/SLAM-Hive/slam_hive_results/mapping_results/2772/1983_vins-mono+MH_05_difficult+Image_comb_test-8.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/c0ded0c0-3c6f-11ef-85b4-0242ac110004/roslaunch-39f0b97608f4-117.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://39f0b97608f4:41931/[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 c0ded0c0-3c6f-11ef-85b4-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [154][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[0m[ INFO] [1720363617.513649483]: init begins[0m
[0m[ INFO] [1720363617.518155589]: 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] [1720363617.518656738]: ROW: 288.000000 COL: 451.000000 [0m
[33m[ WARN] [1720363617.518677258]:  fix extrinsic param [0m
[0m[ INFO] [1720363617.518806345]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720363617.518853564]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720363617.518893451]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720363617.518948759]: 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_05_difficult.bag  --clock 
[0m[ INFO] [1720363624.782566247]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316725106.86 
[0m[ INFO] [1720363626.404736369]: IMU excitation not enouth![0m
[0m[ INFO] [1720363626.593330030]: IMU excitation not enouth![0m
[0m[ INFO] [1720363626.594099677]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363626.806090918]: IMU excitation not enouth![0m
[0m[ INFO] [1720363626.895931600]: IMU excitation not enouth![0m
[0m[ INFO] [1720363626.896773032]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363627.084187063]: IMU excitation not enouth![0m
[0m[ INFO] [1720363627.292255021]: IMU excitation not enouth![0m
[0m[ INFO] [1720363627.293190235]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363627.403693471]: IMU excitation not enouth![0m
[0m[ INFO] [1720363627.593329194]: IMU excitation not enouth![0m
[0m[ INFO] [1720363627.594167288]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363627.803788960]: IMU excitation not enouth![0m
[0m[ INFO] [1720363627.893682793]: IMU excitation not enouth![0m
[0m[ INFO] [1720363627.894342094]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363628.105270692]: IMU excitation not enouth![0m
[0m[ INFO] [1720363628.286908100]: IMU excitation not enouth![0m
[0m[ INFO] [1720363628.287325004]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363628.393012032]: IMU excitation not enouth![0m
[0m[ INFO] [1720363628.393687724]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363628.604121256]: IMU excitation not enouth![0m
[0m[ INFO] [1720363628.792907829]: IMU excitation not enouth![0m
[0m[ INFO] [1720363628.793882847]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363628.893547568]: IMU excitation not enouth![0m
[0m[ INFO] [1720363628.894341222]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720363629.095250645]: IMU excitation not enouth![0m
[0m[ INFO] [1720363629.095827357]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720363629.453459234]: gyroscope bias initial calibration 0.000667838   0.0282079   0.0812077[0m
[0m[ INFO] [1720363629.523568795]: Initialization finish![0m
position: 0.015553, 0.015348, 0.046759
position: 0.014324, 0.012531, 0.072886
position: 0.009191, 0.008876, 0.112613
position: 0.007578, 0.007189, 0.156141
position: 0.011983, 0.007310, 0.201394
position: 0.016742, 0.009133, 0.249084
position: 0.020533, 0.011105, 0.298378
position: 0.021608, 0.008129, 0.345381
position: 0.020834, 0.003329, 0.379218
position: 0.017638, -0.001617, 0.394386
position: 0.012857, -0.009778, 0.384917
position: 0.009672, -0.015376, 0.353066
position: 0.005555, -0.022111, 0.310726
position: -0.000537, -0.028758, 0.257306
position: -0.007503, -0.034818, 0.205161
position: -0.013925, -0.040299, 0.155060
position: -0.020950, -0.044777, 0.108579
position: -0.024786, -0.048585, 0.074382
position: -0.033195, -0.049179, 0.057157
position: -0.029916, -0.050211, 0.070362
position: -0.020843, -0.052158, 0.119940
position: -0.016152, -0.051132, 0.172355
position: -0.010078, -0.049712, 0.230607
position: -0.002254, -0.046845, 0.288370
position: 0.005706, -0.042814, 0.340710
position: 0.011611, -0.037729, 0.379896
position: 0.016208, -0.032697, 0.404078
position: 0.017643, -0.029491, 0.411617
position: 0.017279, -0.027621, 0.397319
position: 0.017514, -0.026161, 0.362400
position: 0.014942, -0.028487, 0.316568
position: 0.011573, -0.026842, 0.262000
position: 0.005488, -0.024769, 0.208627
position: -0.000542, -0.027233, 0.164217
position: -0.004231, -0.029631, 0.127152
position: -0.005348, -0.031026, 0.097662
position: -0.008790, -0.029697, 0.073684
position: -0.010478, -0.039474, 0.062049
position: 0.007000, -0.066692, 0.066003
position: 0.005238, -0.094818, 0.075343
position: 0.002447, -0.128275, 0.091599
position: -0.002780, -0.167077, 0.107407
position: -0.009946, -0.210527, 0.120646
position: -0.018700, -0.260245, 0.130210
position: -0.028889, -0.316891, 0.137246
position: -0.042095, -0.379236, 0.142935
position: -0.057754, -0.441508, 0.147158
position: -0.073739, -0.499549, 0.150654
position: -0.087620, -0.552641, 0.154288
position: -0.099260, -0.600787, 0.159808
position: -0.106293, -0.638024, 0.166581
position: -0.106495, -0.659787, 0.172819
position: -0.103399, -0.662214, 0.175449
position: -0.094861, -0.644013, 0.175311
position: -0.082175, -0.610354, 0.173205
position: -0.068020, -0.563713, 0.172062
position: -0.052965, -0.510079, 0.173544
position: -0.034357, -0.456842, 0.176579
position: -0.013171, -0.401941, 0.178754
position: 0.007272, -0.349146, 0.176040
position: 0.030969, -0.301711, 0.171766
position: 0.059040, -0.265206, 0.165781
position: 0.091246, -0.240408, 0.161102
position: 0.124368, -0.223121, 0.158495
position: 0.155908, -0.211239, 0.158507
