/SLAM-Hive/slam_hive_results/mapping_results/3025/2233_vins-fusion-stereo+MH_03_medium+Image_comb_test-13.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720503741.491814505]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720503741.493801085]: init begins[0m
[31m[ERROR] [1720503741.494869243]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/02ff2594-3db6-11ef-8207-0242ac110005/roslaunch-96a12be1d83c-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://96a12be1d83c:34581/[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] [1720503742.597999802]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720503742.599645865]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720503742.605381021]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720503742.605583172]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720503742.605609619]: 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] [1720503742.605856803]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720503742.606058434]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720503742.606237851]: 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://96a12be1d83c:11311/[0m
]2;roscore http://96a12be1d83c:11311/
[1msetting /run_id to 02ff2594-3db6-11ef-8207-0242ac110005[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] [1720503751.619593916]: 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: 316866621.29 
[0m[ INFO] [1720503756.323824808]: Initialization finish![0m
time: 1403637134.738319, t: 0.172545 -0.069013 -0.131162 q: 0.996776 -0.080048 -0.005154 -0.001684 
time: 1403637135.138319, t: 0.055805 0.017611 -0.043470 q: 0.995259 -0.062108 -0.073866 0.012078 
time: 1403637135.538319, t: 0.221102 0.243649 0.386927 q: 0.993210 -0.041400 -0.009693 0.108287 
time: 1403637135.938319, t: 0.515187 0.469005 1.636170 q: 0.972226 -0.065828 0.103080 0.199544 
time: 1403637136.338319, t: 0.500518 0.479693 1.695930 q: 0.983036 -0.060583 0.016648 0.172315 
time: 1403637136.738319, t: 0.346650 -0.081619 1.387909 q: 0.975573 -0.076738 -0.050345 0.199586 
time: 1403637137.138319, t: 0.325839 0.260203 1.626328 q: 0.977092 -0.079674 0.062092 0.187318 
time: 1403637137.538319, t: 0.122434 0.601808 1.943556 q: 0.982393 -0.017706 0.093887 0.160550 
feature tracking not enough, please slowly move you device! 
time: 1403637137.938319, t: 0.122434 0.601808 1.943556 q: 0.982393 -0.017706 0.093887 0.160550 
time: 1403637138.338319, t: 0.310320 0.579366 1.698878 q: 0.987942 -0.041775 0.093727 0.115936 
time: 1403637138.738319, t: 0.430491 0.616814 1.637991 q: 0.977055 -0.061382 0.159771 0.126764 
time: 1403637139.138319, t: 0.827190 0.481140 3.143335 q: 0.978934 -0.051010 0.134037 0.145326 
unstable tracking...
time: 1403637139.538319, t: 0.439406 0.522705 1.027754 q: 0.986582 0.061833 0.071953 0.132872 
time: 1403637139.938319, t: 0.286343 0.592558 0.931525 q: 0.983227 0.075445 0.100498 0.132188 
time: 1403637140.338319, t: 0.270583 0.590820 0.945056 q: 0.980465 0.048895 0.125934 0.142960 
time: 1403637140.738319, t: 0.275934 0.574338 0.960176 q: 0.979325 0.052451 0.121378 0.153099 
time: 1403637141.138319, t: 0.267517 0.595857 0.933826 q: 0.980312 0.050059 0.123989 0.145293 
time: 1403637141.538319, t: 0.266995 0.596112 0.934556 q: 0.980057 0.050971 0.124505 0.146250 
time: 1403637141.938319, t: 0.266969 0.596124 0.934591 q: 0.980023 0.051091 0.124520 0.146421 
time: 1403637142.338319, t: 0.266964 0.596135 0.934608 q: 0.980020 0.051075 0.124554 0.146420 
time: 1403637142.738319, t: 0.266970 0.596141 0.934613 q: 0.980038 0.051035 0.124514 0.146349 
