/SLAM-Hive/slam_hive_results/mapping_results/3403/2250_vins-fusion-stereo+MH_04_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/f50838f0-9d77-11ef-9d39-0242ac110002/roslaunch-dcd30a4c651f-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
[0m[ INFO] [1731032401.208371856]: init begins[0m
[31m[ERROR] [1731032401.214189904]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731032401.214247410]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://dcd30a4c651f:45549/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[1mROS_MASTER_URI=http://dcd30a4c651f:11311/[0m
]2;roscore http://dcd30a4c651f:11311/
[1msetting /run_id to f50838f0-9d77-11ef-9d39-0242ac110002[0m
[0m[ INFO] [1731032402.219864390]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731032402.220129437]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1731032402.229881186]:  fix extrinsic param [0m
config_file: /slamhive/mappingtask.yaml
camera number 2
[0m[ INFO] [1731032402.243395290]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731032402.243428986]: ROW: 480 COL: 752 [0m
no imu, fix extrinsic param; no time offset calibration
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1731032402.247712535]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[0m[ INFO] [1731032402.251172219]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731032402.251406299]: waiting for image and imu...[0m
loop start load vocabulary
[1mprocess[rosout-1]: started with pid [192][0m
started core service [/rosout]
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1731032410.777005540]: 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: 327394283.67 
throw img0
[0m[ INFO] [1731032412.234778156]: Initialization finish![0m
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time: 1403638128.545097, t: -0.000069 -0.000056 0.000069 q: 0.999999 -0.000132 -0.000838 0.000575 
time: 1403638128.745097, t: -0.000141 -0.000052 0.000194 q: 0.999997 -0.000331 -0.001458 0.001672 
time: 1403638128.845097, t: -0.000112 -0.000035 0.000147 q: 0.999997 -0.001127 -0.001809 0.001517 
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time: 1403638129.045097, t: 0.000137 -0.000056 0.000135 q: 0.999999 -0.001183 -0.001091 -0.000427 
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time: 1403638138.445097, t: 0.007857 -0.032962 -0.007035 q: 0.995442 -0.090488 -0.002107 0.030058 
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time: 1403638138.645097, t: 0.007466 -0.032948 -0.007222 q: 0.995440 -0.090348 -0.001733 0.030540 
time: 1403638138.745097, t: 0.006659 -0.033151 -0.006193 q: 0.995445 -0.090234 -0.001557 0.030739 
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time: 1403638139.045097, t: 0.007440 -0.033354 -0.005626 q: 0.995447 -0.090162 -0.001742 0.030880 
optimize pose graph 
time: 1403638139.145097, t: 0.007423 -0.033450 -0.005601 q: 0.995448 -0.090042 -0.001722 0.031197 
time: 1403638139.245097, t: 0.007434 -0.033490 -0.005591 q: 0.995447 -0.089969 -0.001734 0.031421 
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time: 1403638139.645097, t: 0.007434 -0.033386 -0.005597 q: 0.995447 -0.090115 -0.001771 0.031004 
time: 1403638139.745097, t: 0.007445 -0.033378 -0.005599 q: 0.995446 -0.090125 -0.001767 0.030994 
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optimize pose graph 
