/SLAM-Hive/slam_hive_results/mapping_results/3304/2250_vins-fusion-stereo+MH_04_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/3cbcb366-9d4a-11ef-a05f-0242ac110002/roslaunch-6d315100081f-119.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
[0m[ INFO] [1731012764.667176974]: init begins[0m
[31m[ERROR] [1731012764.678284546]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731012764.678746633]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://6d315100081f:35777/[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 [156][0m
[0m[ INFO] [1731012765.742082427]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731012765.749269391]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://6d315100081f:11311/[0m
]2;roscore http://6d315100081f:11311/
[1msetting /run_id to 3cbcb366-9d4a-11ef-a05f-0242ac110002[0m
config_file: /slamhive/mappingtask.yaml
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1731012765.796638893]:  fix extrinsic param [0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
camera number 2
[0m[ INFO] [1731012765.820840174]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731012765.820882273]: 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] [1731012765.833456809]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731012765.833732416]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731012765.833946637]: waiting for image and imu...[0m
[1mprocess[rosout-1]: started with pid [193][0m
started core service [/rosout]
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
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1731012774.345068056]: 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: 327374647.24 
throw img0
[0m[ INFO] [1731012775.792894081]: Initialization finish![0m
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time: 1403638128.645097, t: -0.000055 -0.000053 0.000068 q: 1.000000 -0.000209 -0.000821 0.000493 
time: 1403638128.745097, t: -0.000141 -0.000052 0.000194 q: 0.999997 -0.000331 -0.001458 0.001672 
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time: 1403638137.845097, t: 0.034473 -0.026625 -0.016931 q: 0.995686 -0.084908 -0.008589 0.036419 
optimize pose graph 
time: 1403638137.945097, t: 0.022522 -0.029498 -0.012233 q: 0.995438 -0.088109 -0.024903 0.026835 
time: 1403638138.045097, t: 0.012778 -0.033186 -0.008020 q: 0.995352 -0.087732 -0.034299 0.020018 
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optimize pose graph 
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time: 1403638150.745097, t: 0.587803 -0.277645 0.364569 q: 0.999598 -0.025812 0.010842 -0.004542 
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time: 1403638151.845097, t: 0.851348 -0.835567 0.765045 q: 0.986819 0.140140 0.025041 -0.076953 
optimize pose graph 
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time: 1403638153.645097, t: 1.372466 -2.238299 1.391100 q: 0.958330 0.248021 0.012084 -0.141221 
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optimize pose graph 
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optimize pose graph 
