/SLAM-Hive/slam_hive_results/mapping_results/3327/2190_vins-fusion-stereo+MH_02_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1731017049.221423005]: init begins[0m
[31m[ERROR] [1731017049.221834365]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731017049.222496119]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/36b2da18-9d54-11ef-b150-0242ac110002/roslaunch-ea022309703e-117.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://ea022309703e:34989/[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 [154][0m
[0m[ INFO] [1731017051.086486705]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
[0m[ INFO] [1731017051.089771730]: Connected to master at [localhost:11311][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://ea022309703e:11311/[0m
]2;roscore http://ea022309703e:11311/
[1msetting /run_id to 36b2da18-9d54-11ef-b150-0242ac110002[0m
[1mprocess[rosout-1]: started with pid [191][0m
started core service [/rosout]
result path /home/output/vio.csv
[33m[ WARN] [1731017051.846718607]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731017051.847797212]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731017051.847940472]: 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] [1731017051.849076693]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731017051.852414401]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731017051.853260416]: waiting for image and imu...[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
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1731017059.341766346]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 327380202.73 
[0m[ INFO] [1731017062.762882255]: Initialization finish![0m
time: 1403636859.801666, t: 0.314711 0.065071 -0.090029 q: 0.997841 -0.062366 -0.006708 -0.019451 
time: 1403636859.901666, t: 0.359844 0.056859 -0.099073 q: 0.997374 -0.068366 -0.000553 -0.023913 
time: 1403636860.001667, t: 0.390684 0.058009 -0.111364 q: 0.997155 -0.071184 0.001321 -0.024750 
time: 1403636860.101666, t: 0.397917 0.062450 -0.111142 q: 0.996978 -0.074478 -0.002166 -0.021972 
time: 1403636860.201667, t: 0.376828 0.070792 -0.106629 q: 0.996988 -0.074797 -0.010111 -0.017828 
time: 1403636860.301666, t: 0.329925 0.076884 -0.094076 q: 0.997068 -0.072021 -0.023434 -0.010932 
time: 1403636860.401666, t: 0.271807 0.082281 -0.080872 q: 0.996353 -0.072815 -0.044248 -0.004478 
time: 1403636860.501667, t: 0.215907 0.087101 -0.071315 q: 0.995042 -0.072616 -0.067862 0.003557 
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time: 1403636861.901666, t: 0.293824 0.095250 -0.094911 q: 0.997611 -0.058383 -0.035443 -0.010345 
time: 1403636862.001667, t: 0.236475 0.094414 -0.080006 q: 0.996875 -0.055512 -0.055971 -0.005152 
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time: 1403636862.401666, t: 0.153999 0.090044 -0.063086 q: 0.994107 -0.050776 -0.095556 -0.006425 
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time: 1403636863.201667, t: 0.480392 0.079589 -0.148830 q: 0.996423 -0.078369 -0.024728 -0.019677 
time: 1403636863.301666, t: 0.431271 0.083123 -0.133788 q: 0.996010 -0.080860 -0.027874 -0.025461 
time: 1403636863.401666, t: 0.370562 0.087296 -0.115526 q: 0.995399 -0.085934 -0.031825 -0.027971 
time: 1403636863.501667, t: 0.304410 0.091863 -0.096880 q: 0.995048 -0.088236 -0.039584 -0.022973 
time: 1403636863.601666, t: 0.237959 0.095068 -0.081737 q: 0.995306 -0.080262 -0.052804 -0.011666 
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time: 1403636863.901666, t: 0.138155 0.101316 -0.063128 q: 0.993094 -0.071193 -0.093089 0.005501 
time: 1403636864.001667, t: 0.168175 0.099784 -0.073127 q: 0.993143 -0.067633 -0.095258 0.004389 
time: 1403636864.101666, t: 0.225146 0.096252 -0.090304 q: 0.993811 -0.066283 -0.089124 -0.001771 
