/SLAM-Hive/slam_hive_results/mapping_results/3459/2280_vins-fusion-stereo+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1731043318.824547060]: init begins[0m
[31m[ERROR] [1731043318.825959417]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731043318.826026379]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/6097f664-9d91-11ef-979e-0242ac110002/roslaunch-39e658b7052c-117.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://39e658b7052c:45941/[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 [154][0m
[1mROS_MASTER_URI=http://39e658b7052c:11311/[0m
]2;roscore http://39e658b7052c:11311/
[1msetting /run_id to 6097f664-9d91-11ef-979e-0242ac110002[0m
[0m[ INFO] [1731043319.931430151]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731043319.932019800]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1731043319.939171675]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731043319.939404379]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731043319.939432079]: 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] [1731043319.939675102]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731043319.939879498]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731043319.940036693]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mprocess[rosout-1]: started with pid [215][0m
started core service [/rosout]
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
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1731043328.818899013]: 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: 327404810.90 
[0m[ INFO] [1731043330.219399477]: Initialization finish![0m
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time: 1403638519.427830, t: 0.000511 0.000209 0.000071 q: 1.000000 0.000012 -0.000016 -0.000019 
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time: 1403638521.227829, t: -0.000503 0.001176 -0.000310 q: 1.000000 -0.000041 0.000074 -0.000200 
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time: 1403638521.427830, t: 0.001035 0.000320 0.000020 q: 1.000000 0.000090 -0.000120 -0.000073 
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time: 1403638522.027829, t: 0.007191 -0.010638 0.005141 q: 0.999994 0.003189 -0.000769 -0.001073 
time: 1403638522.127830, t: 0.046787 -0.022750 -0.008659 q: 0.999963 0.003309 -0.007250 -0.003284 
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time: 1403638528.927830, t: 0.357955 0.182633 0.105821 q: 0.997404 -0.055390 0.019391 0.041724 
time: 1403638529.027829, t: 0.368784 0.175092 0.089372 q: 0.997217 -0.053693 0.018157 0.048423 
time: 1403638529.127830, t: 0.369232 0.160326 0.060085 q: 0.997189 -0.061220 0.017115 0.039656 
time: 1403638529.227829, t: 0.356206 0.145451 0.032904 q: 0.997095 -0.070287 0.015336 0.025034 
time: 1403638529.327830, t: 0.358493 0.104221 -0.013769 q: 0.997015 -0.074879 0.008420 0.016845 
time: 1403638529.427830, t: 0.309247 0.108067 -0.025474 q: 0.997178 -0.073842 -0.004198 0.012852 
time: 1403638529.527829, t: 0.277456 0.086982 -0.046380 q: 0.997127 -0.070337 -0.024471 0.013842 
time: 1403638529.627830, t: 0.248383 0.077432 -0.056108 q: 0.996775 -0.069558 -0.038581 0.010608 
time: 1403638529.727829, t: 0.220619 0.066121 -0.059907 q: 0.996863 -0.068479 -0.038686 0.008854 
optimize pose graph 
time: 1403638529.827830, t: 0.197231 0.057127 -0.058217 q: 0.997269 -0.067940 -0.027293 0.009673 
time: 1403638529.927830, t: 0.180279 0.051548 -0.053122 q: 0.997464 -0.068070 -0.018318 0.009824 