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time: 1403638206.745097, t: 6.185406 -9.382471 6.040870 q: 0.926137 0.347798 0.062708 -0.131814 
time: 1403638206.845097, t: 6.163256 -9.497789 5.958624 q: 0.922321 0.357169 0.061398 -0.134108 
time: 1403638206.945097, t: 6.135024 -9.612305 5.871691 q: 0.919416 0.364281 0.063414 -0.133984 
time: 1403638207.045097, t: 6.098561 -9.728014 5.787368 q: 0.917480 0.369339 0.066030 -0.132134 
time: 1403638207.145097, t: 6.052085 -9.834141 5.701636 q: 0.916257 0.371972 0.068550 -0.131954 
time: 1403638207.245097, t: 6.001870 -9.933775 5.602464 q: 0.914431 0.376507 0.068893 -0.131578 
time: 1403638207.345097, t: 5.938179 -10.021969 5.509334 q: 0.909815 0.386748 0.071335 -0.132569 
time: 1403638207.445097, t: 5.871103 -10.111664 5.407749 q: 0.902867 0.400763 0.074638 -0.136566 
time: 1403638207.545097, t: 5.801200 -10.184552 5.305290 q: 0.893692 0.419244 0.073392 -0.141996 
time: 1403638207.645097, t: 5.740139 -10.252516 5.189954 q: 0.886406 0.433414 0.063010 -0.149887 
time: 1403638207.745097, t: 5.678361 -10.315569 5.069632 q: 0.881304 0.443508 0.050438 -0.155116 
time: 1403638207.845097, t: 5.619501 -10.373827 4.952363 q: 0.877927 0.449915 0.040362 -0.158720 
time: 1403638207.945097, t: 5.572633 -10.415563 4.833316 q: 0.876103 0.452991 0.030408 -0.162229 
time: 1403638208.045097, t: 5.535283 -10.450820 4.711226 q: 0.875406 0.453741 0.027531 -0.164394 
time: 1403638208.145097, t: 5.494734 -10.483258 4.598453 q: 0.875171 0.455313 0.032217 -0.160400 
optimize pose graph 
time: 1403638208.245097, t: 5.453713 -10.511585 4.486348 q: 0.875459 0.455187 0.038762 -0.157713 
time: 1403638208.345097, t: 5.400524 -10.536269 4.377656 q: 0.876476 0.452830 0.037575 -0.159133 
time: 1403638208.445097, t: 5.343800 -10.557563 4.278686 q: 0.876999 0.451000 0.033247 -0.162380 
time: 1403638208.545097, t: 5.286540 -10.575852 4.179762 q: 0.874484 0.455183 0.029472 -0.164975 
time: 1403638208.645097, t: 5.238205 -10.592347 4.082656 q: 0.868504 0.464708 0.028534 -0.170100 
time: 1403638208.745097, t: 5.200704 -10.603575 3.977465 q: 0.862845 0.474785 0.026835 -0.171341 
time: 1403638208.845097, t: 5.169451 -10.615222 3.873512 q: 0.858041 0.482783 0.027445 -0.173009 
time: 1403638208.945097, t: 5.131821 -10.622055 3.779847 q: 0.853999 0.488475 0.030192 -0.176539 
time: 1403638209.045097, t: 5.091169 -10.623178 3.688984 q: 0.851349 0.492518 0.030868 -0.177982 
time: 1403638209.145097, t: 5.041668 -10.622855 3.597103 q: 0.849718 0.495068 0.030680 -0.178735 
time: 1403638209.245097, t: 4.987861 -10.621690 3.507854 q: 0.849152 0.495936 0.030087 -0.179116 
time: 1403638209.345097, t: 4.929917 -10.615294 3.423081 q: 0.848973 0.496665 0.028004 -0.178282 
time: 1403638209.445097, t: 4.866220 -10.608589 3.349655 q: 0.848780 0.497491 0.027255 -0.177008 
time: 1403638209.545097, t: 4.796894 -10.596473 3.289310 q: 0.848464 0.498823 0.031181 -0.174102 
time: 1403638209.645097, t: 4.713383 -10.580846 3.228379 q: 0.848910 0.498780 0.031465 -0.171991 
time: 1403638209.745097, t: 4.613385 -10.565150 3.178467 q: 0.849628 0.497273 0.030357 -0.173005 
time: 1403638209.845097, t: 4.499271 -10.546045 3.137160 q: 0.849907 0.495374 0.034083 -0.176355 
