/SLAM-Hive/slam_hive_results/mapping_results/3377/2190_vins-fusion-stereo+MH_02_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/700ebd24-9d6b-11ef-8919-0242ac110002/roslaunch-c11244f7090a-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
[31m[ERROR] [1731027023.933433999]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731027023.936453397]: init begins[0m
[31m[ERROR] [1731027023.937511171]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://c11244f7090a:35131/[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] [1731027024.943404327]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1731027024.966319791]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731027024.966533055]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731027024.966555139]: 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] [1731027024.968353751]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731027024.968570643]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731027024.968741181]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://c11244f7090a:11311/[0m
]2;roscore http://c11244f7090a:11311/
[1msetting /run_id to 700ebd24-9d6b-11ef-8919-0242ac110002[0m
[0m[ INFO] [1731027024.989089398]: 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
[1mprocess[rosout-1]: started with pid [242][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_02_easy.bag  --clock 
[0m[ INFO] [1731027034.309142573]: 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: 327390177.80 
[0m[ INFO] [1731027037.795320007]: 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 
time: 1403636860.601666, t: 0.170206 0.089152 -0.061361 q: 0.993740 -0.070172 -0.086407 0.009529 
time: 1403636860.701667, t: 0.141127 0.089631 -0.057076 q: 0.993469 -0.065355 -0.092997 0.009996 
time: 1403636860.801666, t: 0.131944 0.091318 -0.058708 q: 0.993479 -0.064349 -0.094077 0.002734 
time: 1403636860.901666, t: 0.149637 0.090668 -0.065349 q: 0.993636 -0.062413 -0.093684 -0.003864 
time: 1403636861.001667, t: 0.191833 0.088657 -0.076835 q: 0.994095 -0.059930 -0.090087 -0.008243 
time: 1403636861.101666, t: 0.248071 0.086544 -0.090554 q: 0.995281 -0.059504 -0.076015 -0.009857 
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time: 1403636861.501667, t: 0.443534 0.084171 -0.139109 q: 0.997942 -0.062689 0.003078 -0.013121 
time: 1403636861.601666, t: 0.436183 0.087566 -0.135761 q: 0.997810 -0.064772 0.001668 -0.013316 
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time: 1403636861.801666, t: 0.349305 0.094442 -0.108629 q: 0.997759 -0.062128 -0.021450 -0.012511 
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: 1403636862.301666, t: 0.134732 0.090966 -0.057329 q: 0.994636 -0.051811 -0.089443 -0.003876 
time: 1403636862.401666, t: 0.153999 0.090044 -0.063086 q: 0.994107 -0.050776 -0.095556 -0.006425 
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time: 1403636863.701667, t: 0.179882 0.097635 -0.069129 q: 0.994971 -0.073852 -0.067648 -0.001554 
time: 1403636863.801666, t: 0.143050 0.100425 -0.061326 q: 0.993992 -0.072230 -0.082077 0.005034 
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 
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time: 1403636864.301666, t: 0.363884 0.086654 -0.126391 q: 0.994434 -0.072976 -0.075217 -0.010856 
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time: 1403636867.101666, t: 0.254003 0.088149 -0.104452 q: 0.994024 -0.069170 -0.084382 0.003455 
time: 1403636867.201667, t: 0.243953 0.087226 -0.109605 q: 0.993928 -0.062115 -0.090601 0.006405 
time: 1403636867.301666, t: 0.239488 0.084160 -0.117671 q: 0.994081 -0.051278 -0.095512 0.007181 
time: 1403636867.401666, t: 0.241001 0.082267 -0.126027 q: 0.993456 -0.049887 -0.102551 0.006251 
time: 1403636867.501667, t: 0.245238 0.079849 -0.135946 q: 0.991809 -0.052936 -0.116146 0.004709 