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time: 1403636866.601666, t: 0.430929 0.064928 -0.131686 q: 0.995722 -0.088841 -0.022484 -0.011807 
time: 1403636866.701667, t: 0.378075 0.077126 -0.115992 q: 0.995047 -0.092071 -0.035212 -0.012792 
time: 1403636866.801666, t: 0.336722 0.082214 -0.109624 q: 0.995029 -0.087482 -0.045877 -0.012636 
time: 1403636866.901666, t: 0.300740 0.086730 -0.105729 q: 0.995399 -0.076538 -0.057339 -0.005893 
time: 1403636867.001667, t: 0.272584 0.088019 -0.104322 q: 0.994917 -0.069489 -0.072855 0.001642 
time: 1403636867.101666, t: 0.254002 0.088149 -0.104452 q: 0.994024 -0.069171 -0.084382 0.003455 
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time: 1403636867.401666, t: 0.241001 0.082267 -0.126026 q: 0.993456 -0.049887 -0.102551 0.006251 
optimize pose graph 
time: 1403636867.501667, t: 0.245238 0.079849 -0.135946 q: 0.991809 -0.052937 -0.116146 0.004709 
time: 1403636867.601666, t: 0.243927 0.078340 -0.144856 q: 0.987488 -0.055375 -0.147634 0.002133 
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time: 1403636867.801666, t: 0.228721 0.078533 -0.162358 q: 0.964073 -0.058172 -0.258837 0.013499 
time: 1403636867.901666, t: 0.224926 0.079339 -0.166819 q: 0.954208 -0.063441 -0.291645 0.020139 
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time: 1403636868.101666, t: 0.234636 0.076628 -0.168941 q: 0.957955 -0.066307 -0.278116 0.024003 
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time: 1403636869.001667, t: 0.234930 0.028812 -0.214360 q: 0.963413 -0.071730 -0.257272 0.022410 
time: 1403636869.101666, t: 0.236025 0.024899 -0.214263 q: 0.964976 -0.066515 -0.252619 0.024093 
time: 1403636869.201667, t: 0.234938 0.021789 -0.213698 q: 0.965436 -0.062773 -0.251841 0.023870 
time: 1403636869.301666, t: 0.234053 0.020314 -0.212233 q: 0.965282 -0.062048 -0.252758 0.022227 
time: 1403636869.401666, t: 0.233577 0.020087 -0.210379 q: 0.965452 -0.060502 -0.252481 0.022264 
optimize pose graph 
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time: 1403636869.601666, t: 0.233351 0.031074 -0.208269 q: 0.965413 -0.061074 -0.252444 0.022776 
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time: 1403636869.801666, t: 0.236570 0.077764 -0.206078 q: 0.963384 -0.066981 -0.258448 0.024697 
time: 1403636869.901666, t: 0.241925 0.114717 -0.202511 q: 0.964056 -0.073802 -0.253690 0.028119 
time: 1403636870.001667, t: 0.246712 0.159029 -0.198044 q: 0.965045 -0.080321 -0.247375 0.032278 
time: 1403636870.101666, t: 0.250002 0.206852 -0.193422 q: 0.964057 -0.088745 -0.247677 0.037070 
time: 1403636870.201667, t: 0.257367 0.258395 -0.188372 q: 0.961356 -0.097017 -0.254853 0.037841 
time: 1403636870.301666, t: 0.264336 0.311059 -0.183856 q: 0.961027 -0.100724 -0.254280 0.040295 
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time: 1403636871.201667, t: 0.254663 0.510114 -0.164786 q: 0.958245 -0.130506 -0.246952 0.061230 
time: 1403636871.301666, t: 0.257049 0.498078 -0.165523 q: 0.958146 -0.131557 -0.246616 0.061879 
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time: 1403636876.601666, t: 0.159281 0.349849 -0.301000 q: 0.914301 -0.312287 -0.195716 0.168004 
time: 1403636876.701667, t: 0.162390 0.249398 -0.375563 q: 0.919817 -0.321164 -0.158898 0.159816 
time: 1403636876.801666, t: 0.201793 0.429690 -0.208318 q: 0.927635 -0.293726 -0.183430 0.139901 
time: 1403636876.901666, t: 0.224661 0.440844 -0.150020 q: 0.936510 -0.274209 -0.182385 0.120394 
time: 1403636877.001667, t: 0.239303 0.432034 -0.092588 q: 0.947457 -0.244711 -0.177291 0.104928 
time: 1403636877.101666, t: 0.254482 0.402977 -0.034603 q: 0.958475 -0.207313 -0.175204 0.087468 
time: 1403636877.201667, t: 0.261740 0.356193 0.019508 q: 0.967822 -0.165776 -0.176305 0.068966 
