/SLAM-Hive/slam_hive_results/mapping_results/3072/2280_vins-fusion-stereo+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720510838.364146133]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720510838.366257454]: init begins[0m
[31m[ERROR] [1720510838.367253257]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/890fdfe2-3dc6-11ef-83e1-0242ac110005/roslaunch-a9fd43e96f14-118.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://a9fd43e96f14:34357/[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] [1720510839.470342560]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720510839.471983721]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720510839.477755223]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720510839.477946032]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720510839.477978277]: ROW: 480 COL: 752 [0m
no imu, fix extrinsic param; no time offset calibration
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1720510839.478209829]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720510839.478415265]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720510839.478600306]: 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://a9fd43e96f14:11311/[0m
]2;roscore http://a9fd43e96f14:11311/
[1msetting /run_id to 890fdfe2-3dc6-11ef-83e1-0242ac110005[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_05_difficult.bag  --clock 
[0m[ INFO] [1720510848.525965421]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316872330.60 
[0m[ INFO] [1720510849.942069181]: Initialization finish![0m
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time: 1403638530.527829, t: 0.154539 0.063941 0.029734 q: 0.995846 -0.084913 -0.021201 0.025107 
time: 1403638530.627830, t: 0.151918 0.068473 0.036449 q: 0.995519 -0.087717 -0.023743 0.026150 
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time: 1403638531.027829, t: 0.139527 0.074833 0.050428 q: 0.995427 -0.086325 -0.028437 0.029392 
optimize pose graph 
time: 1403638531.127830, t: 0.139030 0.073706 0.050467 q: 0.995589 -0.087264 -0.021799 0.026709 
time: 1403638531.227829, t: 0.138691 0.072426 0.051174 q: 0.995680 -0.087380 -0.021099 0.023240 
time: 1403638531.327830, t: 0.138129 0.071110 0.051381 q: 0.995750 -0.088095 -0.014439 0.022631 
time: 1403638531.427830, t: 0.138036 0.071191 0.051329 q: 0.995731 -0.088283 -0.015671 0.021912 
time: 1403638531.527829, t: 0.137952 0.071223 0.051006 q: 0.995758 -0.088061 -0.014268 0.022520 
time: 1403638531.627830, t: 0.137822 0.071285 0.050961 q: 0.995798 -0.087860 -0.014496 0.021381 
time: 1403638531.727829, t: 0.137743 0.071270 0.051090 q: 0.995779 -0.087949 -0.014738 0.021713 
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time: 1403638531.927830, t: 0.137794 0.071151 0.050969 q: 0.995786 -0.087803 -0.014612 0.022065 
time: 1403638532.027829, t: 0.137782 0.071105 0.050974 q: 0.995787 -0.087755 -0.014593 0.022234 
time: 1403638532.127830, t: 0.137804 0.071103 0.050989 q: 0.995787 -0.087741 -0.014583 0.022280 
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time: 1403638540.027829, t: 0.331044 0.080189 0.110103 q: 0.996573 -0.080264 -0.003591 0.019697 
time: 1403638540.127830, t: 0.345010 0.081778 0.126931 q: 0.996493 -0.079984 -0.014136 0.020112 
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time: 1403638540.327830, t: 0.394095 0.082421 0.170729 q: 0.996672 -0.079738 -0.003393 0.016562 
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optimize pose graph 
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time: 1403638541.227829, t: 0.617516 0.023753 0.550315 q: 0.995322 0.068543 0.007015 -0.067722 
time: 1403638541.327830, t: 0.634372 -0.010116 0.603907 q: 0.994679 0.074705 0.006791 -0.070623 
time: 1403638541.427830, t: 0.658286 -0.038630 0.649547 q: 0.994481 0.077590 0.006154 -0.070348 
time: 1403638541.527829, t: 0.690026 -0.075366 0.694962 q: 0.994411 0.076963 0.008017 -0.071833 
time: 1403638541.627830, t: 0.724606 -0.120065 0.739817 q: 0.994132 0.078891 0.010329 -0.073292 
