811 1.626188 q: 0.995411 -0.069311 0.001926 0.065950 
time: 1403638213.845097, t: 2.432036 -5.895561 1.600000 q: 0.994901 -0.083106 0.009822 0.056296 
time: 1403638213.945097, t: 2.441550 -5.696671 1.569804 q: 0.994651 -0.089631 0.010026 0.050353 
time: 1403638214.045097, t: 2.459550 -5.512851 1.545482 q: 0.994558 -0.091750 0.004487 0.049152 
time: 1403638214.145097, t: 2.473161 -5.316870 1.523685 q: 0.994716 -0.090567 -0.007051 0.047839 
time: 1403638214.245097, t: 2.482129 -5.113308 1.494433 q: 0.994981 -0.086762 -0.018117 0.046449 
time: 1403638214.445097, t: 2.508721 -4.727538 1.478844 q: 0.995488 -0.079515 -0.029413 0.042612 
time: 1403638214.545097, t: 2.508904 -4.540555 1.476350 q: 0.996089 -0.076579 -0.019477 0.039543 
time: 1403638214.645097, t: 2.504542 -4.350418 1.480874 q: 0.996578 -0.073615 -0.007391 0.036846 
time: 1403638214.745097, t: 2.497996 -4.170366 1.492981 q: 0.996862 -0.071242 0.004128 0.034270 
time: 1403638214.845097, t: 2.498215 -3.989478 1.504814 q: 0.997059 -0.068752 0.010277 0.032269 
time: 1403638214.945097, t: 2.484679 -3.807662 1.518099 q: 0.997212 -0.066727 0.014481 0.030107 
time: 1403638215.045097, t: 2.464553 -3.628584 1.529955 q: 0.997303 -0.065049 0.016104 0.029928 
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time: 1403638215.245097, t: 2.416748 -3.280481 1.551063 q: 0.997483 -0.064794 0.011890 0.026232 
time: 1403638215.345097, t: 2.390813 -3.113599 1.558277 q: 0.997497 -0.066662 0.008603 0.021931 
time: 1403638215.445097, t: 2.364678 -2.950336 1.564493 q: 0.997459 -0.068891 0.008965 0.015816 
time: 1403638215.545097, t: 2.343444 -2.792870 1.567921 q: 0.997434 -0.069527 0.008596 0.014780 
time: 1403638215.645097, t: 2.333079 -2.642529 1.566970 q: 0.997398 -0.069516 0.012129 0.014741 
time: 1403638215.745097, t: 2.327046 -2.496885 1.562838 q: 0.997409 -0.067978 0.013257 0.019476 
time: 1403638215.845097, t: 2.316091 -2.354931 1.559359 q: 0.997110 -0.070615 0.013449 0.024591 
time: 1403638215.945097, t: 2.301410 -2.215653 1.558225 q: 0.996715 -0.075120 0.013630 0.027040 
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time: 1403638216.145097, t: 2.257530 -1.944999 1.545848 q: 0.996126 -0.081873 0.013396 0.029169 
time: 1403638216.245097, t: 2.239661 -1.816139 1.540251 q: 0.995903 -0.084611 0.015371 0.027957 
time: 1403638216.345097, t: 2.228012 -1.695078 1.529231 q: 0.995711 -0.086807 0.017066 0.027073 
time: 1403638216.445097, t: 2.225804 -1.580158 1.511567 q: 0.995552 -0.088462 0.018710 0.026450 
time: 1403638216.545097, t: 2.220412 -1.468991 1.494336 q: 0.995488 -0.089333 0.018078 0.026399 
time: 1403638216.645097, t: 2.208983 -1.363492 1.478503 q: 0.995432 -0.091263 0.015373 0.023448 
time: 1403638216.745097, t: 2.190419 -1.260741 1.460755 q: 0.995446 -0.092158 0.012843 0.020723 
time: 1403638216.845097, t: 2.166616 -1.163110 1.444526 q: 0.995008 -0.096122 0.018575 0.019378 
time: 1403638216.945097, t: 2.140731 -1.072671 1.428890 q: 0.994069 -0.104070 0.022108 0.022519 
