/SLAM-Hive/slam_hive_results/mapping_results/3172/2377_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-7.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720554294.987120707]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720554294.988243116]: init begins[0m
[31m[ERROR] [1720554294.989347951]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/b73a711a-3e2b-11ef-94d9-0242ac110005/roslaunch-35c27f536a43-118.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://35c27f536a43:42291/[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] [1720554296.093150007]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720554296.094168176]: 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] [1720554296.100031180]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720554296.100238009]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720554296.100262889]: ROW: 384 COL: 601 [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] [1720554296.100522242]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720554296.100724662]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720554296.101226183]: 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://35c27f536a43:11311/[0m
]2;roscore http://35c27f536a43:11311/
[1msetting /run_id to b73a711a-3e2b-11ef-94d9-0242ac110005[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] [1720554305.152670476]: 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: 316917174.82 
init first imu pose
averge acc 9.440873 -0.712109 -2.412774
init R0 
  0.257481   0.273526   0.926762
         0  -0.959099    0.28307
  0.966283 -0.0728851   -0.24695
[33m[ WARN] [1720554307.611489974]: gyroscope bias initial calibration -0.00210254   0.0202573   0.0777276[0m
[0m[ INFO] [1720554307.654497880]: Initialization finish![0m
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time: 1403637133.038319, t: 0.000724 0.000104 0.000683 q: -0.101512 0.787334 0.075839 0.603365 
time: 1403637133.238319, t: -0.002146 -0.001789 0.003936 q: -0.099799 0.785696 0.078306 0.605467 
time: 1403637133.438319, t: -0.004930 -0.005272 0.018915 q: -0.089889 0.789990 0.075353 0.601796 
time: 1403637133.638319, t: -0.006412 -0.010058 0.030162 q: -0.075843 0.803687 0.059823 0.587159 
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time: 1403637192.638319, t: -4.664568 -1.898559 -0.201578 q: -0.496690 -0.366215 0.755769 -0.219084 
time: 1403637192.838319, t: -4.706425 -1.974417 -0.152241 q: -0.494645 -0.363476 0.756886 -0.224357 
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time: 1403637195.438319, t: -5.539070 -4.263516 0.280256 q: 0.530079 0.352161 -0.732258 0.242482 
time: 1403637195.638319, t: -5.556277 -4.486867 0.288857 q: 0.523456 0.363738 -0.728308 0.251505 
time: 1403637195.838319, t: -5.562345 -4.698794 0.322757 q: 0.525766 0.375415 -0.720314 0.252548 
time: 1403637196.038319, t: -5.549630 -4.903551 0.356309 q: 0.536535 0.392462 -0.709090 0.235148 
time: 1403637196.238319, t: -5.497993 -5.115701 0.370437 q: 0.565028 0.399493 -0.685671 0.225838 
time: 1403637196.438319, t: -5.384649 -5.324846 0.364760 q: 0.584164 0.399241 -0.670649 0.222685 
time: 1403637196.638319, t: -5.195248 -5.523679 0.337269 q: 0.580385 0.392859 -0.675687 0.228608 
time: 1403637196.838319, t: -4.938707 -5.710580 0.286563 q: 0.573608 0.385016 -0.683100 0.236877 
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time: 1403637197.238319, t: -4.242580 -6.035108 0.168798 q: 0.544676 0.389764 -0.689209 0.276412 
time: 1403637197.438319, t: -3.837484 -6.170149 0.153331 q: 0.509859 0.430315 -0.677708 0.309169 
time: 1403637197.638319, t: -3.419980 -6.287230 0.171108 q: -0.476672 -0.498285 0.640699 -0.337640 
time: 1403637197.838319, t: -2.998054 -6.384398 0.218081 q: -0.453475 -0.558820 0.586067 -0.372298 
time: 1403637198.038319, t: -2.561341 -6.464109 0.289658 q: 0.432205 0.605060 -0.535519 0.400400 
time: 1403637198.238319, t: -2.107602 -6.519564 0.396421 q: 0.405991 0.638669 -0.496242 0.425462 
time: 1403637198.438319, t: -1.631469 -6.549904 0.515211 q: 0.394787 0.664381 -0.451920 0.445543 
time: 1403637198.638319, t: -1.143417 -6.546209 0.600636 q: 0.399586 0.674712 -0.424863 0.452313 
