/SLAM-Hive/slam_hive_results/mapping_results/3089/2297_vins-fusion-stereo+MH_05_difficult+Image_comb_test-17.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720513411.876152905]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720513411.878068111]: init begins[0m
[31m[ERROR] [1720513411.879189732]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/86ff47e6-3dcc-11ef-ac80-0242ac110005/roslaunch-2a396e0887b9-118.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://2a396e0887b9:45879/[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
[1mROS_MASTER_URI=http://2a396e0887b9:11311/[0m
]2;roscore http://2a396e0887b9:11311/
[1msetting /run_id to 86ff47e6-3dcc-11ef-ac80-0242ac110005[0m
[0m[ INFO] [1720513413.031809773]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720513413.034696130]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720513413.041062834]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720513413.041273990]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720513413.041304887]: 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] [1720513413.041555941]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720513413.041754111]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720513413.041915134]: 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 [231][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720513422.034026634]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316874904.10 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720513426.558688475]: Initialization finish![0m
time: 1403638522.277829, t: -0.005370 -0.002324 -0.005492 q: 0.999945 0.009747 0.002256 -0.003072 
feature tracking not enough, please slowly move you device! 
time: 1403638522.677830, t: -0.004777 -0.002300 -0.006092 q: 0.999865 0.016160 0.002793 0.000358 
feature tracking not enough, please slowly move you device! 
time: 1403638523.077830, t: -0.004777 -0.002300 -0.006092 q: 0.999865 0.016160 0.002793 0.000358 
time: 1403638523.477829, t: -0.081409 0.015905 0.048840 q: 0.999951 0.003223 0.003794 -0.008520 
feature tracking not enough, please slowly move you device! 
time: 1403638523.877830, t: -0.081409 0.015905 0.048840 q: 0.999951 0.003223 0.003794 -0.008520 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403638524.677830, t: -0.653810 -0.770616 -1.378105 q: 0.999933 0.003481 -0.008506 0.007104 
time: 1403638525.077830, t: -1.304444 -0.750597 -0.599923 q: 0.999572 0.009709 0.021447 -0.017338 
time: 1403638525.477829, t: -1.754689 -0.069865 0.684349 q: 0.991984 0.062142 -0.045853 0.100014 
time: 1403638525.877830, t: -2.093681 0.331938 1.071041 q: 0.990183 0.072049 -0.052915 0.107452 
time: 1403638526.277829, t: -2.133341 0.477615 1.092492 q: 0.990483 0.049858 -0.056588 0.115136 
time: 1403638526.677830, t: -2.234557 0.500708 1.132846 q: 0.989821 0.009764 -0.021895 0.140284 
time: 1403638527.077830, t: -2.374945 0.970955 1.534568 q: 0.989201 -0.022481 -0.030655 0.141550 
time: 1403638527.477829, t: -2.342812 0.860792 1.698471 q: 0.985654 -0.077419 -0.027627 0.147409 
time: 1403638527.877830, t: -2.582588 0.773946 -2.071701 q: 0.980670 0.047384 0.002377 0.189828 
time: 1403638528.277829, t: -3.003023 1.233583 -1.724861 q: 0.975389 0.118510 0.018548 0.185005 
time: 1403638529.077830, t: -3.236318 0.971328 -1.385227 q: 0.971018 0.110041 0.029097 0.210164 
time: 1403638529.477829, t: -0.838144 -4.013109 2.085025 q: 0.932802 -0.056560 0.066948 0.349569 
feature tracking not enough, please slowly move you device! 
time: 1403638529.877830, t: -1.102758 -4.444870 0.337563 q: 0.926724 -0.060913 0.062196 0.365520 
time: 1403638530.277829, t: -1.155571 -4.464605 0.393320 q: 0.922865 -0.067300 0.059628 0.374481 
feature tracking not enough, please slowly move you device! 
