/SLAM-Hive/slam_hive_results/mapping_results/3354/2250_vins-fusion-stereo+MH_04_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/2c170626-9d61-11ef-bbfa-0242ac110002/roslaunch-a53443ff1df6-118.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
[0m[ INFO] [1731022615.101530222]: init begins[0m
[31m[ERROR] [1731022615.106893772]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731022615.106948872]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://a53443ff1df6:41863/[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
[1mROS_MASTER_URI=http://a53443ff1df6:11311/[0m
]2;roscore http://a53443ff1df6:11311/
[0m[ INFO] [1731022616.113915087]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731022616.117366079]: Connected to master at [localhost:11311][0m
[1msetting /run_id to 2c170626-9d61-11ef-bbfa-0242ac110002[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
config_file: /slamhive/mappingtask.yaml
result path /home/output/vio.csv
[33m[ WARN] [1731022616.155661454]:  fix extrinsic param [0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
camera number 2
[0m[ INFO] [1731022616.175344420]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731022616.175401425]: 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] [1731022616.175664756]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731022616.191172958]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731022616.191355503]: waiting for image and imu...[0m
[1mprocess[rosout-1]: started with pid [192][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] [1731022624.940493468]: 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: 327384497.84 
throw img0
[0m[ INFO] [1731022626.366416160]: 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 
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time: 1403638138.245097, t: 0.013900 -0.029195 -0.005664 q: 0.995550 -0.084095 -0.027977 0.032030 
time: 1403638138.345097, t: 0.007992 -0.032383 -0.005654 q: 0.995441 -0.089973 -0.007271 0.030813 
time: 1403638138.445097, t: 0.006794 -0.032477 -0.007024 q: 0.995445 -0.090410 -0.002094 0.030195 
time: 1403638138.545097, t: 0.006711 -0.032398 -0.006823 q: 0.995448 -0.090263 -0.001660 0.030536 
time: 1403638138.645097, t: 0.006572 -0.032494 -0.006850 q: 0.995447 -0.090170 -0.001632 0.030848 
time: 1403638138.745097, t: 0.006338 -0.032450 -0.006911 q: 0.995455 -0.090109 -0.001668 0.030757 
time: 1403638138.845097, t: 0.006225 -0.032674 -0.005608 q: 0.995476 -0.090095 -0.001749 0.030135 
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time: 1403638139.045097, t: 0.006264 -0.032844 -0.005519 q: 0.995455 -0.090018 -0.001717 0.031049 
optimize pose graph 
time: 1403638139.145097, t: 0.006247 -0.032948 -0.005501 q: 0.995456 -0.089899 -0.001700 0.031360 
time: 1403638139.245097, t: 0.006258 -0.032992 -0.005495 q: 0.995455 -0.089831 -0.001706 0.031578 
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time: 1403638139.445097, t: 0.006316 -0.032899 -0.005504 q: 0.995456 -0.089909 -0.001727 0.031318 
time: 1403638139.545097, t: 0.006260 -0.032890 -0.005503 q: 0.995455 -0.089960 -0.001734 0.031188 
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time: 1403638139.745097, t: 0.006267 -0.032871 -0.005507 q: 0.995455 -0.089983 -0.001738 0.031147 