time: 1403638541.727829, t: 0.763621 -0.172767 0.782433 q: 0.993470 0.086964 0.012243 -0.072833 
time: 1403638541.827830, t: 0.811484 -0.228422 0.822920 q: 0.992305 0.100641 0.011577 -0.071194 
time: 1403638541.927830, t: 0.863249 -0.279238 0.856637 q: 0.990298 0.117189 0.009659 -0.074051 
time: 1403638542.027829, t: 0.907083 -0.338688 0.892980 q: 0.987393 0.136686 0.007280 -0.079493 
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time: 1403638542.227829, t: 0.992262 -0.467982 0.959574 q: 0.978422 0.183049 0.002403 -0.095796 
time: 1403638542.327830, t: 1.018661 -0.521894 1.002311 q: 0.972065 0.208913 0.001101 -0.106972 
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time: 1403638542.727829, t: 1.103341 -0.775714 1.159442 q: 0.955193 0.253459 0.032151 -0.149435 
time: 1403638542.827830, t: 1.128519 -0.848415 1.177276 q: 0.955006 0.259668 0.023544 -0.141357 
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time: 1403638543.027829, t: 1.186828 -0.996079 1.200924 q: 0.955466 0.264381 0.007778 -0.130873 
optimize pose graph 
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time: 1403638543.727829, t: 1.309443 -1.572796 1.285751 q: 0.941037 0.303746 0.001457 -0.148948 
time: 1403638543.827830, t: 1.321733 -1.661018 1.296194 q: 0.931616 0.325191 0.003851 -0.162257 
time: 1403638543.927830, t: 1.346867 -1.755015 1.302566 q: 0.921428 0.348764 0.004239 -0.171222 
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time: 1403638544.327830, t: 1.437605 -2.144739 1.319460 q: 0.900196 0.399176 -0.003418 -0.174050 
time: 1403638544.427830, t: 1.455324 -2.241980 1.331399 q: 0.899470 0.400567 -0.005942 -0.174541 
time: 1403638544.527829, t: 1.464191 -2.338283 1.348619 q: 0.899677 0.399955 -0.004311 -0.174924 
time: 1403638544.627830, t: 1.480913 -2.434444 1.363230 q: 0.898753 0.403201 0.003514 -0.172219 
time: 1403638544.727829, t: 1.499195 -2.532916 1.379121 q: 0.897655 0.406232 0.009823 -0.170569 
time: 1403638544.827830, t: 1.522195 -2.627689 1.392968 q: 0.897171 0.406466 0.005801 -0.172727 
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time: 1403638545.027829, t: 1.552594 -2.812120 1.428839 q: 0.896472 0.407572 0.000401 -0.173849 
optimize pose graph 
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time: 1403638598.227829, t: 5.772846 1.576504 6.410835 q: 0.977886 -0.207630 0.023420 0.009020 
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time: 1403638599.027829, t: 5.700252 -0.677290 6.696209 q: 0.992169 -0.124301 0.009495 0.007748 
time: 1403638599.127830, t: 5.702204 -0.955206 6.712855 q: 0.994418 -0.105103 0.009268 -0.001022 
time: 1403638599.227829, t: 5.699080 -1.229620 6.733497 q: 0.996258 -0.085437 0.008279 -0.010071 
time: 1403638599.327830, t: 5.710890 -1.509185 6.744752 q: 0.997733 -0.064794 0.005392 -0.017341 
time: 1403638599.427830, t: 5.719249 -1.789137 6.751350 q: 0.998521 -0.048127 0.000708 -0.025280 
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time: 1403638599.727829, t: 5.726250 -2.587698 6.792538 q: 0.999134 -0.024611 -0.007661 -0.032652 
time: 1403638599.827830, t: 5.724880 -2.859122 6.814352 q: 0.999168 -0.024647 -0.008904 -0.031260 
time: 1403638599.927830, t: 5.715350 -3.116957 6.840867 q: 0.999314 -0.024496 -0.010649 -0.025645 
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time: 1403638600.127830, t: 5.686291 -3.627500 6.895548 q: 0.999648 -0.022861 -0.012485 -0.004956 
time: 1403638600.227829, t: 5.671170 -3.873845 6.922409 q: 0.999579 -0.020040 -0.017585 0.011421 
time: 1403638600.327830, t: 5.670436 -4.108744 6.949527 q: 0.999292 -0.018177 -0.022007 0.024516 
time: 1403638600.427830, t: 5.658791 -4.339009 6.988283 q: 0.998897 -0.016548 -0.024558 0.036448 
time: 1403638600.527829, t: 5.652387 -4.532384 7.024623 q: 0.998728 -0.016399 -0.026125 0.039885 
time: 1403638600.627830, t: 5.653318 -4.720527 7.068287 q: 0.998616 -0.016958 -0.028541 0.040795 
time: 1403638600.727829, t: 5.667935 -4.900271 7.111359 q: 0.998434 -0.017285 -0.032753 0.041919 
time: 1403638600.927830, t: 5.724509 -5.213889 7.200722 q: 0.998497 -0.023856 -0.045638 0.018739 
