/SLAM-Hive/slam_hive_results/mapping_results/3171/2376_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-6.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720554121.730377665]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720554121.732100471]: init begins[0m
[31m[ERROR] [1720554121.733193272]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/4ff54ff2-3e2b-11ef-924a-0242ac110005/roslaunch-c0c53615db17-118.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://c0c53615db17:39757/[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] [1720554122.836660476]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720554122.838429126]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720554122.844082521]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720554122.844291290]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720554122.844323283]: ROW: 480 COL: 752 [0m
 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 9.81007
[0m[ INFO] [1720554122.844581791]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720554122.844811529]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720554122.844992009]: 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://c0c53615db17:11311/[0m
]2;roscore http://c0c53615db17:11311/
[1msetting /run_id to 4ff54ff2-3e2b-11ef-924a-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
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720554131.889374063]: 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: 316917001.56 
  0.257481   0.273526   0.926762
         0  -0.959099    0.28307
[33m[ WARN] [1720554134.383930960]: gyroscope bias initial calibration -0.00208129   0.0202683   0.0776964[0m
[0m[ INFO] [1720554134.454110079]: Initialization finish![0m
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optimize pose graph 
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time: 1403637195.438319, t: -5.579546 -4.212489 0.267199 q: 0.531614 0.348079 -0.733649 0.240805 
time: 1403637195.638319, t: -5.600406 -4.435734 0.276367 q: 0.525057 0.359539 -0.729883 0.249634 
time: 1403637195.838319, t: -5.610774 -4.650587 0.309540 q: 0.527377 0.371190 -0.722132 0.250232 
time: 1403637196.038319, t: -5.601046 -4.857801 0.344017 q: 0.538019 0.388490 -0.711044 0.232439 
time: 1403637196.238319, t: -5.551177 -5.067218 0.361490 q: 0.566360 0.395669 -0.687721 0.222985 
time: 1403637196.438319, t: -5.436197 -5.276423 0.358613 q: 0.585419 0.395517 -0.672835 0.219417 
time: 1403637196.638319, t: -5.247007 -5.480726 0.331634 q: 0.581594 0.389158 -0.677997 0.224999 
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time: 1403637197.238319, t: -4.312913 -6.023811 0.171224 q: 0.545992 0.385362 -0.692158 0.272590 
time: 1403637197.438319, t: -3.915990 -6.168115 0.156303 q: 0.511265 0.425973 -0.680958 0.305697 
time: 1403637197.638319, t: -3.507146 -6.287541 0.172715 q: -0.478089 -0.494129 0.644388 -0.334711 
time: 1403637197.838319, t: -3.095499 -6.384089 0.216416 q: -0.455038 -0.555004 0.589991 -0.369894 
time: 1403637198.038319, t: -2.671265 -6.466299 0.289711 q: 0.433959 0.601492 -0.539639 0.398344 
time: 1403637198.238319, t: -2.228854 -6.520427 0.395339 q: 0.407854 0.635310 -0.500537 0.423673 
time: 1403637198.438319, t: -1.765358 -6.554993 0.513625 q: 0.396964 0.661155 -0.456330 0.443910 
time: 1403637198.638319, t: -1.286375 -6.561484 0.594654 q: 0.401890 0.671697 -0.429358 0.450510 
time: 1403637198.838319, t: -0.785363 -6.527931 0.605593 q: 0.401347 0.668233 -0.424112 0.460993 
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time: 1403637199.238319, t: 0.282884 -6.305809 0.565743 q: 0.360131 0.659032 -0.426021 0.504468 
time: 1403637199.438319, t: 0.797339 -6.107987 0.579271 q: 0.339128 0.678599 -0.392659 0.519918 
time: 1403637199.638319, t: 1.293495 -5.868626 0.593170 q: 0.308853 0.697492 -0.353217 0.541620 
time: 1403637199.838319, t: 1.773367 -5.588168 0.569600 q: 0.256557 0.705933 -0.318856 0.578073 
time: 1403637200.038319, t: 2.208433 -5.289780 0.475287 q: 0.189662 0.702567 -0.274597 0.628509 
time: 1403637200.238319, t: 2.550900 -4.974251 0.362369 q: 0.144232 0.716437 -0.209804 0.649537 
time: 1403637200.438319, t: 2.788097 -4.651263 0.241572 q: 0.132323 0.763499 -0.159673 0.611608 