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optimize pose graph 
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time: 1403638149.645097, t: 0.505667 -0.060244 0.106991 q: 0.996638 -0.070682 0.037764 0.017030 
time: 1403638149.745097, t: 0.530503 -0.069941 0.123497 q: 0.997070 -0.064825 0.038192 0.013798 
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optimize pose graph 
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optimize pose graph 
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time: 1403638205.845097, t: 6.075622 -8.153336 6.649306 q: 0.972151 0.187900 0.064773 -0.124181 
time: 1403638205.945097, t: 6.101898 -8.293559 6.616862 q: 0.967229 0.208376 0.062586 -0.130884 
time: 1403638206.045097, t: 6.136601 -8.417703 6.565106 q: 0.961116 0.233998 0.058333 -0.134527 
time: 1403638206.145097, t: 6.167557 -8.548883 6.498598 q: 0.954016 0.258555 0.058836 -0.139786 
time: 1403638206.245097, t: 6.186600 -8.691700 6.432198 q: 0.946730 0.281250 0.060814 -0.144574 
time: 1403638206.345097, t: 6.200288 -8.836287 6.364793 q: 0.939981 0.304580 0.060670 -0.141375 
time: 1403638206.445097, t: 6.210667 -8.976222 6.290546 q: 0.935223 0.321324 0.059371 -0.136325 
time: 1403638206.545097, t: 6.208977 -9.106645 6.211326 q: 0.931831 0.332401 0.060980 -0.132223 
time: 1403638206.645097, t: 6.202041 -9.239011 6.130489 q: 0.929545 0.338885 0.062967 -0.130913 
time: 1403638206.745097, t: 6.185340 -9.362052 6.051294 q: 0.925900 0.348372 0.062306 -0.132149 
time: 1403638206.845097, t: 6.163250 -9.477817 5.968959 q: 0.922089 0.357719 0.060973 -0.134430 
time: 1403638206.945097, t: 6.134977 -9.592367 5.881935 q: 0.919185 0.364821 0.062989 -0.134299 
time: 1403638207.045097, t: 6.098507 -9.708103 5.797566 q: 0.917250 0.369874 0.065600 -0.132443 
time: 1403638207.145097, t: 6.052185 -9.814008 5.711620 q: 0.916024 0.372516 0.068093 -0.132268 
time: 1403638207.245097, t: 6.001966 -9.913601 5.612190 q: 0.914198 0.377047 0.068431 -0.131891 
optimize pose graph 
time: 1403638207.345097, t: 5.938229 -10.001762 5.518880 q: 0.909579 0.387279 0.070875 -0.132880 
time: 1403638207.445097, t: 5.871132 -10.091350 5.417142 q: 0.902624 0.401293 0.074175 -0.136866 
time: 1403638207.545097, t: 5.801220 -10.164099 5.314560 q: 0.893437 0.419770 0.072927 -0.142285 
time: 1403638207.745097, t: 5.678412 -10.294794 5.078696 q: 0.881022 0.444020 0.049970 -0.155401 
time: 1403638207.845097, t: 5.619606 -10.352769 4.961506 q: 0.877628 0.450444 0.039886 -0.158990 
time: 1403638207.945097, t: 5.572769 -10.394466 4.842216 q: 0.875806 0.453493 0.029938 -0.162519 
time: 1403638208.045097, t: 5.535339 -10.428066 4.721902 q: 0.875009 0.454423 0.027110 -0.164691 
time: 1403638208.145097, t: 5.495569 -10.459967 4.607740 q: 0.874767 0.456010 0.031713 -0.160721 
time: 1403638208.245097, t: 5.454889 -10.487050 4.495857 q: 0.875007 0.455986 0.038242 -0.158043 
time: 1403638208.345097, t: 5.402234 -10.510767 4.387607 q: 0.875984 0.453701 0.037037 -0.159484 
time: 1403638208.445097, t: 5.345753 -10.532055 4.288163 q: 0.876512 0.451852 0.032688 -0.162750 
time: 1403638208.545097, t: 5.289164 -10.549290 4.187545 q: 0.873999 0.456003 0.028854 -0.165390 
time: 1403638208.645097, t: 5.241125 -10.565290 4.090869 q: 0.867978 0.465566 0.027908 -0.170540 
