/SLAM-Hive/slam_hive_results/mapping_results/3023/2231_vins-fusion-stereo+MH_03_medium+Image_comb_test-11.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720503396.272119181]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720503396.273439067]: init begins[0m
[31m[ERROR] [1720503396.274455281]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/353bd3c8-3db5-11ef-9fb2-0242ac110005/roslaunch-52c33308383b-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://52c33308383b:37569/[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] [1720503397.436577531]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720503397.436940363]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://52c33308383b:11311/[0m
]2;roscore http://52c33308383b:11311/
[1msetting /run_id to 353bd3c8-3db5-11ef-9fb2-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720503397.460215641]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720503397.460654217]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720503397.460709625]: ROW: 96 COL: 150 [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] [1720503397.461123562]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720503397.461444097]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720503397.461724478]: 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
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] [1720503406.436904411]: 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: 316866276.10 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720503408.915809365]: Initialization finish![0m
time: 1403637132.638319, t: 0.000013 -0.000011 -0.000056 q: 1.000000 -0.000394 -0.000154 -0.000075 
time: 1403637132.838319, t: -0.000014 0.000018 0.000099 q: 1.000000 -0.000076 0.000554 -0.000024 
time: 1403637133.038319, t: -0.000758 0.001423 0.002716 q: 0.999998 -0.000908 0.000140 0.001856 
feature tracking not enough, please slowly move you device! 
time: 1403637133.238319, t: -0.000758 0.001423 0.002716 q: 0.999998 -0.000908 0.000140 0.001856 
time: 1403637133.438319, t: 0.006010 -0.008550 0.016832 q: 0.998414 -0.029368 0.005196 -0.047742 
time: 1403637133.638319, t: 0.000716 -0.071193 -0.008232 q: 0.993682 -0.054610 -0.029299 -0.093574 
feature tracking not enough, please slowly move you device! 
time: 1403637133.838319, t: 0.126545 -0.173068 -0.341630 q: 0.995916 -0.057153 -0.047505 -0.051267 
time: 1403637134.038319, t: 0.208324 -0.222267 -0.395340 q: 0.994674 -0.075360 -0.052174 -0.047139 
time: 1403637134.238319, t: 0.311535 -0.205378 -0.379275 q: 0.994537 -0.088858 -0.034275 -0.042734 
time: 1403637134.438319, t: 0.393272 -0.264483 -0.448045 q: 0.994219 -0.095966 -0.002450 -0.048104 
time: 1403637134.638319, t: 0.312827 -0.238409 -0.321049 q: 0.994621 -0.097643 -0.000439 -0.034554 
time: 1403637134.838319, t: 0.207578 -0.218351 -0.295575 q: 0.994145 -0.092950 -0.047318 -0.028228 
time: 1403637135.038319, t: 0.038505 -0.132902 -0.361355 q: 0.992739 -0.089222 -0.080369 -0.007000 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637135.838319, t: 0.231983 0.202429 -0.079079 q: 0.990533 -0.073822 0.048837 -0.104924 
time: 1403637136.038319, t: 0.302759 0.159250 -0.121451 q: 0.991445 -0.091885 0.014923 -0.091493 
time: 1403637136.238319, t: 0.045629 0.336075 -0.140540 q: 0.991839 -0.088016 -0.005190 -0.092094 
feature tracking not enough, please slowly move you device! 
time: 1403637136.638319, t: 0.051845 -0.035880 -0.135698 q: 0.985149 -0.087477 -0.147729 0.002428 
time: 1403637136.838319, t: 0.118757 -0.027880 -0.145162 q: 0.990141 -0.101922 -0.076147 -0.058606 
feature tracking not enough, please slowly move you device! 
time: 1403637137.238319, t: 0.574036 -0.108583 -0.069983 q: 0.993574 -0.100718 -0.001001 -0.051625 
unstable tracking...
