/SLAM-Hive/slam_hive_results/mapping_results/3029/2237_vins-fusion-stereo+MH_03_medium+Image_comb_test-17.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720504427.653741358]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720504427.655666344]: init begins[0m
[31m[ERROR] [1720504427.656771539]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/9bfbd12e-3db7-11ef-a4c6-0242ac110005/roslaunch-5d51f90f6d9c-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://5d51f90f6d9c:36147/[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] [1720504428.760469523]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720504428.761983829]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720504428.767937935]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720504428.768191769]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720504428.768222098]: 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] [1720504428.768468567]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720504428.768690975]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720504428.768865594]: 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://5d51f90f6d9c:11311/[0m
]2;roscore http://5d51f90f6d9c:11311/
[1msetting /run_id to 9bfbd12e-3db7-11ef-a4c6-0242ac110005[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] [1720504437.803100977]: 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: 316867307.46 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720504442.386538561]: Initialization finish![0m
time: 1403637134.738319, t: 0.465863 -0.013119 -0.242304 q: 0.985253 -0.034197 -0.107818 0.128387 
feature tracking not enough, please slowly move you device! 
time: 1403637135.138319, t: 0.465863 -0.013119 -0.242304 q: 0.985253 -0.034197 -0.107818 0.128387 
feature tracking not enough, please slowly move you device! 
time: 1403637135.938319, t: 1.404054 0.166612 -1.147722 q: 0.992703 -0.065671 -0.084751 0.055189 
time: 1403637136.338319, t: 0.610436 0.053744 -0.636344 q: 0.986974 -0.053868 -0.115259 0.098470 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637137.138319, t: 0.610436 0.053744 -0.636344 q: 0.986974 -0.053868 -0.115259 0.098470 
time: 1403637137.538319, t: 0.529838 0.042817 -0.623340 q: 0.989463 -0.047992 -0.100184 0.092862 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637138.738319, t: 0.529838 0.042817 -0.623340 q: 0.989463 -0.047992 -0.100184 0.092862 
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! 
unstable tracking...
time: 1403637140.338319, t: 0.529838 0.042817 -0.623340 q: 0.989463 -0.047992 -0.100184 0.092862 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637141.538319, t: 0.574204 0.020852 -0.609912 q: 0.988724 -0.047499 -0.103084 0.097687 
unstable tracking...
time: 1403637141.938319, t: 0.565859 0.022367 -0.607266 q: 0.988789 -0.047415 -0.102355 0.097831 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637143.538319, t: 0.562211 0.024196 -0.610792 q: 0.988797 -0.047291 -0.102186 0.097986 
unstable tracking...
time: 1403637143.938319, t: 0.566669 0.022052 -0.613756 q: 0.988799 -0.047061 -0.102542 0.097714 
time: 1403637144.338319, t: 0.565022 0.022019 -0.614042 q: 0.988783 -0.047329 -0.102395 0.097900 
time: 1403637144.738319, t: 0.567005 0.021883 -0.614691 q: 0.988797 -0.047336 -0.102539 0.097599 
time: 1403637145.138319, t: 0.566075 0.026050 -0.617408 q: 0.988750 -0.047305 -0.102843 0.097770 
time: 1403637145.538319, t: 0.564051 0.024533 -0.614543 q: 0.988761 -0.047480 -0.102287 0.098161 
time: 1403637145.938319, t: 0.563990 0.024147 -0.613541 q: 0.988745 -0.047400 -0.102176 0.098473 
time: 1403637146.338319, t: 0.564473 0.024977 -0.614338 q: 0.988766 -0.047419 -0.102229 0.098198 
time: 1403637146.738319, t: 0.564473 0.025216 -0.614440 q: 0.988709 -0.047312 -0.102300 0.098744 
time: 1403637147.138319, t: 0.563836 0.025186 -0.613807 q: 0.988724 -0.047261 -0.102079 0.098849 
time: 1403637147.538319, t: 0.564044 0.025262 -0.613864 q: 0.988737 -0.047158 -0.102181 0.098664 
time: 1403637147.938319, t: 0.563926 0.025151 -0.613644 q: 0.988714 -0.047125 -0.102050 0.099043 
time: 1403637148.338319, t: 0.564325 0.025345 -0.613577 q: 0.988664 -0.046893 -0.102278 0.099416 
time: 1403637148.738319, t: 0.564135 0.025931 -0.612783 q: 0.988637 -0.045205 -0.103310 0.099400 
time: 1403637149.138319, t: 0.564515 0.026949 -0.614000 q: 0.988589 -0.042413 -0.104630 0.099726 
time: 1403637149.538319, t: 0.565504 0.028757 -0.616756 q: 0.988681 -0.037917 -0.106817 0.098301 
time: 1403637149.938319, t: 0.560114 0.045424 -0.643818 q: 0.985877 -0.021418 -0.143756 0.083199 
feature tracking not enough, please slowly move you device! 