time: 1403638208.745097, t: 5.204099 -10.575927 3.986029 q: 0.862286 0.475674 0.026178 -0.171789 
time: 1403638208.845097, t: 5.173878 -10.587420 3.881154 q: 0.857501 0.483613 0.026718 -0.173484 
time: 1403638208.945097, t: 5.136556 -10.593677 3.788549 q: 0.853423 0.489347 0.029490 -0.177028 
time: 1403638209.045097, t: 5.095899 -10.595261 3.696365 q: 0.850821 0.493303 0.030155 -0.178458 
time: 1403638209.145097, t: 5.044216 -10.594509 3.607583 q: 0.849116 0.495987 0.030132 -0.179139 
time: 1403638209.245097, t: 4.990147 -10.593779 3.517333 q: 0.848591 0.496776 0.029554 -0.179537 
time: 1403638209.345097, t: 4.932265 -10.587257 3.432640 q: 0.848415 0.497496 0.027472 -0.178703 
optimize pose graph 
time: 1403638209.445097, t: 4.868456 -10.580487 3.359148 q: 0.848232 0.498303 0.026734 -0.177434 
time: 1403638209.545097, t: 4.799253 -10.568400 3.298536 q: 0.847929 0.499618 0.030650 -0.174528 
time: 1403638209.645097, t: 4.716058 -10.552535 3.237617 q: 0.848372 0.499577 0.030922 -0.172426 
time: 1403638209.745097, t: 4.615879 -10.536784 3.187528 q: 0.849100 0.498059 0.029820 -0.173431 
time: 1403638209.845097, t: 4.501941 -10.517265 3.146604 q: 0.849365 0.496189 0.033547 -0.176776 
time: 1403638209.945097, t: 4.378709 -10.493372 3.113191 q: 0.849380 0.495895 0.039591 -0.176277 
time: 1403638210.045097, t: 4.255040 -10.466615 3.083841 q: 0.848944 0.496756 0.047415 -0.174008 
time: 1403638210.145097, t: 4.131414 -10.431726 3.059470 q: 0.848231 0.499103 0.053402 -0.168965 
time: 1403638210.245097, t: 4.020344 -10.392446 3.029331 q: 0.847582 0.500853 0.056228 -0.166098 
time: 1403638210.345097, t: 3.900854 -10.347582 2.981204 q: 0.847970 0.499723 0.057231 -0.167179 
time: 1403638210.445097, t: 3.794379 -10.294110 2.936483 q: 0.848252 0.499497 0.054844 -0.167222 
time: 1403638210.545097, t: 3.672529 -10.235287 2.890131 q: 0.848613 0.499502 0.055490 -0.165148 
time: 1403638210.645097, t: 3.549217 -10.170023 2.848588 q: 0.848828 0.499564 0.057127 -0.163287 
time: 1403638210.745097, t: 3.426897 -10.097918 2.801176 q: 0.849292 0.499544 0.056391 -0.161180 
time: 1403638210.845097, t: 3.302789 -10.019008 2.746713 q: 0.849988 0.498600 0.054737 -0.161007 
time: 1403638210.945097, t: 3.187133 -9.937286 2.675350 q: 0.851265 0.496582 0.048080 -0.162613 
time: 1403638211.045097, t: 3.077729 -9.842174 2.626644 q: 0.851493 0.496591 0.042420 -0.162966 
time: 1403638211.145097, t: 2.983296 -9.742618 2.583563 q: 0.851298 0.496796 0.037237 -0.164618 
time: 1403638211.245097, t: 2.892620 -9.641196 2.532567 q: 0.851334 0.496898 0.033673 -0.164889 
time: 1403638211.345097, t: 2.812141 -9.532699 2.485310 q: 0.852646 0.494807 0.032558 -0.164624 
time: 1403638211.445097, t: 2.733916 -9.422560 2.436809 q: 0.857711 0.487128 0.031483 -0.161388 
optimize pose graph 
time: 1403638211.545097, t: 2.648424 -9.312877 2.383581 q: 0.865481 0.475039 0.030863 -0.155976 
time: 1403638211.645097, t: 2.556082 -9.196503 2.342488 q: 0.875054 0.460794 0.030125 -0.145062 
time: 1403638211.745097, t: 2.473948 -9.071418 2.316406 q: 0.886393 0.442412 0.027827 -0.133435 
time: 1403638211.845097, t: 2.380563 -8.945888 2.289645 q: 0.898980 0.420998 0.023825 -0.118443 
time: 1403638211.945097, t: 2.297178 -8.819137 2.260647 q: 0.911200 0.397405 0.022623 -0.106172 
time: 1403638212.045097, t: 2.223103 -8.690949 2.221650 q: 0.922614 0.373038 0.021750 -0.095671 