time: 1403637137.438319, t: 0.577958 -0.096008 0.080731 q: 0.993802 -0.098908 0.008170 -0.050077 
time: 1403637137.638319, t: 0.435958 -0.033854 0.068731 q: 0.992473 -0.099634 -0.032997 -0.063101 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637138.438319, t: 0.313137 -0.003165 -0.055878 q: 0.981918 -0.058517 0.084783 -0.158821 
time: 1403637138.638319, t: 0.418548 -0.067234 -0.118214 q: 0.982069 -0.066767 0.105271 -0.141426 
time: 1403637138.838319, t: 0.380546 -0.064333 0.289801 q: 0.996971 -0.035650 0.054329 -0.042747 
time: 1403637139.038319, t: 0.227236 -0.049496 0.364219 q: 0.998742 -0.025118 0.024381 -0.035892 
time: 1403637139.238319, t: 0.123209 -0.076488 0.444634 q: 0.998571 -0.035214 -0.019140 -0.035353 
time: 1403637139.438319, t: 0.044676 -0.072270 0.473250 q: 0.999769 -0.011833 0.009736 -0.015090 
time: 1403637139.638319, t: 0.064896 0.671912 0.895540 q: 0.997665 0.055213 0.024427 -0.031942 
time: 1403637139.838319, t: 0.150016 0.099131 0.465555 q: 0.999397 0.011299 -0.002420 -0.032733 
time: 1403637140.038319, t: -0.029334 -0.098945 0.482336 q: 0.999294 -0.010057 0.033901 -0.012678 
time: 1403637140.238319, t: -0.022793 0.745147 0.779546 q: 0.995802 0.043197 0.061421 -0.052338 
time: 1403637140.438319, t: 0.038126 0.660171 0.799496 q: 0.996608 0.044256 0.059511 -0.035682 
time: 1403637140.638319, t: -0.069137 0.269107 0.684402 q: 0.997758 0.010244 0.062899 -0.020424 
time: 1403637140.838319, t: -0.047024 0.331198 0.742393 q: 0.997555 0.016649 0.063853 -0.023030 
time: 1403637141.038319, t: -0.031874 0.278947 0.716434 q: 0.997773 0.012462 0.061925 -0.021403 
time: 1403637141.238319, t: -0.023843 0.259271 0.710093 q: 0.997855 0.011095 0.061047 -0.020880 
time: 1403637141.438319, t: -0.004476 0.251913 0.697531 q: 0.997994 0.010629 0.058797 -0.020916 
time: 1403637141.638319, t: 0.037406 0.290255 0.721230 q: 0.998083 0.014921 0.056116 -0.021433 
time: 1403637141.838319, t: 0.028614 0.286457 0.724851 q: 0.998027 0.014639 0.057127 -0.021551 
time: 1403637142.038319, t: 0.019713 0.285157 0.726209 q: 0.998017 0.014795 0.057496 -0.020922 
time: 1403637142.238319, t: 0.017134 0.283191 0.722120 q: 0.997999 0.014626 0.057800 -0.021057 
time: 1403637142.438319, t: 0.031635 0.270834 0.715735 q: 0.998168 0.013993 0.055549 -0.019487 
time: 1403637142.638319, t: 0.028488 0.271394 0.717481 q: 0.998172 0.014230 0.055627 -0.018885 
time: 1403637142.838319, t: 0.026046 0.269886 0.717610 q: 0.998198 0.014567 0.055414 -0.017831 
time: 1403637143.038319, t: 0.027387 0.272329 0.718343 q: 0.998195 0.014730 0.055374 -0.018006 
time: 1403637143.238319, t: 0.027923 0.273399 0.717675 q: 0.998197 0.014801 0.055315 -0.018017 
time: 1403637143.438319, t: 0.027460 0.272628 0.718377 q: 0.998193 0.014717 0.055408 -0.018016 
time: 1403637143.638319, t: 0.028429 0.280514 0.723312 q: 0.998201 0.015837 0.055135 -0.017465 
time: 1403637143.838319, t: 0.026005 0.281970 0.724163 q: 0.998191 0.016066 0.055273 -0.017371 
time: 1403637144.038319, t: 0.023509 0.282962 0.726246 q: 0.998167 0.016261 0.055623 -0.017472 