time: 1403636877.301666, t: 0.269725 0.293485 0.055600 q: 0.974291 -0.125031 -0.179234 0.054766 
time: 1403636877.401666, t: 0.274432 0.224618 0.077876 q: 0.978263 -0.086419 -0.184312 0.039534 
optimize pose graph 
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time: 1403636877.601666, t: 0.255954 0.087662 0.079191 q: 0.978862 -0.028427 -0.201170 0.023475 
time: 1403636877.701667, t: 0.239069 0.035371 0.061099 q: 0.976670 -0.012203 -0.212950 0.024889 
time: 1403636877.801666, t: 0.255861 0.147018 -0.012496 q: 0.967951 0.070822 -0.229698 0.072758 
time: 1403636877.901666, t: 0.250400 0.102022 -0.046967 q: 0.963054 0.040283 -0.255337 0.075544 
time: 1403636878.001667, t: 0.244252 0.096315 -0.087164 q: 0.953098 0.026019 -0.282878 0.104437 
time: 1403636878.201667, t: 0.221201 0.105209 -0.184709 q: 0.950956 -0.028308 -0.286384 0.113430 
time: 1403636878.301666, t: 0.295250 0.045294 -0.179213 q: 0.923771 -0.119119 -0.345264 0.115115 
time: 1403636878.401666, t: 0.291850 0.063211 -0.056199 q: 0.897317 -0.218053 -0.362804 0.125091 
time: 1403636878.501667, t: 0.186674 0.170916 -0.020406 q: 0.872235 -0.322619 -0.334995 0.151335 
time: 1403636878.601666, t: 0.198740 0.103713 -0.052081 q: 0.859101 -0.385355 -0.299759 0.153597 
time: 1403636878.701667, t: 0.215325 0.111829 -0.104083 q: 0.888081 -0.336472 -0.289472 0.119606 
time: 1403636878.801666, t: 0.218703 0.175984 -0.123991 q: 0.893429 -0.339541 -0.275651 0.102531 
time: 1403636878.901666, t: 0.229521 0.271829 -0.092173 q: 0.894511 -0.319052 -0.282451 0.135194 
time: 1403636879.001667, t: 0.186552 0.227997 -0.077436 q: 0.900638 -0.368172 -0.218909 0.073348 
time: 1403636879.101666, t: 0.190240 0.284987 -0.051277 q: 0.901402 -0.360558 -0.224279 0.084689 
time: 1403636879.201667, t: 0.141094 0.285682 -0.042061 q: 0.917641 -0.365131 -0.154997 0.024312 
unstable tracking...
time: 1403636879.301666, t: 0.160011 0.326959 -0.032692 q: 0.938698 -0.286709 -0.114782 0.153195 
unstable tracking...
time: 1403636879.401666, t: 0.116262 0.463338 0.032990 q: 0.955412 -0.220555 -0.061052 0.186593 
unstable tracking...
time: 1403636879.501667, t: 0.166065 0.362257 0.123219 q: 0.960870 -0.211245 -0.100599 0.148272 
unstable tracking...
time: 1403636879.601666, t: 0.096949 0.469052 0.332340 q: 0.972232 -0.176063 -0.076202 0.134015 
unstable tracking...
time: 1403636879.701667, t: 0.196750 0.297201 0.196815 q: 0.973672 -0.170021 -0.103907 0.110723 
unstable tracking...
time: 1403636879.801666, t: 0.205448 0.238692 0.208752 q: 0.977721 -0.144708 -0.108668 0.106356 
unstable tracking...
time: 1403636879.901666, t: 0.206023 0.178297 0.207311 q: 0.979489 -0.126483 -0.118341 0.102951 
unstable tracking...
time: 1403636880.001667, t: 0.198935 0.124159 0.192890 q: 0.979731 -0.115522 -0.128522 0.101307 
unstable tracking...
time: 1403636880.101666, t: 0.186004 0.088554 0.166607 q: 0.979541 -0.109785 -0.135756 0.100088 
unstable tracking...
unstable tracking...
time: 1403636880.301666, t: 0.152464 0.071222 0.084715 q: 0.975981 -0.135200 -0.132770 0.107494 
time: 1403636880.401666, t: 0.134602 0.078602 0.037090 q: 0.971790 -0.162574 -0.126588 0.114755 
time: 1403636880.501667, t: 0.119765 0.080545 -0.013315 q: 0.966526 -0.191106 -0.121260 0.120840 
time: 1403636880.601666, t: 0.108425 0.073326 -0.060621 q: 0.960942 -0.213326 -0.121686 0.127573 
time: 1403636880.701667, t: 0.096313 0.051581 -0.099513 q: 0.956497 -0.224152 -0.128650 0.135343 
time: 1403636880.801666, t: 0.087985 0.018005 -0.125851 q: 0.954282 -0.225196 -0.136293 0.141620 
time: 1403636880.901666, t: 0.084145 -0.020585 -0.137640 q: 0.956173 -0.215547 -0.137483 0.142724 
time: 1403636881.001667, t: 0.085268 -0.058409 -0.133685 q: 0.960786 -0.203565 -0.129545 0.136635 
