/SLAM-Hive/slam_hive_results/mapping_results/3195/2400_vins-fusion-stereo-imu+MH_04_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720558252.802345962]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720558252.804260373]: init begins[0m
[31m[ERROR] [1720558252.805312805]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ee45383a-3e34-11ef-ac5e-0242ac110005/roslaunch-f7421423f77b-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://f7421423f77b:43415/[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] [1720558254.368942473]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720558254.377850116]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720558254.406805918]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720558254.407026502]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720558254.407049161]: ROW: 480 COL: 752 [0m
 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 9.81007
[0m[ INFO] [1720558254.407242042]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720558254.407467587]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720558254.407650847]: 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://f7421423f77b:11311/[0m
]2;roscore http://f7421423f77b:11311/
[1msetting /run_id to ee45383a-3e34-11ef-ac5e-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
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720558262.939115331]: 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: 316920135.83 
throw img0
init first imu pose
averge acc 8.949590 -0.194601 -3.927257
init R0 
  0.402246  0.0453102    0.91441
         0  -0.998775  0.0494906
  0.915532 -0.0199074  -0.401753
[33m[ WARN] [1720558264.361211981]: gyroscope bias initial calibration -0.00247702    0.020721   0.0771378[0m
[0m[ INFO] [1720558264.411292702]: Initialization finish![0m
time: 1403638128.345097, t: 0.000045 0.000028 -0.000046 q: -0.009364 0.837732 0.005765 0.545970 
time: 1403638128.445097, t: 0.000128 0.000219 -0.000115 q: -0.009341 0.837758 0.005718 0.545932 
time: 1403638128.545097, t: 0.000139 0.000257 -0.000133 q: -0.009286 0.837827 0.005513 0.545828 
time: 1403638128.645097, t: 0.000164 0.000224 -0.000118 q: -0.009195 0.837886 0.005483 0.545741 
time: 1403638128.745097, t: 0.000480 0.000450 -0.000139 q: -0.009448 0.838425 0.004552 0.544916 
time: 1403638128.845097, t: 0.000481 0.000269 -0.000135 q: -0.008975 0.838766 0.004260 0.544401 
time: 1403638128.945097, t: 0.000432 -0.000002 -0.000066 q: -0.008678 0.838804 0.005141 0.544339 
time: 1403638129.045097, t: 0.000562 0.000014 0.000103 q: -0.008770 0.838778 0.005991 0.544370 
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time: 1403638129.345097, t: 0.001014 -0.003125 0.018410 q: -0.036526 0.821505 -0.022016 0.568604 
time: 1403638129.445097, t: 0.000358 -0.006091 0.029892 q: -0.056233 0.816357 -0.036506 0.573644 
time: 1403638129.545097, t: 0.001701 -0.004532 0.037336 q: -0.039148 0.834667 -0.025279 0.548779 
time: 1403638129.645097, t: 0.005085 -0.001308 0.044815 q: -0.017269 0.851047 -0.006306 0.524767 
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time: 1403638130.845097, t: 0.047131 0.019007 0.451719 q: -0.074454 0.827547 -0.009118 0.556363 
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time: 1403638131.045097, t: 0.039568 0.015152 0.472598 q: -0.068575 0.809506 -0.022435 0.582662 
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time: 1403638132.245097, t: 0.006440 -0.005061 0.168276 q: 0.001357 0.831921 0.040698 0.553399 
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time: 1403638132.645097, t: 0.016166 0.010242 0.384453 q: -0.063302 0.798251 0.003944 0.598976 
time: 1403638132.745097, t: 0.019093 0.020904 0.416038 q: -0.066706 0.804641 0.003641 0.589992 
time: 1403638132.845097, t: 0.020044 0.030337 0.433259 q: -0.069966 0.803650 -0.000692 0.590975 
time: 1403638132.945097, t: 0.017243 0.033915 0.436139 q: -0.077742 0.794135 -0.008673 0.602686 
time: 1403638133.045097, t: 0.017546 0.030175 0.422981 q: -0.076727 0.793342 -0.000028 0.603921 
