/SLAM-Hive/slam_hive_results/mapping_results/3412/2280_vins-fusion-stereo+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1731034079.347760718]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/dd6b40f8-9d7b-11ef-b9ee-0242ac110002/roslaunch-2208dcb9cb72-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
[0m[ INFO] [1731034079.366042234]: init begins[0m
[31m[ERROR] [1731034079.367411736]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://2208dcb9cb72:36517/[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] [1731034080.454543560]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://2208dcb9cb72:11311/[0m
]2;roscore http://2208dcb9cb72:11311/
[1msetting /run_id to dd6b40f8-9d7b-11ef-b9ee-0242ac110002[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[0m[ INFO] [1731034080.472760696]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1731034080.477699866]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731034080.477969163]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731034080.477992597]: 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] [1731034080.488531477]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731034080.488865454]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731034080.489087864]: waiting for image and imu...[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
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [217][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1731034089.431900712]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 327395571.53 
[0m[ INFO] [1731034090.838394603]: Initialization finish![0m
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time: 1403638531.227829, t: 0.139838 0.069823 0.052465 q: 0.995672 -0.087489 -0.021052 0.023250 
optimize pose graph 
time: 1403638531.327830, t: 0.139095 0.068469 0.052887 q: 0.995739 -0.088221 -0.014359 0.022704 
time: 1403638531.427830, t: 0.139025 0.068551 0.052822 q: 0.995719 -0.088405 -0.015630 0.021977 
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time: 1403638531.727829, t: 0.138832 0.068550 0.052294 q: 0.995763 -0.088180 -0.014692 0.021558 
time: 1403638531.827830, t: 0.138848 0.068515 0.052312 q: 0.995766 -0.088122 -0.014683 0.021674 
time: 1403638531.927830, t: 0.138845 0.068466 0.052326 q: 0.995769 -0.088039 -0.014619 0.021877 
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time: 1403638541.027829, t: 0.589424 0.057990 0.455061 q: 0.997723 0.036936 0.006080 -0.056097 
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optimize pose graph 
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optimize pose graph 
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time: 1403638597.927830, t: 5.760367 2.322286 6.165260 q: 0.970690 -0.239069 0.017086 -0.017776 
time: 1403638598.027829, t: 5.763153 2.059219 6.217388 q: 0.972054 -0.233171 0.016330 -0.021821 
time: 1403638598.127830, t: 5.769500 1.781674 6.265382 q: 0.974604 -0.222942 0.018505 -0.010123 
time: 1403638598.227829, t: 5.772122 1.502722 6.304891 q: 0.977238 -0.210936 0.020380 0.009849 
time: 1403638598.327830, t: 5.777313 1.215313 6.346231 q: 0.978677 -0.203157 0.017971 0.024400 
time: 1403638598.427830, t: 5.775593 0.928850 6.389573 q: 0.979309 -0.199336 0.015317 0.031385 
time: 1403638598.527829, t: 5.768293 0.642249 6.427448 q: 0.979950 -0.195994 0.012874 0.033446 
time: 1403638598.627830, t: 5.755022 0.363799 6.461545 q: 0.981471 -0.188723 0.008484 0.032044 
time: 1403638598.727829, t: 5.736800 0.079488 6.503606 q: 0.983576 -0.178245 0.007741 0.027349 
time: 1403638598.827830, t: 5.726316 -0.196555 6.540638 q: 0.986282 -0.163414 0.008137 0.021872 
time: 1403638598.927830, t: 5.712968 -0.471078 6.571055 q: 0.989052 -0.146701 0.006715 0.014523 
time: 1403638599.027829, t: 5.704862 -0.749380 6.604866 q: 0.991760 -0.127633 0.006530 0.008882 