time: 1403638209.945097, t: 4.376055 -10.522130 3.104168 q: 0.849904 0.495101 0.040131 -0.175863 
time: 1403638210.045097, t: 4.252138 -10.495607 3.074975 q: 0.849463 0.495962 0.047967 -0.173590 
time: 1403638210.145097, t: 4.128059 -10.460689 3.051415 q: 0.848719 0.498352 0.053989 -0.168541 
time: 1403638210.245097, t: 4.017837 -10.422726 3.019455 q: 0.848102 0.500019 0.056739 -0.165784 
optimize pose graph 
time: 1403638210.345097, t: 3.898904 -10.378712 2.969786 q: 0.848529 0.498807 0.057687 -0.166918 
time: 1403638210.445097, t: 3.790991 -10.326502 2.927069 q: 0.848820 0.498610 0.055427 -0.166794 
time: 1403638210.545097, t: 3.669342 -10.266104 2.881928 q: 0.849122 0.498710 0.056077 -0.164727 
time: 1403638210.645097, t: 3.547321 -10.200455 2.837913 q: 0.849381 0.498669 0.057646 -0.162966 
time: 1403638210.745097, t: 3.424737 -10.128170 2.790734 q: 0.849835 0.498670 0.056920 -0.160839 
time: 1403638210.845097, t: 3.301166 -10.048817 2.737770 q: 0.850472 0.497821 0.055243 -0.160685 
time: 1403638210.945097, t: 3.185774 -9.967242 2.666605 q: 0.851735 0.495832 0.048565 -0.162294 
time: 1403638211.045097, t: 3.075061 -9.873304 2.617498 q: 0.851994 0.495805 0.042940 -0.162604 
time: 1403638211.145097, t: 2.980813 -9.773979 2.574620 q: 0.851792 0.496028 0.037747 -0.164262 
time: 1403638211.245097, t: 2.889707 -9.673020 2.523436 q: 0.851839 0.496121 0.034194 -0.164514 
time: 1403638211.345097, t: 2.809342 -9.564554 2.476218 q: 0.853141 0.494041 0.033069 -0.164257 
time: 1403638211.445097, t: 2.730968 -9.454630 2.427673 q: 0.858196 0.486365 0.031991 -0.161016 
time: 1403638211.545097, t: 2.645345 -9.345218 2.374292 q: 0.865954 0.474268 0.031365 -0.155595 
time: 1403638211.645097, t: 2.552316 -9.229599 2.332967 q: 0.875514 0.460009 0.030635 -0.144666 
time: 1403638211.745097, t: 2.469984 -9.105034 2.306722 q: 0.886832 0.441622 0.028323 -0.133031 
time: 1403638211.845097, t: 2.377625 -8.979477 2.279773 q: 0.899389 0.420203 0.024309 -0.118059 
time: 1403638211.945097, t: 2.294899 -8.853454 2.250875 q: 0.911577 0.396607 0.023032 -0.105826 
time: 1403638212.045097, t: 2.219621 -8.724853 2.211360 q: 0.922975 0.372226 0.022235 -0.095241 
time: 1403638212.145097, t: 2.143108 -8.591318 2.171368 q: 0.933403 0.346807 0.024974 -0.088657 
time: 1403638212.245097, t: 2.086755 -8.450907 2.138594 q: 0.943001 0.321329 0.027409 -0.082129 
time: 1403638212.345097, t: 2.034766 -8.312799 2.095216 q: 0.951787 0.296193 0.028167 -0.074685 
optimize pose graph 
time: 1403638212.445097, t: 1.988938 -8.165386 2.073596 q: 0.959532 0.271463 0.030496 -0.068377 
time: 1403638212.545097, t: 1.957340 -8.018482 2.038997 q: 0.966487 0.248307 0.031633 -0.056977 
time: 1403638212.645097, t: 1.922898 -7.863304 2.001473 q: 0.972901 0.224329 0.031069 -0.046629 
time: 1403638212.745097, t: 1.902590 -7.707849 1.961358 q: 0.978937 0.198042 0.029535 -0.039858 
time: 1403638212.845097, t: 1.887572 -7.555588 1.905507 q: 0.984371 0.171037 0.030456 -0.028867 
time: 1403638212.945097, t: 1.871221 -7.390741 1.866104 q: 0.988956 0.144007 0.030578 -0.017145 