time: 1403638212.145097, t: 2.147026 -8.557293 2.181795 q: 0.933069 0.347624 0.024485 -0.089111 
time: 1403638212.245097, t: 2.090980 -8.416699 2.149240 q: 0.942691 0.322156 0.026926 -0.082603 
time: 1403638212.345097, t: 2.039337 -8.278460 2.106018 q: 0.951503 0.297024 0.027683 -0.075179 
time: 1403638212.445097, t: 1.993764 -8.130966 2.084550 q: 0.959275 0.272296 0.030018 -0.068888 
time: 1403638212.545097, t: 1.962458 -7.984004 2.050128 q: 0.966257 0.249139 0.031155 -0.057503 
time: 1403638212.645097, t: 1.928277 -7.828755 2.012816 q: 0.972698 0.225160 0.030595 -0.047169 
time: 1403638212.745097, t: 1.908231 -7.673234 1.972894 q: 0.978760 0.198871 0.029069 -0.040413 
time: 1403638212.845097, t: 1.893498 -7.520876 1.917231 q: 0.984224 0.171864 0.029995 -0.029437 
time: 1403638212.945097, t: 1.877431 -7.355945 1.878051 q: 0.988839 0.144832 0.030123 -0.017730 
time: 1403638213.045097, t: 1.871934 -7.184872 1.858229 q: 0.992701 0.116700 0.029717 -0.006510 
time: 1403638213.145097, t: 1.868120 -7.016604 1.816710 q: 0.995676 0.088406 0.027457 0.007694 
time: 1403638213.245097, t: 1.845620 -6.846260 1.774502 q: 0.997586 0.061324 0.019528 0.026072 
time: 1403638213.345097, t: 1.804189 -6.662784 1.756583 q: 0.998106 0.036793 0.010259 0.048214 
time: 1403638213.445097, t: 1.783506 -6.474781 1.735901 q: 0.997382 0.012464 0.002010 0.071208 
time: 1403638213.545097, t: 1.790545 -6.295824 1.690854 q: 0.996095 -0.014255 -0.000164 0.087126 
time: 1403638213.645097, t: 1.766363 -6.102063 1.692978 q: 0.995515 -0.040534 0.013507 0.084408 
optimize pose graph 
time: 1403638213.745097, t: 1.755657 -5.876366 1.694298 q: 0.995118 -0.059223 0.027920 0.073845 
time: 1403638213.845097, t: 1.748298 -5.672242 1.689572 q: 0.994608 -0.072394 0.035950 0.064970 
time: 1403638213.945097, t: 1.744383 -5.467961 1.673966 q: 0.994402 -0.078477 0.037477 0.060019 
time: 1403638214.045097, t: 1.750212 -5.274906 1.653926 q: 0.994507 -0.079831 0.032533 0.059368 
time: 1403638214.145097, t: 1.762700 -5.082292 1.635163 q: 0.994972 -0.079004 0.021037 0.057858 
time: 1403638214.245097, t: 1.772885 -4.894896 1.610370 q: 0.995406 -0.076744 0.009367 0.056483 
time: 1403638214.345097, t: 1.783513 -4.709684 1.591707 q: 0.995745 -0.073718 0.000966 0.055287 
time: 1403638214.445097, t: 1.789006 -4.526573 1.577657 q: 0.996117 -0.070785 -0.001584 0.052327 
time: 1403638214.545097, t: 1.798197 -4.344107 1.573028 q: 0.996434 -0.068454 0.007410 0.048771 
time: 1403638214.645097, t: 1.799213 -4.161160 1.579492 q: 0.996577 -0.066488 0.018687 0.045442 
time: 1403638214.745097, t: 1.796538 -3.979926 1.587292 q: 0.996566 -0.064490 0.029826 0.042523 
time: 1403638214.845097, t: 1.780280 -3.800851 1.601760 q: 0.996532 -0.062360 0.037291 0.040546 
time: 1403638214.945097, t: 1.768483 -3.624221 1.615634 q: 0.996528 -0.060850 0.041436 0.038877 
time: 1403638215.045097, t: 1.747797 -3.448937 1.632339 q: 0.996563 -0.059460 0.042907 0.038558 
time: 1403638215.145097, t: 1.722665 -3.275463 1.646899 q: 0.996682 -0.059013 0.042284 0.036806 
time: 1403638215.245097, t: 1.694254 -3.103425 1.662778 q: 0.996874 -0.059412 0.038685 0.034857 
time: 1403638215.345097, t: 1.666841 -2.937899 1.674646 q: 0.997025 -0.061411 0.035281 0.030407 
time: 1403638215.445097, t: 1.643401 -2.773147 1.682377 q: 0.997048 -0.063696 0.035317 0.024305 