time: 1403636881.101666, t: 0.093588 -0.091715 -0.117696 q: 0.966719 -0.189343 -0.118287 0.124945 
time: 1403636881.201667, t: 0.105020 -0.119900 -0.092364 q: 0.973312 -0.166375 -0.109320 0.114160 
time: 1403636881.301666, t: 0.121255 -0.138360 -0.061410 q: 0.979040 -0.140983 -0.105234 0.102622 
time: 1403636881.401666, t: 0.140444 -0.141313 -0.026244 q: 0.982731 -0.123751 -0.104080 0.089957 
optimize pose graph 
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time: 1403636881.801666, t: 0.208071 0.002671 0.118400 q: 0.987752 -0.113511 -0.097292 0.044674 
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time: 1403636882.101666, t: 0.206286 0.172053 0.158824 q: 0.982976 -0.139318 -0.099176 0.067183 
time: 1403636882.201667, t: 0.190789 0.214117 0.149668 q: 0.981416 -0.150116 -0.095543 0.071833 
time: 1403636882.301666, t: 0.169455 0.239563 0.135642 q: 0.980346 -0.159494 -0.089759 0.073661 
time: 1403636882.401666, t: 0.146279 0.246459 0.121003 q: 0.980931 -0.158281 -0.084819 0.074349 
time: 1403636882.501667, t: 0.124815 0.237248 0.113033 q: 0.982627 -0.148815 -0.080543 0.076226 
time: 1403636882.601666, t: 0.111131 0.220528 0.115825 q: 0.985086 -0.136639 -0.073050 0.074820 
time: 1403636882.701667, t: 0.105631 0.203677 0.131680 q: 0.988640 -0.122636 -0.052516 0.069236 
time: 1403636882.801666, t: 0.102198 0.189579 0.158323 q: 0.992920 -0.100454 -0.022124 0.059402 
time: 1403636882.901666, t: 0.094796 0.178908 0.190643 q: 0.995869 -0.076972 0.003603 0.048033 
time: 1403636883.001667, t: 0.083533 0.168893 0.223482 q: 0.997758 -0.052185 0.012384 0.040024 
time: 1403636883.101666, t: 0.070540 0.160604 0.254486 q: 0.998941 -0.031995 0.012160 0.030757 
time: 1403636883.201667, t: 0.058376 0.154054 0.282778 q: 0.999424 -0.022133 0.018103 0.018280 
time: 1403636883.301666, t: 0.046165 0.148421 0.306164 q: 0.999491 -0.014136 0.026495 0.010724 
time: 1403636883.401666, t: 0.036937 0.144811 0.324345 q: 0.999444 -0.007731 0.031258 0.008638 
time: 1403636883.501667, t: 0.030694 0.143655 0.336341 q: 0.999239 -0.000779 0.038542 0.005969 
optimize pose graph 
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time: 1403636883.701667, t: 0.024721 0.141926 0.351061 q: 0.998540 0.013460 0.052104 -0.004742 
time: 1403636883.801666, t: 0.022809 0.141724 0.355516 q: 0.998448 0.017714 0.052385 -0.006680 
time: 1403636883.901666, t: 0.019803 0.142036 0.359235 q: 0.998238 0.024971 0.053725 -0.003155 
time: 1403636884.001667, t: 0.018603 0.142462 0.361637 q: 0.997943 0.028071 0.057358 -0.005603 
time: 1403636884.101666, t: 0.017818 0.143333 0.362352 q: 0.997373 0.033814 0.063901 -0.004628 
time: 1403636884.201667, t: 0.017732 0.144177 0.361860 q: 0.997016 0.033071 0.069198 -0.008808 
time: 1403636884.301666, t: 0.017761 0.143651 0.360703 q: 0.996736 0.032352 0.073352 -0.009482 
time: 1403636884.401666, t: 0.017633 0.143251 0.360452 q: 0.996665 0.032938 0.074159 -0.008605 
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time: 1403636884.901666, t: 0.017717 0.143385 0.360424 q: 0.996677 0.032652 0.074047 -0.009263 
time: 1403636885.001667, t: 0.017724 0.143353 0.360426 q: 0.996681 0.032710 0.073982 -0.009147 
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time: 1403636885.301666, t: 0.017702 0.143319 0.360411 q: 0.996679 0.032771 0.074005 -0.008995 
time: 1403636885.401666, t: 0.017675 0.143345 0.360416 q: 0.996675 0.032734 0.074071 -0.008980 
time: 1403636885.501667, t: 0.017664 0.143335 0.360413 q: 0.996674 0.032724 0.074094 -0.008934 
time: 1403636885.601666, t: 0.017645 0.143336 0.360402 q: 0.996670 0.032730 0.074152 -0.008907 
time: 1403636885.701667, t: 0.017659 0.143332 0.360438 q: 0.996681 0.032751 0.074007 -0.008844 
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time: 1403636886.101666, t: 0.017632 0.143343 0.360415 q: 0.996675 0.032709 0.074086 -0.008930 