time: 1403637150.338319, t: 0.601781 0.120276 -0.730620 q: 0.988425 -0.040318 -0.128224 0.070355 
feature tracking not enough, please slowly move you device! 
time: 1403637151.138319, t: 0.747558 3.175805 2.375354 q: 0.992941 -0.038940 -0.094492 0.060199 
time: 1403637151.538319, t: 1.354177 0.895618 -0.124318 q: 0.980019 -0.020378 -0.197678 -0.008392 
time: 1403637151.938319, t: 0.835863 0.562470 0.027587 q: 0.982394 -0.047672 -0.168244 0.065753 
time: 1403637152.338319, t: 1.017313 0.695283 0.077527 q: 0.970731 -0.082828 -0.196064 0.111264 
time: 1403637152.738319, t: 0.958588 0.710886 0.131892 q: 0.973594 -0.078921 -0.187762 0.103106 
time: 1403637153.138319, t: 0.967868 0.813228 0.210704 q: 0.975161 -0.079446 -0.179710 0.102247 
time: 1403637153.538319, t: 0.953222 0.894153 0.284232 q: 0.975284 -0.076639 -0.186659 0.090029 
time: 1403637153.938319, t: 1.000953 0.981156 0.359030 q: 0.976790 -0.076715 -0.179024 0.089148 
time: 1403637154.338319, t: 1.044193 0.861966 0.421519 q: 0.975716 -0.108378 -0.189924 0.012670 
time: 1403637154.738319, t: 1.029839 1.011926 0.487991 q: 0.973276 -0.121794 -0.193154 -0.024314 
time: 1403637155.138319, t: 1.025838 1.158712 0.637065 q: 0.966793 -0.168210 -0.191896 -0.013878 
time: 1403637155.538319, t: 1.098305 1.274955 0.849837 q: 0.963434 -0.212967 -0.162386 -0.008345 
time: 1403637155.938319, t: 1.065009 1.425463 1.025318 q: 0.949157 -0.271355 -0.157752 0.024110 
time: 1403637156.338319, t: 0.985535 1.645134 1.134363 q: 0.918991 -0.367024 -0.134497 0.051571 
time: 1403637156.738319, t: 0.948185 1.810359 1.239116 q: 0.869693 -0.475004 -0.121377 0.057201 
time: 1403637157.138319, t: 0.795264 2.075129 1.226390 q: 0.841511 -0.518119 -0.141027 0.059348 
time: 1403637157.538319, t: 0.781469 2.364405 1.109213 q: 0.847808 -0.507558 -0.130748 0.080698 
time: 1403637157.938319, t: 0.879440 2.657780 1.000300 q: 0.850918 -0.506622 -0.123852 0.062719 
time: 1403637158.338319, t: 0.952605 3.098312 0.809470 q: 0.846247 -0.516473 -0.123316 0.043763 
time: 1403637158.738319, t: 0.886184 3.524740 0.641890 q: 0.807810 -0.579222 -0.089371 0.062903 
time: 1403637159.138319, t: 1.069894 4.002209 0.107471 q: 0.783604 -0.605733 -0.118052 0.071525 
time: 1403637159.538319, t: 1.039229 4.216160 -0.065461 q: 0.776351 -0.616730 -0.115376 0.060093 
time: 1403637159.938319, t: 1.593596 4.664031 -0.103306 q: 0.739995 -0.638345 -0.207387 0.043749 
time: 1403637160.338319, t: 1.899405 4.878259 -1.157859 q: 0.723925 -0.662421 -0.182209 0.062693 
feature tracking not enough, please slowly move you device! 
time: 1403637160.738319, t: 1.919503 6.604897 -1.515806 q: 0.700371 -0.595494 -0.354483 -0.170904 
time: 1403637161.138319, t: 2.027691 7.168404 -1.649865 q: 0.687604 -0.625562 -0.334214 -0.155478 
time: 1403637161.538319, t: 2.305158 7.700557 -1.697955 q: 0.697178 -0.628069 -0.308982 -0.154927 
time: 1403637161.938319, t: 2.864610 8.409653 -1.731383 q: 0.599272 -0.732127 -0.322469 -0.029614 
time: 1403637162.338319, t: 3.230677 8.710563 -1.636240 q: 0.608448 -0.715032 -0.330490 -0.096421 
time: 1403637162.738319, t: 3.675241 9.063188 -2.141677 q: 0.596764 -0.721179 -0.348474 -0.048371 
time: 1403637163.138319, t: 2.693775 8.640945 -2.499592 q: 0.506576 -0.805061 -0.255757 -0.172760 
time: 1403637163.538319, t: 3.088884 8.633894 -3.720867 q: -0.458396 0.862733 0.189595 0.098072 
time: 1403637163.938319, t: 3.658383 8.443164 -4.350209 q: -0.456595 0.866689 0.199784 0.021386 
time: 1403637164.338319, t: 4.061495 8.402238 -4.386156 q: -0.392541 0.889689 0.230352 0.036089 
time: 1403637164.738319, t: 3.885151 7.663455 -3.530881 q: -0.319138 0.906896 0.243178 0.128665 
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! 