time: 1403638133.145097, t: 0.018014 0.015766 0.402703 q: -0.064555 0.798838 0.009429 0.597999 
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time: 1403638133.545097, t: 0.000817 -0.143274 0.311869 q: 0.002060 0.809777 -0.034204 0.585736 
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time: 1403638137.745097, t: 0.026297 0.033685 0.048503 q: 0.020121 0.842832 -0.044999 0.535914 
time: 1403638137.845097, t: 0.023130 0.035528 0.033715 q: 0.023202 0.845178 -0.047097 0.531899 
time: 1403638137.945097, t: 0.021172 0.037823 0.021803 q: 0.031651 0.853529 -0.040154 0.518531 
time: 1403638138.045097, t: 0.020496 0.040559 0.012535 q: 0.035403 0.858349 -0.033878 0.510721 
time: 1403638138.145097, t: 0.020317 0.040688 0.009244 q: 0.033984 0.852701 -0.038086 0.519900 
time: 1403638138.245097, t: 0.019937 0.040212 0.006102 q: 0.030990 0.847887 -0.044184 0.527423 
time: 1403638138.345097, t: 0.018746 0.040323 0.006315 q: 0.031341 0.844027 -0.045330 0.533462 
time: 1403638138.545097, t: 0.017888 0.040305 0.006157 q: 0.031408 0.840974 -0.045497 0.538244 
time: 1403638138.745097, t: 0.017985 0.040357 0.005998 q: 0.031220 0.840953 -0.045802 0.538262 
optimize pose graph 
time: 1403638138.845097, t: 0.018179 0.040472 0.005865 q: 0.031449 0.840966 -0.045323 0.538268 
time: 1403638138.945097, t: 0.018256 0.040511 0.005773 q: 0.031220 0.840991 -0.045785 0.538204 
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time: 1403638139.245097, t: 0.018353 0.040762 0.005651 q: 0.030542 0.840771 -0.046530 0.538522 
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time: 1403638139.545097, t: 0.018372 0.040647 0.005594 q: 0.030856 0.840721 -0.046273 0.538605 
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time: 1403638139.845097, t: 0.018372 0.040629 0.005529 q: 0.030814 0.840662 -0.046237 0.538703 
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time: 1403638146.645097, t: 0.018335 0.040806 0.005833 q: 0.029208 0.840622 -0.044988 0.538960 
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time: 1403638147.745097, t: 0.019537 0.040824 0.006353 q: 0.027324 0.839548 -0.043601 0.540843 
time: 1403638147.845097, t: 0.022791 0.039933 0.008604 q: 0.029483 0.835228 -0.046091 0.547175 
time: 1403638147.945097, t: 0.029976 0.038695 0.016041 q: 0.031442 0.827174 -0.048401 0.558974 
time: 1403638148.045097, t: 0.039874 0.037642 0.030377 q: 0.032254 0.821550 -0.048791 0.567129 
time: 1403638148.145097, t: 0.050915 0.036274 0.052608 q: 0.032555 0.817674 -0.047165 0.572822 
time: 1403638148.245097, t: 0.062404 0.034993 0.087275 q: 0.031059 0.816143 -0.044867 0.575267 
time: 1403638148.345097, t: 0.072372 0.034159 0.136397 q: 0.029371 0.815507 -0.041795 0.576488 
time: 1403638148.445097, t: 0.080760 0.033586 0.182026 q: 0.028225 0.816685 -0.038796 0.575086 
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time: 1403638148.645097, t: 0.096979 0.034051 0.205552 q: 0.028435 0.825541 -0.033266 0.562643 
optimize pose graph 
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time: 1403638148.845097, t: 0.125580 0.037426 0.199363 q: 0.024729 0.830004 -0.030651 0.556366 
time: 1403638148.945097, t: 0.142262 0.041661 0.217498 q: 0.024274 0.829378 -0.029691 0.557370 
time: 1403638149.145097, t: 0.184902 0.052412 0.265226 q: 0.022623 0.823028 -0.026459 0.566933 
time: 1403638149.245097, t: 0.210627 0.059256 0.302623 q: 0.021854 0.821321 -0.026635 0.569424 
time: 1403638149.345097, t: 0.235514 0.067387 0.332268 q: 0.019427 0.820173 -0.028139 0.571092 
time: 1403638149.445097, t: 0.261611 0.074220 0.363221 q: 0.019406 0.819197 -0.027881 0.572505 
time: 1403638149.545097, t: 0.286185 0.082186 0.384096 q: 0.020464 0.818625 -0.026782 0.573339 
time: 1403638149.645097, t: 0.309578 0.090393 0.399706 q: 0.019903 0.818816 -0.023766 0.573218 
time: 1403638149.745097, t: 0.337949 0.101440 0.417069 q: 0.016908 0.818635 -0.017977 0.573784 
time: 1403638149.845097, t: 0.359443 0.109595 0.425046 q: 0.013445 0.819116 -0.013405 0.573313 