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time: 1403636898.701667, t: 0.159344 0.221733 0.235272 q: 0.998515 0.026015 0.026067 -0.040138 
time: 1403636898.801666, t: 0.180002 0.220420 0.239749 q: 0.998470 0.028728 0.026201 -0.039325 
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time: 1403636899.001667, t: 0.220260 0.217110 0.257327 q: 0.998703 0.034401 0.023469 -0.029290 
time: 1403636899.101666, t: 0.239280 0.218318 0.270674 q: 0.998959 0.030473 0.025819 -0.022030 
time: 1403636899.201667, t: 0.258098 0.223314 0.287510 q: 0.999142 0.017814 0.032676 -0.018170 
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time: 1403636899.501667, t: 0.308670 0.256048 0.333022 q: 0.997486 -0.045612 0.053510 0.008784 
optimize pose graph 
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time: 1403636899.701667, t: 0.332172 0.285553 0.355045 q: 0.996280 -0.069951 0.040818 0.029427 
time: 1403636899.801666, t: 0.344078 0.305746 0.364408 q: 0.995721 -0.078688 0.036579 0.031782 
time: 1403636899.901666, t: 0.353913 0.328805 0.377508 q: 0.995222 -0.086646 0.036050 0.026928 
time: 1403636900.001667, t: 0.362879 0.353872 0.390790 q: 0.994680 -0.091726 0.041581 0.021674 
time: 1403636900.101666, t: 0.371367 0.379326 0.403757 q: 0.994175 -0.093533 0.050000 0.019185 
time: 1403636900.201667, t: 0.384988 0.405296 0.413317 q: 0.993877 -0.093748 0.056164 0.016301 
time: 1403636900.301666, t: 0.405305 0.427775 0.416658 q: 0.994060 -0.093111 0.054526 0.014188 
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time: 1403636900.801666, t: 0.511194 0.534988 0.425721 q: 0.996582 -0.077811 0.021291 0.017770 
time: 1403636900.901666, t: 0.524967 0.561974 0.434671 q: 0.996715 -0.072894 0.024964 0.024933 
time: 1403636901.001667, t: 0.536034 0.590919 0.446820 q: 0.996629 -0.070302 0.030516 0.029268 
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time: 1403636901.201667, t: 0.546065 0.661365 0.485556 q: 0.996490 -0.067599 0.035369 0.034443 
time: 1403636901.301666, t: 0.552567 0.701591 0.507696 q: 0.996461 -0.069496 0.036396 0.030171 
time: 1403636901.401666, t: 0.568199 0.748543 0.525845 q: 0.996444 -0.071211 0.036671 0.026144 
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time: 1403636901.601666, t: 0.607041 0.846124 0.563191 q: 0.996246 -0.075769 0.038267 0.016976 
optimize pose graph 
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time: 1403636902.301666, t: 0.649200 1.205156 0.708411 q: 0.996154 -0.074835 0.043056 0.014913 
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time: 1403636903.201667, t: 0.659547 1.641345 0.875017 q: 0.995832 -0.079477 0.043519 0.010369 
time: 1403636903.301666, t: 0.687040 1.679251 0.880261 q: 0.996092 -0.077861 0.040743 0.008851 
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time: 1403636903.601666, t: 0.749946 1.791830 0.902708 q: 0.996389 -0.075928 0.037799 0.003918 
optimize pose graph 
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optimize pose graph 
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time: 1403636994.801666, t: 1.272238 5.990549 3.839334 q: 0.927196 -0.345065 0.055129 0.134905 
time: 1403636994.901666, t: 1.259022 5.910277 3.782553 q: 0.926910 -0.342204 0.053279 0.144553 
time: 1403636995.001667, t: 1.240066 5.832730 3.725154 q: 0.926512 -0.342703 0.056081 0.144863 
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time: 1403636995.201667, t: 1.191556 5.686113 3.607782 q: 0.926421 -0.348620 0.063080 0.127394 
time: 1403636995.301666, t: 1.170405 5.615350 3.544595 q: 0.926682 -0.349496 0.064818 0.122114 
time: 1403636995.401666, t: 1.155324 5.541322 3.478134 q: 0.927409 -0.349305 0.060692 0.119226 
time: 1403636995.501667, t: 1.144445 5.465833 3.406339 q: 0.928228 -0.347790 0.053444 0.120744 