feature tracking not enough, please slowly move you device! 
time: 1403637166.338319, t: 3.754144 4.387517 -0.949917 q: -0.216386 0.969938 0.056967 0.095663 
time: 1403637166.738319, t: 3.566962 3.970964 -1.601174 q: -0.260102 0.957214 0.061291 0.111045 
time: 1403637167.138319, t: 3.565800 4.068830 -1.898505 q: -0.244574 0.950621 0.122634 0.146507 
feature tracking not enough, please slowly move you device! 
time: 1403637168.338319, t: 2.968936 4.756635 -1.935645 q: -0.335635 0.936942 0.066284 0.071389 
time: 1403637168.738319, t: 3.178877 6.418628 -2.356777 q: -0.299520 0.946023 0.097356 0.076490 
time: 1403637169.138319, t: 3.145209 7.034286 -2.103011 q: -0.299992 0.949340 0.074030 0.057255 
time: 1403637169.538319, t: 2.903619 8.206872 -3.235814 q: -0.362536 0.913429 0.132094 0.129488 
feature tracking not enough, please slowly move you device! 
time: 1403637170.338319, t: -0.811855 10.529803 -2.861516 q: -0.274053 0.874881 0.040372 0.397302 
time: 1403637170.738319, t: -0.697857 11.544477 -1.250157 q: -0.415123 0.868135 0.067001 0.263675 
time: 1403637171.138319, t: -0.208011 9.735043 -0.667599 q: 0.694722 -0.690161 -0.142989 -0.143505 
time: 1403637171.538319, t: 1.174164 11.575568 0.846665 q: 0.596812 -0.724694 -0.344104 -0.015049 
time: 1403637171.938319, t: 0.032456 11.590949 0.481953 q: 0.710747 -0.653172 -0.226633 -0.129776 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637173.138319, t: -3.229935 7.887088 0.201565 q: -0.398622 0.704361 0.331017 0.485184 
time: 1403637173.538319, t: -3.560002 7.794949 0.169044 q: -0.371551 0.747304 0.230100 0.500540 
unstable tracking...
time: 1403637174.338319, t: -3.449454 7.452723 0.170129 q: -0.278023 0.765262 0.145685 0.562009 
time: 1403637174.738319, t: -3.010466 6.973912 0.209327 q: -0.284430 0.763147 0.110746 0.569597 
time: 1403637175.138319, t: -2.766703 6.773833 0.195775 q: -0.225613 0.786128 0.038957 0.574094 
time: 1403637175.538319, t: -2.380157 6.436876 -0.107335 q: -0.229550 0.768154 -0.021020 0.597330 
time: 1403637175.938319, t: -2.308336 5.877790 -0.204361 q: -0.207494 0.787391 -0.007338 0.580438 
time: 1403637176.338319, t: -2.320185 5.310794 -0.146626 q: -0.192505 0.775724 -0.013341 0.600846 
time: 1403637176.738319, t: -2.406477 4.530294 -0.149865 q: -0.164059 0.805025 -0.042110 0.568547 
time: 1403637177.138319, t: -2.564237 3.862575 -0.639560 q: -0.144941 0.829544 -0.050467 0.536938 
time: 1403637177.538319, t: -2.380143 3.156074 -0.943952 q: -0.131077 0.851772 -0.038813 0.505764 
time: 1403637177.938319, t: -2.165241 2.856885 -1.041970 q: -0.076270 0.846580 -0.058498 0.523510 
time: 1403637178.338319, t: -2.654898 2.008228 -0.440756 q: 0.022691 0.868591 -0.080198 0.488469 
time: 1403637178.738319, t: -1.832755 1.914471 -0.752316 q: 0.017667 0.851088 -0.097871 0.515518 
time: 1403637179.138319, t: -1.292998 2.169815 -0.857441 q: -0.020303 0.830952 -0.133844 0.539622 
time: 1403637179.538319, t: -0.800292 2.261672 -0.913408 q: -0.029858 0.837934 -0.112461 0.533225 
time: 1403637179.938319, t: -0.331867 2.574911 -0.945617 q: -0.001635 0.835601 -0.090137 0.541890 
time: 1403637180.338319, t: 0.012881 3.126213 -1.143493 q: -0.041758 0.834243 -0.117313 0.537152 
time: 1403637180.738319, t: 0.199368 3.402553 -1.437730 q: -0.077691 0.823026 -0.095111 0.554569 
time: 1403637181.138319, t: 0.617943 4.102146 -1.397245 q: -0.040230 0.800264 -0.104425 0.589113 
time: 1403637181.538319, t: 0.537928 4.836364 -1.065880 q: -0.040075 0.777674 -0.136947 0.612260 
time: 1403637181.938319, t: 0.706124 5.646176 -0.483922 q: -0.031589 0.794495 -0.157366 0.585676 
time: 1403637182.338319, t: 0.952957 6.639925 0.018532 q: -0.014572 0.779497 -0.198500 0.593944 
time: 1403637182.738319, t: 0.020475 9.025365 -0.445080 q: 0.048117 0.658909 -0.259355 0.704457 
time: 1403637183.138319, t: 0.331742 7.753408 -0.671262 q: -0.088062 0.649857 -0.217488 0.722932 
time: 1403637183.538319, t: 0.126537 7.856925 -3.020773 q: -0.128230 0.558981 -0.165702 0.802272 
time: 1403637183.938319, t: -4.365247 8.639789 -0.776564 q: -0.085373 0.759165 -0.276331 0.583114 
feature tracking not enough, please slowly move you device! 