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time: 1403638149.945097, t: 0.573548 -0.086843 0.159100 q: 0.997713 -0.055718 0.036867 0.010280 
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time: 1403638150.245097, t: 0.576230 -0.127825 0.229577 q: 0.997522 -0.059210 0.035608 -0.013280 
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time: 1403638150.445097, t: 0.559829 -0.177223 0.287151 q: 0.998423 -0.051946 0.020164 -0.006812 
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optimize pose graph 
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time: 1403638153.445097, t: 1.296502 -2.045528 1.325595 q: 0.968143 0.222996 0.012300 -0.113232 
time: 1403638153.545097, t: 1.329830 -2.141724 1.364119 q: 0.963706 0.233434 0.012105 -0.128971 
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time: 1403638153.845097, t: 1.442305 -2.439002 1.474148 q: 0.947205 0.283154 0.016665 -0.149495 
optimize pose graph 
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optimize pose graph 
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time: 1403638206.745097, t: 6.179700 -9.360492 6.051670 q: 0.925880 0.348226 0.062731 -0.132474 
time: 1403638206.845097, t: 6.157478 -9.476264 5.969379 q: 0.922070 0.357571 0.061396 -0.134759 
time: 1403638206.945097, t: 6.129070 -9.590824 5.882407 q: 0.919166 0.364674 0.063411 -0.134630 
time: 1403638207.045097, t: 6.092466 -9.706574 5.798098 q: 0.917231 0.369728 0.066021 -0.132776 
time: 1403638207.145097, t: 6.046012 -9.812488 5.712223 q: 0.916004 0.372370 0.068515 -0.132602 
time: 1403638207.245097, t: 5.995649 -9.912089 5.612867 q: 0.914178 0.376901 0.068852 -0.132226 
time: 1403638207.345097, t: 5.931780 -10.000251 5.519642 q: 0.909559 0.387133 0.071293 -0.133219 
time: 1403638207.445097, t: 5.864543 -10.089841 5.417995 q: 0.902603 0.401145 0.074588 -0.137212 
time: 1403638207.545097, t: 5.794493 -10.162592 5.315504 q: 0.893418 0.419620 0.073333 -0.142639 
time: 1403638207.645097, t: 5.733287 -10.230406 5.200143 q: 0.886123 0.433779 0.062944 -0.150531 
time: 1403638207.745097, t: 5.671381 -10.293301 5.079798 q: 0.881016 0.443861 0.050366 -0.155764 
time: 1403638207.845097, t: 5.612423 -10.351283 4.962684 q: 0.877627 0.450282 0.040280 -0.159354 
time: 1403638207.945097, t: 5.565441 -10.392992 4.843454 q: 0.875810 0.453328 0.030331 -0.162884 
optimize pose graph 
time: 1403638208.045097, t: 5.527867 -10.426603 4.723189 q: 0.875015 0.454257 0.027503 -0.165056 
time: 1403638208.145097, t: 5.487961 -10.458514 4.609078 q: 0.874771 0.455846 0.032108 -0.161088 
time: 1403638208.245097, t: 5.447148 -10.485605 4.497247 q: 0.875007 0.455824 0.038638 -0.158410 
time: 1403638208.345097, t: 5.394364 -10.509328 4.389061 q: 0.875985 0.453538 0.037435 -0.159850 
time: 1403638208.445097, t: 5.337765 -10.530617 4.289685 q: 0.876514 0.451687 0.033087 -0.163114 
time: 1403638208.545097, t: 5.281056 -10.547855 4.189133 q: 0.874003 0.455837 0.029251 -0.165756 
time: 1403638208.645097, t: 5.232904 -10.563858 4.092515 q: 0.867982 0.465398 0.028301 -0.170910 
time: 1403638208.745097, t: 5.195756 -10.574504 3.987721 q: 0.862292 0.475506 0.026567 -0.172165 
time: 1403638208.845097, t: 5.165411 -10.586008 3.882884 q: 0.857507 0.483445 0.027104 -0.173863 
