/SLAM-Hive/slam_hive_results/mapping_results/3450/2250_vins-fusion-stereo+MH_04_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/7514bab8-9d8d-11ef-a74a-0242ac110002/roslaunch-4f3557ffb6ad-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] [1731041635.740504195]: init begins[0m
[31m[ERROR] [1731041635.745967161]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731041635.745996347]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://4f3557ffb6ad:43079/[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://4f3557ffb6ad:11311/[0m
]2;roscore http://4f3557ffb6ad:11311/
[1msetting /run_id to 7514bab8-9d8d-11ef-a74a-0242ac110002[0m
[0m[ INFO] [1731041636.554717153]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731041636.556289439]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1731041636.598656287]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731041636.603151377]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731041636.603186594]: ROW: 480 COL: 752 [0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
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] [1731041636.603482217]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731041636.618188817]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731041636.618387102]: waiting for image and imu...[0m
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [192][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1731041645.099888161]: 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: 327403518.00 
throw img0
[0m[ INFO] [1731041646.526750546]: 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 
time: 1403638128.745097, t: -0.000141 -0.000052 0.000194 q: 0.999997 -0.000331 -0.001458 0.001672 
time: 1403638128.845097, t: -0.000112 -0.000035 0.000147 q: 0.999997 -0.001127 -0.001809 0.001517 
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time: 1403638129.045097, t: 0.000137 -0.000056 0.000135 q: 0.999999 -0.001183 -0.001091 -0.000427 
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time: 1403638137.945097, t: 0.022520 -0.029486 -0.012234 q: 0.995438 -0.088109 -0.024903 0.026836 
time: 1403638138.045097, t: 0.012774 -0.033183 -0.008020 q: 0.995352 -0.087732 -0.034298 0.020018 
time: 1403638138.145097, t: 0.009256 -0.034077 -0.007000 q: 0.995519 -0.088461 -0.023385 0.023861 
time: 1403638138.245097, t: 0.014896 -0.030359 -0.006337 q: 0.995567 -0.085368 -0.025828 0.029850 
time: 1403638138.345097, t: 0.008927 -0.032841 -0.006112 q: 0.995438 -0.090038 -0.007295 0.030700 
time: 1403638138.445097, t: 0.007856 -0.032963 -0.007034 q: 0.995442 -0.090488 -0.002107 0.030058 
time: 1403638138.545097, t: 0.007765 -0.032889 -0.006779 q: 0.995446 -0.090337 -0.001673 0.030393 
time: 1403638138.645097, t: 0.007465 -0.032948 -0.007221 q: 0.995440 -0.090349 -0.001733 0.030540 
time: 1403638138.745097, t: 0.006658 -0.033151 -0.006192 q: 0.995445 -0.090234 -0.001557 0.030739 
time: 1403638138.845097, t: 0.007398 -0.033175 -0.005707 q: 0.995469 -0.090229 -0.001775 0.029963 
optimize pose graph 
time: 1403638138.945097, t: 0.007394 -0.033228 -0.005655 q: 0.995447 -0.090297 -0.001950 0.030468 
time: 1403638139.045097, t: 0.007438 -0.033355 -0.005625 q: 0.995447 -0.090162 -0.001742 0.030880 
time: 1403638139.145097, t: 0.007422 -0.033451 -0.005601 q: 0.995448 -0.090042 -0.001722 0.031197 