time: 1403638217.045097, t: 2.108876 -0.988388 1.410932 q: 0.992709 -0.114232 0.021083 0.032169 
time: 1403638217.145097, t: 2.078275 -0.902499 1.391226 q: 0.990847 -0.127311 0.016304 0.041810 
time: 1403638217.245097, t: 2.041916 -0.822818 1.372179 q: 0.988965 -0.139782 0.012232 0.047540 
time: 1403638217.345097, t: 2.005858 -0.742670 1.345661 q: 0.987527 -0.148696 0.009742 0.050851 
time: 1403638217.445097, t: 1.984357 -0.665191 1.318505 q: 0.986480 -0.154791 0.007285 0.053330 
time: 1403638217.545097, t: 1.969897 -0.594703 1.288501 q: 0.985720 -0.160718 0.004494 0.050055 
time: 1403638217.645097, t: 1.960191 -0.528722 1.259602 q: 0.985293 -0.165113 0.002203 0.043947 
time: 1403638217.745097, t: 1.956290 -0.465324 1.223372 q: 0.985013 -0.168632 -0.000055 0.036224 
time: 1403638217.845097, t: 1.958154 -0.404554 1.189768 q: 0.984964 -0.170032 -0.003120 0.030419 
time: 1403638217.945097, t: 1.966337 -0.359390 1.159225 q: 0.985034 -0.170312 -0.000952 0.026480 
time: 1403638218.045097, t: 1.967778 -0.317850 1.135359 q: 0.985346 -0.168653 0.002471 0.025362 
time: 1403638218.145097, t: 1.966476 -0.286800 1.113449 q: 0.985619 -0.166922 0.005192 0.025791 
time: 1403638218.245097, t: 1.960264 -0.265348 1.096885 q: 0.985880 -0.165252 0.010151 0.025085 
time: 1403638218.345097, t: 1.949132 -0.252037 1.085112 q: 0.986234 -0.162103 0.017408 0.027607 
time: 1403638218.445097, t: 1.941555 -0.245739 1.066493 q: 0.986695 -0.158179 0.019031 0.032396 
time: 1403638218.545097, t: 1.936640 -0.249834 1.048658 q: 0.986913 -0.156472 0.018071 0.034536 
time: 1403638218.645097, t: 1.941522 -0.254262 1.020758 q: 0.987166 -0.154560 0.015044 0.037267 
optimize pose graph 
time: 1403638218.745097, t: 1.944038 -0.262551 0.992386 q: 0.986810 -0.156532 0.006944 0.040691 
time: 1403638218.845097, t: 1.941798 -0.271848 0.964608 q: 0.985534 -0.163485 0.000286 0.044672 
time: 1403638218.945097, t: 1.938853 -0.286088 0.944234 q: 0.984297 -0.167336 -0.000972 0.056186 
time: 1403638219.045097, t: 1.931160 -0.301729 0.925450 q: 0.983145 -0.167638 0.002196 0.072932 
time: 1403638219.245097, t: 1.907488 -0.324556 0.888570 q: 0.981649 -0.175541 0.012199 0.073490 
time: 1403638219.345097, t: 1.892480 -0.335930 0.869743 q: 0.981135 -0.180757 0.021836 0.064998 
time: 1403638219.445097, t: 1.880797 -0.347211 0.847425 q: 0.980613 -0.183448 0.033867 0.059978 
time: 1403638219.545097, t: 1.870086 -0.362886 0.817851 q: 0.980432 -0.184089 0.037144 0.059033 
time: 1403638219.645097, t: 1.862766 -0.385335 0.783212 q: 0.980595 -0.182445 0.033594 0.063396 
time: 1403638219.745097, t: 1.852135 -0.408711 0.742396 q: 0.980768 -0.179405 0.029551 0.070953 
time: 1403638219.845097, t: 1.835400 -0.432005 0.701169 q: 0.980823 -0.175486 0.024655 0.081135 
time: 1403638219.945097, t: 1.810967 -0.451018 0.656684 q: 0.980690 -0.172016 0.021136 0.090615 
time: 1403638220.045097, t: 1.780666 -0.466516 0.612495 q: 0.980594 -0.169660 0.017136 0.096738 
