/SLAM-Hive/slam_hive_results/mapping_results/3024/2232_vins-fusion-stereo+MH_03_medium+Image_comb_test-12.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720503569.034044069]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720503569.035684931]: init begins[0m
[31m[ERROR] [1720503569.036821138]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/9c33d3d2-3db5-11ef-aba7-0242ac110005/roslaunch-a73f3b6ae54a-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://a73f3b6ae54a:39865/[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] [1720503570.140007633]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720503570.142054441]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720503570.147639424]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720503570.147921652]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720503570.147944022]: ROW: 480 COL: 752 [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] [1720503570.148131502]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720503570.148363157]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720503570.148554734]: 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://a73f3b6ae54a:11311/[0m
]2;roscore http://a73f3b6ae54a:11311/
[1msetting /run_id to 9c33d3d2-3db5-11ef-aba7-0242ac110005[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] [1720503579.188858347]: 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: 316866448.86 
[0m[ INFO] [1720503583.946045825]: Initialization finish![0m
time: 1403637134.738319, t: 0.695781 -0.047162 -0.193047 q: 0.995239 -0.086781 -0.030097 -0.032598 
time: 1403637135.138319, t: 0.218654 -0.165452 -0.250302 q: 0.992567 -0.093008 -0.077396 -0.013035 
time: 1403637135.538319, t: 1.590861 0.091788 -0.393454 q: 0.938997 -0.130084 -0.252156 -0.194373 
time: 1403637135.938319, t: 1.837074 -0.072623 -0.428911 q: 0.959361 -0.131472 -0.179026 -0.174046 
time: 1403637136.338319, t: 3.723516 -0.237901 -1.078586 q: 0.940472 -0.121592 -0.287759 -0.133874 
time: 1403637136.738319, t: 2.520709 -0.389644 -0.273304 q: 0.948770 -0.125633 -0.279447 -0.077211 
time: 1403637137.138319, t: 2.848943 -0.448377 -0.294928 q: 0.967022 -0.137061 -0.194881 -0.090025 
time: 1403637137.538319, t: 2.769153 -0.404153 -0.320445 q: 0.970649 -0.127179 -0.179988 -0.096280 
feature tracking not enough, please slowly move you device! 
time: 1403637137.938319, t: 3.048596 -0.546944 -0.343173 q: 0.932361 -0.149702 -0.298050 -0.139496 
time: 1403637138.338319, t: 3.255499 -0.592164 -0.370499 q: 0.939189 -0.143982 -0.265262 -0.163799 
time: 1403637138.738319, t: 3.411555 -0.655987 -0.268846 q: 0.954756 -0.149392 -0.199578 -0.162150 
time: 1403637139.138319, t: 2.994454 -0.371053 -0.355426 q: 0.955120 -0.125428 -0.239352 -0.121341 
time: 1403637139.538319, t: 3.027481 -0.851108 -0.163346 q: 0.944561 -0.139053 -0.260794 -0.143024 
time: 1403637139.938319, t: 2.878728 -0.640826 -0.236394 q: 0.958246 -0.114924 -0.227624 -0.129403 
time: 1403637140.338319, t: 2.923447 -0.628957 -0.265970 q: 0.962150 -0.128646 -0.204426 -0.126205 
time: 1403637140.738319, t: 2.884029 -0.609168 -0.266408 q: 0.963915 -0.126656 -0.201735 -0.118866 
time: 1403637141.138319, t: 2.888036 -0.620876 -0.268015 q: 0.963598 -0.127771 -0.201715 -0.120265 