time: 1403637143.138319, t: 0.266962 0.596141 0.934616 q: 0.980024 0.051066 0.124548 0.146399 
time: 1403637143.538319, t: 0.266960 0.596135 0.934605 q: 0.980033 0.051063 0.124442 0.146430 
time: 1403637143.938319, t: 0.266890 0.596482 0.935225 q: 0.980032 0.051077 0.124888 0.146056 
time: 1403637144.338319, t: 0.266885 0.596401 0.935062 q: 0.980037 0.050831 0.124583 0.146364 
time: 1403637144.738319, t: 0.266931 0.596372 0.935005 q: 0.980066 0.050838 0.124666 0.146094 
time: 1403637145.138319, t: 0.266940 0.596394 0.935002 q: 0.980110 0.050952 0.124159 0.146197 
time: 1403637145.538319, t: 0.266923 0.596387 0.934974 q: 0.980085 0.050898 0.124132 0.146404 
time: 1403637145.938319, t: 0.266922 0.596387 0.934976 q: 0.980074 0.050994 0.124141 0.146438 
time: 1403637146.338319, t: 0.266995 0.596389 0.934923 q: 0.980180 0.050571 0.124190 0.145830 
time: 1403637146.738319, t: 0.266954 0.596386 0.934943 q: 0.980128 0.050808 0.124068 0.146201 
time: 1403637147.138319, t: 0.266955 0.596386 0.934939 q: 0.980123 0.050810 0.124098 0.146208 
time: 1403637147.538319, t: 0.266967 0.596385 0.934928 q: 0.980129 0.050821 0.124151 0.146119 
time: 1403637147.938319, t: 0.266964 0.596383 0.934926 q: 0.980123 0.050801 0.124173 0.146146 
time: 1403637148.338319, t: 0.266990 0.596383 0.934926 q: 0.980145 0.050939 0.124118 0.145996 
time: 1403637148.738319, t: 0.267140 0.596386 0.935071 q: 0.980294 0.052566 0.123236 0.145166 
time: 1403637149.138319, t: 0.267332 0.596374 0.935256 q: 0.980481 0.054873 0.122002 0.144088 
time: 1403637149.538319, t: 0.267799 0.596314 0.935335 q: 0.981013 0.057624 0.119919 0.141110 
time: 1403637149.938319, t: 0.266637 0.601752 0.934917 q: 0.985505 0.076800 0.085740 0.124623 
time: 1403637150.338319, t: 0.077580 0.780605 0.538897 q: 0.993720 0.046611 0.058673 0.083094 
unstable tracking...
time: 1403637150.738319, t: 0.386945 0.729551 1.042448 q: 0.988585 0.041620 0.089975 0.113453 
time: 1403637151.138319, t: 0.521457 0.810668 1.090328 q: 0.986999 0.036277 0.111631 0.109801 
time: 1403637151.538319, t: 0.641802 0.874489 1.121271 q: 0.987417 0.049086 0.092437 0.118546 
time: 1403637151.938319, t: 0.748330 0.976840 1.103557 q: 0.989174 0.047595 0.088888 0.106618 
time: 1403637152.338319, t: 0.819874 1.054956 1.138126 q: 0.988603 0.052638 0.084571 0.112874 
time: 1403637152.738319, t: 0.834792 1.122659 1.222274 q: 0.988407 0.052507 0.088807 0.111391 
time: 1403637153.138319, t: 0.887245 1.207682 1.302190 q: 0.987594 0.052159 0.098015 0.111042 
time: 1403637153.538319, t: 0.923453 1.300121 1.366932 q: 0.989455 0.049105 0.088451 0.103656 
time: 1403637153.938319, t: 1.013560 1.386148 1.418189 q: 0.988837 0.048712 0.094874 0.104055 
time: 1403637154.338319, t: 1.030895 1.435639 1.517251 q: 0.986386 0.064194 0.070879 0.133784 
time: 1403637154.738319, t: 1.022457 1.542303 1.651128 q: 0.990965 0.041476 0.074037 0.103858 
time: 1403637155.138319, t: 1.069128 1.640647 1.821785 q: 0.989670 -0.001888 0.066441 0.127024 
time: 1403637155.538319, t: 1.210402 1.745016 1.995172 q: 0.983626 -0.044438 0.086272 0.151860 
time: 1403637155.938319, t: 1.253515 1.849737 2.177642 q: 0.973230 -0.093045 0.074044 0.196684 
time: 1403637156.338319, t: 1.227935 2.010710 2.336279 q: 0.948682 -0.181938 0.071136 0.248678 
time: 1403637156.738319, t: 1.136404 2.233363 2.471722 q: 0.913983 -0.283304 0.059638 0.284284 
time: 1403637157.138319, t: 0.975095 2.462023 2.565192 q: 0.901177 -0.321307 0.027421 0.289638 