time: 1403638530.027829, t: 0.173341 0.049775 -0.042758 q: 0.997430 -0.068740 -0.017828 0.009559 
time: 1403638530.127830, t: 0.168384 0.047088 -0.028961 q: 0.997215 -0.070496 -0.021702 0.011056 
time: 1403638530.227829, t: 0.164396 0.049249 -0.011522 q: 0.996770 -0.075591 -0.022809 0.014667 
time: 1403638530.327830, t: 0.160989 0.052947 0.004462 q: 0.996389 -0.079738 -0.021949 0.019202 
time: 1403638530.427830, t: 0.157756 0.057038 0.019867 q: 0.995958 -0.084759 -0.021327 0.020689 
time: 1403638530.527829, t: 0.156079 0.061664 0.031060 q: 0.995840 -0.084965 -0.021162 0.025234 
time: 1403638530.627830, t: 0.153461 0.066197 0.037768 q: 0.995512 -0.087768 -0.023704 0.026276 
time: 1403638530.727829, t: 0.147988 0.069272 0.045545 q: 0.995115 -0.089593 -0.030981 0.027565 
time: 1403638530.827830, t: 0.145446 0.071497 0.047789 q: 0.994950 -0.089621 -0.034912 0.028696 
time: 1403638530.927830, t: 0.142992 0.072361 0.050348 q: 0.995178 -0.087521 -0.033213 0.029293 
time: 1403638531.027829, t: 0.147913 0.077900 0.010012 q: 0.995419 -0.086011 -0.029520 0.029512 
time: 1403638531.127830, t: 0.140164 0.071171 0.051413 q: 0.995586 -0.087294 -0.021666 0.026827 
time: 1403638531.227829, t: 0.139838 0.069823 0.052465 q: 0.995672 -0.087489 -0.021052 0.023250 
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 
time: 1403638531.527829, t: 0.139033 0.068544 0.052336 q: 0.995743 -0.088282 -0.014302 0.022319 
time: 1403638531.627830, t: 0.138889 0.068593 0.052286 q: 0.995781 -0.088095 -0.014522 0.021169 
time: 1403638531.727829, t: 0.138832 0.068550 0.052294 q: 0.995763 -0.088180 -0.014692 0.021558 
optimize pose graph 
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 
time: 1403638532.027829, t: 0.138832 0.068417 0.052330 q: 0.995770 -0.087997 -0.014602 0.022045 
time: 1403638532.127830, t: 0.138856 0.068420 0.052346 q: 0.995770 -0.087983 -0.014598 0.022101 
time: 1403638532.227829, t: 0.138831 0.068444 0.052319 q: 0.995770 -0.088020 -0.014641 0.021927 
time: 1403638532.327830, t: 0.138847 0.068475 0.052329 q: 0.995768 -0.088072 -0.014650 0.021810 
time: 1403638532.427830, t: 0.138843 0.068492 0.052330 q: 0.995767 -0.088088 -0.014685 0.021731 
time: 1403638532.527829, t: 0.138846 0.068498 0.052334 q: 0.995767 -0.088096 -0.014689 0.021723 
time: 1403638532.627830, t: 0.138843 0.068489 0.052331 q: 0.995766 -0.088093 -0.014706 0.021757 
time: 1403638532.727829, t: 0.138834 0.068471 0.052322 q: 0.995770 -0.088041 -0.014677 0.021814 
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optimize pose graph 
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time: 1403638543.827830, t: 1.331661 -1.664340 1.292704 q: 0.931645 0.325196 0.003466 -0.162092 
optimize pose graph 
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time: 1403638598.527829, t: 5.766791 0.642907 6.425509 q: 0.979965 -0.195904 0.013140 0.033439 
time: 1403638598.627830, t: 5.753502 0.364455 6.459566 q: 0.981486 -0.188634 0.008750 0.032035 
time: 1403638598.727829, t: 5.735266 0.080140 6.501589 q: 0.983590 -0.178157 0.008008 0.027336 
time: 1403638598.827830, t: 5.724767 -0.195907 6.538581 q: 0.986294 -0.163327 0.008403 0.021856 
time: 1403638598.927830, t: 5.711400 -0.470435 6.568961 q: 0.989063 -0.146615 0.006983 0.014503 
time: 1403638599.027829, t: 5.703276 -0.748739 6.602729 q: 0.991769 -0.127549 0.006797 0.008857 
time: 1403638599.127830, t: 5.705965 -1.026540 6.621189 q: 0.994093 -0.108335 0.006564 0.000140 