time: 1403638213.045097, t: 1.865447 -7.219697 1.846034 q: 0.992788 0.115878 0.030165 -0.005912 
time: 1403638213.145097, t: 1.861350 -7.051487 1.804277 q: 0.995731 0.087590 0.027900 0.008307 
time: 1403638213.245097, t: 1.838571 -6.881229 1.761836 q: 0.997610 0.060521 0.019969 0.026704 
time: 1403638213.345097, t: 1.796865 -6.697826 1.743679 q: 0.998099 0.036007 0.010703 0.048863 
time: 1403638213.445097, t: 1.775894 -6.509876 1.722741 q: 0.997342 0.011694 0.002457 0.071873 
time: 1403638213.545097, t: 1.782637 -6.330973 1.677437 q: 0.996025 -0.015015 0.000279 0.087802 
time: 1403638213.645097, t: 1.758181 -6.137219 1.679300 q: 0.995420 -0.041301 0.013931 0.085084 
time: 1403638213.745097, t: 1.747158 -5.911526 1.680298 q: 0.995010 -0.060002 0.028324 0.074517 
time: 1403638213.845097, t: 1.739500 -5.707408 1.675297 q: 0.994493 -0.073179 0.036339 0.065640 
time: 1403638213.945097, t: 1.735267 -5.503146 1.659419 q: 0.994284 -0.079263 0.037859 0.060692 
time: 1403638214.045097, t: 1.740770 -5.310103 1.639141 q: 0.994391 -0.080610 0.032917 0.060047 
time: 1403638214.145097, t: 1.752932 -5.117470 1.620127 q: 0.994862 -0.079773 0.021423 0.058547 
time: 1403638214.245097, t: 1.762802 -4.930086 1.595071 q: 0.995303 -0.077504 0.009756 0.057183 
time: 1403638214.345097, t: 1.773157 -4.744876 1.576119 q: 0.995649 -0.074472 0.001356 0.055992 
time: 1403638214.445097, t: 1.778378 -4.561772 1.561790 q: 0.996026 -0.071538 -0.001193 0.053034 
time: 1403638214.545097, t: 1.787303 -4.379293 1.556878 q: 0.996344 -0.069214 0.007802 0.049471 
time: 1403638214.645097, t: 1.788065 -4.196326 1.563058 q: 0.996486 -0.067256 0.019077 0.046134 
time: 1403638214.745097, t: 1.785140 -4.015076 1.570581 q: 0.996474 -0.065266 0.030217 0.043205 
time: 1403638214.845097, t: 1.768640 -3.835993 1.584783 q: 0.996441 -0.063141 0.037682 0.041223 
time: 1403638214.945097, t: 1.756604 -3.659350 1.598394 q: 0.996437 -0.061634 0.041828 0.039551 
time: 1403638215.045097, t: 1.735682 -3.484059 1.614844 q: 0.996472 -0.060244 0.043300 0.039231 
time: 1403638215.145097, t: 1.710316 -3.310589 1.629155 q: 0.996593 -0.059797 0.042677 0.037480 
time: 1403638215.245097, t: 1.681674 -3.138556 1.644790 q: 0.996788 -0.060193 0.039077 0.035535 
time: 1403638215.345097, t: 1.654035 -2.973041 1.656425 q: 0.996942 -0.062191 0.035668 0.031089 
time: 1403638215.445097, t: 1.630366 -2.808301 1.663920 q: 0.996967 -0.064478 0.035700 0.024989 
time: 1403638215.545097, t: 1.608369 -2.650502 1.669721 q: 0.996963 -0.065093 0.035412 0.023937 
time: 1403638215.645097, t: 1.594835 -2.496930 1.672089 q: 0.996837 -0.065007 0.039037 0.023805 
time: 1403638215.845097, t: 1.575473 -2.200733 1.662241 q: 0.996496 -0.065137 0.040139 0.033804 
time: 1403638215.945097, t: 1.557536 -2.061696 1.659583 q: 0.996102 -0.069600 0.040311 0.036224 
time: 1403638216.045097, t: 1.532026 -1.924346 1.658263 q: 0.995772 -0.072890 0.040265 0.038785 
time: 1403638216.145097, t: 1.509970 -1.789521 1.655159 q: 0.995543 -0.076343 0.039857 0.038424 
time: 1403638216.245097, t: 1.490650 -1.660005 1.648905 q: 0.995293 -0.079100 0.041792 0.037263 
