/SLAM-Hive/slam_hive_results/mapping_results/3432/1945_vins-mono+MH_04_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/2af5e3c4-9d85-11ef-bcc5-0242ac110002/roslaunch-782d94f2087c-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;/home/catkin_ws/src/VINS-Mono/vins_estimator/launch/euroc.launch
[1mstarted roslaunch server http://782d94f2087c:38603/[0m

SUMMARY
========

PARAMETERS
 * /feature_tracker/config_file: /slamhive/mapping...
 * /feature_tracker/vins_folder: /home/catkin_ws/s...
 * /pose_graph/config_file: /slamhive/mapping...
 * /pose_graph/skip_cnt: 0
 * /pose_graph/skip_dis: 0.0
 * /pose_graph/visualization_shift_x: 0
 * /pose_graph/visualization_shift_y: 0
 * /rosdistro: kinetic
 * /rosversion: 1.12.17
 * /vins_estimator/config_file: /slamhive/mapping...
 * /vins_estimator/vins_folder: /home/catkin_ws/s...

NODES
  /
    feature_tracker (feature_tracker/feature_tracker)
    pose_graph (pose_graph/pose_graph)
    vins_estimator (vins_estimator/vins_estimator)

auto-starting new master
[1mprocess[master]: started with pid [128][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/home/catkin_ws/src/VINS-Mono/vins_estimator/launch/euroc.launch http://localhost:11311
[1msetting /run_id to 2af5e3c4-9d85-11ef-bcc5-0242ac110002[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [144][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1731038077.974142939]: init begins[0m
[0m[ INFO] [1731038077.981110218]: Loaded config_file: /slamhive/mappingtask.yaml[0m
result path /home/shaozu/output//vins_result_no_loop.csv
/home/shaozu/output/ not exists, trying to create it 
/home/shaozu not exists, trying to create it 
[0m[ INFO] [1731038077.981951837]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1731038077.981986654]:  fix extrinsic param [0m
[0m[ INFO] [1731038077.985182558]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1731038077.985243034]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1731038077.985307531]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1731038077.987052233]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [180][0m
vocabulary_file/home/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_pattern.yml
/home/shaozu/output/pose_graph/ not exists, trying to create it 
no previous pose graph
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1731038085.012613288]: 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: 327399957.91 
[0m[ INFO] [1731038086.597874808]: IMU excitation not enouth![0m
[0m[ INFO] [1731038086.814298864]: IMU excitation not enouth![0m
[0m[ INFO] [1731038086.814802575]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731038086.901854234]: IMU excitation not enouth![0m
[0m[ INFO] [1731038086.902763632]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731038087.104327625]: IMU excitation not enouth![0m
[0m[ INFO] [1731038087.105398280]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731038087.305959828]: IMU excitation not enouth![0m
[0m[ INFO] [1731038087.306439708]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731038087.437996611]: IMU excitation not enouth![0m
[33m[ WARN] [1731038088.440462950]: gyroscope bias initial calibration 0.000610134   0.0116567   0.0804023[0m
[0m[ INFO] [1731038088.494681928]: Initialization finish![0m
position: 0.001778, 0.011271, 0.172726
position: 0.000516, 0.012520, 0.197899
position: -0.001881, 0.013252, 0.213041
position: -0.006009, 0.012772, 0.220368
position: -0.008622, 0.013384, 0.238199
position: -0.011377, 0.013060, 0.256527
position: -0.013736, 0.012824, 0.277957
position: -0.015584, 0.010658, 0.298795
position: -0.017761, 0.007031, 0.312598
position: -0.020904, 0.005119, 0.307925
position: -0.016739, 0.008456, 0.307323
position: -0.017571, 0.008210, 0.285993
position: -0.013685, 0.006859, 0.268495
position: -0.011443, 0.003837, 0.242485
position: -0.013852, 0.001432, 0.204844
position: -0.016939, -0.002348, 0.164879
position: -0.018131, -0.007272, 0.128366
position: -0.023422, -0.010263, 0.088739
position: -0.025411, -0.012640, 0.066533
position: -0.026991, -0.012914, 0.063511
position: -0.025344, -0.010260, 0.094999
position: -0.030936, -0.012812, 0.131949
position: -0.031782, -0.008745, 0.187672
position: -0.032661, -0.005244, 0.246864
position: -0.031211, 0.001030, 0.298747
position: -0.029141, 0.011601, 0.334110
position: -0.029244, 0.021521, 0.352774
position: -0.030363, 0.025294, 0.355267
position: -0.030238, 0.021132, 0.342636
position: -0.027466, 0.006407, 0.322494
position: -0.023593, -0.019724, 0.297898
position: -0.022118, -0.056048, 0.272724
position: -0.023421, -0.099737, 0.248371
position: -0.029777, -0.146169, 0.230030
position: -0.040273, -0.191282, 0.213358
position: -0.054223, -0.233635, 0.196616
position: -0.064412, -0.268219, 0.181356
position: -0.063956, -0.288471, 0.169320
position: -0.050235, -0.286447, 0.164582
position: -0.020986, -0.274743, 0.162334
position: 0.010061, -0.248330, 0.165534
position: 0.046770, -0.212610, 0.171124
position: 0.081988, -0.172294, 0.174097
position: 0.115216, -0.132537, 0.178809
position: 0.135987, -0.088662, 0.182169
position: 0.154321, -0.044720, 0.187454
position: 0.164884, -0.000842, 0.192777
position: 0.175265, 0.038002, 0.202126
position: 0.179773, 0.069346, 0.203475