time: 1403638599.127830, t: 5.707576 -1.027179 6.623375 q: 0.994085 -0.108418 0.006296 0.000171 
time: 1403638599.227829, t: 5.705191 -1.301481 6.645837 q: 0.996002 -0.088733 0.005300 -0.008816 
time: 1403638599.327830, t: 5.717811 -1.580944 6.659019 q: 0.997549 -0.068071 0.002415 -0.016015 
time: 1403638599.427830, t: 5.726993 -1.860811 6.667525 q: 0.998391 -0.051377 -0.002272 -0.023889 
time: 1403638599.527829, t: 5.734621 -2.127517 6.678728 q: 0.998801 -0.039210 -0.005856 -0.028713 
time: 1403638599.627830, t: 5.734323 -2.393546 6.698760 q: 0.999023 -0.031438 -0.008356 -0.029910 
time: 1403638599.727829, t: 5.736238 -2.659076 6.714091 q: 0.999070 -0.027831 -0.010634 -0.031166 
time: 1403638599.827830, t: 5.735587 -2.930365 6.737714 q: 0.999098 -0.027870 -0.011874 -0.029768 
time: 1403638599.927830, t: 5.726711 -3.188061 6.765897 q: 0.999231 -0.027733 -0.013601 -0.024146 
time: 1403638600.027829, t: 5.714417 -3.438369 6.796832 q: 0.999439 -0.027022 -0.011951 -0.015782 
time: 1403638600.127830, t: 5.698934 -3.698342 6.823827 q: 0.999534 -0.026157 -0.015369 -0.003446 
time: 1403638600.227829, t: 5.684431 -3.944558 6.852247 q: 0.999434 -0.023375 -0.020411 0.012956 
time: 1403638600.327830, t: 5.684279 -4.179284 6.880928 q: 0.999121 -0.021541 -0.024787 0.026071 
time: 1403638600.427830, t: 5.673135 -4.409327 6.921151 q: 0.998705 -0.019941 -0.027296 0.038015 
time: 1403638600.527829, t: 5.667126 -4.602478 6.958742 q: 0.998527 -0.019799 -0.028851 0.041458 
time: 1403638600.627830, t: 5.668395 -4.790331 7.003665 q: 0.998405 -0.020357 -0.031265 0.042374 
time: 1403638600.727829, t: 5.683333 -4.969747 7.048016 q: 0.998209 -0.020681 -0.035474 0.043512 
time: 1403638600.827830, t: 5.709799 -5.133910 7.091285 q: 0.998075 -0.021754 -0.042867 0.039173 
time: 1403638600.927830, t: 5.740382 -5.282608 7.139783 q: 0.998249 -0.027167 -0.048449 0.020357 
time: 1403638601.127830, t: 5.780541 -5.557143 7.272773 q: 0.998315 -0.033346 -0.047206 -0.005127 
time: 1403638601.227829, t: 5.806322 -5.691695 7.349828 q: 0.998324 -0.036041 -0.042228 -0.016364 
time: 1403638601.327830, t: 5.831231 -5.820239 7.428538 q: 0.998548 -0.036830 -0.029523 -0.025941 
time: 1403638601.427830, t: 5.859210 -5.962656 7.515584 q: 0.999154 -0.026864 -0.021598 -0.022411 
time: 1403638601.527829, t: 5.892385 -6.102134 7.598972 q: 0.999544 -0.011534 -0.014673 -0.023756 
time: 1403638601.627830, t: 5.928740 -6.237789 7.685803 q: 0.999417 0.007645 -0.009970 -0.031743 
optimize pose graph 
time: 1403638601.727829, t: 5.969748 -6.375652 7.767750 q: 0.998518 0.031249 -0.007942 -0.043838 
time: 1403638601.827830, t: 6.017920 -6.512580 7.850456 q: 0.996513 0.058736 -0.004498 -0.059092 
time: 1403638601.927830, t: 6.069802 -6.651507 7.923316 q: 0.993498 0.086669 -0.002347 -0.073794 
time: 1403638602.027829, t: 6.111158 -6.790115 7.995520 q: 0.990531 0.109355 -0.002909 -0.082960 
time: 1403638602.127830, t: 6.151622 -6.932096 8.065673 q: 0.987948 0.125274 -0.002023 -0.090892 
time: 1403638602.227829, t: 6.191425 -7.078899 8.136363 q: 0.984960 0.139552 0.003679 -0.101807 
time: 1403638602.327830, t: 6.213906 -7.221177 8.206415 q: 0.981111 0.160626 0.012693 -0.107045 
time: 1403638602.427830, t: 6.248943 -7.383003 8.261320 q: 0.976327 0.191510 0.031539 -0.095476 
time: 1403638602.527829, t: 6.286086 -7.518630 8.297921 q: 0.969080 0.225075 0.061491 -0.080277 
time: 1403638602.627830, t: 6.325944 -7.658795 8.319772 q: 0.961400 0.254072 0.078894 -0.070238 
time: 1403638602.727829, t: 6.359323 -7.795422 8.339054 q: 0.954858 0.276162 0.079454 -0.075288 
time: 1403638602.827830, t: 6.406467 -7.919194 8.325192 q: 0.948778 0.294049 0.074964 -0.087953 
time: 1403638602.927830, t: 6.443900 -8.006673 8.300304 q: 0.941477 0.316678 0.066791 -0.094204 