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time: 1403637151.938319, t: 3.326440 -0.409754 0.163865 q: 0.949672 -0.128072 -0.239802 -0.155616 
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time: 1403637186.738319, t: 3.208016 2.543026 -0.873155 q: -0.349574 0.932102 -0.089759 0.030460 
time: 1403637187.138319, t: 3.225935 2.243605 -1.025411 q: -0.362369 0.923461 -0.125347 0.014027 
time: 1403637187.538319, t: 3.167775 1.919973 -1.280716 q: -0.331313 0.939537 -0.086391 -0.006185 
time: 1403637187.938319, t: 3.106930 1.635579 -1.668096 q: -0.325723 0.941350 -0.086344 -0.017596 
time: 1403637188.338319, t: 3.093235 1.433973 -2.141687 q: -0.312000 0.947263 -0.070585 0.019155 
time: 1403637188.738319, t: 3.046429 1.326887 -2.616907 q: -0.296613 0.947238 -0.117703 0.030118 
time: 1403637189.138319, t: 2.980749 1.183953 -3.070029 q: -0.253961 0.958344 -0.130662 -0.002938 
time: 1403637189.538319, t: 2.885477 1.023215 -3.579957 q: -0.248722 0.958157 -0.141331 0.009870 
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time: 1403637190.738319, t: 3.077007 0.240908 -4.805947 q: -0.247688 0.961573 -0.113817 0.032754 
time: 1403637191.138319, t: 3.093105 0.016682 -5.097194 q: -0.286074 0.950302 -0.115984 0.040435 
time: 1403637191.538319, t: 3.035178 -0.207861 -5.346798 q: -0.285440 0.951473 -0.104794 0.047348 
time: 1403637191.938319, t: 3.021027 -0.449435 -5.498736 q: -0.270619 0.959378 -0.074822 0.027582 
time: 1403637192.338319, t: 3.154882 -0.623480 -5.576600 q: -0.262163 0.963400 -0.055116 0.009701 
time: 1403637192.738319, t: 3.327145 -0.631634 -5.634501 q: -0.273484 0.958158 -0.083639 -0.011995 
time: 1403637193.138319, t: 3.535186 -0.542176 -5.730794 q: -0.281429 0.953971 -0.103464 -0.005702 
time: 1403637193.538319, t: 3.761438 -0.424337 -5.936906 q: -0.277847 0.955951 -0.094614 0.002738 
time: 1403637194.338319, t: 4.223313 -0.034280 -6.398269 q: -0.272364 0.958165 -0.085986 0.018552 
time: 1403637194.738319, t: 4.472430 0.244561 -6.590721 q: -0.271316 0.958848 -0.083476 0.005388 
time: 1403637195.138319, t: 4.744841 0.573346 -6.788989 q: -0.267753 0.958814 -0.092662 0.019950 
time: 1403637195.538319, t: 4.942806 0.946621 -6.989418 q: -0.276026 0.955740 -0.095792 0.034549 
time: 1403637195.938319, t: 5.184674 1.279831 -7.103642 q: -0.288229 0.953826 -0.070246 0.046955 
time: 1403637196.338319, t: 5.382767 1.665795 -7.117298 q: -0.268191 0.957338 -0.036068 0.101377 
time: 1403637196.738319, t: 5.464229 2.160791 -6.910198 q: -0.269522 0.956234 -0.052159 0.101260 
time: 1403637197.138319, t: 5.416834 2.703752 -6.466431 q: -0.292947 0.948821 -0.077022 0.089381 
time: 1403637197.538319, t: 5.380717 3.173314 -5.657436 q: -0.404008 0.910600 -0.044560 0.074832 
time: 1403637198.338319, t: 5.978629 3.671550 -4.468326 q: 0.660975 -0.741652 -0.038094 -0.107764 
time: 1403637198.738319, t: 6.543758 4.099504 -3.468671 q: 0.682524 -0.717597 -0.075560 -0.116218 
time: 1403637199.138319, t: 6.300081 4.120200 -2.766252 q: 0.726519 -0.676912 -0.029069 -0.114518 
time: 1403637199.538319, t: 6.117889 4.225808 -1.453351 q: 0.766518 -0.627608 -0.051839 -0.125977 
time: 1403637199.938319, t: 5.192798 3.924605 0.061025 q: 0.840257 -0.525138 -0.030187 -0.131477 
feature tracking not enough, please slowly move you device! 