time: 1403638216.345097, t: 1.477625 -1.536637 1.638710 q: 0.995078 -0.081208 0.043423 0.036607 
time: 1403638216.445097, t: 1.467367 -1.421012 1.627163 q: 0.994859 -0.082974 0.045420 0.036163 
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time: 1403638216.645097, t: 1.440908 -1.202598 1.599034 q: 0.994866 -0.085740 0.042339 0.033144 
time: 1403638216.745097, t: 1.418991 -1.102539 1.584227 q: 0.994947 -0.086976 0.039903 0.030402 
time: 1403638216.845097, t: 1.393086 -1.003353 1.569683 q: 0.994377 -0.091023 0.045562 0.029199 
time: 1403638216.945097, t: 1.365309 -0.909141 1.553428 q: 0.993373 -0.098690 0.048990 0.032722 
time: 1403638217.045097, t: 1.331808 -0.822586 1.539010 q: 0.992014 -0.108618 0.047767 0.042766 
time: 1403638217.145097, t: 1.294247 -0.739521 1.517634 q: 0.990225 -0.121595 0.043014 0.053094 
time: 1403638217.245097, t: 1.252870 -0.660703 1.497744 q: 0.988453 -0.133980 0.038874 0.059146 
time: 1403638217.345097, t: 1.215034 -0.585111 1.474875 q: 0.987054 -0.143186 0.036156 0.062575 
time: 1403638217.445097, t: 1.187064 -0.512703 1.450352 q: 0.986023 -0.149533 0.033729 0.065277 
time: 1403638217.545097, t: 1.169039 -0.446857 1.423920 q: 0.985353 -0.155838 0.030905 0.061956 
time: 1403638217.645097, t: 1.156456 -0.383430 1.394549 q: 0.985016 -0.160509 0.028630 0.056219 
time: 1403638217.745097, t: 1.150413 -0.323741 1.364162 q: 0.984827 -0.164487 0.026335 0.048647 
time: 1403638217.845097, t: 1.149530 -0.270778 1.335442 q: 0.984832 -0.166518 0.023337 0.042813 
time: 1403638217.945097, t: 1.157026 -0.226942 1.304554 q: 0.984863 -0.167032 0.025405 0.038733 
time: 1403638218.045097, t: 1.156051 -0.189141 1.281919 q: 0.985044 -0.165645 0.028916 0.037601 
time: 1403638218.145097, t: 1.151711 -0.159254 1.261081 q: 0.985216 -0.163984 0.031767 0.038071 
time: 1403638218.245097, t: 1.142536 -0.137390 1.244442 q: 0.985337 -0.162343 0.036866 0.037381 
time: 1403638218.345097, t: 1.131434 -0.123828 1.232238 q: 0.985460 -0.159136 0.044088 0.040001 
time: 1403638218.445097, t: 1.124133 -0.117383 1.213207 q: 0.985837 -0.155052 0.045663 0.044710 
time: 1403638218.545097, t: 1.121590 -0.116317 1.190725 q: 0.986119 -0.152913 0.044626 0.046857 
optimize pose graph 
time: 1403638218.645097, t: 1.125803 -0.121133 1.161108 q: 0.986427 -0.150956 0.041549 0.049473 
time: 1403638218.745097, t: 1.127622 -0.130992 1.132170 q: 0.986263 -0.152873 0.033372 0.052928 
time: 1403638218.845097, t: 1.125407 -0.141164 1.103852 q: 0.985147 -0.159748 0.026535 0.057117 
time: 1403638218.945097, t: 1.119676 -0.155192 1.078972 q: 0.983870 -0.163191 0.025349 0.068748 
time: 1403638219.045097, t: 1.109848 -0.171356 1.059189 q: 0.982487 -0.163067 0.028513 0.085533 
time: 1403638219.145097, t: 1.098244 -0.185677 1.040401 q: 0.981332 -0.165212 0.032168 0.093043 
time: 1403638219.245097, t: 1.084322 -0.196767 1.022930 q: 0.980705 -0.171159 0.038405 0.086298 
time: 1403638219.345097, t: 1.067665 -0.208338 1.005782 q: 0.979992 -0.176724 0.048037 0.077954 
time: 1403638219.445097, t: 1.052943 -0.220703 0.985004 q: 0.979168 -0.179710 0.060083 0.072963 
time: 1403638219.545097, t: 1.041450 -0.237465 0.956163 q: 0.978906 -0.180462 0.063282 0.071910 