time: 1403637184.338319, t: -0.367735 4.085594 9.742335 q: -0.185267 0.961913 -0.196241 0.043462 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637185.538319, t: 0.609597 2.488891 11.657606 q: -0.141299 0.973223 -0.126613 -0.129771 
time: 1403637185.938319, t: 5.256163 7.858341 7.419075 q: 0.094465 0.864491 0.241123 -0.430804 feature tracking not enough, please slowly move you device! 
time: 1403637186.738319, t: 2.705270 1.435066 29.117352 q: -0.277023 -0.246340 0.106945 0.922571 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637188.738319, t: 108692.756835 -57936.519985 509331.066105 q: 0.236004 0.636701 0.723535 -0.124140 
unstable tracking...
time: 1403637189.138319, t: 109602.528733 -55287.008431 487399.501623 q: -0.049683 0.159677 0.921105 0.351568 
unstable tracking...
time: 1403637189.938319, t: 170104.579830 -34159.988860 471081.998080 q: -0.296108 -0.119325 -0.507194 0.800522 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403637190.738319, t: 1345632.568069 -366880.319884 1098304.993686 q: 0.831263 -0.205594 0.504896 -0.108687 
unstable tracking...
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637193.938319, t: 1345801.831645 -366383.679622 1098059.105944 q: 0.712213 -0.343756 0.594921 -0.143713 
unstable tracking...
time: 1403637194.338319, t: 1345802.165243 -366384.609167 1098058.854465 q: 0.723147 -0.391009 0.559236 -0.106893 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637196.338319, t: 1345804.501957 -366385.436395 1098059.443395 q: 0.671450 -0.446495 0.564121 -0.177663 
time: 1403637196.738319, t: 1345804.589973 -366385.691415 1098059.644707 q: 0.677841 -0.425731 0.577348 -0.161100 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637197.538319, t: 1345810.461771 -366386.288866 1098061.176913 q: 0.731991 -0.357202 0.546321 -0.195267 
feature tracking not enough, please slowly move you device! 
time: 1403637198.338319, t: 1345810.469238 -366388.738117 1098063.087394 q: 0.731991 -0.357201 0.546321 -0.195268 
time: 1403637198.738319, t: 1345810.611085 -366389.939094 1098063.536962 q: 0.731991 -0.357201 0.546321 -0.195268 
time: 1403637199.138319, t: 1345811.455400 -366388.405487 1098063.969207 q: 0.687802 -0.272068 0.544326 -0.395749 
time: 1403637199.938319, t: 1345810.348075 -366390.957666 1098066.245452 q: 0.730992 -0.221005 0.477318 -0.434712 
time: 1403637200.338319, t: 1345810.348075 -366390.957666 1098066.245452 q: 0.730992 -0.221005 0.477318 -0.434712 
time: 1403637201.138319, t: 1345808.806593 -366391.876473 1098068.552584 q: 0.753930 -0.210601 0.451189 -0.428562 
unstable tracking...
