/SLAM-Hive/slam_hive_results/mapping_results/3013/2221_vins-fusion-stereo+MH_03_medium+Image_comb_test-1.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720501669.961120666]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720501669.962649781]: init begins[0m
[31m[ERROR] [1720501669.963761141]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/30442630-3db1-11ef-82a7-0242ac110005/roslaunch-15103a0337ea-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
[1mstarted roslaunch server http://15103a0337ea:45753/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[0m[ INFO] [1720501671.067929777]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720501671.068843541]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720501671.074882618]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720501671.075152171]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720501671.075177260]: ROW: 384 COL: 601 [0m
no imu, fix extrinsic param; no time offset calibration
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1720501671.075416819]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720501671.075607135]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720501671.075761255]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://15103a0337ea:11311/[0m
]2;roscore http://15103a0337ea:11311/
[1msetting /run_id to 30442630-3db1-11ef-82a7-0242ac110005[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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720501680.122586563]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 316864549.80 
[0m[ INFO] [1720501681.570900907]: Initialization finish![0m
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time: 1403637131.888319, t: -0.000039 0.000016 -0.000010 q: 1.000000 -0.000009 -0.000097 0.000081 
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optimize pose graph 
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time: 1403637151.888319, t: 0.546738 0.330173 0.253129 q: 0.996765 -0.064347 -0.044503 -0.018408 
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time: 1403637152.088319, t: 0.590623 0.359800 0.272358 q: 0.996768 -0.063248 -0.046105 -0.018107 
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time: 1403637153.388319, t: 0.760795 0.618782 0.494539 q: 0.996770 -0.063217 -0.044032 -0.022678 
optimize pose graph 
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time: 1403637154.088319, t: 0.877423 0.747903 0.604624 q: 0.996824 -0.063273 -0.043617 -0.020879 
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optimize pose graph 
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time: 1403637199.688319, t: 1.227003 6.006913 -0.410065 q: 0.816960 -0.568383 0.021684 0.095117 
time: 1403637199.788319, t: 1.275502 5.936373 -0.154881 q: 0.835766 -0.539323 0.034079 0.097283 
time: 1403637199.888319, t: 1.307999 5.860800 0.103259 q: 0.855911 -0.504756 0.051563 0.099892 
time: 1403637199.988319, t: 1.315344 5.781587 0.353853 q: 0.875658 -0.466728 0.074359 0.099291 
time: 1403637200.088319, t: 1.324393 5.681809 0.599783 q: 0.894038 -0.429142 0.090225 0.091612 
time: 1403637200.188319, t: 1.310601 5.585859 0.821943 q: 0.911017 -0.393622 0.094894 0.078133 
time: 1403637200.288319, t: 1.290176 5.473003 1.004283 q: 0.925814 -0.364614 0.077507 0.062585 
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time: 1403637200.488319, t: 1.236939 5.227689 1.341349 q: 0.941474 -0.333306 0.012846 0.048668 
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time: 1403637200.688319, t: 1.200123 4.938835 1.620260 q: 0.945959 -0.316894 0.000765 0.068845 
time: 1403637200.788319, t: 1.193283 4.791236 1.741975 q: 0.945419 -0.316315 0.003045 0.078221 
time: 1403637200.888319, t: 1.193559 4.650530 1.851560 q: 0.942601 -0.322185 0.009639 0.087221 
time: 1403637200.988319, t: 1.202021 4.501745 1.946567 q: 0.938951 -0.331591 0.009688 0.091237 
time: 1403637201.088319, t: 1.214144 4.368675 2.025985 q: 0.935483 -0.340825 0.008922 0.092894 
time: 1403637201.188319, t: 1.226948 4.231249 2.101441 q: 0.931914 -0.349793 0.007710 0.095504 
time: 1403637201.288319, t: 1.241062 4.101517 2.159636 q: 0.928884 -0.354514 0.008298 0.106893 
time: 1403637201.388319, t: 1.254901 3.976504 2.212456 q: 0.923913 -0.358853 0.012111 0.132145 
