/SLAM-Hive/slam_hive_results/mapping_results/3425/2190_vins-fusion-stereo+MH_02_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/8d1a78b6-9d81-11ef-b22e-0242ac110002/roslaunch-5e72473f70b5-117.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
[31m[ERROR] [1731036521.723816706]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731036521.730569904]: init begins[0m
[31m[ERROR] [1731036521.732055523]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://5e72473f70b5:43713/[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] [1731036522.629763642]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731036522.637175327]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://5e72473f70b5:11311/[0m
]2;roscore http://5e72473f70b5:11311/
[1msetting /run_id to 8d1a78b6-9d81-11ef-b22e-0242ac110002[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
result path /home/output/vio.csv
[33m[ WARN] [1731036522.655674495]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731036522.655892101]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731036522.655921510]: 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] [1731036522.672575905]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731036522.934774833]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731036522.934970642]: waiting for image and imu...[0m
[1mprocess[rosout-1]: started with pid [191][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] [1731036531.627536443]: 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: 327399675.00 
[0m[ INFO] [1731036535.000807743]: Initialization finish![0m
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time: 1403636868.801666, t: 0.235372 0.038711 -0.209716 q: 0.962210 -0.073796 -0.260508 0.029007 
optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403636884.201667, t: 0.083749 0.175675 0.109001 q: 0.994488 0.099296 -0.001393 -0.033639 
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time: 1403636884.601666, t: 0.083969 0.174963 0.107360 q: 0.994490 0.099185 0.003856 -0.033709 
time: 1403636884.701667, t: 0.083912 0.175011 0.107458 q: 0.994496 0.099150 0.003511 -0.033698 
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time: 1403636885.001667, t: 0.083898 0.175039 0.107492 q: 0.994502 0.099100 0.003435 -0.033667 
optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403636987.701667, t: 1.625158 8.875019 8.111411 q: 0.918505 -0.385030 0.006584 0.089756 
time: 1403636987.801666, t: 1.640344 8.846924 8.155920 q: 0.919743 -0.382035 0.007781 0.089786 
time: 1403636987.901666, t: 1.665837 8.813184 8.193900 q: 0.920791 -0.378545 0.007423 0.093772 
time: 1403636988.001667, t: 1.691411 8.775221 8.225234 q: 0.921733 -0.373890 0.005523 0.102875 
time: 1403636988.101666, t: 1.717110 8.734593 8.255291 q: 0.921906 -0.370388 0.002195 0.113568 
time: 1403636988.201667, t: 1.739131 8.697198 8.279577 q: 0.921799 -0.368260 0.000812 0.121122 
time: 1403636988.301666, t: 1.750334 8.660516 8.302273 q: 0.921524 -0.367859 0.007089 0.124192 
time: 1403636988.401666, t: 1.765590 8.627399 8.315990 q: 0.921264 -0.368831 0.017331 0.122211 