position: 0.179120, 0.092266, 0.198030
position: 0.174214, 0.101873, 0.188428
position: 0.168448, 0.097198, 0.175780
position: 0.155517, 0.081740, 0.164688
position: 0.140688, 0.057498, 0.155594
position: 0.131238, 0.026506, 0.153321
position: 0.118393, -0.008175, 0.151286
position: 0.102703, -0.038503, 0.146715
position: 0.082166, -0.065205, 0.147273
position: 0.056722, -0.098268, 0.160787
position: 0.032695, -0.138322, 0.180228
position: 0.004636, -0.181769, 0.189087
position: -0.023581, -0.224810, 0.186625
position: -0.046938, -0.254332, 0.181425
position: -0.058603, -0.261562, 0.183902
position: -0.058836, -0.250691, 0.194216
position: -0.053720, -0.222601, 0.210188
position: -0.042556, -0.181315, 0.226276
position: -0.027363, -0.136181, 0.233206
position: -0.014294, -0.094034, 0.220630
position: -0.004228, -0.057489, 0.192358
position: 0.002100, -0.028463, 0.154779
position: 0.004197, -0.007851, 0.114062
position: 0.002791, 0.004975, 0.074089
position: 0.000207, 0.012910, 0.039570
position: -0.000664, 0.019550, 0.012646
position: -0.002694, 0.025814, -0.008975
position: 0.000965, 0.025259, -0.025263
position: 0.004510, 0.027926, -0.040158
position: 0.005845, 0.030659, -0.051608
position: 0.005269, 0.031020, -0.053752
position: 0.004448, 0.029449, -0.048457
position: 0.003556, 0.030900, -0.054031
position: 0.002686, 0.031419, -0.055741
position: 0.002879, 0.031408, -0.055825
position: 0.002860, 0.031538, -0.055715
position: 0.003015, 0.031516, -0.055515
position: 0.002959, 0.031489, -0.055327
position: 0.003094, 0.031547, -0.055299
position: 0.003176, 0.031714, -0.055364
position: 0.003220, 0.031816, -0.055262
position: 0.003279, 0.031872, -0.055253
position: 0.003288, 0.031831, -0.055182
position: 0.003766, 0.031778, -0.054785
position: 0.003795, 0.031732, -0.054657
position: 0.003847, 0.031732, -0.054621
position: 0.003898, 0.031725, -0.054605
position: 0.003896, 0.031742, -0.054574
position: 0.003941, 0.031770, -0.054563
position: 0.003979, 0.031772, -0.054524
position: 0.003997, 0.031780, -0.054512
position: 0.004030, 0.031786, -0.054493
position: 0.004056, 0.031774, -0.05444431827, -0.053797
position: 0.004250, 0.031848, -0.053792
position: 0.004226, 0.031812, -0.053800
position: 0.004248, 0.031757, -0.053728
position: 0.004258, 0.031737, -0.053699
position: 0.004290, 0.031750, -0.053685
position: 0.004301, 0.031733, -0.053705
position: 0.004344, 0.031721, -0.053667
position: 0.004333, 0.031723, -0.053684
position: 0.004344, 0.031729, -0.053669
position: 0.004347, 0.031716, -0.053700
position: 0.004365, 0.031708, -0.053641
position: 0.004373, 0.031710, -0.053651
position: 0.004371, 0.031717, -0.053652
position: 0.004378, 0.031712, -0.053641
position: 0.004388, 0.031707, -0.053638
position: 0.004405, 0.031699, -0.053637
position: 0.004368, 0.031705, -0.053649
position: 0.004385, 0.031714, -0.053631
position: 0.004403, 0.031710, -0.053595
position: 0.004409, 0.031707, -0.053591
position: 0.004416, 0.031709, -0.053578
position: 0.004431, 0.031716, -0.053593
position: 0.004431, 0.031711, -0.053590
position: 0.004450, 0.031708, -0.053564
position: 0.004468, 0.031685, -0.053542
position: 0.004479, 0.031678, -0.053489
position: 0.004469, 0.031680, -0.053452
position: 0.004495, 0.031688, -0.053429
position: 0.004498, 0.031710, -0.053460
position: 0.004510, 0.031693, -0.053461
position: 0.004486, 0.031704, -0.053424
position: 0.004510, 0.031689, -0.053388
position: 0.004519, 0.031693, -0.053383
position: 0.004545, 0.031673, -0.053322
position: 0.004554, 0.031687, -0.053314
position: 0.004557, 0.031679, -0.053301
position: 0.004578, 0.031661, -0.053235
position: 0.004564, 0.031667, -0.053253
position: 0.004579, 0.031657, -0.053219
position: 0.004574, 0.031678, -0.053214
position: 0.004623, 0.031738, -0.053275
position: 0.004601, 0.031883, -0.053347
position: 0.004581, 0.031900, -0.053432
position: 0.004604, 0.031865, -0.053399
position: 0.004602, 0.031820, -0.053303
position: 0.004583, 0.031698, -0.053035
position: 0.004602, 0.031676, -0.053044
position: 0.005341, 0.031623, -0.052259
position: 0.008912, 0.030498, -0.049855
position: 0.016238, 0.028944, -0.043186
position: 0.025671, 0.027425, -optimize pose graph 
0.029537
position: 0.035602, 0.025819, -0.008160
position: 0.044936, 0.024109, 0.024648
position: 0.051955, 0.023141, 0.072329
position: 0.059231, 0.023105, 0.116173
position: 0.063877, 0.023324, 0.136608
position: 0.068892, 0.023882, 0.134044
position: 0.076588, 0.025423, 0.122261
position: 0.088257, 0.027325, 0.117122
position: 0.101584, 0.030281, 0.122614
position: 0.116977, 0.033673, 0.141336
position: 0.139854, 0.034772, 0.179432
position: 0.159055, 0.040811, 0.208117
position: 0.181161, 0.044806, 0.237775
position: 0.200768, 0.050681, 0.260529
position: 0.219826, 0.056305, 0.278006
position: 0.242555, 0.060439, 0.293526
position: 0.261095, 0.067326, 0.300763
position: 0.279787, 0.074722, 0.305389
position: 0.304362, 0.082779, 0.314224
position: 0.324455, 0.092614, 0.312422
position: 0.350876, 0.105593, 0.310588
position: 0.373701, 0.121489, 0.298453
position: 0.399191, 0.143206, 0.285097
position: 0.430439, 0.172442, 0.273201
position: 0.457757, 0.204965, 0.266048
position: 0.492667, 0.241807, 0.270268
optimize pose graph 