time: 1403637144.238319, t: 0.023223 0.283400 0.726684 q: 0.998170 0.016061 0.055661 -0.017325 
time: 1403637144.438319, t: 0.025371 0.281958 0.724993 q: 0.998191 0.016243 0.055414 -0.016712 
time: 1403637144.638319, t: 0.024036 0.283820 0.722930 q: 0.998184 0.016017 0.055519 -0.016997 
time: 1403637144.838319, t: 0.024283 0.285203 0.721514 q: 0.998177 0.016276 0.055543 -0.017125 
time: 1403637145.038319, t: 0.026071 0.286682 0.720952 q: 0.998198 0.016524 0.055078 -0.017168 
time: 1403637145.238319, t: 0.021377 0.285994 0.725275 q: 0.998186 0.016302 0.055491 -0.016706 
time: 1403637145.438319, t: 0.019726 0.284991 0.725585 q: 0.998172 0.016110 0.055772 -0.016783 
time: 1403637145.638319, t: 0.020072 0.285016 0.725444 q: 0.998173 0.016206 0.055751 -0.016707 
time: 1403637145.838319, t: 0.019329 0.283344 0.727788 q: 0.998165 0.016120 0.055925 -0.016714 
time: 1403637146.038319, t: 0.017119 0.288641 0.728735 q: 0.998155 0.016691 0.055968 -0.016597 
time: 1403637146.238319, t: 0.015340 0.294721 0.731457 q: 0.998123 0.016587 0.056321 -0.017393 
time: 1403637146.438319, t: 0.017296 0.293762 0.730169 q: 0.998145 0.016842 0.056040 -0.016836 
time: 1403637146.638319, t: 0.017449 0.293587 0.730063 q: 0.998147 0.016876 0.056028 -0.016665 
time: 1403637146.838319, t: 0.018807 0.294502 0.730524 q: 0.998160 0.017155 0.055836 -0.016257 
time: 1403637147.038319, t: 0.019415 0.296322 0.730375 q: 0.998166 0.017528 0.055647 -0.016157 
time: 1403637147.238319, t: 0.019372 0.296039 0.729818 q: 0.998167 0.017323 0.055659 -0.016282 
time: 1403637147.438319, t: 0.019559 0.296347 0.729957 q: 0.998168 0.017411 0.055617 -0.016244 
time: 1403637147.638319, t: 0.021344 0.297778 0.728905 q: 0.998184 0.017679 0.055284 -0.016129 
time: 1403637147.838319, t: 0.020361 0.296780 0.729004 q: 0.998171 0.017588 0.055551 -0.016124 
time: 1403637148.038319, t: 0.020407 0.297557 0.729076 q: 0.998174 0.017747 0.055475 -0.015993 
time: 1403637148.238319, t: 0.020818 0.297693 0.728427 q: 0.998185 0.017752 0.055288 -0.015965 
time: 1403637148.438319, t: 0.022104 0.298557 0.728354 q: 0.998207 0.018303 0.054865 -0.015428 
time: 1403637148.638319, t: 0.019981 0.298140 0.728809 q: 0.998190 0.018462 0.054824 -0.016423 
time: 1403637148.838319, t: 0.019195 0.296675 0.727223 q: 0.998177 0.019171 0.054493 -0.017456 
time: 1403637149.038319, t: 0.017866 0.299067 0.728087 q: 0.998157 0.020789 0.053998 -0.018302 
time: 1403637149.238319, t: 0.018712 0.300214 0.728110 q: 0.998179 0.021814 0.053470 -0.017433 
time: 1403637149.438319, t: 0.017638 0.301701 0.726353 q: 0.998142 0.023671 0.052987 -0.018539 
time: 1403637149.638319, t: 0.012727 0.307124 0.725618 q: 0.998233 0.029673 0.045200 -0.024629 
time: 1403637149.838319, t: 0.007530 0.323881 0.721955 q: 0.998204 0.042104 0.030466 -0.029793 
time: 1403637150.038319, t: 0.026361 0.340952 0.644400 q: 0.998096 0.025275 -0.008855 -0.055563 
feature tracking not enough, please slowly move you device! 
time: 1403637150.238319, t: 0.893283 0.435479 -0.446386 q: 0.987499 0.025372 -0.137705 -0.072386 
feature tracking not enough, please slowly move you device! 