time: 1403637201.938319, t: 1345807.929271 -366392.048209 1098069.203494 q: 0.764996 -0.212240 0.505282 -0.338269 
time: 1403637202.338319, t: 1345807.728953 -366391.945324 1098069.076253 q: 0.774300 -0.250751 0.465677 -0.347460 
time: 1403637202.738319, t: 1345807.720014 -366391.868770 1098068.716397 q: 0.758251 -0.258289 0.472029 -0.368146 
time: 1403637203.538319, t: 1345807.797492 -366391.603602 1098068.164592 q: 0.745185 -0.275757 0.470892 -0.383300 
time: 1403637203.938319, t: 1345807.763075 -366391.720282 1098068.032371 q: 0.751466 -0.298208 0.459298 -0.367989 
time: 1403637204.338319, t: 1345807.804397 -366391.600017 1098067.907094 q: 0.758575 -0.295184 0.453841 -0.362574 
time: 1403637204.738319, t: 1345807.708990 -366391.604271 1098067.816285 q: 0.757802 -0.293678 0.462438 -0.354458 
time: 1403637205.138319, t: 1345807.631821 -366391.561369 1098067.768325 q: 0.762527 -0.301297 0.454199 -0.348535 
time: 1403637205.538319, t: 1345807.556441 -366391.567784 1098067.797514 q: 0.760095 -0.292658 0.448603 -0.367915 
time: 1403637205.938319, t: 1345807.510502 -366391.563741 1098067.865711 q: 0.758760 -0.286205 0.447040 -0.377525 
time: 1403637206.338319, t: 1345807.439985 -366391.583509 1098067.933928 q: 0.764075 -0.272904 0.451599 -0.371176 
time: 1403637206.738319, t: 1345807.394121 -366391.675210 1098067.911877 q: 0.763343 -0.276137 0.450980 -0.371045 
time: 1403637207.138319, t: 1345807.290921 -366391.732916 1098067.908531 q: 0.760291 -0.277760 0.456262 -0.369637 
time: 1403637207.538319, t: 1345807.192910 -366391.723353 1098067.925950 q: 0.761963 -0.279139 0.456861 -0.364379 
time: 1403637207.938319, t: 1345807.077508 -366391.717762 1098067.928045 q: 0.769413 -0.283701 0.447465 -0.356781 
time: 1403637208.338319, t: 1345806.988067 -366391.793632 1098067.852593 q: 0.767108 -0.284234 0.451696 -0.355987 
time: 1403637208.738319, t: 1345806.913812 -366391.830515 1098067.764175 q: 0.762877 -0.287792 0.455294 -0.357633 
time: 1403637209.138319, t: 1345806.753798 -366391.768277 1098067.779006 q: 0.746707 -0.309512 0.452508 -0.376653 
time: 1403637209.538319, t: 1345806.588384 -366391.749181 1098067.848593 q: 0.775633 -0.281660 0.409258 -0.389319 
time: 1403637209.938319, t: 1345806.506592 -366391.954140 1098067.882536 q: 0.796335 -0.292479 0.367304 -0.381306 
time: 1403637210.338319, t: 1345806.633986 -366392.063074 1098068.137365 q: 0.809963 -0.312023 0.338251 -0.363576 
time: 1403637210.738319, t: 1345807.158483 -366392.164294 1098068.575076 q: 0.795836 -0.294473 0.373096 -0.375139 
time: 1403637211.138319, t: 1345807.925726 -366392.366969 1098068.879598 q: 0.803776 -0.252642 0.396767 -0.364268 
time: 1403637211.538319, t: 1345808.625706 -366392.276905 1098069.130381 q: 0.786269 -0.241424 0.414823 -0.389123 
time: 1403637211.938319, t: 1345808.969005 -366392.135829 1098069.002567 q: 0.821936 -0.231397 0.386882 -0.348136 
time: 1403637212.338319, t: 1345809.867492 -366392.662322 1098069.781052 q: 0.776119 -0.263148 0.425151 -0.384239 
time: 1403637212.738319, t: 1345810.504601 -366392.865488 1098070.024493 q: 0.778828 -0.284308 0.411256 -0.378768 
time: 1403637213.138319, t: 1345811.050443 -366393.022173 1098070.165463 q: 0.774769 -0.291823 0.408610 -0.384200 
time: 1403637213.538319, t: 1345811.621695 -366393.324123 1098070.638662 q: 0.760813 -0.305669 0.420435 -0.388541 
time: 1403637213.938319, t: 1345812.262907 -366393.266168 1098070.625934 q: 0.756528 -0.309789 0.408911 -0.405570 
time: 1403637214.338319, t: 1345812.044408 -366394.041341 1098071.032102 q: 0.766248 -0.291647 0.412083 -0.397483 
time: 1403637214.738319, t: 1345813.721519 -366393.241886 1098070.699189 q: 0.733519 -0.182272 0.361585 -0.545879 
time: 1403637215.138319, t: 1345813.096571 -366394.166450 1098071.289254 q: 0.734788 -0.223636 0.366918 -0.524828 
time: 1403637215.538319, t: 1345813.175093 -366394.343819 1098071.578346 q: 0.745766 -0.154319 0.372046 -0.530660 
time: 1403637215.938319, t: 1345813.062322 -366394.418581 1098071.829195 q: 0.755413 -0.077857 0.287689 -0.583545 
time: 1403637216.338319, t: 1345812.733175 -366394.900971 1098072.088527 q: 0.764414 -0.042900 0.235854 -0.598501 
time: 1403637216.738319, t: 1345812.190510 -366395.144331 1098072.157906 q: 0.763779 -0.025352 0.255269 -0.592314 
time: 1403637217.138319, t: 1345811.608549 -366395.270117 1098072.169955 q: 0.771453 -0.041097 0.261273 -0.578712 
time: 1403637217.538319, t: 1345810.637357 -366395.267095 1098073.109470 q: 0.772850 -0.081372 0.320130 -0.541847 
time: 1403637217.938319, t: 1345810.339085 -366395.487053 1098071.790113 q: 0.754964 -0.047973 0.232634 -0.611236 
feature tracking not enough, please slowly move you device! 