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time: 1403637201.588319, t: 1.264846 3.766826 2.272153 q: 0.910770 -0.371642 0.012063 0.179539 
optimize pose graph 
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time: 1403637201.788319, t: 1.242632 3.597492 2.283127 q: 0.903430 -0.387829 0.019206 0.181752 
time: 1403637201.888319, t: 1.230682 3.526704 2.271551 q: 0.901851 -0.394806 0.020870 0.174235 
time: 1403637202.088319, t: 1.210298 3.429129 2.199088 q: 0.901518 -0.390643 0.011845 0.185804 
time: 1403637202.188319, t: 1.202946 3.393509 2.142367 q: 0.902129 -0.387508 -0.003917 0.189698 
time: 1403637202.288319, t: 1.196369 3.367035 2.076341 q: 0.903097 -0.392742 -0.025775 0.171770 
time: 1403637202.388319, t: 1.182520 3.357615 2.005317 q: 0.903641 -0.396994 -0.042227 0.155067 
time: 1403637202.488319, t: 1.166055 3.357337 1.937050 q: 0.904063 -0.399772 -0.045067 0.144296 
time: 1403637202.588319, t: 1.153210 3.366150 1.869325 q: 0.904862 -0.401039 -0.037984 0.137654 
time: 1403637202.688319, t: 1.149772 3.383325 1.799654 q: 0.905584 -0.402774 -0.029422 0.129712 
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time: 1403637202.888319, t: 1.152715 3.425202 1.661801 q: 0.905479 -0.409401 -0.028079 0.108212 
time: 1403637202.988319, t: 1.149923 3.451187 1.593867 q: 0.905001 -0.412342 -0.030934 0.099953 
time: 1403637203.088319, t: 1.140931 3.474850 1.534056 q: 0.904607 -0.413817 -0.031337 0.097263 
time: 1403637203.188319, t: 1.129100 3.498069 1.473267 q: 0.904403 -0.414339 -0.031016 0.097042 
time: 1403637203.288319, t: 1.115553 3.526249 1.415290 q: 0.904173 -0.415239 -0.030280 0.095552 
time: 1403637203.388319, t: 1.099103 3.543883 1.366284 q: 0.903841 -0.415853 -0.029350 0.096308 
time: 1403637203.488319, t: 1.082665 3.574086 1.314476 q: 0.903715 -0.416110 -0.030280 0.096101 
time: 1403637203.588319, t: 1.060744 3.593301 1.271504 q: 0.903367 -0.417467 -0.029805 0.093598 
time: 1403637203.688319, t: 1.034915 3.602813 1.236207 q: 0.902754 -0.419190 -0.030288 0.091635 
optimize pose graph 
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time: 1403637203.888319, t: 0.974918 3.636243 1.168200 q: 0.902256 -0.420367 -0.028033 0.091874 
time: 1403637203.988319, t: 0.938784 3.643421 1.141873 q: 0.901924 -0.421227 -0.028029 0.091191 
time: 1403637204.088319, t: 0.906625 3.655146 1.113384 q: 0.901736 -0.421510 -0.028073 0.091726 
time: 1403637204.188319, t: 0.880759 3.657708 1.090292 q: 0.901451 -0.422045 -0.028442 0.091949 
time: 1403637204.288319, t: 0.862824 3.659995 1.065756 q: 0.901165 -0.422426 -0.029362 0.092711 
time: 1403637204.388319, t: 0.857474 3.655788 1.040631 q: 0.901142 -0.421907 -0.025857 0.096274 
time: 1403637204.488319, t: 0.859728 3.650433 1.014849 q: 0.900739 -0.422749 -0.018946 0.097948 
time: 1403637204.588319, t: 0.866498 3.642978 0.987787 q: 0.899909 -0.424293 -0.017234 0.099209 
time: 1403637204.688319, t: 0.878043 3.634266 0.958405 q: 0.898723 -0.426648 -0.020415 0.099253 
time: 1403637204.788319, t: 0.889860 3.623460 0.930229 q: 0.897743 -0.428188 -0.022625 0.100996 
time: 1403637204.888319, t: 0.892591 3.612231 0.905082 q: 0.896948 -0.429397 -0.024788 0.102408 
time: 1403637204.988319, t: 0.890096 3.599509 0.883786 q: 0.896375 -0.429716 -0.029946 0.104691 
time: 1403637205.088319, t: 0.881359 3.587026 0.867005 q: 0.896034 -0.429605 -0.034905 0.106515 
time: 1403637205.188319, t: 0.872752 3.574581 0.852658 q: 0.896051 -0.429630 -0.035625 0.106021 
time: 1403637205.288319, t: 0.859063 3.562180 0.844054 q: 0.897886 -0.425846 -0.037377 0.105159 
time: 1403637205.388319, t: 0.849112 3.550028 0.837347 q: 0.901187 -0.419784 -0.037256 0.101268 
time: 1403637205.488319, t: 0.849469 3.537427 0.830958 q: 0.904269 -0.414501 -0.034825 0.096301 
time: 1403637205.588319, t: 0.852571 3.524049 0.828126 q: 0.906894 -0.410119 -0.031168 0.091504 
time: 1403637205.688319, t: 0.852514 3.510932 0.825076 q: 0.908683 -0.406698 -0.029533 0.089553 
time: 1403637205.788319, t: 0.845817 3.495766 0.827482 q: 0.909715 -0.404387 -0.029735 0.089479 
optimize pose graph 
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time: 1403637205.988319, t: 0.816853 3.462207 0.835501 q: 0.910721 -0.402305 -0.029228 0.088787 
time: 1403637206.088319, t: 0.807486 3.440366 0.840836 q: 0.911134 -0.401089 -0.027665 0.090540 