time: 1403638149.945097, t: 0.385008 0.119870 0.431208 q: 0.011332 0.819106 -0.010067 0.573442 
time: 1403638150.045097, t: 0.407025 0.131904 0.428822 q: 0.014257 0.819049 -0.004664 0.573528 
time: 1403638150.145097, t: 0.428630 0.145277 0.422593 q: 0.020923 0.819292 0.002345 0.572990 
time: 1403638150.245097, t: 0.449907 0.163820 0.409226 q: 0.027388 0.818961 0.007772 0.573143 
time: 1403638150.345097, t: 0.471173 0.187417 0.390587 q: 0.027124 0.821934 0.007906 0.568882 
time: 1403638150.445097, t: 0.493017 0.215836 0.374775 q: 0.018323 0.828042 0.006629 0.560327 
time: 1403638150.545097, t: 0.515379 0.249083 0.363293 q: 0.008134 0.832428 0.009719 0.553989 
time: 1403638150.645097, t: 0.543126 0.286156 0.364795 q: 0.000581 0.834299 0.013789 0.551140 
optimize pose graph 
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time: 1403638150.945097, t: 0.652969 0.405805 0.401847 q: -0.011913 0.828058 0.036020 0.559358 
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time: 1403638151.145097, t: 0.736555 0.499514 0.419925 q: -0.024159 0.821088 0.060986 0.567020 
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time: 1403638151.445097, t: 0.857385 0.658090 0.409207 q: -0.068638 0.816294 0.118368 0.561197 
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time: 1403638151.645097, t: 0.934346 0.777212 0.417585 q: -0.093661 0.810507 0.151662 0.557947 
time: 1403638151.745097, t: 0.972073 0.839672 0.432504 q: -0.100304 0.808434 0.162261 0.556816 
time: 1403638151.845097, t: 1.009833 0.903930 0.455071 q: -0.104314 0.807692 0.168992 0.555152 
time: 1403638151.945097, t: 1.046335 0.970027 0.483966 q: -0.105477 0.807241 0.173804 0.554102 
time: 1403638152.045097, t: 1.083697 1.039473 0.513452 q: -0.106351 0.807358 0.175712 0.553161 
time: 1403638152.145097, t: 1.119971 1.106766 0.538110 q: -0.106241 0.807165 0.177426 0.552917 
time: 1403638152.245097, t: 1.153319 1.178647 0.556698 q: -0.105976 0.806787 0.178652 0.553125 
time: 1403638152.345097, t: 1.188537 1.251309 0.568492 q: -0.103202 0.806138 0.180006 0.554156 
time: 1403638152.445097, t: 1.222704 1.326675 0.571729 q: -0.100405 0.806437 0.180955 0.553925 
time: 1403638152.545097, t: 1.254280 1.404733 0.568377 q: -0.099205 0.806335 0.182276 0.553857 
time: 1403638152.645097, t: 1.287258 1.487001 0.560946 q: -0.101735 0.807956 0.180574 0.551589 
optimize pose graph 
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time: 1403638206.645097, t: 7.179712 9.858977 3.006361 q: -0.247316 0.719795 0.347598 0.547636 
time: 1403638206.745097, t: 7.078618 9.971732 3.025195 q: -0.253832 0.716905 0.353612 0.544587 
optimize pose graph 
time: 1403638206.845097, t: 6.973435 10.077600 3.037967 q: -0.259564 0.714175 0.360065 0.541233 
time: 1403638206.945097, t: 6.867930 10.181480 3.044543 q: -0.265702 0.710498 0.363123 0.541052 
time: 1403638207.045097, t: 6.759832 10.278436 3.044523 q: -0.271050 0.707284 0.364289 0.541825 
time: 1403638207.145097, t: 6.648512 10.368816 3.035776 q: -0.273387 0.704926 0.365356 0.543005 
time: 1403638207.245097, t: 6.530630 10.453876 3.020115 q: -0.277263 0.702554 0.367598 0.542600 
time: 1403638207.345097, t: 6.406978 10.528327 2.997713 q: -0.284882 0.697066 0.373523 0.541684 
time: 1403638207.445097, t: 6.278415 10.597216 2.973571 q: -0.294709 0.688494 0.384178 0.539935 
time: 1403638207.545097, t: 6.146298 10.653226 2.953705 q: -0.306405 0.680699 0.398607 0.532801 
time: 1403638207.645097, t: 6.010533 10.699044 2.940678 q: -0.313607 0.679084 0.413001 0.519543 
time: 1403638207.745097, t: 5.874367 10.736114 2.931945 q: -0.318764 0.680796 0.423509 0.505516 
time: 1403638207.845097, t: 5.739812 10.769588 2.930398 q: -0.321592 0.683124 0.430585 0.494487 
time: 1403638207.945097, t: 5.608461 10.792319 2.936252 q: -0.321631 0.686574 0.435985 0.484857 
time: 1403638208.045097, t: 5.479071 10.810324 2.946840 q: -0.321187 0.687220 0.438431 0.482022 
time: 1403638208.145097, t: 5.354317 10.825574 2.955939 q: -0.325055 0.684860 0.435675 0.485277 