time: 1403637198.838319, t: -0.631389 -6.510380 0.615815 q: 0.399009 0.671319 -0.419601 0.462663 
time: 1403637199.038319, t: -0.094546 -6.423649 0.586309 q: 0.387928 0.653077 -0.424318 0.492906 
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time: 1403637199.438319, t: 0.967252 -6.062503 0.586778 q: 0.335620 0.681683 -0.387953 0.521691 
time: 1403637199.638319, t: 1.466542 -5.818545 0.599520 q: 0.305026 0.700263 -0.348387 0.543339 
time: 1403637199.838319, t: 1.941913 -5.539074 0.574740 q: 0.252010 0.708702 -0.313824 0.579437 
time: 1403637200.038319, t: 2.364330 -5.231442 0.480138 q: 0.184235 0.704926 -0.269395 0.629733 
time: 1403637200.238319, t: 2.694126 -4.913969 0.367215 q: 0.138228 0.718284 -0.204220 0.650581 
time: 1403637200.438319, t: 2.928732 -4.588995 0.242924 q: 0.126463 0.764898 -0.153472 0.612687 
time: 1403637200.638319, t: 3.107680 -4.253050 0.157972 q: 0.101491 0.785535 -0.148948 0.591988 
time: 1403637200.838319, t: 3.235628 -3.930676 0.105009 q: 0.088875 0.783691 -0.163756 0.592548 
time: 1403637201.038319, t: 3.325800 -3.616926 0.082628 q: 0.098852 0.779105 -0.180802 0.592059 
time: 1403637201.238319, t: 3.383196 -3.316577 0.086505 q: 0.107932 0.778089 -0.196358 0.586832 
time: 1403637201.438319, t: 3.410192 -3.037429 0.100511 q: 0.088778 0.772587 -0.240041 0.581041 
time: 1403637201.638319, t: 3.405453 -2.810544 0.092274 q: 0.076714 0.766931 -0.282159 0.571243 
time: 1403637201.838319, t: 3.353334 -2.656001 0.077367 q: 0.096010 0.759254 -0.287284 0.576007 
time: 1403637202.038319, t: 3.262600 -2.563218 0.073490 q: 0.097579 0.761042 -0.289456 0.572284 
time: 1403637202.238319, t: 3.137992 -2.537040 0.089804 q: 0.096016 0.780094 -0.285447 0.548410 
time: 1403637202.438319, t: 2.999454 -2.557294 0.103634 q: 0.126095 0.797621 -0.261246 0.528821 
time: 1403637202.638319, t: 2.871302 -2.620170 0.113968 q: 0.135874 0.789904 -0.252355 0.542132 
time: 1403637202.838319, t: 2.752566 -2.700568 0.150122 q: 0.151420 0.785227 -0.240750 0.550027 
time: 1403637203.038319, t: 2.642726 -2.785238 0.174796 q: 0.166383 0.786623 -0.231394 0.547721 
time: 1403637203.238319, t: 2.541173 -2.863395 0.179180 q: 0.168475 0.785427 -0.231915 0.548576 
optimize pose graph 
time: 1403637203.438319, t: 2.448979 -2.935742 0.171432 q: 0.170208 0.784976 -0.232459 0.548457 
time: 1403637203.638319, t: 2.366462 -2.998742 0.147064 q: 0.175064 0.784309 -0.230804 0.548582 
time: 1403637203.838319, t: 2.299227 -3.049618 0.107789 q: 0.175083 0.782655 -0.232928 0.550038 
time: 1403637204.038319, t: 2.237640 -3.090602 0.053150 q: 0.177248 0.782274 -0.232465 0.550082 
time: 1403637204.238319, t: 2.179594 -3.118247 0.016967 q: 0.177483 0.782141 -0.233407 0.549796 
time: 1403637204.438319, t: 2.127618 -3.138049 0.013286 q: 0.174128 0.779321 -0.237468 0.553126 
time: 1403637204.638319, t: 2.079126 -3.141211 0.041233 q: 0.172990 0.775516 -0.243106 0.556371 
time: 1403637204.838319, t: 2.030392 -3.137076 0.078148 q: 0.175180 0.778003 -0.246475 0.550702 
time: 1403637205.038319, t: 1.980721 -3.124250 0.085942 q: 0.175079 0.782980 -0.248817 0.542568 
time: 1403637205.238319, t: 1.939816 -3.112450 0.075111 q: 0.173735 0.785480 -0.247336 0.540057 
time: 1403637205.438319, t: 1.913540 -3.094294 0.062980 q: 0.168707 0.788450 -0.234378 0.543094 
optimize pose graph 
time: 1403637205.638319, t: 1.898102 -3.072140 0.070518 q: 0.165308 0.786475 -0.222549 0.551908 
time: 1403637205.838319, t: 1.886497 -3.042221 0.055213 q: 0.163005 0.787610 -0.218251 0.552690 
time: 1403637206.038319, t: 1.879327 -3.005594 0.030243 q: 0.160875 0.787223 -0.217499 0.554160 
time: 1403637206.238319, t: 1.874121 -2.962118 0.026600 q: 0.149964 0.785591 -0.223478 0.557149 
time: 1403637206.438319, t: 1.870148 -2.918331 0.055454 q: 0.146857 0.784011 -0.226193 0.559103 
time: 1403637206.638319, t: 1.862731 -2.878982 0.090640 q: 0.149835 0.783681 -0.225781 0.558943 
time: 1403637206.838319, t: 1.846157 -2.840568 0.102263 q: 0.154327 0.782843 -0.224588 0.559374 
time: 1403637207.038319, t: 1.824574 -2.797204 0.120246 q: 0.156146 0.780321 -0.225346 0.562083 
time: 1403637207.238319, t: 1.797809 -2.751069 0.140016 q: 0.157321 0.778146 -0.227919 0.563730 