time: 1403638530.677830, t: -1.155571 -4.464605 0.393320 q: 0.922865 -0.067300 0.059628 0.374481 
time: 1403638531.077830, t: -2.205093 -6.387421 0.242786 q: 0.958961 -0.125453 -0.086802 0.238999 
time: 1403638531.477829, t: -1.840543 -5.721106 -0.844549 q: 0.968319 -0.144038 -0.116860 0.167200 
time: 1403638531.877830, t: 4.410100 -1.866840 12.150785 q: 0.954427 0.081208 0.286797 0.014905 
time: 1403638532.277829, t: -1850.295918 18.682091 -658.600317 q: 0.351732 0.460749 -0.037589 0.813991 
time: 1403638532.677830, t: -1670.843113 -71.062171 -627.987873 q: 0.035157 0.702466 -0.078186 0.706535 
time: 1403638533.077830, t: -40.393798 -2897.904079 1368.517030 q: 0.583423 -0.552047 0.569390 -0.175094 
time: 1403638533.477829, t: -35260.792863 -686574.005995 833742.590582 q: -0.190750 0.246441 -0.542052 0.780424 
time: 1403638533.877830, t: 57064.798821 -693669.634629 802277.260038 q: 0.632200 -0.171960 -0.716830 0.238555 
time: 1403638534.277829, t: 870035.241092 -2001497.259598 -512034.567469 q: -0.446069 0.699693 -0.171931 -0.530935 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403638535.877830, t: 1817535.713597 -4282793.324375 -952788.858464 q: -0.230224 -0.069952 0.790502 0.563213 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403638537.477829, t: 1667582.638562 -4690292.021853 -1104052.549250 q: 0.257391 0.072703 0.325789 0.906822 
unstable tracking...
unstable tracking...
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638539.077830, t: 1836071.399003 -4047842.421874 210541.178147 q: 0.553599 0.829700 -0.057634 0.042486 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403638539.877830, t: 1836071.399003 -4047842.421874 210541.178147 q: 0.553599 0.829700 -0.057634 0.042486 
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403638542.277829, t: 1836071.412742 -4047842.426223 210541.817906 q: 0.276597 0.957774 0.073296 -0.028133 
unstable tracking...
time: 1403638543.077830, t: 1836071.646171 -4047842.097275 210541.275573 q: 0.218209 0.970213 0.097382 -0.039864 
time: 1403638543.477829, t: 1836071.711201 -4047841.949100 210540.999546 q: 0.215871 0.970975 0.094974 -0.039849 
time: 1403638543.877830, t: 1836071.781543 -4047841.829793 210540.610516 q: 0.140954 0.979379 0.133587 -0.055706 
time: 1403638544.277829, t: 1836072.428921 -4047841.910305 210540.203754 q: 0.035947 0.998504 -0.041195 -0.000367 
time: 1403638544.677830, t: 1836072.443574 -4047841.314398 210540.048317 q: 0.050810 0.997714 -0.041675 0.015742 
time: 1403638545.077830, t: 1836072.766253 -4047840.974135 210539.849516 q: 0.050728 0.997658 -0.045715 0.003809 
time: 1403638545.477829, t: 1836072.551516 -4047841.275565 210539.260757 q: 0.032199 0.998679 -0.030503 0.025937 
time: 1403638545.877830, t: 1836072.783521 -4047840.897012 210539.039885 q: -0.023535 0.999630 -0.004671 0.012809 
time: 1403638546.277829, t: 1836073.006687 -4047840.715868 210538.794392 q: -0.091690 0.995229 0.032321 0.008204 
time: 1403638546.677830, t: 1836073.212566 -4047840.683642 210538.537297 q: -0.122558 0.991983 0.030504 0.004361 
time: 1403638547.077830, t: 1836073.309764 -4047840.503686 210538.213805 q: -0.129859 0.989889 0.056776 0.005799 
time: 1403638547.477829, t: 1836073.466769 -4047840.334892 210537.904415 q: -0.132671 0.989557 0.056288 0.002556 
time: 1403638547.877830, t: 1836073.597338 -4047840.113905 210537.549796 q: -0.130024 0.990155 0.051822 -0.001396 
time: 1403638548.277829, t: 1836073.758147 -4047839.806781 210537.233060 q: -0.153227 0.986347 0.059786 -0.008161 