time: 1403636995.601666, t: 1.139407 5.388511 3.328698 q: 0.928656 -0.346759 0.050770 0.121566 
time: 1403636995.701667, t: 1.136533 5.311222 3.253286 q: 0.928679 -0.345720 0.051268 0.124114 
time: 1403636995.801666, t: 1.126414 5.231670 3.178819 q: 0.928544 -0.343845 0.052294 0.129780 
time: 1403636995.901666, t: 1.106977 5.156270 3.109263 q: 0.928407 -0.340740 0.051876 0.138802 
time: 1403636996.001667, t: 1.084552 5.082426 3.037578 q: 0.928228 -0.339330 0.050664 0.143813 
time: 1403636996.101666, t: 1.060241 5.012194 2.970990 q: 0.928261 -0.341857 0.046289 0.139007 
optimize pose graph 
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time: 1403636996.301666, t: 1.011133 4.881339 2.828052 q: 0.928587 -0.345613 0.041310 0.128733 
time: 1403636996.401666, t: 0.999624 4.815828 2.753607 q: 0.930418 -0.341647 0.040653 0.126285 
time: 1403636996.501667, t: 0.995556 4.751519 2.679259 q: 0.934073 -0.333597 0.039777 0.120986 
time: 1403636996.601666, t: 1.000122 4.686146 2.600322 q: 0.939237 -0.321413 0.038011 0.114382 
time: 1403636996.701667, t: 1.004398 4.620617 2.525840 q: 0.945592 -0.305210 0.035830 0.106861 
time: 1403636996.801666, t: 0.991966 4.562094 2.468471 q: 0.952492 -0.285850 0.034116 0.099423 
time: 1403636996.901666, t: 0.968342 4.501688 2.413851 q: 0.959481 -0.263898 0.033004 0.093084 
time: 1403636997.001667, t: 0.937432 4.444930 2.362431 q: 0.966185 -0.241209 0.032225 0.085245 
time: 1403636997.201667, t: 0.870464 4.336779 2.272200 q: 0.975504 -0.205584 0.029071 0.072672 
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time: 1403636997.501667, t: 0.782425 4.199675 2.155179 q: 0.979952 -0.187355 0.026674 0.062302 
time: 1403636997.601666, t: 0.770892 4.158641 2.119619 q: 0.980021 -0.187079 0.025456 0.062542 
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time: 1403636997.901666, t: 0.784382 4.045147 2.001304 q: 0.978855 -0.193804 0.021719 0.061733 
time: 1403636998.001667, t: 0.807107 4.009436 1.960082 q: 0.978372 -0.195863 0.021683 0.062892 
time: 1403636998.101666, t: 0.835212 3.974395 1.924083 q: 0.977908 -0.197770 0.021504 0.064192 
time: 1403636998.201667, t: 0.864901 3.945018 1.893078 q: 0.977468 -0.198743 0.024158 0.066893 
time: 1403636998.301666, t: 0.889922 3.914482 1.864848 q: 0.977107 -0.200379 0.023113 0.067643 
optimize pose graph 
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time: 1403636998.501667, t: 0.925888 3.862128 1.829841 q: 0.976559 -0.201813 0.024635 0.070689 
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time: 1403636998.901666, t: 1.056707 3.778558 1.744643 q: 0.974656 -0.210952 0.052481 0.052827 
time: 1403636999.001667, t: 1.080624 3.755368 1.723536 q: 0.974453 -0.213016 0.051168 0.049477 
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time: 1403637001.601666, t: 0.975025 2.402510 1.103828 q: 0.973123 -0.215872 0.042149 0.068221 
time: 1403637001.701667, t: 0.972383 2.335630 1.059465 q: 0.972962 -0.216515 0.041763 0.068720 
time: 1403637001.801666, t: 0.962015 2.272153 1.022944 q: 0.972715 -0.216981 0.043378 0.069730 
time: 1403637001.901666, t: 0.945438 2.208015 0.983385 q: 0.972675 -0.217648 0.040744 0.069805 
time: 1403637002.001667, t: 0.924581 2.144428 0.946873 q: 0.972659 -0.218026 0.039182 0.069748 
time: 1403637002.101666, t: 0.899907 2.082029 0.916405 q: 0.972563 -0.218610 0.038007 0.069900 
time: 1403637002.201667, t: 0.871869 2.021144 0.885612 q: 0.972570 -0.218500 0.037861 0.070229 
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time: 1403637002.401666, t: 0.816736 1.902985 0.822470 q: 0.972555 -0.220043 0.036057 0.066466 
optimize pose graph 
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time: 1403637002.701667, t: 0.781196 1.726572 0.712211 q: 0.972280 -0.222850 0.036183 0.060836 