time: 1403638139.245097, t: 0.007432 -0.033491 -0.005590 q: 0.995447 -0.089969 -0.001734 0.031421 
time: 1403638139.345097, t: 0.007424 -0.033469 -0.005588 q: 0.995447 -0.090001 -0.001764 0.031327 
time: 1403638139.445097, t: 0.007492 -0.033387 -0.005559 q: 0.995451 -0.090021 -0.001755 0.031168 
time: 1403638139.545097, t: 0.007422 -0.033391 -0.005561 q: 0.995448 -0.090095 -0.001758 0.031049 
time: 1403638139.645097, t: 0.007433 -0.033386 -0.005596 q: 0.995447 -0.090115 -0.001771 0.031004 
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time: 1403638140.245097, t: 0.007432 -0.033391 -0.005561 q: 0.995447 -0.090073 -0.001793 0.031140 
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optimize pose graph 
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optimize pose graph 
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time: 1403638206.445097, t: 6.203174 -9.006843 6.286345 q: 0.935474 0.320412 0.059864 -0.136530 
time: 1403638206.545097, t: 6.201275 -9.137142 6.207361 q: 0.932086 0.331507 0.061484 -0.132436 
time: 1403638206.645097, t: 6.194233 -9.269396 6.126759 q: 0.929800 0.338005 0.063473 -0.131134 
time: 1403638206.745097, t: 6.177308 -9.392344 6.047844 q: 0.926161 0.347501 0.062819 -0.132369 
time: 1403638206.845097, t: 6.154992 -9.508160 5.965816 q: 0.922359 0.356853 0.061489 -0.134644 
time: 1403638206.945097, t: 6.126613 -9.622724 5.879006 q: 0.919458 0.363964 0.063503 -0.134517 
time: 1403638207.045097, t: 6.090030 -9.738442 5.794816 q: 0.917523 0.369027 0.066113 -0.132665 
optimize pose graph 
time: 1403638207.145097, t: 6.043542 -9.844505 5.709113 q: 0.916297 0.371669 0.068610 -0.132493 
time: 1403638207.345097, t: 5.929336 -10.032357 5.517005 q: 0.909860 0.386444 0.071389 -0.133112 
time: 1403638207.445097, t: 5.862105 -10.122062 5.415530 q: 0.902914 0.400460 0.074685 -0.137110 
time: 1403638207.545097, t: 5.792057 -10.194955 5.313169 q: 0.893744 0.418941 0.073429 -0.142540 
time: 1403638207.645097, t: 5.730856 -10.262940 5.197919 q: 0.886463 0.433107 0.063037 -0.150428 
time: 1403638207.745097, t: 5.668945 -10.326017 5.077676 q: 0.881365 0.443196 0.050458 -0.155654 
time: 1403638207.845097, t: 5.609989 -10.384190 4.960644 q: 0.877983 0.449621 0.040369 -0.159238 
time: 1403638207.945097, t: 5.562998 -10.426078 4.841482 q: 0.876170 0.452669 0.030419 -0.162761 
time: 1403638208.045097, t: 5.525545 -10.461383 4.719436 q: 0.875474 0.453417 0.027540 -0.164924 
time: 1403638208.145097, t: 5.484900 -10.493863 4.606712 q: 0.875240 0.454992 0.032227 -0.160932 
time: 1403638208.245097, t: 5.443785 -10.522232 4.494653 q: 0.875528 0.454869 0.038773 -0.158247 
time: 1403638208.345097, t: 5.390505 -10.546946 4.386010 q: 0.876543 0.452510 0.037588 -0.159666 
time: 1403638208.445097, t: 5.333700 -10.568259 4.287088 q: 0.877066 0.450676 0.033259 -0.162911 
time: 1403638208.545097, t: 5.276362 -10.586565 4.188210 q: 0.874553 0.454858 0.029481 -0.165505 
time: 1403638208.645097, t: 5.227953 -10.603085 4.091144 q: 0.868574 0.464382 0.028536 -0.170631 
time: 1403638208.745097, t: 5.190377 -10.614351 3.985983 q: 0.862919 0.474459 0.026830 -0.171872 
time: 1403638208.845097, t: 5.159050 -10.626041 3.882056 q: 0.858117 0.482459 0.027435 -0.173540 