time: 1403638603.027829, t: 6.479908 -8.091924 8.266374 q: 0.933298 0.342470 0.056123 -0.092298 
time: 1403638603.127830, t: 6.510498 -8.159057 8.223869 q: 0.924826 0.364337 0.056048 -0.093887 
time: 1403638603.227829, t: 6.525822 -8.216130 8.179571 q: 0.919054 0.377117 0.047989 -0.104023 
time: 1403638603.327830, t: 6.529380 -8.258113 8.132382 q: 0.916275 0.381398 0.022707 -0.120254 
time: 1403638603.427830, t: 6.526408 -8.286781 8.082114 q: 0.914336 0.382887 0.000598 -0.131863 
time: 1403638603.527829, t: 6.519826 -8.306904 8.034324 q: 0.912809 0.384537 -0.007764 -0.137296 
time: 1403638603.627830, t: 6.512478 -8.325403 7.987942 q: 0.910675 0.389747 -0.000623 -0.136994 
time: 1403638603.727829, t: 6.498340 -8.339000 7.944347 q: 0.909307 0.390591 0.012093 -0.143017 
optimize pose graph 
time: 1403638603.827830, t: 6.473641 -8.348001 7.900045 q: 0.908357 0.389125 0.024790 -0.151180 
time: 1403638603.927830, t: 6.446793 -8.347745 7.852164 q: 0.907537 0.386906 0.036428 -0.159225 
time: 1403638604.027829, t: 6.406621 -8.349940 7.799991 q: 0.907267 0.384340 0.045230 -0.164631 
time: 1403638604.127830, t: 6.365120 -8.345023 7.737069 q: 0.906950 0.382915 0.050297 -0.168189 
time: 1403638604.227829, t: 6.322399 -8.345941 7.663386 q: 0.907098 0.384290 0.047929 -0.164915 
time: 1403638604.327830, t: 6.286846 -8.338821 7.574074 q: 0.907635 0.387292 0.037086 -0.157567 
time: 1403638604.427830, t: 6.249556 -8.328697 7.476365 q: 0.908239 0.388101 0.023911 -0.154622 
time: 1403638604.527829, t: 6.219347 -8.311881 7.366931 q: 0.908619 0.386607 0.011820 -0.157501 
time: 1403638604.627830, t: 6.187748 -8.293908 7.254505 q: 0.908685 0.386119 0.006288 -0.158634 
time: 1403638604.727829, t: 6.150521 -8.277386 7.144774 q: 0.908872 0.387655 0.001698 -0.153857 
time: 1403638604.827830, t: 6.110968 -8.262250 7.035899 q: 0.909108 0.388548 -0.002281 -0.150161 
time: 1403638604.927830, t: 6.076159 -8.239097 6.925998 q: 0.909138 0.387825 -0.009606 -0.151552 
time: 1403638605.027829, t: 6.045919 -8.216070 6.814539 q: 0.908927 0.386559 -0.022512 -0.154652 
time: 1403638605.127830, t: 6.024053 -8.196181 6.705699 q: 0.908655 0.385231 -0.032496 -0.157757 
time: 1403638605.227829, t: 6.009820 -8.180455 6.601176 q: 0.908416 0.383936 -0.036285 -0.161424 
time: 1403638605.327830, t: 5.996966 -8.170241 6.500673 q: 0.908256 0.381900 -0.034884 -0.167354 
time: 1403638605.427830, t: 5.979389 -8.161602 6.406972 q: 0.908012 0.379603 -0.021924 -0.175883 
time: 1403638605.527829, t: 5.957451 -8.159548 6.315450 q: 0.907565 0.377436 -0.004666 -0.183973 
time: 1403638605.627830, t: 5.930115 -8.157342 6.224415 q: 0.906794 0.375397 0.007389 -0.191696 
time: 1403638605.727829, t: 5.896489 -8.164573 6.129243 q: 0.906436 0.374306 0.012762 -0.195207 
time: 1403638605.827830, t: 5.868497 -8.173588 6.025490 q: 0.906309 0.373717 0.011802 -0.196978 
optimize pose graph 
time: 1403638605.927830, t: 5.845040 -8.188735 5.915765 q: 0.906229 0.372376 0.012712 -0.199808 
time: 1403638606.027829, t: 5.825677 -8.206185 5.796500 q: 0.906141 0.370398 0.014087 -0.203754 
time: 1403638606.127830, t: 5.797258 -8.233216 5.673278 q: 0.906283 0.368703 0.014367 -0.206160 
time: 1403638606.227829, t: 5.758897 -8.267543 5.547806 q: 0.906284 0.367039 0.014359 -0.209107 
time: 1403638606.327830, t: 5.708120 -8.309403 5.419298 q: 0.907069 0.366859 0.008826 -0.206305 
time: 1403638606.427830, t: 5.651849 -8.357293 5.289460 q: 0.908321 0.368974 -0.007443 -0.196865 
time: 1403638606.527829, t: 5.593090 -8.404313 5.158966 q: 0.909065 0.371998 -0.024922 -0.186001 
time: 1403638606.627830, t: 5.530127 -8.456264 5.032779 q: 0.907936 0.376058 -0.037362 -0.181209 
time: 1403638606.727829, t: 5.463021 -8.518865 4.911145 q: 0.903902 0.383298 -0.046291 -0.184121 
time: 1403638606.827830, t: 5.390458 -8.583789 4.794442 q: 0.897279 0.395516 -0.051861 -0.189124 