position: 0.181554, -0.204210, 0.162136
position: 0.192753, -0.198929, 0.169653
position: 0.191649, -0.190498, 0.183709
position: 0.168293, -0.181392, 0.200584
position: 0.137322, -0.165315, 0.209905
position: 0.101916, -0.145344, 0.209028
position: 0.072392, -0.119648, 0.197150
position: 0.036395, -0.102957, 0.177770
position: 0.018164, -0.085793, 0.150590
position: 0.005945, -0.073551, 0.123896
position: 0.000600, -0.061396, 0.099863
position: -0.003477, -0.054278, 0.079089
position: 0.005082, -0.055130, 0.062155
position: 0.014948, -0.053736, 0.050744
position: 0.028455, -0.055541, 0.043849
position: 0.044282, -0.057583, 0.035397
position: 0.058242, -0.061386, 0.027165
position: 0.070769, -0.065102, 0.020596
position: 0.079231, -0.069381, 0.015475
position: 0.083854, -0.072899, 0.010708
position: 0.087052, -0.074916, 0.005387
position: 0.089042, -0.076100, 0.000963
position: 0.089588, -0.076720, -0.001343
position: 0.089091, -0.076289, -0.002880
position: 0.088441, -0.074477, -0.002527
position: 0.088690, -0.073479, -0.004520
position: 0.088689, -0.072655, -0.005140
position: 0.088786, -0.073024, -0.004925
position: 0.088560, -0.073061, -0.005282
position: 0.088546, -0.072850, -0.005190
position: 0.088695, -0.072927, -0.005204
position: 0.088623, -0.072938, -0.005255
position: 0.088681, -0.073000, -0.005305
position: 0.088662, -0.073006, -0.005382
position: 0.088691, -0.072986, -0.005388
position: 0.088724, -0.072953, -0.005349
position: 0.088695, -0.072936, -0.005333
position: 0.088713, -0.072942, -0.005303
position: 0.088696, -0.072937, -0.005325
position: 0.088747, -0.072972, -0.005335
position: 0.088691, -0.072980, -0.005370
position: 0.088701, -0.072977, -0.005385
position: 0.088698, -0.072995, -0.005379
position: 0.088678, -0.072995, -0.005390
position: 0.088701, -0.073005, -0.005387
position: 0.088690, -0.073010, -0.005397
position: 0.088682, -0.073009, -0.005412
position: 0.088694, -0.073030, -0.005399
position: 0.088666, -0.073017, -0.005403
position: 0.088681, -0.073019, -0.005387
position: 0.088680, -0.073018, -0.005395
position: 0.088631, -0.072961, -0.005400
position: 0.088686, -0.073008, -0.005368
position: 0.088756, -0.073029, -0.005380
position: 0.088667, -0.073055, -0.005335
position: 0.088630, -0.073001, -0.005295
position: 0.088623, -0.072978, -0.005268
position: 0.088752, -0.073006, -0.005250
position: 0.088599, -0.072988, -0.005187
position: 0.088570, -0.072980, -0.005130
position: 0.088488, -0.073026, -0.005104
position: 0.088573, -0.073079, -0.005165
position: 0.088567, -0.073132, -0.005163
position: 0.088534, -0.073130, -0.005124
position: 0.088545, -0.073132, -0.005115
position: 0.088514, -0.073118, -0.005108
position: 0.088499, -0.073115, -0.005080
position: 0.088515, -0.073124, -0.005087
position: 0.088521, -0.073114, -0.005088
position: 0.088524, -0.073124, -0.005085
position: 0.088503, -0.073132, -0.005084
position: 0.088524, -0.073129, -0.005095
position: 0.088460, -0.073119, -0.005062
position: 0.088494, -0.073133, -0.005051
position: 0.088513, -0.073134, -0.005044
position: 0.088512, -0.073137, -0.005064
position: 0.088521, -0.073147, -0.005060
position: 0.088506, -0.073137, -0.005057
position: 0.088494, -0.073130, -0.005038
position: 0.088501, -0.073128, -0.005046
position: 0.088495, -0.073129, -0.005056
position: 0.088508, -0.073128, -0.005040
position: 0.088498, -0.073127, -0.005001
position: 0.088525, -0.073101, -0.005016
position: 0.088540, -0.073095, -0.005048
position: 0.088548, -0.073089, -0.005058
position: 0.088544, -0.073097, -0.005075
position: 0.088541, -0.073086, -0.005061
position: 0.088502, -0.073069, -0.005035
position: 0.088515, -0.073072, -0.004996
position: 0.088519, -0.073061, -0.004991
position: 0.088553, -0.073056, -0.005029
position: 0.088559, -0.073053, -0.004992
position: 0.088535, -0.073037, -0.004948
position: 0.088536, -0.073047, -0.004950
position: 0.088649, -0.073019, -0.005026
position: 0.088576, -0.073038, -0.004986
position: 0.088538, -0.073030, -0.004916
position: 0.088580, -0.073027, -0.004893
position: 0.088565, -0.073022, -0.004805
position: 0.088578, -0.073057, -0.004457
position: 0.089910, -0.072629, -0.004159
position: 0.093115, -0.072465, -0.001686
position: 0.097470, -0.072249, 0.001589
position: 0.105576, -0.072098, 0.009203
position: 0.113842, -0.071710, 0.025048
position: 0.121177, -0.071063, 0.048593
position: 0.129093, -0.070436, 0.078757
position: 0.137338, -0.070338, 0.112018
position: 0.145442, -0.070397, 0.140443
position: 0.154301, -0.070242, 0.157174
position: 0.164708, -optimize pose graph 
0.069871, 0.166855
position: 0.177596, -0.069340, 0.175341
position: 0.195618, -0.070592, 0.182727
position: 0.218804, -0.070718, 0.190293
position: 0.251107, -0.074537, 0.199143
position: 0.287118, -0.075137, 0.209438
position: 0.326244, -0.074549, 0.218816
position: 0.369806, -0.073700, 0.225554
position: 0.416643, -0.072079, 0.231515
position: 0.465603, -0.067971, 0.238412
position: 0.514487, -0.060121, 0.244479
position: 0.563680, -0.048007, 0.249294
position: 0.613205, -0.031505, 0.252649
position: 0.664207, -0.010119, 0.250055
position: 0.716626, 0.014674, 0.247377
position: 0.768899, 0.044632, 0.249764
position: 0.821147, 0.078424, 0.256039
position: 0.874213, 0.117848, 0.269047
position: 0.932071, 0.163920, 0.289577
position: 0.987216, 0.216169, 0.317370
position: 1.041090, 0.271945, 0.351773
position: 1.092611, 0.330395, 0.383354
position: 1.142927, 0.391115, 0.408321
position: 1.192378, 0.453497, 0.426896
position: 1.238462, 0.516606, 0.439933
position: 1.284218, 0.580861, 0.449362
position: 1.32723optimize pose graph 
8, 0.645370, 0.456309
position: 1.364721, 0.710226, 0.460369
position: 1.395594, 0.778834, 0.466556
position: 1.418436, 0.851548, 0.478782