time: 1403637207.438319, t: 1.765132 -2.701965 0.133541 q: 0.158504 0.778073 -0.230039 0.562638 
optimize pose graph 
time: 1403637207.638319, t: 1.722694 -2.648935 0.101633 q: 0.148674 0.783325 -0.239254 0.554126 
time: 1403637207.838319, t: 1.676381 -2.603913 0.091673 q: 0.147309 0.786556 -0.241588 0.548877 
time: 1403637208.038319, t: 1.628720 -2.573124 0.127025 q: 0.157870 0.784618 -0.235621 0.551302 
time: 1403637208.238319, t: 1.588328 -2.546339 0.186999 q: 0.162709 0.784831 -0.233861 0.550341 
time: 1403637208.438319, t: 1.550505 -2.520754 0.232927 q: 0.153349 0.780259 -0.243267 0.555429 
time: 1403637208.638319, t: 1.510087 -2.504729 0.255762 q: 0.159982 0.779868 -0.240234 0.555427 
time: 1403637208.838319, t: 1.466087 -2.486897 0.255425 q: 0.165345 0.778728 -0.237118 0.556794 
time: 1403637209.038319, t: 1.421818 -2.465216 0.232083 q: 0.182318 0.782612 -0.225825 0.550710 
time: 1403637209.238319, t: 1.384521 -2.424633 0.200045 q: 0.173114 0.787565 -0.214121 0.551294 
time: 1403637209.438319, t: 1.359770 -2.366613 0.191453 q: 0.144469 0.800694 -0.201820 0.545240 
optimize pose graph 
time: 1403637209.638319, t: 1.347135 -2.310309 0.207929 q: 0.129198 0.822441 -0.191851 0.519703 
time: 1403637209.838319, t: 1.376758 -2.268206 0.248546 q: 0.121798 0.832252 -0.188667 0.506879 
time: 1403637210.238319, t: 1.571221 -2.243248 0.224176 q: 0.111812 0.852749 -0.195139 0.471422 
time: 1403637210.438319, t: 1.765377 -2.269081 0.171469 q: 0.110185 0.856308 -0.195968 0.464964 
time: 1403637210.638319, t: 2.038386 -2.327309 0.121088 q: 0.113972 0.842114 -0.192318 0.490783 
time: 1403637210.838319, t: 2.363943 -2.402315 0.060850 q: 0.105932 0.832156 -0.195947 0.507839 
time: 1403637211.038319, t: 2.717503 -2.499764 -0.010974 q: 0.094532 0.815252 -0.204967 0.533307 
time: 1403637211.238319, t: 3.079869 -2.623998 -0.094957 q: 0.104359 0.804889 -0.202540 0.547942 
time: 1403637211.438319, t: 3.438105 -2.764669 -0.189044 q: 0.120392 0.794563 -0.198172 0.561162 
optimize pose graph 
time: 1403637211.638319, t: 3.781963 -2.904450 -0.290158 q: 0.118211 0.797631 -0.201843 0.555941 
time: 1403637211.838319, t: 4.109869 -3.051765 -0.364643 q: 0.101400 0.805739 -0.213279 0.543153 
time: 1403637212.038319, t: 4.435096 -3.215932 -0.401330 q: 0.109160 0.805887 -0.209765 0.542797 
time: 1403637212.238319, t: 4.760698 -3.401225 -0.412480 q: 0.124474 0.790410 -0.201300 0.565010 
time: 1403637212.438319, t: 5.061889 -3.578607 -0.395599 q: 0.130493 0.785265 -0.200276 0.571156 
time: 1403637212.638319, t: 5.343418 -3.752551 -0.359928 q: 0.130188 0.794351 -0.204547 0.556972 
time: 1403637212.838319, t: 5.617901 -3.927831 -0.319219 q: 0.132265 0.801677 -0.203841 0.546140 
time: 1403637213.038319, t: 5.893917 -4.101252 -0.267399 q: 0.136556 0.803586 -0.198605 0.544203 
time: 1403637213.238319, t: 6.177729 -4.265631 -0.223736 q: 0.128847 0.803645 -0.199734 0.545582 
time: 1403637213.438319, t: 6.459972 -4.428307 -0.206564 q: 0.128927 0.800937 -0.198336 0.550037 
optimize pose graph 
time: 1403637213.638319, t: 6.739139 -4.583713 -0.203284 q: 0.143115 0.799179 -0.188627 0.552495 
time: 1403637213.838319, t: 7.010323 -4.729533 -0.218874 q: 0.154679 0.804047 -0.178826 0.545532 
time: 1403637214.038319, t: 7.289267 -4.848707 -0.251708 q: 0.155398 0.802233 -0.174041 0.549531 
time: 1403637214.238319, t: 7.582416 -4.949594 -0.261339 q: 0.131893 0.796376 -0.163864 0.567043 
time: 1403637214.438319, t: 7.866599 -5.020022 -0.244018 q: 0.117830 0.794715 -0.122860 0.582623 
time: 1403637214.638319, t: 8.120767 -5.055157 -0.202528 q: 0.111365 0.795746 -0.064391 0.591811 
time: 1403637214.838319, t: 8.352990 -5.035241 -0.138029 q: 0.110818 0.793030 -0.027742 0.598376 
time: 1403637215.038319, t: 8.560489 -4.951957 -0.078799 q: 0.103813 0.791183 -0.020418 0.602358 
time: 1403637215.238319, t: 8.736375 -4.808675 -0.044232 q: 0.098991 0.785487 -0.023149 0.610471 
time: 1403637215.438319, t: 8.879974 -4.613218 -0.028126 q: 0.072066 0.777988 -0.021918 0.623748 
time: 1403637215.638319, t: 8.964549 -4.377399 -0.008752 q: 0.034545 0.771345 0.001999 0.635476 
time: 1403637215.838319, t: 8.983302 -4.115136 0.029995 q: -0.001899 0.786870 0.044862 0.615484 