time: 1403637200.638319, t: 2.955598 -4.321305 0.154554 q: 0.106917 0.784198 -0.155088 0.591228 
time: 1403637200.838319, t: 3.093249 -3.993983 0.102387 q: 0.094700 0.782295 -0.169987 0.591736 
time: 1403637201.038319, t: 3.211001 -3.685605 0.074400 q: 0.104602 0.777579 -0.187573 0.590970 
time: 1403637201.238319, t: 3.279626 -3.389800 0.076866 q: 0.113584 0.776519 -0.203149 0.585532 
time: 1403637201.438319, t: 3.312261 -3.114438 0.092429 q: 0.094228 0.770658 -0.246747 0.579934 
time: 1403637201.638319, t: 3.307855 -2.888526 0.084507 q: 0.081840 0.764656 -0.288637 0.570344 
time: 1403637201.838319, t: 3.261373 -2.738101 0.068525 q: 0.100961 0.756938 -0.293707 0.574968 
time: 1403637202.038319, t: 3.171888 -2.641424 0.064212 q: 0.102378 0.758725 -0.295758 0.571299 
time: 1403637202.238319, t: 3.044504 -2.606891 0.080487 q: 0.100380 0.777895 -0.291507 0.547565 
time: 1403637202.438319, t: 2.908522 -2.627419 0.094257 q: 0.130477 0.795601 -0.267661 0.527591 
time: 1403637202.638319, t: 2.782748 -2.683693 0.106385 q: 0.140689 0.787838 -0.259062 0.540744 
time: 1403637202.838319, t: 2.662518 -2.760646 0.142579 q: 0.156432 0.783195 -0.247346 0.548593 
time: 1403637203.038319, t: 2.549392 -2.844151 0.167164 q: 0.171224 0.784736 -0.237941 0.546129 
time: 1403637203.238319, t: 2.448321 -2.921693 0.172999 q: 0.173248 0.783610 -0.238609 0.546814 
optimize pose graph 
time: 1403637203.438319, t: 2.355812 -2.994050 0.165000 q: 0.174982 0.783171 -0.239086 0.546683 
time: 1403637203.638319, t: 2.273147 -3.055754 0.141708 q: 0.179824 0.782582 -0.237357 0.546708 
time: 1403637203.838319, t: 2.203176 -3.103575 0.102985 q: 0.179908 0.780907 -0.239354 0.548203 
time: 1403637204.038319, t: 2.138807 -3.141764 0.051141 q: 0.181985 0.780526 -0.238944 0.548239 
time: 1403637204.238319, t: 2.079495 -3.166237 0.015003 q: 0.182186 0.780336 -0.239779 0.548078 
time: 1403637204.638319, t: 1.976796 -3.179118 0.039920 q: 0.177958 0.773555 -0.249533 0.554686 
time: 1403637204.838319, t: 1.925279 -3.172067 0.075236 q: 0.180216 0.775932 -0.252973 0.549051 
time: 1403637205.038319, t: 1.876044 -3.162085 0.086079 q: 0.179702 0.781065 -0.255234 0.540832 
time: 1403637205.238319, t: 1.836278 -3.147202 0.074185 q: 0.178619 0.783472 -0.253924 0.538320 
time: 1403637205.438319, t: 1.806664 -3.131779 0.060715 q: 0.173394 0.786536 -0.240791 0.541586 
optimize pose graph 
time: 1403637205.638319, t: 1.792015 -3.108564 0.066908 q: 0.170125 0.784620 -0.228922 0.550476 
time: 1403637205.838319, t: 1.781341 -3.080361 0.051832 q: 0.167777 0.785779 -0.224755 0.551259 
time: 1403637206.038319, t: 1.776417 -3.042953 0.025679 q: 0.165864 0.785306 -0.224172 0.552748 
time: 1403637206.238319, t: 1.772347 -2.999643 0.021800 q: 0.155081 0.783593 -0.230077 0.555874 
time: 1403637206.438319, t: 1.772454 -2.955851 0.051354 q: 0.152213 0.782013 -0.232863 0.557729 
time: 1403637206.638319, t: 1.764291 -2.917835 0.087460 q: 0.155003 0.781774 -0.232294 0.557533 
time: 1403637206.838319, t: 1.748804 -2.877652 0.099073 q: 0.159570 0.780941 -0.231122 0.557900 
time: 1403637207.238319, t: 1.702629 -2.787617 0.137782 q: 0.162558 0.776256 -0.234451 0.562169 
time: 1403637207.438319, t: 1.669579 -2.737063 0.132273 q: 0.163714 0.776139 -0.236634 0.561080 
optimize pose graph 
time: 1403637207.638319, t: 1.628114 -2.684428 0.101620 q: 0.153758 0.781341 -0.245844 0.552653 
time: 1403637207.838319, t: 1.583111 -2.640412 0.093290 q: 0.152368 0.784593 -0.248168 0.547367 
time: 1403637208.038319, t: 1.537069 -2.609595 0.128213 q: 0.162950 0.782702 -0.242178 0.549704 
time: 1403637208.238319, t: 1.497575 -2.580934 0.186914 q: 0.167823 0.782890 -0.240448 0.548730 
time: 1403637208.438319, t: 1.459923 -2.555032 0.233163 q: 0.158453 0.778240 -0.249824 0.553915 
time: 1403637208.638319, t: 1.419391 -2.539158 0.255921 q: 0.165072 0.777859 -0.246942 0.553810 
time: 1403637208.838319, t: 1.376243 -2.519461 0.253472 q: 0.170487 0.776703 -0.243834 0.555168 
time: 1403637209.038319, t: 1.332785 -2.497264 0.232546 q: 0.187419 0.780719 -0.232661 0.548836 
time: 1403637209.238319, t: 1.297908 -2.455628 0.199825 q: 0.178322 0.785768 -0.221032 0.549468 
time: 1403637209.438319, t: 1.274890 -2.396865 0.192502 q: 0.149665 0.799036 -0.208970 0.543575 
optimize pose graph 