position: 0.529996, 0.279958, 0.280668
position: 0.570321, 0.318530, 0.294781
position: 0.612750, 0.358266, 0.307614
position: 0.657802, 0.400809, 0.315079
position: 0.701495, 0.446816, 0.316900
position: 0.745159, 0.495226, 0.311919
position: 0.789352, 0.547508, 0.303846
position: 0.830334, 0.601147, 0.297584
position: 0.869497, 0.656833, 0.296770
position: 0.907855, 0.714388, 0.301245
position: 0.946033, 0.773379, 0.313300
position: 0.983682, 0.833491, 0.334765
position: 1.020988, 0.894751, 0.363024
position: 1.060281, 0.958196, 0.390394
position: 1.100756, 1.023419, 0.412844
position: 1.139710, 1.090782, 0.430158
position: 1.180548, 1.160520, 0.439736
position: 1.220474, 1.233659, 0.441454
position: 1.255762, 1.308862, 0.437417
position: 1.295124, 1.390093, 0.428362
position: 1.335290, 1.475527, 0.422696
position: 1.379401, 1.565918, 0.425238
position: 1.423706, 1.658327, 0.435939
position: 1.466130, 1.750919, 0.452780
position: 1.506517, 1.841579, 0.473300
position: 1.547143, 1.931421, 0.490779
position: 1.588812, 2.022314, 0.503122
position: 1.627400, 2.111537, 0.511342
position: 1.667873, 2.205378, 0.523787
position: 1.707195, 2.302732, 0.542335
position: 1.745365, 2.403074, 0.562711
position: 1.782749, 2.506424, 0.578464
position: 1.819468, 2.614206, 0.591239
position: 1.858469, 2.724296, 0.595888
position: 1.897099, 2.837861, 0.596750
position: 1.936183, 2.954513, 0.594457
position: 1.973417, 3.072031, 0.587878
position: 2.008975, 3.191901, 0.579273
position: 2.038121, 3.306636, 0.565749
position: 2.060237, 3.422212, 0.562162
position: 2.074665, 3.530287, 0.560715
position: 2.084487, 3.639160, 0.570004
position: 2.089266, 3.745039, 0.584924
position: 2.087868, 3.851470, 0.606560
position: 2.080542, 3.958747, 0.631813
position: 2.067719, 4.062604, 0.652209
position: 2.049094, 4.164098, 0.666129
position: 2.024576, 4.265368, 0.673364
position: 1.993581, 4.366043, 0.673850
position: 1.956789, 4.467823, 0.669889
position: 1.914361, 4.566137, 0.662499
position: 1.867302, 4.659026, 0.650290
position: 1.815788, 4.745595, 0.636043
position: 1.761307, 4.826010, 0.626893
position: 1.706035, 4.901125, 0.626619
position: 1.652260, 4.976650, 0.635129
position: 1.601463, 5.053006, 0.646371
position: 1.553442, 5.128621, 0.653692
position: 1.509528, 5.205167, 0.654480
position: 1.469664, 5.284130, 0.649091
position: 1.433789, 5.367963, 0.637532
position: 1.402499, 5.458053, 0.622548
position: 1.373002, 5.551992, 0.607011
position: 1.348067, 5.649109, 0.596659
position: 1.325981, 5.751950, 0.594228
position: 1.304391, 5.865898, 0.597758
position: 1.286682, 5.974562, 0.608403
position: 1.270829, 6.089098, 0.618255
position: 1.254074, 6.212701, 0.622706
position: 1.237421, 6.333771, 0.623707
position: 1.218933, 6.461420, 0.623642
position: 1.198009, 6.589136, 0.630082
position: 1.174229, 6.714822, 0.645233
position: 1.149232, 6.836657, 0.662989
position: 1.123843, 6.953829, 0.676558
position: 1.100058, 7.064328, 0.684699
position: 1.077654, 7.176301, 0.688669
position: 1.057509, 7.290952, 0.688511
position: 1.039346, 7.405086, 0.682888
position: 1.017993, 7.515907, 0.675637
position: 0.995708, 7.628962, 0.667712
position: 0.970330, 7.745368, 0.663386
position: 0.946844, 7.855834, 0.665903
position: 0.923028, 7.970356, 0.678394
position: 0.902537, 8.083539, 0.694217
position: 0.882873, 8.206480, 0.707787
position: 0.865740, 8.337658, 0.718280
position: 0.850905, 8.469983, 0.725827
position: 0.839027, 8.602177, 0.737865
position: 0.832012, 8.728674, 0.756847
position: 0.833876, 8.848032, 0.784769
position: 0.846758, 8.952959, 0.821297
position: 0.868105, 9.051084, 0.865267
position: 0.894045, 9.133611, 0.917351
position: 0.922216, 9.202269, 0.975106
position: 0.950614, 9.271485, 1.042908
position: 0.980331, 9.330635, 1.115428
position: 1.010571, 9.394359, 1.191448
position: 1.041106, 9.460380, 1.262861
position: 1.070890, 9.533085, 1.331718
position: 1.100019, 9.604149, 1.395620
position: 1.132614, 9.672570, 1.453135
position: 1.168967, 9.745902, 1.509398
position: 1.210680, 9.816410, 1.562174
position: 1.256506, 9.879737, 1.612394
position: 1.305401, 9.937877, 1.659018
position: 1.356755, 9.994639, 1.706151
position: 1.408247, 10.047372, 1.750020
position: 1.460227, 10.099297, 1.790576
position: 1.512373, 10.151964, 1.825523
position: 1.566654, 10.206549, 1.854906
position: 1.624320, 10.261241, 1.880302
position: 1.684087, 10.313687, 1.900468
position: 1.746483, 10.364611, 1.919883
position: 1.811303, 10.414327, 1.945848
position: 1.879202, 10.461576, 1.976495
position: 1.950934, 10.508735, 2.006414
position: 2.025577, 10.551875, 2.029940
position: 2.106339, 10.596793, 2.052208
position: 2.189839, 10.633918, 2.075660
position: 2.277784, 10.674272, 2.108525
position: 2.367316, 10.707702, 2.144872
position: 2.460699, 10.744628, 2.192376
position: 2.558063, 10.778089, 2.238389
position: 2.658587, 10.808877, 2.270987
position: 2.761490, 10.835181, 2.285885
position: 2.868802, 10.859352, 2.292315
position: 2.980810, 10.881644, 2.296318
position: 3.091567, 10.900510, 2.301705
position: 3.199158, 10.916850, 2.313245
position: 3.304893, 10.931907, 2.334304
position: 3.408559, 10.945112, 2.364108
position: 3.513484, 10.954136, 2.399893
position: 3.615797, 10.959011, 2.441211