time: 1403638208.245097, t: 5.232232 10.838699 2.959384 q: -0.326798 0.681567 0.433055 0.491053 
time: 1403638208.345097, t: 5.112300 10.847453 2.953299 q: -0.324300 0.683008 0.433123 0.490646 
time: 1403638208.445097, t: 4.995248 10.851798 2.940093 q: -0.320898 0.685556 0.435055 0.487612 
time: 1403638208.645097, t: 4.765528 10.853880 2.923021 q: -0.327219 0.680161 0.448758 0.478461 
time: 1403638208.745097, t: 4.654303 10.850953 2.925890 q: -0.334609 0.675813 0.454986 0.473605 
time: 1403638208.845097, t: 4.547415 10.845269 2.933189 q: -0.340448 0.670723 0.460483 0.471362 
optimize pose graph 
time: 1403638208.945097, t: 4.445495 10.837551 2.937978 q: -0.343002 0.665675 0.466183 0.471063 
time: 1403638209.045097, t: 4.345319 10.826280 2.936673 q: -0.345338 0.662924 0.469465 0.469974 
time: 1403638209.145097, t: 4.245780 10.811398 2.927824 q: -0.347085 0.661548 0.471537 0.468550 
time: 1403638209.245097, t: 4.148713 10.794856 2.911681 q: -0.347936 0.661155 0.472353 0.467650 
time: 1403638209.345097, t: 4.054519 10.774944 2.889560 q: -0.349106 0.662005 0.472242 0.465685 
time: 1403638209.445097, t: 3.964232 10.754171 2.860768 q: -0.350513 0.662249 0.471795 0.464732 
time: 1403638209.545097, t: 3.877585 10.731743 2.825210 q: -0.352926 0.660265 0.469804 0.467737 
time: 1403638209.645097, t: 3.793806 10.705630 2.772963 q: -0.354173 0.660652 0.468047 0.468009 
time: 1403638209.745097, t: 3.712023 10.677178 2.701381 q: -0.352456 0.661829 0.468103 0.467586 
time: 1403638209.845097, t: 3.633635 10.646567 2.612639 q: -0.349215 0.659866 0.469823 0.471055 
time: 1403638209.945097, t: 3.556041 10.610663 2.514096 q: -0.349450 0.656669 0.468932 0.476207 
time: 1403638210.045097, t: 3.481599 10.574620 2.412350 q: -0.351751 0.652272 0.467019 0.482396 
time: 1403638210.145097, t: 3.408000 10.529946 2.312986 q: -0.356294 0.648933 0.463604 0.486838 
time: 1403638210.245097, t: 3.331200 10.479567 2.221909 q: -0.359085 0.647168 0.461578 0.489057 
time: 1403638210.345097, t: 3.255981 10.417819 2.134808 q: -0.357850 0.646762 0.462309 0.489809 
time: 1403638210.445097, t: 3.179381 10.350642 2.048823 q: -0.357544 0.648004 0.462306 0.488391 
time: 1403638210.545097, t: 3.103077 10.278069 1.958419 q: -0.358807 0.648105 0.460857 0.488701 
time: 1403638210.645097, t: 3.027029 10.198544 1.863498 q: -0.359847 0.647602 0.459382 0.489989 
time: 1403638210.745097, t: 2.950248 10.112114 1.764430 q: -0.361088 0.648214 0.457893 0.489662 
time: 1403638210.845097, t: 2.876158 10.017250 1.671978 q: -0.360815 0.649557 0.457782 0.488185 
optimize pose graph 
time: 1403638210.945097, t: 2.797166 9.917266 1.588362 q: -0.358487 0.653478 0.459276 0.483238 
time: 1403638211.045097, t: 2.724901 9.811394 1.511882 q: -0.357725 0.656930 0.460100 0.478313 
time: 1403638211.145097, t: 2.653129 9.701128 1.445445 q: -0.356132 0.659782 0.461439 0.474269 
time: 1403638211.245097, t: 2.581830 9.590397 1.386114 q: -0.355494 0.662059 0.461750 0.471263 
time: 1403638211.345097, t: 2.512562 9.479300 1.334908 q: -0.353168 0.664417 0.460007 0.471399 
time: 1403638211.445097, t: 2.447374 9.362206 1.281686 q: -0.348342 0.669745 0.453119 0.474113 
time: 1403638211.545097, t: 2.389317 9.240648 1.224357 q: -0.341836 0.676940 0.442921 0.478248 
time: 1403638211.645097, t: 2.328375 9.116877 1.160939 q: -0.335748 0.686725 0.426389 0.483605 
time: 1403638211.745097, t: 2.271184 8.987421 1.091548 q: -0.326219 0.698945 0.406614 0.489615 
time: 1403638211.845097, t: 2.220169 8.853422 1.021092 q: -0.316421 0.713571 0.382939 0.494017 
time: 1403638211.945097, t: 2.178215 8.716616 0.957088 q: -0.303954 0.725938 0.360290 0.500816 
time: 1403638212.045097, t: 2.141271 8.575827 0.900215 q: -0.290438 0.737088 0.338924 0.507423 
time: 1403638212.145097, t: 2.109031 8.432359 0.850542 q: -0.273707 0.745802 0.320309 0.516009 
time: 1403638212.245097, t: 2.079877 8.284404 0.809917 q: -0.256612 0.753485 0.301386 0.524955 
time: 1403638212.345097, t: 2.051395 8.131695 0.778582 q: -0.240694 0.761425 0.282304 0.531604 