time: 1403637157.538319, t: 0.848400 2.751232 2.634843 q: 0.900206 -0.305193 0.037487 0.308351 
time: 1403637157.938319, t: 0.763655 3.159456 2.628878 q: 0.904869 -0.302644 0.049677 0.295213 
time: 1403637158.338319, t: 0.635569 3.619922 2.560708 q: 0.905997 -0.313878 0.049883 0.279573 
time: 1403637158.738319, t: 0.460245 4.053022 2.478348 q: 0.869811 -0.371559 0.051625 0.320482 
time: 1403637159.138319, t: 0.268090 4.466900 2.318240 q: 0.851054 -0.408668 0.022965 0.328893 
time: 1403637159.538319, t: -0.001680 4.873384 2.156546 q: 0.852353 -0.401417 0.029150 0.333929 
time: 1403637159.938319, t: -0.299319 5.290560 2.001340 q: 0.853632 -0.411695 0.018616 0.318549 
time: 1403637160.338319, t: -0.521607 5.708782 1.842976 q: 0.798368 -0.491174 0.017567 0.347919 
time: 1403637160.738319, t: -0.846902 6.080165 1.726203 q: 0.718844 -0.586066 -0.020738 0.373310 
time: 1403637161.138319, t: -1.045742 6.470540 1.519438 q: 0.691992 -0.599939 -0.024136 0.400796 
time: 1403637161.538319, t: -1.194772 6.958455 1.285851 q: 0.683818 -0.604047 -0.001843 0.409289 
time: 1403637161.938319, t: -1.354983 7.407998 1.035666 q: 0.652608 -0.658891 0.010752 0.373964 
time: 1403637162.338319, t: -1.598174 7.736842 0.670183 q: 0.645299 -0.660334 0.028527 0.383059 
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time: 1403637188.738319, t: -2.562618 2.255889 -0.194553 q: -0.403117 0.820222 -0.046954 -0.403148 
time: 1403637189.138319, t: -2.917045 2.203628 -0.510570 q: -0.355137 0.828670 -0.034257 -0.431289 
time: 1403637189.538319, t: -3.338470 2.132996 -0.852092 q: -0.348553 0.836847 -0.044278 -0.419807 
time: 1403637189.938319, t: -3.642554 2.029165 -1.244824 q: -0.354424 0.840289 -0.029822 -0.409157 
time: 1403637190.338319, t: -3.830038 1.908141 -1.711661 q: -0.353021 0.845210 -0.031453 -0.400008 
time: 1403637190.738319, t: -3.929093 1.779020 -2.122718 q: -0.360710 0.844308 -0.021454 -0.395691 
time: 1403637191.138319, t: -4.062206 1.636460 -2.434947 q: -0.393293 0.830040 -0.040343 -0.393354 
time: 1403637191.538319, t: -4.226952 1.462887 -2.660445 q: -0.397620 0.831928 -0.030812 -0.385804 
time: 1403637191.938319, t: -4.291581 1.279461 -2.876610 q: -0.393368 0.828342 0.007284 -0.398821 
time: 1403637192.338319, t: -4.229843 1.193980 -3.090919 q: -0.391412 0.823068 0.031681 -0.410308 
time: 1403637192.738319, t: -4.153133 1.281127 -3.241303 q: -0.386170 0.813104 0.005738 -0.435548 
time: 1403637193.138319, t: -4.109169 1.478520 -3.381401 q: -0.386239 0.814133 -0.016834 -0.433271 
time: 1403637193.538319, t: -4.119101 1.726726 -3.589916 q: -0.388052 0.818466 -0.007798 -0.423636 
time: 1403637193.938319, t: -4.138973 2.028148 -3.841176 q: -0.391726 0.821321 0.006871 -0.414651 
time: 1403637194.338319, t: -4.234407 2.370189 -4.000944 q: -0.390178 0.824849 -0.001681 -0.409124 
time: 1403637194.738319, t: -4.277013 2.769530 -4.147622 q: -0.388297 0.820050 0.002960 -0.420399 
time: 1403637195.138319, t: -4.322036 3.216590 -4.285792 q: -0.384974 0.827982 -0.007480 -0.407658 
time: 1403637195.538319, t: -4.405297 3.658444 -4.361456 q: -0.393756 0.829572 -0.016098 -0.395610 
time: 1403637195.938319, t: -4.404574 4.087783 -4.424566 q: -0.416027 0.825528 -0.000708 -0.381346 
time: 1403637196.338319, t: -4.351067 4.517726 -4.369098 q: -0.421592 0.846231 0.028627 -0.324552 
time: 1403637196.738319, t: -4.240427 4.934969 -4.052053 q: -0.417351 0.847538 0.012633 -0.327625 
time: 1403637197.138319, t: -4.029056 5.295203 -3.495237 q: -0.424810 0.836151 -0.016778 -0.346564 
feature tracking not enough, please slowly move you device! 