position: 1.437066, 0.928783, 0.498095
position: 1.453756, 1.009248, 0.524774
position: 1.468076, 1.090557, 0.553392
position: 1.481934, 1.173024, 0.576819
position: 1.498920, 1.257185, 0.595665
position: 1.514518, 1.341977, 0.606659
position: 1.531500, 1.429135, 0.614548
position: 1.548301, 1.515905, 0.620671
position: 1.562964, 1.604125, 0.623682
position: 1.572262, 1.691145, 0.629293
position: 1.578783, 1.776843, 0.642969
position: 1.585302, 1.864101, 0.663478
position: 1.592329, 1.954193, 0.687547
position: 1.599283, 2.042573, 0.710290
position: 1.608028, 2.135845, 0.726955
position: 1.616647, 2.227091, 0.737110
position: 1.627542, 2.319691, 0.744908
position: 1.642322, 2.415323, 0.749778
position: 1.656121, 2.509757, 0.764214
position: 1.671087, 2.603845, 0.778902
position: 1.684968, 2.689177, 0.795679
position: 1.700102, 2.776356, 0.803336
position: 1.715653, 2.864714, 0.806134
position: 1.731825, 2.942116, 0.806249
position: 1.749664, 3.029433, 0.796057
position: 1.767386, 3.117852, 0.782683
position: 1.784291, 3.199736, 0.768698
position: 1.798656, 3.289742, 0.755078
position: 1.813992, 3.375365, 0.750089
position: 1.826817, 3.453365, 0.750896
position: 1.838570, 3.534640, 0.758621
position: 1.849235, 3.615374, 0.773552
position: 1.860233, 3.697640, 0.791889
position: 1.870791, 3.782060, 0.804688
position: 1.881685, 3.872855, 0.810557
position: 1.891744, 3.967122, 0.810914
position: 1.900926, 4.060185, 0.806174
position: 1.909869, 4.155682, 0.801298
position: 1.919355, 4.252488, 0.801796
position: 1.927616, 4.353384, 0.812881
position: 1.936132, 4.455375, 0.832094
position: 1.945074, 4.561503, 0.849552
position: 1.951410, 4.668655, 0.860853
position: 1.956935, 4.779090, 0.864960
position: 1.956941, 4.888544, 0.865987
position: 1.953758, 5.000400, 0.861935
position: 1.944996, 5.110983, 0.856605
position: 1.934719, 5.222460, 0.846311
position: 1.923439, 5.331962, 0.828752
position: 1.910126, 5.445044, 0.809293
position: 1.892666, 5.548502, 0.783361
position: 1.874926, 5.664211, 0.761999
position: 1.853531, 5.781212, 0.747767
position: 1.825532, 5.889771, 0.738711
position: 1.800415, 6.016116, 0.739693
position: 1.769085, 6.140960, 0.748969
position: 1.738080, 6.272219, 0.764583
position: 1.708082, 6.405314, 0.778119
position: 1.678309, 6.533513, 0.788635
position: 1.648599, 6.661607, 0.797713
position: 1.619004, 6.787927, 0.813055
position: 1.588231, 6.914098, 0.834637
position: 1.558012, 7.046094, 0.859626
position: 1.529388, 7.163448, 0.895079
position: 1.498798, 7.294168, 0.931772
position: 1.471361, 7.417680, 0.975563
position: 1.440119, 7.551619, 1.013476
position: 1.413363, 7.680870, 1.048655
position: 1.385390, 7.816472, 1.076603
position: 1.362822, 7.945471, 1.106517
position: 1.337644, 8.081869, 1.140460
position: 1.315513, 8.219261, 1.184471
position: 1.292149, 8.362379, 1.235118
position: 1.272234, 8.505573, 1.293788
position: 1.251816, 8.652350, 1.359823
position: 1.233493, 8.797908, 1.428973
position: 1.214703, 8.947880, 1.491888
position: 1.198821, 9.101357, 1.545969
position: 1.186492, 9.247773, 1.596703
position: 1.177431, 9.394426, 1.640028
position: 1.172208, 9.536175, 1.679796
position: 1.169121, 9.677757, 1.716651
position: 1.167913, 9.812975, 1.749844
position: 1.170482, 9.931897, 1.784640
position: 1.178345, 10.046272, 1.824818
position: 1.193325, 10.157167, 1.869571
position: 1.213701, 10.261995, 1.909547
position: 1.242655, 10.361440, 1.944454
position: 1.278592, 10.461886, 1.975933
position: 1.325270, 10.559555, 2.001135
position: 1.380673, 10.653112, 2.021323
position: 1.443974, 10.741063, 2.044293
position: 1.512168, 10.821691, 2.074139
position: 1.583702, 10.895675, 2.107212
position: 1.658896, 10.963259, 2.143316
position: 1.736202, 11.025172, 2.179957
position: 1.816976, 11.080170, 2.214172
position: 1.901047, 11.127187, 2.241720
position: 1.987971, 11.164153, 2.263887
position: 2.077876, 11.189100, 2.278975
position: 2.172315, 11.211132, 2.288861
position: 2.266233, 11.215512, 2.293607
position: 2.364226, 11.223685, 2.293862
position: 2.459273, 11.218317, 2.292823
position: 2.558276, 11.215069, 2.292157
position: 2.654084, 11.196257, 2.297487
position: 2.748811, 11.167491, 2.307740
position: 2.841087, 11.127057, 2.323695
position: 2.932483, 11.076068, 2.341543
position: 3.021970, 11.016286, 2.367277
position: 3.101705, 10.944153, 2.398631
position: 3.186655, 10.871820, 2.432727
position: 3.254943, 10.783258, 2.458547
position: 3.338137, 10.703799, 2.484929
position: 3.403187, 10.606649, 2.497341
position: 3.484073, 10.524958, 2.515895
position: 3.561511, 10.445427, 2.531398
position: 3.634557, 10.364697, 2.542049
position: 3.697636, 10.275118, 2.549042
position: 3.769593, 10.194865, 2.567266
position: 3.832617, 10.107063, 2.583648
position: 3.908570, 10.031796, 2.608566
position: 3.974445, 9.943402, 2.619360
position: 4.052296, 9.866982, 2.633135
position: 4.130168, 9.786734, 2.637851
position: 4.209994, 9.704796, 2.638408
position: 4.290642, 9.623659, 2.635377
position: 4.371617, 9.543317, 2.630852
position: 4.450841, 9.464022, 2.631693
position: 4.528201, 9.384108, 2.642121
position: 4.603347, 9.302877, 2.661545
position: 4.680345, 9.217632, 2.682237
position: 4.758314, 9.139449, 2.707660
position: 4.835830, 9.058828, 2.728171
position: 4.912571, 8.985575, 2.743727
position: 4.986815, 8.917836, 2.754003
position: 5.067595, 8.847719, 2.762422
position: 5.142850, 8.793296, 2.771846
position: 5.222118, 8.742940, 2.783356
position: 5.310939, 8.685983, 2.802158
position: 5.395568, 8.645847, 2.828983
position: 5.485470, 8.609064, 2.859043
position: 5.582085, 8.571687, 2.882796
position: 5.682680, 8.533412, 2.900663
position: 5.789131, 8.491017, 2.912359
position: 5.898068, 8.449924, 2.918092
position: 6.010246, 8.406881, 2.926694