time: 1403638208.945097, t: 5.121356 -10.632904 3.788417 q: 0.854074 0.488152 0.030178 -0.177071 
time: 1403638209.045097, t: 5.080647 -10.634053 3.697579 q: 0.851425 0.492195 0.030850 -0.178514 
time: 1403638209.145097, t: 5.031090 -10.633748 3.605728 q: 0.849794 0.494746 0.030661 -0.179267 
time: 1403638209.245097, t: 4.977228 -10.632597 3.516509 q: 0.849229 0.495614 0.030068 -0.179648 
optimize pose graph 
time: 1403638209.345097, t: 4.919238 -10.626208 3.431765 q: 0.849051 0.496341 0.027984 -0.178814 
time: 1403638209.445097, t: 4.855501 -10.619497 3.358371 q: 0.848859 0.497168 0.027235 -0.177539 
time: 1403638209.545097, t: 4.786149 -10.607362 3.298056 q: 0.848544 0.498502 0.031162 -0.174635 
time: 1403638209.645097, t: 4.702614 -10.591702 3.237164 q: 0.848991 0.498459 0.031447 -0.172524 
time: 1403638209.745097, t: 4.602598 -10.575953 3.187300 q: 0.849708 0.496951 0.030338 -0.173537 
time: 1403638209.845097, t: 4.488475 -10.556776 3.146048 q: 0.849985 0.495052 0.034065 -0.176888 
time: 1403638209.945097, t: 4.365259 -10.532776 3.113113 q: 0.849980 0.494782 0.040113 -0.176398 
time: 1403638210.045097, t: 4.241347 -10.506164 3.083976 q: 0.849537 0.495648 0.047949 -0.174128 
time: 1403638210.145097, t: 4.117283 -10.471154 3.060465 q: 0.848795 0.498041 0.053971 -0.169082 
time: 1403638210.245097, t: 4.007074 -10.433116 3.028545 q: 0.848179 0.499711 0.056722 -0.166326 
time: 1403638210.345097, t: 3.888150 -10.389032 2.978914 q: 0.848605 0.498498 0.057669 -0.167459 
time: 1403638210.445097, t: 3.780255 -10.336756 2.936226 q: 0.848897 0.498300 0.055409 -0.167335 
time: 1403638210.545097, t: 3.658632 -10.276284 2.891113 q: 0.849200 0.498401 0.056061 -0.165269 
time: 1403638210.645097, t: 3.536641 -10.210558 2.847123 q: 0.849459 0.498360 0.057631 -0.163508 
time: 1403638210.745097, t: 3.414068 -10.138119 2.800089 q: 0.849910 0.498368 0.056909 -0.161379 
time: 1403638210.845097, t: 3.290551 -10.058773 2.747023 q: 0.850552 0.497511 0.055229 -0.161226 
time: 1403638210.945097, t: 3.175189 -9.977145 2.675871 q: 0.851816 0.495518 0.048552 -0.162833 
time: 1403638211.045097, t: 3.064529 -9.883145 2.626763 q: 0.852076 0.495489 0.042927 -0.163141 
time: 1403638211.145097, t: 2.970343 -9.783768 2.583868 q: 0.851875 0.495708 0.037733 -0.164798 
time: 1403638211.245097, t: 2.879293 -9.682767 2.532663 q: 0.851924 0.495799 0.034180 -0.165048 
time: 1403638211.345097, t: 2.798992 -9.574265 2.485412 q: 0.853225 0.493718 0.033056 -0.164791 
optimize pose graph 
time: 1403638211.445097, t: 2.720680 -9.464309 2.436827 q: 0.858280 0.486040 0.031984 -0.161549 
time: 1403638211.545097, t: 2.635120 -9.354858 2.383424 q: 0.866036 0.473942 0.031368 -0.156128 
time: 1403638211.645097, t: 2.542162 -9.239190 2.342066 q: 0.875597 0.459682 0.030651 -0.145198 
time: 1403638211.745097, t: 2.459917 -9.114575 2.315774 q: 0.886915 0.441293 0.028354 -0.133561 
time: 1403638211.845097, t: 2.367645 -8.988960 2.288783 q: 0.899473 0.419872 0.024359 -0.118587 
time: 1403638211.945097, t: 2.285007 -8.862890 2.259836 q: 0.911659 0.396274 0.023100 -0.106351 
time: 1403638212.045097, t: 2.209810 -8.734256 2.220264 q: 0.923054 0.371891 0.022321 -0.095764 
time: 1403638212.145097, t: 2.133385 -8.600699 2.180213 q: 0.933476 0.346470 0.025077 -0.089177 
time: 1403638212.245097, t: 2.077117 -8.460259 2.147351 q: 0.943068 0.320991 0.027529 -0.082645 