time: 1403637197.538319, t: -4.029056 5.295203 -3.495237 q: -0.424810 0.836151 -0.016778 -0.346564 
time: 1403637197.938319, t: -4.376601 6.295453 -4.414260 q: 0.692261 -0.585122 0.127221 0.402768 
time: 1403637198.338319, t: -3.958593 6.521209 -4.131620 q: 0.777488 -0.483966 0.187293 0.355261 
time: 1403637198.738319, t: -3.344734 5.771701 -3.975195 q: 0.813048 -0.455383 0.217723 0.290131 
time: 1403637199.138319, t: -2.318285 5.603076 -3.169830 q: 0.787822 -0.454858 0.240693 0.338389 
time: 1403637199.538319, t: -1.480973 5.251205 -2.654754 q: 0.834098 -0.384716 0.260550 0.297300 
time: 1403637199.938319, t: -0.840359 4.744919 -2.117347 q: 0.866085 -0.258875 0.339357 0.260227 
time: 1403637200.338319, t: 1.873163 3.861888 -1.048514 q: 0.895812 -0.376642 -0.015838 0.235393 
time: 1403637200.738319, t: 2.182609 2.965209 -0.745165 q: 0.901957 -0.344592 -0.074723 0.249291 
time: 1403637201.138319, t: 2.373093 2.622352 -0.403131 q: 0.887474 -0.365937 -0.073602 0.270302 
time: 1403637201.538319, t: 2.742512 2.005068 0.051174 q: 0.842977 -0.402158 -0.072299 0.349904 
time: 1403637201.938319, t: 2.686719 1.903461 0.016461 q: 0.836736 -0.420380 -0.066211 0.344630 
time: 1403637202.338319, t: 2.710713 1.754089 -0.197747 q: 0.840114 -0.407625 -0.120647 0.336888 
time: 1403637202.738319, t: 2.668361 1.766131 -0.483014 q: 0.850532 -0.416687 -0.114549 0.299745 
time: 1403637203.138319, t: 2.617047 1.841493 -0.757137 q: 0.854869 -0.424335 -0.120892 0.272992 
optimize pose graph 
time: 1403637203.538319, t: 2.526048 1.882927 -0.970429 q: 0.854504 -0.427813 -0.121188 0.268536 
time: 1403637203.938319, t: 2.404895 1.879108 -1.120686 q: 0.853548 -0.432079 -0.119483 0.265495 
time: 1403637204.338319, t: 2.309442 1.865027 -1.229659 q: 0.852408 -0.432476 -0.120323 0.268119 
time: 1403637204.738319, t: 2.342048 1.830524 -1.336629 q: 0.848411 -0.439538 -0.113211 0.272376 
time: 1403637205.138319, t: 2.357533 1.772533 -1.416287 q: 0.844550 -0.439217 -0.127762 0.278389 
optimize pose graph 
time: 1403637205.538319, t: 2.350153 1.714439 -1.448678 q: 0.857343 -0.422360 -0.121604 0.267932 
time: 1403637205.938319, t: 2.341463 1.652132 -1.447608 q: 0.863521 -0.413521 -0.116874 0.263955 
time: 1403637206.338319, t: 2.369989 1.575597 -1.429898 q: 0.862866 -0.408775 -0.106201 0.277645 
time: 1403637206.738319, t: 2.455341 1.510627 -1.436969 q: 0.862465 -0.412061 -0.107748 0.273405 
time: 1403637207.138319, t: 2.519664 1.429888 -1.452975 q: 0.861161 -0.417178 -0.103936 0.271222 
optimize pose graph 
time: 1403637207.538319, t: 2.537806 1.311718 -1.476896 q: 0.858217 -0.420690 -0.105247 0.274603 
time: 1403637207.938319, t: 2.550289 1.202582 -1.525203 q: 0.854981 -0.418578 -0.115799 0.283531 
time: 1403637208.338319, t: 2.662684 1.156775 -1.602224 q: 0.853874 -0.422310 -0.112702 0.282580 
time: 1403637208.738319, t: 2.709320 1.102762 -1.673254 q: 0.853771 -0.427776 -0.110700 0.275371 
time: 1403637209.138319, t: 2.679457 1.012217 -1.724146 q: 0.858555 -0.431479 -0.125137 0.247082 
time: 1403637209.538319, t: 2.702766 0.893736 -1.724344 q: 0.875187 -0.375853 -0.140193 0.270423 
optimize pose graph 
time: 1403637209.938319, t: 2.805139 0.870731 -1.662200 q: 0.875048 -0.350551 -0.174350 0.284618 
time: 1403637210.338319, t: 2.770425 0.933407 -1.411587 q: 0.866287 -0.339648 -0.211562 0.299045 
time: 1403637210.738319, t: 2.685930 1.229955 -0.946301 q: 0.874989 -0.347153 -0.175536 0.288214 
time: 1403637211.138319, t: 2.542395 1.640547 -0.338689 q: 0.876791 -0.353314 -0.120737 0.303034 