time: 1403637209.638319, t: 1.265604 -2.340937 0.209790 q: 0.134172 0.820882 -0.199242 0.518124 
time: 1403637209.838319, t: 1.296237 -2.299216 0.250518 q: 0.126665 0.830726 -0.196155 0.505346 
time: 1403637210.038319, t: 1.369498 -2.276372 0.266849 q: 0.121436 0.839885 -0.198659 0.490287 
time: 1403637210.238319, t: 1.490629 -2.272079 0.223875 q: 0.116532 0.851086 -0.202956 0.469981 
time: 1403637210.438319, t: 1.687812 -2.298145 0.170726 q: 0.114972 0.854631 -0.203864 0.463495 
time: 1403637210.638319, t: 1.963358 -2.358666 0.119727 q: 0.119270 0.840434 -0.200093 0.489294 
time: 1403637210.838319, t: 2.290042 -2.437481 0.059396 q: 0.111565 0.830400 -0.203657 0.506471 
time: 1403637211.038319, t: 2.643069 -2.541746 -0.014552 q: 0.100362 0.813454 -0.212181 0.532165 
time: 1403637211.238319, t: 3.004595 -2.672124 -0.099290 q: 0.110340 0.803137 -0.209547 0.546705 
time: 1403637211.438319, t: 3.362543 -2.815256 -0.196246 q: 0.126639 0.792797 -0.204999 0.559831 
optimize pose graph 
time: 1403637211.638319, t: 3.703904 -2.961073 -0.299430 q: 0.124286 0.795772 -0.208653 0.554765 
time: 1403637211.838319, t: 4.031716 -3.113789 -0.373854 q: 0.107296 0.803783 -0.220111 0.542191 
time: 1403637212.038319, t: 4.350615 -3.287206 -0.413647 q: 0.114714 0.803868 -0.216635 0.541947 
time: 1403637212.238319, t: 4.670475 -3.475197 -0.420632 q: 0.130239 0.788389 -0.208219 0.564026 
time: 1403637212.438319, t: 4.973402 -3.659223 -0.404383 q: 0.136298 0.783214 -0.207349 0.570092 
time: 1403637212.638319, t: 5.251875 -3.834555 -0.368332 q: 0.135979 0.792192 -0.211955 0.555892 
time: 1403637212.838319, t: 5.525122 -4.007647 -0.321349 q: 0.138407 0.799530 -0.211773 0.544745 
time: 1403637213.038319, t: 5.802590 -4.183141 -0.269631 q: 0.143002 0.801499 -0.206785 0.542577 
time: 1403637213.238319, t: 6.083865 -4.349776 -0.236040 q: 0.135417 0.801308 -0.208167 0.544274 
time: 1403637213.438319, t: 6.363233 -4.513606 -0.219009 q: 0.135642 0.798538 -0.206806 0.548790 
optimize pose graph 
time: 1403637213.638319, t: 6.636771 -4.672425 -0.220198 q: 0.149773 0.796722 -0.197115 0.551314 
time: 1403637213.838319, t: 6.902734 -4.820525 -0.242016 q: 0.161275 0.801545 -0.187302 0.544458 
time: 1403637214.038319, t: 7.179809 -4.948510 -0.273281 q: 0.161779 0.799859 -0.182298 0.548472 
time: 1403637214.238319, t: 7.466054 -5.050998 -0.279393 q: 0.138569 0.794114 -0.172322 0.566115 
time: 1403637214.438319, t: 7.746205 -5.129550 -0.260336 q: 0.124487 0.793009 -0.131192 0.581746 
time: 1403637214.638319, t: 8.003596 -5.172721 -0.217582 q: 0.117978 0.794732 -0.072790 0.590918 
time: 1403637214.838319, t: 8.239239 -5.161412 -0.153628 q: 0.117222 0.792415 -0.035941 0.597533 
time: 1403637215.038319, t: 8.447210 -5.084747 -0.094621 q: 0.109977 0.790618 -0.028727 0.601667 
time: 1403637215.238319, t: 8.627125 -4.951550 -0.058709 q: 0.104967 0.784993 -0.031372 0.609741 
time: 1403637215.438319, t: 8.768479 -4.766828 -0.040929 q: 0.077657 0.777413 -0.029908 0.623462 
time: 1403637215.638319, t: 8.852606 -4.537580 -0.021501 q: 0.040174 0.770914 -0.005834 0.635644 
time: 1403637215.838319, t: 8.874608 -4.276226 0.017744 q: 0.003794 0.786832 0.036866 0.616053 
time: 1403637216.038319, t: 8.855068 -3.999979 0.082121 q: -0.034540 0.796593 0.067368 0.599756 
time: 1403637216.238319, t: 8.808131 -3.726375 0.151601 q: -0.066007 0.797127 0.088818 0.593584 
time: 1403637216.438319, t: 8.744502 -3.467924 0.193040 q: -0.080046 0.789043 0.095114 0.601628 
time: 1403637216.638319, t: 8.651154 -3.230797 0.211189 q: -0.086081 0.780792 0.092299 0.611911 
time: 1403637216.838319, t: 8.519906 -3.019625 0.218897 q: -0.087761 0.769513 0.085107 0.626821 
time: 1403637217.038319, t: 8.338406 -2.840203 0.245106 q: -0.082046 0.770091 0.081174 0.627406 
time: 1403637217.238319, t: 8.105827 -2.691602 0.270056 q: -0.100924 0.781669 0.061498 0.612393 
time: 1403637217.438319, t: 7.849190 -2.584384 0.266614 q: -0.109173 0.785781 0.048469 0.606861 
time: 1403637217.638319, t: 7.574049 -2.526928 0.241028 q: -0.106583 0.781180 0.059828 0.612224 
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time: 1403637218.038319, t: 6.930734 -2.492435 0.212870 q: -0.112399 0.765858 0.159776 0.612617 