time: 1403638606.927830, t: 5.319112 -8.659129 4.684327 q: 0.888347 0.412127 -0.054885 -0.194883 
time: 1403638607.027829, t: 5.258208 -8.745818 4.577947 q: 0.877806 0.431857 -0.056643 -0.199369 
time: 1403638607.127830, t: 5.205923 -8.837314 4.473443 q: 0.868492 0.451090 -0.057939 -0.197185 
time: 1403638607.227829, t: 5.164500 -8.938181 4.373106 q: 0.861646 0.466520 -0.046774 -0.194263 
time: 1403638607.327830, t: 5.118766 -9.041866 4.282136 q: 0.856922 0.478284 -0.033733 -0.189187 
time: 1403638607.427830, t: 5.067166 -9.147470 4.196816 q: 0.853827 0.486014 -0.027541 -0.184425 
time: 1403638607.527829, t: 5.012459 -9.247624 4.115182 q: 0.852225 0.489431 -0.029002 -0.182561 
time: 1403638607.627830, t: 4.952966 -9.341374 4.043439 q: 0.851256 0.491082 -0.028285 -0.182763 
time: 1403638607.727829, t: 4.895152 -9.433119 3.973070 q: 0.851318 0.490916 -0.024356 -0.183483 
time: 1403638607.827830, t: 4.831877 -9.520929 3.917362 q: 0.851542 0.490491 -0.024764 -0.183526 
time: 1403638607.927830, t: 4.766646 -9.603380 3.871273 q: 0.852036 0.490959 -0.031132 -0.178954 
time: 1403638608.027829, t: 4.698762 -9.689580 3.821161 q: 0.853173 0.490415 -0.032702 -0.174697 
optimize pose graph 
time: 1403638608.127830, t: 4.630131 -9.766758 3.776007 q: 0.854274 0.488782 -0.026275 -0.174979 
time: 1403638608.227829, t: 4.555056 -9.837464 3.737703 q: 0.855196 0.486637 -0.017687 -0.177517 
time: 1403638608.327830, t: 4.480238 -9.911386 3.703257 q: 0.856041 0.485796 -0.008118 -0.176441 
time: 1403638608.427830, t: 4.401882 -9.979099 3.664641 q: 0.856308 0.485656 -0.001724 -0.175705 
time: 1403638608.527829, t: 4.313874 -10.042665 3.639352 q: 0.856371 0.485000 -0.004199 -0.177158 
time: 1403638608.627830, t: 4.225227 -10.098652 3.615566 q: 0.856486 0.485892 -0.002072 -0.174175 
time: 1403638608.727829, t: 4.145578 -10.154123 3.588192 q: 0.856052 0.487954 0.002028 -0.170507 
time: 1403638608.827830, t: 4.069136 -10.204521 3.558643 q: 0.855869 0.487471 -0.002641 -0.172782 
time: 1403638609.027829, t: 3.932406 -10.283326 3.501599 q: 0.855314 0.487594 -0.016030 -0.174451 
time: 1403638609.127830, t: 3.874253 -10.316320 3.470194 q: 0.855291 0.487242 -0.018483 -0.175301 
time: 1403638609.227829, t: 3.821861 -10.348430 3.434476 q: 0.855464 0.489777 -0.018507 -0.167201 
time: 1403638609.327830, t: 3.765798 -10.378193 3.404502 q: 0.855654 0.491069 -0.019184 -0.162295 
time: 1403638609.427830, t: 3.704235 -10.403122 3.374081 q: 0.856195 0.489098 -0.018753 -0.165414 
time: 1403638609.527829, t: 3.635060 -10.421482 3.352970 q: 0.856600 0.487152 -0.018018 -0.169101 
time: 1403638609.627830, t: 3.562014 -10.434064 3.343153 q: 0.856755 0.486406 -0.017602 -0.170500 
time: 1403638609.727829, t: 3.485544 -10.445354 3.327448 q: 0.856986 0.484855 -0.015053 -0.173965 
time: 1403638609.827830, t: 3.415212 -10.453350 3.319385 q: 0.856991 0.485041 -0.016573 -0.173285 
time: 1403638610.027829, t: 3.295571 -10.467100 3.289311 q: 0.857611 0.485209 -0.013379 -0.169988 
time: 1403638610.127830, t: 3.245956 -10.466571 3.275517 q: 0.857928 0.486143 -0.008093 -0.166008 
optimize pose graph 
time: 1403638610.227829, t: 3.198889 -10.464786 3.261868 q: 0.858191 0.486322 -0.003164 -0.164286 
time: 1403638610.327830, t: 3.144557 -10.455118 3.256343 q: 0.858386 0.486660 -0.001176 -0.162276 
time: 1403638610.427830, t: 3.088097 -10.446283 3.255062 q: 0.858539 0.487038 -0.000566 -0.160325 
time: 1403638610.527829, t: 3.027176 -10.428748 3.250927 q: 0.858784 0.486546 0.004867 -0.160432 
time: 1403638610.627830, t: 2.961639 -10.403318 3.243623 q: 0.858754 0.488417 0.016909 -0.153962 
time: 1403638610.727829, t: 2.896448 -10.369974 3.233533 q: 0.858848 0.488417 0.015611 -0.153575 
time: 1403638610.827830, t: 2.834431 -10.326246 3.229715 q: 0.858578 0.487939 0.003029 -0.157320 