time: 1403638212.445097, t: 2.028326 7.977715 0.754157 q: -0.223659 0.768092 0.263641 0.538985 
time: 1403638212.545097, t: 2.003663 7.819782 0.738416 q: -0.211126 0.774674 0.241655 0.544894 
time: 1403638212.645097, t: 1.977643 7.657625 0.725613 q: -0.196767 0.781971 0.220154 0.548942 
time: 1403638212.745097, t: 1.953132 7.492395 0.722133 q: -0.178672 0.789073 0.200473 0.552495 
time: 1403638212.845097, t: 1.928091 7.325204 0.725333 q: -0.163025 0.794365 0.177118 0.557707 
time: 1403638212.945097, t: 1.906145 7.154776 0.730894 q: -0.147023 0.800175 0.152424 0.561134 
optimize pose graph 
time: 1403638213.045097, t: 1.886437 6.983598 0.745060 q: -0.129046 0.805747 0.127101 0.563884 
time: 1403638213.145097, t: 1.868811 6.811003 0.760333 q: -0.113420 0.811491 0.099441 0.564561 
time: 1403638213.245097, t: 1.852731 6.635929 0.769888 q: -0.099915 0.820150 0.070055 0.558984 
time: 1403638213.345097, t: 1.840164 6.458678 0.772393 q: -0.089225 0.829035 0.038502 0.550688 
time: 1403638213.445097, t: 1.835213 6.276434 0.769073 q: -0.080158 0.835260 0.006251 0.543945 
time: 1403638213.545097, t: 1.836446 6.087697 0.765002 q: -0.068189 0.836503 -0.021927 0.543261 
time: 1403638213.645097, t: 1.846370 5.893668 0.761751 q: -0.045048 0.829663 -0.034001 0.555404 
time: 1403638213.745097, t: 1.860461 5.692556 0.759626 q: -0.023258 0.821159 -0.037004 0.569023 
time: 1403638213.845097, t: 1.876453 5.491447 0.761785 q: -0.007175 0.816376 -0.037117 0.576282 
time: 1403638213.945097, t: 1.890226 5.292691 0.771940 q: 0.001540 0.815512 -0.036863 0.577562 
time: 1403638214.045097, t: 1.900340 5.092973 0.786366 q: 0.003032 0.818166 -0.036840 0.573792 
time: 1403638214.145097, t: 1.911873 4.895529 0.804283 q: 0.003588 0.824613 -0.034918 0.564608 
time: 1403638214.245097, t: 1.924428 4.699759 0.825338 q: 0.002524 0.831150 -0.031804 0.555132 
time: 1403638214.345097, t: 1.939434 4.505492 0.842107 q: 0.000286 0.835809 -0.028769 0.548266 
time: 1403638214.445097, t: 1.961192 4.314979 0.852185 q: -0.000739 0.837299 -0.024264 0.546206 
time: 1403638214.545097, t: 1.987701 4.128631 0.859017 q: -0.001731 0.832092 -0.020158 0.554268 
time: 1403638214.645097, t: 2.017755 3.942383 0.858956 q: -0.002764 0.825657 -0.016495 0.563924 
time: 1403638214.745097, t: 2.047728 3.755714 0.853961 q: -0.003944 0.819239 -0.012929 0.573293 
time: 1403638214.845097, t: 2.075773 3.575119 0.842844 q: -0.005150 0.815197 -0.010074 0.579074 
time: 1403638214.945097, t: 2.103573 3.396457 0.826108 q: -0.005834 0.812710 -0.007949 0.582585 
time: 1403638215.045097, t: 2.130299 3.220266 0.803506 q: -0.006840 0.811903 -0.006942 0.583711 
time: 1403638215.145097, t: 2.154906 3.047137 0.776410 q: -0.006117 0.812175 -0.005259 0.583359 
time: 1403638215.245097, t: 2.178991 2.875366 0.746186 q: -0.004459 0.814234 -0.003818 0.580507 
time: 1403638215.345097, t: 2.201180 2.708807 0.715054 q: -0.000331 0.815929 -0.001307 0.578151 
time: 1403638215.445097, t: 2.223077 2.545841 0.687557 q: 0.005055 0.815493 0.002498 0.578740 
time: 1403638215.545097, t: 2.243675 2.388458 0.668453 q: 0.006134 0.815759 0.003097 0.578352 
time: 1403638215.645097, t: 2.263741 2.235039 0.657800 q: 0.005600 0.813758 0.003175 0.581168 
time: 1403638215.745097, t: 2.281087 2.089129 0.653659 q: 0.001414 0.813377 0.000292 0.581735 
time: 1403638215.845097, t: 2.295253 1.945729 0.646484 q: 0.000451 0.813477 -0.005320 0.581572 
time: 1403638215.945097, t: 2.306177 1.807179 0.630880 q: 0.002873 0.813291 -0.009897 0.581766 
time: 1403638216.045097, t: 2.312406 1.670082 0.612134 q: 0.004219 0.813285 -0.013835 0.581686 
time: 1403638216.145097, t: 2.317696 1.536032 0.592701 q: 0.007345 0.813321 -0.015354 0.581567 
time: 1403638216.245097, t: 2.319822 1.406372 0.579657 q: 0.010197 0.812102 -0.016191 0.583202 
time: 1403638216.445097, t: 2.317975 1.163407 0.570790 q: 0.014007 0.809903 -0.017671 0.586131 
time: 1403638216.545097, t: 2.313903 1.048922 0.569924 q: 0.014864 0.810193 -0.017897 0.585701 
time: 1403638216.645097, t: 2.307891 0.940244 0.562796 q: 0.018354 0.811582 -0.016522 0.583717 