time: 1403637216.038319, t: 8.958464 -3.844247 0.093208 q: -0.040411 0.796226 0.075404 0.598921 
time: 1403637216.238319, t: 8.906291 -3.571390 0.163770 q: -0.071883 0.796395 0.096533 0.592680 
time: 1403637216.438319, t: 8.834765 -3.320113 0.207866 q: -0.086373 0.788152 0.102917 0.600636 
time: 1403637216.638319, t: 8.740094 -3.092410 0.228111 q: -0.092788 0.779927 0.100160 0.610797 
time: 1403637216.838319, t: 8.606983 -2.889425 0.238662 q: -0.094853 0.768808 0.092953 0.625538 
time: 1403637217.038319, t: 8.421400 -2.718206 0.266536 q: -0.089333 0.769427 0.089261 0.626126 
time: 1403637217.238319, t: 8.186056 -2.576750 0.293426 q: -0.108048 0.781256 0.069861 0.610806 
time: 1403637217.438319, t: 7.926803 -2.474026 0.291215 q: -0.116045 0.785641 0.056802 0.605042 
time: 1403637217.638319, t: 7.652376 -2.417244 0.271726 q: -0.113265 0.781206 0.067779 0.610160 
time: 1403637217.838319, t: 7.352046 -2.406013 0.252525 q: -0.102621 0.767597 0.124308 0.620331 
time: 1403637218.038319, t: 7.008758 -2.404892 0.253458 q: -0.119393 0.765061 0.167838 0.610129 
time: 1403637218.238319, t: 6.629312 -2.417550 0.257375 q: -0.133989 0.768095 0.187483 0.597434 
time: 1403637218.438319, t: 6.226640 -2.434601 0.241745 q: -0.138382 0.767126 0.194350 0.595480 
time: 1403637218.638319, t: 5.798649 -2.460954 0.221448 q: -0.136682 0.768422 0.195034 0.593975 
time: 1403637218.838319, t: 5.354876 -2.494770 0.210640 q: -0.130146 0.775252 0.194732 0.586623 
time: 1403637219.038319, t: 4.898156 -2.525691 0.143249 q: -0.112559 0.775730 0.202460 0.587012 
time: 1403637219.238319, t: 4.427015 -2.547632 0.057867 q: -0.110790 0.776159 0.202198 0.586872 
time: 1403637219.438319, t: 3.927875 -2.543098 0.001113 q: -0.113116 0.780717 0.198149 0.581741 
time: 1403637219.638319, t: 3.425243 -2.516338 -0.030891 q: -0.113374 0.799604 0.194836 0.556614 
time: 1403637219.838319, t: 2.947471 -2.456868 -0.017535 q: -0.111024 0.808081 0.192619 0.545507 
time: 1403637220.038319, t: 2.507867 -2.387821 0.020182 q: -0.111753 0.810670 0.191599 0.541863 
time: 1403637220.238319, t: 2.113065 -2.297550 0.100166 q: -0.113948 0.811936 0.189168 0.540362 
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time: 1403637220.638319, t: 1.401938 -2.108944 0.289235 q: -0.138473 0.806481 0.167440 0.549888 
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time: 1403637226.238319, t: -0.760104 -1.460295 0.210594 q: -0.011180 0.810296 0.024908 0.585384 
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time: 1403637228.038319, t: -0.786803 -1.025338 0.192124 q: -0.013902 0.814017 0.009984 0.580589 
time: 1403637228.238319, t: -0.763879 -1.015627 0.161102 q: -0.013474 0.808345 0.013843 0.588392 
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time: 1403637228.838319, t: -0.782630 -0.968177 0.194786 q: -0.012722 0.815735 0.018062 0.578004 
time: 1403637229.038319, t: -0.807945 -0.942924 0.203621 q: -0.009762 0.816615 0.018686 0.576798 
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time: 1403637229.638319, t: -0.921516 -0.851777 0.133403 q: -0.002146 0.829685 -0.054323 0.555578 
time: 1403637229.838319, t: -0.952159 -0.851128 0.092076 q: 0.040220 0.824956 -0.102983 0.554279 
time: 1403637230.038319, t: -0.967027 -0.867466 0.045105 q: 0.099629 0.809180 -0.141462 0.561507 
time: 1403637230.238319, t: -0.975639 -0.879166 0.004858 q: 0.125163 0.806630 -0.190233 0.545430 
time: 1403637230.438319, t: -0.966903 -0.888976 0.000225 q: 0.145201 0.798099 -0.208954 0.546162 
time: 1403637230.638319, t: -0.949258 -0.896625 0.027691 q: 0.160232 0.779342 -0.218659 0.564924 
time: 1403637231.038319, t: -0.958296 -0.903241 0.105080 q: 0.187133 0.769030 -0.316211 0.523053 
time: 1403637231.238319, t: -0.970050 -0.931618 0.098701 q: 0.222054 0.743173 -0.380496 0.503595 
time: 1403637231.438319, t: -0.985745 -0.980021 0.029934 q: 0.265808 0.700901 -0.447974 0.487240 
time: 1403637231.638319, t: -1.014750 -1.041505 -0.099877 q: 0.302343 0.653296 -0.520725 0.458954 
time: 1403637231.838319, t: -1.058262 -1.128532 -0.231724 q: 0.344378 0.606310 -0.574477 0.428681 
time: 1403637232.038319, t: -1.122275 -1.239505 -0.327114 q: -0.373433 -0.562015 0.615537 -0.407186 