time: 1403636988.501667, t: 1.782978 8.592906 8.324094 q: 0.921014 -0.370622 0.023870 0.117485 
time: 1403636988.601666, t: 1.804434 8.559921 8.317971 q: 0.921060 -0.370660 0.027598 0.116181 
time: 1403636988.701667, t: 1.821187 8.526292 8.303851 q: 0.921021 -0.370572 0.029548 0.116288 
time: 1403636988.801666, t: 1.830502 8.491595 8.280439 q: 0.920996 -0.371007 0.032241 0.114369 
time: 1403636988.901666, t: 1.831294 8.455889 8.251183 q: 0.920948 -0.370748 0.036531 0.114307 
time: 1403636989.001667, t: 1.824914 8.419060 8.210952 q: 0.920815 -0.370475 0.040737 0.114840 
time: 1403636989.101666, t: 1.811044 8.379203 8.162366 q: 0.920534 -0.370617 0.043607 0.115580 
time: 1403636989.201667, t: 1.790434 8.338872 8.104013 q: 0.920272 -0.371074 0.043534 0.116228 
time: 1403636989.301666, t: 1.769755 8.296856 8.033801 q: 0.919928 -0.374255 0.032544 0.112275 
optimize pose graph 
time: 1403636989.401666, t: 1.753722 8.251442 7.954721 q: 0.919436 -0.377693 0.015171 0.108420 
time: 1403636989.501667, t: 1.742281 8.206390 7.868205 q: 0.918971 -0.379011 0.001808 0.108808 
time: 1403636989.601666, t: 1.735710 8.159949 7.775196 q: 0.918568 -0.380462 -0.004986 0.107037 
time: 1403636989.701667, t: 1.726145 8.113881 7.681485 q: 0.918264 -0.382232 -0.010669 0.102840 
time: 1403636989.801666, t: 1.714421 8.068098 7.592703 q: 0.918122 -0.382939 -0.013569 0.101123 
time: 1403636989.901666, t: 1.697124 8.021273 7.505350 q: 0.918269 -0.382650 -0.010752 0.101217 
time: 1403636990.001667, t: 1.676885 7.974421 7.419781 q: 0.918473 -0.382553 -0.002645 0.100262 
time: 1403636990.101666, t: 1.659920 7.925287 7.331486 q: 0.918563 -0.382865 0.003887 0.098189 
time: 1403636990.201667, t: 1.646809 7.873727 7.244337 q: 0.918601 -0.383257 0.003891 0.096287 
time: 1403636990.301666, t: 1.638757 7.817918 7.150308 q: 0.918851 -0.382786 -0.001748 0.095837 
time: 1403636990.401666, t: 1.634845 7.759947 7.058119 q: 0.919204 -0.382012 -0.007329 0.095275 
time: 1403636990.501667, t: 1.628901 7.700377 6.965136 q: 0.919908 -0.379526 -0.011222 0.097994 
time: 1403636990.601666, t: 1.612489 7.641603 6.877078 q: 0.920538 -0.377824 -0.013330 0.098393 
time: 1403636990.701667, t: 1.599716 7.580161 6.792558 q: 0.920951 -0.376651 -0.016985 0.098460 
time: 1403636990.801666, t: 1.572425 7.520874 6.712246 q: 0.921360 -0.375862 -0.018522 0.097367 
time: 1403636990.901666, t: 1.545195 7.460573 6.633019 q: 0.921675 -0.374980 -0.019036 0.097688 
time: 1403636991.001667, t: 1.512622 7.402723 6.559425 q: 0.921727 -0.375057 -0.019163 0.096876 
time: 1403636991.101666, t: 1.476560 7.344585 6.487360 q: 0.921599 -0.375589 -0.018574 0.096136 
time: 1403636991.201667, t: 1.440285 7.286190 6.419709 q: 0.921193 -0.376719 -0.019331 0.095456 
time: 1403636991.301666, t: 1.408829 7.227243 6.350450 q: 0.920941 -0.377069 -0.020028 0.096360 
time: 1403636991.401666, t: 1.386408 7.168304 6.282729 q: 0.920478 -0.377824 -0.021136 0.097588 
time: 1403636991.501667, t: 1.375174 7.108187 6.214913 q: 0.919839 -0.379263 -0.022354 0.097756 
optimize pose graph 
time: 1403636991.601666, t: 1.370341 7.053155 6.145947 q: 0.919368 -0.379457 -0.021172 0.101624 