time: 1403637218.238319, t: 6.548422 -2.492219 0.213973 q: -0.127070 0.769041 0.179307 0.600231 
time: 1403637218.438319, t: 6.140598 -2.502987 0.192866 q: -0.131679 0.767986 0.186321 0.598450 
time: 1403637218.638319, t: 5.708562 -2.521868 0.171188 q: -0.130024 0.769172 0.187148 0.597029 
time: 1403637218.838319, t: 5.259741 -2.542344 0.160536 q: -0.123482 0.776078 0.186657 0.589589 
time: 1403637219.038319, t: 4.796905 -2.561034 0.098099 q: -0.105807 0.776762 0.194343 0.589641 
time: 1403637219.238319, t: 4.319844 -2.561916 0.020172 q: -0.103783 0.777494 0.193626 0.589271 
time: 1403637219.438319, t: 3.822170 -2.552124 -0.032336 q: -0.106563 0.782221 0.189641 0.583791 
time: 1403637219.638319, t: 3.319900 -2.513225 -0.058980 q: -0.107199 0.801254 0.185950 0.558501 
time: 1403637219.838319, t: 2.841552 -2.449070 -0.048663 q: -0.105246 0.809670 0.183608 0.547399 
time: 1403637220.038319, t: 2.402409 -2.373588 -0.001404 q: -0.106086 0.812437 0.182523 0.543487 
time: 1403637220.238319, t: 2.011415 -2.266849 0.084961 q: -0.108095 0.813908 0.179588 0.541865 
time: 1403637220.438319, t: 1.636902 -2.160713 0.185937 q: -0.125199 0.811142 0.165271 0.546863 
time: 1403637220.638319, t: 1.292357 -2.060139 0.275560 q: -0.132448 0.808249 0.157707 0.551651 
time: 1403637220.838319, t: 0.969060 -1.977042 0.337803 q: -0.130568 0.810096 0.158219 0.549239 
time: 1403637221.038319, t: 0.674880 -1.910727 0.376398 q: -0.125894 0.814060 0.156471 0.544953 
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time: 1403637225.638319, t: -0.788762 -1.472785 0.076681 q: -0.001597 0.812303 0.013523 0.583077 
time: 1403637225.838319, t: -0.819635 -1.440956 0.094765 q: -0.002074 0.820162 0.013765 0.571963 
time: 1403637226.038319, t: -0.846904 -1.399220 0.149055 q: -0.003131 0.815563 0.014394 0.578480 
time: 1403637226.238319, t: -0.874279 -1.349701 0.200781 q: -0.003236 0.810458 0.014281 0.585613 
time: 1403637226.438319, t: -0.913143 -1.295552 0.225898 q: -0.000155 0.820250 0.015769 0.571788 
time: 1403637226.638319, t: -0.951271 -1.234266 0.235670 q: 0.001758 0.828593 0.017170 0.559586 
time: 1403637226.838319, t: -0.975913 -1.166451 0.230055 q: -0.000497 0.829723 0.016111 0.557942 
time: 1403637227.038319, t: -0.983110 -1.090933 0.209906 q: -0.016273 0.827173 0.003267 0.561702 
time: 1403637227.238319, t: -0.976213 -1.024646 0.198979 q: -0.030085 0.823196 -0.009563 0.566878 
time: 1403637227.438319, t: -0.962775 -0.980966 0.215896 q: -0.013707 0.824041 -0.001271 0.566364 
time: 1403637227.638319, t: -0.942507 -0.946179 0.220080 q: -0.014185 0.825172 -0.004708 0.564684 
time: 1403637227.838319, t: -0.915989 -0.921649 0.203996 q: -0.017430 0.825532 -0.009090 0.564013 
time: 1403637228.038319, t: -0.883972 -0.909882 0.178328 q: -0.005987 0.813958 -0.000593 0.580893 
time: 1403637228.238319, t: -0.858861 -0.900373 0.146121 q: -0.005370 0.808322 0.003316 0.588706 
time: 1403637228.438319, t: -0.849933 -0.890796 0.137349 q: -0.003432 0.806917 0.007357 0.590608 
time: 1403637228.638319, t: -0.855081 -0.875123 0.155525 q: 0.002220 0.805424 0.012981 0.592552 
time: 1403637228.838319, t: -0.877171 -0.852707 0.180970 q: -0.004820 0.815774 0.007385 0.578303 
time: 1403637229.038319, t: -0.904460 -0.826476 0.190596 q: -0.001816 0.816664 0.007976 0.577055 
time: 1403637229.238319, t: -0.933070 -0.796847 0.185706 q: 0.004406 0.810950 0.011611 0.584984 
time: 1403637229.438319, t: -0.970622 -0.761849 0.159193 q: 0.007639 0.817460 -0.006623 0.575897 
time: 1403637229.638319, t: -1.014150 -0.731812 0.119081 q: 0.005477 0.828681 -0.065364 0.555865 
time: 1403637229.838319, t: -1.042433 -0.728726 0.076227 q: 0.047848 0.823262 -0.114002 0.554034 
time: 1403637230.038319, t: -1.057276 -0.744673 0.028989 q: 0.107314 0.806892 -0.152395 0.560522 
time: 1403637230.238319, t: -1.066236 -0.756715 -0.010780 q: 0.132712 0.803593 -0.201221 0.544184 
time: 1403637230.438319, t: -1.057475 -0.768147 -0.016019 q: 0.152840 0.794790 -0.219675 0.544694 
time: 1403637230.638319, t: -1.037849 -0.775048 0.010154 q: 0.168344 0.775902 -0.228972 0.563213 
time: 1403637230.838319, t: -1.034102 -0.774644 0.053216 q: 0.175689 0.769896 -0.268833 0.551473 
time: 1403637231.038319, t: -1.041746 -0.781475 0.085177 q: 0.194795 0.764286 -0.326316 0.520999 