time: 1403637232.238319, t: -1.210909 -1.370467 -0.383657 q: -0.409175 -0.509627 0.640803 -0.402774 
time: 1403637232.438319, t: -1.331463 -1.491083 -0.415058 q: -0.444316 -0.474209 0.659401 -0.378022 
time: 1403637232.638319, t: -1.472339 -1.592394 -0.423208 q: -0.444979 -0.431222 0.699944 -0.355135 
time: 1403637232.838319, t: -1.646014 -1.682697 -0.407412 q: -0.438257 -0.393577 0.739767 -0.325226 
time: 1403637233.038319, t: -1.865373 -1.764807 -0.363661 q: -0.437144 -0.386001 0.758877 -0.289853 
time: 1403637233.238319, t: -2.129661 -1.872223 -0.309461 q: -0.431992 -0.392847 0.766696 -0.266891 
time: 1403637233.438319, t: -2.434790 -2.009737 -0.279358 q: -0.421185 -0.404742 0.770685 -0.254622 
optimize pose graph 
time: 1403637233.638319, t: -2.775129 -2.187222 -0.287180 q: -0.465798 -0.438128 0.734699 -0.226481 
time: 1403637233.838319, t: -3.106199 -2.422058 -0.340446 q: 0.521800 0.460575 -0.687685 0.206603 
time: 1403637234.038319, t: -3.363769 -2.701247 -0.419425 q: 0.542080 0.469461 -0.669174 0.194840 
time: 1403637234.238319, t: -3.516938 -3.019674 -0.505688 q: 0.561890 0.473897 -0.652133 0.185532 
time: 1403637234.438319, t: -3.556026 -3.380388 -0.601856 q: 0.560827 0.458518 -0.655996 0.211905 
time: 1403637234.638319, t: -3.499588 -3.771746 -0.712896 q: 0.547938 0.451007 -0.654908 0.259716 
time: 1403637234.838319, t: -3.377855 -4.157882 -0.844154 q: 0.525366 0.457301 -0.648132 0.307883 
time: 1403637235.038319, t: -3.208438 -4.508264 -0.966400 q: -0.498242 -0.474367 0.636212 -0.349234 
time: 1403637235.238319, t: -3.019174 -4.823331 -1.057264 q: -0.482065 -0.506129 0.612204 -0.369667 
time: 1403637235.438319, t: -2.805946 -5.083744 -1.122002 q: -0.454865 -0.535205 0.609234 -0.368087 
time: 1403637235.638319, t: -2.573364 -5.319033 -1.163021 q: -0.428942 -0.560808 0.605436 -0.367357 
optimize pose graph 
time: 1403637235.838319, t: -2.332063 -5.554859 -1.163636 q: 0.440156 0.580998 -0.567706 0.382641 
time: 1403637236.038319, t: -2.055298 -5.769752 -1.134057 q: 0.452260 0.610782 -0.521253 0.388204 
time: 1403637236.238319, t: -1.726152 -5.958229 -1.079813 q: 0.440853 0.639298 -0.488180 0.398280 
time: 1403637236.438319, t: -1.335905 -6.109786 -0.996328 q: 0.416009 0.659205 -0.463590 0.421272 
time: 1403637236.638319, t: -0.900592 -6.232924 -0.904361 q: 0.397447 0.664231 -0.449279 0.446074 
time: 1403637236.838319, t: -0.436084 -6.318184 -0.826194 q: 0.391261 0.661753 -0.429270 0.474052 
time: 1403637237.038319, t: 0.049546 -6.350967 -0.728574 q: 0.384371 0.649017 -0.400027 0.520591 
time: 1403637237.238319, t: 0.524839 -6.302124 -0.602543 q: 0.366851 0.638999 -0.377937 0.560593 
time: 1403637237.438319, t: 0.960797 -6.157569 -0.449834 q: 0.338218 0.651310 -0.365177 0.572755 
time: 1403637237.638319, t: 1.331910 -5.909667 -0.277340 q: 0.318022 0.657064 -0.360436 0.580702 
optimize pose graph 
time: 1403637237.838319, t: 1.641671 -5.602528 -0.096456 q: 0.294932 0.656825 -0.370381 0.586868 
time: 1403637238.038319, t: 1.889474 -5.254577 0.053438 q: 0.279554 0.656630 -0.406563 0.570433 
time: 1403637238.238319, t: 2.055276 -4.880658 0.173767 q: 0.264216 0.639122 -0.468590 0.549669 
time: 1403637238.438319, t: 2.131633 -4.512872 0.275449 q: 0.265691 0.597633 -0.537592 0.532202 
time: 1403637238.638319, t: 2.113242 -4.164060 0.358405 q: -0.278774 -0.554799 0.598482 -0.506264 
time: 1403637238.838319, t: 1.992906 -3.841995 0.421631 q: -0.255116 -0.548711 0.652888 -0.455598 
time: 1403637239.038319, t: 1.752264 -3.595699 0.484222 q: -0.234106 -0.560250 0.683299 -0.405483 
time: 1403637239.238319, t: 1.401550 -3.474784 0.561788 q: -0.285771 -0.569093 0.668320 -0.384469 
time: 1403637239.438319, t: 0.990664 -3.449178 0.631731 q: -0.328405 -0.547905 0.669621 -0.378891 
time: 1403637239.638319, t: 0.543243 -3.477903 0.642763 q: -0.363526 -0.510445 0.689600 -0.362970 
time: 1403637239.838319, t: 0.057674 -3.527718 0.591615 q: -0.423157 -0.465096 0.696525 -0.345654 
time: 1403637240.038319, t: -0.438696 -3.592804 0.501161 q: -0.479491 -0.417671 0.702117 -0.320424 
time: 1403637240.238319, t: -0.927701 -3.650902 0.387967 q: 0.504436 0.370961 -0.724977 0.286951 