time: 1403637002.801666, t: 0.777698 1.667273 0.679736 q: 0.972035 -0.223711 0.036494 0.061395 
time: 1403637002.901666, t: 0.770503 1.604393 0.647223 q: 0.971810 -0.223251 0.038077 0.065527 
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time: 1403637003.101666, t: 0.739796 1.483653 0.592510 q: 0.971294 -0.224769 0.037042 0.068525 
time: 1403637003.201667, t: 0.717400 1.424378 0.570258 q: 0.970940 -0.226100 0.037575 0.068871 
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time: 1403637003.501667, t: 0.660434 1.246579 0.495948 q: 0.970006 -0.228251 0.043674 0.071298 
time: 1403637003.601666, t: 0.650734 1.186064 0.459667 q: 0.969885 -0.228365 0.043437 0.072701 
time: 1403637003.701667, t: 0.649119 1.128126 0.427591 q: 0.969745 -0.228823 0.043130 0.073308 
time: 1403637004.001667, t: 0.609294 0.953007 0.335428 q: 0.970765 -0.226595 0.034713 0.071168 
time: 1403637004.101666, t: 0.591596 0.902457 0.310851 q: 0.971239 -0.225812 0.030332 0.069164 
time: 1403637004.201667, t: 0.569412 0.848191 0.286341 q: 0.971589 -0.225066 0.027768 0.067737 
time: 1403637004.301666, t: 0.552021 0.795121 0.265358 q: 0.971978 -0.223155 0.027763 0.068484 
time: 1403637004.401666, t: 0.540709 0.744094 0.242439 q: 0.971948 -0.222160 0.030527 0.070924 
time: 1403637004.501667, t: 0.543230 0.693413 0.216717 q: 0.971438 -0.223252 0.037982 0.070885 
time: 1403637004.601666, t: 0.554395 0.642371 0.182232 q: 0.970839 -0.224402 0.042353 0.072948 
optimize pose graph 
time: 1403637004.701667, t: 0.568572 0.591468 0.150601 q: 0.970195 -0.222561 0.045197 0.084531 
time: 1403637004.801666, t: 0.577194 0.540855 0.122600 q: 0.969416 -0.221506 0.047254 0.094521 
time: 1403637004.901666, t: 0.569121 0.495431 0.097182 q: 0.968972 -0.222102 0.043044 0.099557 
time: 1403637005.101666, t: 0.518720 0.422869 0.060041 q: 0.968503 -0.229225 0.033725 0.091214 
time: 1403637005.201667, t: 0.491270 0.395414 0.045977 q: 0.968205 -0.233018 0.034339 0.084273 
time: 1403637005.301666, t: 0.458781 0.366658 0.027262 q: 0.968255 -0.234561 0.030177 0.080951 
time: 1403637005.401666, t: 0.423471 0.341910 0.010455 q: 0.968505 -0.234206 0.028491 0.079589 
time: 1403637005.501667, t: 0.391775 0.314538 -0.002517 q: 0.968887 -0.233645 0.033073 0.074654 
time: 1403637005.601666, t: 0.366174 0.287188 -0.014933 q: 0.969332 -0.231645 0.034735 0.074362 
time: 1403637005.701667, t: 0.352855 0.257429 -0.034471 q: 0.969988 -0.227424 0.028691 0.081106 
time: 1403637005.801666, t: 0.350983 0.233511 -0.054827 q: 0.970333 -0.225221 0.026307 0.083892 
time: 1403637006.001667, t: 0.357978 0.187975 -0.090647 q: 0.970313 -0.227698 0.032050 0.074956 
time: 1403637006.101666, t: 0.358184 0.166459 -0.104684 q: 0.970237 -0.226979 0.035735 0.076451 
time: 1403637006.201667, t: 0.356381 0.146265 -0.117410 q: 0.970320 -0.226378 0.035892 0.077096 
time: 1403637006.301666, t: 0.367883 0.125568 -0.110798 q: 0.970821 -0.223583 0.024344 0.083219 
time: 1403637006.401666, t: 0.347157 0.107509 -0.136504 q: 0.970837 -0.223127 0.018332 0.085754 
time: 1403637006.501667, t: 0.342882 0.093654 -0.139892 q: 0.970871 -0.220167 0.014841 0.093354 
time: 1403637006.601666, t: 0.339028 0.084374 -0.142078 q: 0.971663 -0.216356 0.023243 0.092313 
time: 1403637006.701667, t: 0.335767 0.077187 -0.143217 q: 0.973689 -0.209910 0.031251 0.083009 
time: 1403637006.801666, t: 0.330047 0.072891 -0.142403 q: 0.976690 -0.198127 0.038109 0.073277 
time: 1403637006.901666, t: 0.320495 0.069798 -0.140422 q: 0.980678 -0.179987 0.038091 0.066518 
time: 1403637007.001667, t: 0.311125 0.067734 -0.138298 q: 0.985022 -0.160085 0.034504 0.053985 
time: 1403637007.101666, t: 0.301657 0.066991 -0.136371 q: 0.988124 -0.143572 0.034832 0.042245 