time: 1403638601.027829, t: 5.748036 -5.357427 7.259942 q: 0.998492 -0.028399 -0.046925 0.002348 
optimize pose graph 
time: 1403638601.127830, t: 5.764562 -5.489437 7.331657 q: 0.998542 -0.030106 -0.044300 -0.006723 
time: 1403638601.227829, t: 5.790351 -5.624579 7.407672 q: 0.998528 -0.032825 -0.039280 -0.017937 
time: 1403638601.327830, t: 5.815309 -5.753719 7.485384 q: 0.998705 -0.033621 -0.026540 -0.027469 
time: 1403638601.427830, t: 5.843340 -5.896798 7.571320 q: 0.999260 -0.023630 -0.018641 -0.023943 
time: 1403638601.527829, t: 5.876554 -6.036929 7.653587 q: 0.999576 -0.008293 -0.011734 -0.025309 
time: 1403638601.627830, t: 5.912980 -6.173271 7.739302 q: 0.999360 0.010870 -0.007034 -0.033335 
time: 1403638601.727829, t: 5.954029 -6.311815 7.820085 q: 0.998358 0.034440 -0.005005 -0.045489 
time: 1403638601.827830, t: 6.002241 -6.449426 7.901607 q: 0.996228 0.061882 -0.001557 -0.060806 
time: 1403638601.927830, t: 6.054103 -6.588993 7.973244 q: 0.993091 0.089766 0.000591 -0.075575 
time: 1403638602.027829, t: 6.095517 -6.728251 8.044209 q: 0.990036 0.112413 0.000012 -0.084801 
time: 1403638602.127830, t: 6.135861 -6.870772 8.113257 q: 0.987386 0.128304 0.000897 -0.092773 
time: 1403638602.227829, t: 6.175608 -7.018165 8.182740 q: 0.984318 0.142550 0.006606 -0.103705 
time: 1403638602.327830, t: 6.198043 -7.160974 8.251715 q: 0.980365 0.163610 0.015593 -0.108968 
time: 1403638602.427830, t: 6.232888 -7.323269 8.305341 q: 0.975441 0.194540 0.034339 -0.097417 
time: 1403638602.527829, t: 6.269814 -7.459248 8.340826 q: 0.968021 0.228169 0.064169 -0.082202 
time: 1403638602.627830, t: 6.309358 -7.599675 8.361515 q: 0.960210 0.257196 0.081472 -0.072176 
time: 1403638602.727829, t: 6.342418 -7.736526 8.379697 q: 0.953585 0.279251 0.081997 -0.077277 
time: 1403638602.827830, t: 6.389093 -7.860340 8.364742 q: 0.947438 0.297075 0.077505 -0.089999 
time: 1403638602.927830, t: 6.426106 -7.947757 8.339059 q: 0.940076 0.319649 0.069297 -0.096331 
time: 1403638603.027829, t: 6.461647 -8.032877 8.304359 q: 0.931844 0.345404 0.058561 -0.094521 
time: 1403638603.127830, t: 6.491780 -8.099806 8.261233 q: 0.923296 0.367238 0.058434 -0.096160 
optimize pose graph 
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time: 1403638603.427830, t: 6.506479 -8.226587 8.118540 q: 0.912842 0.385561 0.003054 -0.134358 
time: 1403638603.527829, t: 6.499565 -8.246358 8.070652 q: 0.911325 0.387179 -0.005297 -0.139822 
time: 1403638603.627830, t: 6.491898 -8.264515 8.024188 q: 0.909154 0.392394 0.001829 -0.139508 
time: 1403638603.727829, t: 6.477471 -8.277770 7.980585 q: 0.907737 0.393236 0.014560 -0.145488 
time: 1403638603.827830, t: 6.452495 -8.286393 7.936365 q: 0.906743 0.391763 0.027283 -0.153604 
time: 1403638603.927830, t: 6.425376 -8.285728 7.888641 q: 0.905885 0.389538 0.038950 -0.161602 
time: 1403638604.027829, t: 6.384900 -8.287452 7.836685 q: 0.905590 0.386969 0.047773 -0.166971 
time: 1403638604.127830, t: 6.343059 -8.281982 7.774036 q: 0.905258 0.385540 0.052853 -0.170508 
time: 1403638604.227829, t: 6.299917 -8.282275 7.700593 q: 0.905413 0.386922 0.050473 -0.167246 
time: 1403638604.327830, t: 6.263879 -8.274445 7.611536 q: 0.905982 0.389930 0.039602 -0.159944 
time: 1403638604.427830, t: 6.226066 -8.263553 7.514111 q: 0.906626 0.390729 0.026417 -0.157046 
time: 1403638604.527829, t: 6.195289 -8.245911 7.404962 q: 0.907040 0.389210 0.014339 -0.159962 
time: 1403638604.627830, t: 6.163104 -8.227096 7.292853 q: 0.907122 0.388710 0.008813 -0.161112 
time: 1403638604.727829, t: 6.125283 -8.209740 7.183440 q: 0.907325 0.390252 0.004206 -0.156355 
time: 1403638604.827830, t: 6.085171 -8.193727 7.074906 q: 0.907574 0.391152 0.000214 -0.152677 
time: 1403638604.927830, t: 6.049822 -8.169729 6.965357 q: 0.907625 0.390414 -0.007106 -0.154090 
time: 1403638605.027829, t: 6.019021 -8.145862 6.854228 q: 0.907450 0.389118 -0.020000 -0.157229 
time: 1403638605.127830, t: 5.996598 -8.125174 6.745651 q: 0.907206 0.387765 -0.029973 -0.160363 