time: 1403636991.701667, t: 1.369927 6.994160 6.078678 q: 0.918697 -0.378803 -0.018436 0.110294 
time: 1403636991.801666, t: 1.373997 6.940058 6.014121 q: 0.917778 -0.378846 -0.015792 0.117938 
time: 1403636991.901666, t: 1.377130 6.887186 5.943627 q: 0.916780 -0.379520 -0.014765 0.123535 
time: 1403636992.001667, t: 1.375368 6.837365 5.878175 q: 0.915736 -0.382241 -0.015140 0.122843 
time: 1403636992.101666, t: 1.367522 6.790503 5.811629 q: 0.914721 -0.387420 -0.014363 0.113956 
time: 1403636992.201667, t: 1.354612 6.747994 5.748095 q: 0.913942 -0.391285 -0.010552 0.107213 
time: 1403636992.301666, t: 1.340206 6.707377 5.682250 q: 0.913343 -0.393434 -0.009842 0.104488 
time: 1403636992.401666, t: 1.320944 6.666548 5.619381 q: 0.912512 -0.395085 -0.014330 0.104999 
time: 1403636992.501667, t: 1.302420 6.621263 5.557292 q: 0.911538 -0.396580 -0.020024 0.106872 
time: 1403636992.601666, t: 1.289975 6.575887 5.501473 q: 0.910473 -0.398755 -0.023620 0.107127 
time: 1403636992.701667, t: 1.287028 6.530798 5.445345 q: 0.909559 -0.400668 -0.025121 0.107407 
time: 1403636992.801666, t: 1.283934 6.485715 5.387996 q: 0.908725 -0.402491 -0.026894 0.107225 
time: 1403636992.901666, t: 1.276263 6.441878 5.339131 q: 0.907846 -0.404924 -0.027388 0.105367 
time: 1403636993.001667, t: 1.264333 6.399004 5.292333 q: 0.907263 -0.406649 -0.024867 0.104367 
time: 1403636993.101666, t: 1.248717 6.358988 5.251737 q: 0.907576 -0.405735 -0.017568 0.106658 
time: 1403636993.201667, t: 1.237854 6.314641 5.210211 q: 0.910568 -0.398785 -0.011290 0.108213 
time: 1403636993.301666, t: 1.233642 6.268091 5.169634 q: 0.915699 -0.387521 -0.008811 0.106044 
time: 1403636993.401666, t: 1.237521 6.220275 5.128963 q: 0.922446 -0.372505 -0.007478 0.101376 
time: 1403636993.501667, t: 1.248811 6.172059 5.085937 q: 0.930128 -0.354484 -0.007756 0.095622 
time: 1403636993.601666, t: 1.264003 6.126539 5.039356 q: 0.937687 -0.335767 -0.009332 0.088980 
time: 1403636993.701667, t: 1.277538 6.079993 4.992089 q: 0.943474 -0.320162 -0.012695 0.084808 
time: 1403636993.801666, t: 1.286675 6.031095 4.945619 q: 0.947303 -0.309469 -0.015745 0.081222 
time: 1403636993.901666, t: 1.286673 5.983104 4.901770 q: 0.949916 -0.302560 -0.017336 0.076261 
time: 1403636994.001667, t: 1.282927 5.936236 4.858142 q: 0.951700 -0.298011 -0.012751 0.072762 
time: 1403636994.101666, t: 1.274988 5.888572 4.814937 q: 0.952624 -0.296755 -0.004629 0.066502 
time: 1403636994.201667, t: 1.260586 5.838459 4.773888 q: 0.953109 -0.296174 0.003869 0.062047 
time: 1403636994.301666, t: 1.242202 5.786012 4.728520 q: 0.953252 -0.295988 0.011305 0.059782 
time: 1403636994.401666, t: 1.220476 5.727873 4.684480 q: 0.953113 -0.296645 0.015255 0.057825 
time: 1403636994.501667, t: 1.195969 5.664026 4.633738 q: 0.952953 -0.297098 0.014050 0.058447 
time: 1403636994.601666, t: 1.172665 5.596883 4.579796 q: 0.953023 -0.295858 0.009462 0.064231 
time: 1403636994.801666, t: 1.144006 5.452030 4.455651 q: 0.952778 -0.290765 -0.006652 0.087330 
time: 1403636994.901666, t: 1.134869 5.380584 4.387425 q: 0.952465 -0.288642 -0.009185 0.097016 