time: 1403638549.077830, t: 1836074.134063 -4047839.267698 210536.629620 q: -0.221913 0.971751 0.079590 -0.010938 
time: 1403638549.477829, t: 1836074.315291 -4047839.114273 210536.208218 q: -0.235177 0.969599 0.067429 -0.004796 
time: 1403638549.877830, t: 1836074.729500 -4047838.837284 210536.001616 q: -0.241688 0.967686 0.070751 -0.012881 
time: 1403638550.677830, t: 1836075.713447 -4047837.546811 210535.500295 q: -0.213295 0.974663 0.062536 -0.025042 
time: 1403638551.077830, t: 1836075.909294 -4047837.624593 210534.876259 q: -0.234885 0.970729 0.048869 0.011198 
time: 1403638551.477829, t: 1836076.074605 -4047837.517352 210534.721354 q: -0.219321 0.975230 0.028096 0.005870 
time: 1403638551.877830, t: 1836076.402330 -4047837.727683 210534.358267 q: -0.156969 0.987457 -0.013111 -0.010824 
time: 1403638552.277829, t: 1836076.437466 -4047838.012558 210534.155175 q: -0.126195 0.991915 -0.012865 0.003642 
time: 1403638552.677830, t: 1836076.666061 -4047837.973552 210533.833172 q: -0.113553 0.992895 -0.025561 0.024749 
time: 1403638553.077830, t: 1836076.696089 -4047838.110051 210533.559284 q: -0.107435 0.993761 -0.008960 0.028576 
time: 1403638553.477829, t: 1836076.777418 -4047838.391251 210533.388135 q: -0.106531 0.992796 -0.000570 0.054840 
time: 1403638553.877830, t: 1836076.836243 -4047838.492902 210533.578704 q: -0.075712 0.995649 0.008753 0.053615 
time: 1403638554.277829, t: 1836076.759583 -4047838.813927 210533.725445 q: -0.069173 0.997108 0.007154 0.030669 
time: 1403638554.677830, t: 1836076.820189 -4047838.930059 210534.079123 q: -0.051268 0.998667 0.002411 0.005548 
time: 1403638555.077830, t: 1836076.835625 -4047839.615365 210534.216930 q: -0.069917 0.997466 -0.005847 0.011754 
time: 1403638555.477829, t: 1836076.795926 -4047840.163811 210534.359597 q: -0.036848 0.999261 -0.006865 0.008497 
time: 1403638555.877830, t: 1836076.803265 -4047840.560981 210534.583362 q: -0.028391 0.999587 -0.004032 0.001883 
time: 1403638556.277829, t: 1836076.873943 -4047841.027219 210534.839858 q: -0.030206 0.999424 -0.007288 -0.013622 
time: 1403638556.677830, t: 1836076.660757 -4047841.516527 210534.838549 q: -0.041036 0.998822 -0.021990 -0.013690 
time: 1403638557.077830, t: 1836076.834161 -4047842.036965 210534.863260 q: -0.045305 0.998458 -0.032038 0.001493 
time: 1403638557.477829, t: 1836076.891217 -4047842.719376 210534.804663 q: -0.049275 0.998730 -0.010045 0.003044 
time: 1403638557.877830, t: 1836076.856627 -4047842.857786 210534.837738 q: -0.023337 0.999665 0.000382 0.011141 
time: 1403638558.277829, t: 1836076.963502 -4047843.265862 210534.866948 q: -0.017356 0.999584 -0.005734 -0.022311 
time: 1403638558.677830, t: 1836077.086724 -4047843.605381 210534.782825 q: -0.009356 0.999310 -0.014184 -0.033031 
time: 1403638559.077830, t: 1836077.263945 -4047844.025463 210534.625784 q: -0.006407 0.999831 -0.016406 -0.005261 
time: 1403638559.477829, t: 1836077.342642 -4047844.448048 210534.287072 q: 0.002095 0.999972 0.001041 0.007169 
time: 1403638559.877830, t: 1836077.370976 -4047844.897852 210533.909413 q: -0.002396 0.999857 0.004629 0.016091 
time: 1403638560.277829, t: 1836077.573316 -4047845.098998 210533.751540 q: 0.074521 0.996864 -0.026510 0.002497 
time: 1403638560.677830, t: 1836077.183791 -4047845.284384 210533.692913 q: 0.179570 0.979216 -0.083756 0.043301 
time: 1403638561.077830, t: 1836077.170067 -4047846.619125 210534.307110 q: 0.179570 0.979216 -0.083757 0.043301 