time: 1403638212.345097, t: 2.025209 -8.322143 2.103892 q: 0.951848 0.295853 0.028303 -0.075198 
time: 1403638212.445097, t: 1.979483 -8.174713 2.082181 q: 0.959588 0.271122 0.030648 -0.068886 
time: 1403638212.545097, t: 1.947980 -8.027812 2.047485 q: 0.966539 0.247967 0.031801 -0.057481 
time: 1403638212.645097, t: 1.913638 -7.872636 2.009862 q: 0.972950 0.223989 0.031254 -0.047128 
time: 1403638212.745097, t: 1.893430 -7.717199 1.969638 q: 0.978980 0.197701 0.029735 -0.040351 
time: 1403638212.845097, t: 1.878499 -7.564971 1.913675 q: 0.984409 0.170696 0.030674 -0.029354 
time: 1403638212.945097, t: 1.862255 -7.400145 1.874152 q: 0.988989 0.143667 0.030813 -0.017626 
time: 1403638213.045097, t: 1.856606 -7.229119 1.853951 q: 0.992816 0.115540 0.030418 -0.006385 
time: 1403638213.145097, t: 1.852618 -7.060943 1.812064 q: 0.995757 0.087253 0.028172 0.007843 
time: 1403638213.245097, t: 1.829952 -6.890704 1.769505 q: 0.997636 0.060185 0.020260 0.026250 
time: 1403638213.345097, t: 1.788387 -6.707287 1.751232 q: 0.998129 0.035673 0.011012 0.048420 
time: 1403638213.445097, t: 1.767560 -6.519341 1.730163 q: 0.997376 0.011363 0.002785 0.071441 
time: 1403638213.545097, t: 1.774424 -6.340481 1.684715 q: 0.996057 -0.015342 0.000623 0.087380 
optimize pose graph 
time: 1403638213.645097, t: 1.750133 -6.146711 1.686444 q: 0.995437 -0.041623 0.014285 0.084665 
time: 1403638213.745097, t: 1.739303 -5.921014 1.687277 q: 0.995012 -0.060322 0.028682 0.074099 
time: 1403638213.845097, t: 1.731814 -5.716900 1.682122 q: 0.994483 -0.073499 0.036699 0.065224 
time: 1403638213.945097, t: 1.727743 -5.512648 1.666091 q: 0.994270 -0.079584 0.038221 0.060278 
time: 1403638214.045097, t: 1.733395 -5.319627 1.645659 q: 0.994377 -0.080934 0.033279 0.059635 
time: 1403638214.145097, t: 1.745709 -5.127027 1.626486 q: 0.994851 -0.080103 0.021784 0.058139 
time: 1403638214.245097, t: 1.755719 -4.939675 1.601281 q: 0.995296 -0.077840 0.010117 0.056778 
time: 1403638214.345097, t: 1.766218 -4.754492 1.582183 q: 0.995645 -0.074813 0.001715 0.055590 
time: 1403638214.445097, t: 1.771580 -4.571403 1.567717 q: 0.996023 -0.071881 -0.000836 0.052632 
time: 1403638214.545097, t: 1.780655 -4.388936 1.562667 q: 0.996337 -0.069555 0.008157 0.049065 
time: 1403638214.645097, t: 1.781574 -4.205969 1.568715 q: 0.996475 -0.067594 0.019431 0.045723 
time: 1403638214.745097, t: 1.778805 -4.024714 1.576108 q: 0.996459 -0.065601 0.030568 0.042791 
time: 1403638214.845097, t: 1.762465 -3.845609 1.590193 q: 0.996423 -0.063473 0.038032 0.040805 
time: 1403638214.945097, t: 1.750585 -3.668949 1.603683 q: 0.996419 -0.061964 0.042177 0.039132 
time: 1403638215.045097, t: 1.729820 -3.493632 1.620019 q: 0.996453 -0.060574 0.043649 0.038810 
time: 1403638215.145097, t: 1.704609 -3.320132 1.634221 q: 0.996574 -0.060129 0.043025 0.037059 
time: 1403638215.245097, t: 1.676121 -3.148068 1.649749 q: 0.996769 -0.060528 0.039424 0.035116 
time: 1403638215.345097, t: 1.648637 -2.982523 1.661274 q: 0.996921 -0.062529 0.036014 0.030672 
time: 1403638215.445097, t: 1.625105 -2.817758 1.668672 q: 0.996943 -0.064817 0.036045 0.024572 
time: 1403638215.545097, t: 1.603244 -2.659939 1.674372 q: 0.996939 -0.065433 0.035757 0.023522 