time: 1403637150.438319, t: 1.128474 0.450665 0.334669 q: 0.990449 0.020431 -0.117027 -0.069980 
time: 1403637150.638319, t: 1.261821 0.987315 0.354374 q: 0.983617 0.057353 -0.106613 -0.133572 
time: 1403637150.838319, t: 1.475229 1.072533 0.469002 q: 0.983079 0.047964 -0.125474 -0.124547 
time: 1403637151.038319, t: 2.423087 0.766263 0.709625 q: 0.934139 0.014989 -0.105963 -0.340487 
time: 1403637151.238319, t: 2.277122 0.513857 0.502314 q: 0.924231 -0.001014 -0.110707 -0.365432 
time: 1403637151.438319, t: 2.137288 0.457906 0.512908 q: 0.915077 0.011188 -0.141976 -0.377295 
time: 1403637151.638319, t: 2.249706 0.507213 0.452885 q: 0.914894 0.018474 -0.146343 -0.375782 
time: 1403637151.838319, t: 2.290764 0.504685 0.511244 q: 0.913613 0.021669 -0.146422 -0.378685 
time: 1403637152.038319, t: 2.336070 0.500177 0.523826 q: 0.912130 0.022509 -0.147388 -0.381822 
time: 1403637152.238319, t: 2.395149 0.485571 0.541487 q: 0.912044 0.022739 -0.151902 -0.380242 
time: 1403637152.438319, t: 2.426992 0.478328 0.579235 q: 0.912061 0.022003 -0.153154 -0.379742 
time: 1403637152.638319, t: 2.442980 0.502392 0.639160 q: 0.912341 0.021847 -0.151334 -0.379810 
time: 1403637152.838319, t: 2.457795 0.518917 0.704146 q: 0.915011 0.025444 -0.145038 -0.375595 
time: 1403637153.038319, t: 2.490168 0.527183 0.773204 q: 0.915070 0.028185 -0.139894 -0.377202 
time: 1403637153.238319, t: 2.498375 0.541284 0.837883 q: 0.914292 0.024923 -0.140677 -0.379023 
time: 1403637153.438319, t: 2.518044 0.583484 0.886748 q: 0.913208 0.024232 -0.141584 -0.381337 
time: 1403637153.638319, t: 2.543030 0.587256 0.943950 q: 0.912097 0.021481 -0.146417 -0.382335 
time: 1403637153.838319, t: 2.592801 0.584395 0.989037 q: 0.913910 0.024582 -0.139907 -0.380251 
time: 1403637154.038319, t: 2.628199 0.564388 1.045953 q: 0.913899 0.024464 -0.138576 -0.380771 
time: 1403637154.238319, t: 2.624036 0.577411 1.100933 q: 0.919412 0.020942 -0.157702 -0.359683 
time: 1403637154.438319, t: 2.618167 0.612876 1.163918 q: 0.920268 0.019268 -0.157981 -0.357459 
time: 1403637154.638319, t: 2.652848 0.664089 1.218375 q: 0.914972 0.015591 -0.148114 -0.375028 
time: 1403637154.838319, t: 2.673603 0.709550 1.313677 q: 0.909842 -0.006518 -0.155181 -0.384791 
time: 1403637155.038319, t: 2.714355 0.752246 1.417042 q: 0.913095 -0.026090 -0.151220 -0.377769 
time: 1403637155.238319, t: 2.741745 0.747437 1.523562 q: 0.919380 -0.044430 -0.126415 -0.369845 
time: 1403637155.438319, t: 2.797222 0.744338 1.619377 q: 0.923859 -0.055961 -0.106850 -0.363230 
time: 1403637155.638319, t: 2.831352 0.749612 1.725963 q: 0.929527 -0.078060 -0.092187 -0.348406 
time: 1403637155.838319, t: 2.858563 0.780129 1.835281 q: 0.934649 -0.102552 -0.084121 -0.329906 
time: 1403637156.038319, t: 2.880755 0.840637 1.915717 q: 0.935195 -0.144648 -0.070887 -0.315377 
time: 1403637156.238319, t: 2.867380 0.898600 2.029134 q: 0.935661 -0.187670 -0.041840 -0.295917 
time: 1403637156.438319, t: 2.892463 0.963921 2.112650 q: 0.931001 -0.237552 -0.018690 -0.276507 
time: 1403637156.638319, t: 2.940270 1.051861 2.133459 q: 0.920900 -0.286414 0.007224 -0.264305 
time: 1403637156.838319, t: 2.979415 1.154336 2.224904 q: 0.905035 -0.334539 0.020510 -0.261866 