time: 1403638561.477829, t: 1836076.932571 -4047846.704377 210535.142040 q: 0.179570 0.979216 -0.083757 0.043301 
time: 1403638561.877830, t: 1836077.165517 -4047846.766779 210533.070146 q: 0.270866 0.950514 -0.145949 0.043048 
time: 1403638562.277829, t: 1836076.883196 -4047847.055999 210533.130549 q: 0.303573 0.937835 -0.158762 0.055705 
time: 1403638562.677830, t: 1836077.017156 -4047847.062242 210533.178745 q: 0.376327 0.906052 -0.187833 0.046551 
time: 1403638563.077830, t: 1836077.030912 -4047847.287268 210533.386750 q: 0.456727 0.855974 -0.237827 0.046348 
time: 1403638563.477829, t: 1836076.902401 -4047847.413531 210533.519140 q: 0.509514 0.821759 -0.246282 0.066733 
time: 1403638563.877830, t: 1836076.733550 -4047847.520511 210533.782161 q: 0.508592 0.821450 -0.251498 0.057470 
time: 1403638564.277829, t: 1836076.564100 -4047847.564666 210534.223983 q: 0.495450 0.831219 -0.244905 0.060214 
time: 1403638564.677830, t: 1836076.395975 -4047847.510534 210534.635284 q: 0.491687 0.832340 -0.247980 0.062929 
time: 1403638565.077830, t: 1836076.130518 -4047847.472860 210535.189707 q: 0.488433 0.830532 -0.259613 0.065202 
time: 1403638565.877830, t: 1836075.380186 -4047847.128051 210536.423672 q: 0.515982 0.822478 -0.238047 0.025034 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403638566.677830, t: 1836075.891680 -4047845.333692 210535.623862 q: 0.589083 0.758698 -0.277952 0.010047 
time: 1403638567.077830, t: 1836074.970480 -4047844.664314 210535.834170 q: 0.589083 0.758698 -0.277952 0.010047 
time: 1403638567.477829, t: 1836073.559654 -4047844.849325 210533.716526 q: 0.565388 0.678477 -0.468996 -0.006917 
time: 1403638567.877830, t: 1836071.266152 -4047844.325784 210532.854337 q: 0.513219 0.677636 -0.524044 0.052855 
time: 1403638568.277829, t: 1836070.656088 -4047844.182970 210532.998094 q: 0.517616 0.683161 -0.512156 0.055325 
time: 1403638568.677830, t: 1836071.304020 -4047843.755787 210532.544539 q: 0.577996 0.628847 -0.519963 0.010485 
time: 1403638569.077830, t: 1836069.523437 -4047844.016815 210533.173722 q: 0.537033 0.673271 -0.500869 0.086216 
time: 1403638569.477829, t: 1836069.949007 -4047844.409096 210533.526222 q: 0.514599 0.680730 -0.520977 0.019428 
time: 1403638569.877830, t: 1836069.849812 -4047844.262705 210533.178303 q: 0.543719 0.675467 -0.497342 0.027669 
time: 1403638570.277829, t: 1836069.960099 -4047844.314009 210533.120316 q: 0.543592 0.663460 -0.512386 0.042300 
time: 1403638570.677830, t: 1836069.819424 -4047844.265029 210532.928160 q: 0.564970 0.608555 -0.552530 0.071978 
time: 1403638571.077830, t: 1836069.664376 -4047844.204873 210532.869501 q: 0.634686 0.520182 -0.566130 0.077976 
time: 1403638571.477829, t: 1836069.428837 -4047844.093824 210533.347729 q: 0.643341 0.498998 -0.580276 0.019840 
time: 1403638571.877830, t: 1836069.224468 -4047843.813125 210533.888749 q: 0.643892 0.471087 -0.602816 -0.009670 
time: 1403638572.277829, t: 1836069.202535 -4047843.742658 210533.998652 q: 0.693957 0.384303 -0.605171 -0.067098 
time: 1403638572.677830, t: 1836068.463984 -4047843.168571 210534.581568 q: 0.697478 0.349642 -0.622369 -0.062701 
time: 1403638573.077830, t: 1836068.056638 -4047842.939504 210535.088940 q: 0.690557 0.357019 -0.623758 -0.081209 
time: 1403638573.477829, t: 1836067.665636 -4047842.892847 210535.466470 q: 0.687907 0.363138 -0.622141 -0.088628 
time: 1403638573.877830, t: 1836066.618349 -4047843.189119 210535.905038 q: 0.708456 0.344696 -0.608313 -0.096075 