time: 1403637206.188319, t: 0.806202 3.419832 0.845227 q: 0.911886 -0.397858 -0.024114 0.097935 
time: 1403637206.288319, t: 0.813416 3.397024 0.847430 q: 0.912217 -0.396224 -0.021648 0.101971 
time: 1403637206.388319, t: 0.829839 3.372476 0.849241 q: 0.912192 -0.395950 -0.020275 0.103529 
time: 1403637206.488319, t: 0.847439 3.350448 0.845086 q: 0.912058 -0.396298 -0.020308 0.103368 
time: 1403637206.588319, t: 0.863886 3.329080 0.840987 q: 0.911766 -0.397176 -0.020218 0.102591 
time: 1403637206.688319, t: 0.874546 3.308478 0.836667 q: 0.911331 -0.398689 -0.021377 0.100328 
time: 1403637206.788319, t: 0.878677 3.287942 0.833213 q: 0.911013 -0.399970 -0.020492 0.098281 
time: 1403637206.888319, t: 0.881047 3.266339 0.828595 q: 0.910689 -0.400993 -0.019646 0.097283 
time: 1403637206.988319, t: 0.887395 3.243145 0.821537 q: 0.910531 -0.401525 -0.017598 0.096958 
time: 1403637207.088319, t: 0.900352 3.219485 0.813634 q: 0.910058 -0.402402 -0.017792 0.097727 
time: 1403637207.188319, t: 0.908161 3.192759 0.804299 q: 0.909413 -0.403781 -0.016282 0.098307 
time: 1403637207.388319, t: 0.899315 3.136843 0.787537 q: 0.908478 -0.405707 -0.015402 0.099155 
time: 1403637207.488319, t: 0.885630 3.107190 0.779441 q: 0.907975 -0.406642 -0.015568 0.099902 
time: 1403637207.588319, t: 0.865768 3.074694 0.771982 q: 0.907511 -0.405833 -0.019194 0.106561 
time: 1403637207.688319, t: 0.845043 3.041483 0.764361 q: 0.907131 -0.402688 -0.026299 0.119434 
time: 1403637207.788319, t: 0.838206 3.018267 0.748974 q: 0.906882 -0.402814 -0.029275 0.120203 
time: 1403637207.888319, t: 0.843855 2.999099 0.729882 q: 0.906515 -0.405355 -0.029217 0.114296 
time: 1403637207.988319, t: 0.857046 2.978411 0.709508 q: 0.906245 -0.407589 -0.027910 0.108683 
optimize pose graph 
time: 1403637208.088319, t: 0.877070 2.958060 0.687285 q: 0.905891 -0.409395 -0.028400 0.104647 
time: 1403637208.188319, t: 0.902539 2.938037 0.665463 q: 0.905542 -0.410953 -0.028447 0.101505 
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time: 1403637208.388319, t: 0.943300 2.900563 0.625296 q: 0.905139 -0.409048 -0.022242 0.113613 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403637241.088319, t: -0.453804 3.121968 -3.802882 q: -0.276639 0.921904 0.001111 -0.271224 
time: 1403637241.188319, t: -0.535953 3.124849 -4.002480 q: -0.279991 0.919965 0.001900 -0.274348 
time: 1403637241.288319, t: -0.626143 3.128976 -4.196870 q: -0.282925 0.919765 0.009467 -0.271837 
time: 1403637241.388319, t: -0.724875 3.130229 -4.385185 q: -0.286239 0.920368 0.016937 -0.265900 
time: 1403637241.488319, t: -0.812693 3.139366 -4.565260 q: -0.288737 0.921095 0.025928 -0.259891 
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time: 1403637242.088319, t: -1.132050 3.388399 -5.408624 q: -0.298620 0.931082 -0.008434 -0.209383 
time: 1403637242.188319, t: -1.148793 3.436038 -5.498454 q: -0.296691 0.931113 0.001326 -0.212134 
time: 1403637242.288319, t: -1.154739 3.485835 -5.574935 q: -0.294683 0.931415 0.011735 -0.213283 
time: 1403637242.388319, t: -1.158691 3.537579 -5.634089 q: -0.292059 0.933144 0.024993 -0.208132 
time: 1403637242.488319, t: -1.167511 3.594995 -5.675877 q: -0.289801 0.935304 0.034700 -0.200044 
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time: 1403637242.888319, t: -1.132756 3.877680 -5.657176 q: -0.338478 0.920535 0.004852 -0.194999 
time: 1403637242.988319, t: -1.098903 3.945712 -5.611268 q: -0.349812 0.917582 0.000284 -0.188877 
time: 1403637243.088319, t: -1.060429 4.008276 -5.550004 q: -0.356819 0.914998 0.006378 -0.188197 
time: 1403637243.188319, t: -1.028816 4.067629 -5.471542 q: -0.361150 0.911930 0.012627 -0.194407 
time: 1403637243.288319, t: -0.998873 4.129232 -5.382107 q: -0.364409 0.907983 0.011272 -0.206510 
time: 1403637243.388319, t: -0.973192 4.194822 -5.279994 q: -0.365901 0.905374 0.007951 -0.215295 
time: 1403637243.488319, t: -0.951065 4.257656 -5.168639 q: -0.366311 0.904446 0.004553 -0.218570 
time: 1403637243.588319, t: -0.916542 4.313975 -5.048911 q: -0.366648 0.902110 0.000096 -0.227521 
time: 1403637243.688319, t: -0.870274 4.372125 -4.923032 q: -0.366493 0.898508 -0.003837 -0.241559 
time: 1403637243.788319, t: -0.820394 4.430724 -4.797566 q: -0.365837 0.895028 -0.012900 -0.254798 