position: 6.121752, 8.364607, 2.941010
position: 6.232519, 8.323546, 2.958811
position: 6.343298, 8.283449, 2.979130
position: 6.451397, 8.244763, 2.993227
position: 6.560138, 8.207204, 3.000710
position: 6.667421, 8.170949, 3.001966
position: 6.774827, 8.137376, 3.000673
position: 6.883493, 8.108666, 3.005835
position: 6.992444, 8.086902, 3.021745
position: 7.099577, 8.071334, 3.045744
position: 7.207466, 8.065327, 3.077619
position: 7.319438, 8.068698, 3.115594
position: 7.433371, 8.081593, 3.152367
position: 7.553382, 8.096316, 3.183181
position: 7.678243, 8.114157, 3.207708
position: 7.803725, 8.135633, 3.223665
position: 7.928853, 8.161548, 3.232521
position: 8.054013, 8.188162, 3.234814
position: 8.178454, 8.215412, 3.230210
position: 8.299286, 8.243690, 3.220960
position: 8.414635, 8.272103, 3.206568
position: 8.528517, 8.301401, 3.189716
position: 8.638649, 8.332296, 3.176202
position: 8.746198, 8.367908, 3.168020
position: 8.854031, 8.403484, 3.161446
position: 8.958670, 8.440480, 3.148153
position: 9.067054, 8.477404, 3.129801
position: 9.173365, 8.514440, 3.105858
position: 9.278364, 8.551617, 3.080083
position: 9.380279, 8.587202, 3.051359
position: 9.478403, 8.619560, 3.017918
position: 9.573658, 8.648747, 2.980435
position: 9.665460, 8.672742, 2.945848
position: 9.753527, 8.688287, 2.919247
position: 9.841371, 8.696679, 2.901003
position: 9.927086, 8.696813, 2.890596
position: 10.007497, 8.687346, 2.886835
position: 10.082127, 8.670009, 2.889530
position: 10.149998, 8.644172, 2.894574
position: 10.213544, 8.611800, 2.895362
position: 10.272169, 8.575070, 2.889839
position: 10.327780, 8.536207, 2.878798
position: 10.378337, 8.496064, 2.862916
position: 10.427187, 8.455057, 2.841986
position: 10.473665, 8.412343, 2.816725
position: 10.518898, 8.369005, 2.793189
position: 10.561260, 8.323809, 2.777395
position: 10.601663, 8.280449, 2.765943
position: 10.635886, 8.235132, 2.761676
position: 10.669032, 8.188340, 2.760819
position: 10.701702, 8.140641, 2.767451
position: 10.733954, 8.091389, 2.778895
position: 10.767564, 8.040353, 2.791785
position: 10.798274, 7.986457, 2.800196
position: 10.825530, 7.930145, 2.802295
position: 10.848484, 7.870819, 2.798808
position: 10.865504, 7.807244, 2.791444
position: 10.879248, 7.738810, 2.779790
position: 10.887515, 7.665856, 2.763730
position: 10.887751, 7.589155, 2.741939
position: 10.878736, 7.507609, 2.720049
position: 10.860969, 7.422133, 2.703959
position: 10.836932, 7.331078, 2.694735
position: 10.806539, 7.235885, 2.694110
position: 10.771336, 7.134855, 2.700058
position: 10.730257, 7.027931, 2.703269
position: 10.683089, 6.916192, 2.700819
position: 10.630557, 6.798683, 2.696328
position: 10.572868, 6.675421, 2.697538
position: 10.507111, 6.549583, 2.704999
position: 10.435886, 6.417244, 2.718043
position: 10.355091, 6.285305, 2.728352
position: 10.269617, 6.147380, 2.735101
position: 10.178573, 6.002665, 2.729454
position: 10.084354, 5.854042, 2.710945
position: 9.987209, 5.696650, 2.674444
position: 9.889056, 5.532739, 2.622740
position: 9.788601, 5.362234, 2.564938
position: 9.684189, 5.188001, 2.504227
position: 9.576471, 5.006584, 2.443318
position: 9.467829, 4.819487, 2.388934
position: 9.353637, 4.628978, 2.343436
position: 9.236099, 4.443193, 2.303755
position: 9.113357, 4.259371, 2.271535
position: 8.986884, 4.081119, 2.242585
position: 8.857950, 3.909864, 2.207541
position: 8.727903, 3.741780, 2.163812
position: 8.595722, 3.576309, 2.111298
position: 8.463542, 3.413061, 2.050311
position: 8.330971, 3.251858, 1.983985
position: 8.198263, 3.095203, 1.911591
position: 8.066364, 2.942196, 1.831712
position: 7.937427, 2.793650, 1.746926
position: 7.814650, 2.648630, 1.659456
position: 7.699334, 2.506125, 1.570435
position: 7.595253, 2.367795, 1.483389
position: 7.499534, 2.230208, 1.393996
position: 7.407078, 2.094380, 1.299839
position: 7.311782, 1.961651, 1.200606
position: 7.214705, 1.832450, 1.105255
position: 7.115637, 1.705398, 1.016311
position: 7.013982, 1.580802, 0.936518
position: 6.913374, 1.460871, 0.865507
position: 6.817915, 1.345482, 0.803007
position: 6.731740, 1.237148, 0.748619
position: 6.653237, 1.135395, 0.702882
position: 6.578004, 1.040339, 0.667670
position: 6.505668, 0.950742, 0.640077
position: 6.436450, 0.865718, 0.608896
position: 6.371476, 0.786701, 0.579035
position: 6.308921, 0.710485, 0.538463
position: 6.251139, 0.640008, 0.504259
position: 6.197565, 0.574170, 0.465039
position: 6.148174, 0.516183, 0.442249
position: 6.105445, 0.461316, 0.419561
position: 6.065387, 0.411694, 0.412404
position: 6.029645, 0.365896, 0.404293
position: 5.993372, 0.322309, 0.400137
position: 5.965936, 0.286798, 0.387481
position: 5.939394, 0.252512, 0.372520
position: 5.923183, 0.230105, 0.353626
position: 5.910215, 0.212579, 0.340706
position: 5.899961, 0.200919, 0.334215
position: 5.891979, 0.191577, 0.333464
position: 5.889276, 0.191893, 0.336803
position: 5.889819, 0.197927, 0.338076
position: 5.892579, 0.207735, 0.333328
position: 5.896909, 0.220084, 0.322840
position: 5.902265, 0.233289, 0.308323
position: 5.911382, 0.242317, 0.287874
position: 5.916069, 0.249688, 0.260874
position: 5.924621, 0.248393, 0.230786
position: 5.932426, 0.236347, 0.197565
position: 5.934549, 0.213528, 0.163101
position: 5.930810, 0.178458, 0.126485
position: 5.919284, 0.132715, 0.085817
position: 5.899638, 0.077933, 0.046928
position: 5.872963, 0.016321, 0.016905
position: 5.842033, -0.049967, -0.003491
position: 5.806219, -0.119922, -0.016029
position: 5.765193, -0.192401, -0.026384
position: 5.718829, -0.267337, -0.041865
position: 5.668413, -0.345138, -0.063412
position: 5.614920, -0.425491, -0.088985
position: 5.558502, -0.510373, -0.110775
position: 5.498713, -0.599603, -0.124026
position: 5.434959, -0.693637, -0.127920