time: 1403638605.227829, t: 5.981822 -8.108703 6.641319 q: 0.906976 0.386453 -0.033748 -0.164039 
time: 1403638605.327830, t: 5.968428 -8.097776 6.540963 q: 0.906810 0.384402 -0.032324 -0.169959 
optimize pose graph 
time: 1403638605.427830, t: 5.950345 -8.088455 6.447424 q: 0.906524 0.382101 -0.019333 -0.178437 
time: 1403638605.527829, t: 5.927892 -8.085718 6.356045 q: 0.906022 0.379935 -0.002046 -0.186463 
time: 1403638605.627830, t: 5.900047 -8.082817 6.265185 q: 0.905212 0.377891 0.010036 -0.194138 
time: 1403638605.727829, t: 5.865858 -8.089305 6.170161 q: 0.904837 0.376797 0.015421 -0.197628 
time: 1403638605.827830, t: 5.837249 -8.097538 6.066512 q: 0.904712 0.376201 0.014468 -0.199400 
time: 1403638605.927830, t: 5.813121 -8.111878 5.956824 q: 0.904629 0.374853 0.015388 -0.202224 
time: 1403638606.027829, t: 5.793026 -8.128468 5.837559 q: 0.904537 0.372866 0.016780 -0.206159 
time: 1403638606.127830, t: 5.763823 -8.154585 5.714323 q: 0.904681 0.371165 0.017071 -0.208559 
time: 1403638606.227829, t: 5.724643 -8.187951 5.588846 q: 0.904683 0.369493 0.017075 -0.211502 
time: 1403638606.327830, t: 5.673006 -8.228793 5.460354 q: 0.905488 0.369315 0.011536 -0.208719 
time: 1403638606.427830, t: 5.615848 -8.275637 5.330523 q: 0.906794 0.371435 -0.004764 -0.199342 
time: 1403638606.527829, t: 5.556202 -8.321600 5.200057 q: 0.907595 0.374467 -0.022282 -0.188546 
time: 1403638606.627830, t: 5.492361 -8.372509 5.073888 q: 0.906495 0.378517 -0.034748 -0.183806 
time: 1403638606.727829, t: 5.424379 -8.434065 4.952227 q: 0.902457 0.385722 -0.043690 -0.186762 
time: 1403638606.827830, t: 5.350943 -8.497998 4.835508 q: 0.895802 0.397895 -0.049280 -0.191809 
time: 1403638606.927830, t: 5.278738 -8.572377 4.725302 q: 0.886814 0.414454 -0.052335 -0.197611 
time: 1403638607.027829, t: 5.216961 -8.658161 4.618695 q: 0.876205 0.434134 -0.054139 -0.202144 
time: 1403638607.127830, t: 5.163754 -8.748723 4.513900 q: 0.866832 0.453344 -0.055492 -0.200005 
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time: 1403638607.327830, t: 5.074925 -8.951779 4.321711 q: 0.855116 0.480555 -0.031395 -0.191985 
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time: 1403638607.727829, t: 4.848338 -9.340265 4.011325 q: 0.849451 0.493199 -0.022073 -0.186279 
time: 1403638607.827830, t: 4.784451 -9.427521 3.955450 q: 0.849676 0.492778 -0.022480 -0.186321 
time: 1403638607.927830, t: 4.718722 -9.509436 3.909131 q: 0.850195 0.493248 -0.028861 -0.181773 
time: 1403638608.027829, t: 4.650286 -9.595085 3.858827 q: 0.851346 0.492717 -0.030441 -0.177522 
time: 1403638608.127830, t: 4.581160 -9.671739 3.813596 q: 0.852432 0.491100 -0.024007 -0.177779 
time: 1403638608.227829, t: 4.505642 -9.741958 3.775210 q: 0.853333 0.488962 -0.015405 -0.180284 
time: 1403638608.327830, t: 4.430399 -9.815417 3.740693 q: 0.854155 0.488141 -0.005836 -0.179175 
time: 1403638608.427830, t: 4.351613 -9.882625 3.702077 q: 0.854405 0.488015 0.000557 -0.178418 
time: 1403638608.527829, t: 4.263327 -9.945790 3.676448 q: 0.854490 0.487326 -0.001916 -0.179881 
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time: 1403638608.727829, t: 4.094325 -10.056339 3.625892 q: 0.854140 0.490330 0.004289 -0.173214 
time: 1403638608.827830, t: 4.018103 -10.106506 3.595280 q: 0.854003 0.489764 -0.000397 -0.175526 
time: 1403638608.927830, t: 3.944063 -10.147363 3.569837 q: 0.853674 0.489559 -0.006974 -0.177550 
time: 1403638609.027829, t: 3.880289 -10.184284 3.539695 q: 0.853448 0.489930 -0.013759 -0.177216 
time: 1403638609.127830, t: 3.821852 -10.216890 3.508416 q: 0.853431 0.489573 -0.016208 -0.178074 
time: 1403638609.227829, t: 3.769155 -10.248595 3.472800 q: 0.853608 0.492133 -0.016262 -0.169982 
time: 1403638609.327830, t: 3.712832 -10.277984 3.442946 q: 0.853803 0.493437 -0.016957 -0.165083 
time: 1403638609.427830, t: 3.651017 -10.302517 3.412730 q: 0.854344 0.491461 -0.016510 -0.168195 
time: 1403638609.527829, t: 3.581666 -10.320519 3.391892 q: 0.854747 0.489508 -0.015759 -0.171875 