time: 1403636995.001667, t: 1.120242 5.312281 4.318217 q: 0.952300 -0.289103 -0.006373 0.097487 
time: 1403636995.101666, t: 1.100536 5.248980 4.248365 q: 0.952410 -0.291666 -0.001871 0.088553 
time: 1403636995.201667, t: 1.081308 5.185106 4.177013 q: 0.952557 -0.293607 0.001906 0.080161 
time: 1403636995.301666, t: 1.065660 5.124397 4.102728 q: 0.952838 -0.294051 0.003987 0.074955 
time: 1403636995.401666, t: 1.056305 5.060449 4.025605 q: 0.953185 -0.293739 0.000013 0.071805 
time: 1403636995.501667, t: 1.051785 4.995456 3.943582 q: 0.953455 -0.292491 -0.007397 0.072927 
time: 1403636995.601666, t: 1.053750 4.928974 3.856355 q: 0.953657 -0.291572 -0.010171 0.073628 
time: 1403636995.701667, t: 1.057552 4.862115 3.771579 q: 0.953721 -0.290693 -0.009871 0.076269 
optimize pose graph 
time: 1403636995.801666, t: 1.053946 4.793373 3.686510 q: 0.953700 -0.289189 -0.009264 0.082105 
time: 1403636995.901666, t: 1.040675 4.728748 3.605576 q: 0.953597 -0.286731 -0.010348 0.091274 
time: 1403636996.001667, t: 1.024839 4.666109 3.522385 q: 0.953391 -0.285714 -0.011911 0.096283 
time: 1403636996.101666, t: 1.006512 4.606602 3.444393 q: 0.953152 -0.288026 -0.015877 0.091047 
time: 1403636996.201667, t: 0.986434 4.552072 3.362053 q: 0.952977 -0.290209 -0.018583 0.085258 
time: 1403636996.301666, t: 0.971272 4.498282 3.280106 q: 0.953083 -0.291190 -0.020075 0.080237 
time: 1403636996.401666, t: 0.966975 4.443525 3.196747 q: 0.954532 -0.286978 -0.020810 0.077973 
time: 1403636996.501667, t: 0.970090 4.389468 3.114588 q: 0.957434 -0.278394 -0.021820 0.073085 
time: 1403636996.601666, t: 0.982325 4.334337 3.028935 q: 0.961469 -0.265538 -0.023854 0.067073 
time: 1403636996.701667, t: 0.993650 4.278532 2.947581 q: 0.966374 -0.248553 -0.026440 0.060362 
time: 1403636996.801666, t: 0.986420 4.228641 2.881778 q: 0.971651 -0.228382 -0.028695 0.053962 
time: 1403636996.901666, t: 0.967637 4.177295 2.816950 q: 0.976922 -0.205683 -0.030503 0.048868 
time: 1403636997.001667, t: 0.941388 4.129648 2.754803 q: 0.981839 -0.182158 -0.031885 0.042362 
time: 1403636997.101666, t: 0.913749 4.082171 2.696738 q: 0.985712 -0.161019 -0.033902 0.035999 
time: 1403636997.201667, t: 0.882308 4.038433 2.642939 q: 0.988220 -0.145336 -0.035874 0.031793 
time: 1403636997.301666, t: 0.848804 3.997448 2.590939 q: 0.989797 -0.134748 -0.037355 0.027375 
time: 1403636997.401666, t: 0.821090 3.959314 2.544356 q: 0.990619 -0.128824 -0.038654 0.024154 
time: 1403636997.501667, t: 0.804664 3.923356 2.498104 q: 0.990999 -0.126266 -0.038414 0.022432 
time: 1403636997.601666, t: 0.796151 3.887987 2.456164 q: 0.990975 -0.126037 -0.039652 0.022612 
time: 1403636997.701667, t: 0.796099 3.852760 2.409596 q: 0.990767 -0.127529 -0.040501 0.021823 
time: 1403636997.801666, t: 0.804141 3.819251 2.363997 q: 0.990339 -0.130243 -0.042701 0.021035 
time: 1403636997.901666, t: 0.820277 3.789580 2.326575 q: 0.989974 -0.132857 -0.043040 0.021146 
optimize pose graph 
time: 1403636998.001667, t: 0.846698 3.757880 2.284310 q: 0.989659 -0.135017 -0.043057 0.022173 