time: 1403637200.338319, t: 5.192798 3.924605 0.061025 q: 0.840257 -0.525138 -0.030187 -0.131477 
time: 1403637200.738319, t: 3.924725 2.231113 1.210781 q: 0.816254 -0.560555 -0.061694 -0.125306 
time: 1403637201.138319, t: 3.518220 3.009130 2.637580 q: 0.820535 -0.510678 -0.167490 -0.194621 
time: 1403637201.538319, t: 3.425139 1.734963 3.781598 q: 0.797144 -0.586882 -0.083229 -0.114908 
time: 1403637201.938319, t: 3.594985 2.147129 3.318540 q: 0.809762 -0.566829 -0.086195 -0.124745 
time: 1403637202.338319, t: 3.575000 1.925800 3.169091 q: 0.795846 -0.575824 -0.140431 -0.123838 
time: 1403637202.738319, t: 3.668821 1.845566 2.908611 q: 0.791431 -0.572708 -0.137813 -0.163248 
time: 1403637203.138319, t: 3.805286 1.817991 2.655475 q: 0.782492 -0.575385 -0.144314 -0.189240 
optimize pose graph 
time: 1403637203.538319, t: 3.868543 1.817655 2.425847 q: 0.779950 -0.577522 -0.143637 -0.193688 
time: 1403637203.938319, t: 3.861821 1.835456 2.229985 q: 0.778139 -0.579484 -0.140926 -0.197073 
time: 1403637204.338319, t: 3.824995 1.856141 2.101648 q: 0.777726 -0.580939 -0.140524 -0.194696 
time: 1403637204.738319, t: 3.870719 1.787243 2.031223 q: 0.777318 -0.584959 -0.130290 -0.191375 
time: 1403637205.138319, t: 3.874342 1.716487 1.967672 q: 0.772476 -0.591125 -0.141826 -0.183678 
optimize pose graph 
time: 1403637205.538319, t: 3.834020 1.667205 1.943127 q: 0.782580 -0.572911 -0.147076 -0.194190 
time: 1403637205.938319, t: 3.783530 1.631456 1.943144 q: 0.788482 -0.563111 -0.148400 -0.197936 
time: 1403637206.338319, t: 3.740666 1.571263 1.973114 q: 0.796549 -0.558418 -0.139358 -0.185090 
time: 1403637206.738319, t: 3.747395 1.474738 2.009288 q: 0.793987 -0.560489 -0.139849 -0.189419 
time: 1403637207.138319, t: 3.732730 1.376710 2.024879 q: 0.792695 -0.562604 -0.134385 -0.192491 
optimize pose graph 
time: 1403637207.538319, t: 3.668941 1.276800 2.008572 q: 0.790844 -0.566637 -0.133131 -0.189114 
time: 1403637207.938319, t: 3.616856 1.172411 1.973149 q: 0.788743 -0.570980 -0.141621 -0.178356 
time: 1403637208.338319, t: 3.678024 1.043769 1.964999 q: 0.788012 -0.572563 -0.137127 -0.180012 
time: 1403637208.738319, t: 3.689099 0.951572 1.929918 q: 0.785081 -0.574756 -0.133805 -0.188147 
time: 1403637209.138319, t: 3.628602 0.889139 1.866042 q: 0.774273 -0.576449 -0.149253 -0.214315 
time: 1403637209.538319, t: 3.555267 0.797438 1.874250 q: 0.799308 -0.541020 -0.185778 -0.184092 
time: 1403637209.938319, t: 3.569956 0.733462 1.980801 q: 0.797854 -0.535827 -0.224015 -0.161666 
time: 1403637210.338319, t: 3.504366 0.905609 2.177793 q: 0.787140 -0.543320 -0.257273 -0.137933 
time: 1403637210.738319, t: 3.471604 1.337123 2.545250 q: 0.799031 -0.534853 -0.225463 -0.156997 
time: 1403637211.138319, t: 3.447207 1.932692 2.991343 q: 0.820117 -0.523495 -0.174034 -0.151899 
time: 1403637211.538319, t: 3.422528 2.604096 3.406437 q: 0.813908 -0.528824 -0.156711 -0.182593 
time: 1403637211.938319, t: 3.465325 3.280130 3.764323 q: 0.815397 -0.531825 -0.172347 -0.150286 
time: 1403637212.338319, t: 3.666009 3.880548 4.138938 q: 0.813382 -0.530022 -0.146336 -0.189926 
time: 1403637212.738319, t: 3.886696 4.433975 4.475510 q: 0.806013 -0.539732 -0.162848 -0.180313 
time: 1403637213.138319, t: 4.169844 4.949009 4.791602 q: 0.804810 -0.537669 -0.172906 -0.182473 
optimize pose graph 
time: 1403637213.538319, t: 4.415182 5.462172 5.111026 q: 0.808259 -0.533084 -0.167687 -0.185527 
time: 1403637213.938319, t: 4.535552 6.030637 5.416379 q: 0.797412 -0.534800 -0.183977 -0.210419 
time: 1403637214.338319, t: 4.632608 6.495563 5.814348 q: 0.826330 -0.491521 -0.169687 -0.216315 
time: 1403637214.738319, t: 4.721655 6.805121 6.236987 q: 0.845344 -0.409841 -0.197891 -0.279756 
time: 1403637215.138319, t: 4.714330 6.862679 6.699061 q: 0.853621 -0.387206 -0.193943 -0.289464 
time: 1403637215.538319, t: 4.520789 6.726110 7.119504 q: 0.882305 -0.345821 -0.168289 -0.271339 