time: 1403638208.945097, t: 5.127981 -10.592271 3.790322 q: 0.853428 0.489177 0.029873 -0.177410 
time: 1403638209.045097, t: 5.087217 -10.593859 3.698186 q: 0.850825 0.493133 0.030537 -0.178842 
time: 1403638209.145097, t: 5.035432 -10.593108 3.609462 q: 0.849120 0.495817 0.030514 -0.179525 
time: 1403638209.245097, t: 4.981258 -10.592379 3.519273 q: 0.848596 0.496606 0.029935 -0.179922 
time: 1403638209.345097, t: 4.923283 -10.585855 3.434671 q: 0.848420 0.497327 0.027855 -0.179089 
time: 1403638209.445097, t: 4.859402 -10.579077 3.361235 q: 0.848237 0.498135 0.027115 -0.177820 
time: 1403638209.545097, t: 4.790114 -10.566983 3.300693 q: 0.847933 0.499451 0.031034 -0.174915 
time: 1403638209.645097, t: 4.706855 -10.551108 3.239862 q: 0.848377 0.499412 0.031306 -0.172813 
time: 1403638209.745097, t: 4.606618 -10.535337 3.189885 q: 0.849104 0.497893 0.030206 -0.173817 
time: 1403638209.845097, t: 4.492638 -10.515790 3.149082 q: 0.849367 0.496022 0.033934 -0.177161 
time: 1403638209.945097, t: 4.369373 -10.491875 3.115805 q: 0.849379 0.495729 0.039978 -0.176663 
time: 1403638210.045097, t: 4.245679 -10.465090 3.086585 q: 0.848939 0.496592 0.047801 -0.174395 
time: 1403638210.145097, t: 4.122025 -10.430172 3.062347 q: 0.848223 0.498943 0.053788 -0.169355 
optimize pose graph 
time: 1403638210.245097, t: 4.010932 -10.390869 3.032324 q: 0.847573 0.500695 0.056614 -0.166489 
time: 1403638210.345097, t: 3.891393 -10.345979 2.984327 q: 0.847960 0.499564 0.057619 -0.167569 
time: 1403638210.445097, t: 3.784882 -10.292488 2.939715 q: 0.848244 0.499338 0.055232 -0.167611 
time: 1403638210.545097, t: 3.662952 -10.233739 2.893463 q: 0.848606 0.499342 0.055880 -0.165538 
time: 1403638210.645097, t: 3.539642 -10.168349 2.852083 q: 0.848818 0.499408 0.057517 -0.163678 
time: 1403638210.745097, t: 3.417286 -10.096219 2.804794 q: 0.849283 0.499389 0.056781 -0.161570 
time: 1403638210.845097, t: 3.293130 -10.017284 2.750461 q: 0.849979 0.498445 0.055129 -0.161397 
time: 1403638210.945097, t: 3.177416 -9.935544 2.679213 q: 0.851259 0.496426 0.048473 -0.163001 
time: 1403638211.045097, t: 3.067976 -9.840410 2.630620 q: 0.851491 0.496434 0.042814 -0.163353 
time: 1403638211.145097, t: 2.973513 -9.740833 2.587635 q: 0.851298 0.496638 0.037631 -0.165006 
time: 1403638211.245097, t: 2.882800 -9.639394 2.536734 q: 0.851336 0.496740 0.034068 -0.165277 
time: 1403638211.345097, t: 2.802289 -9.530880 2.489559 q: 0.852647 0.494649 0.032955 -0.165011 
time: 1403638211.445097, t: 2.724029 -9.420724 2.441140 q: 0.857713 0.486972 0.031885 -0.161771 
time: 1403638211.545097, t: 2.638505 -9.311028 2.387990 q: 0.865483 0.474885 0.031271 -0.156353 
time: 1403638211.645097, t: 2.546136 -9.194632 2.346994 q: 0.875055 0.460646 0.030543 -0.145433 
time: 1403638211.745097, t: 2.463993 -9.069525 2.320998 q: 0.886395 0.442270 0.028256 -0.133797 
time: 1403638211.845097, t: 2.370543 -8.943991 2.294301 q: 0.898986 0.420861 0.024267 -0.118792 
time: 1403638211.945097, t: 2.287201 -8.817199 2.265421 q: 0.911205 0.397276 0.023075 -0.106511 
time: 1403638212.045097, t: 2.213104 -8.688996 2.226496 q: 0.922619 0.372916 0.022214 -0.095997 
time: 1403638212.145097, t: 2.137002 -8.555325 2.186716 q: 0.933071 0.347505 0.024959 -0.089425 
time: 1403638212.245097, t: 2.080940 -8.414716 2.154211 q: 0.942691 0.322041 0.027410 -0.082903 
optimize pose graph 