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time: 1403636867.701667, t: 0.237870 0.077693 -0.153662 q: 0.978050 -0.055054 -0.200833 0.007300 
optimize pose graph 
time: 1403636867.801666, t: 0.228721 0.078533 -0.162359 q: 0.964073 -0.058172 -0.258837 0.013499 
time: 1403636867.901666, t: 0.224926 0.079339 -0.166820 q: 0.954208 -0.063441 -0.291645 0.020139 
time: 1403636868.001667, t: 0.229260 0.078088 -0.167720 q: 0.953504 -0.066125 -0.293024 0.024406 
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time: 1403636868.201667, t: 0.237151 0.074672 -0.172136 q: 0.960980 -0.064670 -0.267871 0.024086 
time: 1403636868.301666, t: 0.236207 0.071941 -0.177150 q: 0.961107 -0.063583 -0.267406 0.026909 
time: 1403636868.401666, t: 0.233490 0.065920 -0.183270 q: 0.960292 -0.064172 -0.269749 0.030925 
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time: 1403636868.901666, t: 0.234368 0.034001 -0.213659 q: 0.961600 -0.074301 -0.263170 0.023391 
time: 1403636869.001667, t: 0.234930 0.028813 -0.214360 q: 0.963413 -0.071730 -0.257272 0.022411 
time: 1403636869.101666, t: 0.236026 0.024899 -0.214264 q: 0.964976 -0.066514 -0.252619 0.024093 
time: 1403636869.201667, t: 0.234939 0.021789 -0.213698 q: 0.965436 -0.062773 -0.251841 0.023870 
time: 1403636869.301666, t: 0.234053 0.020314 -0.212234 q: 0.965282 -0.062048 -0.252758 0.022227 
time: 1403636869.401666, t: 0.233577 0.020087 -0.210380 q: 0.965452 -0.060502 -0.252481 0.022264 
time: 1403636869.501667, t: 0.233190 0.022257 -0.209053 q: 0.965552 -0.060241 -0.252146 0.022441 
time: 1403636869.601666, t: 0.233351 0.031074 -0.208269 q: 0.965413 -0.061074 -0.252444 0.022776 
time: 1403636869.701667, t: 0.233989 0.049786 -0.207661 q: 0.964321 -0.063001 -0.256099 0.023002 
time: 1403636869.801666, t: 0.236570 0.077764 -0.206079 q: 0.963384 -0.066981 -0.258448 0.024697 
optimize pose graph 
time: 1403636869.901666, t: 0.241926 0.114717 -0.202511 q: 0.964056 -0.073801 -0.253690 0.028119 
time: 1403636870.001667, t: 0.246710 0.159033 -0.198045 q: 0.965046 -0.080318 -0.247373 0.032278 
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time: 1403636870.201667, t: 0.257368 0.258395 -0.188372 q: 0.961356 -0.097017 -0.254853 0.037841 
time: 1403636870.301666, t: 0.264337 0.311059 -0.183857 q: 0.961027 -0.100724 -0.254280 0.040295 
time: 1403636870.401666, t: 0.270003 0.361820 -0.180179 q: 0.962323 -0.107500 -0.246505 0.040170 
time: 1403636870.501667, t: 0.271117 0.406886 -0.176187 q: 0.962064 -0.112944 -0.244612 0.042915 
time: 1403636870.601666, t: 0.269790 0.444059 -0.174520 q: 0.959293 -0.118988 -0.251605 0.047893 
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time: 1403636874.601666, t: 0.230341 0.311465 -0.126101 q: 0.958580 -0.100904 -0.260666 0.054741 
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time: 1403636875.201667, t: 0.204254 0.029371 -0.077411 q: 0.968052 -0.090691 -0.226041 0.059633 
time: 1403636875.301666, t: 0.197167 0.007923 -0.076243 q: 0.968475 -0.110746 -0.210775 0.073249 
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time: 1403636875.501667, t: 0.180970 -0.026460 -0.098893 q: 0.961501 -0.135754 -0.210362 0.113289 
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time: 1403636875.801666, t: 0.146261 -0.011174 -0.208724 q: 0.952199 -0.166693 -0.212744 0.142378 
optimize pose graph 
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time: 1403636876.001667, t: 0.126818 0.036635 -0.289577 q: 0.940112 -0.212813 -0.213453 0.159180 
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time: 1403636876.201667, t: 0.126269 0.119415 -0.347003 q: 0.927884 -0.266790 -0.197663 0.169656 
time: 1403636876.301666, t: 0.128013 0.172728 -0.353675 q: 0.921926 -0.283200 -0.195971 0.177330 
