/SLAM-Hive/slam_hive_results/mapping_results/3384/1945_vins-mono+MH_04_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/0beba84e-9d6f-11ef-ba24-0242ac110002/roslaunch-c5149f48de7b-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;/home/catkin_ws/src/VINS-Mono/vins_estimator/launch/euroc.launch
[1mstarted roslaunch server http://c5149f48de7b:35493/[0m

SUMMARY
========

PARAMETERS
 * /feature_tracker/config_file: /slamhive/mapping...
 * /feature_tracker/vins_folder: /home/catkin_ws/s...
 * /pose_graph/config_file: /slamhive/mapping...
 * /pose_graph/skip_cnt: 0
 * /pose_graph/skip_dis: 0.0
 * /pose_graph/visualization_shift_x: 0
 * /pose_graph/visualization_shift_y: 0
 * /rosdistro: kinetic
 * /rosversion: 1.12.17
 * /vins_estimator/config_file: /slamhive/mapping...
 * /vins_estimator/vins_folder: /home/catkin_ws/s...

NODES
  /
    feature_tracker (feature_tracker/feature_tracker)
    pose_graph (pose_graph/pose_graph)
    vins_estimator (vins_estimator/vins_estimator)

auto-starting new master
[1mprocess[master]: started with pid [129][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/home/catkin_ws/src/VINS-Mono/vins_estimator/launch/euroc.launch http://localhost:11311
[1msetting /run_id to 0beba84e-9d6f-11ef-ba24-0242ac110002[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [145][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1731028578.468811023]: init begins[0m
[0m[ INFO] [1731028578.473481567]: Loaded config_file: /slamhive/mappingtask.yaml[0m
result path /home/shaozu/output//vins_result_no_loop.csv
/home/shaozu/output/ not exists, trying to create it 
/home/shaozu not exists, trying to create it 
[0m[ INFO] [1731028578.473927841]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1731028578.473951097]:  fix extrinsic param [0m
[0m[ INFO] [1731028578.474107065]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1731028578.474151128]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1731028578.474183618]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1731028578.474544456]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [181][0m
vocabulary_file/home/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_pattern.yml
/home/shaozu/output/pose_graph/ not exists, trying to create it 
no previous pose graph
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1731028583.899968601]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 327390456.79 
[0m[ INFO] [1731028585.486728006]: IMU excitation not enouth![0m
[0m[ INFO] [1731028585.487367205]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731028585.725873768]: IMU excitation not enouth![0m
[0m[ INFO] [1731028585.726398987]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731028585.785931458]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731028585.989460711]: IMU excitation not enouth![0m
[0m[ INFO] [1731028585.990584385]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731028586.214007217]: IMU excitation not enouth![0m
[0m[ INFO] [1731028586.214468084]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731028586.310297801]: IMU excitation not enouth![0m
[33m[ WARN] [1731028587.304458015]: gyroscope bias initial calibration 0.000610134   0.0116567   0.0804023[0m
[0m[ INFO] [1731028587.358800694]: Initialization finish![0m
position: 0.001778, 0.011271, 0.172726
position: 0.000516, 0.012520, 0.197899
position: -0.001881, 0.013252, 0.213041
position: -0.006009, 0.012772, 0.220368
position: -0.008622, 0.013384, 0.238199
position: -0.011732, 0.013152, 0.257001
position: -0.013526, 0.012861, 0.280117
position: -0.015349, 0.010629, 0.299940
position: -0.017478, 0.006985, 0.313325
position: -0.020839, 0.005085, 0.304868
position: -0.016923, 0.008321, 0.306420
position: -0.017606, 0.008255, 0.285785
position: -0.015090, 0.006760, 0.264585
position: -0.012235, 0.003858, 0.241015
position: -0.014011, 0.001503, 0.204983
position: -0.017385, -0.002298, 0.164303
position: -0.018346, -0.007255, 0.128181
position: -0.023586, -0.010315, 0.088766
position: -0.025525, -0.012675, 0.066490
position: -0.027136, -0.012987, 0.063368
position: -0.025408, -0.010302, 0.094884
position: -0.030987, -0.012848, 0.131828
position: -0.031837, -0.008789, 0.187541
position: -0.032710, -0.005292, 0.246732
position: -0.031257, 0.000980, 0.298616
position: -0.029187, 0.011551, 0.333983
position: -0.029288, 0.021471, 0.352646
position: -0.030400, 0.025244, 0.355138
position: -0.030339, 0.021038, 0.342536
position: -0.027620, 0.006327, 0.322419
position: -0.023686, -0.019746, 0.297818
position: -0.022173, -0.056076, 0.272637
position: -0.023462, -0.099767, 0.248280
position: -0.029802, -0.146199, 0.229934
position: -0.040284, -0.191317, 0.213258
position: -0.054222, -0.233683, 0.196508
position: -0.064396, -0.268266, 0.181246
position: -0.063930, -0.288506, 0.169214
position: -0.050202, -0.286469, 0.164481
position: -0.020958, -0.274794, 0.162230
position: 0.010094, -0.248373, 0.165432
position: 0.046804, -0.212645, 0.171024
position: 0.082022, -0.172323, 0.173997
position: 0.115241, -0.132561, 0.178710
position: 0.136019, -0.088690, 0.182070
position: 0.154342, -0.044747, 0.187358
position: 0.164924, -0.000892, 0.192680
position: 0.175300, 0.037947, 0.202015
position: 0.179807, 0.069289, 0.203357