time: 1403638212.345097, t: 2.029267 -8.276470 2.111032 q: 0.951501 0.296912 0.028177 -0.075466 
time: 1403638212.445097, t: 1.983689 -8.128963 2.089600 q: 0.959270 0.272188 0.030521 -0.069161 
time: 1403638212.545097, t: 1.952361 -7.981996 2.055197 q: 0.966251 0.249037 0.031667 -0.057763 
time: 1403638212.645097, t: 1.918156 -7.826742 2.017902 q: 0.972692 0.225064 0.031115 -0.047417 
time: 1403638212.745097, t: 1.898083 -7.671218 1.977987 q: 0.978754 0.198779 0.029598 -0.040646 
time: 1403638212.845097, t: 1.883304 -7.518863 1.922322 q: 0.984216 0.171778 0.030533 -0.029655 
time: 1403638212.945097, t: 1.867210 -7.353929 1.883142 q: 0.988830 0.144753 0.030668 -0.017932 
time: 1403638213.045097, t: 1.861707 -7.182854 1.863306 q: 0.992692 0.116627 0.030270 -0.006696 
time: 1403638213.145097, t: 1.857861 -7.014588 1.821774 q: 0.995668 0.088341 0.028018 0.007525 
time: 1403638213.245097, t: 1.835330 -6.844238 1.779576 q: 0.997582 0.061269 0.020095 0.025919 
time: 1403638213.345097, t: 1.793905 -6.660749 1.761691 q: 0.998109 0.036751 0.010832 0.048076 
time: 1403638213.445097, t: 1.773222 -6.472739 1.741020 q: 0.997389 0.012434 0.002589 0.071085 
time: 1403638213.545097, t: 1.780231 -6.293782 1.695955 q: 0.996104 -0.014275 0.000420 0.087019 
time: 1403638213.645097, t: 1.756082 -6.100009 1.698094 q: 0.995514 -0.040552 0.014094 0.084316 
time: 1403638213.745097, t: 1.745417 -5.874303 1.699410 q: 0.995106 -0.059245 0.028510 0.073763 
time: 1403638213.845097, t: 1.738080 -5.670171 1.694688 q: 0.994590 -0.072419 0.036541 0.064895 
time: 1403638213.945097, t: 1.734167 -5.465881 1.679086 q: 0.994381 -0.078503 0.038071 0.059949 
time: 1403638214.045097, t: 1.739976 -5.272838 1.659067 q: 0.994489 -0.079858 0.033130 0.059299 
time: 1403638214.145097, t: 1.752442 -5.080192 1.640291 q: 0.994961 -0.079029 0.021636 0.057790 
time: 1403638214.245097, t: 1.762600 -4.892794 1.615485 q: 0.995401 -0.076771 0.009970 0.056416 
time: 1403638214.345097, t: 1.773240 -4.707577 1.596788 q: 0.995746 -0.073746 0.001569 0.055219 
time: 1403638214.445097, t: 1.778743 -4.524469 1.582715 q: 0.996119 -0.070814 -0.000980 0.052257 
time: 1403638214.545097, t: 1.787955 -4.342004 1.578059 q: 0.996431 -0.068484 0.008015 0.048700 
time: 1403638214.645097, t: 1.789009 -4.159052 1.584501 q: 0.996566 -0.066518 0.019292 0.045370 
time: 1403638214.745097, t: 1.786373 -3.977815 1.592284 q: 0.996549 -0.064521 0.030432 0.042449 
time: 1403638214.845097, t: 1.770163 -3.798731 1.606752 q: 0.996511 -0.062391 0.037897 0.040471 
time: 1403638214.945097, t: 1.758412 -3.622094 1.620619 q: 0.996504 -0.060881 0.042043 0.038803 
time: 1403638215.045097, t: 1.737774 -3.446798 1.637328 q: 0.996537 -0.059490 0.043514 0.038483 
time: 1403638215.145097, t: 1.712689 -3.273312 1.651898 q: 0.996657 -0.059045 0.042892 0.036731 
time: 1403638215.245097, t: 1.684326 -3.101261 1.667791 q: 0.996851 -0.059444 0.039293 0.034783 
time: 1403638215.345097, t: 1.656955 -2.935723 1.679673 q: 0.997004 -0.061446 0.035890 0.030335 
time: 1403638215.445097, t: 1.633551 -2.770959 1.687413 q: 0.997025 -0.063734 0.035927 0.024235 
time: 1403638215.545097, t: 1.611808 -2.613138 1.693448 q: 0.997021 -0.064350 0.035640 0.023184 
time: 1403638215.645097, t: 1.598517 -2.459556 1.696062 q: 0.996894 -0.064263 0.039266 0.023052 