time: 1403637007.201667, t: 0.291478 0.067395 -0.134824 q: 0.990209 -0.130411 0.036787 0.033569 
time: 1403637007.301666, t: 0.282636 0.068053 -0.133745 q: 0.991145 -0.123325 0.043492 0.023059 
time: 1403637007.401666, t: 0.272180 0.066424 -0.134983 q: 0.991577 -0.119135 0.047881 0.016979 
time: 1403637007.501667, t: 0.259211 0.062618 -0.138065 q: 0.992100 -0.115905 0.045055 0.016527 
time: 1403637007.601666, t: 0.243280 0.056893 -0.141347 q: 0.992581 -0.114241 0.037351 0.018360 
time: 1403637007.701667, t: 0.225490 0.049121 -0.145116 q: 0.992966 -0.114095 0.023294 0.021404 
time: 1403637007.801666, t: 0.210548 0.040368 -0.147192 q: 0.992907 -0.115693 0.016734 0.021700 
time: 1403637007.901666, t: 0.200522 0.030307 -0.147592 q: 0.992583 -0.115855 0.026327 0.025754 
time: 1403637008.001667, t: 0.192124 0.019654 -0.147169 q: 0.992035 -0.115306 0.038992 0.032425 
time: 1403637008.101666, t: 0.182741 0.009803 -0.148012 q: 0.991785 -0.118628 0.035746 0.031826 
time: 1403637008.201667, t: 0.173010 0.000602 -0.149608 q: 0.991855 -0.121660 0.019437 0.032307 
time: 1403637008.301666, t: 0.167561 -0.008398 -0.150931 q: 0.991637 -0.125022 0.007921 0.031025 
time: 1403637008.401666, t: 0.168216 -0.017652 -0.149933 q: 0.991329 -0.127687 0.007280 0.030147 
time: 1403637008.501667, t: 0.175312 -0.026683 -0.146424 q: 0.990977 -0.128094 0.021351 0.033188 
time: 1403637008.601666, t: 0.183535 -0.035426 -0.141160 q: 0.990470 -0.128739 0.032792 0.036349 
time: 1403637008.701667, t: 0.187609 -0.043664 -0.134065 q: 0.990147 -0.127889 0.037701 0.042802 
time: 1403637008.801666, t: 0.185745 -0.050293 -0.125353 q: 0.990060 -0.123098 0.034120 0.058856 
time: 1403637008.901666, t: 0.180182 -0.052832 -0.115808 q: 0.989932 -0.119844 0.028249 0.069818 
time: 1403637009.001667, t: 0.172843 -0.048336 -0.105901 q: 0.989833 -0.122203 0.027223 0.067494 
time: 1403637009.101666, t: 0.163146 -0.037078 -0.094797 q: 0.989843 -0.128338 0.027359 0.054700 
optimize pose graph 
time: 1403637009.201667, t: 0.151319 -0.022602 -0.083111 q: 0.989696 -0.134105 0.027128 0.042210 
time: 1403637009.301666, t: 0.137935 -0.006849 -0.069565 q: 0.989327 -0.141618 0.023629 0.024866 
time: 1403637009.401666, t: 0.128281 0.005568 -0.060078 q: 0.990540 -0.130190 0.031824 0.029453 
time: 1403637009.501667, t: 0.125288 0.013985 -0.060249 q: 0.992354 -0.112099 0.046352 0.022777 
time: 1403637009.601666, t: 0.119436 0.019169 -0.060717 q: 0.991406 -0.085538 0.087550 0.046186 
time: 1403637009.701667, t: 0.111804 0.022660 -0.069298 q: 0.990334 -0.100782 0.078683 0.053759 
time: 1403637009.801666, t: 0.110509 0.024138 -0.070561 q: 0.989913 -0.102144 0.079791 0.057198 
time: 1403637009.901666, t: 0.110693 0.024525 -0.071915 q: 0.990006 -0.101822 0.079600 0.056425 
time: 1403637010.001667, t: 0.110772 0.024377 -0.071899 q: 0.990005 -0.101634 0.079732 0.056596 
time: 1403637010.101666, t: 0.110469 0.024270 -0.072334 q: 0.989999 -0.101184 0.079897 0.057277 
time: 1403637010.201667, t: 0.110513 0.024189 -0.072295 q: 0.989994 -0.101040 0.080006 0.057458 
time: 1403637010.301666, t: 0.110487 0.024160 -0.072261 q: 0.990014 -0.100846 0.079819 0.057709 
time: 1403637010.401666, t: 0.110500 0.024134 -0.072258 q: 0.990002 -0.100868 0.079991 0.057650 
time: 1403637010.501667, t: 0.110494 0.024142 -0.072254 q: 0.990007 -0.100886 0.079899 0.057656 

Done.
time: 1403637010.601666, t: 0.110487 0.024130 -0.072246 q: 0.990010 -0.100809 0.079904 0.057738 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731017214.225854658]: Shutdown request received.[0m
[33m[ WARN] [1731017214.225913591]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731017214.227239850]: Shutdown request received.[0m
[33m[ WARN] [1731017214.227283502]: Reason given for shutdown: [user request][0m
killed
optimize pose graph 