time: 1403637240.438319, t: -1.404155 -3.689574 0.262925 q: -0.496624 -0.351411 0.755740 -0.242345 
time: 1403637240.638319, t: -1.865000 -3.751467 0.162935 q: -0.493121 -0.348010 0.767310 -0.216694 
time: 1403637240.838319, t: -2.326797 -3.841106 0.101438 q: 0.509292 0.348784 -0.757161 0.213727 
time: 1403637241.038319, t: -2.780198 -3.961994 0.060106 q: 0.531428 0.349286 -0.739006 0.222385 
time: 1403637241.238319, t: -3.195728 -4.088698 -0.005659 q: 0.526423 0.356149 -0.738740 0.224275 
time: 1403637241.438319, t: -3.584181 -4.228891 -0.090238 q: 0.532867 0.369708 -0.730010 0.215532 
time: 1403637241.638319, t: -3.925796 -4.383401 -0.160003 q: 0.546977 0.379739 -0.715953 0.209822 
time: 1403637241.838319, t: -4.204173 -4.552371 -0.205427 q: 0.564109 0.376552 -0.700855 0.220888 
time: 1403637242.038319, t: -4.413324 -4.720942 -0.227600 q: 0.569150 0.356218 -0.696381 0.253438 
time: 1403637242.238319, t: -4.562152 -4.871821 -0.227283 q: 0.570192 0.362579 -0.697319 0.239089 
time: 1403637242.438319, t: -4.638537 -5.006270 -0.218379 q: 0.581249 0.372124 -0.689702 0.219053 
time: 1403637242.638319, t: -4.645825 -5.132600 -0.227242 q: 0.586726 0.378336 -0.680630 0.222164 
time: 1403637242.838319, t: -4.571692 -5.259161 -0.216250 q: 0.571027 0.390331 -0.674374 0.258439 
time: 1403637243.038319, t: -4.432400 -5.358182 -0.181501 q: 0.566595 0.401744 -0.663056 0.279155 
time: 1403637243.238319, t: -4.240828 -5.433035 -0.161936 q: 0.553734 0.415696 -0.667368 0.274218 
time: 1403637243.438319, t: -4.003843 -5.492329 -0.171187 q: 0.538417 0.415398 -0.677993 0.279064 
time: 1403637243.638319, t: -3.730188 -5.535903 -0.178247 q: 0.524966 0.412109 -0.688732 0.283241 
optimize pose graph 
time: 1403637243.838319, t: -3.442110 -5.582570 -0.154425 q: -0.499025 -0.402298 0.709561 -0.292665 
time: 1403637244.038319, t: -3.160505 -5.613949 -0.091686 q: -0.486134 -0.393919 0.721004 -0.297749 
time: 1403637244.238319, t: -2.903281 -5.634483 0.006314 q: -0.490460 -0.390913 0.720983 -0.294651 
time: 1403637244.438319, t: -2.669606 -5.648914 0.124698 q: -0.483125 -0.393241 0.725574 -0.292395 
time: 1403637244.638319, t: -2.457899 -5.666927 0.255818 q: -0.481330 -0.422339 0.713798 -0.283625 
time: 1403637244.838319, t: -2.256367 -5.698538 0.365255 q: -0.474456 -0.450379 0.700253 -0.285825 
time: 1403637245.038319, t: -2.057975 -5.751747 0.449727 q: -0.459725 -0.460171 0.699533 -0.295887 
time: 1403637245.238319, t: -1.879032 -5.829564 0.508541 q: -0.435004 -0.458691 0.712693 -0.304044 
time: 1403637245.438319, t: -1.727077 -5.933667 0.556528 q: -0.454158 -0.466673 0.698559 -0.296601 
time: 1403637245.638319, t: -1.586338 -6.065618 0.578905 q: -0.452561 -0.482304 0.686596 -0.301924 
time: 1403637245.838319, t: -1.445184 -6.221131 0.582713 q: -0.449977 -0.504082 0.659518 -0.329329 
optimize pose graph 
time: 1403637246.038319, t: -1.298969 -6.388847 0.568025 q: -0.440961 -0.539452 0.614172 -0.370592 
time: 1403637246.238319, t: -1.142418 -6.550276 0.535617 q: 0.411253 0.588818 -0.559383 0.413830 
time: 1403637246.438319, t: -0.975728 -6.696760 0.485915 q: 0.377086 0.644386 -0.490100 0.449862 
time: 1403637246.638319, t: -0.799690 -6.820101 0.426479 q: 0.349706 0.684301 -0.415053 0.487000 
time: 1403637246.838319, t: -0.616695 -6.902558 0.364105 q: 0.316958 0.711000 -0.349315 0.521532 
time: 1403637247.038319, t: -0.432755 -6.944358 0.319609 q: 0.273862 0.743049 -0.309137 0.526604 
time: 1403637247.238319, t: -0.249075 -6.950103 0.280777 q: 0.241245 0.761847 -0.302225 0.519664 
time: 1403637247.438319, t: -0.052347 -6.946816 0.233222 q: 0.244499 0.744456 -0.293575 0.547557 
time: 1403637247.638319, t: 0.145737 -6.913256 0.165989 q: 0.246909 0.740435 -0.286535 0.555599 
time: 1403637247.838319, t: 0.340895 -6.832395 0.094880 q: 0.252703 0.749906 -0.255510 0.555425 
time: 1403637248.038319, t: 0.529326 -6.697682 0.052211 q: 0.222936 0.754559 -0.237170 0.569816 
time: 1403637248.238319, t: 0.697652 -6.518593 0.024596 q: 0.191215 0.777246 -0.220755 0.557309 
time: 1403637248.438319, t: 0.861915 -6.321746 -0.017571 q: 0.174301 0.783594 -0.213093 0.556948 
time: 1403637248.638319, t: 1.017752 -6.113817 -0.062815 q: 0.175817 0.777215 -0.207821 0.567305 