time: 1403637211.538319, t: 2.343431 2.114727 0.257727 q: 0.878867 -0.372450 -0.106350 0.278504 
time: 1403637211.938319, t: 2.180457 2.607651 0.792037 q: 0.871985 -0.361031 -0.125974 0.305663 
time: 1403637212.338319, t: 2.058009 3.149233 1.282233 q: 0.878455 -0.381326 -0.095583 0.271609 
time: 1403637212.738319, t: 2.020248 3.710700 1.658310 q: 0.874366 -0.380149 -0.116595 0.278166 
time: 1403637213.138319, t: 2.066762 4.288376 2.000967 q: 0.876319 -0.374722 -0.126904 0.274853 
time: 1403637213.538319, t: 2.025043 4.784542 2.380084 q: 0.878484 -0.375075 -0.116562 0.272024 
time: 1403637213.938319, t: 1.948733 5.246548 2.800954 q: 0.882100 -0.379023 -0.133305 0.245909 
time: 1403637214.338319, t: 1.921241 5.628351 3.284190 q: 0.901092 -0.346818 -0.094688 0.242455 
time: 1403637214.738319, t: 2.015944 5.891729 3.729860 q: 0.941546 -0.281518 -0.077768 0.167900 
time: 1403637215.138319, t: 2.232228 5.971750 4.108631 q: 0.949904 -0.262647 -0.063102 0.157218 
time: 1403637215.538319, t: 2.457108 5.770039 4.484665 q: 0.957205 -0.227625 -0.019857 0.177624 
time: 1403637215.938319, t: 2.795332 5.393815 4.698561 q: 0.976702 -0.117872 -0.039052 0.175027 
time: 1403637216.338319, t: 3.086472 4.908166 4.747988 q: 0.981476 -0.046868 -0.030006 0.183325 
time: 1403637216.738319, t: 3.280168 4.454086 4.703507 q: 0.980435 -0.043865 0.004487 0.191840 
time: 1403637217.138319, t: 3.434005 4.014942 4.504179 q: 0.977222 -0.053120 0.001202 0.205458 
time: 1403637217.538319, t: 3.470192 3.627502 4.117017 q: 0.970045 -0.051787 -0.006129 0.237262 
time: 1403637217.938319, t: 3.415270 3.327692 3.590495 q: 0.987341 -0.002864 0.011047 0.158199 
time: 1403637218.338319, t: 3.356971 3.002217 2.909326 q: 0.988347 0.047244 0.000782 0.144695 
time: 1403637218.738319, t: 3.268129 2.660540 2.145438 q: 0.988040 0.047174 -0.008958 0.146528 
time: 1403637219.138319, t: 3.102233 2.281801 1.313334 q: 0.991527 0.035280 -0.021150 0.123218 
time: 1403637219.538319, t: 2.855588 1.821686 0.465304 q: 0.989171 0.038903 -0.039776 0.135816 
time: 1403637219.938319, t: 2.825846 1.214069 -0.291890 q: 0.986085 0.037151 -0.069347 0.146449 
time: 1403637220.338319, t: 2.951902 0.786062 -0.992247 q: 0.984020 0.040090 -0.067396 0.159860 
time: 1403637220.738319, t: 3.202778 0.360956 -1.580598 q: 0.981400 0.038560 -0.059631 0.178358 
time: 1403637221.138319, t: 3.266800 -0.004194 -2.037285 q: 0.980422 0.025015 -0.073215 0.181070 
time: 1403637221.538319, t: 3.314768 -0.347533 -2.407075 q: 0.976344 -0.025644 -0.087977 0.195844 
time: 1403637221.938319, t: 3.236210 -0.606212 -2.668017 q: 0.971875 -0.050336 -0.096629 0.208777 
time: 1403637222.338319, t: 3.056131 -0.793531 -2.824444 q: 0.959580 -0.131343 -0.095588 0.229823 
time: 1403637222.738319, t: 2.938032 -0.929630 -2.909143 q: 0.954461 -0.168823 -0.079763 0.232682 
time: 1403637223.138319, t: 2.921616 -1.010178 -2.999826 q: 0.952474 -0.159775 -0.109684 0.235021 
time: 1403637223.538319, t: 3.048651 -0.969189 -3.020263 q: 0.958490 -0.157737 -0.085319 0.221670 
time: 1403637223.938319, t: 3.156276 -0.915644 -3.021808 q: 0.960555 -0.158184 -0.077724 0.215106 
time: 1403637224.338319, t: 3.166948 -0.911359 -2.993198 q: 0.960923 -0.160142 -0.074862 0.213017 
time: 1403637224.738319, t: 3.107610 -0.936846 -2.966748 q: 0.959484 -0.157746 -0.071612 0.222211 
time: 1403637225.138319, t: 3.075481 -0.967071 -2.951428 q: 0.961428 -0.161480 -0.071182 0.210981 
time: 1403637225.538319, t: 3.015586 -1.035887 -2.945688 q: 0.962812 -0.159693 -0.066434 0.207551 