time: 1403638215.545097, t: 1.621624 -2.615336 1.688403 q: 0.997044 -0.064311 0.035030 0.023253 
time: 1403638215.645097, t: 1.608303 -2.461762 1.691018 q: 0.996918 -0.064225 0.038655 0.023122 
time: 1403638215.745097, t: 1.601561 -2.312785 1.685034 q: 0.996881 -0.062269 0.039719 0.027802 
time: 1403638215.845097, t: 1.589371 -2.165531 1.681586 q: 0.996585 -0.064358 0.039749 0.033123 
time: 1403638215.945097, t: 1.571627 -2.026461 1.679128 q: 0.996196 -0.068823 0.039922 0.035541 
time: 1403638216.045097, t: 1.546315 -1.889086 1.677996 q: 0.995870 -0.072114 0.039875 0.038100 
time: 1403638216.145097, t: 1.524454 -1.754233 1.675080 q: 0.995644 -0.075568 0.039470 0.037737 
time: 1403638216.245097, t: 1.505323 -1.624687 1.669008 q: 0.995396 -0.078324 0.041407 0.036577 
time: 1403638216.345097, t: 1.492483 -1.501292 1.658990 q: 0.995182 -0.080431 0.043040 0.035921 
time: 1403638216.445097, t: 1.482400 -1.385640 1.647610 q: 0.994966 -0.082196 0.045038 0.035477 
time: 1403638216.545097, t: 1.471288 -1.273811 1.633962 q: 0.994923 -0.083044 0.044617 0.035218 
time: 1403638216.645097, t: 1.456277 -1.167159 1.619790 q: 0.994971 -0.084964 0.041961 0.032454 
time: 1403638216.745097, t: 1.434511 -1.067047 1.605118 q: 0.995050 -0.086200 0.039528 0.029709 
time: 1403638216.845097, t: 1.408759 -0.967809 1.590703 q: 0.994485 -0.090244 0.045190 0.028509 
time: 1403638216.945097, t: 1.381126 -0.873535 1.574569 q: 0.993491 -0.097911 0.048621 0.032033 
time: 1403638217.045097, t: 1.347765 -0.786916 1.560252 q: 0.992146 -0.107845 0.047397 0.042072 
time: 1403638217.145097, t: 1.310336 -0.703771 1.538976 q: 0.990372 -0.120831 0.042646 0.052392 
time: 1403638217.245097, t: 1.269091 -0.624873 1.519169 q: 0.988612 -0.133224 0.038510 0.058437 
time: 1403638217.445097, t: 1.203557 -0.476724 1.471947 q: 0.986195 -0.148785 0.033372 0.064560 
time: 1403638217.545097, t: 1.185633 -0.410815 1.445599 q: 0.985527 -0.155091 0.030554 0.061232 
time: 1403638217.645097, t: 1.173166 -0.347332 1.416315 q: 0.985189 -0.159762 0.028288 0.055491 
optimize pose graph 
time: 1403638217.845097, t: 1.166452 -0.234592 1.357375 q: 0.984998 -0.165770 0.023008 0.042079 
time: 1403638217.945097, t: 1.174035 -0.190720 1.326560 q: 0.985027 -0.166281 0.025080 0.037999 
time: 1403638218.145097, t: 1.168854 -0.122967 1.283186 q: 0.985380 -0.163229 0.031440 0.037343 
time: 1403638218.245097, t: 1.159724 -0.101065 1.266573 q: 0.985501 -0.161584 0.036538 0.036657 
time: 1403638218.345097, t: 1.148654 -0.087476 1.254382 q: 0.985627 -0.158373 0.043756 0.039284 
time: 1403638218.445097, t: 1.141378 -0.080992 1.235354 q: 0.986004 -0.154290 0.045324 0.043995 
time: 1403638218.545097, t: 1.138859 -0.079896 1.212872 q: 0.986286 -0.152153 0.044283 0.046141 
time: 1403638218.645097, t: 1.143090 -0.084673 1.183251 q: 0.986593 -0.150199 0.041203 0.048756 
time: 1403638218.745097, t: 1.144920 -0.094490 1.154300 q: 0.986429 -0.152123 0.033025 0.052205 
time: 1403638218.845097, t: 1.142714 -0.104616 1.125964 q: 0.985318 -0.159005 0.026191 0.056386 
time: 1403638218.945097, t: 1.136988 -0.118607 1.101061 q: 0.984051 -0.162456 0.024998 0.068015 
time: 1403638219.045097, t: 1.127158 -0.134735 1.081247 q: 0.982681 -0.162339 0.028150 0.084803 