time: 1403638215.745097, t: 1.591793 -2.310574 1.690069 q: 0.996856 -0.062304 0.040331 0.027731 
time: 1403638215.845097, t: 1.579624 -2.163314 1.686622 q: 0.996560 -0.064389 0.040361 0.033054 
time: 1403638215.945097, t: 1.561907 -2.024244 1.684169 q: 0.996172 -0.068852 0.040534 0.035475 
time: 1403638216.045097, t: 1.536615 -1.886855 1.683054 q: 0.995846 -0.072142 0.040489 0.038037 
time: 1403638216.145097, t: 1.514773 -1.751994 1.680150 q: 0.995620 -0.075596 0.040084 0.037676 
time: 1403638216.245097, t: 1.495656 -1.622440 1.674089 q: 0.995370 -0.078352 0.042022 0.036517 
time: 1403638216.345097, t: 1.482823 -1.499040 1.664074 q: 0.995155 -0.080459 0.043656 0.035863 
time: 1403638216.445097, t: 1.472744 -1.383384 1.652696 q: 0.994937 -0.082224 0.045654 0.035420 
time: 1403638216.545097, t: 1.461633 -1.271551 1.639051 q: 0.994895 -0.083072 0.045233 0.035162 
time: 1403638216.645097, t: 1.446621 -1.164894 1.624888 q: 0.994944 -0.084993 0.042578 0.032400 
time: 1403638216.745097, t: 1.424857 -1.064780 1.610231 q: 0.995024 -0.086231 0.040145 0.029656 
time: 1403638216.845097, t: 1.399103 -0.965534 1.595839 q: 0.994456 -0.090275 0.045808 0.028458 
time: 1403638216.945097, t: 1.371470 -0.871255 1.579729 q: 0.993459 -0.097939 0.049239 0.031986 
time: 1403638217.045097, t: 1.338103 -0.784628 1.565444 q: 0.992115 -0.107867 0.048016 0.042033 
time: 1403638217.145097, t: 1.300661 -0.701476 1.544205 q: 0.990345 -0.120847 0.043267 0.052361 
time: 1403638217.245097, t: 1.259401 -0.622567 1.524444 q: 0.988587 -0.133236 0.039131 0.058414 
time: 1403638217.345097, t: 1.221695 -0.546861 1.501676 q: 0.987197 -0.142444 0.036418 0.061846 
time: 1403638217.445097, t: 1.193814 -0.474400 1.477290 q: 0.986174 -0.148794 0.033994 0.064546 
time: 1403638217.545097, t: 1.175914 -0.408543 1.450978 q: 0.985506 -0.155106 0.031176 0.061223 
time: 1403638217.645097, t: 1.163381 -0.345007 1.421686 q: 0.985168 -0.159777 0.028911 0.055487 
time: 1403638217.745097, t: 1.157418 -0.285268 1.391388 q: 0.984976 -0.163759 0.026624 0.047914 
time: 1403638217.845097, t: 1.156606 -0.232266 1.362746 q: 0.984979 -0.165794 0.023632 0.042079 
time: 1403638217.945097, t: 1.164160 -0.188399 1.331917 q: 0.985006 -0.166306 0.025703 0.037999 
time: 1403638218.045097, t: 1.163233 -0.150569 1.309338 q: 0.985185 -0.164918 0.029215 0.036870 
time: 1403638218.145097, t: 1.158933 -0.120645 1.288544 q: 0.985356 -0.163254 0.032064 0.037342 
time: 1403638218.245097, t: 1.149786 -0.098743 1.271940 q: 0.985474 -0.161609 0.037162 0.036654 
time: 1403638218.345097, t: 1.138698 -0.085151 1.259762 q: 0.985595 -0.158396 0.044380 0.039279 
optimize pose graph 
time: 1403638218.445097, t: 1.131400 -0.078666 1.240743 q: 0.985973 -0.154309 0.045948 0.043988 
time: 1403638218.545097, t: 1.128848 -0.077570 1.218266 q: 0.986255 -0.152171 0.044908 0.046133 
time: 1403638218.645097, t: 1.133042 -0.082351 1.188640 q: 0.986565 -0.150215 0.041828 0.048746 
time: 1403638218.745097, t: 1.134834 -0.092171 1.159688 q: 0.986406 -0.152139 0.033650 0.052197 
time: 1403638218.845097, t: 1.132591 -0.102300 1.131356 q: 0.985299 -0.159019 0.026816 0.056383 
time: 1403638218.945097, t: 1.126826 -0.116288 1.106462 q: 0.984034 -0.162462 0.025624 0.068014 
time: 1403638219.045097, t: 1.116964 -0.132413 1.086662 q: 0.982664 -0.162334 0.028776 0.084802 