position: 0.179172, 0.092202, 0.197903
position: 0.174236, 0.101804, 0.188282
position: 0.168490, 0.097147, 0.175645
position: 0.155580, 0.081674, 0.164541
position: 0.140791, 0.057430, 0.155443
position: 0.131309, 0.026396, 0.153158
position: 0.118450, -0.008286, 0.151128
position: 0.102748, -0.038619, 0.146564
position: 0.082194, -0.065330, 0.147139
position: 0.056754, -0.098389, 0.160662
position: 0.032723, -0.138424, 0.180103
position: 0.004648, -0.181865, 0.188957
position: -0.023593, -0.224899, 0.186502
position: -0.047036, -0.254408, 0.181335
position: -0.058798, -0.261665, 0.183849
position: -0.059043, -0.250785, 0.194167
position: -0.054124, -0.222658, 0.210110
position: -0.042886, -0.181357, 0.226241
position: -0.027585, -0.136185, 0.233139
position: -0.014551, -0.094024, 0.220566
position: -0.004425, -0.057486, 0.192273
position: 0.001953, -0.028495, 0.154657
position: 0.004033, -0.007893, 0.113928
position: 0.002629, 0.004919, 0.073948
position: 0.000036, 0.012851, 0.039430
position: -0.000855, 0.019505, 0.012513
position: -0.002869, 0.025837, -0.009123
position: 0.000512, 0.025390, -0.025468
position: 0.004225, 0.027947, -0.040310
position: 0.005588, 0.030680, -0.051743
position: 0.005124, 0.031048, -0.053909
position: 0.004312, 0.029494, -0.048665
position: 0.003424, 0.030948, -0.054246
position: 0.002553, 0.031471, -0.055981
position: 0.002739, 0.031457, -0.056090
position: 0.002720, 0.031587, -0.055976
position: 0.002878, 0.031567, -0.055769
position: 0.002828, 0.031539, -0.055538
position: 0.002968, 0.031603, -0.055518
position: 0.003055, 0.031772, -0.055598
position: 0.003091, 0.031869, -0.055494
position: 0.003152, 0.031925, -0.055481
position: 0.003162, 0.031884, -0.055377
position: 0.003654, 0.031829, -0.054968
position: 0.003684, 0.031784, -0.054839
position: 0.003738, 0.031783, -0.054796
position: 0.003788, 0.031775, -0.054786
position: 0.003788, 0.031793, -0.054736
position: 0.003839, 0.031823, -0.054742
position: 0.003870, 0.031822, -0.054700
position: 0.003887, 0.031829, -0.054699
position: 0.003920, 0.031834, -0.054677
position: 0.003947, 0.031822, -0.054626
position: 0.003976, 0.031827, -0.054625
position: 0.003978, 0.031825, -0.054587
position: 0.003998, 0.031843, -0.054585
position: 0.004004, 0.031844, -0.054599
position: 0.004017, 0.031852, -0.054579
position: 0.004029, 0.031859, -0.054574
position: 0.004044, 0.031874, -0.054570
position: 0.004045, 0.031867, -0.054580
position: 0.004068, 0.031871, -0.054552
position: 0.004069, 0.031869, -0.054519
position: 0.004075, 0.031870, -0.054507
position: 0.004080, 0.031866, -0.054490
position: 0.004095, 0.031879, -0.054447
position: 0.004110, 0.031880, -0.054443
position: 0.004129, 0.031874, -0.054436
position: 0.004169, 0.031865, -0.054430
position: 0.004151, 0.031897, -0.054361
position: 0.004120, 0.031928, -0.054328
position: 0.004253, 0.031769, -0.054281
position: 0.004273, 0.031786, -0.054189
position: 0.004240, 0.031864, -0.054160
position: 0.004217, 0.031904, -0.054135
position: 0.004132, 0.031930, -0.054105
position: 0.004188, 0.031920, -0.054031
position: 0.004229, 0.031829, -0.053995
position: 0.004184, 0.031874, -0.053971
position: 0.004147, 0.031895, -0.053968
position: 0.004124, 0.031859, -0.053974
position: 0.004146, 0.031804, -0.053901
position: 0.004155, 0.031784, -0.053872
position: 0.004186, 0.031795, -0.053861
position: 0.004199, 0.031779, -0.053878
position: 0.004244, 0.031768, -0.053839
position: 0.004231, 0.031770, -0.053858
position: 0.004241, 0.031776, -0.053842
position: 0.004249, 0.031765, -0.053865
position: 0.004261, 0.031755, -0.053817
position: 0.004269, 0.031757, -0.053826
position: 0.004268, 0.031765, -0.053829
position: 0.004274, 0.031760, -0.053818
position: 0.004283, 0.031754, -0.053815
position: 0.004300, 0.031746, -0.053812
position: 0.004265, 0.031752, -0.053822
position: 0.004284, 0.031761, -0.053808
position: 0.004303, 0.031758, -0.053764
position: 0.004309, 0.031754, -0.053760
position: 0.004315, 0.031756, -0.053748
position: 0.004329, 0.031763, -0.053764
position: 0.004329, 0.031759, -0.053762
position: 0.004348, 0.031755, -0.053736
position: 0.004367, 0.031733, -0.053714
position: 0.004377, 0.031725, -0.053660
position: 0.004368, 0.031727, -0.053625
position: 0.004395, 0.031736, -0.053598
position: 0.004398, 0.031758, -0.053630
position: 0.004410, 0.031740, -0.053631
position: 0.004385, 0.031751, -0.053594
position: 0.004409, 0.031735, -0.053564
position: 0.004419, 0.031740, -0.053553
position: 0.004445, 0.031720, -0.053492
position: 0.004453, 0.031734, -0.053484
position: 0.004457, 0.031726, -0.053471
position: 0.004476, 0.031707, -0.053407
position: 0.004463, 0.031714, -0.053424
position: 0.004482, 0.031705, -0.053386
position: 0.004472, 0.031724, -0.053388
position: 0.004522, 0.031785, -0.053446
position: 0.004500, 0.031930, -0.053518
position: 0.004480, 0.031947, -0.053603
position: 0.004503, 0.031912, -0.053571
position: 0.004501, 0.031867, -0.053474
position: 0.004476, 0.031743, -0.053204
position: 0.004501, 0.031723, -0.053214
position: 0.005240, 0.031670, -0.052429
position: 0.008811, 0.030544, -0.050026
position: 0.016138, 0.028986, -0.043357
position: 0.025571, 0.027463, -optimize pose graph 
0.029704