time: 1403638610.927830, t: 2.785181 -10.277231 3.222931 q: 0.857913 0.488229 -0.002798 -0.160030 
time: 1403638611.127830, t: 2.707570 -10.171987 3.224101 q: 0.856653 0.492032 0.001511 -0.155075 
time: 1403638611.227829, t: 2.652596 -10.111119 3.213685 q: 0.856498 0.492079 0.002057 -0.155770 
time: 1403638611.327830, t: 2.604846 -10.046079 3.208925 q: 0.856369 0.491204 0.003023 -0.159187 
time: 1403638611.427830, t: 2.567356 -9.975455 3.201602 q: 0.856488 0.486780 0.011001 -0.171329 
time: 1403638611.527829, t: 2.531743 -9.899385 3.194941 q: 0.856413 0.482496 0.016199 -0.183008 
time: 1403638611.627830, t: 2.503885 -9.820976 3.173238 q: 0.856961 0.479613 0.013320 -0.188178 
time: 1403638611.727829, t: 2.476806 -9.740945 3.145648 q: 0.857393 0.480032 0.006427 -0.185486 
time: 1403638611.827830, t: 2.435329 -9.658517 3.114681 q: 0.858035 0.482008 -0.002472 -0.177308 
time: 1403638611.927830, t: 2.390690 -9.578943 3.082621 q: 0.858863 0.482437 -0.009804 -0.171792 
time: 1403638612.027829, t: 2.348041 -9.496774 3.058047 q: 0.859127 0.482722 -0.014108 -0.169358 
time: 1403638612.127830, t: 2.317231 -9.415099 3.046562 q: 0.859026 0.483429 -0.017259 -0.167549 
time: 1403638612.227829, t: 2.281366 -9.332457 3.021154 q: 0.859397 0.482644 -0.017405 -0.167897 
time: 1403638612.327830, t: 2.260924 -9.248651 2.999858 q: 0.859446 0.482396 -0.016835 -0.168413 
optimize pose graph 
time: 1403638612.427830, t: 2.239911 -9.164655 2.983651 q: 0.859728 0.481809 -0.014191 -0.168899 
time: 1403638612.527829, t: 2.214768 -9.079262 2.970126 q: 0.860353 0.480415 -0.009366 -0.170021 
time: 1403638612.627830, t: 2.183226 -8.995456 2.952245 q: 0.861169 0.477473 -0.005332 -0.174293 
time: 1403638612.727829, t: 2.151396 -8.909191 2.939511 q: 0.861984 0.474683 -0.001158 -0.177928 
time: 1403638612.827830, t: 2.107230 -8.823504 2.920006 q: 0.863220 0.472671 0.002530 -0.177277 
time: 1403638612.927830, t: 2.076386 -8.742088 2.899831 q: 0.864084 0.471845 0.003975 -0.175228 
time: 1403638613.027829, t: 2.038392 -8.656490 2.876505 q: 0.864683 0.471130 0.001079 -0.174234 
time: 1403638613.127830, t: 2.011272 -8.571700 2.849161 q: 0.865082 0.470755 -0.000917 -0.173270 
time: 1403638613.227829, t: 2.002944 -8.489669 2.818356 q: 0.865139 0.470510 -0.004166 -0.173601 
time: 1403638613.327830, t: 1.987474 -8.404832 2.783217 q: 0.865274 0.469908 -0.004933 -0.174539 
time: 1403638613.427830, t: 1.981384 -8.321448 2.748040 q: 0.865175 0.469728 -0.004169 -0.175532 
time: 1403638613.527829, t: 1.969188 -8.235532 2.713294 q: 0.866405 0.468663 -0.002199 -0.172313 
time: 1403638613.627830, t: 1.946078 -8.148576 2.677575 q: 0.868768 0.466460 -0.001288 -0.166297 
time: 1403638613.727829, t: 1.918867 -8.062613 2.647970 q: 0.870369 0.466021 0.002982 -0.158977 
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time: 1403638618.527829, t: 1.970210 -2.461925 2.046347 q: 0.998485 -0.046331 -0.029604 0.002083 
time: 1403638618.627830, t: 2.010152 -2.361228 2.107060 q: 0.998365 -0.049159 -0.029115 0.001997 
time: 1403638618.727829, t: 2.047528 -2.264989 2.173553 q: 0.998153 -0.053704 -0.028358 0.001506 
time: 1403638618.827830, t: 2.096162 -2.174173 2.237423 q: 0.998033 -0.056846 -0.026162 0.003720 
time: 1403638618.927830, t: 2.152959 -2.086842 2.306239 q: 0.997718 -0.063671 -0.021867 0.005082 
time: 1403638619.027829, t: 2.209310 -1.999374 2.370101 q: 0.996867 -0.077156 -0.014929 0.008981 
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time: 1403638619.527829, t: 2.363331 -1.622261 2.742190 q: 0.980232 -0.189741 0.001614 0.056050 
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time: 1403638619.727829, t: 2.398033 -1.479162 2.878640 q: 0.975562 -0.203674 0.005158 0.082269 
time: 1403638619.827830, t: 2.411912 -1.408845 2.949486 q: 0.974177 -0.206573 0.007811 0.090801 