time: 1403638574.677830, t: 1836067.648555 -4047842.573091 210537.404744 q: 0.771522 0.168266 -0.598789 -0.133764 
time: 1403638575.077830, t: 1836066.097996 -4047842.897092 210537.289579 q: 0.767849 0.146567 -0.610582 -0.126947 
time: 1403638575.877830, t: 1836064.911631 -4047842.732833 210537.802437 q: 0.751612 0.162592 -0.623833 -0.139557 
time: 1403638576.277829, t: 1836064.625199 -4047842.687336 210538.262957 q: 0.755302 0.165308 -0.618465 -0.140333 
time: 1403638576.677830, t: 1836064.017300 -4047842.868279 210538.874518 q: 0.751340 0.174080 -0.613747 -0.168818 
time: 1403638577.077830, t: 1836063.727382 -4047842.634934 210539.435938 q: 0.764479 0.176433 -0.602994 -0.144366 
time: 1403638577.477829, t: 1836062.941418 -4047842.992331 210539.720992 q: 0.767456 0.178231 -0.596210 -0.154203 
time: 1403638577.877830, t: 1836061.774780 -4047843.620284 210539.848033 q: 0.772389 0.174505 -0.593720 -0.143036 
time: 1403638578.677830, t: 1836060.885326 -4047844.339638 210540.420640 q: 0.776266 0.166638 -0.596064 -0.119793 
time: 1403638579.077830, t: 1836060.382665 -4047844.544954 210540.591886 q: 0.778018 0.173553 -0.587952 -0.137404 
time: 1403638579.477829, t: 1836059.800103 -4047844.586194 210540.875637 q: 0.782160 0.173875 -0.587966 -0.110852 
time: 1403638579.877830, t: 1836059.674216 -4047845.099303 210541.010874 q: 0.776779 0.233091 -0.575531 -0.105107 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403638580.677830, t: 1836059.674216 -4047845.099303 210541.010874 q: 0.776779 0.233091 -0.575531 -0.105107 
time: 1403638581.477829, t: 1836058.351243 -4047846.163615 210540.901828 q: 0.779482 0.238737 -0.571204 0.095596 
time: 1403638581.877830, t: 1836058.045452 -4047846.200558 210541.067739 q: 0.793768 0.229547 -0.554165 0.100713 
time: 1403638582.277829, t: 1836058.017464 -4047846.260914 210541.229082 q: 0.788131 0.227953 -0.563448 0.097019 
time: 1403638582.677830, t: 1836058.278433 -4047846.282939 210541.468631 q: 0.791373 0.229017 -0.559134 0.092997 
time: 1403638583.077830, t: 1836058.018128 -4047846.284906 210541.409811 q: 0.790643 0.229211 -0.559510 0.096402 
time: 1403638583.477829, t: 1836058.237475 -4047846.345065 210541.581640 q: 0.785494 0.229408 -0.567100 0.093645 
time: 1403638583.877830, t: 1836058.664886 -4047846.539938 210541.940457 q: 0.781533 0.228000 -0.574098 0.087373 
time: 1403638584.277829, t: 1836058.811716 -4047846.592592 210542.128689 q: 0.796352 0.216228 -0.552106 0.119365 
time: 1403638584.677830, t: 1836059.146134 -4047846.837968 210542.311852 q: 0.790486 0.215444 -0.561976 0.113575 
time: 1403638585.077830, t: 1836059.514131 -4047846.959416 210542.383613 q: 0.764297 0.217748 -0.597096 0.109142 
time: 1403638585.477829, t: 1836059.711210 -4047847.060729 210542.066165 q: 0.771375 0.215217 -0.586967 0.118873 
time: 1403638585.877830, t: 1836060.033592 -4047847.261035 210542.059276 q: 0.754155 0.215958 -0.609748 0.113223 
time: 1403638586.277829, t: 1836060.354687 -4047847.317559 210541.960075 q: 0.764045 0.214775 -0.596236 0.120872 
time: 1403638586.677830, t: 1836060.524833 -4047847.439592 210541.867010 q: 0.774301 0.217886 -0.583006 0.114400 
time: 1403638587.077830, t: 1836060.768435 -4047847.700832 210541.766535 q: 0.771184 0.213674 -0.587583 0.119852 
time: 1403638587.477829, t: 1836060.991333 -4047848.009572 210541.517911 q: 0.769081 0.209437 -0.591744 0.120372 
time: 1403638587.877830, t: 1836061.350437 -4047848.083821 210541.417698 q: 0.765377 0.210924 -0.595415 0.123251 