position: 0.035501, 0.025855, -0.008324
position: 0.044832, 0.024145, 0.024486
position: 0.051850, 0.023179, 0.072170
position: 0.059127, 0.023145, 0.116015
position: 0.063766, 0.023366, 0.136442
position: 0.068779, 0.023921, 0.133880
position: 0.076473, 0.025458, 0.122099
position: 0.088144, 0.027353, 0.116963
position: 0.101471, 0.030303, 0.122458
position: 0.116865, 0.033690, 0.141181
position: 0.139748, 0.034780, 0.179281
position: 0.158949, 0.040815, 0.207968
position: 0.181063, 0.044802, 0.237628
position: 0.200672, 0.050671, 0.260385
position: 0.219748, 0.056280, 0.277877
position: 0.242486, 0.060411, 0.293397
position: 0.261028, 0.067290, 0.300634
position: 0.279737, 0.074675, 0.305274
position: 0.304318, 0.082721, 0.314099
position: 0.324410, 0.092547, 0.312291
position: 0.350834, 0.105514, 0.310446
position: 0.373661, 0.121398, 0.298304
position: 0.399226, 0.143050, 0.284991
position: 0.430493, 0.172283, 0.273066
position: 0.457811, 0.204803, 0.265898
position: 0.492729, 0.241642, 0.270104
optimize pose graph 
position: 0.530074, 0.279790, 0.280496
position: 0.570415, 0.318354, 0.294602
position: 0.612878, 0.358056, 0.307420
position: 0.657938, 0.400606, 0.314889
position: 0.701644, 0.446608, 0.316710
position: 0.745333, 0.495005, 0.311722
position: 0.789559, 0.547279, 0.303643
position: 0.830570, 0.600907, 0.297375
position: 0.869764, 0.656582, 0.296556
position: 0.908150, 0.714125, 0.301025
position: 0.946580, 0.773073, 0.313041
position: 0.984522, 0.833176, 0.334460
position: 1.021962, 0.894493, 0.362659
position: 1.061226, 0.957941, 0.390079
position: 1.101707, 1.023185, 0.412541
position: 1.140637, 1.090565, 0.429861
position: 1.181569, 1.160331, 0.439428
position: 1.221361, 1.233465, 0.441177
position: 1.256610, 1.308653, 0.437140
position: 1.295972, 1.389877, 0.428080
position: 1.336269, 1.475320, 0.422396
position: 1.380473, 1.565741, 0.424932
position: 1.424726, 1.658132, 0.435634
position: 1.467248, 1.750741, 0.452461
position: 1.507581, 1.841397, 0.472990
position: 1.548177, 1.931229, 0.490476
position: 1.589836, 2.022113, 0.502821
position: 1.628424, 2.111326, 0.511043
position: 1.668910, 2.205158, 0.523486
position: 1.708259, 2.302510, 0.542029
position: 1.746473, 2.402866, 0.562404
position: 1.783897, 2.506220, 0.578154
position: 1.820655, 2.613999, 0.590927
position: 1.858828, 2.723608, 0.595631
position: 1.897729, 2.837235, 0.596466
position: 1.937006, 2.953959, 0.594157
position: 1.974374, 3.071533, 0.587567
position: 2.010304, 3.191816, 0.579016
position: 2.039414, 3.306408, 0.565446
position: 2.061500, 3.421899, 0.561836
position: 2.075939, 3.529939, 0.560381
position: 2.085759, 3.638776, 0.569661
position: 2.090544, 3.744630, 0.584577
position: 2.089159, 3.851043, 0.606210
position: 2.081850, 3.958302, 0.631460
position: 2.069050, 4.062153, 0.651853
position: 2.050448, 4.163641, 0.665770
position: 2.025951, 4.264895, 0.673002
position: 1.995548, 4.366072, 0.673437
position: 1.958598, 4.467644, 0.669476
position: 1.916112, 4.565859, 0.662090
position: 1.868953, 4.658581, 0.649889
position: 1.817463, 4.745135, 0.635641
position: 1.763013, 4.825537, 0.626490
position: 1.707773, 4.900651, 0.626214
position: 1.654031, 4.976174, 0.634722
position: 1.603268, 5.052526, 0.645960
position: 1.555282, 5.128135, 0.653278
position: 1.511398, 5.204683, 0.654063
position: 1.471558, 5.283649, 0.648671
position: 1.435711, 5.367477, 0.637111
position: 1.404449, 5.457568, 0.622125
position: 1.374980, 5.551490, 0.606588
position: 1.350074, 5.648614, 0.596234
position: 1.328015, 5.751462, 0.593799
position: 1.306447, 5.865396, 0.597329
position: 1.288761, 5.974067, 0.607972
position: 1.272931, 6.088613, 0.617823
position: 1.256136, 6.212267, 0.622295
position: 1.239561, 6.333311, 0.623267
position: 1.221093, 6.460975, 0.623197
position: 1.200195, 6.588693, 0.629637
position: 1.176446, 6.714377, 0.644787
position: 1.151481, 6.836212, 0.662541
position: 1.126043, 6.953129, 0.676145
position: 1.102165, 7.063172, 0.684341
position: 1.079983, 7.175730, 0.688241
position: 1.059854, 7.290360, 0.688086
position: 1.041720, 7.404490, osition: 1.308377, 9.936997, 1.658598
position: 1.359740, 9.993744, 1.705738
position: 1.411244, 10.046470, 1.749619
position: 1.463237, 10.098387, 1.790184
position: 1.515392, 10.151032, 1.825137
position: 1.569679, 10.205592, 1.854522
position: 1.627347, 10.260254, 1.879920
position: 1.687122, 10.312679, 1.900088
position: 1.749524, 10.363579, 1.919504
position: 1.814340, 10.413265, 1.945464
position: 1.882241, 10.460480, 1.976110
position: 1.953976, 10.507622, 2.006023
position: 2.028637, 10.550750, 2.029555
position: 2.109401, 10.595637, 2.051819
position: 2.192915, 10.632747, 2.075278
position: 2.280851, 10.673063, 2.108138
position: 2.370400, 10.706481, 2.144493
position: 2.463784, 10.743375, 2.191995
position: 2.561166, 10.776827, 2.238015
position: 2.661703, 10.807597, 2.270620
position: 2.764625, 10.833885, 2.285527
position: 2.871960, 10.858065, 2.291969
position: 2.983981, 10.880319, 2.295976
position: 3.094744, 10.899160, 2.301364
position: 3.202349, 10.915479, 2.312909
position: 3.308084, 10.930544, 2.333961
position: 3.411756, 10.943703, 2.363771
position: 3.516640, 10.952689, 2.399551