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time: 1403638620.027829, t: 2.421519 -1.266250 3.092674 q: 0.972445 -0.212892 0.010163 0.094467 
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time: 1403638620.427830, t: 2.472990 -0.961200 3.286501 q: 0.972024 -0.219218 0.012534 0.083404 
time: 1403638620.527829, t: 2.496440 -0.881609 3.321114 q: 0.972380 -0.218526 0.010528 0.081318 
time: 1403638620.627830, t: 2.512608 -0.802904 3.350343 q: 0.972825 -0.216511 0.007261 0.081746 
time: 1403638620.727829, t: 2.522350 -0.725194 3.382136 q: 0.973206 -0.213844 0.002086 0.084476 
time: 1403638620.827830, t: 2.527727 -0.643740 3.412493 q: 0.973631 -0.212053 -0.002857 0.084074 
time: 1403638620.927830, t: 2.526486 -0.564280 3.444909 q: 0.974071 -0.212879 -0.005354 0.076410 
time: 1403638621.027829, t: 2.524119 -0.483152 3.474988 q: 0.974543 -0.213370 -0.003467 0.068753 
time: 1403638621.227829, t: 2.523241 -0.322818 3.526156 q: 0.975529 -0.210511 0.002353 0.063429 
time: 1403638621.327830, t: 2.536391 -0.244815 3.548207 q: 0.975826 -0.210085 0.001690 0.060209 
time: 1403638621.427830, t: 2.546379 -0.171851 3.569160 q: 0.976170 -0.208949 0.003990 0.058454 
time: 1403638621.527829, t: 2.554108 -0.101822 3.588556 q: 0.976430 -0.208330 0.007559 0.055913 
time: 1403638621.627830, t: 2.552013 -0.033400 3.611600 q: 0.976672 -0.207378 0.010652 0.054698 
time: 1403638621.727829, t: 2.544875 0.032039 3.631254 q: 0.976819 -0.206905 0.012040 0.053575 
time: 1403638621.827830, t: 2.536088 0.093154 3.650443 q: 0.976823 -0.207205 0.015759 0.051332 
time: 1403638621.927830, t: 2.523576 0.151066 3.666834 q: 0.976781 -0.207426 0.021431 0.049128 
time: 1403638622.027829, t: 2.506790 0.200575 3.682936 q: 0.976770 -0.207124 0.023621 0.049624 
time: 1403638622.127830, t: 2.478993 0.251060 3.691679 q: 0.976840 -0.206061 0.022708 0.052971 
time: 1403638622.227829, t: 2.453809 0.298741 3.696208 q: 0.976926 -0.204946 0.021772 0.056024 
time: 1403638622.327830, t: 2.432610 0.340122 3.693794 q: 0.976900 -0.204224 0.021696 0.059058 
time: 1403638622.427830, t: 2.416155 0.378294 3.682433 q: 0.976736 -0.205720 0.019924 0.057178 
optimize pose graph 
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time: 1403638622.627830, t: 2.404215 0.444386 3.637531 q: 0.976262 -0.209714 0.021436 0.049733 
time: 1403638622.727829, t: 2.409626 0.467746 3.607963 q: 0.975709 -0.211413 0.034130 0.046166 
time: 1403638622.827830, t: 2.417554 0.482385 3.568184 q: 0.974858 -0.212801 0.049310 0.044004 
time: 1403638622.927830, t: 2.419002 0.495070 3.516741 q: 0.974745 -0.213022 0.049334 0.045397 
time: 1403638623.027829, t: 2.411872 0.501239 3.459171 q: 0.975076 -0.212538 0.039520 0.049928 
time: 1403638623.127830, t: 2.398636 0.503041 3.398173 q: 0.975366 -0.211333 0.030284 0.055510 
time: 1403638623.227829, t: 2.378655 0.499248 3.333727 q: 0.975542 -0.209813 0.025448 0.060410 
time: 1403638623.327830, t: 2.355712 0.496044 3.265788 q: 0.975666 -0.208847 0.019635 0.063828 
time: 1403638623.427830, t: 2.327327 0.490791 3.195718 q: 0.975709 -0.208985 0.014983 0.063974 
time: 1403638623.527829, t: 2.293187 0.486045 3.126370 q: 0.975762 -0.208331 0.014190 0.065468 
time: 1403638623.627830, t: 2.268902 0.478607 3.048725 q: 0.975595 -0.209881 0.014856 0.062800 
time: 1403638623.727829, t: 2.244633 0.471128 2.968997 q: 0.975448 -0.211049 0.013476 0.061473 
time: 1403638623.827830, t: 2.229790 0.461532 2.882758 q: 0.975289 -0.212226 0.011764 0.060277 
time: 1403638623.927830, t: 2.216223 0.450674 2.793198 q: 0.975000 -0.213783 0.008683 0.059965 
time: 1403638624.027829, t: 2.201404 0.437786 2.707015 q: 0.974740 -0.214774 0.007068 0.060862 
time: 1403638624.127830, t: 2.181357 0.422689 2.620416 q: 0.974522 -0.214725 0.006122 0.064522 