time: 1403638215.645097, t: 1.589839 -2.506361 1.676659 q: 0.996811 -0.065347 0.039382 0.023386 
time: 1403638215.745097, t: 1.583002 -2.357395 1.670347 q: 0.996774 -0.063388 0.040453 0.028064 
time: 1403638215.845097, t: 1.570722 -2.210150 1.666586 q: 0.996473 -0.065472 0.040489 0.033387 
time: 1403638215.945097, t: 1.552902 -2.071099 1.663838 q: 0.996079 -0.069934 0.040663 0.035809 
time: 1403638216.045097, t: 1.527507 -1.933730 1.662433 q: 0.995749 -0.073223 0.040619 0.038371 
time: 1403638216.145097, t: 1.505562 -1.798891 1.659245 q: 0.995519 -0.076677 0.040213 0.038011 
time: 1403638216.245097, t: 1.486347 -1.669364 1.652909 q: 0.995267 -0.079433 0.042148 0.036851 
time: 1403638216.345097, t: 1.473419 -1.545994 1.642633 q: 0.995050 -0.081540 0.043780 0.036195 
time: 1403638216.445097, t: 1.463252 -1.430369 1.631008 q: 0.994830 -0.083306 0.045778 0.035750 
time: 1403638216.545097, t: 1.452054 -1.318572 1.617126 q: 0.994787 -0.084154 0.045356 0.035492 
time: 1403638216.645097, t: 1.436958 -1.211956 1.602736 q: 0.994835 -0.086074 0.042697 0.032734 
time: 1403638216.745097, t: 1.415117 -1.111888 1.587871 q: 0.994915 -0.087312 0.040261 0.029993 
time: 1403638216.845097, t: 1.389285 -1.012693 1.573271 q: 0.994342 -0.091357 0.045921 0.028790 
time: 1403638216.945097, t: 1.361578 -0.918469 1.556965 q: 0.993335 -0.099021 0.049352 0.032314 
time: 1403638217.045097, t: 1.328140 -0.831897 1.542505 q: 0.991977 -0.108946 0.048137 0.042363 
time: 1403638217.145097, t: 1.290628 -0.748818 1.521100 q: 0.990189 -0.121921 0.043394 0.052697 
time: 1403638217.245097, t: 1.249301 -0.669978 1.501175 q: 0.988417 -0.134306 0.039260 0.058755 
time: 1403638217.345097, t: 1.211541 -0.594350 1.478251 q: 0.987016 -0.143510 0.036547 0.062191 
time: 1403638217.445097, t: 1.183606 -0.521965 1.453716 q: 0.985985 -0.149858 0.034123 0.064895 
time: 1403638217.545097, t: 1.165611 -0.456120 1.427245 q: 0.985313 -0.156165 0.031300 0.061577 
time: 1403638217.645097, t: 1.153062 -0.392706 1.397836 q: 0.984972 -0.160839 0.029025 0.055841 
optimize pose graph 
time: 1403638217.745097, t: 1.147048 -0.333036 1.367411 q: 0.984779 -0.164821 0.026729 0.048272 
time: 1403638217.845097, t: 1.146188 -0.280094 1.338655 q: 0.984782 -0.166855 0.023730 0.042440 
time: 1403638217.945097, t: 1.153702 -0.236286 1.307730 q: 0.984810 -0.167369 0.025797 0.038359 
time: 1403638218.045097, t: 1.152745 -0.198504 1.285068 q: 0.984990 -0.165982 0.029307 0.037225 
time: 1403638218.145097, t: 1.148417 -0.168628 1.264211 q: 0.985162 -0.164319 0.032158 0.037694 
time: 1403638218.245097, t: 1.139250 -0.146769 1.247562 q: 0.985281 -0.162676 0.037255 0.037001 
time: 1403638218.345097, t: 1.128150 -0.133209 1.235356 q: 0.985405 -0.159465 0.044477 0.039618 
time: 1403638218.445097, t: 1.120843 -0.126771 1.216325 q: 0.985785 -0.155379 0.046052 0.044325 
time: 1403638218.545097, t: 1.118285 -0.125722 1.193845 q: 0.986069 -0.153240 0.045015 0.046471 
time: 1403638218.645097, t: 1.122476 -0.130563 1.164229 q: 0.986380 -0.151284 0.041939 0.049087 
time: 1403638218.745097, t: 1.124269 -0.140445 1.135297 q: 0.986219 -0.153203 0.033764 0.052547 
time: 1403638218.845097, t: 1.122027 -0.150636 1.106987 q: 0.985104 -0.160079 0.026931 0.056741 
time: 1403638218.945097, t: 1.116268 -0.164679 1.082124 q: 0.983831 -0.163519 0.025750 0.068374 