time: 1403638599.227829, t: 5.703559 -1.300844 6.643607 q: 0.996008 -0.088653 0.005568 -0.008853 
time: 1403638599.327830, t: 5.716150 -1.580308 6.656734 q: 0.997553 -0.067993 0.002683 -0.016058 
time: 1403638599.427830, t: 5.725302 -1.860176 6.665187 q: 0.998394 -0.051301 -0.002004 -0.023936 
time: 1403638599.527829, t: 5.732902 -2.126883 6.676340 q: 0.998804 -0.039135 -0.005588 -0.028763 
time: 1403638599.627830, t: 5.732582 -2.392912 6.696326 q: 0.999026 -0.031363 -0.008089 -0.029963 
time: 1403638599.727829, t: 5.734472 -2.658443 6.711610 q: 0.999073 -0.027757 -0.010367 -0.031219 
time: 1403638599.827830, t: 5.733799 -2.929733 6.735185 q: 0.999101 -0.027795 -0.011606 -0.029822 
time: 1403638599.927830, t: 5.724905 -3.187428 6.763328 q: 0.999236 -0.027657 -0.013334 -0.024200 
time: 1403638600.027829, t: 5.712597 -3.437737 6.794226 q: 0.999443 -0.026943 -0.011685 -0.015836 
time: 1403638600.127830, t: 5.697094 -3.697709 6.821183 q: 0.999540 -0.026074 -0.015103 -0.003501 
time: 1403638600.227829, t: 5.682575 -3.943926 6.849568 q: 0.999443 -0.023289 -0.020147 0.012900 
time: 1403638600.327830, t: 5.682408 -4.178653 6.878208 q: 0.999130 -0.021451 -0.024524 0.026014 
time: 1403638600.427830, t: 5.671256 -4.408700 6.918398 q: 0.998716 -0.019848 -0.027034 0.037958 
time: 1403638600.527829, t: 5.665242 -4.601855 6.955959 q: 0.998539 -0.019705 -0.028589 0.041401 
time: 1403638600.627830, t: 5.666511 -4.789713 7.000849 q: 0.998417 -0.020263 -0.031003 0.042317 
time: 1403638600.727829, t: 5.681449 -4.969135 7.045161 q: 0.998222 -0.020586 -0.035213 0.043455 
time: 1403638600.827830, t: 5.707917 -5.133307 7.088388 q: 0.998091 -0.021662 -0.042605 0.039116 
time: 1403638600.927830, t: 5.738507 -5.282013 7.136844 q: 0.998265 -0.027079 -0.048185 0.020300 
time: 1403638601.027829, t: 5.762155 -5.425087 7.197113 q: 0.998266 -0.031577 -0.049532 0.003902 
time: 1403638601.127830, t: 5.778703 -5.556576 7.269766 q: 0.998330 -0.033265 -0.046939 -0.005182 
time: 1403638601.227829, t: 5.804508 -5.691143 7.346784 q: 0.998337 -0.035962 -0.041960 -0.016418 
time: 1403638601.327830, t: 5.829444 -5.819703 7.425459 q: 0.998558 -0.036754 -0.029253 -0.025993 
time: 1403638601.427830, t: 5.857453 -5.962138 7.512465 q: 0.999161 -0.026786 -0.021330 -0.022466 
time: 1403638601.527829, t: 5.890655 -6.101633 7.595811 q: 0.999547 -0.011456 -0.014405 -0.023814 
time: 1403638601.627830, t: 5.927040 -6.237308 7.682599 q: 0.999417 0.007721 -0.009702 -0.031806 
time: 1403638601.727829, t: 5.968079 -6.375203 7.764494 q: 0.998515 0.031322 -0.007676 -0.043908 
time: 1403638601.827830, t: 6.016276 -6.512138 7.847157 q: 0.996506 0.058805 -0.004232 -0.059167 
optimize pose graph 
time: 1403638601.927830, t: 6.068179 -6.651083 7.919965 q: 0.993486 0.086734 -0.002082 -0.073876 
time: 1403638602.027829, t: 6.109557 -6.789707 7.992123 q: 0.990517 0.109418 -0.002645 -0.083047 
time: 1403638602.127830, t: 6.150041 -6.931704 8.062230 q: 0.987932 0.125334 -0.001760 -0.090984 
time: 1403638602.227829, t: 6.189864 -7.078524 8.132873 q: 0.984941 0.139609 0.003941 -0.101902 
time: 1403638602.327830, t: 6.212366 -7.220816 8.202890 q: 0.981088 0.160682 0.012953 -0.107145 
time: 1403638602.427830, t: 6.247412 -7.382655 8.257748 q: 0.976296 0.191571 0.031795 -0.095582 
time: 1403638602.527829, t: 6.284558 -7.518293 8.294306 q: 0.969039 0.225140 0.061742 -0.080389 
time: 1403638602.627830, t: 6.324410 -7.658465 8.316112 q: 0.961353 0.254141 0.079140 -0.070355 