time: 1403637243.888319, t: -0.762064 4.484794 -4.674797 q: -0.365022 0.890458 -0.025042 -0.270584 
time: 1403637243.988319, t: -0.699034 4.534421 -4.555730 q: -0.363793 0.888420 -0.032340 -0.278062 
time: 1403637244.088319, t: -0.628352 4.578546 -4.446546 q: -0.362022 0.888812 -0.033776 -0.278948 
time: 1403637244.188319, t: -0.550825 4.622666 -4.345449 q: -0.359792 0.890435 -0.032378 -0.276817 
time: 1403637244.288319, t: -0.462267 4.664143 -4.249962 q: -0.357952 0.891009 -0.032513 -0.277337 
time: 1403637244.388319, t: -0.373956 4.701667 -4.158145 q: -0.357518 0.889675 -0.031765 -0.282224 
time: 1403637244.488319, t: -0.281636 4.743497 -4.072452 q: -0.361881 0.887172 -0.026008 -0.285117 
time: 1403637244.588319, t: -0.186018 4.789085 -3.994781 q: -0.371103 0.884646 -0.010880 -0.282074 
time: 1403637244.688319, t: -0.102780 4.831698 -3.921118 q: -0.384141 0.880147 0.003238 -0.278866 
time: 1403637244.788319, t: -0.023699 4.875231 -3.847653 q: -0.397205 0.874930 0.011244 -0.276766 
optimize pose graph 
time: 1403637244.888319, t: 0.045549 4.926982 -3.776807 q: -0.407472 0.870542 0.014866 -0.275502 
time: 1403637244.988319, t: 0.104988 4.978181 -3.706067 q: -0.415727 0.865702 0.013785 -0.278461 
time: 1403637245.088319, t: 0.158802 5.034321 -3.634899 q: -0.420532 0.858840 0.003614 -0.292462 
time: 1403637245.188319, t: 0.206771 5.090943 -3.573489 q: -0.423350 0.851955 -0.003808 -0.308113 
time: 1403637245.288319, t: 0.249140 5.155637 -3.517187 q: -0.424213 0.853812 0.001694 -0.301736 
time: 1403637245.388319, t: 0.291354 5.229726 -3.471788 q: -0.423998 0.857664 0.009788 -0.290763 
time: 1403637245.488319, t: 0.327073 5.306125 -3.430019 q: -0.427499 0.858289 0.015412 -0.283456 
time: 1403637245.588319, t: 0.360522 5.392092 -3.392051 q: -0.435936 0.855108 0.019036 -0.279977 
time: 1403637245.688319, t: 0.382672 5.479795 -3.351649 q: -0.448980 0.848827 0.020873 -0.278341 
time: 1403637245.788319, t: 0.397198 5.571103 -3.313669 q: -0.467588 0.842012 0.016454 -0.268525 
time: 1403637245.888319, t: 0.409877 5.673168 -3.270932 q: -0.491732 0.834269 0.010187 -0.249182 
time: 1403637245.988319, t: 0.421813 5.777393 -3.222700 q: 0.520604 -0.821179 -0.006290 0.233661 
time: 1403637246.088319, t: 0.422319 5.876255 -3.186034 q: 0.555191 -0.802066 -0.004195 0.220081 
time: 1403637246.188319, t: 0.440542 5.979429 -3.134278 q: 0.591677 -0.778816 -0.005274 0.208175 
time: 1403637246.288319, t: 0.453981 6.086261 -3.079133 q: 0.629645 -0.751382 -0.006894 0.197293 
time: 1403637246.388319, t: 0.440936 6.181131 -3.013423 q: 0.667887 -0.722156 -0.010546 0.179738 
time: 1403637246.488319, t: 0.443769 6.274429 -2.951895 q: 0.703553 -0.692492 -0.017853 0.158581 
time: 1403637246.588319, t: 0.445101 6.366687 -2.864058 q: 0.734170 -0.664643 -0.018277 0.137512 
time: 1403637246.688319, t: 0.441356 6.448035 -2.783938 q: 0.762643 -0.635762 -0.013548 0.118318 
time: 1403637246.788319, t: 0.425427 6.515447 -2.678230 q: 0.787666 -0.607796 -0.011948 0.100113 
time: 1403637246.888319, t: 0.415550 6.565692 -2.606396 q: 0.811623 -0.577332 -0.012658 0.088294 
time: 1403637246.988319, t: 0.413140 6.631246 -2.541792 q: 0.831784 -0.547625 -0.022321 0.088003 
optimize pose graph 
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time: 1403637247.188319, t: 0.439528 6.702583 -2.349922 q: 0.851033 -0.513204 -0.041129 0.103312 
time: 1403637247.288319, t: 0.442415 6.735744 -2.255188 q: 0.855372 -0.504588 -0.041367 0.109632 
time: 1403637247.388319, t: 0.453323 6.753081 -2.137527 q: 0.856671 -0.505312 -0.024641 0.100833 
time: 1403637247.488319, t: 0.450611 6.768005 -2.021309 q: 0.856365 -0.508365 -0.004332 0.090475 
time: 1403637247.588319, t: 0.431855 6.769734 -1.907484 q: 0.856887 -0.508217 -0.001865 0.086355 
time: 1403637247.688319, t: 0.436158 6.761294 -1.785083 q: 0.859591 -0.505006 -0.006189 0.077673 
time: 1403637247.788319, t: 0.415991 6.750107 -1.680839 q: 0.864613 -0.498280 -0.011276 0.063517 
time: 1403637247.888319, t: 0.405871 6.723786 -1.571503 q: 0.871471 -0.487289 -0.011619 0.054347 
time: 1403637247.988319, t: 0.405728 6.683685 -1.469189 q: 0.880770 -0.470344 -0.002072 0.054915 
time: 1403637248.088319, t: 0.426739 6.629661 -1.366648 q: 0.889934 -0.451866 -0.008486 0.061347 