time: 1403637225.938319, t: 3.072171 -1.102208 -2.981119 q: 0.962045 -0.154138 -0.082635 0.209482 
time: 1403637226.338319, t: 3.207582 -1.179202 -3.034251 q: 0.963181 -0.156676 -0.071803 0.206346 
time: 1403637226.738319, t: 3.268644 -1.306144 -3.058912 q: 0.960962 -0.151191 -0.100063 0.208997 
time: 1403637227.138319, t: 3.294025 -1.442372 -3.015686 q: 0.955609 -0.145878 -0.083392 0.242025 
time: 1403637227.538319, t: 3.349983 -1.502933 -2.971179 q: 0.957598 -0.154717 -0.088016 0.226545 
time: 1403637227.938319, t: 3.347833 -1.531317 -2.900825 q: 0.956947 -0.158372 -0.079591 0.229860 
time: 1403637228.338319, t: 3.309058 -1.544688 -2.836333 q: 0.961242 -0.161752 -0.060699 0.214860 
time: 1403637228.738319, t: 3.350415 -1.566331 -2.844783 q: 0.962767 -0.160973 -0.067435 0.206445 
time: 1403637229.138319, t: 3.382178 -1.627326 -2.875241 q: 0.962099 -0.161534 -0.071534 0.207740 
time: 1403637229.538319, t: 3.354819 -1.727569 -2.910627 q: 0.947903 -0.185205 -0.092216 0.242230 
time: 1403637229.938319, t: 3.273913 -1.788095 -2.925718 q: 0.909668 -0.300978 -0.110263 0.264118 
time: 1403637230.338319, t: 3.195294 -1.795331 -2.929590 q: 0.865152 -0.392321 -0.132769 0.282787 
time: 1403637230.738319, t: 3.240009 -1.755632 -2.925497 q: 0.847686 -0.439042 -0.103957 0.279041 
time: 1403637231.138319, t: 3.288910 -1.725971 -2.981060 q: 0.772208 -0.520170 -0.142313 0.335953 
time: 1403637231.538319, t: 3.122463 -1.710170 -2.979202 q: 0.648246 -0.653500 -0.138917 0.365263 
time: 1403637231.938319, t: 2.817943 -1.676338 -3.091052 q: 0.512265 -0.756863 -0.147348 0.378196 
time: 1403637232.338319, t: 2.624621 -1.651443 -3.340708 q: -0.416138 0.831530 0.124229 -0.346344 
time: 1403637232.738319, t: 2.437652 -1.578506 -3.699875 q: -0.306911 0.870446 0.109131 -0.369080 
time: 1403637233.138319, t: 2.500539 -1.556349 -4.130053 q: -0.235741 0.873842 0.148054 -0.398630 
time: 1403637233.538319, t: 2.355832 -1.554254 -4.792794 q: -0.235288 0.862235 0.191361 -0.405673 
time: 1403637233.938319, t: 2.092076 -1.472200 -5.519467 q: -0.267053 0.871509 0.281994 -0.299390 
time: 1403637234.338319, t: 1.624991 -1.127277 -6.012623 q: -0.272368 0.876372 0.298284 -0.262325 
time: 1403637234.738319, t: 1.112617 -0.543467 -6.147443 q: -0.318765 0.882363 0.213776 -0.272258 
time: 1403637235.138319, t: 0.628597 0.133894 -6.017264 q: -0.397477 0.854256 0.167708 -0.290057 
time: 1403637235.538319, t: 0.303062 0.734605 -5.817334 q: -0.450309 0.809443 0.185684 -0.327941 
optimize pose graph 
time: 1403637235.938319, t: 0.160108 1.308923 -5.640351 q: 0.524622 -0.776890 -0.196281 0.287555 
time: 1403637236.338319, t: 0.118309 1.960643 -5.189788 q: 0.595046 -0.730892 -0.208669 0.261101 
time: 1403637236.738319, t: 0.283874 2.580911 -4.545454 q: 0.644567 -0.698261 -0.173378 0.258658 
time: 1403637237.138319, t: 0.555559 3.111383 -3.816962 q: 0.696534 -0.675234 -0.085577 0.227104 
time: 1403637237.538319, t: 1.013619 3.342150 -2.947239 q: 0.731210 -0.635379 -0.060168 0.240843 
time: 1403637237.938319, t: 1.566766 3.153344 -2.328352 q: 0.731773 -0.618479 -0.041994 0.283247 
time: 1403637238.338319, t: 2.241925 2.819048 -1.894799 q: 0.646255 -0.654942 -0.050792 0.388362 
time: 1403637238.738319, t: 2.650627 2.194787 -1.801234 q: 0.526092 -0.716536 -0.044396 0.455886 
time: 1403637239.138319, t: 2.805685 1.427741 -2.275767 q: -0.481396 0.703671 0.107828 -0.511349 
time: 1403637239.538319, t: 2.916532 1.239498 -2.969498 q: -0.436697 0.770922 0.135071 -0.443543 
feature tracking not enough, please slowly move you device! 