time: 1403638624.227829, t: 2.157137 0.405502 2.534992 q: 0.974287 -0.214584 0.005924 0.068438 
time: 1403638624.327830, t: 2.126600 0.390311 2.448320 q: 0.974055 -0.214871 0.006880 0.070715 
time: 1403638624.427830, t: 2.093289 0.372648 2.362579 q: 0.973782 -0.215706 0.006835 0.071920 
time: 1403638624.527829, t: 2.054392 0.357011 2.280802 q: 0.973404 -0.216384 0.011694 0.074338 
time: 1403638624.627830, t: 2.012018 0.343250 2.196995 q: 0.972962 -0.215902 0.027551 0.077281 
optimize pose graph 
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time: 1403638624.827830, t: 1.923435 0.316348 2.019027 q: 0.975147 -0.212790 0.014077 0.060091 
time: 1403638624.927830, t: 1.891104 0.296604 1.920155 q: 0.976464 -0.207748 0.007957 0.057404 
time: 1403638625.027829, t: 1.857164 0.271473 1.821516 q: 0.977654 -0.201295 0.007155 0.060184 
time: 1403638625.127830, t: 1.824786 0.248209 1.722630 q: 0.978550 -0.195258 0.006490 0.065353 
time: 1403638625.227829, t: 1.786849 0.231760 1.623735 q: 0.979190 -0.191460 0.005424 0.067086 
time: 1403638625.327830, t: 1.742853 0.218489 1.528869 q: 0.979589 -0.189609 0.005575 0.066511 
time: 1403638625.427830, t: 1.705932 0.201462 1.428784 q: 0.979820 -0.188646 0.005974 0.065805 
time: 1403638625.527829, t: 1.674619 0.185516 1.325707 q: 0.979888 -0.188384 0.006420 0.065489 
time: 1403638625.627830, t: 1.648211 0.173182 1.218544 q: 0.979869 -0.188715 0.003947 0.065016 
time: 1403638625.727829, t: 1.626807 0.156750 1.109950 q: 0.979844 -0.188403 -0.001108 0.066396 
time: 1403638625.827830, t: 1.604168 0.145169 1.004433 q: 0.979687 -0.188433 -0.008744 0.068049 
time: 1403638625.927830, t: 1.578758 0.134800 0.900222 q: 0.979551 -0.189342 -0.010758 0.067190 
time: 1403638626.027829, t: 1.551971 0.127239 0.803823 q: 0.979351 -0.189930 -0.012442 0.068144 
time: 1403638626.127830, t: 1.517776 0.121944 0.708090 q: 0.979215 -0.189664 -0.013385 0.070620 
time: 1403638626.227829, t: 1.481133 0.118293 0.621413 q: 0.979119 -0.190635 -0.013331 0.069334 
time: 1403638626.327830, t: 1.441097 0.117840 0.534954 q: 0.979058 -0.193520 -0.010171 0.062391 
time: 1403638626.427830, t: 1.400940 0.116359 0.451850 q: 0.979049 -0.195773 -0.006640 0.055596 
time: 1403638626.527829, t: 1.359145 0.113221 0.376294 q: 0.979016 -0.196339 -0.009038 0.053822 
time: 1403638626.627830, t: 1.316194 0.112230 0.298481 q: 0.979015 -0.195758 -0.012751 0.055191 
time: 1403638626.727829, t: 1.272337 0.109524 0.221986 q: 0.979036 -0.194785 -0.017520 0.056927 
time: 1403638626.827830, t: 1.239405 0.106969 0.151135 q: 0.978968 -0.193934 -0.023137 0.058952 
optimize pose graph 
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time: 1403638627.027829, t: 1.189583 0.100174 0.020943 q: 0.979033 -0.193067 -0.027037 0.059066 
time: 1403638627.127830, t: 1.168984 0.098834 -0.035093 q: 0.979160 -0.192433 -0.026597 0.059230 
time: 1403638627.227829, t: 1.148352 0.100610 -0.090105 q: 0.979285 -0.191764 -0.026507 0.059363 
time: 1403638627.327830, t: 1.126981 0.097572 -0.139145 q: 0.979295 -0.192681 -0.026739 0.056032 
time: 1403638627.427830, t: 1.103339 0.099093 -0.181284 q: 0.979328 -0.192988 -0.026572 0.054459 
time: 1403638627.527829, t: 1.077413 0.100041 -0.217755 q: 0.979333 -0.192934 -0.025980 0.054856 
time: 1403638627.627830, t: 1.052609 0.102424 -0.249846 q: 0.979270 -0.194530 -0.022743 0.051685 
time: 1403638627.727829, t: 1.028900 0.101912 -0.276727 q: 0.979289 -0.195259 -0.017548 0.050592 
time: 1403638627.827830, t: 1.006528 0.098252 -0.302811 q: 0.979198 -0.196150 -0.015540 0.049549 
time: 1403638627.927830, t: 0.984084 0.092493 -0.328761 q: 0.979024 -0.196897 -0.017808 0.049253 
time: 1403638628.027829, t: 0.962818 0.091423 -0.347605 q: 0.978812 -0.197809 -0.020787 0.048654 
time: 1403638628.127830, t: 0.943516 0.088319 -0.364637 q: 0.978620 -0.198523 -0.022819 0.048688 