time: 1403637248.188319, t: 0.423061 6.558840 -1.253737 q: 0.897634 -0.435292 -0.017886 0.066743 
time: 1403637248.288319, t: 0.423901 6.492160 -1.152565 q: 0.903469 -0.421867 -0.025513 0.071568 
time: 1403637248.388319, t: 0.436462 6.426842 -1.051583 q: 0.907293 -0.413196 -0.029419 0.072268 
time: 1403637248.488319, t: 0.414060 6.344386 -0.936128 q: 0.908990 -0.410058 -0.023401 0.071007 
time: 1403637248.588319, t: 0.410636 6.262489 -0.830039 q: 0.909778 -0.409508 -0.013962 0.066426 
time: 1403637248.688319, t: 0.430535 6.176894 -0.715818 q: 0.908736 -0.411565 -0.018789 0.066784 
time: 1403637248.788319, t: 0.427915 6.087783 -0.606253 q: 0.906953 -0.414562 -0.027008 0.069600 
time: 1403637248.888319, t: 0.439489 5.993218 -0.498205 q: 0.904919 -0.417885 -0.031519 0.074164 
time: 1403637248.988319, t: 0.475382 5.903269 -0.407249 q: 0.903748 -0.419238 -0.034077 0.079482 
time: 1403637249.088319, t: 0.496958 5.802506 -0.308013 q: 0.902179 -0.422654 -0.033067 0.079644 
time: 1403637249.188319, t: 0.539965 5.704818 -0.211613 q: 0.901076 -0.424896 -0.033174 0.080152 
optimize pose graph 
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time: 1403637249.388319, t: 0.619922 5.499000 -0.025157 q: 0.899799 -0.427923 -0.028338 0.080248 
time: 1403637249.488319, t: 0.653898 5.393592 0.073967 q: 0.899570 -0.428259 -0.027649 0.081257 
time: 1403637249.588319, t: 0.674104 5.290318 0.180567 q: 0.899633 -0.427852 -0.027700 0.082684 
time: 1403637249.688319, t: 0.680836 5.182427 0.288104 q: 0.899942 -0.427492 -0.025959 0.081734 
time: 1403637249.788319, t: 0.682818 5.073502 0.400954 q: 0.900938 -0.426642 -0.017337 0.077374 
time: 1403637249.888319, t: 0.687500 4.960282 0.513896 q: 0.903752 -0.421555 -0.011691 0.073401 
time: 1403637249.988319, t: 0.700519 4.841354 0.621967 q: 0.908965 -0.410036 -0.013714 0.073928 
time: 1403637250.088319, t: 0.714918 4.716626 0.724261 q: 0.914375 -0.396047 -0.016280 0.082466 
time: 1403637250.188319, t: 0.728827 4.591005 0.825441 q: 0.919588 -0.382876 -0.019813 0.085851 
time: 1403637250.288319, t: 0.749829 4.465299 0.927223 q: 0.924699 -0.369340 -0.019574 0.090207 
time: 1403637250.388319, t: 0.756403 4.340490 1.025283 q: 0.928464 -0.358855 -0.017879 0.094118 
time: 1403637250.488319, t: 0.762010 4.221219 1.117943 q: 0.930906 -0.350509 -0.018143 0.101135 
time: 1403637250.588319, t: 0.773115 4.115122 1.210071 q: 0.932145 -0.345256 -0.022249 0.106808 
time: 1403637250.688319, t: 0.780643 4.007067 1.290104 q: 0.934073 -0.340116 -0.026775 0.105413 
time: 1403637250.888319, t: 0.819002 3.802020 1.435940 q: 0.936201 -0.335524 -0.027551 0.100954 
time: 1403637250.988319, t: 0.844383 3.710691 1.499971 q: 0.936616 -0.333655 -0.026409 0.103570 
time: 1403637251.088319, t: 0.881826 3.623780 1.556707 q: 0.938023 -0.328549 -0.026967 0.106962 
time: 1403637251.188319, t: 0.921371 3.548729 1.607248 q: 0.940334 -0.319896 -0.029186 0.112188 
time: 1403637251.288319, t: 0.967755 3.483330 1.653266 q: 0.942545 -0.312606 -0.030318 0.113874 
time: 1403637251.388319, t: 1.023027 3.425860 1.691100 q: 0.945695 -0.307803 -0.029291 0.100302 
optimize pose graph 
time: 1403637251.488319, t: 1.079765 3.381313 1.722601 q: 0.949854 -0.298870 -0.027749 0.087662 
time: 1403637251.588319, t: 1.127008 3.346706 1.747470 q: 0.954695 -0.285955 -0.026919 0.077860 
time: 1403637251.688319, t: 1.165083 3.310104 1.775438 q: 0.958697 -0.273818 -0.026409 0.072298 
time: 1403637251.788319, t: 1.193421 3.276517 1.802000 q: 0.961668 -0.264121 -0.025756 0.069077 
time: 1403637251.888319, t: 1.222018 3.246618 1.822635 q: 0.963543 -0.259007 -0.023538 0.062814 
time: 1403637251.988319, t: 1.246415 3.215697 1.844216 q: 0.964562 -0.258573 -0.018679 0.049108 
time: 1403637252.088319, t: 1.264458 3.186067 1.859312 q: 0.965180 -0.258093 -0.013110 0.040538 
time: 1403637252.188319, t: 1.281366 3.153460 1.870769 q: 0.965784 -0.256130 -0.006505 0.040200 
time: 1403637252.288319, t: 1.289607 3.119071 1.881586 q: 0.966177 -0.253933 -0.005581 0.044593 
time: 1403637252.388319, t: 1.286960 3.085594 1.887131 q: 0.966340 -0.252212 -0.009944 0.049769 
time: 1403637252.488319, t: 1.276784 3.046047 1.894539 q: 0.966036 -0.251903 -0.017950 0.054751 
time: 1403637252.588319, t: 1.260450 3.014340 1.895690 q: 0.965821 -0.251600 -0.023116 0.057902 