position: 3.618926, 10.957534, 2.440867
position: 3.722942, 10.958985, 2.490778
position: 3.827068, 10.954890, 2.538930
position: 3.934458, 10.947993, 2.582885
position: 4.038567, 10.933116, 2.619562
position: 4.150259, 10.917393, 2.652245
position: 4.261205, 10.893527, 2.679721
position: 4.379661, 10.865174, 2.703068
position: 4.501058, 10.830675, 2.722792
position: 4.618846, 10.791333, 2.738733
position: 4.728988, 10.748505, 2.749684
position: 4.840055, 10.701557, 2.755411
position: 4.947205, 10.649791, 2.756187
position: 5.059551, 10.594482, 2.752916
position: 5.172311, 10.537307, 2.745312
position: 5.286130, 10.476287, 2.734782
position: 5.398138, 10.410770, 2.719528
position: 5.505483, 10.339445, 2.697775
position: 5.605939, 10.261604, 2.671263
position: 5.701190, 10.179010, 2.647565
position: 5.792299, 10.092988, 2.630683
position: 5.881003, 10.006135, 2.624819
position: 5.967530, 9.921892, 2.635475
position: 6.051817, 9.838270, 2.666401
position: 6.129657, 9.757777, 2.713686
position: 6.203321, 9.680525, 2.761140
position: 6.271667, 9.608900, 2.803847
position: 6.339286, 9.540469, 2.838588
position: 6.406073, 9.475226, 2.863697
position: 6.478311, 9.405017, 2.878885
position: 6.554256, 9.346321, 2.894561
position: 6.641491, 9.291492, 2.913997
position: 6.735033, 9.245353, 2.941071
position: 6.835759, 9.205226, 2.973981
position: 6.941658, 9.169626, 3.009239
position: 7.053396, 9.135925, 3.039625
position: 7.167760, 9.105209, 3.063279
position: 7.285097, 9.075674, 3.080578
position: 7.407652, 9.045478, 3.092380
position: 7.535593, 9.013606, 3.100696
position: 7.668565, 8.978968, 3.108286
position: 7.806329, 8.941278, 3.122875
position: 7.944950, 8.897724, 3.144877
position: 8.086257, 8.849479, 3.172571
position: 8.231278, 8.798468, 3.206302
position: 8.377656, 8.746099, 3.235794
position: 8.523887, 8.694894, 3.256486
position: 8.670409, 8.648482, 3.268889
position: 8.816604, 8.607703, 3.274631
position: 8.963255, 8.575941, 3.275496
position: 9.110990, 8.552832, 3.272841
position: 9.259574, 8.536434, 3.266110
position: 9.409089, 8.522790, 3.254694
position: 9.560216, 8.509101, 3.238550
position: 9.713051, 8.490830, 3.220492
position: 9.866407, 8.465311, 3.205501
position: 10.018951, 8.428778, 3.197585
position: 10.168607, 8.383156, 3.194795
position: 10.313137, 8.329878, 3.200890
position: 10.453079, 8.273905, 3.214681
position: 10.586852, 8.219382, 3.234610
position: 10.715102, 8.166104, 3.250784
position: 10.836481, 8.112840, 3.258358
position: 10.952316, 8.058717, 3.258845
position: 11.065680, 8.002036, 3.251740
position: 11.172943, 7.942391, 3.245619
position: 11.277862, 7.876978, 3.247008
position: 11.369963, 7.805128, 3.258472
position: 11.451799, 7.726011, 3.275234
position: 11.521958, 7.640902, 3.289593
position: 11.580657, 7.550127, 3.297484
position: 11.629680, 7.455758, 3.300400
position: 11.668799, 7.357878, 3.299140
position: 11.692229, 7.258512, 3.296034
position: 11.708520, 7.154211, 3.291268
position: 11.714718, 7.046522, 3.284800
position: 11.713195, 6.932349, 3.276093
position: 11.702779, 6.812142, 3.266325
position: 11.682554, 6.685612, 3.258316
position: 11.650564, 6.551767, 3.255540
position: 11.605319, 6.410973, 3.258994
position: 11.545085, 6.266867, 3.265197
position: 11.474760, 6.118882, 3.264589
position: 11.391396, 5.970532, 3.254066
position: 11.298413, 5.820337, 3.233581
position: 11.197786, 5.667758, 3.202553
position: 11.087649, 5.512319, 3.163716
position: 10.964174, 5.354471, 3.118488
position: 10.826988, 5.195501, 3.069958
position: 10.677200, 5.032009, 3.017638
position: 10.515292, 4.863305, 2.960774
position: 10.342854, 4.688461, 2.898187
position: 10.160352, 4.506264, 2.829669
position: 9.970553, 4.319841, 2.755873
position: 9.776420, 4.129868, 2.674803
position: 9.581153, 3.938975, 2.582513
position: 9.387403, 3.749079, 2.486875
position: 9.191431, 3.560816, 2.386457
position: 8.995135, 3.374149, 2.285256
position: 8.796225, 3.191332, 2.190574
position: 8.592655, 3.012487, 2.102223
position: 8.385739, 2.838166, 2.019553
position: 8.178615, 2.666708, 1.935746
position: 7.971555, 2.497733, 1.846012
position: 7.767750, 2.330017, 1.752590
position: 7.568471, 2.164083, 1.662717
position: 7.375869, 1.997152, 1.578976
position: 7.188352, 1.831758, 1.501290
position: 7.006381, 1.669323, 1.432606
position: 6.832844, 1.510532, 1.369610
position: 6.666748, 1.354758, 1.312231
position: 6.511293, 1.201930, 1.260878
position: 6.363771, 1.050042, 1.214684
position: 6.223616, 0.898222, 1.175100
position: 6.088450, 0.747151, 1.141192
position: 5.967987, 0.598082, 1.115858
position: 5.860086, 0.452275, 1.098732
position: 5.766551, 0.310699, 1.087997
position: 5.691414, 0.173902, 1.074812
position: 5.634099, 0.041584, 1.051482
position: 5.593931, -0.087710, 1.025014
position: 5.569878, -0.212453, 1.000168
position: 5.557299, -0.329960, 0.981170
position: 5.549866, -0.440131, 0.967556
position: 5.546942, -0.541901, 0.959151
position: 5.549001, -0.634063, 0.957181
position: 5.555647, -0.717523, 0.959049
position: 5.561975, -0.797092, 0.966678
position: 5.576040, -0.869381, 0.982005
position: 5.586695, -0.935356, 0.998158
position: 5.604544, -1.000386, 1.009160
position: 5.620723, -1.056506, 1.013476
position: 5.640060, -1.109058, 1.009395