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time: 1403638609.827830, t: 3.361533 -10.351485 3.359357 q: 0.855134 0.487389 -0.014295 -0.176049 
time: 1403638609.927830, t: 3.296802 -10.358402 3.344339 q: 0.855494 0.486977 -0.013358 -0.175510 
time: 1403638610.127830, t: 3.191987 -10.363890 3.316376 q: 0.856055 0.488528 -0.005838 -0.168748 
time: 1403638610.227829, t: 3.145126 -10.362087 3.302993 q: 0.856303 0.488719 -0.000928 -0.167030 
time: 1403638610.327830, t: 3.090407 -10.351901 3.297891 q: 0.856498 0.489070 0.001074 -0.164988 
time: 1403638610.427830, t: 3.034057 -10.342972 3.296967 q: 0.856650 0.489453 0.001672 -0.163043 
time: 1403638610.527829, t: 2.973177 -10.325225 3.293300 q: 0.856882 0.488970 0.007106 -0.163130 
time: 1403638610.627830, t: 2.907681 -10.299547 3.286542 q: 0.856821 0.490878 0.019124 -0.156625 
time: 1403638610.727829, t: 2.842538 -10.265935 3.277052 q: 0.856919 0.490878 0.017825 -0.156243 
time: 1403638610.827830, t: 2.780641 -10.221996 3.273877 q: 0.856681 0.490368 0.005255 -0.160028 
time: 1403638610.927830, t: 2.731510 -10.172789 3.267704 q: 0.856027 0.490640 -0.000565 -0.162758 
time: 1403638611.027829, t: 2.695976 -10.123960 3.263570 q: 0.855612 0.492268 0.000353 -0.159999 
time: 1403638611.127830, t: 2.654185 -10.067320 3.269944 q: 0.854752 0.494454 0.003720 -0.157796 
time: 1403638611.227829, t: 2.599489 -10.006214 3.260464 q: 0.854587 0.494511 0.004260 -0.158496 
time: 1403638611.327830, t: 2.551740 -9.941000 3.256176 q: 0.854462 0.493615 0.005249 -0.161900 
time: 1403638611.427830, t: 2.514452 -9.870209 3.249583 q: 0.854552 0.489171 0.013274 -0.174004 
time: 1403638611.527829, t: 2.479065 -9.793987 3.243675 q: 0.854457 0.484864 0.018515 -0.185653 
time: 1403638611.627830, t: 2.451314 -9.715353 3.222669 q: 0.855015 0.481965 0.015661 -0.190826 
time: 1403638611.727829, t: 2.424347 -9.635048 3.195806 q: 0.855468 0.482384 0.008758 -0.188160 
optimize pose graph 
time: 1403638611.827830, t: 2.382949 -9.552284 3.165643 q: 0.856141 0.484372 -0.000168 -0.180018 
time: 1403638611.927830, t: 2.338378 -9.472359 3.134380 q: 0.856997 0.484809 -0.007518 -0.174529 
time: 1403638612.027829, t: 2.295848 -9.389891 3.110626 q: 0.857275 0.485096 -0.011829 -0.172111 
time: 1403638612.127830, t: 2.265232 -9.308041 3.099890 q: 0.857183 0.485805 -0.014987 -0.170315 
time: 1403638612.227829, t: 2.229479 -9.225121 3.075244 q: 0.857555 0.485020 -0.015130 -0.170662 
time: 1403638612.327830, t: 2.209183 -9.141106 3.054653 q: 0.857602 0.484773 -0.014557 -0.171176 
time: 1403638612.427830, t: 2.188340 -9.056939 3.039131 q: 0.857878 0.484189 -0.011910 -0.171652 
time: 1403638612.527829, t: 2.163393 -8.971376 3.026344 q: 0.858491 0.482803 -0.007077 -0.172756 
time: 1403638612.627830, t: 2.132011 -8.887355 3.009210 q: 0.859299 0.479858 -0.003021 -0.177007 
time: 1403638612.727829, t: 2.100384 -8.800905 2.997261 q: 0.860105 0.477068 0.001172 -0.180621 
time: 1403638612.827830, t: 2.056375 -8.714953 2.978586 q: 0.861338 0.475067 0.004864 -0.179955 
time: 1403638612.927830, t: 2.025676 -8.633305 2.959153 q: 0.862204 0.474254 0.006306 -0.177900 
time: 1403638613.027829, t: 1.987816 -8.547435 2.936622 q: 0.862815 0.473539 0.003410 -0.176915 
time: 1403638613.127830, t: 1.960805 -8.462380 2.910005 q: 0.863222 0.473166 0.001412 -0.175957 
time: 1403638613.227829, t: 1.952560 -8.380113 2.879815 q: 0.863288 0.472915 -0.001835 -0.176299 
time: 1403638613.327830, t: 1.937153 -8.294994 2.845336 q: 0.863426 0.472309 -0.002598 -0.177238 
time: 1403638613.427830, t: 1.931125 -8.211351 2.810772 q: 0.863323 0.472128 -0.001830 -0.178228 
time: 1403638613.527829, t: 1.918998 -8.125165 2.776677 q: 0.864556 0.471081 0.000134 -0.175001 
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time: 1403638617.827830, t: 1.604148 -3.092509 1.858145 q: 0.998123 -0.051625 -0.032741 0.003673 
time: 1403638617.927830, t: 1.659791 -2.977029 1.883707 q: 0.998289 -0.049717 -0.030568 0.003646 
time: 1403638618.027829, t: 1.712050 -2.867627 1.913854 q: 0.998393 -0.048312 -0.029414 0.003451 