time: 1403638220.145097, t: 1.748433 -0.476780 0.562454 q: 0.980740 -0.170452 0.013191 0.094457 
time: 1403638220.245097, t: 1.719955 -0.483851 0.509501 q: 0.981069 -0.176535 0.009117 0.079098 
time: 1403638220.345097, t: 1.699649 -0.487350 0.453102 q: 0.981142 -0.181607 0.004918 0.065991 
time: 1403638220.445097, t: 1.686400 -0.487404 0.393153 q: 0.981076 -0.183818 0.003519 0.060725 
time: 1403638220.545097, t: 1.679538 -0.492419 0.335784 q: 0.980958 -0.184917 0.004040 0.059255 
time: 1403638220.645097, t: 1.671963 -0.499196 0.278372 q: 0.980700 -0.186452 0.004205 0.058694 
time: 1403638220.745097, t: 1.655534 -0.509070 0.224949 q: 0.980437 -0.187505 0.004422 0.059717 
optimize pose graph 
time: 1403638220.845097, t: 1.635087 -0.520530 0.175442 q: 0.980228 -0.187954 0.005251 0.061637 
time: 1403638220.945097, t: 1.608673 -0.529465 0.127547 q: 0.980022 -0.188441 0.003890 0.063488 
time: 1403638221.045097, t: 1.576325 -0.542440 0.084443 q: 0.979900 -0.188979 0.002834 0.063837 
time: 1403638221.145097, t: 1.542743 -0.556147 0.040491 q: 0.979703 -0.189821 0.001401 0.064405 
time: 1403638221.245097, t: 1.515367 -0.570804 -0.002298 q: 0.979618 -0.189785 -0.001027 0.065799 
time: 1403638221.345097, t: 1.499011 -0.587995 -0.047808 q: 0.979513 -0.189267 -0.003644 0.068692 
time: 1403638221.445097, t: 1.484667 -0.604447 -0.090928 q: 0.979378 -0.188599 -0.004475 0.072311 
time: 1403638221.545097, t: 1.467227 -0.619078 -0.130148 q: 0.979294 -0.187955 -0.004153 0.075087 
time: 1403638221.645097, t: 1.446371 -0.635925 -0.164016 q: 0.979163 -0.188384 -0.002418 0.075795 
time: 1403638221.845097, t: 1.405820 -0.661615 -0.232877 q: 0.979199 -0.187228 0.004173 0.078088 
time: 1403638221.945097, t: 1.394814 -0.673081 -0.270184 q: 0.979335 -0.188610 0.006126 0.072740 
time: 1403638222.045097, t: 1.389255 -0.684479 -0.309870 q: 0.979358 -0.189952 0.005416 0.068890 
time: 1403638222.145097, t: 1.385555 -0.696429 -0.350625 q: 0.979366 -0.190493 -0.000282 0.067489 
time: 1403638222.245097, t: 1.373912 -0.707496 -0.386372 q: 0.979268 -0.190496 -0.006596 0.068564 
time: 1403638222.345097, t: 1.364555 -0.717031 -0.423288 q: 0.979201 -0.189927 -0.012686 0.070233 
time: 1403638222.445097, t: 1.349910 -0.731792 -0.447388 q: 0.979034 -0.189965 -0.017585 0.071384 
time: 1403638222.545097, t: 1.332053 -0.743296 -0.470681 q: 0.979043 -0.189903 -0.016985 0.071576 
time: 1403638222.645097, t: 1.317306 -0.751737 -0.489203 q: 0.979199 -0.189917 -0.007264 0.071046 
time: 1403638222.745097, t: 1.295340 -0.760262 -0.504325 q: 0.979212 -0.190357 -0.000823 0.070054 
time: 1403638222.845097, t: 1.272589 -0.768685 -0.517417 q: 0.979219 -0.190696 0.003639 0.068936 
time: 1403638222.945097, t: 1.251316 -0.777849 -0.532230 q: 0.979196 -0.190714 0.016574 0.067291 
optimize pose graph 
time: 1403638223.045097, t: 1.230519 -0.789809 -0.546431 q: 0.979262 -0.190304 0.017214 0.067329 
time: 1403638223.145097, t: 1.216294 -0.802248 -0.567796 q: 0.979321 -0.190516 0.006907 0.067718 