position: 5.669387, -1.158346, 0.997149
position: 5.695599, -1.195162, 0.982590
position: 5.726199, -1.228032, 0.964400
position: 5.763188, -1.261600, 0.941386
position: 5.796046, -1.289459, 0.917313
position: 5.836353, -1.323078, 0.890014
position: 5.869704, -1.353370, 0.865144
position: 5.902309, -1.391760, 0.847031
position: 5.928715, -1.431267, 0.836840
position: 5.947889, -1.473092, 0.832479
position: 5.961196, -1.516808, 0.837775
position: 5.966793, -1.558816, 0.845332
position: 5.966109, -1.600762, 0.848564
position: 5.960258, -1.644249, 0.847310
position: 5.950723, -1.689439, 0.842115
position: 5.937606, -1.737472, 0.832977
position: 5.923178, -1.789259, 0.820006
position: 5.907100, -1.843489, 0.803304
position: 5.890793, -1.901160, 0.783273
position: 5.874886, -1.962488, 0.758966
position: 5.861677, -2.028118, 0.730984
position: 5.851623, -2.098297, 0.702720
position: 5.843079, -2.171904, 0.673125
position: 5.832976, -2.246539, 0.642494
position: 5.820603, -2.320007, 0.617342
position: 5.805910, -2.392630, 0.600052
position: 5.790702, -2.465946, 0.588841
position: 5.776680, -2.540354, 0.582640
position: 5.762314, -2.616851, 0.580700
position: 5.747546, -2.695837, 0.579174
position: 5.732052, -2.778006, 0.572027
position: 5.715928, -2.863258, 0.558427
position: 5.700079, -2.951193, 0.539897
position: 5.683397, -3.041340, 0.520081
position: 5.669039, -3.133838, 0.505943
position: 5.654913, -3.229312, 0.498906
position: 5.645958, -3.331772, 0.497787
position: 5.635647, -3.435880, 0.493305
position: 5.630682, -3.545927, 0.482273
position: 5.621220, -3.657772, 0.467696
position: 5.615266, -3.773477, 0.448299
position: 5.599660, -3.891256, 0.426969
position: 5.580419, -4.009531, 0.403816
position: 5.552646, -4.129758, 0.380784
position: 5.517043, -4.249215, 0.362708
position: 5.474480, -4.370282, 0.353842
position: 5.428341, -4.487071, 0.354090
position: 5.381403, -4.602018, 0.359570
position: 5.333652, -4.714061, 0.372538
position: 5.286993, -4.829192, 0.384063
position: 5.239716, -4.944503, 0.391022
position: 5.189702, -5.061072, 0.397537
position: 5.136057, -5.180641, 0.410761
position: 5.081772, -5.303147, 0.432418
position: 5.028346, -5.426595, 0.460123
position: 4.977009, -5.555204, 0.485618
position: 4.928620, -5.683486, 0.507047
position: 4.880567, -5.814406, 0.523875
position: 4.832805, -5.948090, 0.536239
position: 4.785631, -6.082565, 0.542925
position: 4.740271, -6.216484, 0.543963
position: 4.697139, -6.352805, 0.541392
position: 4.657718, -6.490940, 0.536399
position: 4.623218, -6.631015, 0.529733
position: 4.592956, -6.775548, 0.529092
position: 4.566195, -6.920322, 0.534630
position: 4.542950, -7.061815, 0.546817
position: 4.524963, -7.197331, 0.565318
position: 4.510924, -7.330016, 0.587682
position: 4.500840, -7.460898, 0.605783
position: 4.495444, -7.590324, 0.619212
position: 4.492378, -7.722334, 0.627232
position: 4.494854, -7.855205, 0.635106
position: 4.500422, -7.988484, 0.643290
position: 4.508677, -8.121814, 0.650968
position: 4.519943, -8.253210, 0.659937
position: 4.532983, -8.382151, 0.668304
position: 4.548667, -8.512819, 0.680944
position: 4.565853, -8.642477, 0.694783
position: 4.586775, -8.767261, 0.706924
position: 4.609637, -8.894803, 0.720820
position: 4.639826, -9.017276, 0.734146
position: 4.674997, -9.139258, 0.751209
position: 4.715752, -9.254996, 0.767927
position: 4.763035, -9.366523, 0.783252
position: 4.814038, -9.474475, 0.797249
position: 4.865977, -9.580809, 0.807407
position: 4.913729, -9.689987, 0.813326
position: 4.957888, -9.799927, 0.815387
position: 5.000745, -9.901994, 0.814457
position: 5.042117, -10.014595, 0.822371
position: 5.084129, -10.117359, 0.833865
position: 5.126343, -10.225657, 0.852692
position: 5.169724, -10.325530, 0.864316
position: 5.217653, -10.433636, 0.873803
position: 5.268682, -10.533438, 0.874523
position: 5.326381, -10.639100, 0.874634
position: 5.391911, -10.740276, 0.876246
position: 5.463336, -10.837374, 0.885397
position: 5.538061, -10.931191, 0.900867
position: 5.612873, -11.021388, 0.924067
position: 5.685508, -11.105489, 0.953532
position: 5.754133, -11.182653, 0.984911
position: 5.818731, -11.253537, 1.014223
position: 5.881764, -11.321690, 1.041074
position: 5.943539, -11.383796, 1.063545
position: 6.006453, -11.442046, 1.080250
position: 6.068968, -11.492225, 1.097395
position: 6.135223, -11.537017, 1.106555
position: 6.201299, -11.571013, 1.114364
position: 6.271037, -11.598199, 1.117320
position: 6.340041, -11.617417, 1.116833
position: 6.404039, -11.625436, 1.113541
position: 6.463803, -11.623168, 1.112021
position: 6.513123, -11.602072, 1.118469
position: 6.548616, -11.559879, 1.128758
position: 6.590810, -11.525040, 1.156464
position: 6.625681, -11.479212, 1.191420
position: 6.653153, -11.421888, 1.228648
position: 6.674155, -11.355723, 1.259551
position: 6.689403, -11.282852, 1.283300
position: 6.698602, -11.205073, 1.300657
position: 6.705960, -11.126568, 1.320827
position: 6.712392, -11.049098, 1.348204
position: 6.720976, -10.973420, 1.373796
position: 6.730577, -10.901600, 1.392850
position: 6.742301, -10.835765, 1.406007
position: 6.756853, -10.776335, 1.414080
position: 6.775605, -10.723888, 1.417317
position: 6.798631, -10.675584, 1.420028