time: 1403637157.038319, t: 3.034365 1.274669 2.271763 q: 0.894904 -0.361496 0.013484 -0.261314 
time: 1403637157.238319, t: 3.081963 1.452676 2.313249 q: 0.895737 -0.363956 0.013149 -0.254986 
time: 1403637157.438319, t: 3.191382 1.652885 2.329823 q: 0.902742 -0.353791 0.014950 -0.244265 
time: 1403637157.638319, t: 3.301040 1.792415 2.347345 q: 0.907166 -0.345739 0.015186 -0.239339 
time: 1403637157.838319, t: 3.455872 1.925690 2.340127 q: 0.906931 -0.341021 0.019928 -0.246543 
time: 1403637158.038319, t: 3.601257 2.079228 2.352509 q: 0.902099 -0.341968 0.026778 -0.261835 
time: 1403637158.238319, t: 3.715532 2.207787 2.367077 q: 0.898185 -0.345674 0.030666 -0.269877 
time: 1403637158.438319, t: 3.876341 2.341085 2.370222 q: 0.894451 -0.361921 0.039842 -0.259583 
time: 1403637158.638319, t: 3.961930 2.516118 2.339507 q: 0.887810 -0.389859 0.065156 -0.235706 
time: 1403637158.838319, t: 4.037459 2.740003 2.372246 q: 0.869144 -0.433047 0.083551 -0.223781 
time: 1403637159.238319, t: 4.135770 3.232452 2.320819 q: 0.849193 -0.464789 0.099949 -0.229898 
time: 1403637159.438319, t: 4.332969 3.308871 2.262657 q: 0.851500 -0.466510 0.094410 -0.220007 
time: 1403637159.638319, t: 4.387374 3.580955 2.187063 q: 0.845658 -0.469121 0.089819 -0.238160 
time: 1403637159.838319, t: 4.664228 3.886342 2.011216 q: 0.845590 -0.466290 0.081890 -0.246669 
time: 1403637160.038319, t: 4.861820 3.866175 1.933826 q: 0.834520 -0.494217 0.086156 -0.227825 
time: 1403637160.238319, t: 5.069654 4.020234 1.848781 q: 0.813875 -0.529923 0.111000 -0.210874 
time: 1403637160.438319, t: 5.248505 4.202913 1.757437 q: 0.782322 -0.579224 0.131403 -0.187630 
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feature tracking not enough, please slowly move you device! 
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feature tracking not enough, please slowly move you device! 
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feature tracking not enough, please slowly move you device! 
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time: 1403637255.238319, t: -5.504177 6.962054 -2.912801 q: 0.720379 0.169719 -0.063080 -0.669530 
time: 1403637255.438319, t: -5.510004 6.995184 -3.011205 q: 0.714905 0.185545 -0.077461 -0.669689 
time: 1403637255.638319, t: -5.541662 7.052270 -3.108476 q: 0.699965 0.204970 -0.093413 -0.677724 
time: 1403637255.838319, t: -5.493061 7.089633 -3.295632 q: 0.678785 0.226160 -0.122986 -0.687733 
time: 1403637256.038319, t: -5.520251 7.108496 -3.447887 q: 0.658109 0.247041 -0.147602 -0.695757 
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time: 1403637256.838319, t: -5.656938 7.372372 -3.987817 q: 0.664260 0.258600 -0.167148 -0.681136 
time: 1403637257.038319, t: -5.762741 7.411558 -4.108056 q: 0.658314 0.267340 -0.163128 -0.684501 
time: 1403637257.238319, t: -5.767120 7.432179 -4.260853 q: 0.643052 0.277590 -0.168432 -0.693583 
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time: 1403637258.038319, t: -5.996151 7.620871 -4.640265 q: 0.614533 0.294214 -0.217677 -0.698859 
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time: 1403637258.838319, t: -6.272000 7.763487 -4.939849 q: 0.575499 0.366602 -0.250562 -0.686748 