position: 3.719817, 10.960490, 2.491123
position: 3.823980, 10.956427, 2.539278
position: 3.931376, 10.949558, 2.583234
position: 4.035487, 10.934703, 2.619908
position: 4.147186, 10.919008, 2.652589
position: 4.258132, 10.895164, 2.680063
position: 4.376602, 10.866839, 2.703412
position: 4.498005, 10.832364, 2.723131
position: 4.615783, 10.793047, 2.739065
position: 4.725897, 10.750243, 2.750005
position: 4.836973, 10.703319, 2.755727
position: 4.944106, 10.651578, 2.756496
position: 5.056474, 10.596291, 2.753224
position: 5.169275, 10.539134, 2.745623
position: 5.283133, 10.478130, 2.735095
position: 5.395174, 10.412629, 2.719842
position: 5.502556, 10.341319, 2.698090
position: 5.603019, 10.263505, 2.671576
position: 5.698290, 10.180932, 2.647878
position: 5.789443, 10.094917, 2.630994
position: 5.878190, 10.008070, 2.625128
position: 5.964743, 9.923843, 2.635783
position: 6.049059, 9.840232, 2.666709
position: 6.126920, 9.759757, 2.713995
position: 6.200601, 9.682525, 2.761450
position: 6.268958, 9.610926, 2.804158
position: 6.336619, 9.542427, 2.838892
position: 6.403398, 9.477274, 2.864004
position: 6.475652, 9.407097, 2.879193
position: 6.551614, 9.348364, 2.894869
position: 6.638866, 9.293586, 2.914305
position: 6.732435, 9.247322, 2.941409
position: 6.833184, 9.207263, 2.974294
position: 6.939094, 9.171696, 3.009554
position: 7.050860, 9.138003, 3.039946
position: 7.165255, 9.107334, 3.063594
position: 7.282609, 9.077817, 3.080898
position: 7.405204, 9.047641, 3.092706
position: 7.533167, 9.015801, 3.101029
position: 7.666151, 8.981177, 3.108624
position: 7.803929, 8.943523, 3.123206
position: 7.942554, 8.900023, 3.145191
position: 8.083881, 8.851807, 3.172885
position: 8.228935, 8.800826, 3.206617
position: 8.375354, 8.748486, 3.236110
position: 8.521624, 8.697309, 3.256803
position: 8.668178, 8.650926, 3.269207
position: 8.814413, 8.610172, 3.274950
position: 8.961074, 8.578438, 3.275816
position: 9.108821, 8.555367, 3.273163
position: 9.257401, 8.539008, 3.266426
position: 9.406920, 8.525397, 3.255009
position: 9.558063, 8.511737, 3.238864
position: 9.710904, 8.493499, 3.220804
position: 9.864261, 8.468016, 3.205812
position: 10.016818, 8.431514, 3.197898
position: 10.166513, 8.385929, 3.195105
position: 10.311075, 8.332682, 3.201199
position: 10.451048, 8.276739, 3.214989
position: 10.584841, 8.222247, 3.234917
position: 10.713120, 8.168993, 3.251090
position: 10.834521, 8.115749, 3.258664
position: 10.950370, 8.061642, 3.259152
position: 11.063771, 8.004970, 3.252047
position: 11.171038, 7.945339, 3.245929
position: 11.275902, 7.879842, 3.247350
position: 11.368092, 7.808087, 3.258789
position: 11.449968, 7.728984, 3.275550
position: 11.520165, 7.643887, 3.289908
position: 11.578897, 7.553121, 3.297799
position: 11.627954, 7.458757, 3.300714
position: 11.667119, 7.360872, 3.299453
position: 11.690521, 7.261499, 3.296348
position: 11.706860, 7.157220, 3.291578
position: 11.713064, 7.049549, 3.285109
position: 11.711553, 6.935384, 3.276402
position: 11.701148, 6.815194, 3.266634
position: 11.680940, 6.688680, 3.258627
position: 11.648976, 6.554835, 3.255853
position: 11.603753, 6.414025, 3.259324
position: 11.543558, 6.269919, 3.265519
position: 11.473276, 6.121914, 3.264904
position: 11.389938, 5.973543, 3.254384
position: 11.296988, 5.823334, 3.233900
position: 11.196397, 5.670732, 3.202872
position: 11.086295, 5.515269, 3.164036
position: 10.962855, 5.357384, 3.118807
position: 10.825729, 5.198405, 3.070277
position: 10.675954, 5.034859, 3.017959
position: 10.514029, 4.866038, 2.961100
position: 10.341676, 4.691196, 2.898513
position: 10.159214, 4.508963, 2.829992
position: 9.969457, 4.322497, 2.756196
position: 9.775368, 4.132482, 2.675128
position: 9.580145, 3.941544, 2.582838
position: 9.386438, 3.751606, 2.487203
position: 9.190509, 3.563302, 2.386788
position: 8.994255, 3.376595, 2.285591
position: 8.795384, 3.193734, 2.190912
position: 8.591852, 3.014840, 2.102562
position: 8.384974, 2.840470, 2.019895
position: 8.177889, 2.668964, 1.936089
position: 7.970863, 2.499936, 1.846355
position: 7.767091, 2.332173, 1.752936
position: 7.567847, 2.166192, 1.663063
position: 7.375280, 1.999217, 1.579324
position: 7.187798, 1.833779, 1.501638
position: 7.005866, 1.671306, 1.432958
position: 6.832360, 1.512473, 1.369962
position: 6.666291, 1.356656, 1.312582
position: 6.510868, 1.203792, 1.261229
position: 6.363374, 1.051864, 1.215033
position: 6.223251, 0.900013, 1.175450
position: 6.088178, 0.748949, 1.141555
position: 5.967685, 0.599822, 1.116211
position: 5.859806, 0.453983, 1.099084
position: 5.766302, 0.312385, 1.088351
position: 5.691183, 0.175555, 1.075163
position: 5.633900, 0.043219, 1.051834
position: 5.593772, -0.086079, 1.025368
position: 5.569750, -0.210830, 1.000522
position: 5.557206, -0.328334, 0.981524
position: 5.549809, -0.438497, 0.967912
position: 5.546918, -0.540257, 0.959507
position: 5.549005, -0.632414, 0.957537
position: 5.555673, -0.715875, 0.959405
position: 5.562021, -0.795439, 0.967033
position: 5.576098, -0.867733, 0.982360
position: 5.586770, -0.933703, 0.998513
position: 5.604626, -0.998739, 1.009515
position: 5.620820, -1.054853, 1.013830
position: 5.640169, -1.107399, 1.009749