time: 1403638219.145097, t: 1.105329 -0.146689 1.067858 q: 0.981516 -0.164475 0.032427 0.092316 
time: 1403638219.245097, t: 1.091380 -0.157736 1.050380 q: 0.980887 -0.170418 0.038674 0.085578 
time: 1403638219.345097, t: 1.074698 -0.169257 1.033223 q: 0.980169 -0.175978 0.048316 0.077242 
time: 1403638219.445097, t: 1.059947 -0.181574 1.012435 q: 0.979341 -0.178956 0.060367 0.072261 
time: 1403638219.545097, t: 1.048413 -0.198281 0.983578 q: 0.979078 -0.179707 0.063568 0.071210 
time: 1403638219.645097, t: 1.037897 -0.219101 0.947880 q: 0.979309 -0.177807 0.060154 0.075631 
time: 1403638219.745097, t: 1.025521 -0.241194 0.906800 q: 0.979546 -0.174469 0.056104 0.083081 
time: 1403638219.845097, t: 1.006242 -0.264394 0.863537 q: 0.979662 -0.170174 0.051213 0.093167 
time: 1403638219.945097, t: 0.980039 -0.285519 0.820286 q: 0.979542 -0.166406 0.047706 0.102622 
time: 1403638220.045097, t: 0.948201 -0.301764 0.775617 q: 0.979508 -0.163857 0.043649 0.108671 
time: 1403638220.145097, t: 0.914342 -0.311083 0.729387 q: 0.979795 -0.164718 0.039643 0.106293 
time: 1403638220.245097, t: 0.883055 -0.315322 0.678406 q: 0.980380 -0.171049 0.035641 0.091253 
time: 1403638220.345097, t: 0.859353 -0.321240 0.623571 q: 0.980687 -0.176555 0.031429 0.078067 
time: 1403638220.445097, t: 0.843213 -0.326678 0.567793 q: 0.980664 -0.179209 0.029953 0.072700 
time: 1403638220.545097, t: 0.832261 -0.332666 0.510196 q: 0.980544 -0.180359 0.030498 0.071231 
optimize pose graph 
time: 1403638220.645097, t: 0.818917 -0.340787 0.455905 q: 0.980272 -0.181998 0.030835 0.070661 
time: 1403638220.745097, t: 0.801970 -0.349914 0.402653 q: 0.980016 -0.182961 0.030912 0.071681 
time: 1403638220.845097, t: 0.780266 -0.361418 0.353314 q: 0.979773 -0.183351 0.031654 0.073655 
time: 1403638220.945097, t: 0.751059 -0.375166 0.306566 q: 0.979556 -0.184013 0.030305 0.075439 
time: 1403638221.045097, t: 0.718000 -0.389394 0.263685 q: 0.979460 -0.184551 0.029157 0.075817 
time: 1403638221.145097, t: 0.681682 -0.401462 0.224577 q: 0.979321 -0.185287 0.027761 0.076340 
time: 1403638221.245097, t: 0.652264 -0.417737 0.182473 q: 0.979287 -0.185238 0.025312 0.077739 
time: 1403638221.345097, t: 0.632941 -0.435215 0.138003 q: 0.979231 -0.184623 0.022742 0.080643 
time: 1403638221.445097, t: 0.617555 -0.453022 0.096672 q: 0.979080 -0.183925 0.021866 0.084231 
time: 1403638221.545097, t: 0.598844 -0.468762 0.056560 q: 0.978964 -0.183193 0.022125 0.087061 
time: 1403638221.645097, t: 0.576399 -0.483091 0.021706 q: 0.978805 -0.183449 0.023886 0.087840 
time: 1403638221.745097, t: 0.553186 -0.498958 -0.010291 q: 0.978565 -0.183016 0.028613 0.089987 
time: 1403638221.845097, t: 0.534966 -0.508499 -0.041804 q: 0.978631 -0.182331 0.030328 0.090096 
time: 1403638221.945097, t: 0.521940 -0.520073 -0.078724 q: 0.978758 -0.183867 0.032282 0.084758 
time: 1403638222.045097, t: 0.515214 -0.531515 -0.118686 q: 0.978840 -0.185300 0.031545 0.080881 
time: 1403638222.145097, t: 0.507636 -0.543756 -0.156840 q: 0.979010 -0.185863 0.025964 0.079502 
time: 1403638222.245097, t: 0.498027 -0.553102 -0.193733 q: 0.979116 -0.185715 0.019445 0.080394 
time: 1403638222.345097, t: 0.485021 -0.564050 -0.226616 q: 0.979186 -0.185180 0.013451 0.081986 
time: 1403638222.445097, t: 0.463474 -0.576715 -0.249476 q: 0.979167 -0.185005 0.008887 0.083221 