time: 1403638219.045097, t: 1.106413 -0.180852 1.062360 q: 0.982454 -0.163389 0.028920 0.085158 
time: 1403638219.145097, t: 1.094785 -0.195177 1.043589 q: 0.981301 -0.165529 0.032578 0.092668 
time: 1403638219.345097, t: 1.064164 -0.217839 1.009008 q: 0.979945 -0.177038 0.048447 0.077577 
time: 1403638219.445097, t: 1.049417 -0.230209 0.988249 q: 0.979114 -0.180021 0.060491 0.072584 
time: 1403638219.545097, t: 1.037891 -0.246985 0.959429 q: 0.978851 -0.180772 0.063691 0.071530 
time: 1403638219.645097, t: 1.027383 -0.267887 0.923776 q: 0.979082 -0.178871 0.060282 0.075955 
time: 1403638219.745097, t: 1.015014 -0.290077 0.882747 q: 0.979321 -0.175530 0.056241 0.083408 
optimize pose graph 
time: 1403638219.845097, t: 0.995742 -0.313384 0.839538 q: 0.979438 -0.171232 0.051363 0.093500 
time: 1403638219.945097, t: 0.969546 -0.334618 0.796337 q: 0.979319 -0.167462 0.047867 0.102957 
time: 1403638220.045097, t: 0.937710 -0.350983 0.751710 q: 0.979286 -0.164911 0.043818 0.109011 
time: 1403638220.145097, t: 0.903848 -0.360425 0.705507 q: 0.979573 -0.165770 0.039809 0.106637 
time: 1403638220.245097, t: 0.872552 -0.364795 0.654542 q: 0.980158 -0.172103 0.035788 0.091602 
time: 1403638220.345097, t: 0.848843 -0.370848 0.599723 q: 0.980464 -0.177609 0.031560 0.078422 
time: 1403638220.445097, t: 0.832695 -0.376415 0.543959 q: 0.980441 -0.180262 0.030077 0.073057 
time: 1403638220.545097, t: 0.821734 -0.382535 0.486379 q: 0.980320 -0.181413 0.030621 0.071588 
time: 1403638220.645097, t: 0.808384 -0.390781 0.432106 q: 0.980046 -0.183051 0.030956 0.071017 
time: 1403638220.745097, t: 0.791432 -0.400034 0.378878 q: 0.979789 -0.184014 0.031034 0.072038 
time: 1403638220.845097, t: 0.769726 -0.411660 0.329569 q: 0.979545 -0.184404 0.031778 0.074011 
time: 1403638220.945097, t: 0.740518 -0.425530 0.282857 q: 0.979326 -0.185065 0.030430 0.075797 
time: 1403638221.045097, t: 0.707459 -0.439875 0.240015 q: 0.979230 -0.185603 0.029282 0.076176 
time: 1403638221.145097, t: 0.671143 -0.452051 0.200940 q: 0.979090 -0.186337 0.027887 0.076700 
time: 1403638221.245097, t: 0.641727 -0.468439 0.158878 q: 0.979056 -0.186288 0.025440 0.078102 
time: 1403638221.345097, t: 0.622407 -0.486027 0.114450 q: 0.979000 -0.185671 0.022872 0.081009 
time: 1403638221.445097, t: 0.607026 -0.503931 0.073159 q: 0.978849 -0.184972 0.022000 0.084597 
time: 1403638221.545097, t: 0.588318 -0.519772 0.033085 q: 0.978732 -0.184239 0.022262 0.087427 
time: 1403638221.645097, t: 0.565875 -0.534192 -0.001733 q: 0.978572 -0.184496 0.024025 0.088204 
time: 1403638221.745097, t: 0.542668 -0.550145 -0.033691 q: 0.978331 -0.184064 0.028753 0.090346 
time: 1403638221.845097, t: 0.524448 -0.559765 -0.065180 q: 0.978398 -0.183380 0.030469 0.090453 
time: 1403638221.945097, t: 0.511423 -0.571428 -0.102072 q: 0.978525 -0.184918 0.032417 0.085114 
optimize pose graph 
time: 1403638222.045097, t: 0.504696 -0.582960 -0.142008 q: 0.978607 -0.186350 0.031675 0.081237 
time: 1403638222.145097, t: 0.497119 -0.595289 -0.180134 q: 0.978777 -0.186912 0.026092 0.079864 
time: 1403638222.245097, t: 0.487508 -0.604721 -0.217004 q: 0.978884 -0.186761 0.019575 0.080763 
time: 1403638222.345097, t: 0.474501 -0.615751 -0.249861 q: 0.978955 -0.186224 0.013582 0.082361 