time: 1403637231.238319, t: -1.053529 -0.807878 0.078192 q: 0.229527 0.737425 -0.390304 0.501183 
time: 1403637231.438319, t: -1.070099 -0.856535 0.010595 q: 0.272959 0.694233 -0.457197 0.484257 
time: 1403637231.638319, t: -1.099272 -0.919507 -0.118106 q: 0.309052 0.645639 -0.529247 0.455560 
time: 1403637231.838319, t: -1.147886 -1.006432 -0.247427 q: 0.350599 0.598028 -0.582348 0.424633 
time: 1403637232.038319, t: -1.216335 -1.120098 -0.339164 q: -0.379104 -0.553433 0.622758 -0.402695 
time: 1403637232.238319, t: -1.309071 -1.250011 -0.390014 q: -0.414827 -0.500767 0.647388 -0.397543 
time: 1403637232.438319, t: -1.432932 -1.367196 -0.415040 q: -0.449523 -0.465209 0.665691 -0.371975 
time: 1403637232.638319, t: -1.575777 -1.467760 -0.419083 q: -0.449797 -0.421715 0.705831 -0.348770 
time: 1403637232.838319, t: -1.749959 -1.550690 -0.400218 q: -0.442949 -0.383245 0.745186 -0.318774 
time: 1403637233.038319, t: -1.973126 -1.625378 -0.354483 q: -0.441382 -0.375333 0.764236 -0.283284 
time: 1403637233.238319, t: -2.243114 -1.728224 -0.302774 q: -0.435915 -0.382073 0.772165 -0.260306 
time: 1403637233.438319, t: -2.547425 -1.851840 -0.267898 q: -0.425088 -0.393758 0.776377 -0.247979 
optimize pose graph 
time: 1403637233.638319, t: -2.890742 -2.022893 -0.277247 q: -0.469334 -0.427680 0.740851 -0.218985 
time: 1403637233.838319, t: -3.221246 -2.247081 -0.330939 q: 0.525109 0.450819 -0.694111 0.198072 
time: 1403637234.038319, t: -3.486352 -2.523066 -0.408549 q: 0.545158 0.459966 -0.675812 0.185773 
time: 1403637234.238319, t: -3.654330 -2.842228 -0.500281 q: 0.564628 0.464608 -0.659007 0.176197 
time: 1403637234.438319, t: -3.710244 -3.207951 -0.600653 q: 0.563817 0.449414 -0.662608 0.202702 
time: 1403637234.638319, t: -3.669531 -3.604153 -0.712509 q: 0.551345 0.442158 -0.661543 0.250750 
time: 1403637234.838319, t: -3.557277 -3.989397 -0.843814 q: 0.529382 0.448571 -0.654951 0.299295 
time: 1403637235.038319, t: -3.397602 -4.343346 -0.963434 q: 0.502709 0.465901 -0.643443 0.340882 
time: 1403637235.238319, t: -3.211757 -4.660707 -1.051512 q: -0.486829 -0.498225 0.619767 -0.361467 
time: 1403637235.438319, t: -3.002277 -4.923946 -1.115478 q: -0.459522 -0.527415 0.617063 -0.360424 
time: 1403637235.638319, t: -2.779328 -5.167814 -1.157408 q: -0.433499 -0.552820 0.613851 -0.360076 
optimize pose graph 
time: 1403637235.838319, t: -2.545305 -5.409741 -1.159421 q: -0.445060 -0.573121 0.576692 -0.375341 
time: 1403637236.038319, t: -2.277410 -5.638270 -1.131781 q: 0.457096 0.603536 -0.530734 0.380958 
time: 1403637236.238319, t: -1.955656 -5.837696 -1.078574 q: 0.445953 0.632316 -0.498179 0.391306 
time: 1403637236.638319, t: -1.141791 -6.138348 -0.902102 q: 0.403373 0.657598 -0.459881 0.439732 
time: 1403637236.838319, t: -0.677078 -6.239252 -0.822776 q: 0.397752 0.655384 -0.440026 0.467591 
time: 1403637237.038319, t: -0.195662 -6.289385 -0.722127 q: 0.391674 0.642982 -0.410858 0.514161 
time: 1403637237.238319, t: 0.276275 -6.256146 -0.598208 q: 0.374976 0.632936 -0.388858 0.554594 
time: 1403637237.438319, t: 0.710260 -6.128049 -0.450067 q: 0.346785 0.645317 -0.376206 0.567252 
time: 1403637237.638319, t: 1.091878 -5.898637 -0.280310 q: 0.326826 0.651016 -0.371803 0.575435 
time: 1403637237.838319, t: 1.416160 -5.597498 -0.099615 q: 0.304290 0.650402 -0.381724 0.581955 
time: 1403637238.038319, t: 1.670683 -5.248166 0.047487 q: 0.288924 0.649525 -0.417772 0.565780 
time: 1403637238.238319, t: 1.855636 -4.885110 0.168211 q: 0.273276 0.630876 -0.479752 0.545118 
time: 1403637238.438319, t: 1.947383 -4.523231 0.270223 q: 0.274457 0.588243 -0.548114 0.527460 
time: 1403637238.638319, t: 1.940754 -4.179904 0.352168 q: -0.286871 -0.544340 0.608319 -0.501345 
time: 1403637238.838319, t: 1.825450 -3.857782 0.419766 q: -0.262364 -0.537280 0.662577 -0.451096 
time: 1403637239.038319, t: 1.599085 -3.606183 0.486316 q: -0.240591 -0.547928 0.693666 -0.400898 
time: 1403637239.238319, t: 1.260502 -3.469431 0.566892 q: -0.292483 -0.555844 0.679929 -0.378401 
time: 1403637239.438319, t: 0.850265 -3.424411 0.634972 q: -0.335150 -0.533558 0.681758 -0.371748 
time: 1403637239.638319, t: 0.394071 -3.429902 0.646911 q: -0.369843 -0.495371 0.701182 -0.355202 