time: 1403637218.738319, t: 1345809.670314 -366391.978876 1098073.772642 q: 0.637146 -0.006545 0.333680 -0.694737 
time: 1403637219.138319, t: 1345807.416556 -366392.906575 1098070.924353 q: 0.770899 0.057694 0.311123 -0.552801 
time: 1403637219.538319, t: 1345806.285901 -366393.532047 1098072.109855 q: 0.789330 -0.002744 0.328299 -0.518816 
time: 1403637219.938319, t: 1345807.149596 -366386.219859 1098073.276715 q: 0.649757 0.107753 0.343451 -0.669512 
time: 1403637220.338319, t: 1345804.527998 -366385.691057 1098069.556647 q: 0.649757 0.107753 0.343452 -0.669511 
time: 1403637220.738319, t: 1345803.678582 -366385.857809 1098069.417915 q: 0.649757 0.107753 0.343452 -0.669511 
time: 1403637221.138319, t: 1345806.332553 -366388.291570 1098070.071678 q: 0.592889 0.120789 0.362830 -0.708694 
time: 1403637221.538319, t: 1345804.693602 -366387.215821 1098071.112313 q: 0.593479 0.026287 0.647958 -0.476699 
time: 1403637221.938319, t: 1345804.207333 -366384.525433 1098070.582655 q: 0.593480 0.026287 0.647958 -0.476698 
time: 1403637222.338319, t: 1345806.465953 -366387.255940 1098071.372884 q: 0.648853 0.084208 0.689747 -0.310077 
time: 1403637223.138319, t: 1345805.972282 -366386.717911 1098071.723519 q: 0.654578 0.091816 0.694010 -0.285391 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637225.538319, t: 1345805.866282 -366386.781097 1098071.413613 q: 0.623445 0.091343 0.713845 -0.305612 
time: 1403637225.938319, t: 1345805.828540 -366386.891268 1098071.475582 q: 0.633817 0.084895 0.705016 -0.306628 
time: 1403637226.338319, t: 1345805.692737 -366386.925478 1098071.443080 q: 0.624441 0.089810 0.713365 -0.305151 
time: 1403637226.738319, t: 1345805.600458 -366387.037107 1098071.458790 q: 0.645196 0.076967 0.694748 -0.308422 
time: 1403637227.138319, t: 1345805.481687 -366387.049573 1098071.522187 q: 0.647936 0.114721 0.692146 -0.296568 
time: 1403637227.538319, t: 1345805.487932 -366387.247279 1098071.536907 q: 0.645209 0.095903 0.699097 -0.292867 
time: 1403637227.938319, t: 1345805.532168 -366387.326876 1098071.552746 q: 0.641468 0.101085 0.703937 -0.287705 
time: 1403637228.338319, t: 1345805.584541 -366387.371913 1098071.596803 q: 0.621728 0.099679 0.719565 -0.292823 
time: 1403637228.738319, t: 1345805.547883 -366387.399119 1098071.579414 q: 0.622825 0.091203 0.717930 -0.297231 
time: 1403637229.138319, t: 1345805.486963 -366387.424669 1098071.620138 q: 0.624970 0.089684 0.716896 -0.295685 
time: 1403637229.538319, t: 1345805.449325 -366387.447399 1098071.702275 q: 0.652758 0.093403 0.707023 -0.255540 
time: 1403637229.938319, t: 1345805.461208 -366387.419872 1098071.697810 q: 0.670267 0.042202 0.726262 -0.146644 
time: 1403637230.338319, t: 1345805.486827 -366387.381181 1098071.794494 q: 0.681281 0.002381 0.730377 -0.048986 
time: 1403637230.738319, t: 1345805.574845 -366387.286436 1098071.794047 q: 0.651750 -0.002613 0.758375 -0.009076 
time: 1403637231.138319, t: 1345805.655338 -366387.263501 1098071.852225 q: 0.674447 -0.029887 0.729566 0.109371 
time: 1403637231.538319, t: 1345805.890040 -366386.646148 1098071.182128 q: 0.678109 -0.030003 0.667014 0.307179 
time: 1403637231.938319, t: 1345806.209632 -366385.848737 1098071.936397 q: 0.629876 -0.089195 0.672755 0.377757 
time: 1403637232.338319, t: 1345804.800076 -366386.127693 1098072.328026 q: 0.556610 -0.151786 0.674893 0.460072 
time: 1403637232.738319, t: 1345804.865281 -366385.664221 1098071.984673 q: 0.504790 -0.079816 0.585189 0.629580 
time: 1403637233.138319, t: 1345805.553839 -366385.928783 1098072.525311 q: 0.470010 -0.209632 0.540653 0.665462 
time: 1403637233.538319, t: 1345805.174839 -366385.429700 1098072.564111 q: 0.512111 -0.232051 0.503592 0.655964 
time: 1403637233.938319, t: 1345804.311115 -366384.660346 1098072.094500 q: 0.547634 -0.261756 0.490805 0.625053 
time: 1403637234.338319, t: 1345803.926185 -366384.192599 1098071.958797 q: 0.547634 -0.261756 0.490805 0.625053 
time: 1403637235.138319, t: 1345804.881171 -366381.164219 1098070.392784 q: 0.577302 -0.212087 0.544960 0.569878 
time: 1403637235.538319, t: 1345805.174780 -366380.836050 1098070.518971 q: 0.631903 -0.135910 0.576386 0.500007 
time: 1403637235.938319, t: 1345808.556072 -366381.671594 1098069.424749 q: 0.528917 -0.345175 0.451011 0.630627 
time: 1403637236.338319, t: 1345809.172630 -366381.173689 1098069.855420 q: 0.541642 -0.391804 0.522667 0.529087 
time: 1403637236.738319, t: 1345807.607117 -366381.218736 1098069.339216 q: 0.649248 -0.143225 0.675487 0.318874 
feature tracking not enough, please slowly move you device! 