time: 1403637252.688319, t: 1.240710 2.982105 1.896001 q: 0.965526 -0.250465 -0.030160 0.064164 
time: 1403637252.788319, t: 1.218230 2.953471 1.892718 q: 0.965079 -0.247923 -0.039383 0.074877 
time: 1403637252.888319, t: 1.202951 2.926826 1.888880 q: 0.964739 -0.249532 -0.042152 0.072357 
time: 1403637252.988319, t: 1.198468 2.907561 1.881495 q: 0.964716 -0.253279 -0.035682 0.062445 
time: 1403637253.088319, t: 1.201818 2.891657 1.869755 q: 0.964645 -0.255532 -0.031127 0.056516 
time: 1403637253.188319, t: 1.206713 2.875449 1.856270 q: 0.964465 -0.257111 -0.028607 0.053693 
time: 1403637253.288319, t: 1.206458 2.858884 1.843787 q: 0.964208 -0.258369 -0.027371 0.052908 
time: 1403637253.388319, t: 1.199585 2.845060 1.829408 q: 0.964067 -0.258849 -0.027254 0.053189 
time: 1403637253.488319, t: 1.186362 2.832323 1.814761 q: 0.964030 -0.258889 -0.025727 0.054410 
time: 1403637253.588319, t: 1.168186 2.819444 1.798929 q: 0.963820 -0.259632 -0.027519 0.053701 
optimize pose graph 
time: 1403637253.688319, t: 1.153834 2.807001 1.780505 q: 0.963685 -0.261003 -0.027736 0.049187 
time: 1403637253.788319, t: 1.146765 2.793265 1.759235 q: 0.963526 -0.262708 -0.026547 0.043565 
time: 1403637253.888319, t: 1.144488 2.777904 1.735116 q: 0.963428 -0.263415 -0.026149 0.041644 
time: 1403637253.988319, t: 1.146512 2.758159 1.709152 q: 0.963313 -0.263947 -0.025965 0.041056 
time: 1403637254.088319, t: 1.153915 2.737461 1.679306 q: 0.963415 -0.264010 -0.024619 0.039046 
time: 1403637254.188319, t: 1.167218 2.711785 1.647850 q: 0.964888 -0.258880 -0.024405 0.037091 
time: 1403637254.288319, t: 1.185256 2.683180 1.613203 q: 0.967104 -0.250368 -0.029807 0.033725 
time: 1403637254.388319, t: 1.204932 2.652424 1.575750 q: 0.969239 -0.241291 -0.036804 0.031615 
time: 1403637254.488319, t: 1.218566 2.620634 1.542583 q: 0.970832 -0.234166 -0.041765 0.030135 
time: 1403637254.588319, t: 1.228474 2.588874 1.510711 q: 0.972225 -0.228211 -0.043156 0.028921 
time: 1403637254.688319, t: 1.236443 2.558267 1.480375 q: 0.973244 -0.224392 -0.041182 0.027343 
time: 1403637254.788319, t: 1.237231 2.524593 1.453032 q: 0.974052 -0.221901 -0.036102 0.026086 
time: 1403637254.888319, t: 1.232390 2.491032 1.427803 q: 0.974718 -0.219573 -0.031151 0.027253 
time: 1403637254.988319, t: 1.222307 2.454856 1.403150 q: 0.975020 -0.218746 -0.027276 0.027237 
time: 1403637255.088319, t: 1.208288 2.418890 1.379356 q: 0.975717 -0.215850 -0.026258 0.026382 
time: 1403637255.188319, t: 1.196504 2.377379 1.352454 q: 0.977494 -0.207753 -0.026961 0.024853 
time: 1403637255.288319, t: 1.190398 2.333841 1.322421 q: 0.979563 -0.198040 -0.026327 0.023322 
time: 1403637255.388319, t: 1.187940 2.290028 1.290288 q: 0.981535 -0.188034 -0.026428 0.023088 
time: 1403637255.488319, t: 1.181706 2.243485 1.255368 q: 0.983661 -0.176664 -0.028581 0.019571 
time: 1403637255.588319, t: 1.171364 2.195883 1.225240 q: 0.985982 -0.163509 -0.030886 0.012247 
time: 1403637255.688319, t: 1.154388 2.148464 1.193860 q: 0.988466 -0.147647 -0.033429 0.004320 
time: 1403637255.788319, t: 1.140121 2.098776 1.160389 q: 0.990823 -0.129317 -0.039095 -0.004264 
time: 1403637255.888319, t: 1.129001 2.049699 1.122739 q: 0.992989 -0.108712 -0.045103 -0.010931 
time: 1403637255.988319, t: 1.127700 2.000469 1.080398 q: 0.994709 -0.089468 -0.047808 -0.016216 
time: 1403637256.088319, t: 1.134480 1.945208 1.042876 q: 0.995600 -0.076214 -0.049788 -0.022193 
time: 1403637256.188319, t: 1.141527 1.893042 0.999061 q: 0.996268 -0.067759 -0.046798 -0.025852 
time: 1403637256.288319, t: 1.147490 1.838279 0.960172 q: 0.996812 -0.062603 -0.040966 -0.027711 
time: 1403637256.388319, t: 1.148882 1.779567 0.924663 q: 0.996973 -0.060902 -0.038063 -0.029794 
time: 1403637256.488319, t: 1.140001 1.725887 0.882026 q: 0.996924 -0.061490 -0.036607 -0.031974 
time: 1403637256.588319, t: 1.126144 1.666753 0.844677 q: 0.996949 -0.062378 -0.035537 -0.030636 
time: 1403637256.688319, t: 1.106357 1.605182 0.807778 q: 0.996829 -0.062786 -0.043172 -0.022928 
time: 1403637256.788319, t: 1.078664 1.543266 0.773453 q: 0.996668 -0.061408 -0.053080 -0.008089 
time: 1403637256.888319, t: 1.052738 1.481374 0.743335 q: 0.996665 -0.060531 -0.054716 0.000418 
time: 1403637256.988319, t: 1.030977 1.422741 0.714497 q: 0.997071 -0.057627 -0.050044 -0.004947 