position: 5.669501, -1.156683, 0.997504
position: 5.695724, -1.193492, 0.982946
position: 5.726332, -1.226352, 0.964756
position: 5.763324, -1.259917, 0.941744
position: 5.796189, -1.287766, 0.917671
position: 5.836500, -1.321373, 0.890374
position: 5.869859, -1.351656, 0.865503
position: 5.902473, -1.390046, 0.847392
position: 5.928889, -1.429546, 0.837201
position: 5.948077, -1.471379, 0.832839
position: 5.961396, -1.515094, 0.838134
position: 5.967000, -1.557092, 0.845693
position: 5.966329, -1.599041, 0.848926
position: 5.960489, -1.642533, 0.847671
position: 5.950961, -1.687728, 0.842473
position: 5.937871, -1.735773, 0.833338
position: 5.923446, -1.787569, 0.820365
position: 5.907377, -1.841808, 0.803663
position: 5.891081, -1.899486, 0.783632
position: 5.875185, -1.960822, 0.759325
position: 5.861991, -2.026459, 0.731340
position: 5.851951, -2.096647, 0.703075
position: 5.843422, -2.170261, 0.673477
position: 5.833335, -2.244904, 0.642843
position: 5.820978, -2.318379, 0.617689
position: 5.806301, -2.391011, 0.600398
position: 5.791112, -2.464333, 0.589187
position: 5.777108, -2.538746, 0.582986
position: 5.762760, -2.615249, 0.581045
position: 5.748011, -2.694243, 0.579519
position: 5.732535, -2.776420, 0.572372
position: 5.716427, -2.861693, 0.558768
position: 5.700603, -2.949646, 0.540233
position: 5.683934, -3.039819, 0.520414
position: 5.669594, -3.132335, 0.506274
position: 5.655487, -3.227841, 0.499232
position: 5.646553, -3.330324, 0.498110
position: 5.636262, -3.434466, 0.493625
position: 5.631306, -3.544533, 0.482600
position: 5.621875, -3.656444, 0.468009
position: 5.615952, -3.772145, 0.448612
position: 5.600363, -3.889985, 0.427250
position: 5.581160, -4.008186, 0.404113
position: 5.553417, -4.128379, 0.381090
position: 5.517844, -4.247782, 0.363026
position: 5.475304, -4.368864, 0.354162
position: 5.429189, -4.485641, 0.354415
position: 5.382274, -4.600576, 0.359901
position: 5.334551, -4.712599, 0.372875
position: 5.287924, -4.827681, 0.384410
position: 5.240684, -4.943118, 0.391349
position: 5.190694, -5.059707, 0.397862
position: 5.137061, -5.179262, 0.411091
position: 5.082796, -5.301807, 0.432746
position: 5.029385, -5.425307, 0.460450
position: 4.978077, -5.553927, 0.485947
position: 4.929717, -5.682226, 0.507377
position: 4.881688, -5.813178, 0.524207
position: 4.833963, -5.946856, 0.536570
position: 4.786809, -6.081371, 0.543260
position: 4.741473, -6.215316, 0.544299
position: 4.698373, -6.351643, 0.541728
position: 4.658986, -6.489780, 0.536734
position: 4.624524, -6.629847, 0.530066
position: 4.594296, -6.774388, 0.529425
position: 4.567568, -6.919166, 0.534963
position: 4.544353, -7.060673, 0.547150
position: 4.526400, -7.196186, 0.565651
position: 4.512394, -7.328870, 0.588015
position: 4.502343, -7.459742, 0.606116
position: 4.496980, -7.589164, 0.619544
position: 4.493946, -7.721171, 0.627564
position: 4.496467, -7.854010, 0.635453
position: 4.502057, -7.987298, 0.643628
position: 4.510340, -8.120631, 0.651304
position: 4.521636, -8.252008, 0.660271
position: 4.534705, -8.380948, 0.668638
position: 4.550417, -8.511634, 0.681279
position: 4.567632, -8.641304, 0.695118
position: 4.588582, -8.766093, 0.707260
position: 4.611473, -8.893633, 0.721156
position: 4.641690, -9.016104, 0.734482
position: 4.676890, -9.138093, 0.751546
position: 4.717676, -9.253857, 0.768266
position: 4.764989, -9.365392, 0.783592
position: 4.816018, -9.473340, 0.797589
position: 4.867982, -9.579665, 0.807747
position: 4.915764, -9.688870, 0.813668
position: 4.959951, -9.798814, 0.815729
position: 5.002835, -9.900878, 0.814800
position: 5.044231, -10.013464, 0.822712
position: 5.086269, -10.116224, 0.834206
position: 5.128515, -10.224534, 0.853033
position: 5.171924, -10.324408, 0.864657
position: 5.219865, -10.432468, 0.874142
position: 5.270933, -10.532250, 0.874872
position: 5.328653, -10.637912, 0.874979
position: 5.394204, -10.739072, 0.876591
position: 5.465645, -10.836137, 0.885741
position: 5.540391, -10.929932, 0.901210
position: 5.615226, -11.020116, 0.924410
position: 5.687876, -11.104192, 0.953873
position: 5.756524, -11.181349, 0.985253
position: 5.821139, -11.252214, 1.014564
position: 5.884184, -11.320346, 1.041415
position: 5.945976, -11.382439, 1.063886
position: 6.008906, -11.440677, 1.080591
position: 6.071438, -11.490848, 1.097737
position: 6.137706, -11.535626, 1.106896
position: 6.203792, -11.569606, 1.114706
position: 6.273540, -11.596782, 1.117663
position: 6.342551, -11.615992, 1.117178
position: 6.406552, -11.624002, 1.113887
position: 6.466313, -11.621726, 1.112367
position: 6.515624, -11.600621, 1.118814
position: 6.551109, -11.558422, 1.129103
position: 6.593287, -11.523578, 1.156808
position: 6.628137, -11.477741, 1.191760
position: 6.655587, -11.420409, 1.228986
position: 6.676568, -11.354237, 1.259888
position: 6.691794, -11.281361, 1.283637
position: 6.700971, -11.203578, 1.300993
position: 6.708304, -11.125071, 1.321163
position: 6.714714, -11.047601, 1.348538
position: 6.723278, -10.971922, 1.374130
position: 6.732865, -10.900102, 1.393183
position: 6.744579, -10.834268, 1.406339
position: 6.759121, -10.774834, 1.414411
position: 6.777864, -10.722383, 1.417649
position: 6.800876, -10.674074, 1.420355