time: 1403638588.277829, t: 1836061.551736 -4047848.196739 210541.207288 q: 0.769164 0.215097 -0.590508 0.115847 
time: 1403638588.677830, t: 1836061.900897 -4047848.362431 210541.040826 q: 0.767496 0.214738 -0.591907 0.120347 
time: 1403638589.077830, t: 1836062.318969 -4047848.496335 210540.971891 q: 0.764416 0.210990 -0.595248 0.129737 
time: 1403638589.477829, t: 1836062.548792 -4047848.689342 210540.636183 q: 0.767795 0.212457 -0.591437 0.124717 
time: 1403638589.877830, t: 1836063.009954 -4047848.772014 210540.515478 q: 0.762104 0.214387 -0.597970 0.125169 
time: 1403638590.277829, t: 1836063.706235 -4047848.655953 210540.366548 q: 0.756614 0.218934 -0.602657 0.128092 
time: 1403638590.677830, t: 1836064.004237 -4047848.915661 210540.063375 q: 0.754125 0.216162 -0.606967 0.127129 
time: 1403638591.077830, t: 1836064.695741 -4047848.902462 210539.981890 q: 0.743710 0.219915 -0.618785 0.125049 
time: 1403638591.477829, t: 1836064.741288 -4047849.317014 210539.741782 q: 0.727613 0.214269 -0.641244 0.116076 
time: 1403638591.877830, t: 1836065.028231 -4047849.452404 210539.518716 q: 0.729967 0.213351 -0.637560 0.123069 
time: 1403638592.277829, t: 1836065.253047 -4047849.567607 210539.568985 q: 0.741686 0.221222 -0.618065 0.137689 
time: 1403638592.677830, t: 1836065.365502 -4047849.769650 210539.775528 q: 0.727354 0.274702 -0.609579 0.154624 
time: 1403638593.077830, t: 1836065.377043 -4047849.731574 210539.876039 q: 0.719665 0.300549 -0.606388 0.155069 
time: 1403638593.477829, t: 1836065.212080 -4047849.765498 210540.126666 q: 0.744996 0.307959 -0.573650 0.145148 
time: 1403638593.877830, t: 1836065.185703 -4047850.025987 210540.441715 q: 0.758285 0.297291 -0.559397 0.153936 
time: 1403638594.677830, t: 1836065.313262 -4047850.148846 210540.690602 q: 0.750997 0.326291 -0.548043 0.170838 
time: 1403638595.077830, t: 1836065.436816 -4047850.241979 210540.750298 q: 0.746269 0.322424 -0.556753 0.170739 
time: 1403638595.477829, t: 1836065.531712 -4047850.317203 210540.827342 q: 0.742010 0.320874 -0.563229 0.170978 
time: 1403638595.877830, t: 1836065.656169 -4047850.391557 210540.787786 q: 0.743272 0.323883 -0.563040 0.160103 
time: 1403638596.277829, t: 1836065.688000 -4047850.414850 210540.572746 q: 0.756518 0.331956 -0.548836 0.127536 
time: 1403638596.677830, t: 1836065.881215 -4047850.541400 210540.367156 q: 0.768116 0.342399 -0.531594 0.100840 
time: 1403638597.077830, t: 1836066.403858 -4047850.798693 210540.259444 q: 0.776457 0.344407 -0.518660 0.097417 
feature tracking not enough, please slowly move you device! 
time: 1403638598.277829, t: 1836070.170994 -4047850.372637 210539.434395 q: 0.754298 0.436031 -0.488292 0.049826 
time: 1403638598.677830, t: 1836071.078632 -4047849.804206 210539.305763 q: 0.754298 0.436031 -0.488292 0.049826 
time: 1403638599.077830, t: 1836074.096687 -4047844.411479 210535.609701 q: 0.769203 0.419292 -0.478832 0.056929 
time: 1403638599.477829, t: 1836070.865972 -4047848.330061 210539.405738 q: 0.697691 0.578103 -0.407340 0.114446 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
time: 1403638600.677830, t: 1836071.648539 -4047851.851108 210540.674857 q: 0.713540 0.477851 -0.456232 0.233175 
time: 1403638601.077830, t: 1836072.004999 -4047852.280747 210540.358391 q: 0.713540 0.477851 -0.456232 0.233175 
time: 1403638601.477829, t: 1836071.223368 -4047853.950653 210543.444460 q: 0.737882 0.465670 -0.432856 0.226535 
feature tracking not enough, please slowly move you device! 