time: 1403637257.088319, t: 1.015438 1.364482 0.684646 q: 0.997526 -0.051153 -0.046034 -0.014388 
time: 1403637257.188319, t: 1.003753 1.307308 0.650868 q: 0.997786 -0.044769 -0.044423 -0.021112 
time: 1403637257.288319, t: 1.002551 1.252047 0.617319 q: 0.997819 -0.038753 -0.046952 -0.025496 
time: 1403637257.388319, t: 1.001992 1.192940 0.584268 q: 0.997732 -0.034082 -0.049563 -0.030203 
time: 1403637257.488319, t: 1.005049 1.134851 0.549829 q: 0.997674 -0.030638 -0.051122 -0.033087 
time: 1403637257.588319, t: 1.002435 1.080288 0.513702 q: 0.997475 -0.028344 -0.054232 -0.036030 
time: 1403637257.688319, t: 0.991784 1.021991 0.485392 q: 0.997239 -0.026052 -0.061054 -0.033297 
time: 1403637257.788319, t: 0.975420 0.962857 0.457936 q: 0.997026 -0.021347 -0.066939 -0.031675 
optimize pose graph 
time: 1403637257.988319, t: 0.937314 0.847823 0.415076 q: 0.996605 -0.001420 -0.075498 -0.032810 
time: 1403637258.088319, t: 0.913180 0.787679 0.405165 q: 0.996399 0.014671 -0.076097 -0.034395 
time: 1403637258.188319, t: 0.898862 0.724041 0.400645 q: 0.996098 0.033895 -0.069771 -0.042094 
time: 1403637258.288319, t: 0.893127 0.663597 0.396407 q: 0.995541 0.050177 -0.060463 -0.052202 
time: 1403637258.388319, t: 0.887199 0.604761 0.389387 q: 0.994853 0.063162 -0.054466 -0.057543 
time: 1403637258.488319, t: 0.868548 0.542816 0.393015 q: 0.994251 0.074729 -0.055362 -0.053059 
time: 1403637258.588319, t: 0.843984 0.483667 0.400507 q: 0.993723 0.082590 -0.058876 -0.047199 
time: 1403637258.688319, t: 0.826350 0.428253 0.400173 q: 0.993692 0.085442 -0.055012 -0.047420 
time: 1403637258.788319, t: 0.803249 0.378908 0.406809 q: 0.993759 0.086888 -0.050996 -0.047891 
time: 1403637258.888319, t: 0.781774 0.331716 0.409319 q: 0.993920 0.087548 -0.047823 -0.046591 
time: 1403637258.988319, t: 0.766391 0.287498 0.412112 q: 0.994026 0.087567 -0.048003 -0.044048 
time: 1403637259.088319, t: 0.759623 0.247057 0.412038 q: 0.994165 0.086446 -0.048410 -0.042651 
time: 1403637259.188319, t: 0.765775 0.207048 0.408674 q: 0.994284 0.086038 -0.047838 -0.041342 
time: 1403637259.288319, t: 0.778084 0.171319 0.403098 q: 0.994472 0.085374 -0.046401 -0.039797 
time: 1403637259.388319, t: 0.790280 0.138967 0.395524 q: 0.994592 0.084604 -0.047034 -0.037630 
time: 1403637259.488319, t: 0.798063 0.109738 0.390210 q: 0.994820 0.086277 -0.045744 -0.028236 
time: 1403637259.588319, t: 0.803461 0.086360 0.383393 q: 0.994885 0.087200 -0.045465 -0.023104 
time: 1403637259.688319, t: 0.805372 0.069502 0.378013 q: 0.994963 0.085451 -0.045206 -0.026518 
time: 1403637259.788319, t: 0.803419 0.057836 0.371938 q: 0.994701 0.082730 -0.050945 -0.033607 
time: 1403637259.888319, t: 0.798586 0.049960 0.367438 q: 0.994691 0.082044 -0.051415 -0.034872 
time: 1403637259.988319, t: 0.790854 0.045595 0.363779 q: 0.994905 0.083330 -0.047565 -0.030931 
time: 1403637260.088319, t: 0.779177 0.045686 0.360517 q: 0.994963 0.082258 -0.044587 -0.035962 
optimize pose graph 
time: 1403637260.188319, t: 0.762775 0.049259 0.357944 q: 0.994768 0.080329 -0.045951 -0.043261 
time: 1403637260.288319, t: 0.743635 0.054970 0.354986 q: 0.994430 0.078077 -0.047565 -0.052446 
time: 1403637260.388319, t: 0.723434 0.060218 0.351247 q: 0.994045 0.075215 -0.046443 -0.063726 
time: 1403637260.488319, t: 0.701129 0.063879 0.347381 q: 0.993638 0.073954 -0.047957 -0.070099 
time: 1403637260.588319, t: 0.675860 0.064008 0.343041 q: 0.993055 0.073845 -0.059466 -0.069657 
time: 1403637260.688319, t: 0.651198 0.060589 0.340338 q: 0.992746 0.074304 -0.066932 -0.066742 
time: 1403637260.788319, t: 0.628032 0.055233 0.338859 q: 0.993118 0.075782 -0.062429 -0.063840 
time: 1403637260.888319, t: 0.605066 0.046912 0.339737 q: 0.993606 0.077804 -0.054048 -0.061414 
time: 1403637260.988319, t: 0.581428 0.037483 0.341641 q: 0.993950 0.078944 -0.046325 -0.060706 
time: 1403637261.088319, t: 0.556840 0.026694 0.341585 q: 0.993848 0.079508 -0.049163 -0.059393 
time: 1403637261.188319, t: 0.532070 0.015027 0.340678 q: 0.993208 0.078621 -0.061134 -0.060158 
time: 1403637261.288319, t: 0.510999 0.002026 0.340001 q: 0.992549 0.077866 -0.070848 -0.061345 
time: 1403637261.388319, t: 0.498300 -0.012656 0.340937 q: 0.993035 0.078358 -0.064344 -0.060016 