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time: 1403636880.701667, t: 0.143143 0.129703 -0.322306 q: 0.962895 -0.171771 -0.169837 0.120350 
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time: 1403636880.901666, t: 0.133483 0.062711 -0.368850 q: 0.961752 -0.163361 -0.178994 0.127700 
time: 1403636881.001667, t: 0.153225 0.031846 -0.395195 q: 0.964917 -0.142763 -0.177493 0.130574 
time: 1403636881.101666, t: 0.144255 -0.009487 -0.358506 q: 0.971293 -0.135672 -0.159929 0.112272 
time: 1403636881.201667, t: 0.153992 -0.040744 -0.336004 q: 0.976827 -0.112014 -0.150411 0.103144 
time: 1403636881.301666, t: 0.167724 -0.062780 -0.306041 q: 0.981213 -0.085737 -0.145594 0.093123 
time: 1403636881.401666, t: 0.184072 -0.070226 -0.269374 q: 0.983965 -0.068154 -0.143611 0.080894 
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time: 1403636881.801666, t: 0.239727 0.055931 -0.103989 q: 0.988700 -0.056228 -0.134135 0.036322 
optimize pose graph 
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time: 1403636882.501667, t: 0.155565 0.289502 -0.087372 q: 0.986222 -0.092762 -0.119236 0.067413 
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time: 1403636883.101666, t: 0.091976 0.196795 0.039626 q: 0.998851 0.026234 -0.024441 0.031809 
time: 1403636883.201667, t: 0.077933 0.186943 0.066060 q: 0.998973 0.036527 -0.017772 0.020059 
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time: 1403636883.601666, t: 0.042941 0.168340 0.123678 q: 0.997720 0.065786 0.013919 0.005856 
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time: 1403636883.901666, t: 0.034271 0.166007 0.137705 q: 0.996267 0.084139 0.019148 0.002415 
optimize pose graph 
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time: 1403636884.101666, t: 0.032063 0.166931 0.140800 q: 0.995234 0.092947 0.029430 0.001855 
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time: 1403636884.701667, t: 0.032118 0.167153 0.138856 q: 0.994959 0.091994 0.039856 -0.002126 
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time: 1403636899.101666, t: 0.261228 0.253459 0.077981 q: 0.995672 0.091065 -0.007996 -0.016730 
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optimize pose graph 
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time: 1403636900.101666, t: 0.382292 0.397267 0.236916 q: 0.999089 -0.034664 0.013512 0.020896 
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time: 1403636900.301666, t: 0.414864 0.443845 0.257764 q: 0.999120 -0.034086 0.018330 0.016190 
time: 1403636900.401666, t: 0.438155 0.464000 0.262846 q: 0.999326 -0.031072 0.010417 0.016551 
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time: 1403636900.601666, t: 0.487968 0.506295 0.265633 q: 0.999575 -0.024991 0.000024 0.015004 
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time: 1403636900.801666, t: 0.518913 0.549167 0.287033 q: 0.999543 -0.018733 -0.015086 0.018320 
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time: 1403636902.001667, t: 0.620575 1.032519 0.580731 q: 0.999703 -0.017266 0.006301 0.015989 
optimize pose graph 
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time: 1403636902.701667, t: 0.587849 1.379032 0.772581 q: 0.999568 -0.027499 0.004651 0.009286 
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time: 1403636903.801666, t: 0.724122 1.805331 0.966494 q: 0.999799 -0.012113 -0.006755 0.014466 
time: 1403636903.901666, t: 0.734936 1.839526 0.986613 q: 0.999740 -0.010067 -0.007023 0.019230 
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time: 1403636904.101666, t: 0.776485 1.911632 1.026423 q: 0.999635 -0.007602 0.000207 0.025925 
optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403636995.801666, t: 0.896509 4.879340 3.621437 q: 0.948316 -0.292544 0.011343 0.122416 
time: 1403636995.901666, t: 0.882555 4.812719 3.542268 q: 0.947962 -0.289770 0.010402 0.131501 