time: 1403638628.227829, t: 0.930671 0.080921 -0.378955 q: 0.978409 -0.199341 -0.023523 0.049250 
time: 1403638628.327830, t: 0.914046 0.066149 -0.388567 q: 0.978193 -0.200019 -0.024632 0.050242 
time: 1403638628.427830, t: 0.903854 0.056051 -0.395366 q: 0.978203 -0.199275 -0.023817 0.053301 
time: 1403638628.527829, t: 0.899617 0.046976 -0.397635 q: 0.978442 -0.196218 -0.013461 0.062993 
time: 1403638628.627830, t: 0.898478 0.038231 -0.401059 q: 0.978532 -0.193825 -0.001736 0.070030 
time: 1403638628.727829, t: 0.892543 0.027183 -0.408595 q: 0.978495 -0.193040 -0.000750 0.072675 
time: 1403638628.827830, t: 0.883676 0.021813 -0.414272 q: 0.978421 -0.194725 -0.003365 0.069011 
time: 1403638628.927830, t: 0.870173 0.019553 -0.419983 q: 0.978318 -0.196817 -0.003601 0.064380 
optimize pose graph 
time: 1403638629.027829, t: 0.857871 0.018084 -0.425711 q: 0.978259 -0.198800 -0.005515 0.058794 
time: 1403638629.127830, t: 0.848298 0.017896 -0.429922 q: 0.978255 -0.199922 -0.007895 0.054644 
time: 1403638629.227829, t: 0.840566 0.015635 -0.435917 q: 0.978267 -0.200352 -0.009811 0.052495 
time: 1403638629.327830, t: 0.836135 0.011044 -0.442913 q: 0.978207 -0.200873 -0.011509 0.051263 
time: 1403638629.427830, t: 0.830720 0.005093 -0.449672 q: 0.978011 -0.200958 -0.018612 0.052574 
time: 1403638629.527829, t: 0.827544 -0.002116 -0.453950 q: 0.977763 -0.200126 -0.026929 0.056607 
time: 1403638629.627830, t: 0.827788 -0.009716 -0.453798 q: 0.977754 -0.197490 -0.027397 0.065154 
time: 1403638629.727829, t: 0.831853 -0.017189 -0.450734 q: 0.977764 -0.193919 -0.020276 0.077211 
time: 1403638629.827830, t: 0.836537 -0.018784 -0.443379 q: 0.977805 -0.192622 -0.009876 0.081830 
time: 1403638629.927830, t: 0.834147 -0.018235 -0.436763 q: 0.977803 -0.195092 0.000566 0.076415 
time: 1403638630.027829, t: 0.823570 -0.013958 -0.428530 q: 0.977737 -0.199585 0.010195 0.063971 
time: 1403638630.127830, t: 0.801177 -0.009125 -0.418956 q: 0.977694 -0.202076 0.009416 0.056485 
time: 1403638630.227829, t: 0.770063 -0.006001 -0.412326 q: 0.977733 -0.202877 0.002245 0.053603 
time: 1403638630.327830, t: 0.738604 -0.005062 -0.400836 q: 0.977523 -0.203881 -0.008333 0.053031 
time: 1403638630.427830, t: 0.774956 -0.000052 -0.438714 q: 0.978157 -0.196230 -0.020585 0.065408 
time: 1403638630.527829, t: 0.741599 0.011077 -0.361578 q: 0.978535 -0.198789 -0.001896 0.054308 
time: 1403638630.627830, t: 0.731470 0.007611 -0.340446 q: 0.978369 -0.199655 -0.000451 0.054142 
time: 1403638630.727829, t: 0.721569 0.007793 -0.377873 q: 0.979545 -0.188152 -0.044976 0.055378 
time: 1403638630.827830, t: 0.724766 0.056184 -0.387749 q: 0.979063 -0.191866 -0.041676 0.053717 
time: 1403638630.927830, t: 0.705500 0.057746 -0.436012 q: 0.979474 -0.189729 -0.042528 0.053157 
time: 1403638631.027829, t: 0.650150 0.023560 -0.348326 q: 0.979380 -0.190321 -0.040025 0.054686 
time: 1403638631.127830, t: 0.650385 0.021569 -0.346081 q: 0.979369 -0.190329 -0.039817 0.054998 
time: 1403638631.227829, t: 0.650847 0.021246 -0.345765 q: 0.979380 -0.190352 -0.039814 0.054730 
optimize pose graph 
time: 1403638631.327830, t: 0.649084 0.021555 -0.345355 q: 0.979379 -0.190413 -0.039510 0.054751 
time: 1403638631.427830, t: 0.648162 0.021565 -0.344946 q: 0.979385 -0.190484 -0.039519 0.054394 
time: 1403638631.527829, t: 0.647971 0.021446 -0.344779 q: 0.979366 -0.190548 -0.039667 0.054402 
time: 1403638631.627830, t: 0.647798 0.021495 -0.344893 q: 0.979363 -0.190634 -0.039722 0.054118 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731034205.146760706]: Shutdown request received.[0m
[33m[ WARN] [1731034205.146807387]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731034205.147715121]: Shutdown request received.[0m
[33m[ WARN] [1731034205.147738533]: Reason given for shutdown: [user request][0m
killed