position: 6.821269, -10.626751, 1.410861
position: 6.845807, -10.574181, 1.396906
position: 6.870139, -10.514898, 1.377721
position: 6.895416, -10.448051, 1.356559
position: 6.921280, -10.374401, 1.336447
position: 6.946134, -10.290841, 1.322040
position: 6.971204, -10.202925, 1.317111
position: 6.992683, -10.109392, 1.321016
position: 7.010526, -10.015148, 1.330327
position: 7.026803, -9.921387, 1.346467
position: 7.037567, -9.826558, 1.365196
position: 7.053727, -9.736588, 1.389340
position: 7.072623, -9.650862, 1.410340
position: 7.089953, -9.559245, 1.417427
position: 7.118244, -9.483012, 1.429763
position: 7.142997, -9.393144, 1.426137
position: 7.190260, -9.323710, 1.432854
position: 7.226969, -9.236498, 1.431681
position: 7.285495, -9.168593, 1.447383
position: 7.332873, -9.084750, 1.466280
position: 7.391966, -9.007008, 1.497807
position: 7.450275, -8.921140, 1.533838
position: 7.507929, -8.832077, 1.576093
position: 7.564187, -8.738258, 1.621387
position: 7.618921, -8.638362, 1.662207
position: 7.666360, -8.534569, 1.696336
position: 7.706997, -8.427169, 1.726405
position: 7.736743, -8.317454, 1.754036
position: 7.751546, -8.204837, 1.784063
position: 7.751548, -8.091342, 1.821219
position: 7.738077, -7.975353, 1.866332
position: 7.714522, -7.861476, 1.918466
position: 7.680781, -7.747218, 1.967078
position: 7.637355, -7.632867, 2.007316
position: 7.584456, -7.519459, 2.039083
position: 7.527267, -7.404855, 2.065168
position: 7.468362, -7.290385, 2.086220
position: 7.412148, -7.174876, 2.101867
position: 7.357378, -7.061158, 2.114321
position: 7.304357, -6.945861, 2.122904
position: 7.245190, -6.831154, 2.123525
position: 7.185054, -6.715725, 2.128350
position: 7.121239, -6.602544, 2.137718
position: 7.056806, -6.488588, 2.152362
position: 6.996464, -6.375245, 2.168796
position: 6.937962, -6.265341, 2.180813
position: 6.881722, -6.160118, 2.187318
position: 6.829919, -6.057742, 2.188201
position: 6.783562, -5.958825, 2.183587
position: 6.741463, -5.864556, 2.172532
position: 6.705342, -5.775307, 2.156928
position: 6.679712, -5.694669, 2.141139
position: 6.661695, -5.619329, 2.124272
position: 6.647259, -5.546483, 2.103118
position: 6.635810, -5.477156, 2.083187
position: 6.628175, -5.412711, 2.068683
position: 6.624216, -5.350531, 2.060625
position: 6.626653, -5.292701, 2.060427
position: 6.635484, -5.238853, 2.070161
position: 6.645298, -5.186350, 2.087369
position: 6.657181, -5.135834, 2.105329
position: 6.671502, -5.088440, 2.117810
position: 6.691110, -5.050465, 2.123566
position: 6.709865, -5.012128, 2.122562
position: 6.734187, -4.977927, 2.114925
position: 6.760532, -4.948486, 2.105786
position: 6.792793, -4.923799, 2.096460
position: 6.829799, -4.902976, 2.091004
position: 6.867149, -4.885925, 2.091195
position: 6.905854, -4.870642, 2.099975
position: 6.946415, -4.856261, 2.115110
position: 6.986262, -4.840184, 2.137332
position: 7.026645, -4.820935, 2.165305
position: 7.066785, -4.797220, 2.198599
position: 7.108121, -4.770319, 2.233202
position: 7.148115, -4.740403, 2.263280
position: 7.188004, -4.708657, 2.288122
position: 7.227393, -4.674639, 2.300109
position: 7.263201, -4.636749, 2.291546
position: 7.294151, -4.594551, 2.265499
position: 7.320994, -4.548954, 2.231175
position: 7.350012, -4.500113, 2.194002
position: 7.372529, -4.449680, 2.151545
position: 7.400626, -4.395581, 2.108816
position: 7.421917, -4.335069, 2.065002
position: 7.451280, -4.261114, 2.028910
position: 7.477258, -4.171175, 2.003141
position: 7.513201, -4.068709, 1.984530
position: 7.545570, -3.952591, 1.979372
position: 7.589105, -3.825940, 1.983149
position: 7.633223, -3.688472, 1.996066
position: 7.676250, -3.539577, 2.013627
position: 7.719240, -3.379273, 2.038288
position: 7.766129, -3.208330, 2.067819
position: 7.814041, -3.026920, 2.103995
position: 7.862068, -2.838592, 2.139445
position: 7.909407, -2.647538, 2.171129
position: 7.956276, -2.452761, 2.198142
position: 8.002979, -2.256594, 2.222486
position: 8.049268, -2.056668, 2.249998
position: 8.094804, -1.851907, 2.283605
position: 8.136383, -1.642241, 2.324007
position: 8.174539, -1.427462, 2.371602
position: 8.209917, -1.204741, 2.424553
position: 8.244432, -0.973142, 2.481031
position: 8.275108, -0.731758, 2.532199
position: 8.303531, -0.481581, 2.575898
position: 8.330811, -0.225161, 2.612245
position: 8.356585, 0.034210, 2.640450
position: 8.379726, 0.295059, 2.662534
position: 8.402612, 0.556306, 2.676927
position: 8.424204, 0.817122, 2.685148
position: 8.443725, 1.077434, 2.686906
position: 8.460455, 1.336413, 2.682263
position: 8.474956, 1.596278, 2.668307
position: 8.487035, 1.855739, 2.645930
position: 8.496127, 2.116995, 2.619585
position: 8.499053, 2.379547, 2.596159
position: 8.498293, 2.643555, 2.577099
position: optimize pose graph 
8.493747, 2.907424, 2.565596
position: 8.489516, 3.167573, 2.562223
position: 8.487955, 3.422214, 2.560726
position: 8.488821, 3.673177, 2.552566
position: 8.492355, 3.918910, 2.537705
position: 8.498111, 4.158136, 2.517382
position: 8.504459, 4.390230, 2.491673
position: 8.513023, 4.615762, 2.463900
position: 8.520977, 4.834980, 2.438499
position: 8.528010, 5.048011, 2.418942
position: 8.533738, 5.255828, 2.405780
position: 8.538089, 5.457697, 2.397643