position: 6.823519, -10.625235, 1.411202
position: 6.848037, -10.572656, 1.397240
position: 6.872358, -10.513365, 1.378055
position: 6.897620, -10.446510, 1.356894
position: 6.923466, -10.372857, 1.336783
position: 6.948305, -10.289281, 1.322376
position: 6.973356, -10.201361, 1.317447
position: 6.994819, -10.107816, 1.321352
position: 7.012641, -10.013571, 1.330662
position: 7.028900, -9.919799, 1.346802
position: 7.039644, -9.824964, 1.365530
position: 7.055786, -9.734975, 1.389673
position: 7.074662, -9.649235, 1.410673
position: 7.091959, -9.557613, 1.417763
position: 7.120233, -9.481364, 1.430100
position: 7.144937, -9.391464, 1.426464
position: 7.192208, -9.322013, 1.433188
position: 7.228898, -9.234786, 1.432015
position: 7.287415, -9.166862, 1.447723
position: 7.334776, -9.083003, 1.466620
position: 7.393846, -9.005280, 1.498148
position: 7.452125, -8.919367, 1.534163
position: 7.509767, -8.830347, 1.576424
position: 7.565992, -8.736547, 1.621715
position: 7.620697, -8.636661, 1.662534
position: 7.668111, -8.532872, 1.696660
position: 7.708724, -8.425471, 1.726728
position: 7.738453, -8.315742, 1.754360
position: 7.753232, -8.203126, 1.784384
position: 7.753212, -8.089631, 1.821540
position: 7.739715, -7.973650, 1.866651
position: 7.716136, -7.859778, 1.918785
position: 7.682366, -7.745534, 1.967394
position: 7.638911, -7.631194, 2.007631
position: 7.585982, -7.517798, 2.039396
position: 7.528766, -7.403204, 2.065482
position: 7.469839, -7.288742, 2.086546
position: 7.413603, -7.173237, 2.102183
position: 7.358808, -7.059532, 2.114638
position: 7.305762, -6.944247, 2.123220
position: 7.246570, -6.829552, 2.123843
position: 7.186410, -6.714136, 2.128667
position: 7.122568, -6.600964, 2.138037
position: 7.058107, -6.487016, 2.152682
position: 6.997736, -6.373677, 2.169118
position: 6.939208, -6.263786, 2.181135
position: 6.882945, -6.158579, 2.187640
position: 6.831116, -6.056209, 2.188524
position: 6.784695, -5.957312, 2.183880
position: 6.742607, -5.863039, 2.172849
position: 6.706472, -5.773798, 2.157248
position: 6.680815, -5.693150, 2.141460
position: 6.662773, -5.617800, 2.124594
position: 6.648354, -5.544995, 2.103443
position: 6.636859, -5.475650, 2.083508
position: 6.629216, -5.411213, 2.069005
position: 6.625238, -5.349026, 2.060948
position: 6.627665, -5.291198, 2.060749
position: 6.636485, -5.237347, 2.070483
position: 6.646289, -5.184839, 2.087691
position: 6.658162, -5.134319, 2.105651
position: 6.672474, -5.086923, 2.118133
position: 6.692075, -5.048945, 2.123889
position: 6.710821, -5.010606, 2.122885
position: 6.735136, -4.976400, 2.115248
position: 6.761473, -4.946951, 2.106109
position: 6.793729, -4.922254, 2.096784
position: 6.830731, -4.901421, 2.091328
position: 6.868064, -4.884349, 2.091516
position: 6.906778, -4.869068, 2.100299
position: 6.947337, -4.854677, 2.115435
position: 6.987180, -4.838595, 2.137657
position: 7.027556, -4.819341, 2.165630
position: 7.067692, -4.795616, 2.198924
position: 7.109024, -4.768713, 2.233527
position: 7.149011, -4.738784, 2.263606
position: 7.188892, -4.707027, 2.288447
position: 7.228284, -4.672991, 2.300437
position: 7.264083, -4.635094, 2.291874
position: 7.295018, -4.592894, 2.265825
position: 7.321854, -4.547291, 2.231501
position: 7.350865, -4.498444, 2.194328
position: 7.373375, -4.448006, 2.151870
position: 7.401458, -4.393901, 2.109139
position: 7.422737, -4.333384, 2.065325
position: 7.452076, -4.259425, 2.029233
position: 7.478036, -4.169476, 2.003463
position: 7.513961, -4.066998, 1.984853
position: 7.546306, -3.950872, 1.979695
position: 7.589810, -3.824214, 1.983473
position: 7.633892, -3.686739, 1.996392
position: 7.676882, -3.537839, 2.013955
position: 7.719833, -3.377528, 2.038618
position: 7.766683, -3.206572, 2.068148
position: 7.814550, -3.025153, 2.104325
position: 7.862535, -2.836807, 2.139774
position: 7.909826, -2.645739, 2.171462
position: 7.956649, -2.450955, 2.198474
position: 8.003307, -2.254774, 2.222817
position: 8.049548, -2.054838, 2.250329
position: 8.095039, -1.850062, 2.283936
position: 8.136570, -1.640384, 2.324338
position: 8.174674, -1.425597, 2.371933
position: 8.210000, -1.202867, 2.424884
position: 8.244459, -0.971261, 2.481361
position: 8.275073, -0.729879, 2.532529
position: 8.303434, -0.479704, 2.576226
position: 8.330619, -0.223241, 2.612519
position: 8.356369, 0.036119, 2.640753
position: 8.379460, 0.296978, 2.662842
position: 8.402285, 0.558230, 2.677242
position: 8.423823, 0.819051, 2.685464
position: 8.443293, 1.079383, 2.687226
position: 8.459967, 1.338378, 2.682582
position: 8.474414, 1.598268, 2.668627
position: 8.486435, 1.857743, 2.646250
position: 8.495466, 2.119006, 2.619905
position: 8.498330, 2.381560, 2.596479
position: 8.497511, 2.645579, 2.577418
position: optimize pose graph 
8.492902, 2.909475, 2.565919
position: 8.488628, 3.169628, 2.562527
position: 8.487016, 3.424290, 2.561027
position: 8.487827, 3.675278, 2.552868
position: 8.491309, 3.921045, 2.538007
position: 8.497011, 4.160286, 2.517684
position: 8.503305, 4.392389, 2.491976
position: 8.511807, 4.617917, 2.464192
position: 8.519707, 4.837144, 2.438798
position: 8.526687, 5.050174, 2.419244
position: 8.532310, 5.258010, 2.406080
position: 8.536629, 5.459907, 2.397940