time: 1403637248.838319, t: 1.156825 -5.889260 -0.082814 q: 0.176819 0.785665 -0.213707 0.552987 
time: 1403637249.038319, t: 1.290967 -5.646887 -0.066422 q: 0.177027 0.786415 -0.222635 0.548313 
time: 1403637249.238319, t: 1.426219 -5.401494 -0.022727 q: 0.179961 0.784928 -0.226702 0.547822 
time: 1403637249.438319, t: 1.566689 -5.150132 0.027735 q: 0.181034 0.782445 -0.229665 0.549782 
time: 1403637249.638319, t: 1.710042 -4.890075 0.016677 q: 0.180106 0.781526 -0.230261 0.551143 
time: 1403637249.838319, t: 1.852897 -4.625496 -0.021558 q: 0.180955 0.773430 -0.223880 0.564747 
time: 1403637250.038319, t: 1.986703 -4.344900 -0.040148 q: 0.160544 0.779291 -0.211862 0.567491 
time: 1403637250.238319, t: 2.106476 -4.057665 -0.038177 q: 0.131962 0.787889 -0.201513 0.566754 
time: 1403637250.438319, t: 2.208300 -3.776996 -0.051756 q: 0.107682 0.790801 -0.195254 0.570012 
time: 1403637250.638319, t: 2.300912 -3.515062 -0.073626 q: 0.094394 0.796741 -0.192935 0.564863 
time: 1403637250.838319, t: 2.385757 -3.278204 -0.068722 q: 0.091511 0.799934 -0.184891 0.563512 
time: 1403637251.038319, t: 2.463563 -3.073660 -0.035935 q: 0.085777 0.798985 -0.184397 0.565917 
time: 1403637251.238319, t: 2.532345 -2.900468 0.023362 q: 0.068492 0.803632 -0.180521 0.562936 
time: 1403637251.438319, t: 2.593024 -2.765093 0.115589 q: 0.070045 0.803738 -0.157736 0.569401 
time: 1403637251.638319, t: 2.648931 -2.654672 0.202831 q: 0.063229 0.804911 -0.128046 0.575956 
time: 1403637251.838319, t: 2.700382 -2.562505 0.263268 q: 0.052429 0.806504 -0.111628 0.578223 
optimize pose graph 
time: 1403637252.038319, t: 2.735212 -2.488921 0.311250 q: 0.062188 0.800117 -0.094381 0.589099 
time: 1403637252.238319, t: 2.754488 -2.417382 0.337035 q: 0.059638 0.793801 -0.091883 0.598231 
time: 1403637252.438319, t: 2.747783 -2.346534 0.333894 q: 0.052103 0.800016 -0.096978 0.589793 
time: 1403637252.638319, t: 2.722384 -2.285048 0.302300 q: 0.047946 0.806744 -0.101170 0.580198 
time: 1403637252.838319, t: 2.685994 -2.234289 0.262786 q: 0.037743 0.817473 -0.108999 0.564299 
time: 1403637253.038319, t: 2.654607 -2.201953 0.257344 q: 0.052714 0.810576 -0.100486 0.574536 
time: 1403637253.238319, t: 2.620563 -2.180039 0.271936 q: 0.057369 0.806497 -0.099129 0.580039 
time: 1403637253.438319, t: 2.583203 -2.161736 0.268718 q: 0.056452 0.805994 -0.101296 0.580454 
time: 1403637253.638319, t: 2.539406 -2.148697 0.246544 q: 0.060471 0.806874 -0.099547 0.579126 
time: 1403637253.838319, t: 2.489537 -2.136569 0.245701 q: 0.068149 0.805047 -0.094707 0.581623 
optimize pose graph 
time: 1403637254.038319, t: 2.432442 -2.119564 0.268229 q: 0.071019 0.804254 -0.092857 0.582675 
time: 1403637254.438319, t: 2.292689 -2.053403 0.371273 q: 0.055021 0.813973 -0.068305 0.574243 
time: 1403637254.638319, t: 2.220381 -2.007664 0.412731 q: 0.048332 0.816421 -0.059057 0.572393 
time: 1403637254.838319, t: 2.152327 -1.959635 0.430911 q: 0.043894 0.811514 -0.055676 0.580016 
time: 1403637255.038319, t: 2.083330 -1.905700 0.425290 q: 0.041762 0.808009 -0.054798 0.585127 
time: 1403637255.238319, t: 2.006717 -1.845634 0.418217 q: 0.031226 0.808295 -0.042718 0.586395 
time: 1403637255.438319, t: 1.919010 -1.782315 0.433708 q: 0.016452 0.809103 -0.028261 0.586756 
time: 1403637255.638319, t: 1.827733 -1.714041 0.433782 q: 0.002899 0.810570 -0.000983 0.585633 
time: 1403637255.838319, t: 1.729450 -1.644012 0.428136 q: -0.016040 0.814864 0.035500 0.578341 
time: 1403637256.038319, t: 1.629467 -1.569228 0.451933 q: -0.037410 0.815941 0.068173 0.572882 
optimize pose graph 
time: 1403637256.238319, t: 1.522808 -1.489464 0.496229 q: -0.046311 0.810887 0.084510 0.577214 
time: 1403637256.438319, t: 1.417600 -1.402089 0.518951 q: -0.047180 0.806865 0.089274 0.582043 
time: 1403637256.638319, t: 1.304256 -1.309845 0.515741 q: -0.046710 0.807778 0.085623 0.581362 
time: 1403637256.838319, t: 1.188370 -1.215254 0.490809 q: -0.063051 0.819909 0.068141 0.564916 
time: 1403637257.038319, t: 1.082755 -1.125630 0.467891 q: -0.064491 0.814208 0.077843 0.571705 
time: 1403637257.238319, t: 0.980670 -1.039098 0.470284 q: -0.066770 0.810415 0.095784 0.574104 
time: 1403637257.438319, t: 0.879453 -0.950265 0.496907 q: -0.068627 0.811490 0.109018 0.569990 