position: 5.367706, -0.790280, -0.126201
position: 5.300116, -0.890353, -0.126115
position: 5.233311, -0.993854, -0.129032
position: 5.168190, -1.101134, -0.132768
position: 5.105346, -1.211257, -0.135141
position: 5.044704, -1.325280, -0.129530
position: 4.986864, -1.441293, -0.115711
position: 4.933135, -1.560220, -0.097415
position: 4.883016, -1.681382, -0.083194
position: 4.836276, -1.805046, -0.075546
position: 4.796316, -1.931004, -0.069388
position: 4.757113, -2.059542, -0.062535
position: 4.728259, -2.190892, -0.051776
position: 4.699072, -2.325200, -0.033446
position: 4.674623, -2.460687, -0.007546
position: 4.655908, -2.597832, 0.022757
position: 4.643034, -2.735344, 0.052911
position: 4.636326, -2.871568, 0.077727
position: 4.632174, -3.004696, 0.095880
position: 4.626159, -3.134955, 0.108786
position: 4.616078, -3.262342, 0.118109
position: 4.602522, -3.383835, 0.122936
position: 4.581882, -3.502791, 0.126098
position: 4.557549, -3.618602, 0.132232
position: 4.530206, -3.732457, 0.145196
position: 4.502856, -3.845092, 0.163056
position: 4.476482, -3.953708, 0.182737
position: 4.454658, -4.063943, 0.196139
position: 4.430959, -4.171888, 0.202927
position: 4.400974, -4.278535, 0.207094
position: 4.372638, -4.382785, 0.204573
position: 4.335510, -4.489793, 0.201827
position: 4.299364, -4.595666, 0.190281
position: 4.259386, -4.704773, 0.180689
position: 4.218850, -4.821596, 0.176332
position: 4.177694, -4.942515, 0.181058
position: 4.139479, -5.068993, 0.195048
position: 4.104577, -5.201019, 0.220275
position: 4.073135, -5.332042, 0.253951
position: 4.045237, -5.468194, 0.292525
position: 4.018915, -5.617034, 0.327702
position: 3.999130, -5.761767, 0.355738
position: 3.982951, -5.909790, 0.377699
position: 3.971942, -6.065371, 0.395034
position: 3.969224, -6.220961, 0.408283
position: 3.974924, -6.379528, 0.417415
position: 3.988726, -6.538759, 0.421688
position: 4.010031, -6.696935, 0.421864
position: 4.036165, -6.854307, 0.422108
position: 4.066492, -7.008312, 0.429880
position: 4.100007, -7.159132, 0.443484
position: 4.136416, -7.309465, 0.466060
position: 4.176719, -7.454078, 0.492525
position: 4.222571, -7.600053, 0.516606
position: 4.272567, -7.743312, 0.534465
position: 4.326699, -7.885615, 0.545792
position: 4.383543, -8.028414, 0.551263
position: 4.445724, -8.166229, 0.554650
position: 4.511234, -8.303879, 0.562303
position: 4.581369, -8.442056, 0.578722
position: 4.651745, -8.580400, 0.600419
position: 4.721039, -8.716883, 0.621297
position: 4.788528, -8.853116, 0.634673
position: 4.854761, -8.987421, 0.642270
position: 4.918969, -9.122995, 0.647756
position: 4.981606, -9.254704, 0.648282
position: 5.043787, -9.384908, 0.646406
position: 5.108405, -9.507259, 0.642024
position: 5.176072, -9.635014, 0.648441
position: 5.245161, -9.755770, 0.661526
position: 5.318541, -9.879205, 0.682112
position: 5.391941, -9.992130, 0.702470
position: 5.466688, -10.111048, 0.721328
position: 5.538086, -10.218521, 0.734370
position: 5.605897, -10.323771, 0.741524
position: 5.674198, -10.427322, 0.742087
position: 5.740483, -10.523495, 0.735456
position: 5.807197, -10.615285, 0.722778
position: 5.874315, -10.702601, 0.708919
position: 5.941611, -10.780306, 0.693758
position: 6.004210, -10.844784, 0.673303
position: 6.062379, -10.902148, 0.647276
position: 6.113050, -10.950995, 0.616299
position: 6.155931, -10.992245, 0.581974
position: 6.190933, -11.026478, 0.546909
position: 6.224867, -11.066298, 0.519520
position: 6.256631, -11.110529, 0.500504
position: 6.292705, -11.159352, 0.492385
position: 6.328443, -11.208704, 0.493830
position: 6.360943, -11.252388, 0.503202
position: 6.391829, -11.293324, 0.513587
position: 6.423574, -11.332139, 0.528523
position: 6.452108, -11.368707, 0.541466
position: 6.479934, -11.400475, 0.566849
position: 6.510325, -11.433549, 0.583685
position: 6.531264, -11.453311, 0.606224
position: 6.544447, -11.465469, 0.626033
position: 6.571726, -11.488322, 0.628600
position: 6.590635, -11.495831, 0.643456
position: 6.614697, -11.508655, 0.660683
position: 6.638689, -11.523501, 0.682574
position: 6.666362, -11.536336, 0.719428
position: 6.687882, -11.541131, 0.761993
position: 6.709597, -11.543750, 0.816590
position: 6.736926, -11.551362, 0.878686
position: 6.755529, -11.542866, 0.950179
position: 6.775803, -11.532995, 1.022861
position: 6.796350, -11.521075, 1.088937
position: 6.816581, -11.508031, 1.147323
position: 6.844317, -11.501320, 1.196316
position: 6.866330, -11.481845, 1.241020
position: 6.886793, -11.460672, 1.280337
position: 6.907423, -11.436956, 1.317772
position: 6.930901, -11.410338, 1.361704
position: 6.954788, -11.381615, 1.413105
position: 6.982874, -11.350903, 1.455554
position: 7.011096, -11.320786, 1.502339
position: 7.040327, -11.289952, 1.541163
position: 7.067420, -11.260961, 1.566871
position: 7.101373, -11.224169, 1.598464
position: 7.133992, -11.181630, 1.611624
position: 7.156513, -11.127184, 1.614231
position: 7.172980, -11.069690, 1.610811
position: 7.187630, -11.010397, 1.621796
position: 7.198355, -10.944615, 1.640011
position: 7.197824, -10.868078, 1.641844
position: 7.202983, -10.792772, 1.676670
position: 7.193936, -10.708237, 1.672840
position: 7.179465, -10.627283, 1.648955
position: 7.184061, -10.547664, 1.663354
position: 7.160831, -10.473585, 1.626474
position: 7.161559, -10.393966, 1.625944
position: 7.139651, -10.330344, 1.594028
position: 7.140625, -10.252100, 1.595505
position: 7.133541, -10.182694, 1.591248
position: 7.134257, -10.103099, 1.607321
position: 7.139611, -10.030302, 1.623785
position: 7.145841, -9.954734, 1.650637
position: 7.153697, -9.877698, 1.681555
position: 7.169990, -9.803199, 1.707510
position: 7.178841, -9.725720, 1.726982
position: 7.194717, -9.655546, 1.743470