time: 1403638602.727829, t: 6.357783 -7.795097 8.335353 q: 0.954808 0.276229 0.079698 -0.075410 
time: 1403638602.827830, t: 6.404905 -7.918870 8.321444 q: 0.948727 0.294112 0.075206 -0.088080 
time: 1403638602.927830, t: 6.442313 -8.006347 8.296521 q: 0.941427 0.316739 0.067031 -0.094338 
time: 1403638603.027829, t: 6.478291 -8.091593 8.262558 q: 0.933248 0.342530 0.056359 -0.092439 
time: 1403638603.127830, t: 6.508849 -8.158718 8.220024 q: 0.924773 0.364396 0.056281 -0.094033 
time: 1403638603.227829, t: 6.524141 -8.215782 8.175709 q: 0.919002 0.377172 0.048221 -0.104172 
time: 1403638603.327830, t: 6.527668 -8.257753 8.128510 q: 0.916228 0.381447 0.022939 -0.120407 
time: 1403638603.427830, t: 6.524666 -8.286409 8.078238 q: 0.914294 0.382932 0.000831 -0.132018 
time: 1403638603.527829, t: 6.518056 -8.306520 8.030448 q: 0.912769 0.384581 -0.007531 -0.137452 
time: 1403638603.627830, t: 6.510681 -8.325008 7.984066 q: 0.910633 0.389790 -0.000391 -0.137151 
time: 1403638603.827830, t: 6.471794 -8.347583 7.896186 q: 0.908307 0.389166 0.025023 -0.151334 
time: 1403638603.927830, t: 6.444920 -8.347313 7.848319 q: 0.907484 0.386946 0.036662 -0.159377 
optimize pose graph 
time: 1403638604.027829, t: 6.404720 -8.349495 7.796168 q: 0.907211 0.384379 0.045464 -0.164782 
time: 1403638604.127830, t: 6.363188 -8.344564 7.733259 q: 0.906893 0.382953 0.050531 -0.168340 
time: 1403638604.227829, t: 6.320427 -8.345458 7.659608 q: 0.907042 0.384329 0.048163 -0.165066 
time: 1403638604.327830, t: 6.284826 -8.338319 7.570317 q: 0.907582 0.387333 0.037320 -0.157719 
time: 1403638604.427830, t: 6.247485 -8.328173 7.472629 q: 0.908189 0.388141 0.024144 -0.154775 
time: 1403638604.527829, t: 6.217220 -8.311336 7.363210 q: 0.908573 0.386647 0.012053 -0.157655 
time: 1403638604.627830, t: 6.185559 -8.293348 7.250816 q: 0.908640 0.386157 0.006522 -0.158788 
time: 1403638604.727829, t: 6.148277 -8.276791 7.141101 q: 0.908828 0.387695 0.001932 -0.154013 
time: 1403638604.827830, t: 6.108668 -8.261631 7.032250 q: 0.909065 0.388589 -0.002047 -0.150317 
time: 1403638604.927830, t: 6.073803 -8.238453 6.922372 q: 0.909097 0.387865 -0.009373 -0.151709 
time: 1403638605.027829, t: 6.043506 -8.215403 6.810933 q: 0.908890 0.386597 -0.022278 -0.154809 
time: 1403638605.127830, t: 6.021582 -8.195483 6.702108 q: 0.908620 0.385268 -0.032262 -0.157915 
time: 1403638605.327830, t: 5.994391 -8.169511 6.497103 q: 0.908221 0.381934 -0.034649 -0.167511 
time: 1403638605.427830, t: 5.976765 -8.160853 6.403412 q: 0.907974 0.379636 -0.021688 -0.176038 
time: 1403638605.527829, t: 5.954778 -8.158779 6.311903 q: 0.907522 0.377467 -0.004429 -0.184126 
time: 1403638605.627830, t: 5.927393 -8.156554 6.220883 q: 0.906747 0.375427 0.007627 -0.191847 
time: 1403638605.727829, t: 5.893715 -8.163763 6.125728 q: 0.906388 0.374335 0.012999 -0.195358 
time: 1403638605.827830, t: 5.865667 -8.172756 6.021988 q: 0.906261 0.373746 0.012040 -0.197128 
time: 1403638605.927830, t: 5.842150 -8.187881 5.912273 q: 0.906181 0.372404 0.012950 -0.199958 
time: 1403638606.027829, t: 5.822720 -8.205307 5.793015 q: 0.906092 0.370425 0.014326 -0.203903 
optimize pose graph 
time: 1403638606.127830, t: 5.794233 -8.232313 5.669804 q: 0.906235 0.368730 0.014606 -0.206309 
time: 1403638606.227829, t: 5.755801 -8.266613 5.544346 q: 0.906235 0.367065 0.014598 -0.209256 
time: 1403638606.327830, t: 5.704951 -8.308444 5.415858 q: 0.907022 0.366886 0.009066 -0.206454 