time: 1403638219.145097, t: 1.115550 -0.149011 1.062427 q: 0.981535 -0.164485 0.031801 0.092315 
time: 1403638219.245097, t: 1.101631 -0.160062 1.044930 q: 0.980910 -0.170425 0.038047 0.085574 
time: 1403638219.345097, t: 1.084972 -0.171584 1.027751 q: 0.980200 -0.175980 0.047690 0.077234 
time: 1403638219.445097, t: 1.070253 -0.183906 1.006943 q: 0.979380 -0.178957 0.059741 0.072252 
time: 1403638219.645097, t: 1.048301 -0.221437 0.942358 q: 0.979347 -0.177811 0.059528 0.075623 
time: 1403638219.745097, t: 1.035975 -0.243524 0.901267 q: 0.979581 -0.174476 0.055477 0.083074 
time: 1403638219.845097, t: 1.016759 -0.266727 0.857972 q: 0.979693 -0.170187 0.050586 0.093163 
time: 1403638219.945097, t: 0.990618 -0.287857 0.814687 q: 0.979569 -0.166425 0.047079 0.102619 
optimize pose graph 
time: 1403638220.045097, t: 0.958839 -0.304104 0.769977 q: 0.979532 -0.163880 0.043022 0.108670 
time: 1403638220.145097, t: 0.925043 -0.313429 0.723705 q: 0.979817 -0.164738 0.039016 0.106290 
time: 1403638220.245097, t: 0.893819 -0.317669 0.672685 q: 0.980401 -0.171060 0.035013 0.091246 
time: 1403638220.345097, t: 0.870190 -0.323589 0.617820 q: 0.980707 -0.176558 0.030800 0.078057 
time: 1403638220.445097, t: 0.854125 -0.329028 0.562022 q: 0.980684 -0.179208 0.029324 0.072687 
time: 1403638220.545097, t: 0.843246 -0.335012 0.504411 q: 0.980565 -0.180358 0.029870 0.071218 
time: 1403638220.645097, t: 0.829974 -0.343134 0.450103 q: 0.980293 -0.181996 0.030206 0.070647 
time: 1403638220.745097, t: 0.813096 -0.352258 0.396829 q: 0.980037 -0.182960 0.030283 0.071667 
time: 1403638220.845097, t: 0.791455 -0.363762 0.347462 q: 0.979794 -0.183352 0.031025 0.073640 
time: 1403638220.945097, t: 0.762308 -0.377510 0.300677 q: 0.979576 -0.184014 0.029676 0.075424 
time: 1403638221.045097, t: 0.729305 -0.391741 0.257754 q: 0.979480 -0.184553 0.028528 0.075801 
time: 1403638221.145097, t: 0.693044 -0.403816 0.218599 q: 0.979340 -0.185289 0.027132 0.076323 
time: 1403638221.245097, t: 0.663681 -0.420092 0.176458 q: 0.979304 -0.185241 0.024683 0.077722 
time: 1403638221.345097, t: 0.644416 -0.437570 0.131961 q: 0.979246 -0.184627 0.022113 0.080627 
time: 1403638221.445097, t: 0.629090 -0.455380 0.090610 q: 0.979095 -0.183932 0.021236 0.084214 
time: 1403638221.545097, t: 0.610432 -0.471120 0.050473 q: 0.978978 -0.183201 0.021495 0.087045 
time: 1403638221.645097, t: 0.588033 -0.485450 0.015590 q: 0.978820 -0.183458 0.023257 0.087824 
time: 1403638221.745097, t: 0.564863 -0.501318 -0.016438 q: 0.978582 -0.183026 0.027983 0.089971 
time: 1403638221.845097, t: 0.546688 -0.510864 -0.047973 q: 0.978649 -0.182342 0.029699 0.090081 
time: 1403638221.945097, t: 0.533711 -0.522436 -0.084910 q: 0.978778 -0.183875 0.031652 0.084742 
time: 1403638222.045097, t: 0.527036 -0.533876 -0.124882 q: 0.978860 -0.185305 0.030915 0.080864 
time: 1403638222.145097, t: 0.519509 -0.546115 -0.163046 q: 0.979027 -0.185868 0.025334 0.079484 
time: 1403638222.245097, t: 0.509947 -0.555459 -0.199952 q: 0.979129 -0.185719 0.018815 0.080376 
time: 1403638222.345097, t: 0.496984 -0.566406 -0.232853 q: 0.979195 -0.185185 0.012821 0.081968 
time: 1403638222.445097, t: 0.475472 -0.579077 -0.255741 q: 0.979173 -0.185010 0.008257 0.083203 
time: 1403638222.545097, t: 0.457357 -0.588404 -0.279040 q: 0.979185 -0.184839 0.008848 0.083390 