time: 1403637239.938319, t: 3.264455 1.470756 -3.827079 q: -0.305999 0.842467 0.169442 -0.409761 
time: 1403637240.338319, t: 2.906634 1.082652 -4.609882 q: -0.184483 0.883610 0.191751 -0.385267 
time: 1403637240.738319, t: 2.541384 0.735036 -5.444299 q: -0.134266 0.874664 0.226646 -0.406899 
time: 1403637241.138319, t: 2.217943 0.330356 -6.264834 q: -0.153565 0.886358 0.222149 -0.376082 
time: 1403637241.538319, t: 1.847921 0.064799 -6.963653 q: -0.173219 0.881789 0.249464 -0.360847 
time: 1403637241.938319, t: 1.431288 -0.304468 -7.150709 q: -0.187770 0.915421 0.204913 -0.291133 
time: 1403637242.338319, t: 1.290316 -0.224742 -7.486891 q: -0.181789 0.916887 0.216378 -0.281870 
time: 1403637242.738319, t: 1.236712 -0.060558 -7.511085 q: -0.201942 0.915223 0.223026 -0.268040 
time: 1403637243.138319, t: 1.227986 0.263286 -7.386363 q: -0.248992 0.905952 0.207437 -0.272441 
time: 1403637243.538319, t: 1.203406 0.585742 -7.043619 q: -0.248743 0.897912 0.196584 -0.305346 
time: 1403637243.938319, t: 1.277291 0.930437 -6.575301 q: -0.236085 0.890439 0.157489 -0.355780 
time: 1403637244.338319, t: 1.468605 1.305956 -6.188362 q: -0.226882 0.892948 0.155718 -0.356258 
time: 1403637244.738319, t: 1.704961 1.630227 -5.900572 q: -0.263191 0.873064 0.190318 -0.363688 
time: 1403637245.138319, t: 1.831184 1.957255 -5.670465 q: -0.290140 0.854619 0.174255 -0.393803 
time: 1403637245.538319, t: 1.824396 2.289876 -5.511444 q: -0.304899 0.853367 0.193484 -0.375987 
time: 1403637245.938319, t: 1.733495 2.659318 -5.415994 q: -0.389340 0.830715 0.179186 -0.355274 
time: 1403637246.338319, t: 1.531765 3.056607 -5.280816 q: 0.546450 -0.750599 -0.159882 0.335309 
time: 1403637246.738319, t: 1.391525 3.417631 -4.976928 q: 0.690467 -0.647997 -0.144557 0.287155 
time: 1403637247.138319, t: 1.441400 3.741313 -4.430031 q: 0.757720 -0.556075 -0.161852 0.300740 
time: 1403637247.538319, t: 1.358357 3.936982 -3.919181 q: 0.764463 -0.562566 -0.131282 0.286149 
time: 1403637247.938319, t: 1.381835 3.855044 -3.884833 q: 0.811747 -0.505969 -0.121837 0.264985 
time: 1403637248.338319, t: 1.387072 3.608039 -3.344939 q: 0.836887 -0.455841 -0.113049 0.281155 
time: 1403637248.738319, t: 1.448792 3.342014 -2.858547 q: 0.841607 -0.454711 -0.103263 0.272530 
time: 1403637249.138319, t: 1.649780 3.040741 -2.418850 q: 0.831524 -0.466907 -0.106371 0.281514 
time: 1403637249.538319, t: 1.968149 2.808556 -1.980943 q: 0.828553 -0.470899 -0.108064 0.282977 
time: 1403637249.938319, t: 2.157831 2.485630 -1.509985 q: 0.839287 -0.461739 -0.088199 0.273159 
time: 1403637250.338319, t: 2.433762 2.139387 -1.121139 q: 0.860310 -0.404386 -0.080096 0.299872 
time: 1403637250.738319, t: 2.647167 1.849266 -0.775906 q: 0.867608 -0.373688 -0.084291 0.317032 
time: 1403637251.138319, t: 2.875619 1.599470 -0.456623 q: 0.871671 -0.362779 -0.081633 0.319243 
time: 1403637251.538319, t: 3.148298 1.508420 -0.297987 q: 0.892850 -0.332380 -0.076269 0.294150 
time: 1403637251.938319, t: 3.368452 1.450992 -0.182913 q: 0.911247 -0.299850 -0.065728 0.274590 
time: 1403637252.338319, t: 3.478351 1.349835 -0.096256 q: 0.915439 -0.299020 -0.049771 0.264729 
time: 1403637252.738319, t: 3.494310 1.197168 -0.069511 q: 0.909967 -0.288397 -0.074868 0.288414 
time: 1403637253.138319, t: 3.514419 1.107079 -0.103730 q: 0.912284 -0.296054 -0.071736 0.273760 