time: 1403636998.101666, t: 0.877757 3.725821 2.247959 q: 0.989347 -0.137038 -0.043233 0.023339 
time: 1403636998.201667, t: 0.909973 3.698663 2.217437 q: 0.989230 -0.138138 -0.040708 0.026149 
time: 1403636998.301666, t: 0.937051 3.670277 2.188987 q: 0.988929 -0.139873 -0.041721 0.026725 
time: 1403636998.401666, t: 0.957824 3.643922 2.166574 q: 0.988799 -0.140725 -0.041085 0.028018 
time: 1403636998.501667, t: 0.974957 3.620482 2.152234 q: 0.988669 -0.141494 -0.040325 0.029779 
time: 1403636998.601666, t: 1.000672 3.599526 2.132708 q: 0.988778 -0.142548 -0.034770 0.028087 
time: 1403636998.701667, t: 1.035686 3.578146 2.115630 q: 0.989001 -0.144546 -0.021166 0.023125 
time: 1403636998.801666, t: 1.075367 3.560377 2.094280 q: 0.988973 -0.146253 -0.012817 0.019463 
time: 1403636998.901666, t: 1.112008 3.539738 2.074484 q: 0.988734 -0.148685 -0.011053 0.013256 
time: 1403636999.001667, t: 1.137417 3.517861 2.053759 q: 0.988480 -0.150560 -0.012063 0.009707 
time: 1403636999.101666, t: 1.157923 3.491474 2.032629 q: 0.988292 -0.151875 -0.012827 0.007024 
time: 1403636999.201667, t: 1.171325 3.461145 2.014565 q: 0.988084 -0.152974 -0.015824 0.006199 
time: 1403636999.301666, t: 1.178984 3.428411 1.997388 q: 0.988036 -0.152882 -0.018518 0.008360 
time: 1403636999.401666, t: 1.180756 3.392923 1.979206 q: 0.988199 -0.151364 -0.018731 0.014187 
time: 1403636999.501667, t: 1.177666 3.356579 1.961778 q: 0.988313 -0.150364 -0.017693 0.017727 
time: 1403636999.601666, t: 1.170517 3.319285 1.945096 q: 0.988386 -0.150082 -0.013650 0.019567 
time: 1403636999.701667, t: 1.162464 3.280952 1.926046 q: 0.988382 -0.150256 -0.010577 0.020281 
time: 1403636999.801666, t: 1.150089 3.241490 1.906324 q: 0.988294 -0.150809 -0.009854 0.020840 
time: 1403636999.901666, t: 1.135611 3.200645 1.887819 q: 0.988155 -0.151881 -0.010485 0.019289 
time: 1403637000.001667, t: 1.120349 3.159473 1.863714 q: 0.987957 -0.153629 -0.010962 0.014800 
optimize pose graph 
time: 1403637000.101666, t: 1.108903 3.116115 1.835540 q: 0.987874 -0.154232 -0.012900 0.012311 
time: 1403637000.201667, t: 1.106124 3.067055 1.808638 q: 0.987879 -0.153854 -0.015817 0.013161 
time: 1403637000.301666, t: 1.103938 3.015856 1.777479 q: 0.987892 -0.153373 -0.017997 0.014910 
time: 1403637000.501667, t: 1.092420 2.910898 1.716638 q: 0.987896 -0.153448 -0.017198 0.014823 
time: 1403637000.601666, t: 1.085537 2.858653 1.682746 q: 0.987874 -0.153595 -0.017637 0.014217 
time: 1403637000.701667, t: 1.081018 2.802093 1.647459 q: 0.987976 -0.152905 -0.015847 0.016483 
time: 1403637000.801666, t: 1.082886 2.744881 1.608026 q: 0.987949 -0.153147 -0.014765 0.016868 
time: 1403637000.901666, t: 1.082984 2.685154 1.570757 q: 0.987887 -0.153428 -0.014696 0.017968 
time: 1403637001.001667, t: 1.079275 2.625471 1.533539 q: 0.987755 -0.154270 -0.014279 0.018354 
time: 1403637001.101666, t: 1.069918 2.564500 1.495275 q: 0.987696 -0.154592 -0.013954 0.019049 
time: 1403637001.201667, t: 1.057195 2.505131 1.453847 q: 0.987692 -0.154544 -0.012620 0.020515 
time: 1403637001.301666, t: 1.047106 2.442743 1.411606 q: 0.987668 -0.154525 -0.012704 0.021737 