time: 1403637239.838319, t: -0.106373 -3.461618 0.597683 q: -0.428918 -0.449751 0.707495 -0.336458 
time: 1403637240.038319, t: -0.619761 -3.507980 0.508423 q: -0.484662 -0.402264 0.712178 -0.309982 
time: 1403637240.238319, t: -1.127538 -3.536049 0.388581 q: 0.508857 0.355268 -0.733864 0.276212 
time: 1403637240.438319, t: -1.619642 -3.551430 0.262273 q: -0.499977 -0.335139 0.764213 -0.231695 
time: 1403637240.638319, t: -2.085933 -3.593429 0.153096 q: -0.496153 -0.331390 0.775610 -0.206017 
time: 1403637240.838319, t: -2.561643 -3.665539 0.087621 q: 0.512552 0.332480 -0.765331 0.202525 
time: 1403637241.038319, t: -3.020950 -3.771728 0.038715 q: 0.535251 0.333244 -0.747095 0.210487 
time: 1403637241.238319, t: -3.443362 -3.881518 -0.030898 q: 0.530597 0.339835 -0.746970 0.212169 
time: 1403637241.438319, t: -3.832035 -4.002088 -0.117390 q: 0.537272 0.353403 -0.738409 0.202970 
time: 1403637241.638319, t: -4.180337 -4.136139 -0.191243 q: 0.551617 0.363419 -0.724429 0.197100 
optimize pose graph 
time: 1403637241.838319, t: -4.459963 -4.288820 -0.236065 q: 0.569383 0.360419 -0.709132 0.207444 
time: 1403637242.038319, t: -4.672717 -4.443906 -0.255010 q: 0.575248 0.340489 -0.703973 0.239957 
time: 1403637242.238319, t: -4.816590 -4.583423 -0.250049 q: 0.576184 0.346702 -0.704889 0.225703 
time: 1403637242.638319, t: -4.912493 -4.842323 -0.247010 q: 0.592301 0.362744 -0.688635 0.208272 
time: 1403637242.838319, t: -4.846077 -4.969630 -0.237511 q: 0.577480 0.374635 -0.682774 0.244918 
time: 1403637243.038319, t: -4.711377 -5.074791 -0.203057 q: 0.573564 0.386317 -0.671717 0.265669 
time: 1403637243.238319, t: -4.523006 -5.159105 -0.183274 q: 0.560528 0.400120 -0.676450 0.261011 
time: 1403637243.438319, t: -4.288238 -5.232455 -0.190523 q: 0.545320 0.399428 -0.687243 0.266046 
time: 1403637243.638319, t: -4.016891 -5.289906 -0.195671 q: 0.531934 0.395957 -0.697939 0.270453 
optimize pose graph 
time: 1403637243.838319, t: -3.727824 -5.342751 -0.172215 q: 0.506169 0.385984 -0.718382 0.280601 
time: 1403637244.038319, t: -3.446935 -5.385712 -0.110246 q: -0.493397 -0.377603 0.729501 -0.286013 
time: 1403637244.238319, t: -3.190891 -5.420395 -0.013294 q: -0.497596 -0.374858 0.729358 -0.282695 
time: 1403637244.438319, t: -2.959176 -5.449108 0.104174 q: -0.490260 -0.377113 0.733969 -0.280571 
time: 1403637244.638319, t: -2.747214 -5.478407 0.233491 q: -0.488334 -0.406179 0.722945 -0.271843 
time: 1403637244.838319, t: -2.549145 -5.520876 0.342119 q: -0.481438 -0.434423 0.710094 -0.274337 
time: 1403637245.038319, t: -2.355861 -5.583763 0.424302 q: -0.466793 -0.444285 0.709640 -0.284825 
time: 1403637245.238319, t: -2.181267 -5.671567 0.480882 q: -0.442084 -0.442704 0.722799 -0.293489 
time: 1403637245.438319, t: -2.036551 -5.787140 0.526541 q: -0.460833 -0.451393 0.708818 -0.285403 
time: 1403637245.638319, t: -1.900975 -5.927972 0.548361 q: -0.459186 -0.467284 0.697284 -0.290840 
optimize pose graph 
time: 1403637245.838319, t: -1.767822 -6.096090 0.554272 q: -0.456900 -0.489991 0.670786 -0.318115 
time: 1403637246.038319, t: -1.631432 -6.278282 0.540503 q: -0.448546 -0.526423 0.626429 -0.359544 
time: 1403637246.238319, t: -1.486251 -6.453341 0.508422 q: 0.419338 0.577154 -0.572829 0.403628 
time: 1403637246.638319, t: -1.164747 -6.747397 0.395702 q: 0.358908 0.675867 -0.430619 0.478494 
time: 1403637246.838319, t: -0.986129 -6.832893 0.329721 q: 0.326971 0.704029 -0.365096 0.513943 
time: 1403637247.038319, t: -0.801205 -6.871768 0.284824 q: 0.283985 0.737084 -0.325158 0.519935 
time: 1403637247.238319, t: -0.610000 -6.876113 0.242958 q: 0.251636 0.755961 -0.318400 0.513638 
time: 1403637247.438319, t: -0.410435 -6.869588 0.192155 q: 0.255630 0.738760 -0.308920 0.541715 
time: 1403637247.638319, t: -0.205112 -6.840512 0.121372 q: 0.258474 0.734756 -0.301636 0.549855 
time: 1403637247.838319, t: -0.010761 -6.762542 0.051160 q: 0.264039 0.744716 -0.270841 0.549843 
time: 1403637248.038319, t: 0.181194 -6.633797 0.006901 q: 0.234869 0.749717 -0.252504 0.564804 
time: 1403637248.238319, t: 0.355562 -6.455328 -0.021209 q: 0.203165 0.772687 -0.236364 0.553002 
time: 1403637248.438319, t: 0.524986 -6.257135 -0.061877 q: 0.186340 0.779224 -0.228591 0.553022 