time: 1403637215.938319, t: 4.318020 6.319716 7.474689 q: 0.903589 -0.258527 -0.231437 -0.251251 
time: 1403637216.338319, t: 4.069456 5.838284 7.614831 q: 0.921009 -0.193814 -0.248495 -0.228974 
time: 1403637216.738319, t: 3.857906 5.359827 7.704905 q: 0.931882 -0.183106 -0.219049 -0.223797 
time: 1403637217.138319, t: 3.710014 4.872764 7.585073 q: 0.932547 -0.194949 -0.216866 -0.212885 
time: 1403637217.538319, t: 3.591265 4.459236 7.251682 q: 0.937202 -0.203043 -0.217939 -0.181461 
time: 1403637217.938319, t: 3.553516 4.115701 6.755831 q: 0.930995 -0.133089 -0.234377 -0.246178 
time: 1403637218.338319, t: 3.555146 3.705721 6.153611 q: 0.928194 -0.088989 -0.265285 -0.245278 
time: 1403637218.738319, t: 3.584930 3.286023 5.437631 q: 0.926001 -0.090602 -0.274596 -0.242716 
time: 1403637219.138319, t: 3.572775 2.866264 4.613515 q: 0.917232 -0.097676 -0.282142 -0.263707 
time: 1403637219.538319, t: 3.503663 2.354747 3.817778 q: 0.913664 -0.106700 -0.302907 -0.249159 
time: 1403637219.938319, t: 3.493709 1.761582 3.071413 q: 0.906388 -0.116342 -0.330586 -0.235879 
time: 1403637220.338319, t: 3.548422 1.152678 2.515389 q: 0.910645 -0.115645 -0.328129 -0.222899 
time: 1403637220.738319, t: 3.633076 0.584582 2.066285 q: 0.918915 -0.114755 -0.316379 -0.205747 
time: 1403637221.138319, t: 3.638190 0.129729 1.695289 q: 0.913655 -0.132162 -0.324686 -0.205782 
time: 1403637221.538319, t: 3.579299 -0.212568 1.367104 q: 0.908198 -0.184918 -0.315331 -0.203834 
time: 1403637221.938319, t: 3.471708 -0.439067 1.090047 q: 0.905126 -0.213311 -0.311310 -0.195787 
time: 1403637222.338319, t: 3.343053 -0.542236 0.861729 q: 0.894920 -0.290039 -0.276923 -0.195727 
time: 1403637222.738319, t: 3.222163 -0.600017 0.718965 q: 0.893101 -0.317030 -0.247011 -0.202111 
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time: 1403637223.938319, t: 3.422744 -0.780917 0.720583 q: 0.892931 -0.302717 -0.252661 -0.217253 
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time: 1403637227.938319, t: 3.017037 -1.271167 0.876045 q: 0.895329 -0.306948 -0.251243 -0.202595 
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time: 1403637232.738319, t: 2.857320 -1.074501 -0.240632 q: -0.309873 0.933310 -0.180450 0.018687 
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time: 1403637233.538319, t: 3.210094 -1.320230 -1.239139 q: -0.241568 0.960145 -0.132937 -0.045771 
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time: 1403637235.938319, t: 4.441666 1.743551 -2.868700 q: -0.445686 0.884144 -0.005149 0.140096 
time: 1403637236.338319, t: 4.730648 2.338982 -2.490115 q: 0.505157 -0.844629 -0.042901 -0.171981 
time: 1403637236.738319, t: 5.004542 2.931608 -1.795548 q: 0.558010 -0.807951 -0.035716 -0.185916 
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time: 1403637239.138319, t: 4.554121 1.498963 1.886020 q: 0.508345 -0.851757 0.095313 0.083728 
time: 1403637239.538319, t: 4.754582 0.942967 1.050190 q: -0.441757 0.890951 -0.101588 -0.027151 
time: 1403637239.938319, t: 2.411957 0.637114 -1.887426 q: -0.394152 0.868140 -0.130367 0.271995 
time: 1403637240.338319, t: 2.506669 -0.083410 -2.010001 q: -0.298340 0.904296 -0.198719 0.231844 
time: 1403637240.738319, t: 9.670485 -9.391535 -6.178486 q: 0.599342 -0.792387 -0.101202 0.051665 
time: 1403637241.138319, t: 5.615150 -2.997520 -3.297542 q: -0.399429 0.913971 -0.051368 0.049741 
time: 1403637241.538319, t: 5.285158 -1.270396 -5.763822 q: -0.406121 0.905739 -0.064234 0.102844 
time: 1403637241.938319, t: 5.796403 -1.414892 -5.660747 q: -0.422961 0.896727 -0.081386 0.101786 
time: 1403637242.338319, t: 6.008121 -1.169012 -5.925712 q: -0.414339 0.900815 -0.073430 0.107067 
time: 1403637242.738319, t: 6.122914 -0.934045 -5.928109 q: -0.428432 0.892506 -0.062937 0.126166 
time: 1403637243.538319, t: 6.163340 -0.632831 -5.158162 q: -0.486168 0.865486 -0.062209 0.103464 
optimize pose graph 
time: 1403637243.938319, t: 6.127230 -0.547784 -4.582688 q: 0.502027 -0.859453 0.085155 -0.045370 
unstable tracking...