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time: 1403638618.927830, t: 2.119597 -1.974304 2.410376 q: 0.997994 -0.060305 -0.018917 0.003641 
time: 1403638619.027829, t: 2.176584 -1.887444 2.474504 q: 0.997174 -0.073771 -0.011974 0.007604 
time: 1403638619.127830, t: 2.224709 -1.804755 2.549454 q: 0.995441 -0.094278 -0.007238 0.012502 
time: 1403638619.227829, t: 2.266506 -1.728903 2.625309 q: 0.992752 -0.118020 -0.003689 0.022369 
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time: 1403638619.827830, t: 2.384339 -1.301474 3.056700 q: 0.974986 -0.202991 0.010626 0.089908 
time: 1403638620.027829, t: 2.395211 -1.159882 3.200794 q: 0.973274 -0.209302 0.012970 0.093602 
time: 1403638620.127830, t: 2.404305 -1.083032 3.259294 q: 0.972866 -0.211839 0.016801 0.091507 
time: 1403638620.227829, t: 2.412799 -1.009916 3.312381 q: 0.972595 -0.213748 0.020258 0.089221 
time: 1403638620.327830, t: 2.431808 -0.930606 3.357530 q: 0.972647 -0.215473 0.017081 0.085070 
time: 1403638620.527829, t: 2.472636 -0.777029 3.431400 q: 0.973207 -0.214972 0.013390 0.080471 
time: 1403638620.627830, t: 2.489218 -0.698575 3.461068 q: 0.973655 -0.212959 0.010119 0.080881 
time: 1403638620.727829, t: 2.499385 -0.621113 3.493331 q: 0.974047 -0.210291 0.004932 0.083586 
time: 1403638620.827830, t: 2.505189 -0.539878 3.524207 q: 0.974479 -0.208507 -0.000011 0.083161 
time: 1403638620.927830, t: 2.504383 -0.460637 3.557168 q: 0.974918 -0.209358 -0.002480 0.075490 
time: 1403638621.027829, t: 2.502442 -0.379709 3.587810 q: 0.975374 -0.209866 -0.000565 0.067840 
time: 1403638621.127830, t: 2.496637 -0.298670 3.615771 q: 0.975857 -0.208679 0.001972 0.064440 
time: 1403638621.227829, t: 2.502357 -0.219720 3.640067 q: 0.976325 -0.207009 0.005272 0.062526 
time: 1403638621.327830, t: 2.515876 -0.141906 3.662570 q: 0.976617 -0.206592 0.004621 0.059302 
time: 1403638621.427830, t: 2.526212 -0.069117 3.683960 q: 0.976948 -0.205457 0.006925 0.057551 
time: 1403638621.527829, t: 2.534269 0.000758 3.703784 q: 0.977192 -0.204838 0.010503 0.055020 
time: 1403638621.627830, t: 2.532520 0.069027 3.727303 q: 0.977420 -0.203884 0.013599 0.053813 
time: 1403638621.727829, t: 2.525697 0.134357 3.747441 q: 0.977559 -0.203412 0.014992 0.052693 
time: 1403638621.827830, t: 2.517211 0.195367 3.767094 q: 0.977550 -0.203712 0.018718 0.050463 
optimize pose graph 
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time: 1403638622.027829, t: 2.488433 0.302658 3.800484 q: 0.977472 -0.203624 0.026586 0.048781 
time: 1403638622.127830, t: 2.460845 0.353167 3.809729 q: 0.977547 -0.202552 0.025660 0.052123 
time: 1403638622.227829, t: 2.435832 0.400900 3.814726 q: 0.977636 -0.201430 0.024713 0.055169 
time: 1403638622.327830, t: 2.414749 0.442362 3.812715 q: 0.977612 -0.200699 0.024625 0.058200 
time: 1403638622.427830, t: 2.398348 0.480661 3.801709 q: 0.977455 -0.202204 0.022862 0.056319 
time: 1403638622.527829, t: 2.387896 0.518554 3.781594 q: 0.977317 -0.203579 0.022437 0.053882 
time: 1403638622.627830, t: 2.386353 0.547101 3.757323 q: 0.976979 -0.206218 0.024404 0.048892 
time: 1403638622.727829, t: 2.391661 0.570652 3.727882 q: 0.976390 -0.207908 0.037111 0.045374 
time: 1403638622.827830, t: 2.399406 0.585537 3.688159 q: 0.975497 -0.209283 0.052298 0.043268 
time: 1403638622.927830, t: 2.400594 0.598573 3.636793 q: 0.975386 -0.209499 0.052318 0.044662 
time: 1403638623.027829, t: 2.393148 0.605161 3.579307 q: 0.975751 -0.209015 0.042489 0.049158 
time: 1403638623.127830, t: 2.379568 0.607420 3.518400 q: 0.976073 -0.207808 0.033233 0.054704 
time: 1403638623.227829, t: 2.359200 0.604134 3.454045 q: 0.976265 -0.206280 0.028379 0.059584 
time: 1403638623.327830, t: 2.335852 0.601469 3.386217 q: 0.976407 -0.205313 0.022553 0.062979 
time: 1403638623.427830, t: 2.307048 0.596781 3.316278 q: 0.976465 -0.205458 0.017901 0.063109 
time: 1403638623.527829, t: 2.272491 0.592618 3.247096 q: 0.976520 -0.204800 0.017102 0.064599 
time: 1403638623.627830, t: 2.247738 0.585785 3.169543 q: 0.976353 -0.206357 0.017780 0.061938 