time: 1403637259.038319, t: -6.356590 7.807648 -4.979857 q: 0.580403 0.367133 -0.250891 -0.682201 
time: 1403637259.238319, t: -6.406231 7.802175 -5.051343 q: 0.582008 0.365572 -0.248941 -0.682387 
time: 1403637259.438319, t: -6.445907 7.779997 -5.106564 q: 0.587062 0.363806 -0.250755 -0.678325 
time: 1403637259.638319, t: -6.475463 7.775080 -5.129421 q: 0.593306 0.364828 -0.253835 -0.671160 
time: 1403637259.838319, t: -6.482358 7.778648 -5.183491 q: 0.584779 0.355688 -0.250743 -0.684578 
time: 1403637260.038319, t: -6.487792 7.795436 -5.177726 q: 0.587336 0.360765 -0.248310 -0.680608 
time: 1403637260.238319, t: -6.481519 7.830349 -5.185457 q: 0.577889 0.358610 -0.241920 -0.692039 
time: 1403637260.438319, t: -6.473375 7.872176 -5.175802 q: 0.566013 0.360373 -0.230752 -0.704638 
time: 1403637260.638319, t: -6.504416 7.928456 -5.160399 q: 0.563830 0.347054 -0.242005 -0.709283 
time: 1403637260.838319, t: -6.458161 7.961725 -5.173482 q: 0.566111 0.352508 -0.242469 -0.704603 
time: 1403637261.038319, t: -6.453537 8.008346 -5.179693 q: 0.568550 0.361071 -0.238443 -0.699659 
time: 1403637261.238319, t: -6.479940 8.063545 -5.187190 q: 0.563941 0.344580 -0.250367 -0.707497 
time: 1403637261.438319, t: -6.522564 8.092315 -5.197089 q: 0.567368 0.349167 -0.248342 -0.703209 
time: 1403637261.638319, t: -6.522639 8.114693 -5.304993 q: 0.563887 0.336461 -0.256332 -0.709309 
time: 1403637261.838319, t: -6.584090 8.093605 -5.219577 q: 0.564394 0.343565 -0.250285 -0.707658 
time: 1403637262.038319, t: -6.537362 8.095060 -5.292198 q: 0.569550 0.354364 -0.243668 -0.700474 
time: 1403637262.238319, t: -6.632002 8.071494 -5.206746 q: 0.577029 0.357573 -0.244925 -0.692236 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637262.838319, t: -6.632002 8.071494 -5.206746 q: 0.577029 0.357573 -0.244925 -0.692236 
time: 1403637263.038319, t: -30.806621 2.306716 -2.999949 q: 0.835663 -0.136471 0.461606 -0.264505 
time: 1403637263.238319, t: -38.702524 10.540131 -29.682322 q: 0.874426 0.106236 0.007670 -0.473323 
time: 1403637263.438319, t: -57.736567 11.411797 -8.551498 q: -0.199165 0.652782 -0.609514 0.403363 
time: 1403637263.638319, t: -13.355419 3.740131 -119.504663 q: 0.887358 0.451047 -0.006357 -0.095454 
time: 1403637263.838319, t: -25.881071 -14.017385 46.611759 q: 0.879897 0.410612 0.225927 0.078332 
time: 1403637264.038319, t: -52.022706 -35.047657 34.702854 q: 0.910247 0.359364 0.135758 0.154525 
time: 1403637264.238319, t: -101.508282 -35.763925 -103.681824 q: -0.064586 0.394418 0.898677 -0.180673 
time: 1403637264.438319, t: -255299.858004 588638.791385 -1153423.783586 q: 0.694186 0.192569 0.095344 -0.686973 
unstable tracking...
time: 1403637264.638319, t: -368001.220959 541195.731103 -1155811.968706 q: 0.730922 0.163853 0.118568 -0.651802 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720503543.273983899]: Shutdown request received.[0m
[33m[ WARN] [1720503543.274027290]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720503543.274957523]: Shutdown request received.[0m
[33m[ WARN] [1720503543.274989835]: Reason given for shutdown: [user request][0m
killed