position: 7.201220, -9.574353, 1.753538
position: 7.215432, -9.497577, 1.758530
position: 7.219616, -9.410329, 1.755080
position: 7.233451, -9.332652, 1.748039
position: 7.234263, -9.244645, 1.731793
position: 7.244288, -9.162071, 1.713453
position: 7.242510, -9.071983, 1.690094
position: 7.249257, -8.986785, 1.673752
position: 7.244977, -8.895259, 1.664194
position: 7.249013, -8.805284, 1.662941
position: 7.244791, -8.711100, 1.663984
position: 7.248677, -8.619199, 1.663233
position: 7.246749, -8.527187, 1.656387
position: 7.250259, -8.436992, 1.644427
position: 7.249648, -8.348425, 1.626301
position: 7.252050, -8.258508, 1.605891
position: 7.252451, -8.173215, 1.581602
position: 7.253063, -8.085569, 1.554402
position: 7.251565, -7.997085, 1.528450
position: 7.253800, -7.904664, 1.508309
position: 7.256069, -7.810902, 1.496640
position: 7.256268, -7.717419, 1.492824
position: 7.256825, -7.616116, 1.496890
position: 7.254213, -7.516916, 1.506047
position: 7.253501, -7.417213, 1.511015
position: 7.249689, -7.319993, 1.509800
position: 7.244977, -7.218951, 1.500439
position: 7.241335, -7.124772, 1.489057
position: 7.233879, -7.022923, 1.469916
position: 7.228693, -6.925987, 1.453950
position: 7.219267, -6.823282, 1.438076
position: 7.212002, -6.726891, 1.432796
position: 7.199838, -6.625616, 1.432235
position: 7.192057, -6.530560, 1.445087
position: 7.178950, -6.431455, 1.449536
position: 7.170541, -6.339558, 1.455393
position: 7.155659, -6.239416, 1.448949
position: 7.149075, -6.155707, 1.445057
position: 7.136267, -6.057869, 1.430930
position: 7.128582, -5.971393, 1.418019
position: 7.113523, -5.874942, 1.397809
position: 7.098615, -5.780120, 1.382841
position: 7.084179, -5.686780, 1.372776
position: 7.068207, -5.595313, 1.374142
position: 7.056124, -5.505795, 1.379098
position: 7.041870, -5.416661, 1.392018
position: 7.028535, -5.325482, 1.406382
position: 7.015274, -5.238780, 1.415574
position: 7.006384, -5.155355, 1.418691
position: 6.999864, -5.074330, 1.415060
position: 7.001195, -5.001687, 1.407284
position: 7.009848, -4.935542, 1.393433
position: 7.025027, -4.876358, 1.376252
position: 7.046512, -4.828143, 1.358038
position: 7.075446, -4.788340, 1.342790
position: 7.110204, -4.755510, 1.335626
position: 7.151501, -4.738424, 1.337883
position: 7.195565, -4.714369, 1.348101
position: 7.241397, -4.694557, 1.370247
position: 7.286529, -4.675422, 1.401892
position: 7.330715, -4.659075, 1.442157
position: 7.370846, -4.646334, 1.488505
position: 7.409409, -4.638575, 1.540007
position: 7.447357, -4.634858, 1.590723
position: 7.485382, -4.636561, 1.635648
position: 7.525007, -4.643100, 1.675227
position: 7.571166, -4.655604, 1.707285
position: 7.617802, -4.670963, 1.742598
position: 7.673199, -4.691732, 1.781093
position: 7.727113, -4.713815, 1.827786
position: 7.781809, -4.735109, 1.872270
position: 7.838501, -4.755249, 1.909179
position: 7.897923, -4.772634, 1.938095
position: 7.956823, -4.786400, 1.961009
position: 8.013625, -4.794506, 1.985736
position: 8.066133, -4.797452, 2.014539
position: 8.111159, -4.796280, 2.046215
position: 8.149446, -4.792669, 2.082655
position: 8.183165, -4.786991, 2.117118
position: 8.214363, -4.780817, 2.146526
position: 8.239866, -4.769625, 2.181048
position: 8.262773, -4.754984, 2.218778
position: 8.277442, -4.736187, 2.264830
position: 8.293394, -4.718295, 2.304874
position: 8.298529, -4.698356, 2.341897
position: 8.307468, -4.678730, 2.367921
position: 8.315193, -4.658027, 2.387859
position: 8.322786, -4.637358, 2.401798
position: 8.328874, -4.616568, 2.409966
position: 8.333280, -4.595288, 2.412197
position: 8.327432, -4.570576, 2.423030
position: 8.329035, -4.549689, 2.416882
position: 8.328144, -4.527815, 2.418630
position: 8.326178, -4.504398, 2.425265
position: 8.324278, -4.479371, 2.428850
position: 8.323254, -4.453068, 2.419175
position: 8.322285, -4.424652, 2.398906
position: 8.307143, -4.379619, 2.395020
position: 8.305657, -4.341066, 2.376970
position: 8.299038, -4.284076, 2.377705
position: 8.299970, -4.223854, 2.378499
position: 8.299377, -4.145736, 2.395709
position: 8.306974, -4.057772, 2.414391
position: 8.318665, -3.952857, 2.439921
position: 8.332922, -3.828135, 2.478626
position: 8.351736, -3.689281, 2.512646
position: 8.375664, -3.534511, 2.546593
position: 8.405703, -3.366317, 2.574479
position: 8.441045, -3.180071, 2.593477
position: 8.477929, -2.979913, 2.605542
position: 8.513828, -2.765318, 2.615092
position: 8.549075, -2.539370, 2.619956
position: 8.581287, -2.305110, 2.621120
position: 8.609500, -2.063063, 2.617801
position: 8.634942, -1.811895, 2.609739
position: 8.656334, -1.551073, 2.598360
position: 8.677710, -1.278542, 2.591568
position: 8.696265, -0.994654, 2.590996
position: 8.711583, -0.704690, 2.594544
position: 8.725202, -0.414257, 2.595639
position: 8.736431, -0.125513, 2.590653
position: 8.743788, 0.161282, 2.577298
position: 8.748900, 0.445194, 2.558057
position: 8.754233, 0.727120, 2.540522
position: 8.759106, 1.007401, 2.529945
position: 8.761850, 1.285265, 2.523042
position: 8.762486, 1.561269, 2.521186
position: 8.760393, 1.835424, 2.525097
position: 8.755212, 2.107426, 2.533146
position: 8.744189, 2.377335, 2.548801
position: 8.731627, 2.645488, 2.569451
position: 8.719836, 2.911837, 2.588769
position: 8.707154, 3.176607, 2.599823
position: 8.694568, 3.440014, 2.602494
position: 8.682990, 3.701999, 2.597720
position: 8.673993, 3.962036, 2.588547
position: 8.669980, 4.220848, 2.574787
position: 8.670378, 4.474580, 2.558590
position: 8.673311, 4.722176, 2.537128
position: 8.682747, 4.958548, 2.514963
position: 8.697896, 5.181274, 2.498788
position: 8.719389, 5.388378, 2.494004
position: 8.745331, 5.580223, 2.496496
position: 8.779283, 5.757176, 2.506197
position: 8.817491, 5.922207, 2.520559