time: 1403637244.338319, t: 6.215935 -0.555761 -4.037372 q: -0.495353 0.863198 -0.088439 0.041147 
time: 1403637244.738319, t: 6.377072 -0.603618 -3.572827 q: 0.516689 -0.853750 0.040461 -0.050065 
time: 1403637245.138319, t: 6.497119 -0.557114 -3.160939 q: 0.550886 -0.833462 0.033750 -0.026969 
time: 1403637245.538319, t: 6.622572 -0.397231 -2.836738 q: 0.551390 -0.832667 0.016909 -0.048471 
time: 1403637245.938319, t: 6.719833 -0.106634 -2.563970 q: 0.613370 -0.784401 0.004511 -0.092043 
time: 1403637246.338319, t: 6.762747 0.229297 -2.279088 q: 0.727450 -0.668856 -0.044322 -0.146575 
time: 1403637246.738319, t: 6.713816 0.535662 -1.888900 q: 0.813555 -0.529716 -0.098934 -0.218498 
time: 1403637247.138319, t: 6.646026 0.639131 -1.598776 q: 0.866330 -0.422540 -0.158112 -0.214317 
time: 1403637247.538319, t: 6.418525 0.669061 -1.135553 q: 0.874671 -0.407482 -0.134229 -0.225593 
time: 1403637247.938319, t: 6.046047 0.584374 -0.861292 q: 0.883332 -0.367865 -0.134546 -0.257482 
time: 1403637248.338319, t: 5.489114 0.043417 -0.130174 q: 0.876623 -0.373621 -0.173198 -0.248882 
time: 1403637248.738319, t: 5.117243 -0.051946 0.044934 q: 0.890828 -0.347891 -0.154023 -0.248343 
time: 1403637249.138319, t: 5.141622 -0.407941 -0.021779 q: 0.901416 -0.327231 -0.173000 -0.224588 
time: 1403637249.538319, t: 5.023978 -0.876931 0.279660 q: 0.900369 -0.328051 -0.182508 -0.220020 
time: 1403637249.938319, t: 4.688067 -1.331755 0.533976 q: 0.906627 -0.309856 -0.175721 -0.226140 
time: 1403637250.338319, t: 4.389696 -1.833676 0.732561 q: 0.923655 -0.262179 -0.199068 -0.196203 
time: 1403637250.738319, t: 4.095295 -2.252464 0.892289 q: 0.928848 -0.240517 -0.216789 -0.179986 
time: 1403637251.538319, t: 3.979425 -2.939282 1.148547 q: 0.935303 -0.185545 -0.231603 -0.192720 
time: 1403637251.938319, t: 3.974161 -3.162823 1.264036 q: 0.938178 -0.145909 -0.234333 -0.208853 
time: 1403637252.338319, t: 3.967092 -3.301318 1.300819 q: 0.941774 -0.134629 -0.221664 -0.214013 
time: 1403637252.738319, t: 3.866328 -3.411576 1.254838 q: 0.937198 -0.144124 -0.250670 -0.195073 
time: 1403637253.138319, t: 3.847184 -3.467832 1.197246 q: 0.935916 -0.145737 -0.242494 -0.209804 
time: 1403637253.538319, t: 3.848302 -3.492096 1.113618 q: 0.936298 -0.146650 -0.240147 -0.210163 
optimize pose graph 
time: 1403637253.938319, t: 3.858440 -3.517338 1.007305 q: 0.934357 -0.146297 -0.236781 -0.222507 
time: 1403637254.338319, t: 3.938202 -3.613238 0.894780 q: 0.932915 -0.128300 -0.247450 -0.227985 
time: 1403637254.738319, t: 4.005050 -3.737035 0.769732 q: 0.932446 -0.105967 -0.258174 -0.229480 
time: 1403637255.138319, t: 3.988907 -3.838376 0.624368 q: 0.937192 -0.092978 -0.249581 -0.225247 
time: 1403637255.538319, t: 3.990819 -3.969412 0.450723 q: 0.937226 -0.050405 -0.261892 -0.224678 