time: 1403637253.538319, t: 3.523956 1.043693 -0.161878 q: 0.911511 -0.298390 -0.070571 0.274100 
optimize pose graph 
time: 1403637253.938319, t: 3.527368 0.967747 -0.240285 q: 0.913555 -0.302599 -0.070958 0.262329 
time: 1403637254.338319, t: 3.614763 0.887894 -0.357665 q: 0.921371 -0.283988 -0.074597 0.254678 
time: 1403637254.738319, t: 3.709156 0.775596 -0.478407 q: 0.929495 -0.260858 -0.074635 0.249843 
time: 1403637255.138319, t: 3.731780 0.631229 -0.568110 q: 0.932900 -0.252138 -0.059618 0.250138 
time: 1403637255.538319, t: 3.787117 0.453261 -0.674484 q: 0.945473 -0.210972 -0.053439 0.242312 
optimize pose graph 
time: 1403637255.938319, t: 3.817784 0.236841 -0.785550 q: 0.965337 -0.139010 -0.054433 0.214099 
time: 1403637256.338319, t: 3.929632 0.030305 -0.924597 q: 0.973480 -0.105080 -0.040259 0.199182 
time: 1403637256.738319, t: 3.988575 -0.227663 -1.040910 q: 0.970294 -0.103867 -0.048972 0.212938 
time: 1403637257.138319, t: 4.009161 -0.481476 -1.147911 q: 0.972668 -0.090615 -0.041721 0.209680 
time: 1403637257.538319, t: 4.103580 -0.706148 -1.280161 q: 0.977789 -0.071276 -0.045513 0.191773 
optimize pose graph 
time: 1403637257.938319, t: 4.148427 -0.957406 -1.349424 q: 0.977401 -0.044872 -0.061644 0.197166 
time: 1403637258.338319, t: 4.197363 -1.198190 -1.360314 q: 0.984746 0.014892 -0.031066 0.170552 
time: 1403637258.738319, t: 4.236489 -1.436343 -1.311293 q: 0.982667 0.043282 -0.020146 0.179129 
time: 1403637259.138319, t: 4.269789 -1.618399 -1.282822 q: 0.981991 0.041155 -0.014922 0.183788 
time: 1403637259.538319, t: 4.354270 -1.726672 -1.276919 q: 0.978609 0.040658 -0.010910 0.201376 
optimize pose graph 
time: 1403637259.938319, t: 4.365052 -1.776115 -1.289908 q: 0.979871 0.037567 -0.015237 0.195473 
time: 1403637260.338319, t: 4.307496 -1.792860 -1.314768 q: 0.984790 0.031121 -0.017020 0.170091 
time: 1403637260.738319, t: 4.225468 -1.833546 -1.331421 q: 0.985249 0.033742 -0.035627 0.163944 
time: 1403637261.138319, t: 4.155389 -1.906806 -1.326071 q: 0.984921 0.035225 -0.024181 0.167643 
time: 1403637261.538319, t: 4.124996 -1.975647 -1.331369 q: 0.983516 0.038311 -0.027658 0.174537 
time: 1403637261.938319, t: 4.165293 -2.024752 -1.293958 q: 0.984356 0.034725 -0.023168 0.171175 
time: 1403637262.338319, t: 4.143741 -2.076581 -1.248125 q: 0.975532 0.039024 0.016271 0.215754 
time: 1403637262.738319, t: 4.132551 -2.069599 -1.258458 q: 0.977018 0.001108 -0.000997 0.213151 
time: 1403637263.138319, t: 4.132181 -2.069938 -1.259480 q: 0.976645 0.001777 0.004954 0.214793 
time: 1403637263.538319, t: 4.131744 -2.069173 -1.260494 q: 0.976637 0.001737 0.004614 0.214839 
time: 1403637263.938319, t: 4.132353 -2.069605 -1.260067 q: 0.976818 0.001273 0.004599 0.214019 
time: 1403637264.338319, t: 4.132349 -2.069649 -1.260115 q: 0.976801 0.001291 0.004614 0.214096 
time: 1403637264.738319, t: 4.132324 -2.069642 -1.260117 q: 0.976807 0.001336 0.004553 0.214067 
time: 1403637265.138319, t: 4.132335 -2.069724 -1.260031 q: 0.976796 0.001338 0.004482 0.214120 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720503888.351753091]: Shutdown request received.[0m
[33m[ WARN] [1720503888.351793724]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720503888.352772181]: Shutdown request received.[0m
[33m[ WARN] [1720503888.352805846]: Reason given for shutdown: [user request][0m
killed