time: 1403638216.745097, t: 2.299856 0.834493 0.549416 q: 0.020883 0.812881 -0.014697 0.581869 
time: 1403638216.845097, t: 2.292328 0.733772 0.530664 q: 0.024688 0.809342 -0.016316 0.586592 
time: 1403638216.945097, t: 2.280097 0.636978 0.509404 q: 0.029141 0.806972 -0.023509 0.589402 
time: 1403638217.045097, t: 2.266500 0.544764 0.484884 q: 0.032074 0.807406 -0.037240 0.587946 
optimize pose graph 
time: 1403638217.145097, t: 2.247495 0.456761 0.458039 q: 0.037692 0.809555 -0.052902 0.583440 
time: 1403638217.245097, t: 2.225815 0.372441 0.430233 q: 0.044966 0.811137 -0.064618 0.579534 
time: 1403638217.345097, t: 2.203658 0.292427 0.407862 q: 0.051087 0.811985 -0.072529 0.576897 
time: 1403638217.445097, t: 2.179447 0.217271 0.394936 q: 0.055307 0.812874 -0.078307 0.574495 
time: 1403638217.545097, t: 2.155640 0.145532 0.390071 q: 0.062348 0.813784 -0.079064 0.572379 
time: 1403638217.645097, t: 2.131123 0.077475 0.393117 q: 0.069647 0.814625 -0.076601 0.570673 
time: 1403638217.745097, t: 2.106745 0.014902 0.403248 q: 0.077248 0.815474 -0.072554 0.569009 
time: 1403638217.845097, t: 2.083343 -0.040020 0.418124 q: 0.082456 0.816958 -0.068663 0.566627 
time: 1403638217.945097, t: 2.062285 -0.087011 0.437684 q: 0.084870 0.815619 -0.065647 0.568554 
time: 1403638218.045097, t: 2.044750 -0.127731 0.447586 q: 0.084101 0.813791 -0.063919 0.571477 
time: 1403638218.145097, t: 2.026773 -0.160905 0.453923 q: 0.082178 0.812390 -0.063473 0.573795 
time: 1403638218.245097, t: 2.009916 -0.186794 0.453505 q: 0.080750 0.809678 -0.062005 0.577976 
time: 1403638218.345097, t: 1.995976 -0.204340 0.446032 q: 0.076178 0.805883 -0.062592 0.583808 
time: 1403638218.445097, t: 1.975554 -0.214465 0.448568 q: 0.069967 0.805539 -0.064298 0.584873 
time: 1403638218.545097, t: 1.957740 -0.217327 0.452181 q: 0.067166 0.806378 -0.064910 0.583978 
time: 1403638218.645097, t: 1.930858 -0.216287 0.467884 q: 0.064156 0.808368 -0.065895 0.581450 
time: 1403638218.745097, t: 1.903247 -0.210942 0.481400 q: 0.064413 0.813056 -0.069480 0.574424 
time: 1403638218.845097, t: 1.875840 -0.203042 0.490888 q: 0.068462 0.816351 -0.076628 0.568341 
time: 1403638218.945097, t: 1.851151 -0.192193 0.489812 q: 0.065024 0.816599 -0.088410 0.566676 
time: 1403638219.045097, t: 1.827666 -0.179184 0.486010 q: 0.055575 0.814661 -0.102556 0.568085 
time: 1403638219.145097, t: 1.803318 -0.167461 0.482942 q: 0.053111 0.812193 -0.110256 0.570407 
time: 1403638219.245097, t: 1.780375 -0.159035 0.476239 q: 0.061374 0.808056 -0.108097 0.575842 
optimize pose graph 
time: 1403638219.345097, t: 1.754940 -0.150943 0.468159 q: 0.069956 0.801876 -0.104569 0.584095 
time: 1403638219.445097, t: 1.728815 -0.142942 0.461934 q: 0.074429 0.794355 -0.102441 0.594110 
time: 1403638219.545097, t: 1.698262 -0.132212 0.460287 q: 0.075416 0.792350 -0.101972 0.596737 
time: 1403638219.645097, t: 1.662484 -0.118072 0.462591 q: 0.071577 0.794693 -0.104493 0.593651 
time: 1403638219.745097, t: 1.619237 -0.102093 0.465358 q: 0.064965 0.797352 -0.108760 0.590069 
time: 1403638219.845097, t: 1.571462 -0.086609 0.463610 q: 0.056143 0.800537 -0.114649 0.585528 
time: 1403638219.945097, t: 1.519998 -0.072753 0.458362 q: 0.048140 0.802752 -0.120467 0.582030 
time: 1403638220.045097, t: 1.466988 -0.064004 0.445351 q: 0.043011 0.805143 -0.124011 0.578374 
time: 1403638220.145097, t: 1.409182 -0.061182 0.433898 q: 0.045322 0.807408 -0.122425 0.575370 
time: 1403638220.245097, t: 1.354973 -0.065408 0.426076 q: 0.059127 0.809448 -0.113195 0.573136 
time: 1403638220.345097, t: 1.295598 -0.070267 0.429427 q: 0.071078 0.811437 -0.105038 0.570514 
time: 1403638220.445097, t: 1.234580 -0.073123 0.439008 q: 0.076221 0.812053 -0.101929 0.569536 
time: 1403638220.545097, t: 1.177744 -0.074885 0.451885 q: 0.077950 0.811560 -0.101387 0.570101 
time: 1403638220.645097, t: 1.119089 -0.072927 0.463843 q: 0.079662 0.811212 -0.101873 0.570273 
time: 1403638220.745097, t: 1.063923 -0.071100 0.469810 q: 0.079885 0.811074 -0.103335 0.570175 