time: 1403637237.538319, t: 1345807.921839 -366381.749442 1098069.392160 q: 0.500887 0.023272 0.843117 0.194225 
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: 1403637239.138319, t: 1345807.050137 -366382.597810 1098070.288574 q: 0.561499 0.121149 0.730428 0.369483 
time: 1403637239.538319, t: 1345805.804372 -366381.156885 1098070.647550 q: 0.561499 0.121149 0.730428 0.369480 
feature tracking not enough, please slowly move you device! 
time: 1403637240.338319, t: 1345805.041741 -366377.746811 1098073.046833 q: 0.352860 0.402836 0.527147 0.659795 
time: 1403637240.738319, t: 1345805.679921 -366377.704408 1098073.922578 q: 0.393712 0.361931 0.531390 0.656979 
unstable tracking...
time: 1403637241.138319, t: 1345805.987596 -366377.194817 1098074.365968 q: 0.395551 0.301457 0.557822 0.664453 
time: 1403637241.538319, t: 1345805.942791 -366377.078481 1098074.052607 q: 0.367427 0.333390 0.519358 0.695785 
time: 1403637241.938319, t: 1345804.815361 -366377.075691 1098074.443254 q: 0.402540 0.309953 0.547012 0.665333 
time: 1403637242.338319, t: 1345805.363492 -366377.203670 1098078.004046 q: 0.271533 0.366760 0.639012 0.619210 
time: 1403637242.738319, t: 1345805.540750 -366376.959777 1098077.645203 q: 0.271533 0.366760 0.639012 0.619210 
time: 1403637243.138319, t: 1345804.237385 -366377.021977 1098076.526220 q: 0.271892 0.388974 0.632508 0.612133 
time: 1403637243.538319, t: 1345804.672762 -366376.993463 1098076.008648 q: 0.288085 0.370825 0.638042 0.610245 
time: 1403637243.938319, t: 1345803.914737 -366377.121531 1098075.800061 q: 0.261161 0.472803 0.630852 0.557026 
time: 1403637244.338319, t: 1345803.781826 -366377.358984 1098075.509135 q: 0.227987 0.471051 0.631709 0.571906 
time: 1403637244.738319, t: 1345803.219227 -366377.349472 1098075.182300 q: 0.262499 0.450222 0.664759 0.535248 
time: 1403637245.138319, t: 1345803.683461 -366377.691013 1098074.530566 q: 0.191094 0.454302 0.672006 0.552721 
unstable tracking...
time: 1403637245.538319, t: 1345803.366470 -366377.728681 1098074.255419 q: 0.198232 0.425267 0.687503 0.554249 
time: 1403637245.938319, t: 1345803.095886 -366377.567773 1098073.872477 q: 0.185780 0.397748 0.741601 0.507258 
time: 1403637246.338319, t: 1345802.118132 -366377.604041 1098073.652724 q: 0.167385 0.400689 0.809581 0.394979 
feature tracking not enough, please slowly move you device! 
time: 1403637247.138319, t: 1345800.310430 -366383.230018 1098071.639326 q: 0.180814 0.277768 0.907518 0.257999 
time: 1403637247.538319, t: 1345800.552146 -366376.573439 1098070.183058 q: 0.165135 0.280111 0.900629 0.288334 
time: 1403637247.938319, t: 1345800.793244 -366378.401157 1098069.612390 q: -0.013375 0.375560 0.834548 0.402872 
time: 1403637248.338319, t: 1345567.703421 -366380.790953 1098073.656258 q: 0.920867 -0.210987 0.023387 -0.327018 
feature tracking not enough, please slowly move you device! 