time: 1403637248.638319, t: 0.690278 -6.051568 -0.107554 q: 0.188152 0.772965 -0.223303 0.563258 
time: 1403637248.838319, t: 0.839504 -5.829742 -0.125078 q: 0.189024 0.781407 -0.229449 0.548659 
time: 1403637249.038319, t: 0.982162 -5.593215 -0.109674 q: 0.188895 0.781906 -0.238526 0.544102 
time: 1403637249.238319, t: 1.129780 -5.351707 -0.064490 q: 0.191992 0.780346 -0.242778 0.543377 
time: 1403637249.438319, t: 1.283442 -5.103999 -0.012598 q: 0.193199 0.777778 -0.245885 0.545230 
time: 1403637249.638319, t: 1.440524 -4.845781 -0.025040 q: 0.192511 0.776778 -0.246622 0.546565 
time: 1403637249.838319, t: 1.598376 -4.580092 -0.063967 q: 0.193845 0.768811 -0.240061 0.560111 
optimize pose graph 
time: 1403637250.038319, t: 1.742146 -4.302225 -0.084779 q: 0.173294 0.774801 -0.228029 0.563610 
time: 1403637250.238319, t: 1.872860 -4.017869 -0.081673 q: 0.144397 0.783759 -0.217685 0.563457 
time: 1403637250.438319, t: 1.989750 -3.740204 -0.095172 q: 0.120284 0.786813 -0.211536 0.567195 
time: 1403637250.638319, t: 2.095000 -3.480698 -0.119166 q: 0.106954 0.792815 -0.209252 0.562334 
time: 1403637250.838319, t: 2.185720 -3.249643 -0.115021 q: 0.103745 0.796199 -0.201086 0.561132 
time: 1403637251.038319, t: 2.266069 -3.047904 -0.082351 q: 0.097675 0.795275 -0.200139 0.563863 
time: 1403637251.238319, t: 2.340179 -2.876639 -0.023148 q: 0.080241 0.800047 -0.196141 0.561263 
time: 1403637251.438319, t: 2.404910 -2.740837 0.067708 q: 0.081867 0.800552 -0.173319 0.567780 
time: 1403637251.638319, t: 2.459277 -2.633563 0.151934 q: 0.074815 0.802230 -0.143309 0.574711 
time: 1403637251.838319, t: 2.508560 -2.548276 0.211547 q: 0.063553 0.804104 -0.126551 0.577375 
optimize pose graph 
time: 1403637252.038319, t: 2.547291 -2.476534 0.255961 q: 0.073553 0.797993 -0.108989 0.588149 
time: 1403637252.238319, t: 2.568321 -2.405741 0.280793 q: 0.071069 0.791711 -0.106188 0.597384 
time: 1403637252.438319, t: 2.562282 -2.335840 0.277608 q: 0.063122 0.797891 -0.110958 0.589130 
time: 1403637252.638319, t: 2.534798 -2.271273 0.250285 q: 0.058607 0.804637 -0.115048 0.579559 
time: 1403637252.838319, t: 2.497060 -2.218671 0.212223 q: 0.047938 0.815296 -0.122874 0.563823 
time: 1403637253.038319, t: 2.466834 -2.186487 0.207254 q: 0.062983 0.808614 -0.114216 0.573700 
time: 1403637253.238319, t: 2.434193 -2.163760 0.222235 q: 0.067775 0.804594 -0.112696 0.579081 
time: 1403637253.438319, t: 2.398055 -2.144177 0.217986 q: 0.066933 0.804032 -0.114820 0.579542 
time: 1403637253.638319, t: 2.353638 -2.130091 0.195558 q: 0.070859 0.804949 -0.112998 0.578159 
time: 1403637253.838319, t: 2.303268 -2.114970 0.193296 q: 0.078640 0.803173 -0.108036 0.580567 
optimize pose graph 
time: 1403637254.038319, t: 2.246010 -2.095233 0.215345 q: 0.081571 0.802392 -0.106106 0.581597 
time: 1403637254.238319, t: 2.181209 -2.064254 0.259685 q: 0.076022 0.803999 -0.097171 0.581690 
time: 1403637254.438319, t: 2.107115 -2.021429 0.317827 q: 0.065441 0.812537 -0.081633 0.573444 
time: 1403637254.638319, t: 2.035574 -1.972475 0.359176 q: 0.058719 0.815120 -0.072476 0.571732 
time: 1403637254.838319, t: 1.969093 -1.918949 0.377135 q: 0.054461 0.810311 -0.068991 0.579371 
time: 1403637255.038319, t: 1.900858 -1.862547 0.372057 q: 0.052364 0.806852 -0.068019 0.584483 
time: 1403637255.238319, t: 1.825594 -1.799429 0.364823 q: 0.041885 0.807354 -0.055934 0.585915 
time: 1403637255.438319, t: 1.739450 -1.731168 0.380317 q: 0.027206 0.808429 -0.041459 0.586501 
time: 1403637255.638319, t: 1.649324 -1.661318 0.380644 q: 0.013512 0.810344 -0.014251 0.585625 
time: 1403637256.038319, t: 1.456964 -1.508396 0.395549 q: -0.026981 0.816915 0.054677 0.573526 
optimize pose graph 
time: 1403637256.238319, t: 1.356080 -1.424975 0.437595 q: -0.035969 0.812140 0.070999 0.578009 
time: 1403637256.438319, t: 1.255212 -1.333714 0.457435 q: -0.036859 0.808139 0.075695 0.582943 
time: 1403637256.638319, t: 1.147649 -1.236329 0.450734 q: -0.036365 0.808947 0.071953 0.582327 
time: 1403637256.838319, t: 1.036801 -1.136593 0.424360 q: -0.052983 0.820745 0.054138 0.566250 
time: 1403637257.038319, t: 0.933709 -1.044317 0.400891 q: -0.054410 0.815179 0.064013 0.573084 
time: 1403637257.238319, t: 0.835367 -0.957200 0.401588 q: -0.056800 0.811652 0.082020 0.575558 