time: 1403638220.845097, t: 1.008391 -0.066878 0.468986 q: 0.079149 0.810560 -0.105161 0.570675 
time: 1403638220.945097, t: 0.953391 -0.060593 0.460801 q: 0.078859 0.811232 -0.107033 0.569410 
time: 1403638221.045097, t: 0.899149 -0.053238 0.447434 q: 0.079101 0.811820 -0.107622 0.568427 
time: 1403638221.145097, t: 0.845875 -0.045001 0.429632 q: 0.079695 0.812544 -0.108351 0.567169 
time: 1403638221.245097, t: 0.794231 -0.034748 0.420821 q: 0.079037 0.813953 -0.109482 0.565019 
optimize pose graph 
time: 1403638221.345097, t: 0.743960 -0.023992 0.418155 q: 0.077096 0.815403 -0.111452 0.562808 
time: 1403638221.445097, t: 0.695572 -0.012767 0.419296 q: 0.074499 0.815939 -0.114027 0.561865 
time: 1403638221.545097, t: 0.649063 -0.002732 0.416872 q: 0.072266 0.815807 -0.116068 0.561929 
time: 1403638221.645097, t: 0.605685 0.006086 0.409536 q: 0.072029 0.814727 -0.116896 0.563353 
time: 1403638221.745097, t: 0.565281 0.014831 0.400573 q: 0.070184 0.812088 -0.118581 0.567032 
time: 1403638221.845097, t: 0.528593 0.020489 0.395707 q: 0.069456 0.811097 -0.118301 0.568597 
time: 1403638221.945097, t: 0.487906 0.025956 0.397711 q: 0.073455 0.809833 -0.114849 0.570600 
time: 1403638222.045097, t: 0.448893 0.031269 0.408088 q: 0.076835 0.810175 -0.112309 0.570175 
time: 1403638222.145097, t: 0.409591 0.038465 0.417454 q: 0.078410 0.813354 -0.111283 0.565617 
time: 1403638222.245097, t: 0.371551 0.043684 0.423343 q: 0.078191 0.817040 -0.111808 0.560206 
time: 1403638222.345097, t: 0.335996 0.049752 0.423831 q: 0.077251 0.820436 -0.112631 0.555186 
time: 1403638222.445097, t: 0.305756 0.059413 0.415282 q: 0.076793 0.823077 -0.113414 0.551167 
time: 1403638222.545097, t: 0.276407 0.064649 0.407107 q: 0.076490 0.822713 -0.113506 0.551732 
time: 1403638222.645097, t: 0.251191 0.071264 0.394837 q: 0.076311 0.817112 -0.113466 0.560027 
time: 1403638222.745097, t: 0.229849 0.077391 0.380161 q: 0.077004 0.813451 -0.113115 0.565308 
time: 1403638222.845097, t: 0.208706 0.083917 0.363376 q: 0.077787 0.810850 -0.112525 0.569043 
time: 1403638222.945097, t: 0.188604 0.091078 0.347058 q: 0.078160 0.803314 -0.111763 0.579730 
time: 1403638223.045097, t: 0.164590 0.097502 0.330765 q: 0.077471 0.802940 -0.111559 0.580380 
time: 1403638223.145097, t: 0.135631 0.107151 0.321434 q: 0.078049 0.808782 -0.111562 0.572130 
time: 1403638223.245097, t: 0.109983 0.118253 0.314382 q: 0.071814 0.818698 -0.116619 0.557652 
time: 1403638223.345097, t: 0.083821 0.126646 0.312201 q: 0.068815 0.820958 -0.118954 0.554204 
optimize pose graph 
time: 1403638223.445097, t: 0.061340 0.131705 0.312057 q: 0.062313 0.817513 -0.123539 0.559042 
time: 1403638223.545097, t: 0.041792 0.134964 0.304622 q: 0.053817 0.812957 -0.129607 0.565161 
time: 1403638223.645097, t: 0.022086 0.132259 0.295630 q: 0.061131 0.811982 -0.124695 0.566922 
time: 1403638223.745097, t: 0.001552 0.125597 0.285992 q: 0.072628 0.812664 -0.116755 0.566277 
time: 1403638223.845097, t: -0.018581 0.118736 0.274585 q: 0.080142 0.813684 -0.111450 0.564867 
time: 1403638223.945097, t: -0.035915 0.114234 0.260695 q: 0.085270 0.813895 -0.107784 0.564523 
time: 1403638224.045097, t: -0.054055 0.110970 0.244409 q: 0.086574 0.816109 -0.106774 0.561312 
time: 1403638224.145097, t: -0.070391 0.111495 0.226115 q: 0.084171 0.821744 -0.108250 0.553113 
time: 1403638224.245097, t: -0.080761 0.112030 0.209093 q: 0.082325 0.825069 -0.109660 0.548141 
time: 1403638224.445097, t: -0.088306 0.118152 0.186484 q: 0.076443 0.814750 -0.114405 0.563250 
time: 1403638224.545097, t: -0.090958 0.124147 0.176494 q: 0.076589 0.807500 -0.114257 0.573606 
time: 1403638224.645097, t: -0.094452 0.128757 0.165319 q: 0.078087 0.809928 -0.113004 0.570218 
time: 1403638224.745097, t: -0.098810 0.134265 0.153838 q: 0.077145 0.820170 -0.113821 0.555350 
time: 1403638224.845097, t: -0.099695 0.140585 0.146273 q: 0.076240 0.822915 -0.114352 0.551291 
time: 1403638224.945097, t: -0.095256 0.146108 0.146803 q: 0.069217 0.815745 -0.118703 0.561853 