time: 1403637249.138319, t: 1351823.829518 -363962.603742 1149011.398487 q: 0.540667 -0.213150 0.338546 0.740022 
time: 1403637249.538319, t: 1350197.402456 -280510.599115 1186693.527137 q: 0.614695 -0.491780 -0.103139 0.608001 
feature tracking not enough, please slowly move you device! 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637251.538319, t: 2044257.570057 -248956.289998 1188586.278731 q: 0.774064 -0.180519 -0.402499 0.454128 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403637253.138319, t: 2044257.946029 -248956.496083 1188586.491322 q: 0.793860 -0.141433 -0.389184 0.445329 
unstable tracking...
time: 1403637253.538319, t: 2044257.967697 -248956.529647 1188586.437373 q: 0.795544 -0.142850 -0.387167 0.443628 
time: 1403637253.938319, t: 2044258.048048 -248956.574539 1188586.380044 q: 0.801967 -0.145010 -0.387141 0.431212 
time: 1403637254.338319, t: 2044258.260424 -248956.564512 1188586.321693 q: 0.805480 -0.126313 -0.387722 0.430022 
time: 1403637254.738319, t: 2044258.373699 -248956.510818 1188586.198943 q: 0.811771 -0.099073 -0.377695 0.434233 
time: 1403637255.138319, t: 2044258.465145 -248956.596754 1188586.117382 q: 0.817924 -0.095506 -0.360405 0.438163 
time: 1403637255.538319, t: 2044258.655695 -248956.603081 1188585.950465 q: 0.825276 -0.051573 -0.343514 0.445261 
time: 1403637255.938319, t: 2044258.778188 -248956.641289 1188585.834700 q: 0.837601 0.025063 -0.323680 0.439350 
time: 1403637256.338319, t: 2044259.074451 -248956.672688 1188585.685990 q: 0.845305 0.055726 -0.300962 0.437923 
time: 1403637256.738319, t: 2044259.277619 -248956.745067 1188585.577375 q: 0.838557 0.058965 -0.311251 0.443247 
time: 1403637257.138319, t: 2044259.392010 -248956.952412 1188585.589179 q: 0.840823 0.068671 -0.298901 0.446048 
time: 1403637257.538319, t: 2044259.676012 -248957.062621 1188585.492565 q: 0.847356 0.090055 -0.296791 0.431038 
time: 1403637257.938319, t: 2044259.851909 -248957.190984 1188585.472897 q: 0.836388 0.118147 -0.305205 0.439711 
time: 1403637258.338319, t: 2044259.989710 -248957.354554 1188585.454688 q: 0.846493 0.171005 -0.254832 0.435049 
time: 1403637258.738319, t: 2044260.224933 -248957.580204 1188585.374692 q: 0.839261 0.193096 -0.236192 0.450076 
time: 1403637259.138319, t: 2044260.323988 -248957.641879 1188585.347252 q: 0.838844 0.192559 -0.233533 0.452463 
time: 1403637259.538319, t: 2044260.495757 -248957.725772 1188585.427148 q: 0.831762 0.184752 -0.237181 0.466673 
time: 1403637259.938319, t: 2044260.417412 -248957.721001 1188585.368733 q: 0.834191 0.187484 -0.234254 0.462710 
time: 1403637260.338319, t: 2044260.384094 -248957.756414 1188585.337341 q: 0.845166 0.187075 -0.231534 0.443947 
time: 1403637261.138319, t: 2044260.474694 -248957.775674 1188585.224992 q: 0.845577 0.195868 -0.250980 0.428537 
time: 1403637261.538319, t: 2044260.447891 -248957.912552 1188585.162698 q: 0.839603 0.195290 -0.245381 0.443528 
time: 1403637261.938319, t: 2044260.493731 -248957.935395 1188585.290527 q: 0.842922 0.193103 -0.243175 0.439386 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403637263.538319, t: 2044260.713510 -248957.712540 1188583.407236 q: 0.826252 0.169870 -0.211863 0.493523 
time: 1403637263.938319, t: 2044260.423467 -248958.014930 1188583.945225 q: 0.774838 0.143608 -0.535768 -0.303240 
feature tracking not enough, please slowly move you device! 
time: 1403637264.738319, t: 2044260.219360 -248957.659094 1188584.131643 q: 0.706568 0.171133 -0.527727 -0.439294 
time: 1403637265.138319, t: 2044260.026817 -248957.727038 1188584.103504 q: 0.706568 0.171133 -0.527727 -0.439294 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720504574.631759423]: Shutdown request received.[0m
[33m[ WARN] [1720504574.631797259]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720504574.632665962]: Shutdown request received.[0m
[33m[ WARN] [1720504574.632695710]: Reason given for shutdown: [user request][0m
killed