time: 1403637261.488319, t: 0.490412 -0.028689 0.342705 q: 0.993722 0.080847 -0.056207 -0.053116 
time: 1403637261.588319, t: 0.483403 -0.044095 0.345022 q: 0.993268 0.080241 -0.064974 -0.052526 
time: 1403637261.688319, t: 0.480994 -0.059141 0.348863 q: 0.992511 0.078526 -0.075450 -0.055336 
time: 1403637261.788319, t: 0.486728 -0.074571 0.355750 q: 0.992752 0.077904 -0.071482 -0.057147 
time: 1403637261.888319, t: 0.496013 -0.090371 0.364981 q: 0.993602 0.078259 -0.058679 -0.056454 
time: 1403637261.988319, t: 0.498641 -0.105993 0.377234 q: 0.994149 0.077811 -0.050144 -0.055660 
time: 1403637262.088319, t: 0.491926 -0.120801 0.390535 q: 0.994617 0.078174 -0.044540 -0.051403 
time: 1403637262.188319, t: 0.475733 -0.133713 0.404438 q: 0.994885 0.078692 -0.043733 -0.045818 
time: 1403637262.288319, t: 0.452738 -0.144320 0.419132 q: 0.995101 0.078522 -0.042840 -0.042119 
time: 1403637262.388319, t: 0.454133 -0.140196 0.412833 q: 0.995774 0.078993 -0.020450 -0.042132 
time: 1403637262.488319, t: 0.449574 -0.131256 0.408728 q: 0.997736 0.052055 -0.036689 -0.021622 
time: 1403637262.588319, t: 0.450763 -0.128105 0.400163 q: 0.998465 0.053847 -0.006530 -0.011212 
time: 1403637262.688319, t: 0.446926 -0.127494 0.403777 q: 0.998300 0.051741 -0.023642 -0.012712 
time: 1403637262.788319, t: 0.447649 -0.127268 0.402874 q: 0.998439 0.051048 -0.020171 -0.010329 
time: 1403637262.888319, t: 0.447609 -0.128587 0.403615 q: 0.998352 0.051932 -0.022088 -0.010445 
time: 1403637262.988319, t: 0.447462 -0.128069 0.403095 q: 0.998379 0.051708 -0.021335 -0.010484 
time: 1403637263.088319, t: 0.447463 -0.127848 0.403013 q: 0.998389 0.051393 -0.021373 -0.011053 
time: 1403637263.188319, t: 0.447447 -0.127660 0.402915 q: 0.998405 0.051111 -0.021083 -0.011404 
time: 1403637263.288319, t: 0.447424 -0.127743 0.402944 q: 0.998396 0.051222 -0.021366 -0.011189 
time: 1403637263.388319, t: 0.447435 -0.127816 0.402972 q: 0.998392 0.051342 -0.021378 -0.011014 
time: 1403637263.488319, t: 0.447382 -0.127732 0.402964 q: 0.998398 0.051179 -0.021331 -0.011278 
time: 1403637263.588319, t: 0.447429 -0.127769 0.402963 q: 0.998395 0.051243 -0.021389 -0.011168 
time: 1403637263.688319, t: 0.447389 -0.127797 0.402935 q: 0.998391 0.051293 -0.021464 -0.011087 
time: 1403637263.788319, t: 0.447374 -0.127891 0.402955 q: 0.998389 0.051428 -0.021450 -0.010716 
time: 1403637263.888319, t: 0.447371 -0.127890 0.402947 q: 0.998388 0.051443 -0.021456 -0.010748 
time: 1403637263.988319, t: 0.447366 -0.127793 0.402923 q: 0.998393 0.051277 -0.021450 -0.011072 
time: 1403637264.088319, t: 0.447372 -0.127789 0.402969 q: 0.998388 0.051305 -0.021544 -0.011175 
time: 1403637264.188319, t: 0.447339 -0.127753 0.402948 q: 0.998393 0.051242 -0.021433 -0.011221 
time: 1403637264.388319, t: 0.447340 -0.127807 0.402919 q: 0.998388 0.051342 -0.021524 -0.011059 
time: 1403637264.488319, t: 0.447333 -0.127781 0.402927 q: 0.998391 0.051284 -0.021474 -0.011131 
time: 1403637264.588319, t: 0.447345 -0.127811 0.402956 q: 0.998389 0.051317 -0.021538 -0.011086 
time: 1403637264.688319, t: 0.447323 -0.127798 0.402960 q: 0.998389 0.051324 -0.021526 -0.011018 
time: 1403637264.788319, t: 0.447327 -0.127822 0.402978 q: 0.998387 0.051372 -0.021542 -0.010949 
time: 1403637264.888319, t: 0.447318 -0.127767 0.402989 q: 0.998388 0.051356 -0.021534 -0.010963 
time: 1403637264.988319, t: 0.447327 -0.127742 0.403016 q: 0.998388 0.051304 -0.021567 -0.011104 
time: 1403637265.088319, t: 0.447339 -0.127767 0.403016 q: 0.998385 0.051344 -0.021633 -0.011100 
time: 1403637265.188319, t: 0.447344 -0.127759 0.402993 q: 0.998388 0.051321 -0.021555 -0.011090 
time: 1403637265.288319, t: 0.447339 -0.127751 0.403018 q: 0.998386 0.051329 -0.021610 -0.011110 
time: 1403637265.388319, t: 0.447383 -0.127810 0.402911 q: 0.998386 0.051302 -0.021615 -0.011223 
time: 1403637265.488319, t: 0.447352 -0.127789 0.402925 q: 0.998386 0.051314 -0.021598 -0.011182 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720501817.000660464]: Shutdown request received.[0m
[33m[ WARN] [1720501817.000734213]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720501817.001556269]: Shutdown request received.[0m
[33m[ WARN] [1720501817.001583025]: Reason given for shutdown: [user request][0m
killed