optimize pose graph 
time: 1403637255.938319, t: 3.964423 -4.099660 0.247267 q: 0.926885 0.022901 -0.289567 -0.237721 
time: 1403637256.338319, t: 3.993927 -4.281535 0.052223 q: 0.924056 0.063273 -0.289189 -0.241840 
time: 1403637256.738319, t: 3.962430 -4.455393 -0.173472 q: 0.924120 0.056998 -0.299455 -0.230391 
time: 1403637257.138319, t: 3.900309 -4.605792 -0.399219 q: 0.923880 0.072629 -0.298157 -0.228632 
time: 1403637257.538319, t: 3.905806 -4.788794 -0.600547 q: 0.916023 0.093615 -0.306042 -0.241818 
optimize pose graph 
time: 1403637257.938319, t: 3.843105 -4.958794 -0.790927 q: 0.907611 0.108756 -0.331477 -0.233532 
time: 1403637258.338319, t: 3.754714 -5.155053 -0.929053 q: 0.898065 0.178854 -0.324221 -0.237425 
time: 1403637258.738319, t: 3.622125 -5.323368 -1.028747 q: 0.895742 0.205577 -0.327533 -0.219333 
time: 1403637259.138319, t: 3.505119 -5.471938 -1.082599 q: 0.899127 0.203865 -0.322456 -0.214552 
time: 1403637259.538319, t: 3.519137 -5.583989 -1.143240 q: 0.903494 0.200916 -0.322958 -0.197559 
time: 1403637259.938319, t: 3.512371 -5.613265 -1.176776 q: 0.901697 0.198835 -0.324743 -0.204817 
time: 1403637260.338319, t: 3.477666 -5.575203 -1.213325 q: 0.897250 0.200337 -0.318908 -0.230446 
time: 1403637260.738319, t: 3.415661 -5.535036 -1.268156 q: 0.889956 0.197166 -0.334567 -0.239102 
time: 1403637261.138319, t: 3.330855 -5.530083 -1.324421 q: 0.893795 0.201551 -0.325887 -0.233035 
time: 1403637261.538319, t: 3.270669 -5.556675 -1.372580 q: 0.893915 0.200399 -0.331181 -0.225997 
optimize pose graph 
time: 1403637261.938319, t: 3.244468 -5.623264 -1.362607 q: 0.895236 0.199926 -0.325582 -0.229300 
time: 1403637262.338319, t: 3.172091 -5.651615 -1.366023 q: 0.914006 0.204918 -0.301069 -0.178770 
time: 1403637262.738319, t: 3.176047 -5.635133 -1.373773 q: 0.918348 0.166987 -0.301062 -0.195227 
time: 1403637263.138319, t: 3.177813 -5.634587 -1.373798 q: 0.920027 0.169458 -0.296443 -0.192238 
time: 1403637263.538319, t: 3.178022 -5.635076 -1.374105 q: 0.919974 0.169275 -0.296581 -0.192440 
time: 1403637263.938319, t: 3.177301 -5.635776 -1.373939 q: 0.919940 0.169125 -0.296435 -0.192960 
time: 1403637264.338319, t: 3.177292 -5.635809 -1.374012 q: 0.919955 0.169120 -0.296441 -0.192881 
time: 1403637264.738319, t: 3.177284 -5.635806 -1.374031 q: 0.919925 0.169139 -0.296503 -0.192918 
time: 1403637265.138319, t: 3.177253 -5.635860 -1.373983 q: 0.919904 0.169138 -0.296570 -0.192913 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720503715.906520639]: Shutdown request received.[0m
[33m[ WARN] [1720503715.906559415]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720503715.907411240]: Shutdown request received.[0m
[33m[ WARN] [1720503715.907439422]: Reason given for shutdown: [user request][0m
killed