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time: 1403636996.201667, t: 0.825280 4.629046 3.304696 q: 0.947771 -0.293159 0.001999 0.125632 
time: 1403636996.301666, t: 0.808695 4.573083 3.224513 q: 0.948082 -0.294249 0.000445 0.120658 
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time: 1403636996.601666, t: 0.815105 4.406268 2.975089 q: 0.957183 -0.268966 -0.002317 0.107012 
optimize pose graph 
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time: 1403636997.001667, t: 0.771008 4.194951 2.706569 q: 0.979162 -0.186326 -0.007138 0.080456 
time: 1403636997.101666, t: 0.743049 4.144833 2.650930 q: 0.983447 -0.165368 -0.008383 0.073583 
time: 1403636997.201667, t: 0.711316 4.098263 2.599747 q: 0.986260 -0.149789 -0.009790 0.068989 
time: 1403636997.301666, t: 0.677468 4.054321 2.550484 q: 0.988098 -0.139315 -0.010904 0.064307 
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time: 1403636998.001667, t: 0.672383 3.810221 2.247490 q: 0.988305 -0.139567 -0.016656 0.059140 
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optimize pose graph 
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time: 1403636999.501667, t: 1.008810 3.426146 1.909887 q: 0.986215 -0.155876 0.008090 0.054934 
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time: 1403637002.301666, t: 0.802960 1.908158 0.914101 q: 0.984374 -0.163660 -0.001298 0.064971 
time: 1403637002.401666, t: 0.777956 1.853418 0.872296 q: 0.984430 -0.164195 -0.002362 0.062705 
time: 1403637002.501667, t: 0.761707 1.799611 0.829645 q: 0.984448 -0.164864 -0.001683 0.060658 
time: 1403637002.601666, t: 0.752904 1.746470 0.782123 q: 0.984476 -0.165776 -0.001338 0.057653 
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optimize pose graph 
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time: 1403637005.101666, t: 0.545503 0.474133 -0.078712 q: 0.980801 -0.174458 -0.006023 0.086932 
time: 1403637005.201667, t: 0.519311 0.448539 -0.097797 q: 0.980764 -0.178019 -0.004995 0.079912 
time: 1403637005.301666, t: 0.488435 0.422210 -0.122005 q: 0.980767 -0.179431 -0.008955 0.076297 
optimize pose graph 
time: 1403637005.401666, t: 0.454568 0.399634 -0.144052 q: 0.980939 -0.179011 -0.010563 0.074851 
time: 1403637005.501667, t: 0.424065 0.373995 -0.162341 q: 0.981457 -0.178266 -0.005710 0.070221 
time: 1403637005.601666, t: 0.399610 0.348314 -0.179662 q: 0.981840 -0.176237 -0.004047 0.070099 
time: 1403637005.701667, t: 0.387913 0.321081 -0.203458 q: 0.982020 -0.172210 -0.010489 0.076619 
time: 1403637005.801666, t: 0.387647 0.299744 -0.226578 q: 0.982144 -0.170085 -0.013040 0.079334 
time: 1403637005.901666, t: 0.393392 0.278895 -0.247629 q: 0.982387 -0.171072 -0.010613 0.074412 
time: 1403637006.001667, t: 0.397470 0.258782 -0.266949 q: 0.982490 -0.172256 -0.006784 0.070674 
time: 1403637006.101666, t: 0.398821 0.239078 -0.283378 q: 0.982496 -0.171603 -0.003191 0.072410 
time: 1403637006.301666, t: 0.396621 0.201350 -0.309488 q: 0.982427 -0.169864 -0.010223 0.076679 
time: 1403637006.401666, t: 0.390859 0.184689 -0.322387 q: 0.982237 -0.168077 -0.021140 0.080711 
time: 1403637006.501667, t: 0.386988 0.171336 -0.328183 q: 0.981962 -0.165351 -0.025134 0.088197 
time: 1403637006.601666, t: 0.383376 0.162176 -0.332208 q: 0.982824 -0.161494 -0.016728 0.087729 
time: 1403637006.701667, t: 0.380040 0.155206 -0.334501 q: 0.984766 -0.154645 -0.008232 0.079071 
time: 1403637006.801666, t: 0.373876 0.150641 -0.333914 q: 0.987315 -0.142398 -0.000839 0.070216 
time: 1403637006.901666, t: 0.364410 0.147429 -0.333199 q: 0.990232 -0.123826 -0.000583 0.064091 
time: 1403637007.001667, t: 0.354883 0.145010 -0.332119 q: 0.993283 -0.103265 -0.003532 0.052077 
time: 1403637007.101666, t: 0.345474 0.143879 -0.331306 q: 0.995432 -0.086210 -0.002614 0.040939 