time: 1403637257.438319, t: 0.737978 -0.870170 0.425275 q: -0.058920 0.812844 0.095404 0.571586 
time: 1403637257.638319, t: 0.646343 -0.778377 0.438639 q: -0.060689 0.815448 0.101106 0.566691 
time: 1403637257.838319, t: 0.558269 -0.680736 0.428144 q: -0.068591 0.822283 0.105939 0.554908 
time: 1403637258.038319, t: 0.487037 -0.574816 0.401078 q: -0.085894 0.823152 0.122196 0.547824 
optimize pose graph 
time: 1403637258.238319, t: 0.436747 -0.461372 0.390538 q: -0.106420 0.811159 0.154804 0.553833 
time: 1403637258.438319, t: 0.399294 -0.343746 0.387960 q: -0.123627 0.799657 0.175844 0.560664 
time: 1403637258.638319, t: 0.365640 -0.228961 0.357896 q: -0.140585 0.800579 0.178500 0.554479 
time: 1403637258.838319, t: 0.339341 -0.126238 0.315588 q: -0.142998 0.795265 0.179655 0.561097 
time: 1403637259.038319, t: 0.313422 -0.037620 0.285766 q: -0.147087 0.795139 0.174765 0.561762 
time: 1403637259.238319, t: 0.288363 0.037550 0.300626 q: -0.145599 0.794714 0.172660 0.563399 
time: 1403637259.438319, t: 0.264994 0.098149 0.329629 q: -0.149805 0.795098 0.166484 0.563614 
time: 1403637259.638319, t: 0.242638 0.139302 0.345698 q: -0.157157 0.794810 0.159351 0.564080 
time: 1403637259.838319, t: 0.223803 0.160601 0.347876 q: -0.144263 0.798908 0.167080 0.559481 
time: 1403637260.038319, t: 0.211850 0.166739 0.335054 q: -0.147890 0.795342 0.163983 0.564508 
time: 1403637260.238319, t: 0.200365 0.158666 0.304555 q: -0.135648 0.795331 0.173333 0.564804 
optimize pose graph 
time: 1403637260.438319, t: 0.185935 0.144829 0.267002 q: -0.119112 0.792219 0.186297 0.568766 
time: 1403637260.638319, t: 0.166145 0.140558 0.221803 q: -0.118427 0.803277 0.187647 0.552729 
time: 1403637260.838319, t: 0.150192 0.152149 0.177542 q: -0.124219 0.799346 0.184465 0.558201 
time: 1403637261.038319, t: 0.134824 0.170126 0.133507 q: -0.128409 0.792506 0.183105 0.567377 
time: 1403637261.238319, t: 0.114649 0.190121 0.089224 q: -0.125638 0.804928 0.185103 0.549584 
time: 1403637261.438319, t: 0.101620 0.219609 0.065123 q: -0.129525 0.801088 0.181781 0.555371 
time: 1403637261.638319, t: 0.095413 0.251126 0.053755 q: -0.129498 0.807997 0.181080 0.545510 
time: 1403637261.838319, t: 0.103010 0.285104 0.062653 q: -0.126728 0.804122 0.182016 0.551542 
time: 1403637262.038319, t: 0.117756 0.321423 0.063829 q: -0.131192 0.794922 0.176935 0.565315 
time: 1403637262.238319, t: 0.129439 0.353678 0.028651 q: -0.137484 0.793581 0.169961 0.567838 
optimize pose graph 
time: 1403637262.438319, t: 0.124795 0.348186 0.014588 q: -0.130410 0.790310 0.153835 0.578566 
time: 1403637262.638319, t: 0.117681 0.337295 0.013144 q: -0.139061 0.778896 0.123984 0.598841 
time: 1403637262.838319, t: 0.118999 0.338239 0.011037 q: -0.136684 0.787603 0.126126 0.587445 
time: 1403637263.038319, t: 0.120129 0.339119 0.012131 q: -0.136666 0.788387 0.126336 0.586351 
time: 1403637263.238319, t: 0.120592 0.339652 0.011900 q: -0.137340 0.788662 0.125820 0.585934 
time: 1403637263.438319, t: 0.120406 0.339307 0.011866 q: -0.137152 0.788654 0.125950 0.585962 
time: 1403637263.638319, t: 0.120383 0.339307 0.011850 q: -0.137092 0.788666 0.125936 0.585962 
time: 1403637263.838319, t: 0.120437 0.339195 0.011861 q: -0.136564 0.788637 0.126217 0.586064 
time: 1403637264.038319, t: 0.120430 0.339297 0.011851 q: -0.137033 0.788702 0.125938 0.585927 
time: 1403637264.438319, t: 0.120461 0.339300 0.011851 q: -0.136927 0.788710 0.126016 0.585924 
time: 1403637264.638319, t: 0.120439 0.339314 0.011845 q: -0.136853 0.788715 0.125996 0.585939 
time: 1403637264.838319, t: 0.120418 0.339323 0.011880 q: -0.136721 0.788744 0.126060 0.585918 
time: 1403637265.038319, t: 0.120473 0.339292 0.011870 q: -0.136835 0.788786 0.126045 0.585837 
time: 1403637265.238319, t: 0.120417 0.339305 0.011892 q: -0.136726 0.788828 0.126074 0.585800 
time: 1403637265.438319, t: 0.120416 0.339282 0.011882 q: -0.136788 0.788833 0.126063 0.585781 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720554268.654972436]: Shutdown request received.[0m
[33m[ WARN] [1720554268.655003692]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720554268.655877834]: Shutdown request received.[0m
[33m[ WARN] [1720554268.655920986]: Reason given for shutdown: [user request][0m
killed