time: 1403637001.401666, t: 1.045312 2.383646 1.359898 q: 0.987692 -0.153703 -0.014495 0.025096 
time: 1403637001.501667, t: 1.046807 2.322322 1.307701 q: 0.987476 -0.154290 -0.019403 0.026630 
time: 1403637001.601666, t: 1.051972 2.263771 1.250569 q: 0.987282 -0.154994 -0.022047 0.027664 
time: 1403637001.701667, t: 1.052201 2.203294 1.197789 q: 0.987151 -0.155692 -0.022435 0.028096 
time: 1403637001.801666, t: 1.043866 2.145770 1.152005 q: 0.987076 -0.156189 -0.020858 0.029186 
time: 1403637001.901666, t: 1.029790 2.088350 1.102426 q: 0.986903 -0.156937 -0.023462 0.029046 
time: 1403637002.001667, t: 1.011087 2.031378 1.055354 q: 0.986804 -0.157355 -0.025001 0.028862 
time: 1403637002.101666, t: 0.987804 1.975108 1.013836 q: 0.986672 -0.157985 -0.026154 0.028904 
time: 1403637002.201667, t: 0.961339 1.920573 0.971803 q: 0.986671 -0.157901 -0.026324 0.029230 
time: 1403637002.301666, t: 0.935586 1.867706 0.930912 q: 0.986573 -0.158734 -0.026795 0.027557 
optimize pose graph 
time: 1403637002.401666, t: 0.909721 1.815232 0.886794 q: 0.986525 -0.159234 -0.027826 0.025267 
time: 1403637002.501667, t: 0.892668 1.763150 0.842344 q: 0.986502 -0.159813 -0.027110 0.023210 
time: 1403637002.601666, t: 0.883398 1.711270 0.793537 q: 0.986448 -0.160620 -0.026715 0.020181 
time: 1403637002.701667, t: 0.881117 1.656844 0.750273 q: 0.986278 -0.161658 -0.027230 0.019496 
time: 1403637002.801666, t: 0.879209 1.602479 0.709963 q: 0.986129 -0.162555 -0.026911 0.020025 
time: 1403637002.901666, t: 0.873511 1.544796 0.668710 q: 0.986103 -0.162347 -0.025603 0.024276 
time: 1403637003.001667, t: 0.859942 1.488822 0.629902 q: 0.985938 -0.163059 -0.025976 0.025763 
time: 1403637003.101666, t: 0.844724 1.434227 0.594813 q: 0.985705 -0.164121 -0.026744 0.027110 
time: 1403637003.201667, t: 0.822747 1.379835 0.562116 q: 0.985485 -0.165476 -0.026173 0.027409 
time: 1403637003.301666, t: 0.796958 1.325508 0.528894 q: 0.985349 -0.166417 -0.024229 0.028398 
time: 1403637003.401666, t: 0.778863 1.271247 0.495028 q: 0.985272 -0.167077 -0.022194 0.028847 
time: 1403637003.501667, t: 0.767850 1.217011 0.457876 q: 0.985180 -0.167657 -0.020129 0.030110 
time: 1403637003.601666, t: 0.760315 1.162342 0.412862 q: 0.985093 -0.167878 -0.020442 0.031490 
time: 1403637003.701667, t: 0.760275 1.109113 0.373492 q: 0.984980 -0.168393 -0.020759 0.032052 
time: 1403637003.801666, t: 0.751793 1.055829 0.324660 q: 0.985116 -0.167286 -0.021208 0.033343 
time: 1403637003.901666, t: 0.743240 1.002541 0.290207 q: 0.985118 -0.167249 -0.024539 0.031132 
time: 1403637004.001667, t: 0.725013 0.950040 0.254273 q: 0.985219 -0.166206 -0.029128 0.029499 
time: 1403637004.101666, t: 0.708395 0.904273 0.221086 q: 0.985286 -0.165387 -0.033407 0.027264 
time: 1403637004.201667, t: 0.687163 0.855133 0.186823 q: 0.985371 -0.164598 -0.035911 0.025717 
time: 1403637004.301666, t: 0.670215 0.806416 0.156865 q: 0.985656 -0.162719 -0.036039 0.026586 
time: 1403637004.401666, t: 0.659697 0.759544 0.126035 q: 0.985819 -0.161816 -0.033478 0.029258 
time: 1403637004.501667, t: 0.663248 0.712451 0.094338 q: 0.985885 -0.162713 -0.025985 0.029652 