time: 1403638223.245097, t: 1.201331 -0.815646 -0.591674 q: 0.979178 -0.187732 -0.010020 0.076600 
time: 1403638223.345097, t: 1.185528 -0.826112 -0.612897 q: 0.979055 -0.186509 -0.013514 0.080512 
time: 1403638223.445097, t: 1.173494 -0.833670 -0.633895 q: 0.978970 -0.183978 -0.006821 0.087879 
time: 1403638223.545097, t: 1.167500 -0.834802 -0.650448 q: 0.978777 -0.180453 0.001177 0.097115 
time: 1403638223.645097, t: 1.149977 -0.831140 -0.667202 q: 0.979004 -0.183483 0.002734 0.088756 
time: 1403638223.745097, t: 1.134255 -0.827615 -0.685427 q: 0.979185 -0.188341 0.000849 0.075659 
time: 1403638223.845097, t: 1.112655 -0.828355 -0.697864 q: 0.979144 -0.191676 -0.001347 0.067340 
time: 1403638223.945097, t: 1.095628 -0.826889 -0.711141 q: 0.979114 -0.193789 -0.002387 0.061442 
time: 1403638224.045097, t: 1.079672 -0.826576 -0.722121 q: 0.979072 -0.194262 -0.006688 0.060293 
time: 1403638224.145097, t: 1.053327 -0.824935 -0.729263 q: 0.979046 -0.192774 -0.016030 0.063637 
time: 1403638224.245097, t: 1.033748 -0.827230 -0.734835 q: 0.978958 -0.191837 -0.021797 0.066063 
time: 1403638224.345097, t: 1.020994 -0.827619 -0.734145 q: 0.979105 -0.191945 -0.014429 0.065588 
time: 1403638224.445097, t: 1.007551 -0.829730 -0.732547 q: 0.979149 -0.189792 -0.003008 0.072368 
time: 1403638224.545097, t: 0.998871 -0.834185 -0.728763 q: 0.979127 -0.190085 0.009340 0.071353 
time: 1403638224.645097, t: 0.988259 -0.836640 -0.728118 q: 0.979203 -0.190413 0.005084 0.069849 
time: 1403638224.745097, t: 0.976259 -0.839453 -0.728475 q: 0.979152 -0.189538 -0.012730 0.071938 
time: 1403638224.845097, t: 0.968318 -0.839118 -0.730676 q: 0.979160 -0.188599 -0.017490 0.073279 
time: 1403638224.945097, t: 0.968266 -0.844998 -0.729230 q: 0.979347 -0.185633 -0.004201 0.080008 
time: 1403638225.045097, t: 0.972171 -0.848722 -0.725085 q: 0.979408 -0.182671 0.007427 0.085656 
time: 1403638225.145097, t: 0.976675 -0.848941 -0.721196 q: 0.979638 -0.183944 0.008381 0.080029 
optimize pose graph 
time: 1403638225.245097, t: 0.981169 -0.849556 -0.719998 q: 0.979891 -0.184896 -0.003163 0.074941 
time: 1403638225.345097, t: 0.987998 -0.848171 -0.719623 q: 0.979916 -0.185770 -0.009950 0.071801 
time: 1403638225.445097, t: 0.992718 -0.846839 -0.716692 q: 0.980008 -0.186543 -0.002927 0.069114 
time: 1403638225.545097, t: 0.991677 -0.845271 -0.710340 q: 0.979912 -0.188101 0.014713 0.064611 
time: 1403638225.645097, t: 0.981978 -0.845727 -0.702577 q: 0.979519 -0.189269 0.031810 0.060884 
time: 1403638225.745097, t: 0.960106 -0.850152 -0.695534 q: 0.979647 -0.189476 0.028149 0.059982 
time: 1403638225.945097, t: 0.887553 -0.865981 -0.676780 q: 0.980014 -0.187325 -0.008462 0.066406 
time: 1403638226.045097, t: 0.894926 -0.891784 -0.675923 q: 0.980044 -0.183873 -0.027127 0.070490 
time: 1403638226.145097, t: 0.855132 -0.943502 -0.604633 q: 0.979790 -0.174290 -0.019523 0.096196 