time: 1403638623.727829, t: 2.222983 0.578928 3.089906 q: 0.976211 -0.207531 0.016405 0.060609 
time: 1403638623.827830, t: 2.207615 0.569966 3.003691 q: 0.976060 -0.208715 0.014699 0.059411 
time: 1403638623.927830, t: 2.193500 0.559760 2.914140 q: 0.975785 -0.210279 0.011621 0.059094 
time: 1403638624.027829, t: 2.178141 0.547510 2.827956 q: 0.975534 -0.211270 0.010003 0.059988 
optimize pose graph 
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time: 1403638624.227829, t: 2.132779 0.516542 2.655974 q: 0.975095 -0.211061 0.008833 0.067561 
time: 1403638624.327830, t: 2.101696 0.502036 2.569378 q: 0.974865 -0.211340 0.009781 0.069842 
time: 1403638624.427830, t: 2.067837 0.485061 2.483713 q: 0.974597 -0.212173 0.009732 0.071050 
time: 1403638624.527829, t: 2.028418 0.470108 2.402056 q: 0.974211 -0.212838 0.014583 0.073487 
time: 1403638624.727829, t: 1.937995 0.443036 2.231622 q: 0.974440 -0.212144 0.027263 0.068689 
time: 1403638624.827830, t: 1.895826 0.431641 2.140769 q: 0.975913 -0.209275 0.017014 0.059235 
time: 1403638624.927830, t: 1.862868 0.412671 2.041953 q: 0.977226 -0.204245 0.010899 0.056510 
time: 1403638625.027829, t: 1.828275 0.388322 1.943342 q: 0.978401 -0.197782 0.010081 0.059267 
time: 1403638625.127830, t: 1.795252 0.365839 1.844488 q: 0.979287 -0.191728 0.009392 0.064415 
time: 1403638625.227829, t: 1.756695 0.350182 1.745704 q: 0.979919 -0.187924 0.008316 0.066133 
time: 1403638625.327830, t: 1.712109 0.337700 1.651005 q: 0.980310 -0.186072 0.008467 0.065553 
time: 1403638625.427830, t: 1.674559 0.321469 1.551020 q: 0.980536 -0.185111 0.008868 0.064845 
time: 1403638625.527829, t: 1.642599 0.306331 1.448019 q: 0.980602 -0.184848 0.009315 0.064529 
time: 1403638625.627830, t: 1.615536 0.294809 1.340929 q: 0.980590 -0.185185 0.006844 0.064049 
time: 1403638625.727829, t: 1.593456 0.279183 1.232351 q: 0.980581 -0.184877 0.001784 0.065410 
time: 1403638625.827830, t: 1.570169 0.268399 1.126888 q: 0.980448 -0.184914 -0.005858 0.067038 
time: 1403638625.927830, t: 1.544127 0.258819 1.022758 q: 0.980320 -0.185828 -0.007867 0.066175 
time: 1403638626.027829, t: 1.516757 0.252005 0.926465 q: 0.980128 -0.186417 -0.009555 0.067125 
time: 1403638626.127830, t: 1.481995 0.247469 0.830897 q: 0.979998 -0.186145 -0.010506 0.069597 
time: 1403638626.227829, t: 1.444840 0.244526 0.744410 q: 0.979903 -0.187120 -0.010446 0.068315 
optimize pose graph 
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time: 1403638626.427830, t: 1.363666 0.243997 0.575303 q: 0.979811 -0.192288 -0.003701 0.054614 
time: 1403638626.527829, t: 1.321423 0.241510 0.499970 q: 0.979783 -0.192862 -0.006092 0.052834 
time: 1403638626.627830, t: 1.278022 0.241183 0.422401 q: 0.979793 -0.192283 -0.009811 0.054189 
time: 1403638626.727829, t: 1.233717 0.239134 0.346144 q: 0.979827 -0.191313 -0.014587 0.055905 
time: 1403638626.827830, t: 1.200365 0.237171 0.275469 q: 0.979776 -0.190464 -0.020212 0.057909 
time: 1403638626.927830, t: 1.173647 0.235902 0.207018 q: 0.979760 -0.190147 -0.024266 0.057670 
time: 1403638627.027829, t: 1.149769 0.231425 0.145522 q: 0.979849 -0.189602 -0.024114 0.058007 
time: 1403638627.127830, t: 1.128843 0.230530 0.089598 q: 0.979973 -0.188967 -0.023675 0.058170 
time: 1403638627.227829, t: 1.107901 0.232746 0.034720 q: 0.980096 -0.188297 -0.023585 0.058302 
time: 1403638627.327830, t: 1.086234 0.230115 -0.014217 q: 0.980105 -0.189224 -0.023805 0.054972 
time: 1403638627.427830, t: 1.062355 0.231996 -0.056208 q: 0.980136 -0.189535 -0.023632 0.053401 
time: 1403638627.527829, t: 1.036223 0.233273 -0.092521 q: 0.980139 -0.189478 -0.023041 0.053800 
time: 1403638627.627830, t: 1.011242 0.235952 -0.124451 q: 0.980067 -0.191079 -0.019791 0.050644 
time: 1403638627.727829, t: 0.987376 0.235697 -0.151198 q: 0.980072 -0.191803 -0.014592 0.049571 
time: 1403638627.827830, t: 0.964779 0.232353 -0.177160 q: 0.979978 -0.192692 -0.012576 0.048536 
time: 1403638627.927830, t: 0.942226 0.226780 -0.203035 q: 0.979812 -0.193446 -0.014845 0.048237 