time: 1403637007.201667, t: 0.335185 0.143946 -0.330155 q: 0.996815 -0.072666 -0.000199 0.032847 
time: 1403637007.301666, t: 0.326146 0.144330 -0.329767 q: 0.997582 -0.065183 0.007105 0.023034 
time: 1403637007.401666, t: 0.315788 0.142927 -0.332060 q: 0.997929 -0.060782 0.011849 0.017384 
time: 1403637007.501667, t: 0.303059 0.139557 -0.336396 q: 0.998162 -0.057497 0.009049 0.016900 
optimize pose graph 
time: 1403637007.601666, t: 0.287437 0.134271 -0.341449 q: 0.998270 -0.055859 0.001241 0.018332 
time: 1403637007.701667, t: 0.270011 0.127017 -0.347290 q: 0.998148 -0.055771 -0.012974 0.020545 
time: 1403637007.801666, t: 0.255342 0.118591 -0.351453 q: 0.997954 -0.057367 -0.019538 0.020392 
time: 1403637007.901666, t: 0.245464 0.108660 -0.353758 q: 0.997968 -0.057708 -0.010198 0.024997 
time: 1403637008.001667, t: 0.237151 0.098046 -0.355215 q: 0.997820 -0.057450 0.002061 0.032420 
time: 1403637008.101666, t: 0.227930 0.088382 -0.357913 q: 0.997655 -0.060752 -0.001138 0.031516 
time: 1403637008.201667, t: 0.218406 0.079443 -0.361263 q: 0.997334 -0.063758 -0.017445 0.030926 
time: 1403637008.301666, t: 0.213129 0.070661 -0.364005 q: 0.996914 -0.067058 -0.028855 0.028848 
time: 1403637008.401666, t: 0.213781 0.061351 -0.364054 q: 0.996745 -0.069703 -0.029436 0.027842 
time: 1403637008.501667, t: 0.220686 0.051964 -0.361149 q: 0.996903 -0.070262 -0.015567 0.031695 
time: 1403637008.601666, t: 0.228590 0.042656 -0.356391 q: 0.996830 -0.071066 -0.004324 0.035503 
time: 1403637008.701667, t: 0.232225 0.033633 -0.350050 q: 0.996618 -0.070473 0.000204 0.042262 
time: 1403637008.801666, t: 0.229810 0.026021 -0.342334 q: 0.996093 -0.066253 -0.004307 0.058233 
time: 1403637008.901666, t: 0.223615 0.022372 -0.333569 q: 0.995547 -0.063388 -0.010803 0.068935 
time: 1403637009.001667, t: 0.215570 0.025667 -0.323739 q: 0.995557 -0.065663 -0.011689 0.066472 
time: 1403637009.101666, t: 0.205036 0.035537 -0.312089 q: 0.995958 -0.071337 -0.010807 0.053502 
time: 1403637009.201667, t: 0.192312 0.048534 -0.299631 q: 0.996168 -0.076661 -0.010303 0.040825 
time: 1403637009.301666, t: 0.177897 0.062580 -0.285291 q: 0.996154 -0.083566 -0.012766 0.023052 
time: 1403637009.401666, t: 0.167509 0.073791 -0.275103 q: 0.996966 -0.072268 -0.004884 0.028517 
time: 1403637009.501667, t: 0.164470 0.082171 -0.274487 q: 0.998223 -0.053906 0.009975 0.023353 
time: 1403637009.601666, t: 0.158624 0.087377 -0.274749 q: 0.997101 -0.028358 0.049770 0.050075 
time: 1403637009.701667, t: 0.151582 0.091862 -0.283369 q: 0.996612 -0.043878 0.040484 0.056569 
optimize pose graph 
time: 1403637009.801666, t: 0.150374 0.093482 -0.284543 q: 0.996306 -0.045385 0.041397 0.060012 
time: 1403637009.901666, t: 0.150654 0.094012 -0.285796 q: 0.996374 -0.045030 0.041252 0.059248 
time: 1403637010.001667, t: 0.150724 0.093871 -0.285806 q: 0.996366 -0.044848 0.041374 0.059433 
time: 1403637010.101666, t: 0.150449 0.093821 -0.286285 q: 0.996337 -0.044424 0.041498 0.060137 
time: 1403637010.201667, t: 0.150489 0.093736 -0.286249 q: 0.996328 -0.044288 0.041598 0.060329 
time: 1403637010.301666, t: 0.150461 0.093704 -0.286220 q: 0.996329 -0.044101 0.041397 0.060576 
time: 1403637010.401666, t: 0.150473 0.093678 -0.286219 q: 0.996324 -0.044121 0.041572 0.060526 
time: 1403637010.501667, t: 0.150466 0.093685 -0.286215 q: 0.996327 -0.044139 0.041480 0.060525 

Done.
time: 1403637010.601666, t: 0.150459 0.093673 -0.286208 q: 0.996325 -0.044066 0.041480 0.060611 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731027189.130794238]: Shutdown request received.[0m
[33m[ WARN] [1731027189.130834783]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731027189.131701594]: Shutdown request received.[0m
[33m[ WARN] [1731027189.131729337]: Reason given for shutdown: [user request][0m
killed