position: 8.540350, 5.655188, 2.387394
position: 8.541344, 5.847249, 2.370938
position: 8.540769, 6.035218, 2.354400
position: 8.537841, 6.218482, 2.344457
position: 8.532792, 6.399060, 2.341854
position: 8.524838, 6.575929, 2.345885
position: 8.513531, 6.750222, 2.356292
position: 8.498179, 6.919428, 2.374834
position: 8.483093, 7.082698, 2.401032
position: 8.469612, 7.238194, 2.431368
position: 8.456694, 7.383875, 2.462826
position: 8.445243, 7.521138, 2.489982
position: 8.436088, 7.650853, 2.511041
position: 8.426605, 7.772989, 2.523798
position: 8.418265, 7.886476, 2.529556
position: 8.409707, 7.995469, 2.526761
position: 8.402485, 8.102387, 2.516691
position: 8.396460, 8.207489, 2.502748
position: 8.389477, 8.313903, 2.493389
position: 8.382056, 8.422009, 2.491363
position: 8.372659, 8.530998, 2.497658
position: 8.359166, 8.637418, 2.510693
position: 8.337530, 8.743367, 2.529740
position: 8.309003, 8.853344, 2.555550
position: 8.270417, 8.969466, 2.585191
position: 8.221854, 9.090177, 2.619915
position: 8.166037, 9.215808, 2.661958
position: 8.100371, 9.340918, 2.709858
position: 8.027606, 9.467206, 2.758180
position: 7.947941, 9.593575, 2.801190
position: 7.863897, 9.717787, 2.838250
position: 7.777157, 9.838916, 2.870862
position: 7.686948, 9.956147, 2.897164
position: 7.592920, 10.070971, 2.917834
position: 7.495066, 10.180086, 2.932153
position: 7.394716, 10.284550, 2.940559
position: 7.291441, 10.382286, 2.942221
position: 7.186472, 10.471007, 2.934690
position: 7.077918, 10.551354, 2.917845
position: 6.964917, 10.626156, 2.894896
position: 6.845620, 10.694673, 2.870159
position: 6.721273, 10.751039, 2.850971
position: 6.592891, 10.794015, 2.837138
position: 6.463623, 10.826919, 2.830529
position: 6.336804, 10.854593, 2.832453
position: 6.212905, 10.879494, 2.842119
position: 6.091938, 10.901850, 2.854278
position: 5.972794, 10.920547, 2.862783
position: 5.854972, 10.937260, 2.865073
position: 5.739177, 10.951127, 2.859037
position: 5.625978, 10.961463, 2.846343
position: 5.514440, 10.968817, 2.834827
position: 5.404999, 10.973084, 2.830310
position: 5.299340, 10.975445, 2.832669
position: 5.197337, 10.974297, 2.840545
position: 5.098381, 10.970421, 2.845164
position: 5.002772, 10.962289, 2.842202
position: 4.910016, 10.950766, 2.831945
position: 4.819076, 10.935891, 2.815235
position: 4.728806, 10.919623, 2.793239
position: 4.643745, 10.901801, 2.766519
position: 4.555881, 10.883271, 2.733153
position: 4.475413, 10.862243, 2.681555
position: 4.386607, 10.838340, 2.613357
position: 4.309197, 10.812481, 2.525787
position: 4.222135, 10.782655, 2.430143
positiooptimize pose graph 
n: 4.146016, 10.750088, 2.329793
position: 4.062489, 10.712003, 2.234621
position: 3.987005, 10.667106, 2.145455
position: 3.910602, 10.612739, 2.060746
position: 3.828048, 10.550436, 1.974650
position: 3.751786, 10.482716, 1.884887
position: 3.670621, 10.409565, 1.788550
position: 3.592696, 10.327992, 1.692598
position: 3.511100, 10.237208, 1.601680
position: 3.433303, 10.141300, 1.517994
position: 3.354838, 10.039599, 1.442538
position: 3.279422, 9.934562, 1.377968
position: 3.209100, 9.829229, 1.321078
position: 3.143837, 9.724121, 1.271778
position: 3.081840, 9.615058, 1.220058
position: 3.021646, 9.500500, 1.161651
position: 2.963227, 9.385053, 1.096324
position: 2.908490, 9.264857, 1.027965
position: 2.857907, 9.140294, 0.959236
position: 2.813943, 9.012859, 0.896914
position: 2.776699, 8.881370, 0.842955
position: 2.746021, 8.746800, 0.797404
position: 2.719185, 8.608156, 0.760627
position: 2.694704, 8.465396, 0.732549
position: 2.673366, 8.320662, 0.710194
position: 2.650007, 8.169239, 0.695697
position: 2.626394, 8.012370, 0.684901
position: 2.603393, 7.850644, 0.679525
position: 2.582132, 7.686405, 0.681485
position: 2.562003, 7.519152, 0.687132
position: 2.543321, 7.350403, 0.699323
position: 2.527392, 7.182123, 0.715360
position: 2.513192, 7.013196, 0.727514
position: 2.502652, 6.841868, 0.733298
position: 2.498128, 6.667350, 0.734721
position: 2.500708, 6.485255, 0.732000
position: 2.511892, 6.295800, 0.729709
position: 2.525243, 6.102034, 0.731056
position: 2.539633, 5.907524, 0.737472
position: 2.553566, 5.712763, 0.748552
position: 2.563919, 5.517932, 0.763335
position: 2.572691, 5.322277, 0.781164
position: 2.583757, 5.127290, 0.800814
position: 2.596926, 4.932669, 0.813800
position: 2.613651, 4.738397, 0.820623
position: 2.637153, 4.546970, 0.822229
position: 2.662010, 4.356273, 0.819567
position: 2.686942, 4.168146, 0.813128
position: 2.710442, 3.982240, 0.802124
position: 2.731209, 3.799362, 0.786164
position: 2.750173, 3.619343, 0.764719
position: 2.767619, 3.441875, 0.738943
position: 2.784199, 3.267196, 0.709736
position: 2.800230, 3.095629, 0.678451
position: 2.817769, 2.928639, 0.649969
position: 2.835447, 2.766314, 0.630421
position: 2.852090, 2.609474, 0.619392
position: 2.867243, 2.460981, 0.613265
position: 2.880141, 2.316639, 0.605239
position: 2.887355, 2.176538, 0.590379
position: 2.895303, 2.039398, 0.571475
position: 2.901129, 1.906976, 0.551647
position: 2.903836, 1.779121, 0.538005
position: 2.904618, 1.656173, 0.531038
position: 2.902881, 1.537749, 0.530588
position: 2.897866, 1.423902, 0.531815