time: 1403638219.645097, t: 1.030983 -0.258348 0.920487 q: 0.979134 -0.178561 0.059873 0.076335 
time: 1403638219.745097, t: 1.018658 -0.280518 0.879434 q: 0.979367 -0.175221 0.055830 0.083788 
time: 1403638219.845097, t: 0.999434 -0.303810 0.836196 q: 0.979477 -0.170924 0.050950 0.093879 
time: 1403638219.945097, t: 0.973283 -0.325032 0.792962 q: 0.979351 -0.167155 0.047452 0.103336 
time: 1403638220.045097, t: 0.941489 -0.341391 0.748303 q: 0.979314 -0.164604 0.043402 0.109389 
time: 1403638220.145097, t: 0.907665 -0.350826 0.702070 q: 0.979602 -0.165460 0.039393 0.107014 
time: 1403638220.245097, t: 0.876405 -0.355185 0.651083 q: 0.980193 -0.171786 0.035375 0.091976 
time: 1403638220.345097, t: 0.852735 -0.361216 0.596244 q: 0.980506 -0.177286 0.031149 0.078792 
time: 1403638220.445097, t: 0.836630 -0.366757 0.540468 q: 0.980485 -0.179938 0.029667 0.073425 
time: 1403638220.545097, t: 0.825704 -0.372836 0.482867 q: 0.980366 -0.181088 0.030211 0.071956 
time: 1403638220.645097, t: 0.812400 -0.381058 0.428586 q: 0.980093 -0.182726 0.030546 0.071385 
time: 1403638220.745097, t: 0.795489 -0.390286 0.375340 q: 0.979836 -0.183689 0.030623 0.072405 
optimize pose graph 
time: 1403638220.845097, t: 0.773823 -0.401894 0.326009 q: 0.979591 -0.184081 0.031366 0.074378 
time: 1403638220.945097, t: 0.744656 -0.415754 0.279269 q: 0.979372 -0.184741 0.030018 0.076163 
time: 1403638221.045097, t: 0.711636 -0.430096 0.236395 q: 0.979275 -0.185279 0.028869 0.076542 
time: 1403638221.145097, t: 0.675356 -0.442272 0.197288 q: 0.979135 -0.186013 0.027474 0.077065 
time: 1403638221.245097, t: 0.645980 -0.458653 0.155195 q: 0.979099 -0.185963 0.025026 0.078466 
time: 1403638221.345097, t: 0.626702 -0.476225 0.110742 q: 0.979041 -0.185346 0.022458 0.081372 
time: 1403638221.445097, t: 0.611363 -0.494110 0.069427 q: 0.978888 -0.184648 0.021585 0.084960 
time: 1403638221.545097, t: 0.592693 -0.509937 0.029330 q: 0.978770 -0.183916 0.021846 0.087791 
time: 1403638221.645097, t: 0.570284 -0.524350 -0.005513 q: 0.978610 -0.184174 0.023608 0.088568 
time: 1403638221.745097, t: 0.547110 -0.540299 -0.037497 q: 0.978369 -0.183744 0.028336 0.090711 
time: 1403638221.845097, t: 0.528919 -0.549910 -0.069005 q: 0.978436 -0.183061 0.030052 0.090820 
time: 1403638221.945097, t: 0.515927 -0.561556 -0.105914 q: 0.978567 -0.184598 0.032001 0.085481 
time: 1403638222.045097, t: 0.509234 -0.573065 -0.145863 q: 0.978651 -0.186029 0.031260 0.081603 
time: 1403638222.145097, t: 0.501692 -0.585372 -0.184003 q: 0.978820 -0.186588 0.025677 0.080228 
time: 1403638222.245097, t: 0.492112 -0.594784 -0.220886 q: 0.978925 -0.186434 0.019160 0.081125 
time: 1403638222.345097, t: 0.479137 -0.605800 -0.253759 q: 0.978993 -0.185896 0.013167 0.082721 
time: 1403638222.445097, t: 0.457620 -0.618528 -0.276612 q: 0.978972 -0.185717 0.008604 0.083960 
time: 1403638222.545097, t: 0.439499 -0.627915 -0.299881 q: 0.978983 -0.185546 0.009195 0.084146 
time: 1403638222.745097, t: 0.400208 -0.648360 -0.329746 q: 0.978694 -0.186319 0.025424 0.082438 
time: 1403638222.845097, t: 0.376849 -0.658155 -0.341680 q: 0.978577 -0.186810 0.029913 0.081211 