time: 1403638601.877830, t: 1836073.041982 -4047851.949487 210541.560071 q: 0.639974 0.573295 -0.446234 0.250281 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403638603.477829, t: 1836075.109941 -4047852.984103 210540.603128 q: 0.513836 0.745120 -0.299873 0.301406 
time: 1403638603.877830, t: 1836075.138874 -4047852.831129 210540.514357 q: 0.527776 0.748616 -0.256958 0.308220 
time: 1403638604.277829, t: 1836075.309896 -4047852.546574 210540.430012 q: 0.529701 0.749065 -0.254305 0.306019 
time: 1403638604.677830, t: 1836075.425156 -4047852.376376 210540.237454 q: 0.514316 0.755888 -0.284580 0.288318 
time: 1403638605.077830, t: 1836075.422742 -4047852.191685 210539.930774 q: 0.508283 0.754227 -0.302956 0.284617 
time: 1403638605.477829, t: 1836075.272619 -4047852.199138 210539.886272 q: 0.522804 0.770087 -0.265329 0.251480 
time: 1403638605.877830, t: 1836075.407348 -4047851.816961 210539.754535 q: 0.536142 0.769989 -0.240665 0.248495 
time: 1403638606.677830, t: 1836075.824754 -4047851.133973 210538.960809 q: 0.509082 0.763726 -0.284196 0.277111 
time: 1403638607.077830, t: 1836076.419076 -4047850.885023 210538.830694 q: 0.440029 0.830842 -0.262354 0.217362 
time: 1403638607.477829, t: 1836076.542347 -4047851.080344 210538.159431 q: 0.428781 0.834709 -0.206085 0.277375 
time: 1403638607.877830, t: 1836076.780279 -4047850.662724 210537.995165 q: 0.410463 0.834702 -0.211442 0.300142 
time: 1403638608.277829, t: 1836077.428087 -4047850.725967 210537.827308 q: 0.410109 0.830193 -0.261286 0.272618 
time: 1403638609.077830, t: 1836076.895347 -4047850.804870 210536.372042 q: 0.446537 0.816993 -0.162125 0.326868 
time: 1403638609.477829, t: 1836076.939771 -4047850.633663 210536.117582 q: 0.447956 0.812874 -0.166917 0.332733 
time: 1403638609.877830, t: 1836076.740920 -4047850.841440 210535.700191 q: 0.448368 0.811482 -0.146558 0.344942 
time: 1403638610.277829, t: 1836076.793627 -4047850.656312 210535.473577 q: 0.457361 0.802083 -0.149551 0.353721 time: 1403638610.677830, t: 1836076.764481 -4047851.058176 210535.854724 q: 0.419235 0.827505 -0.140339 0.346096 
time: 1403638611.077830, t: 1836076.402202 -4047850.430337 210535.395026 q: 0.453053 0.801925 -0.160388 0.354875 
time: 1403638611.477829, t: 1836076.523059 -4047850.043264 210535.439812 q: 0.479874 0.802978 -0.160399 0.314990 
time: 1403638611.877830, t: 1836076.121813 -4047850.296296 210535.703815 q: 0.444704 0.827378 -0.155861 0.305600 
time: 1403638612.277829, t: 1836075.758632 -4047850.225762 210535.788384 q: 0.429781 0.833384 -0.160745 0.308090 
time: 1403638612.677830, t: 1836075.282920 -4047850.822806 210536.052997 q: 0.400269 0.851737 -0.124565 0.314343 
time: 1403638613.077830, t: 1836074.917836 -4047850.500845 210536.125422 q: 0.405941 0.846999 -0.134968 0.315575 
time: 1403638613.877830, t: 1836074.362544 -4047850.163383 210536.175153 q: 0.420209 0.829366 -0.141560 0.339909 
time: 1403638614.277829, t: 1836074.066493 -4047850.048624 210536.324885 q: 0.463874 0.803528 -0.187267 0.322636 
time: 1403638614.677830, t: 1836073.652870 -4047849.863311 210536.413612 q: 0.485059 0.783389 -0.213100 0.324972 
time: 1403638615.077830, t: 1836073.145497 -4047849.595644 210536.221614 q: 0.533633 0.719739 -0.277726 0.346524 
feature tracking not enough, please slowly move you device! 
time: 1403638615.877830, t: 1836071.635630 -4047849.286520 210537.186408 q: 0.533633 0.719739 -0.277726 0.346524 
time: 1403638616.277829, t: 1836070.840387 -4047849.351236 210537.890856 q: 0.531856 0.714781 -0.283450 0.354787 
time: 1403638616.677830, t: 1836072.196479 -4047846.912251 210537.924086 q: 0.711482 0.566413 -0.374359 0.181179 
time: 1403638617.077830, t: 1836070.685561 -4047847.059773 210541.413470 q: 0.608710 0.698635 -0.326743 0.186067 
time: 1403638617.477829, t: 1836070.564027 -4047847.886608 210541.060533 q: 0.608710 0.698635 -0.326743 0.186067 
time: 1403638617.877830, t: 1836070.619337 -4047848.519101 210541.113410 q: 0.580491 0.701546 -0.343460 0.229997 
time: 1403638618.277829, t: 1836070.484997 -4047848.612472 210541.578090 q: 0.570984 0.704152 -0.345984 0.241748 
time: 1403638618.677830, t: 1836070.289491 -4047848.958064 210541.888072 q: 0.573549 0.704380 -0.343397 0.238680 
time: 1403638619.077830, t: 1836070.179447 -4047849.326098 210541.970703 q: 0.608485 0.669125 -0.344137 0.252165 
unstable tracking...