time: 1403638222.545097, t: 0.445328 -0.586041 -0.272751 q: 0.979178 -0.184834 0.009478 0.083408 
time: 1403638222.645097, t: 0.427012 -0.596838 -0.289662 q: 0.979052 -0.185039 0.019339 0.082729 
time: 1403638222.745097, t: 0.405991 -0.606385 -0.302626 q: 0.978886 -0.185595 0.025709 0.081711 
time: 1403638222.945097, t: 0.362415 -0.623817 -0.326370 q: 0.978392 -0.186258 0.043010 0.078781 
time: 1403638223.045097, t: 0.338848 -0.633764 -0.341323 q: 0.978451 -0.185677 0.043774 0.079008 
time: 1403638223.145097, t: 0.319867 -0.648067 -0.359908 q: 0.978768 -0.185972 0.033682 0.079334 
time: 1403638223.245097, t: 0.304479 -0.662855 -0.379865 q: 0.979026 -0.182979 0.016703 0.088017 
time: 1403638223.345097, t: 0.292844 -0.673651 -0.400405 q: 0.978983 -0.181627 0.012908 0.091853 
time: 1403638223.445097, t: 0.283153 -0.682534 -0.416895 q: 0.978662 -0.179039 0.019387 0.098945 
time: 1403638223.545097, t: 0.270409 -0.685717 -0.431401 q: 0.978151 -0.175301 0.027580 0.108302 
time: 1403638223.645097, t: 0.253936 -0.685108 -0.446537 q: 0.978367 -0.178764 0.029011 0.099998 
time: 1403638223.745097, t: 0.233397 -0.681111 -0.463506 q: 0.978697 -0.183894 0.027295 0.087119 
time: 1403638223.845097, t: 0.216213 -0.675012 -0.477606 q: 0.978860 -0.187170 0.024914 0.078617 
time: 1403638223.945097, t: 0.196709 -0.673495 -0.489033 q: 0.978894 -0.189430 0.024027 0.072835 
time: 1403638224.045097, t: 0.174828 -0.672545 -0.499388 q: 0.979002 -0.189803 0.019977 0.071631 
time: 1403638224.145097, t: 0.153905 -0.677329 -0.507069 q: 0.979191 -0.188328 0.010170 0.074925 
time: 1403638224.245097, t: 0.131699 -0.677930 -0.508801 q: 0.979247 -0.187299 0.004520 0.077288 
time: 1403638224.345097, t: 0.194147 -0.665944 -0.503001 q: 0.978679 -0.186281 -0.000702 0.086522 
time: 1403638224.445097, t: 0.107780 -0.680204 -0.505905 q: 0.978884 -0.185240 0.023081 0.083302 
time: 1403638224.545097, t: 0.097031 -0.685614 -0.502624 q: 0.978508 -0.185667 0.035649 0.082330 
time: 1403638224.645097, t: 0.086252 -0.687699 -0.499959 q: 0.978725 -0.186049 0.031355 0.080625 
time: 1403638224.745097, t: 0.074376 -0.691642 -0.498272 q: 0.979123 -0.185055 0.013499 0.083012 
time: 1403638224.845097, t: 0.067614 -0.698128 -0.495295 q: 0.979183 -0.184480 0.008696 0.084215 
optimize pose graph 
time: 1403638224.945097, t: 0.068666 -0.701863 -0.491266 q: 0.978946 -0.181395 0.021974 0.090979 
time: 1403638225.045097, t: 0.074085 -0.705916 -0.488994 q: 0.978648 -0.178359 0.033545 0.096495 
time: 1403638225.145097, t: 0.077685 -0.709518 -0.487205 q: 0.978858 -0.179945 0.034650 0.090860 
time: 1403638225.245097, t: 0.081542 -0.711028 -0.486729 q: 0.979471 -0.180962 0.023082 0.085768 
time: 1403638225.345097, t: 0.087864 -0.710081 -0.486877 q: 0.979701 -0.181859 0.016328 0.082741 
time: 1403638225.445097, t: 0.092561 -0.708672 -0.484324 q: 0.979606 -0.182805 0.023347 0.080058 
time: 1403638225.545097, t: 0.091441 -0.707604 -0.477492 q: 0.979045 -0.184619 0.040959 0.075563 
time: 1403638225.645097, t: 0.082583 -0.708458 -0.470080 q: 0.978211 -0.185973 0.058080 0.071717 
time: 1403638225.745097, t: 0.061712 -0.712644 -0.461993 q: 0.978456 -0.186093 0.054463 0.070907 
time: 1403638225.845097, t: 0.030075 -0.719906 -0.453014 q: 0.979329 -0.184928 0.035317 0.073957 