position: 8.538842, 5.657416, 2.387692
position: 8.539788, 5.849480, 2.371239
position: 8.539167, 6.037454, 2.354703
position: 8.536195, 6.220721, 2.344761
position: 8.531107, 6.401303, 2.342159
position: 8.523113, 6.578170, 2.346191
position: 8.511767, 6.752457, 2.356600
position: 8.496377, 6.921662, 2.375142
position: 8.481254, 7.084927, 2.401342
position: 8.467738, 7.240418, 2.431679
position: 8.454786, 7.386095, 2.463138
position: 8.443305, 7.523353, 2.490295
position: 8.434123, 7.653066, 2.511356
position: 8.424615, 7.775199, 2.524113
position: 8.416247, 7.888687, 2.529868
position: 8.407668, 7.997667, 2.527073
position: 8.400424, 8.104572, 2.517002
position: 8.394376, 8.209661, 2.503059
position: 8.387369, 8.316065, 2.493699
position: 8.379924, 8.424146, 2.491669
position: 8.370511, 8.533170, 2.497983
position: 8.356986, 8.639564, 2.511003
position: 8.335322, 8.745477, 2.530045
position: 8.306796, 8.855465, 2.555868
position: 8.268191, 8.971593, 2.585509
position: 8.219621, 9.092303, 2.620257
position: 8.163774, 9.217937, 2.662297
position: 8.098078, 9.343034, 2.710191
position: 8.025281, 9.469324, 2.758511
position: 7.945585, 9.595693, 2.801521
position: 7.861511, 9.719915, 2.838581
position: 7.774740, 9.841055, 2.871196
position: 7.684502, 9.958288, 2.897498
position: 7.590447, 10.073111, 2.918170
position: 7.492568, 10.182199, 2.932487
position: 7.392192, 10.286632, 2.940890
position: 7.288892, 10.384341, 2.942550
position: 7.183906, 10.473024, 2.935018
position: 7.075335, 10.553341, 2.918172
position: 6.962325, 10.628100, 2.895221
position: 6.843020, 10.696580, 2.870485
position: 6.718669, 10.752908, 2.851297
position: 6.590281, 10.795850, 2.837465
position: 6.460998, 10.828731, 2.830857
position: 6.334164, 10.856384, 2.832781
position: 6.210254, 10.881262, 2.842447
position: 6.089279, 10.903595, 2.854605
position: 5.970129, 10.922268, 2.863110
position: 5.852308, 10.938956, 2.865400
position: 5.736517, 10.952799, 2.859364
position: 5.623311, 10.963114, 2.846669
position: 5.511766, 10.970446, 2.835153
position: 5.402320, 10.974691, 2.830636
position: 5.296665, 10.977017, 2.832992
position: 5.194661, 10.975850, 2.840872
position: 5.095697, 10.971959, 2.845490
position: 5.000087, 10.963806, 2.842529
position: 4.907342, 10.952262, 2.832272
position: 4.816420, 10.937368, 2.815563
position: 4.726149, 10.921080, 2.793573
position: 4.641087, 10.903242, 2.766849
position: 4.553225, 10.884698, 2.733482
position: 4.472752, 10.863655, 2.681884
position: 4.383949, 10.839740, 2.613684
position: 4.306543, 10.813868, 2.526112
position: 4.219486, 10.784030, 2.430466
positiooptimize pose graph 
optimize pose graph 
n: 4.143375, 10.751450, 2.330114
position: 4.059856, 10.713349, 2.234941
position: 3.984381, 10.668437, 2.145773
position: 3.907990, 10.614056, 2.061063
position: 3.825452, 10.551733, 1.974969
position: 3.749204, 10.483996, 1.885205
position: 3.668051, 10.410820, 1.788867
position: 3.590141, 10.329230, 1.692914
position: 3.508560, 10.238422, 1.601996
position: 3.430781, 10.142497, 1.518308
position: 3.352342, 10.040776, 1.442855
position: 3.276951, 9.935721, 1.378289
position: 3.206646, 9.830362, 1.321394
position: 3.141404, 9.725235, 1.272093
position: 3.079429, 9.616154, 1.220371
position: 3.019260, 9.501582, 1.161963
position: 2.960863, 9.386119, 1.096636
position: 2.906148, 9.265907, 1.028275
position: 2.855595, 9.141339, 0.959552
position: 2.811662, 9.013901, 0.897234
position: 2.774449, 8.882410, 0.843280
position: 2.743800, 8.747832, 0.797729
position: 2.716996, 8.609184, 0.760954
position: 2.692546, 8.466420, 0.732877
position: 2.671245, 8.321696, 0.710529
position: 2.647913, 8.170253, 0.696026
position: 2.624330, 8.013375, 0.685228
position: 2.601363, 7.851649, 0.679855
position: 2.580135, 7.687408, 0.681816
position: 2.560042, 7.520150, 0.687462
position: 2.541395, 7.351391, 0.699653
position: 2.525504, 7.183113, 0.715692
position: 2.511344, 7.014190, 0.727847
position: 2.500841, 6.842853, 0.733630
position: 2.496359, 6.668347, 0.735055
position: 2.498980, 6.486264, 0.732335
position: 2.510208, 6.296821, 0.730044
position: 2.523601, 6.103059, 0.731391
position: 2.538034, 5.908552, 0.737802
position: 2.552010, 5.713776, 0.748882
position: 2.562407, 5.518938, 0.763664
position: 2.571249, 5.323297, 0.781466
position: 2.582359, 5.128291, 0.801112
position: 2.595572, 4.933644, 0.814099
position: 2.612340, 4.739349, 0.820924
position: 2.635884, 4.547904, 0.822535
position: 2.660782, 4.357198, 0.819875
position: 2.685751, 4.169096, 0.813438
position: 2.709290, 3.983205, 0.802435
position: 2.730093, 3.800352, 0.786475
position: 2.749094, 3.620339, 0.765029
position: 2.766577, 3.442882, 0.739254
position: 2.783186, 3.268265, 0.710049
position: 2.799252, 3.096710, 0.678765
position: 2.816820, 2.929765, 0.650286
position: 2.834527, 2.767480, 0.630743
position: 2.851209, 2.610660, 0.619720
position: 2.866390, 2.462178, 0.613593
position: 2.879319, 2.317851, 0.605569
position: 2.886565, 2.177766, 0.590709
position: 2.894547, 2.040602, 0.571802
position: 2.900408, 1.908148, 0.551968
position: 2.903146, 1.780298, 0.538327
position: 2.903959, 1.657332, 0.531356
position: 2.902251, 1.538904, 0.530906
position: 2.897262, 1.425065, 0.532135