unstable tracking...
unstable tracking...
time: 1403638620.677830, t: 1836069.278273 -4047850.378153 210542.975617 q: 0.656639 0.574049 -0.409737 0.267226 
time: 1403638621.077830, t: 1836068.871097 -4047850.608294 210543.257874 q: 0.654187 0.591762 -0.394863 0.256787 
time: 1403638621.477829, t: 1836068.674932 -4047850.807798 210543.434983 q: 0.657806 0.594587 -0.382872 0.259165 
time: 1403638621.877830, t: 1836068.510892 -4047850.934268 210543.604120 q: 0.660464 0.594383 -0.373420 0.266559 
time: 1403638622.277829, t: 1836068.249543 -4047851.046981 210543.674360 q: 0.657137 0.593656 -0.374076 0.275338 
time: 1403638622.677830, t: 1836068.039427 -4047851.037481 210543.812551 q: 0.662721 0.593702 -0.366699 0.271755 
time: 1403638623.077830, t: 1836067.951322 -4047850.864312 210543.938974 q: 0.663050 0.590575 -0.365489 0.279293 
time: 1403638623.477829, t: 1836067.879115 -4047850.629911 210543.862694 q: 0.653822 0.591524 -0.384090 0.274028 
time: 1403638623.877830, t: 1836067.818129 -4047850.349999 210543.855216 q: 0.656515 0.589390 -0.387431 0.267403 
time: 1403638624.277829, t: 1836067.882191 -4047850.062105 210543.753699 q: 0.657229 0.580792 -0.399236 0.267100 
time: 1403638624.677830, t: 1836067.778943 -4047849.715047 210543.681905 q: 0.662748 0.571820 -0.390999 0.284440 
time: 1403638625.077830, t: 1836067.734789 -4047849.355858 210543.608545 q: 0.650437 0.595406 -0.390540 0.264388 
time: 1403638625.477829, t: 1836067.633736 -4047848.908969 210543.504800 q: 0.646259 0.598028 -0.389357 0.270394 
time: 1403638625.877830, t: 1836067.572053 -4047848.488356 210543.502457 q: 0.641765 0.601489 -0.399472 0.258400 
time: 1403638626.277829, t: 1836067.446988 -4047848.103697 210543.472837 q: 0.643725 0.600595 -0.399157 0.256082 
time: 1403638626.677830, t: 1836067.287247 -4047847.784372 210543.390817 q: 0.649396 0.601383 -0.393233 0.248981 
time: 1403638627.077830, t: 1836067.063347 -4047847.628726 210543.321794 q: 0.642599 0.605813 -0.398526 0.247456 
time: 1403638627.477829, t: 1836067.075921 -4047847.283262 210543.358756 q: 0.642934 0.607581 -0.398945 0.241505 
time: 1403638627.877830, t: 1836066.990467 -4047847.120354 210543.307227 q: 0.650196 0.604577 -0.389145 0.245557 
feature tracking not enough, please slowly move you device! 
time: 1403638628.677830, t: 1836067.209741 -4047846.894480 210545.170459 q: 0.606802 0.640867 -0.414086 0.222742 
time: 1403638629.077830, t: 1836067.979774 -4047847.511671 210542.537340 q: 0.689404 0.565517 -0.396887 0.217700 
time: 1403638629.477829, t: 1836066.430057 -4047841.701662 210547.135333 q: 0.486809 0.750759 -0.404975 0.188076 
feature tracking not enough, please slowly move you device! 
time: 1403638629.877830, t: 1836065.447926 -4047846.315439 210548.544799 q: 0.502798 0.660991 -0.503397 0.238488 
feature tracking not enough, please slowly move you device! 
time: 1403638630.277829, t: 1836065.447926 -4047846.315439 210548.544799 q: 0.502798 0.660991 -0.503397 0.238488 
feature tracking not enough, please slowly move you device! 
time: 1403638631.077830, t: 1836065.471448 -4047846.307217 210548.497770 q: 0.502798 0.660991 -0.503397 0.238488 
time: 1403638631.477829, t: 1836065.428495 -4047846.303287 210548.522366 q: -0.348192 -0.518264 0.654727 -0.426026 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720513537.667000523]: Shutdown request received.[0m
[33m[ WARN] [1720513537.667054564]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720513537.667893971]: Shutdown request received.[0m
[33m[ WARN] [1720513537.667926066]: Reason given for shutdown: [user request][0m
killed