optimize pose graph 
time: 1403637004.601666, t: 0.676522 0.665530 0.055083 q: 0.985720 -0.163908 -0.021694 0.031927 
time: 1403637004.701667, t: 0.692422 0.618159 0.019073 q: 0.985489 -0.162818 -0.019628 0.043782 
time: 1403637004.801666, t: 0.702293 0.571023 -0.014080 q: 0.985075 -0.162432 -0.018202 0.053957 
time: 1403637004.901666, t: 0.695589 0.529794 -0.046195 q: 0.984534 -0.163515 -0.022671 0.058669 
time: 1403637005.001667, t: 0.673724 0.494106 -0.071700 q: 0.983939 -0.166287 -0.030375 0.057360 
time: 1403637005.101666, t: 0.647276 0.466001 -0.098951 q: 0.983658 -0.170340 -0.031160 0.049295 
time: 1403637005.201667, t: 0.620685 0.442438 -0.120040 q: 0.983448 -0.173645 -0.029964 0.042184 
time: 1403637005.301666, t: 0.589727 0.418488 -0.146506 q: 0.983220 -0.175073 -0.033848 0.038502 
time: 1403637005.401666, t: 0.555862 0.398471 -0.170948 q: 0.983292 -0.174658 -0.035459 0.037058 
time: 1403637005.501667, t: 0.524922 0.375131 -0.191482 q: 0.983803 -0.173607 -0.030615 0.032478 
time: 1403637005.601666, t: 0.499972 0.351323 -0.210672 q: 0.984219 -0.171519 -0.029031 0.032417 
time: 1403637005.701667, t: 0.487997 0.325221 -0.235574 q: 0.984386 -0.167905 -0.035646 0.039008 
time: 1403637005.801666, t: 0.487761 0.304237 -0.259005 q: 0.984506 -0.165946 -0.038283 0.041769 
time: 1403637005.901666, t: 0.493417 0.283318 -0.279995 q: 0.984670 -0.166697 -0.035796 0.036834 
time: 1403637006.001667, t: 0.497374 0.263209 -0.299346 q: 0.984776 -0.167640 -0.031910 0.033086 
time: 1403637006.101666, t: 0.498441 0.243667 -0.315975 q: 0.984946 -0.166921 -0.028351 0.034869 
time: 1403637006.201667, t: 0.497438 0.225389 -0.331425 q: 0.985019 -0.166357 -0.028261 0.035561 
time: 1403637006.301666, t: 0.494793 0.207104 -0.343891 q: 0.984811 -0.165392 -0.035320 0.039319 
time: 1403637006.401666, t: 0.489247 0.190425 -0.356302 q: 0.984381 -0.164238 -0.046434 0.043166 
time: 1403637006.501667, t: 0.484990 0.177404 -0.362489 q: 0.984209 -0.161881 -0.050562 0.050707 
time: 1403637006.601666, t: 0.481024 0.168576 -0.366860 q: 0.985288 -0.157729 -0.042311 0.050393 
time: 1403637006.701667, t: 0.477376 0.161872 -0.369444 q: 0.987159 -0.150326 -0.034042 0.041955 
optimize pose graph 
time: 1403637006.801666, t: 0.470902 0.157726 -0.369310 q: 0.989558 -0.137558 -0.027075 0.033457 
time: 1403637006.901666, t: 0.461222 0.155143 -0.369235 q: 0.992150 -0.118787 -0.027474 0.027820 
time: 1403637007.001667, t: 0.451512 0.153351 -0.368782 q: 0.994571 -0.097952 -0.031102 0.016333 
time: 1403637007.101666, t: 0.442016 0.152836 -0.368563 q: 0.996263 -0.080525 -0.030731 0.005671 
time: 1403637007.301666, t: 0.422692 0.154543 -0.368194 q: 0.997978 -0.058635 -0.021646 -0.011566 
time: 1403637007.401666, t: 0.412426 0.153854 -0.371138 q: 0.998255 -0.053906 -0.017021 -0.017049 
time: 1403637007.501667, t: 0.399796 0.151382 -0.376296 q: 0.998363 -0.050698 -0.019928 -0.017456 
time: 1403637007.601666, t: 0.384207 0.147195 -0.382377 q: 0.998265 -0.049360 -0.027795 -0.016033 
time: 1403637007.701667, t: 0.366742 0.141175 -0.389386 q: 0.997778 -0.049805 -0.042008 -0.013912 