time: 1403638226.245097, t: 0.863014 -0.903893 -0.642169 q: 0.979794 -0.185162 -0.031509 0.068750 
time: 1403638226.345097, t: 0.888181 -0.932034 -0.625355 q: 0.980003 -0.184414 -0.026004 0.070072 
time: 1403638226.445097, t: 0.933601 -0.963913 -0.675476 q: 0.980529 -0.169697 -0.030750 0.093914 
time: 1403638226.545097, t: 0.859460 -0.940445 -0.637701 q: 0.980080 -0.184516 -0.023995 0.069438 
time: 1403638226.645097, t: 0.860599 -0.941311 -0.639988 q: 0.980053 -0.184144 -0.023906 0.070821 
time: 1403638226.745097, t: 0.860863 -0.941749 -0.640542 q: 0.980001 -0.184153 -0.024723 0.071231 
time: 1403638226.845097, t: 0.860905 -0.941829 -0.640673 q: 0.980028 -0.184100 -0.024462 0.071088 
time: 1403638226.945097, t: 0.860517 -0.941042 -0.639829 q: 0.979990 -0.184676 -0.024500 0.070107 
time: 1403638227.045097, t: 0.860485 -0.940875 -0.639681 q: 0.979976 -0.185022 -0.024815 0.069271 
time: 1403638227.145097, t: 0.860397 -0.940778 -0.639620 q: 0.979970 -0.184973 -0.024805 0.069489 
time: 1403638227.245097, t: 0.860420 -0.940895 -0.639760 q: 0.979993 -0.184669 -0.024905 0.069929 
time: 1403638227.345097, t: 0.860389 -0.940941 -0.639838 q: 0.980007 -0.184410 -0.024691 0.070491 
time: 1403638227.445097, t: 0.860403 -0.940982 -0.639902 q: 0.980002 -0.184400 -0.024761 0.070563 
time: 1403638227.545097, t: 0.860384 -0.940903 -0.639849 q: 0.980004 -0.184525 -0.024732 0.070226 
time: 1403638227.645097, t: 0.860369 -0.940840 -0.639807 q: 0.979998 -0.184671 -0.024676 0.069939 
time: 1403638227.745097, t: 0.860361 -0.940847 -0.639830 q: 0.979995 -0.184649 -0.024740 0.070014 
time: 1403638227.845097, t: 0.860361 -0.940863 -0.639857 q: 0.980002 -0.184587 -0.024740 0.070077 
time: 1403638227.945097, t: 0.860363 -0.940891 -0.639901 q: 0.980003 -0.184537 -0.024712 0.070208 
time: 1403638228.045097, t: 0.860321 -0.940842 -0.639865 q: 0.980006 -0.184491 -0.024693 0.070295 
time: 1403638228.145097, t: 0.859393 -0.938017 -0.638932 q: 0.980051 -0.184468 -0.024466 0.069815 
time: 1403638228.245097, t: 0.859454 -0.938110 -0.639053 q: 0.980039 -0.184501 -0.024480 0.069884 
time: 1403638228.345097, t: 0.859530 -0.938227 -0.639194 q: 0.980035 -0.184513 -0.024469 0.069909 
time: 1403638228.445097, t: 0.859573 -0.938277 -0.639261 q: 0.980039 -0.184483 -0.024593 0.069889 
time: 1403638228.545097, t: 0.859587 -0.938296 -0.639297 q: 0.980048 -0.184441 -0.024483 0.069907 
time: 1403638228.645097, t: 0.859640 -0.938384 -0.639405 q: 0.980043 -0.184446 -0.024572 0.069933 
time: 1403638228.745097, t: 0.859663 -0.938413 -0.639448 q: 0.980046 -0.184427 -0.024556 0.069954 
time: 1403638228.845097, t: 0.859673 -0.938430 -0.639488 q: 0.980044 -0.184448 -0.024471 0.069957 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720506920.934423015]: Shutdown request received.[0m
[33m[ WARN] [1720506920.934465538]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720506920.935387967]: Shutdown request received.[0m
[33m[ WARN] [1720506920.935431590]: Reason given for shutdown: [user request][0m
killed