time: 1403638222.645097, t: 0.439070 -0.599207 -0.295974 q: 0.979064 -0.185045 0.018709 0.082711 
time: 1403638222.745097, t: 0.418067 -0.608757 -0.308966 q: 0.978902 -0.185601 0.025079 0.081693 
time: 1403638222.845097, t: 0.394705 -0.618500 -0.320934 q: 0.978786 -0.186088 0.029569 0.080469 
time: 1403638222.945097, t: 0.374529 -0.626199 -0.332765 q: 0.978420 -0.186264 0.042379 0.078763 
time: 1403638223.045097, t: 0.350983 -0.636149 -0.347749 q: 0.978479 -0.185683 0.043144 0.078991 
time: 1403638223.145097, t: 0.332034 -0.650458 -0.366358 q: 0.978790 -0.185978 0.033051 0.079315 
time: 1403638223.245097, t: 0.316673 -0.665247 -0.386336 q: 0.979037 -0.182988 0.016072 0.088000 
time: 1403638223.345097, t: 0.305071 -0.676046 -0.406892 q: 0.978991 -0.181638 0.012277 0.091836 
time: 1403638223.445097, t: 0.295409 -0.684933 -0.423395 q: 0.978673 -0.179056 0.018755 0.098930 
time: 1403638223.545097, t: 0.282684 -0.688117 -0.437918 q: 0.978166 -0.175324 0.026949 0.108290 
time: 1403638223.645097, t: 0.266230 -0.687510 -0.453074 q: 0.978384 -0.178783 0.028379 0.099984 
time: 1403638223.745097, t: 0.245716 -0.683519 -0.470068 q: 0.978714 -0.183905 0.026663 0.087101 
time: 1403638223.845097, t: 0.228549 -0.677421 -0.484190 q: 0.978876 -0.187175 0.024282 0.078597 
time: 1403638223.945097, t: 0.209065 -0.675912 -0.495641 q: 0.978911 -0.189432 0.023395 0.072813 
time: 1403638224.045097, t: 0.187197 -0.674965 -0.506023 q: 0.979016 -0.189803 0.019345 0.071609 
time: 1403638224.145097, t: 0.166291 -0.679757 -0.513731 q: 0.979199 -0.188329 0.009537 0.074902 
optimize pose graph 
time: 1403638224.245097, t: 0.144085 -0.680361 -0.515487 q: 0.979251 -0.187301 0.003887 0.077267 
time: 1403638224.345097, t: 0.207522 -0.668294 -0.509341 q: 0.978674 -0.186294 -0.001515 0.086546 
time: 1403638224.445097, t: 0.120158 -0.682641 -0.512627 q: 0.978899 -0.185248 0.022449 0.083282 
time: 1403638224.545097, t: 0.109412 -0.688055 -0.509357 q: 0.978531 -0.185676 0.035016 0.082311 
time: 1403638224.645097, t: 0.098634 -0.690146 -0.506705 q: 0.978745 -0.186057 0.030722 0.080604 
time: 1403638224.745097, t: 0.086760 -0.694096 -0.505034 q: 0.979132 -0.185063 0.012865 0.082992 
time: 1403638224.845097, t: 0.079995 -0.700584 -0.502066 q: 0.979189 -0.184488 0.008062 0.084195 
time: 1403638224.945097, t: 0.081046 -0.704324 -0.498036 q: 0.978959 -0.181409 0.021341 0.090960 
time: 1403638225.045097, t: 0.086466 -0.708380 -0.495755 q: 0.978668 -0.178378 0.032911 0.096477 
time: 1403638225.145097, t: 0.090066 -0.711985 -0.493965 q: 0.978879 -0.179960 0.034016 0.090842 
time: 1403638225.245097, t: 0.093926 -0.713500 -0.493484 q: 0.979486 -0.180973 0.022447 0.085748 
time: 1403638225.345097, t: 0.100247 -0.712552 -0.493625 q: 0.979712 -0.181869 0.015693 0.082720 
time: 1403638225.445097, t: 0.104940 -0.711142 -0.491066 q: 0.979621 -0.182813 0.022713 0.080037 
time: 1403638225.545097, t: 0.103811 -0.710075 -0.484235 q: 0.979071 -0.184626 0.040324 0.075541 
time: 1403638225.645097, t: 0.094945 -0.710932 -0.476834 q: 0.978249 -0.185980 0.057446 0.071695 
time: 1403638225.745097, t: 0.074065 -0.715122 -0.468774 q: 0.978491 -0.186099 0.053828 0.070884 
time: 1403638225.845097, t: 0.042417 -0.722392 -0.459835 q: 0.979352 -0.184934 0.034682 0.073933 