position: 8.862277, 6.076999, 2.531492
position: 8.915253, 6.226814, 2.535978
position: 8.975404, 6.370763, 2.534628
position: 9.043559, 6.510358, 2.529797
position: 9.117156, 6.650471, 2.524283
position: 9.194187, 6.798335, 2.522422
position: 9.272740, 6.945160, 2.528400
position: 9.349521, 7.094276, 2.539973
position: 9.423695, 7.244836, 2.558613
position: 9.495826, 7.392007, 2.585553
position: 9.565018, 7.541350, 2.613928
position: 9.632371, 7.689605, 2.637018
position: 9.697015, 7.839075, 2.653636
position: 9.757049, 7.992630, 2.665024
position: 9.810839, 8.150187, 2.676203
position: 9.856663, 8.307862, 2.698379
position: 9.891233, 8.457041, 2.728480
position: 9.912030, 8.590916, 2.763893
position: 9.917377, 8.707277, 2.804646
position: 9.907670, 8.804691, 2.849842
position: 9.880166, 8.883747, 2.897192
position: 9.843899, 8.947636, 2.942153
position: 9.797768, 8.989499, 2.980093
position: 9.746544, 9.015393, 3.006182
position: 9.694159, 9.034560, 3.022214
position: 9.644164, 9.053158, 3.032711
position: 9.596526, 9.072606, 3.040489
position: 9.547835, 9.087539, 3.043777
position: 9.499370, 9.095289, 3.039296
position: 9.441666, 9.097981, 3.030599
position: 9.379099, 9.096139, 3.014884
position: 9.310494, 9.090754, 2.992700
position: 9.229190, 9.087143, 2.977150
position: 9.139063, 9.075988, 2.967570
position: 9.03optimize pose graph 
7664, 9.063830, 2.964928
position: 8.931382, 9.048322, 2.968703
position: 8.821686, 9.031634, 2.977771
position: 8.710113, 9.011391, 2.982217
position: 8.598759, 8.987965, 2.981853
position: 8.488619, 8.962336, 2.981245
position: 8.379523, 8.934175, 2.984203
position: 8.271564, 8.903635, 2.995208
position: 8.168644, 8.874836, 3.014278
position: 8.071543, 8.851722, 3.034778
position: 7.977006, 8.833554, 3.049695
position: 7.887461, 8.821609, 3.061898
position: 7.791095, 8.809961, 3.065308
position: 7.690042, 8.801116, 3.063278
position: 7.582730, 8.798105, 3.064444
position: 7.474888, 8.802573, 3.078871
position: 7.355596, 8.813371, 3.096028
position: 7.235066, 8.829834, 3.114948
position: 7.098558, 8.849478, 3.122720
position: 6.962574, 8.875112, 3.127443
position: 6.812491, 8.905363, 3.119851
position: 6.666470, 8.944145, 3.109719
position: 6.513404, 8.985993, 3.091845
position: 6.363387, 9.035125, 3.070928
position: 6.221883, 9.092581, 3.046127
position: 6.085145, 9.157428, 3.020185
position: 5.955735, 9.23optimize pose graph 
optimize pose graph 
2378, 2.998442
position: 5.832791, 9.315357, 2.985246
position: 5.720139, 9.404838, 2.980339
position: 5.611832, 9.498464, 2.976342
position: 5.505509, 9.592402, 2.964037
position: 5.403636, 9.685933, 2.942064
position: 5.306677, 9.775740, 2.912758
position: 5.214213, 9.862040, 2.880364
position: 5.127473, 9.947295, 2.845250
position: 5.045773, 10.031115, 2.805482
position: 4.970904, 10.112392, 2.763363
position: 4.902603, 10.193606, 2.716604
position: 4.840353, 10.272976, 2.665421
position: 4.778843, 10.347326, 2.610588
position: 4.719590, 10.420197, 2.551535
position: 4.658558, 10.487622, 2.486407
position: 4.600561, 10.550809, 2.416292
position: 4.541935, 10.607975, 2.348584
position: 4.482073, 10.658529, 2.285920
position: 4.422740, 10.703380, 2.228139
position: 4.366349, 10.740357, 2.178360
position: 4.311556, 10.776613, 2.135709
position: 4.260101, 10.808054, 2.099152
position: 4.211310, 10.835588, 2.062159
position: 4.166493, 10.857382, 2.017638
position: 4.126018, 10.877886, 1.965436
position: 4.087595, 10.892819, 1.906374
position: 4.051053, 10.910540, 1.841368
position: 4.017862, 10.919871, 1.777401
position: 3.987241, 10.932930, 1.720522
position: 3.959480, 10.937029, 1.671107
position: 3.935935, 10.942068, 1.631949
position: 3.914086, 10.940196, 1.595911
position: 3.892438, 10.934637, 1.555288
position: 3.870390, 10.925400, 1.507555
position: 3.850435, 10.911522, 1.455488
position: 3.831790, 10.892780, 1.398869
position: 3.812248, 10.866870, 1.341543
position: 3.790631, 10.831305, 1.286572
position: 3.770035, 10.788668, 1.240151
position: 3.750003, 10.747176, 1.198866
position: 3.731213, 10.697237, 1.156992
position: 3.716039, 10.640021, 1.112359
position: 3.702214, 10.577724, 1.066920
position: 3.684602, 10.508737, 1.019613
position: 3.671672, 10.434392, 0.985846
position: 3.650445, 10.354797, 0.953864
position: 3.623824, 10.273365, 0.926813
position: 3.594082, 10.190648, 0.899959
position: 3.565930, 10.110335, 0.872677
position: 3.535160, 10.027371, 0.841112
position: 3.506169, 9.946510, 0.811648
position: 3.480971, 9.864759, 0.786671
position: 3.456541, 9.785906, 0.772076
position: 3.438189, 9.704874, 0.760650
position: 3.418671, 9.623307, 0.746188
position: 3.402996, 9.540929, 0.725279
position: 3.386311, 9.458598, 0.698332
position: 3.365746, 9.375327, 0.662177
position: 3.346462, 9.293688, 0.630168
position: 3.318746, 9.210173, 0.596493
position: 3.294056, 9.128573, 0.576123
position: 3.266119, 9.044267, 0.563422
position: 3.233962, 8.956747, 0.553550
position: 3.205016, 8.873515, 0.553165
position: 3.170298, 8.785394, 0.550035
position: 3.139510, 8.702451, 0.541279
position: 3.106943, 8.620417, 0.527093
position: 3.070861, 8.530889, 0.504041
position: 3.038610, 8.442614, 0.475619
position: 3.004676, 8.342009, 0.440252
position: 2.971158, 8.237476, 0.401391
position: 2.937476, 8.132627, 0.362922
position: 2.901702, 8.022765, 0.329632
position: 2.863773, 7.910233, 0.302419
position: 2.825941, 7.802002, 0.284387
position: 2.787109, 7.690733, 0.274610
position: 2.750477, 7.580967, 0.271706
position: 2.717843, 7.471777, 0.279828
position: 2.687891, 7.359079, 0.296232
position: 2.666547, 7.249810, 0.321603
position: 2.651873, 7.138468, 0.351362
position: 2.643474, 7.025933, 0.386318
position: 2.640069, 6.915547, 0.426444
position: 2.637298, 6.804468, 0.461910
position: 2.634967, 6.691313, 0.490759