time: 1403638222.445097, t: 0.452960 -0.628479 -0.272689 q: 0.978936 -0.186047 0.009020 0.083602 
time: 1403638222.545097, t: 0.434816 -0.637868 -0.295940 q: 0.978947 -0.185876 0.009611 0.083788 
time: 1403638222.645097, t: 0.416506 -0.648713 -0.312825 q: 0.978820 -0.186085 0.019471 0.083098 
time: 1403638222.745097, t: 0.395489 -0.658303 -0.325764 q: 0.978653 -0.186643 0.025840 0.082074 
time: 1403638222.845097, t: 0.372115 -0.668087 -0.337676 q: 0.978532 -0.187132 0.030328 0.080845 
time: 1403638222.945097, t: 0.351922 -0.675816 -0.349462 q: 0.978158 -0.187313 0.043137 0.079125 
time: 1403638223.045097, t: 0.328360 -0.685813 -0.364389 q: 0.978216 -0.186732 0.043902 0.079351 
time: 1403638223.245097, t: 0.294005 -0.715010 -0.402862 q: 0.978795 -0.184023 0.016841 0.088390 
time: 1403638223.345097, t: 0.282376 -0.725856 -0.423378 q: 0.978752 -0.182668 0.013051 0.092230 
time: 1403638223.445097, t: 0.272690 -0.734780 -0.439848 q: 0.978430 -0.180081 0.019538 0.099315 
time: 1403638223.545097, t: 0.259945 -0.738003 -0.454345 q: 0.977919 -0.176345 0.027743 0.108662 
time: 1403638223.645097, t: 0.243468 -0.737439 -0.469478 q: 0.978134 -0.179810 0.029163 0.100358 
time: 1403638223.745097, t: 0.222922 -0.733492 -0.486452 q: 0.978464 -0.184941 0.027431 0.087481 
time: 1403638223.845097, t: 0.205730 -0.727435 -0.500561 q: 0.978626 -0.188218 0.025040 0.078982 
time: 1403638223.945097, t: 0.186224 -0.725956 -0.511989 q: 0.978661 -0.190478 0.024146 0.073202 
time: 1403638224.045097, t: 0.164340 -0.725045 -0.522340 q: 0.978769 -0.190849 0.020095 0.072002 
time: 1403638224.145097, t: 0.143418 -0.729858 -0.530007 q: 0.978960 -0.189370 0.010292 0.075306 
optimize pose graph 
time: 1403638224.245097, t: 0.121213 -0.730480 -0.531733 q: 0.979017 -0.188338 0.004645 0.077676 
time: 1403638224.345097, t: 0.183507 -0.718482 -0.525923 q: 0.978446 -0.187325 -0.000543 0.086902 
time: 1403638224.445097, t: 0.097297 -0.732765 -0.528827 q: 0.978651 -0.186286 0.023213 0.083669 
time: 1403638224.545097, t: 0.086440 -0.738175 -0.525509 q: 0.978273 -0.186715 0.035787 0.082692 
time: 1403638224.645097, t: 0.075775 -0.740265 -0.522861 q: 0.978491 -0.187098 0.031484 0.080984 
time: 1403638224.745097, t: 0.063904 -0.744211 -0.521164 q: 0.978891 -0.186097 0.013631 0.083391 
time: 1403638224.845097, t: 0.057147 -0.750696 -0.518171 q: 0.978952 -0.185520 0.008829 0.084599 
time: 1403638225.045097, t: 0.063628 -0.758462 -0.511854 q: 0.978416 -0.179407 0.033693 0.096850 
time: 1403638225.145097, t: 0.067231 -0.762057 -0.510061 q: 0.978627 -0.180993 0.034792 0.091216 
time: 1403638225.245097, t: 0.071091 -0.763562 -0.509582 q: 0.979242 -0.182007 0.023219 0.086137 
time: 1403638225.345097, t: 0.077412 -0.762610 -0.509734 q: 0.979473 -0.182903 0.016461 0.083117 
time: 1403638225.445097, t: 0.082108 -0.761193 -0.507185 q: 0.979377 -0.183851 0.023477 0.080427 
time: 1403638225.545097, t: 0.080990 -0.760110 -0.500356 q: 0.978813 -0.185672 0.041083 0.075914 
time: 1403638225.645097, t: 0.072135 -0.760955 -0.492940 q: 0.977978 -0.187032 0.058199 0.072050 
time: 1403638225.745097, t: 0.051269 -0.765139 -0.484839 q: 0.978223 -0.187151 0.054581 0.071244 
time: 1403638225.845097, t: 0.019639 -0.772407 -0.475838 q: 0.979098 -0.185979 0.035440 0.074315 