time: 1403638225.945097, t: 0.005021 -0.730221 -0.452626 q: 0.979833 -0.183710 0.016870 0.076767 
time: 1403638226.045097, t: -0.014681 -0.745668 -0.445950 q: 0.980401 -0.179638 -0.000566 0.080892 
time: 1403638226.145097, t: -0.003764 -0.753531 -0.440735 q: 0.980114 -0.168246 0.004161 0.105131 
time: 1403638226.245097, t: -0.046036 -0.751173 -0.435531 q: 0.980392 -0.180554 -0.005132 0.078780 
time: 1403638226.345097, t: -0.009608 -0.768982 -0.432828 q: 0.980506 -0.179546 -0.000255 0.079823 
time: 1403638226.445097, t: -0.010304 -0.765780 -0.428034 q: 0.980483 -0.179682 0.000158 0.079799 
optimize pose graph 
time: 1403638226.545097, t: -0.010487 -0.763612 -0.426975 q: 0.981425 -0.170396 0.000061 0.088143 
time: 1403638226.645097, t: -0.042915 -0.759040 -0.426589 q: 0.980594 -0.178987 0.002187 0.079969 
time: 1403638226.745097, t: -0.045971 -0.757179 -0.426486 q: 0.980581 -0.178794 0.001714 0.080570 
time: 1403638226.845097, t: -0.045741 -0.757550 -0.426775 q: 0.980597 -0.178865 0.002150 0.080201 
time: 1403638226.945097, t: -0.045742 -0.757322 -0.426572 q: 0.980593 -0.179130 0.001860 0.079658 
time: 1403638227.045097, t: -0.045616 -0.757358 -0.426600 q: 0.980592 -0.179526 0.001509 0.078791 
time: 1403638227.145097, t: -0.046134 -0.757216 -0.426478 q: 0.980603 -0.179286 0.001737 0.079192 
time: 1403638227.245097, t: -0.046106 -0.757315 -0.426581 q: 0.980613 -0.179117 0.001744 0.079451 
time: 1403638227.345097, t: -0.045991 -0.757419 -0.426643 q: 0.980592 -0.179011 0.001790 0.079947 
time: 1403638227.445097, t: -0.045963 -0.757494 -0.426718 q: 0.980588 -0.179029 0.001781 0.079954 
time: 1403638227.545097, t: -0.045944 -0.757387 -0.426712 q: 0.980600 -0.179076 0.001801 0.079702 
time: 1403638227.645097, t: -0.045975 -0.757319 -0.426628 q: 0.980603 -0.179139 0.001804 0.079517 
time: 1403638227.745097, t: -0.046036 -0.757347 -0.426615 q: 0.980600 -0.179139 0.001795 0.079557 
time: 1403638227.845097, t: -0.045981 -0.757355 -0.426656 q: 0.980602 -0.179109 0.001775 0.079604 
time: 1403638227.945097, t: -0.045979 -0.757346 -0.426675 q: 0.980602 -0.179066 0.001798 0.079700 
time: 1403638228.045097, t: -0.045976 -0.757368 -0.426696 q: 0.980593 -0.179086 0.001796 0.079766 
time: 1403638228.145097, t: -0.045839 -0.757341 -0.426745 q: 0.980599 -0.179048 0.001848 0.079780 
time: 1403638228.245097, t: -0.045965 -0.757364 -0.426700 q: 0.980600 -0.179111 0.001814 0.079624 
time: 1403638228.345097, t: -0.046039 -0.757332 -0.426630 q: 0.980598 -0.179111 0.001816 0.079643 
time: 1403638228.445097, t: -0.046079 -0.757342 -0.426619 q: 0.980606 -0.179100 0.001767 0.079576 
time: 1403638228.545097, t: -0.046067 -0.757314 -0.426579 q: 0.980608 -0.179076 0.001824 0.079601 
time: 1403638228.645097, t: -0.046083 -0.757329 -0.426610 q: 0.980606 -0.179076 0.001784 0.079622 
time: 1403638228.745097, t: -0.046074 -0.757337 -0.426581 q: 0.980608 -0.179062 0.001796 0.079633 
time: 1403638228.845097, t: -0.046066 -0.757322 -0.426582 q: 0.980605 -0.179066 0.001831 0.079656 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731022728.452772855]: Shutdown request received.[0m
[33m[ WARN] [1731022728.452824451]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731022728.453855244]: Shutdown request received.[0m
[33m[ WARN] [1731022728.453895452]: Reason given for shutdown: [user request][0m
killed