optimize pose graph 
time: 1403638222.945097, t: 0.356667 -0.665890 -0.353484 q: 0.978207 -0.186995 0.042723 0.079495 
time: 1403638223.045097, t: 0.333126 -0.675897 -0.368433 q: 0.978265 -0.186415 0.043488 0.079722 
time: 1403638223.245097, t: 0.298820 -0.705091 -0.406951 q: 0.978830 -0.183697 0.016425 0.088751 
time: 1403638223.345097, t: 0.287213 -0.715930 -0.427483 q: 0.978784 -0.182342 0.012633 0.092590 
time: 1403638223.445097, t: 0.277545 -0.724848 -0.443967 q: 0.978461 -0.179760 0.019119 0.099679 
time: 1403638223.545097, t: 0.264812 -0.728071 -0.458474 q: 0.977947 -0.176030 0.027322 0.109030 
time: 1403638223.645097, t: 0.248344 -0.727510 -0.473617 q: 0.978167 -0.179494 0.028744 0.100724 
time: 1403638223.745097, t: 0.227807 -0.723566 -0.490603 q: 0.978504 -0.184619 0.027014 0.087845 
time: 1403638223.845097, t: 0.210619 -0.717513 -0.504718 q: 0.978670 -0.187892 0.024625 0.079345 
time: 1403638223.945097, t: 0.191119 -0.716040 -0.516158 q: 0.978707 -0.190150 0.023732 0.073563 
time: 1403638224.045097, t: 0.169241 -0.715140 -0.526523 q: 0.978815 -0.190519 0.019681 0.072363 
time: 1403638224.145097, t: 0.148329 -0.719964 -0.534207 q: 0.979001 -0.189037 0.009877 0.075663 
time: 1403638224.245097, t: 0.126123 -0.720603 -0.535945 q: 0.979055 -0.188004 0.004230 0.078031 
time: 1403638224.345097, t: 0.189358 -0.708476 -0.529862 q: 0.978474 -0.186993 -0.001131 0.087302 
time: 1403638224.445097, t: 0.102200 -0.722906 -0.533061 q: 0.978692 -0.185960 0.022798 0.084032 
time: 1403638224.545097, t: 0.091464 -0.728330 -0.529774 q: 0.978319 -0.186397 0.035364 0.083051 
time: 1403638224.645097, t: 0.080689 -0.730426 -0.527110 q: 0.978536 -0.186776 0.031068 0.081349 
time: 1403638224.745097, t: 0.068819 -0.734383 -0.525423 q: 0.978929 -0.185767 0.013215 0.083750 
time: 1403638224.845097, t: 0.062065 -0.740875 -0.522439 q: 0.978988 -0.185189 0.008413 0.084956 
time: 1403638224.945097, t: 0.063123 -0.744600 -0.518405 q: 0.978750 -0.182116 0.021699 0.091711 
time: 1403638225.045097, t: 0.068548 -0.748637 -0.516123 q: 0.978452 -0.179090 0.033275 0.097218 
optimize pose graph 
time: 1403638225.145097, t: 0.072153 -0.752229 -0.514331 q: 0.978666 -0.180675 0.034376 0.091584 
time: 1403638225.245097, t: 0.076013 -0.753729 -0.513851 q: 0.979280 -0.181682 0.022803 0.086500 
time: 1403638225.345097, t: 0.082333 -0.752772 -0.513998 q: 0.979510 -0.182574 0.016046 0.083478 
time: 1403638225.445097, t: 0.087026 -0.751352 -0.511445 q: 0.979418 -0.183524 0.023063 0.080790 
time: 1403638225.545097, t: 0.085903 -0.750276 -0.504615 q: 0.978863 -0.185351 0.040669 0.076282 
time: 1403638225.645097, t: 0.077044 -0.751134 -0.497208 q: 0.978035 -0.186717 0.057787 0.072424 
time: 1403638225.745097, t: 0.056176 -0.755341 -0.489120 q: 0.978279 -0.186834 0.054169 0.071616 
time: 1403638225.845097, t: 0.024546 -0.762642 -0.480144 q: 0.979147 -0.185655 0.035027 0.074681 
time: 1403638225.945097, t: -0.012833 -0.770512 -0.472891 q: 0.979634 -0.184417 0.017218 0.077527 
time: 1403638226.045097, t: -0.032508 -0.785978 -0.466176 q: 0.980210 -0.180331 -0.000212 0.081664 