time: 1403638628.027829, t: 0.920845 0.225909 -0.221764 q: 0.979610 -0.194364 -0.017821 0.047630 
time: 1403638628.127830, t: 0.901435 0.222983 -0.238704 q: 0.979427 -0.195082 -0.019852 0.047660 
time: 1403638628.227829, t: 0.888480 0.215725 -0.252999 q: 0.979222 -0.195901 -0.020558 0.048222 
time: 1403638628.327830, t: 0.871751 0.201078 -0.262615 q: 0.979013 -0.196577 -0.021669 0.049212 
optimize pose graph 
time: 1403638628.427830, t: 0.861488 0.191057 -0.269423 q: 0.979023 -0.195823 -0.020865 0.052272 
time: 1403638628.527829, t: 0.857210 0.182012 -0.271730 q: 0.979237 -0.192721 -0.010547 0.061990 
time: 1403638628.627830, t: 0.856024 0.173292 -0.275209 q: 0.979295 -0.190289 0.001151 0.069060 
time: 1403638628.727829, t: 0.849994 0.162297 -0.282810 q: 0.979257 -0.189496 0.002126 0.071706 
time: 1403638628.827830, t: 0.841087 0.157021 -0.288445 q: 0.979191 -0.191195 -0.000474 0.068038 
time: 1403638628.927830, t: 0.827544 0.154842 -0.294093 q: 0.979088 -0.193301 -0.000690 0.063412 
time: 1403638629.027829, t: 0.815204 0.153450 -0.299761 q: 0.979033 -0.195303 -0.002583 0.057826 
time: 1403638629.127830, t: 0.805604 0.153326 -0.303918 q: 0.979033 -0.196441 -0.004947 0.053671 
time: 1403638629.227829, t: 0.797830 0.151129 -0.309884 q: 0.979049 -0.196880 -0.006855 0.051517 
time: 1403638629.327830, t: 0.793342 0.146605 -0.316884 q: 0.978994 -0.197407 -0.008548 0.050281 
time: 1403638629.427830, t: 0.787870 0.140716 -0.323653 q: 0.978820 -0.197500 -0.015656 0.051568 
time: 1403638629.527829, t: 0.784644 0.133553 -0.327960 q: 0.978600 -0.196669 -0.023988 0.055570 
time: 1403638629.627830, t: 0.784862 0.125957 -0.327860 q: 0.978596 -0.194009 -0.024490 0.064108 
time: 1403638629.727829, t: 0.788920 0.118452 -0.324871 q: 0.978593 -0.190393 -0.017415 0.076179 
time: 1403638629.827830, t: 0.793642 0.116792 -0.317561 q: 0.978607 -0.189067 -0.007033 0.080828 
time: 1403638629.927830, t: 0.791285 0.117295 -0.310929 q: 0.978575 -0.191536 0.003432 0.075456 
time: 1403638630.027829, t: 0.780772 0.121555 -0.302600 q: 0.978476 -0.196050 0.013110 0.063059 
time: 1403638630.127830, t: 0.758456 0.126398 -0.292862 q: 0.978433 -0.198564 0.012360 0.055577 
time: 1403638630.227829, t: 0.727394 0.129569 -0.286055 q: 0.978491 -0.199384 0.005199 0.052672 
time: 1403638630.327830, t: 0.696009 0.130497 -0.274397 q: 0.978313 -0.200407 -0.005376 0.052069 
time: 1403638630.427830, t: 0.732151 0.135682 -0.312410 q: 0.978977 -0.192737 -0.017679 0.064380 
time: 1403638630.527829, t: 0.699274 0.146389 -0.235012 q: 0.979291 -0.195297 0.001052 0.053351 
optimize pose graph 
time: 1403638630.627830, t: 0.689252 0.142803 -0.213832 q: 0.979124 -0.196162 0.002499 0.053193 
time: 1403638630.727829, t: 0.679120 0.143268 -0.251185 q: 0.980392 -0.184721 -0.042043 0.054242 
time: 1403638630.827830, t: 0.681346 0.191611 -0.260195 q: 0.979912 -0.188432 -0.038688 0.052622 
time: 1403638630.927830, t: 0.661939 0.193640 -0.308758 q: 0.980316 -0.186299 -0.039555 0.052039 
time: 1403638631.027829, t: 0.607752 0.159030 -0.220966 q: 0.980219 -0.186885 -0.037079 0.053575 
time: 1403638631.127830, t: 0.608022 0.157037 -0.218775 q: 0.980208 -0.186892 -0.036873 0.053888 
time: 1403638631.227829, t: 0.608492 0.156712 -0.218469 q: 0.980219 -0.186915 -0.036870 0.053620 
time: 1403638631.327830, t: 0.606290 0.156931 -0.217785 q: 0.980217 -0.186977 -0.036547 0.053650 
time: 1403638631.427830, t: 0.605658 0.157006 -0.217529 q: 0.980223 -0.187047 -0.036566 0.053288 
time: 1403638631.527829, t: 0.605550 0.156902 -0.217427 q: 0.980205 -0.187112 -0.036718 0.053293 
time: 1403638631.627830, t: 0.605407 0.156962 -0.217566 q: 0.980201 -0.187198 -0.036774 0.053009 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720510964.259114503]: Shutdown request received.[0m
[33m[ WARN] [1720510964.259153547]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720510964.260015033]: Shutdown request received.[0m
[33m[ WARN] [1720510964.260048125]: Reason given for shutdown: [user request][0m
killed