position: 2.631111, 6.578052, 0.512890
position: 2.626158, 6.465034, 0.531202
position: 2.620119, 6.352868, 0.554141
position: 2.611574, 6.239207, 0.583687
position: 2.601001, 6.124800, 0.611377
position: 2.589193, 6.008825, 0.633081
position: 2.577374, 5.891579, 0.642201
position: 2.565897, 5.773769, 0.634463
position: 2.554328, 5.654619, 0.611818
position: 2.542413, 5.530375, 0.582867
position: 2.529612, 5.408281, 0.549862
position: 2.518033, 5.286158, 0.513130
position: 2.508447, 5.165158, 0.471379
position: 2.503876, 5.044505, 0.429392
position: 2.508005, 4.923491, 0.394892
position: 2.518015, 4.798673, 0.370940
position: 2.532074, 4.670225, 0.356069
position: 2.549021, 4.542889, 0.345655
position: 2.567976, 4.415398, 0.339507
position: 2.589622, 4.288849, 0.340925
position: 2.614808, 4.161437, 0.350379
position: 2.646635, 4.037295, 0.368662
position: 2.691110, 3.922498, 0.396274
position: 2.733053, 3.806763, 0.430595
position: 2.781292, 3.698576, 0.469560
position: 2.833811, 3.594407, 0.504123
position: 2.891146, 3.494536, 0.532179
position: 2.953723, 3.396804, 0.553327
position: 3.018353, 3.305519, 0.571464
position: 3.086301, 3.214773, 0.585990
position: 3.158695, 3.132752, 0.600143
position: 3.233399, 3.046555, 0.611138
position: 3.313584, 2.970044, 0.626616
position: 3.396852, 2.894726, 0.647528
position: 3.481530, 2.820351, 0.670934
position: 3.568071, 2.747364, 0.686706
position: 3.654320, 2.676248, 0.695217
position: 3.740798, 2.608480, 0.696145
position: 3.826358, 2.542456, 0.687901
position: 3.910974, 2.480683, 0.675978
position: 3.997001, 2.421730, 0.663657
position: 4.082198, 2.363777, 0.648918
position: 4.166195, 2.304338, 0.632869
position: 4.247508, 2.241961, 0.616014
position: 4.321049, 2.179180, 0.591661
position: 4.394540, 2.109055, 0.575717
position: 4.457894, 2.039890, 0.559313
position: 4.517020, 1.964475, 0.556194
position: 4.567339, 1.890677, 0.555854
position: 4.612471, 1.815334, 0.565318
position: 4.654583, 1.739250, 0.570765
position: 4.692692, 1.662499, 0.571026
position: 4.728623, 1.585481, 0.567515
position: 4.762864, 1.505337, 0.558681
position: 4.795178, 1.425257, 0.546370
position: 4.825333, 1.347205, 0.533104
position: 4.856180, 1.268206, 0.523748
position: 4.884223, 1.192238, 0.521135
position: 4.911018, 1.117600, 0.523763
position: 4.935577, 1.045923, 0.520887
position: 4.957662, 0.977202, 0.511602
position: 4.979005, 0.910965, 0.499463
position: 4.992862, 0.850480, 0.481913
position: 5.006457, 0.790945, 0.461616
position: 5.015193, 0.737302, 0.438941
position: 5.014038, 0.694028, 0.411678
position: 5.012356, 0.648240, 0.381219
position: 5.005685, 0.607550, 0.355198
position: 4.993850, 0.569351, 0.336288
position: 4.976845, 0.538672, 0.327154
position: 4.956009, 0.501800, 0.321879
position: 4.931551, 0.476372, 0.329012
position: 4.898800, 0.450260, 0.345935
position: 4.864056, 0.434904, 0.370555
position: 4.819532, 0.424832, 0.391658
position: 4.761735, 0.417319, 0.404310
position: 4.697094, 0.414526, 0.411807
position: 4.629725, 0.417607, 0.415064
position: 4.556049, 0.416134, 0.412737
position: 4.483106, 0.418552, 0.405798
position: 4.403127, 0.420124, 0.401789
position: 4.323397, 0.423848, 0.403275
position: 4.235437, 0.426793, 0.413508
position: 4.143076, 0.431655, 0.428444
position: 4.050382, 0.439026, 0.439786
position: 3.953184, 0.447125, 0.447835
position: 3.855255, 0.456620, 0.451108
position: 3.756988, 0.467312, 0.451585
position: 3.655184, 0.478313, 0.444344
position: 3.553375, 0.488694, 0.433340
position: 3.452675, 0.497433, 0.424994
position: 3.344328, 0.507185, 0.407699
position: 3.234881, 0.514817, 0.397552
position: 3.119092, 0.527732, 0.391918
position: 3.006434, 0.539027, 0.395747
position: 2.892868, 0.549451, 0.400776
position: 2.773969, 0.563290, 0.399367
position: 2.6optimize pose graph 
optimize pose graph 
12691, 0.274169
position: 0.424470, 0.512322, 0.258808
position: 0.394918, 0.513114, 0.245169
position: 0.369470, 0.517547, 0.232585
position: 0.345408, 0.523540, 0.222055
position: 0.325210, 0.530229, 0.214763
position: 0.313094, 0.540566, 0.210645
position: 0.351284, 0.557164, 0.196968
position: 0.335576, 0.565426, 0.199603
position: 0.392340, 0.581566, 0.192944
position: 0.388096, 0.587807, 0.183291
position: 0.383957, 0.593209, 0.172268
position: 0.387687, 0.595610, 0.159467
position: 0.370326, 0.599519, 0.149826
position: 0.361025, 0.603981, 0.141438
position: 0.353287, 0.609998, 0.138282
position: 0.350058, 0.616376, 0.135739
position: 0.352331, 0.624076, 0.137249
position: 0.368591, 0.627046, 0.145241
position: 0.385300, 0.625950, 0.153772
position: 0.391962, 0.626993, 0.155141
position: 0.397293, 0.623827, 0.147360
position: 0.399619, 0.619147, 0.129498
position: 0.397093, 0.620183, 0.101677
position: 0.390521, 0.622033, 0.067330
position: 0.390760, 0.625305, 0.042040
position: 0.401146, 0.627910, 0.0
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720363740.352416111]: Shutdown request received.[0m
[33m[ WARN] [1720363740.352492048]: Reason given for shutdown: [user request][0m
53696
position: 0.409754, 0.630394, 0.052778
position: 0.415460, 0.632865, 0.030191
position: 0.413454, 0.629292, 0.023310
position: 0.405523, 0.631260, 0.016883
position: 0.399107, 0.633279, 0.012450
position: 0.390842, 0.635311, 0.007812
position: 0.382987, 0.637177, 0.003230
position: 0.374464, 0.639291, -0.001094
position: 0.366057, 0.641323, -0.005217
position: 0.357823, 0.643391, -0.009122
position: 0.349211, 0.645524, -0.013054
position: 0.340985, 0.647491, -0.016746
[33m[ WARN] [1720363740.353337652]: Shutdown request received.[0m
[33m[ WARN] [1720363740.353370432]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/c0ded0c0-3c6f-11ef-85b4-0242ac110004/rosout-1*.log[0m
[rosout-1] restarting process