time: 1403638226.145097, t: -0.021575 -0.793817 -0.460958 q: 0.979912 -0.168932 0.004541 0.105895 
time: 1403638226.245097, t: -0.063844 -0.791512 -0.455722 q: 0.980203 -0.181244 -0.004779 0.079557 
time: 1403638226.345097, t: -0.027390 -0.809264 -0.453023 q: 0.980315 -0.180239 0.000099 0.080597 
time: 1403638226.445097, t: -0.028087 -0.806056 -0.448234 q: 0.980292 -0.180376 0.000513 0.080573 
time: 1403638226.545097, t: -0.028336 -0.803946 -0.447080 q: 0.981220 -0.171213 0.000496 0.088843 
time: 1403638226.645097, t: -0.060698 -0.799358 -0.446773 q: 0.980402 -0.179681 0.002542 0.080743 
time: 1403638226.745097, t: -0.063763 -0.797506 -0.446668 q: 0.980389 -0.179487 0.002069 0.081345 
time: 1403638226.845097, t: -0.063532 -0.797877 -0.446958 q: 0.980406 -0.179560 0.002505 0.080975 
time: 1403638226.945097, t: -0.063534 -0.797646 -0.446753 q: 0.980402 -0.179824 0.002215 0.080433 
time: 1403638227.045097, t: -0.063854 -0.797484 -0.446718 q: 0.980430 -0.180000 0.002222 0.079697 
time: 1403638227.145097, t: -0.063925 -0.797540 -0.446660 q: 0.980412 -0.179980 0.002091 0.079967 
time: 1403638227.245097, t: -0.063896 -0.797643 -0.446765 q: 0.980422 -0.179812 0.002098 0.080225 
optimize pose graph 
time: 1403638227.345097, t: -0.063781 -0.797746 -0.446827 q: 0.980401 -0.179705 0.002145 0.080721 
time: 1403638227.445097, t: -0.063754 -0.797821 -0.446902 q: 0.980397 -0.179724 0.002136 0.080728 
time: 1403638227.545097, t: -0.063736 -0.797712 -0.446895 q: 0.980409 -0.179770 0.002155 0.080477 
time: 1403638227.645097, t: -0.063766 -0.797645 -0.446811 q: 0.980412 -0.179833 0.002159 0.080291 
time: 1403638227.745097, t: -0.063827 -0.797673 -0.446799 q: 0.980409 -0.179833 0.002149 0.080331 
time: 1403638227.845097, t: -0.063771 -0.797681 -0.446840 q: 0.980411 -0.179803 0.002130 0.080379 
time: 1403638227.945097, t: -0.063779 -0.797672 -0.446854 q: 0.980411 -0.179760 0.002152 0.080475 
time: 1403638228.045097, t: -0.063766 -0.797695 -0.446880 q: 0.980402 -0.179780 0.002150 0.080540 
time: 1403638228.145097, t: -0.063631 -0.797666 -0.446928 q: 0.980408 -0.179742 0.002202 0.080554 
time: 1403638228.245097, t: -0.063756 -0.797691 -0.446883 q: 0.980409 -0.179806 0.002168 0.080399 
time: 1403638228.345097, t: -0.063830 -0.797657 -0.446814 q: 0.980407 -0.179806 0.002171 0.080417 
time: 1403638228.445097, t: -0.063870 -0.797668 -0.446803 q: 0.980415 -0.179794 0.002122 0.080351 
time: 1403638228.545097, t: -0.063858 -0.797639 -0.446762 q: 0.980417 -0.179770 0.002179 0.080376 
time: 1403638228.645097, t: -0.063874 -0.797654 -0.446795 q: 0.980415 -0.179770 0.002138 0.080397 
time: 1403638228.745097, t: -0.063866 -0.797663 -0.446765 q: 0.980417 -0.179757 0.002150 0.080407 
time: 1403638228.845097, t: -0.063856 -0.797647 -0.446767 q: 0.980414 -0.179760 0.002185 0.080431 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731012877.901097314]: Shutdown request received.[0m
[33m[ WARN] [1731012877.901137269]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731012877.901970558]: Shutdown request received.[0m
[33m[ WARN] [1731012877.902001383]: Reason given for shutdown: [user request][0m
killed