time: 1403638225.945097, t: -0.007314 -0.727727 -0.445757 q: 0.979821 -0.183703 0.017505 0.076790 
time: 1403638226.045097, t: -0.027011 -0.743170 -0.439056 q: 0.980401 -0.179630 0.000070 0.080914 
time: 1403638226.145097, t: -0.016089 -0.751035 -0.433854 q: 0.980114 -0.168223 0.004797 0.105146 
time: 1403638226.245097, t: -0.058353 -0.748669 -0.428597 q: 0.980394 -0.180548 -0.004496 0.078803 
time: 1403638226.345097, t: -0.021925 -0.766484 -0.425938 q: 0.980505 -0.179538 0.000381 0.079846 
time: 1403638226.445097, t: -0.022616 -0.763281 -0.421144 q: 0.980482 -0.179675 0.000795 0.079822 
time: 1403638226.545097, t: -0.022892 -0.761484 -0.419859 q: 0.981387 -0.170712 0.000838 0.087957 
time: 1403638226.645097, t: -0.055371 -0.756553 -0.419638 q: 0.980593 -0.178993 0.002835 0.079938 
time: 1403638226.745097, t: -0.058354 -0.754665 -0.419519 q: 0.980581 -0.178794 0.002357 0.080552 
time: 1403638226.845097, t: -0.058146 -0.755040 -0.419793 q: 0.980596 -0.178868 0.002795 0.080181 
time: 1403638226.945097, t: -0.058154 -0.754801 -0.419587 q: 0.980593 -0.179131 0.002505 0.079637 
time: 1403638227.045097, t: -0.058030 -0.754839 -0.419615 q: 0.980593 -0.179528 0.002168 0.078753 
optimize pose graph 
time: 1403638227.145097, t: -0.058550 -0.754687 -0.419490 q: 0.980603 -0.179284 0.002383 0.079175 
time: 1403638227.245097, t: -0.058516 -0.754792 -0.419589 q: 0.980613 -0.179118 0.002390 0.079433 
time: 1403638227.345097, t: -0.058394 -0.754903 -0.419657 q: 0.980592 -0.179012 0.002435 0.079930 
time: 1403638227.445097, t: -0.058364 -0.754980 -0.419735 q: 0.980588 -0.179030 0.002426 0.079939 
time: 1403638227.545097, t: -0.058343 -0.754872 -0.419727 q: 0.980600 -0.179076 0.002445 0.079688 
time: 1403638227.645097, t: -0.058379 -0.754801 -0.419641 q: 0.980603 -0.179139 0.002449 0.079501 
time: 1403638227.745097, t: -0.058442 -0.754827 -0.419629 q: 0.980600 -0.179139 0.002440 0.079540 
time: 1403638227.845097, t: -0.058384 -0.754838 -0.419669 q: 0.980602 -0.179110 0.002421 0.079588 
time: 1403638227.945097, t: -0.058381 -0.754830 -0.419688 q: 0.980602 -0.179067 0.002443 0.079684 
time: 1403638228.045097, t: -0.058378 -0.754852 -0.419709 q: 0.980593 -0.179087 0.002441 0.079750 
time: 1403638228.145097, t: -0.058241 -0.754825 -0.419761 q: 0.980598 -0.179049 0.002493 0.079765 
time: 1403638228.245097, t: -0.058371 -0.754847 -0.419712 q: 0.980599 -0.179113 0.002459 0.079607 
time: 1403638228.345097, t: -0.058446 -0.754817 -0.419636 q: 0.980598 -0.179113 0.002461 0.079625 
time: 1403638228.445097, t: -0.058489 -0.754828 -0.419624 q: 0.980606 -0.179102 0.002413 0.079558 
time: 1403638228.545097, t: -0.058476 -0.754800 -0.419585 q: 0.980608 -0.179077 0.002469 0.079582 
time: 1403638228.645097, t: -0.058490 -0.754816 -0.419619 q: 0.980606 -0.179077 0.002429 0.079605 
time: 1403638228.745097, t: -0.058480 -0.754820 -0.419594 q: 0.980608 -0.179063 0.002441 0.079618 
time: 1403638228.845097, t: -0.058467 -0.754808 -0.419599 q: 0.980605 -0.179066 0.002475 0.079640 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731032514.255556570]: Shutdown request received.[0m
[33m[ WARN] [1731032514.255601210]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731032514.256589922]: Shutdown request received.[0m
[33m[ WARN] [1731032514.256619003]: Reason given for shutdown: [user request][0m
killed