time: 1403638225.045097, t: -0.092044 0.150434 0.149928 q: 0.062919 0.809328 -0.121793 0.571136 
time: 1403638225.145097, t: -0.088799 0.152654 0.153350 q: 0.067293 0.808643 -0.117930 0.572416 
time: 1403638225.245097, t: -0.086623 0.152839 0.157198 q: 0.071551 0.815274 -0.113884 0.563241 
time: 1403638225.345097, t: -0.083973 0.152308 0.162892 q: 0.074372 0.819000 -0.111618 0.557897 
time: 1403638225.445097, t: -0.078913 0.151430 0.166172 q: 0.076205 0.814931 -0.110142 0.563870 
optimize pose graph 
time: 1403638225.545097, t: -0.073128 0.151159 0.162788 q: 0.079022 0.804611 -0.108021 0.578522 
time: 1403638225.645097, t: -0.070179 0.152089 0.152425 q: 0.081349 0.794266 -0.106177 0.592664 
time: 1403638225.745097, t: -0.072072 0.155689 0.130408 q: 0.082155 0.796500 -0.105495 0.589669 
time: 1403638225.845097, t: -0.078122 0.161641 0.098692 q: 0.080681 0.807839 -0.106642 0.574034 
time: 1403638225.945097, t: -0.084558 0.168847 0.061736 q: 0.079123 0.818039 -0.107780 0.559406 
time: 1403638226.045097, t: -0.086123 0.179171 0.034904 q: 0.074589 0.828219 -0.108085 0.544800 
time: 1403638226.145097, t: -0.076939 0.188173 0.046722 q: 0.051509 0.826171 -0.122330 0.547561 
time: 1403638226.245097, t: -0.067089 0.193577 0.038993 q: 0.077720 0.831159 -0.106595 0.540159 
time: 1403638226.345097, t: -0.069989 0.202597 0.035135 q: 0.075461 0.827340 -0.107416 0.546147 
time: 1403638226.445097, t: -0.068566 0.207116 0.026534 q: 0.075703 0.827069 -0.107768 0.546453 
time: 1403638226.545097, t: -0.071130 0.209615 0.025989 q: 0.075556 0.826656 -0.107234 0.547203 
time: 1403638226.645097, t: -0.069204 0.208101 0.024599 q: 0.075372 0.826703 -0.107718 0.547063 
time: 1403638226.845097, t: -0.069241 0.208131 0.024567 q: 0.075177 0.826932 -0.107836 0.546720 
time: 1403638226.945097, t: -0.069031 0.207645 0.024787 q: 0.075655 0.827105 -0.107615 0.546436 
time: 1403638227.045097, t: -0.069236 0.207658 0.024757 q: 0.076084 0.827094 -0.107123 0.546490 
time: 1403638227.145097, t: -0.069263 0.207436 0.024940 q: 0.075864 0.827205 -0.107365 0.546306 
time: 1403638227.245097, t: -0.069356 0.207532 0.024938 q: 0.075583 0.827229 -0.107422 0.546297 
time: 1403638227.345097, t: -0.069316 0.207538 0.024992 q: 0.075151 0.827208 -0.107782 0.546317 
time: 1403638227.445097, t: -0.069350 0.207511 0.025058 q: 0.075160 0.827223 -0.107779 0.546293 
time: 1403638227.545097, t: -0.069376 0.207338 0.025200 q: 0.075276 0.827216 -0.107602 0.546323 
optimize pose graph 
time: 1403638227.645097, t: -0.069406 0.207202 0.025342 q: 0.075422 0.827219 -0.107484 0.546322 
time: 1403638227.745097, t: -0.069444 0.207205 0.025339 q: 0.075321 0.827239 -0.107539 0.546294 
time: 1403638227.845097, t: -0.069381 0.207203 0.025296 q: 0.075230 0.827253 -0.107565 0.546281 
time: 1403638227.945097, t: -0.069408 0.207209 0.025306 q: 0.075061 0.827237 -0.107642 0.546314 
time: 1403638228.045097, t: -0.069165 0.208236 0.024270 q: 0.075034 0.827207 -0.107758 0.546340 
time: 1403638228.145097, t: -0.069549 0.207096 0.025445 q: 0.075033 0.827231 -0.107649 0.546324 
time: 1403638228.245097, t: -0.069545 0.207005 0.025486 q: 0.075064 0.827220 -0.107622 0.546342 
time: 1403638228.445097, t: -0.069555 0.206922 0.025507 q: 0.075042 0.827238 -0.107590 0.546324 
time: 1403638228.545097, t: -0.069572 0.206903 0.025586 q: 0.074964 0.827227 -0.107593 0.546351 
time: 1403638228.645097, t: -0.069624 0.206929 0.025601 q: 0.074976 0.827251 -0.107591 0.546313 
time: 1403638228.745097, t: -0.069633 0.206908 0.025623 q: 0.074930 0.827244 -0.107607 0.546327 
time: 1403638228.845097, t: -0.069664 0.206878 0.025690 q: 0.074922 0.827237 -0.107603 0.546340 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720558366.428821920]: Shutdown request received.[0m
[33m[ WARN] [1720558366.428862600]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720558366.429714051]: Shutdown request received.[0m
[33m[ WARN] [1720558366.429746934]: Reason given for shutdown: [user request][0m
killed