time: 1403637257.638319, t: 0.790237 -0.859067 0.511977 q: -0.070023 0.814151 0.114650 0.564899 
time: 1403637257.838319, t: 0.699924 -0.760451 0.500862 q: -0.077594 0.820862 0.119564 0.553055 
time: 1403637258.038319, t: 0.622129 -0.657149 0.476199 q: -0.094796 0.821466 0.135961 0.545639 
optimize pose graph 
time: 1403637258.238319, t: 0.571083 -0.543402 0.464225 q: -0.115304 0.808976 0.168612 0.551210 
time: 1403637258.438319, t: 0.528833 -0.428553 0.457841 q: -0.132636 0.796991 0.189675 0.557885 
time: 1403637258.638319, t: 0.491261 -0.319333 0.426830 q: -0.149766 0.797686 0.192561 0.551533 
time: 1403637258.838319, t: 0.456083 -0.222139 0.386097 q: -0.152583 0.792226 0.193841 0.558142 
time: 1403637259.038319, t: 0.427198 -0.135766 0.356987 q: -0.156791 0.792154 0.189123 0.558696 
time: 1403637259.238319, t: 0.402179 -0.059736 0.370900 q: -0.155457 0.791729 0.187178 0.560323 
time: 1403637259.438319, t: 0.377534 -0.000582 0.398495 q: -0.159839 0.792199 0.181121 0.560418 
time: 1403637259.638319, t: 0.353761 0.039557 0.414304 q: -0.167390 0.791966 0.174186 0.560740 
time: 1403637259.838319, t: 0.336287 0.059991 0.415028 q: -0.154472 0.795812 0.182083 0.556478 
time: 1403637260.038319, t: 0.321250 0.065196 0.402213 q: -0.158285 0.792238 0.179156 0.561433 
time: 1403637260.238319, t: 0.310008 0.057060 0.372576 q: -0.146140 0.792074 0.188662 0.561843 
optimize pose graph 
time: 1403637260.438319, t: 0.296057 0.043398 0.335235 q: -0.129750 0.788782 0.201501 0.566026 
time: 1403637260.638319, t: 0.276347 0.039308 0.290665 q: -0.128733 0.799805 0.203060 0.550006 
time: 1403637260.838319, t: 0.259501 0.049984 0.246483 q: -0.134693 0.795933 0.199697 0.555400 
time: 1403637261.038319, t: 0.242855 0.067540 0.202350 q: -0.139010 0.789145 0.198082 0.564526 
time: 1403637261.238319, t: 0.221712 0.087903 0.157762 q: -0.135694 0.801517 0.200249 0.546862 
time: 1403637261.438319, t: 0.206920 0.116606 0.133181 q: -0.139824 0.797667 0.196827 0.552663 
time: 1403637261.638319, t: 0.199204 0.146901 0.122020 q: -0.139708 0.804543 0.196325 0.542816 
time: 1403637261.838319, t: 0.205310 0.180828 0.131235 q: -0.136999 0.800687 0.197077 0.548900 
time: 1403637262.038319, t: 0.219116 0.217646 0.132658 q: -0.141739 0.791612 0.191836 0.562547 
time: 1403637262.238319, t: 0.228504 0.250182 0.097284 q: -0.148117 0.790364 0.184805 0.565007 
time: 1403637262.438319, t: 0.225695 0.246011 0.083412 q: -0.141087 0.787516 0.168739 0.575708 
time: 1403637262.638319, t: 0.218882 0.235081 0.080965 q: -0.150188 0.776690 0.138628 0.595800 
time: 1403637262.838319, t: 0.220836 0.236519 0.078599 q: -0.147641 0.785335 0.140957 0.584450 
time: 1403637263.038319, t: 0.221356 0.237166 0.079313 q: -0.147789 0.785981 0.141310 0.583458 
time: 1403637263.238319, t: 0.221050 0.237450 0.078972 q: -0.148505 0.786215 0.140806 0.583083 
time: 1403637263.438319, t: 0.221054 0.237331 0.078996 q: -0.148314 0.786257 0.140875 0.583058 
time: 1403637263.638319, t: 0.221059 0.237308 0.078985 q: -0.148292 0.786277 0.140853 0.583042 
time: 1403637263.838319, t: 0.221117 0.237186 0.078988 q: -0.147796 0.786237 0.141129 0.583156 
time: 1403637264.038319, t: 0.221080 0.237295 0.079002 q: -0.148281 0.786317 0.140844 0.582994 
time: 1403637264.238319, t: 0.221085 0.237306 0.078991 q: -0.148344 0.786377 0.140822 0.582901 
time: 1403637264.438319, t: 0.221110 0.237300 0.078968 q: -0.148220 0.786325 0.140921 0.582979 
time: 1403637264.638319, t: 0.221130 0.237263 0.078940 q: -0.148166 0.786323 0.140907 0.582999 
time: 1403637265.038319, t: 0.221055 0.237280 0.079019 q: -0.148137 0.786401 0.140933 0.582895 
time: 1403637265.238319, t: 0.221019 0.237294 0.079048 q: -0.148051 0.786439 0.140966 0.582858 
time: 1403637265.438319, t: 0.221049 0.237291 0.079031 q: -0.148117 0.786449 0.140955 0.582831 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720554442.050913206]: Shutdown request received.[0m
[33m[ WARN] [1720554442.050965238]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720554442.051824845]: Shutdown request received.[0m
[33m[ WARN] [1720554442.051852213]: Reason given for shutdown: [user request][0m
killed