position: 2.889731, 1.313978, 0.526254
position: 2.878274, 1.208416, 0.512098
position: 2.868468, 1.105170, 0.494123
position: 2.854384, 1.007215, 0.471996
position: 2.838971, 0.911642, 0.447091
position: 2.818980, 0.820639, 0.419882
position: 2.797162, 0.732541, 0.391744
position: 2.775060, 0.647533, 0.369403
position: 2.751482, 0.567956, 0.356258
position: 2.727681, 0.492413, 0.350416
position: 2.703213, 0.420890, 0.352011
position: 2.678683, 0.355258, 0.360056
position: 2.653583, 0.2973optimize pose graph 
optimize pose graph 
84, 0.373786
position: 2.629694, 0.248381, 0.391678
position: 2.609695, 0.204652, 0.399944
position: 2.589260, 0.170526, 0.405196
position: 2.569507, 0.143674, 0.404495
position: 2.552740, 0.122880, 0.398300
position: 2.529844, 0.113531, 0.400643
position: 2.510309, 0.107983, 0.407081
position: 2.481624, 0.109640, 0.422233
position: 2.451447, 0.115114, 0.436923
position: 2.421994, 0.124192, 0.448291
position: 2.399370, 0.135005, 0.451226
position: 2.376806, 0.148892, 0.451193
position: 2.350902, 0.161873, 0.449680
position: 2.330849, 0.172053, 0.445029
position: 2.302822, 0.181538, 0.436402
position: 2.280846, 0.192002, 0.429602
position: 2.253032, 0.204062, 0.426330
position: 2.217918, 0.219317, 0.427197
position: 2.173471, 0.237109, 0.431090
position: 2.125256, 0.253836, 0.430220
position: 2.074706, 0.269144, 0.423912
position: 2.021023, 0.279688, 0.410445
position: 1.964530, 0.283891, 0.398381
position: 1.910552, 0.281623, 0.389949
position: 1.852413, 0.277486, 0.390845
position: 1.791500, 0.274468, 0.3983optimize pose graph 
10
position: 1.733634, 0.273985, 0.411160
position: 1.674543, 0.273764, 0.421890
position: 1.619143, 0.277406, 0.427924
position: 1.563353, 0.282339, 0.426919
position: 1.508303, 0.288948, 0.418433
position: 1.454582, 0.296694, 0.404424
position: 1.398225, 0.304367, 0.388450
position: 1.346306, 0.316098, 0.378657
position: 1.295082, 0.328181, 0.375933
position: 1.242883, 0.337988, 0.378076
position: 1.194808, 0.350119, 0.375817
position: 1.149689, 0.360508, 0.368427
position: 1.109186, 0.367186, 0.362079
position: 1.066184, 0.375728, 0.355520
position: 1.025951, 0.381931, 0.357331
position: 0.986568, 0.387373, 0.366594
position: 0.948110, 0.393134, 0.377663
position: 0.910389, 0.399713, 0.383584
position: 0.874708, 0.407123, 0.383773
position: 0.855428, 0.411372, 0.379558
position: 0.825440, 0.418795, 0.370206
position: 0.813582, 0.422272, 0.357534
position: 0.791070, 0.427865, 0.343938
position: 0.770231, 0.433695, 0.328115
position: 0.756018, 0.438868, 0.310022
position: 0.733195, 0.446764, 0.293432
positiooptimize pose graph 
n: 0.708730, 0.454646, 0.283005
position: 0.679668, 0.465560, 0.275737
position: 0.651608, 0.474540, 0.272443
position: 0.625191, 0.481262, 0.269175
position: 0.603843, 0.485077, 0.261351
position: 0.583439, 0.483189, 0.251567
position: 0.562813, 0.477323, 0.243468
position: 0.541032, 0.472275, 0.227990
position: 0.523386, 0.468230, 0.215639
position: 0.504337, 0.466401, 0.197433
position: 0.490011, 0.465645, 0.178585
position: 0.477086, 0.467148, 0.160211
position: 0.473718, 0.468790, 0.146522
position: 0.471570, 0.473202, 0.134019
position: 0.468469, 0.478955, 0.121447
position: 0.466069, 0.485614, 0.108776
position: 0.462176, 0.492090, 0.093766
position: 0.462426, 0.498243, 0.086200
position: 0.467912, 0.504028, 0.086854
position: 0.475233, 0.507773, 0.095214
position: 0.479557, 0.508450, 0.102085
position: 0.481212, 0.508912, 0.103987
position: 0.484028, 0.508407, 0.107744
position: 0.489795, 0.507317, 0.110274
position: 0.496031, 0.506496, 0.106518
position: 0.499356, 0.506829, 0.096692
position: 0.49781optimize pose graph 
7, 0.509647, 0.075343
position: 0.491230, 0.514969, 0.044067
position: 0.484695, 0.521781, 0.007867
position: 0.482776, 0.531593, -0.018174
position: 0.491730, 0.540659, -0.006168
position: 0.502272, 0.546880, -0.014414
position: 0.500420, 0.552424, -0.008363
position: 0.500510, 0.552356, -0.003373
position: 0.498160, 0.548752, 0.004521
position: 0.499722, 0.550982, 0.012351
position: 0.499210, 0.546130, 0.024724
position: 0.497154, 0.544613, 0.033997
position: 0.495879, 0.543259, 0.043056
position: 0.493294, 0.542034, 0.052111
position: 0.490594, 0.540980, 0.061672
position: 0.487341, 0.540276, 0.071022
position: 0.484086, 0.539823, 0.080675
position: 0.480522, 0.539516, 0.090435
position: 0.476653, 0.539212, 0.100468
position: 0.472435, 0.539060, 0.110851
position: 0.467841, 0.539224, 0.121207
position: 0.463303, 0.539629, 0.131643
position: 0.458547, 0.540332, 0.142204
position: 0.453546, 0.541125, 0.152940
position: 0.448338, 0.541981, 0.163914
position: 0.442991, 0.542931, 0.175083
position: 0.437705, 0.
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731028687.382110727]: Shutdown request received.[0m
[33m[ WARN] [1731028687.382196346]: Reason given for shutdown: [user request][0m
543815, 0.186414
position: 0.431976, 0.544866, 0.197707
position: 0.426052, 0.545997, 0.209205
position: 0.419827, 0.547344, 0.220796
position: 0.413448, 0.548825, 0.232583
position: 0.406858, 0.550427, 0.244685
[33m[ WARN] [1731028687.389706189]: Shutdown request received.[0m
[33m[ WARN] [1731028687.389736069]: Reason given for shutdown: [user request][0m
killed