time: 1403637007.801666, t: 0.351840 0.133784 -0.394571 q: 0.997388 -0.051610 -0.048506 -0.014150 
time: 1403637007.901666, t: 0.341500 0.124553 -0.397633 q: 0.997844 -0.051785 -0.039195 -0.009492 
time: 1403637008.001667, t: 0.332620 0.114529 -0.399766 q: 0.998313 -0.051356 -0.027003 -0.001976 
time: 1403637008.101666, t: 0.322975 0.105527 -0.403175 q: 0.998044 -0.054730 -0.030079 -0.002994 
time: 1403637008.201667, t: 0.313115 0.097276 -0.407243 q: 0.997223 -0.058249 -0.046255 -0.003775 
time: 1403637008.301666, t: 0.307458 0.088895 -0.410442 q: 0.996408 -0.061856 -0.057517 -0.006015 
time: 1403637008.401666, t: 0.307505 0.079567 -0.410600 q: 0.996207 -0.064486 -0.057997 -0.007095 
time: 1403637008.501667, t: 0.313590 0.069714 -0.407428 q: 0.996922 -0.064707 -0.044154 -0.003168 
time: 1403637008.601666, t: 0.320565 0.059851 -0.402346 q: 0.997325 -0.065261 -0.032921 0.000693 
time: 1403637008.701667, t: 0.323205 0.050536 -0.395940 q: 0.997469 -0.064728 -0.028456 0.007505 
time: 1403637008.801666, t: 0.319827 0.043008 -0.388507 q: 0.997298 -0.061154 -0.033195 0.023580 
time: 1403637008.901666, t: 0.312876 0.039672 -0.380194 q: 0.996882 -0.058834 -0.039835 0.034335 
optimize pose graph 
time: 1403637009.001667, t: 0.304467 0.043373 -0.370822 q: 0.996800 -0.061059 -0.040627 0.031802 
time: 1403637009.101666, t: 0.293892 0.053774 -0.359680 q: 0.996844 -0.066295 -0.039482 0.018667 
time: 1403637009.201667, t: 0.281290 0.067428 -0.347815 q: 0.996693 -0.071206 -0.038722 0.005836 
time: 1403637009.301666, t: 0.266953 0.082219 -0.334158 q: 0.996071 -0.077635 -0.040831 -0.012145 
time: 1403637009.401666, t: 0.256702 0.093967 -0.324445 q: 0.997224 -0.066254 -0.033388 -0.006306 
time: 1403637009.501667, t: 0.254178 0.102521 -0.323881 q: 0.998641 -0.047256 -0.019145 -0.010833 
time: 1403637009.601666, t: 0.248707 0.108103 -0.324414 q: 0.999437 -0.021264 0.019624 0.016966 
time: 1403637009.701667, t: 0.242516 0.113144 -0.333373 q: 0.998983 -0.037275 0.010823 0.022928 
time: 1403637009.801666, t: 0.241488 0.114855 -0.334592 q: 0.998828 -0.038855 0.011773 0.026344 
time: 1403637009.901666, t: 0.241876 0.115383 -0.335818 q: 0.998864 -0.038480 0.011621 0.025592 
time: 1403637010.001667, t: 0.241935 0.115240 -0.335830 q: 0.998865 -0.038299 0.011736 0.025784 
time: 1403637010.101666, t: 0.241688 0.115214 -0.336319 q: 0.998860 -0.037892 0.011843 0.026507 
time: 1403637010.201667, t: 0.241719 0.115125 -0.336282 q: 0.998859 -0.037758 0.011938 0.026703 
time: 1403637010.301666, t: 0.241687 0.115095 -0.336256 q: 0.998861 -0.037586 0.011728 0.026954 
time: 1403637010.501667, t: 0.241691 0.115076 -0.336250 q: 0.998860 -0.037620 0.011813 0.026903 

Done.
time: 1403637010.601666, t: 0.241682 0.115064 -0.336244 q: 0.998860 -0.037549 0.011810 0.026991 
optimize pose graph 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731036686.474204658]: Shutdown request received.[0m
[33m[ WARN] [1731036686.474244235]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731036686.475035977]: Shutdown request received.[0m
[33m[ WARN] [1731036686.475068899]: Reason given for shutdown: [user request][0m
killed