time: 1403638225.945097, t: -0.017742 -0.780241 -0.468555 q: 0.979593 -0.184748 0.017631 0.077167 
time: 1403638226.045097, t: -0.037425 -0.795685 -0.461816 q: 0.980177 -0.180668 0.000202 0.081310 
time: 1403638226.145097, t: -0.026496 -0.803530 -0.456600 q: 0.979892 -0.169259 0.004959 0.105535 
time: 1403638226.245097, t: -0.068759 -0.801185 -0.451340 q: 0.980171 -0.181584 -0.004366 0.079205 
optimize pose graph 
time: 1403638226.345097, t: -0.032319 -0.818966 -0.448650 q: 0.980282 -0.180576 0.000512 0.080242 
time: 1403638226.445097, t: -0.033010 -0.815753 -0.443863 q: 0.980259 -0.180713 0.000926 0.080218 
time: 1403638226.545097, t: -0.033301 -0.813883 -0.442591 q: 0.981171 -0.171746 0.000979 0.088355 
time: 1403638226.645097, t: -0.065615 -0.809027 -0.442386 q: 0.980369 -0.180017 0.002955 0.080388 
time: 1403638226.745097, t: -0.068678 -0.807172 -0.442281 q: 0.980356 -0.179824 0.002482 0.080990 
time: 1403638226.845097, t: -0.068447 -0.807544 -0.442570 q: 0.980372 -0.179896 0.002919 0.080620 
time: 1403638226.945097, t: -0.068449 -0.807312 -0.442366 q: 0.980369 -0.180160 0.002628 0.080079 
time: 1403638227.045097, t: -0.068769 -0.807150 -0.442330 q: 0.980396 -0.180337 0.002635 0.079342 
time: 1403638227.145097, t: -0.068839 -0.807209 -0.442273 q: 0.980378 -0.180318 0.002505 0.079611 
time: 1403638227.245097, t: -0.068812 -0.807308 -0.442377 q: 0.980388 -0.180148 0.002511 0.079870 
time: 1403638227.345097, t: -0.068696 -0.807412 -0.442439 q: 0.980367 -0.180041 0.002558 0.080366 
time: 1403638227.445097, t: -0.068669 -0.807488 -0.442514 q: 0.980363 -0.180060 0.002550 0.080373 
time: 1403638227.545097, t: -0.068650 -0.807380 -0.442508 q: 0.980375 -0.180106 0.002568 0.080122 
time: 1403638227.645097, t: -0.068681 -0.807311 -0.442424 q: 0.980379 -0.180170 0.002572 0.079936 
time: 1403638227.745097, t: -0.068742 -0.807340 -0.442411 q: 0.980376 -0.180169 0.002562 0.079976 
time: 1403638227.845097, t: -0.068686 -0.807348 -0.442452 q: 0.980377 -0.180140 0.002543 0.080023 
time: 1403638227.945097, t: -0.068685 -0.807339 -0.442471 q: 0.980377 -0.180097 0.002565 0.080119 
time: 1403638228.045097, t: -0.068682 -0.807362 -0.442492 q: 0.980368 -0.180116 0.002564 0.080185 
time: 1403638228.145097, t: -0.068546 -0.807333 -0.442540 q: 0.980374 -0.180078 0.002616 0.080199 
time: 1403638228.245097, t: -0.068671 -0.807357 -0.442496 q: 0.980375 -0.180142 0.002581 0.080043 
time: 1403638228.345097, t: -0.068745 -0.807324 -0.442426 q: 0.980373 -0.180142 0.002584 0.080062 
time: 1403638228.445097, t: -0.068786 -0.807334 -0.442415 q: 0.980381 -0.180131 0.002535 0.079996 
time: 1403638228.545097, t: -0.068773 -0.807306 -0.442375 q: 0.980383 -0.180107 0.002592 0.080020 
time: 1403638228.645097, t: -0.068789 -0.807321 -0.442407 q: 0.980382 -0.180107 0.002551 0.080041 
time: 1403638228.745097, t: -0.068781 -0.807330 -0.442377 q: 0.980383 -0.180093 0.002563 0.080052 
time: 1403638228.845097, t: -0.068771 -0.807314 -0.442379 q: 0.980381 -0.180097 0.002598 0.080076 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731041748.584085319]: Shutdown request received.[0m
[33m[ WARN] [1731041748.584126870]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731041748.585067018]: Shutdown request received.[0m
[33m[ WARN] [1731041748.585095314]: Reason given for shutdown: [user request][0m
killed