position: 2.889153, 1.315136, 0.526573
position: 2.877720, 1.209578, 0.512417
position: 2.867937, 1.106318, 0.494441
position: 2.853874, 1.008366, 0.472315
position: 2.838472, 0.912770, 0.447405
position: 2.818506, 0.821775, 0.420201
position: 2.796703, 0.733679, 0.392062
position: 2.774580, 0.648683, 0.369731
position: 2.751028, 0.569102, 0.356588
position: 2.727241, 0.493540, 0.350744
position: 2.702790, 0.422001, 0.352340
position: 2.678274, 0.356351, 0.360386
position: 2.653187, 0.2984optimize pose graph 
71, 0.374117
position: 2.629306, 0.249461, 0.392011
position: 2.609320, 0.205723, 0.400280
position: 2.588890, 0.171595, 0.405532
position: 2.569141, 0.144739, 0.404832
position: 2.552381, 0.123940, 0.398636
position: 2.529487, 0.114589, 0.400980
position: 2.509952, 0.109027, 0.407417
position: 2.481267, 0.110680, 0.422570
position: 2.451089, 0.116150, 0.437261
position: 2.421634, 0.125223, 0.448630
position: 2.399014, 0.136032, 0.451563
position: 2.376454, 0.149921, 0.451528
position: 2.350549, 0.162898, 0.450015
position: 2.330494, 0.173070, 0.445363
position: 2.302467, 0.182551, 0.436736
position: 2.280492, 0.193012, 0.429934
position: 2.252676, 0.205064, 0.426662
position: 2.217557, 0.220312, 0.427529
position: 2.173109, 0.238095, 0.431422
position: 2.124890, 0.254810, 0.430551
position: 2.074322, 0.270108, 0.424245
position: 2.020640, 0.280641, 0.410775
position: 1.964147, 0.284832, 0.398714
position: 1.910172, 0.282551, 0.390282
position: 1.852027, 0.278406, 0.391178
position: 1.791117, 0.275370, 0.3986optimize pose graph 
optimize pose graph 
46
position: 1.733258, 0.274876, 0.411494
position: 1.674169, 0.274642, 0.422224
position: 1.618772, 0.278271, 0.428259
position: 1.562983, 0.283191, 0.427253
position: 1.507933, 0.289788, 0.418767
position: 1.454211, 0.297522, 0.404758
position: 1.397841, 0.305183, 0.388784
position: 1.345927, 0.316902, 0.378992
position: 1.294702, 0.328973, 0.376268
position: 1.242486, 0.338773, 0.378406
position: 1.194411, 0.350889, 0.376153
position: 1.149292, 0.361268, 0.368763
position: 1.108778, 0.367935, 0.362414
position: 1.065777, 0.376468, 0.355856
position: 1.025544, 0.382661, 0.357667
position: 0.986161, 0.388093, 0.366930
position: 0.947703, 0.393845, 0.377999
position: 0.909981, 0.400415, 0.383920
position: 0.874299, 0.407816, 0.384109
position: 0.855000, 0.412059, 0.379894
position: 0.825013, 0.419476, 0.370543
position: 0.813145, 0.422948, 0.357871
position: 0.790631, 0.428537, 0.344275
position: 0.769791, 0.434363, 0.328452
position: 0.755575, 0.439531, 0.310358
position: 0.732755, 0.447422, 0.293769
positiooptimize pose graph 
n: 0.708298, 0.455298, 0.283342
position: 0.679237, 0.466205, 0.276074
position: 0.651155, 0.475182, 0.272779
position: 0.624759, 0.481896, 0.269511
position: 0.603407, 0.485707, 0.261687
position: 0.583001, 0.483815, 0.251903
position: 0.562362, 0.477946, 0.243802
position: 0.540583, 0.472895, 0.228324
position: 0.522922, 0.468847, 0.215971
position: 0.503872, 0.467015, 0.197763
position: 0.489555, 0.466252, 0.178918
position: 0.476629, 0.467752, 0.160543
position: 0.473262, 0.469393, 0.146854
position: 0.471114, 0.473804, 0.134351
position: 0.468012, 0.479557, 0.121779
position: 0.465610, 0.486216, 0.109108
position: 0.461716, 0.492691, 0.094098
position: 0.461963, 0.498844, 0.086531
position: 0.467449, 0.504630, 0.087185
position: 0.474749, 0.508346, 0.095678
position: 0.479091, 0.509055, 0.102425
position: 0.480751, 0.509516, 0.104325
position: 0.483566, 0.509011, 0.108082
position: 0.489333, 0.507923, 0.110612
position: 0.495570, 0.507103, 0.106857
position: 0.498893, 0.507437, 0.097030
position: 0.49735optimize pose graph 
5, 0.510254, 0.075682
position: 0.490767, 0.515574, 0.044406
position: 0.484230, 0.522385, 0.008205
position: 0.482310, 0.532197, -0.017837
position: 0.491262, 0.541265, -0.005830
position: 0.501803, 0.547487, -0.014074
position: 0.499952, 0.553031, -0.008026
position: 0.500043, 0.552963, -0.003035
position: 0.497694, 0.549359, 0.004857
position: 0.499256, 0.551589, 0.012687
position: 0.498747, 0.546737, 0.025061
position: 0.496691, 0.545219, 0.034334
position: 0.495416, 0.543864, 0.043391
position: 0.492834, 0.542639, 0.052447
position: 0.490136, 0.541584, 0.062007
position: 0.486884, 0.540879, 0.071356
position: 0.483631, 0.540425, 0.081009
position: 0.480068, 0.540116, 0.090768
position: 0.476201, 0.539812, 0.100801
position: 0.471984, 0.539658, 0.111184
position: 0.467392, 0.539821, 0.121539
position: 0.462857, 0.540224, 0.131974
position: 0.458102, 0.540926, 0.142535
position: 0.453100, 0.541717, 0.153270
position: 0.447896, 0.542573, 0.164243
position: 0.442548, 0.543521, 0.175412
position: 0.437268, 0.
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731038188.465020579]: Shutdown request received.[0m
[33m[ WARN] [1731038188.465075603]: Reason given for shutdown: [user request][0m
544403, 0.186742
position: 0.431538, 0.545453, 0.198034
position: 0.425615, 0.546582, 0.209531
position: 0.419393, 0.547928, 0.221121
position: 0.413016, 0.549407, 0.232907
position: 0.406428, 0.551007, 0.245008
[33m[ WARN] [1731038188.465801302]: Shutdown request received.[0m
[33m[ WARN] [1731038188.465842914]: Reason given for shutdown: [user request][0m
killed