time: 1403638606.427830, t: 5.648604 -8.356304 5.286041 q: 0.908279 0.369002 -0.007204 -0.197016 
time: 1403638606.527829, t: 5.589771 -8.403294 5.155571 q: 0.909028 0.372029 -0.024684 -0.186154 
time: 1403638606.627830, t: 5.526734 -8.455215 5.029409 q: 0.907902 0.376089 -0.037125 -0.181365 
time: 1403638606.727829, t: 5.459556 -8.517786 4.907799 q: 0.903870 0.383327 -0.046056 -0.184279 
time: 1403638606.827830, t: 5.386922 -8.582680 4.791124 q: 0.897247 0.395543 -0.051627 -0.189285 
time: 1403638606.927830, t: 5.315509 -8.657992 4.681034 q: 0.888313 0.412151 -0.054654 -0.195048 
time: 1403638607.027829, t: 5.254539 -8.744654 4.574665 q: 0.877771 0.431879 -0.056415 -0.199539 
time: 1403638607.127830, t: 5.202182 -8.836114 4.470174 q: 0.868456 0.451112 -0.057715 -0.197360 
time: 1403638607.227829, t: 5.160699 -8.936967 4.369843 q: 0.861605 0.466542 -0.046554 -0.194441 
time: 1403638607.327830, t: 5.114904 -9.040631 4.278879 q: 0.856877 0.478308 -0.033515 -0.189366 
time: 1403638607.427830, t: 5.063246 -9.146214 4.193569 q: 0.853780 0.486039 -0.027324 -0.184605 
time: 1403638607.527829, t: 5.008484 -9.246348 4.111947 q: 0.852179 0.489457 -0.028786 -0.182742 
time: 1403638607.627830, t: 4.948942 -9.340079 4.040219 q: 0.851209 0.491108 -0.028069 -0.182945 
time: 1403638607.727829, t: 4.891081 -9.431805 3.969865 q: 0.851270 0.490942 -0.024140 -0.183665 
time: 1403638607.827830, t: 4.827743 -9.519617 3.914233 q: 0.851492 0.490521 -0.024549 -0.183706 
time: 1403638607.927830, t: 4.762500 -9.602031 3.868110 q: 0.851990 0.490986 -0.030916 -0.179136 
time: 1403638608.027829, t: 4.694580 -9.688211 3.818012 q: 0.853128 0.490443 -0.032486 -0.174879 
time: 1403638608.127830, t: 4.625917 -9.765366 3.772925 q: 0.854226 0.488813 -0.026059 -0.175159 
time: 1403638608.227829, t: 4.550811 -9.836062 3.734607 q: 0.855146 0.486666 -0.017471 -0.177697 
optimize pose graph 
time: 1403638608.327830, t: 4.475966 -9.909969 3.700183 q: 0.855989 0.485825 -0.007901 -0.176619 
time: 1403638608.427830, t: 4.397582 -9.977665 3.661599 q: 0.856255 0.485686 -0.001507 -0.175883 
time: 1403638608.527829, t: 4.309553 -10.041217 3.636346 q: 0.856319 0.485030 -0.003982 -0.177336 
time: 1403638608.627830, t: 4.220887 -10.097196 3.612649 q: 0.856431 0.485926 -0.001855 -0.174353 
time: 1403638608.727829, t: 4.141218 -10.152645 3.585264 q: 0.855997 0.487986 0.002245 -0.170686 
time: 1403638608.827830, t: 4.064754 -10.203028 3.555744 q: 0.855816 0.487502 -0.002424 -0.172961 
time: 1403638608.927830, t: 3.991484 -10.244490 3.529022 q: 0.855506 0.487245 -0.009030 -0.174987 
time: 1403638609.027829, t: 3.927983 -10.281806 3.498763 q: 0.855264 0.487624 -0.015813 -0.174631 
time: 1403638609.127830, t: 3.869810 -10.314788 3.467382 q: 0.855242 0.487272 -0.018266 -0.175481 
time: 1403638609.227829, t: 3.817394 -10.346884 3.431682 q: 0.855415 0.489809 -0.018291 -0.167382 
time: 1403638609.327830, t: 3.761313 -10.376636 3.401732 q: 0.855605 0.491102 -0.018969 -0.162476 
time: 1403638609.427830, t: 3.699730 -10.401552 3.371344 q: 0.856146 0.489131 -0.018537 -0.165594 
time: 1403638609.527829, t: 3.630542 -10.419900 3.350267 q: 0.856551 0.487184 -0.017801 -0.169281 
time: 1403638609.627830, t: 3.557488 -10.432473 3.340488 q: 0.856706 0.486438 -0.017385 -0.170679 
time: 1403638609.727829, t: 3.481009 -10.443751 3.324821 q: 0.856936 0.484886 -0.014835 -0.174144 
time: 1403638609.827830, t: 3.410670 -10.451737 3.316795 q: 0.856941 0.485072 -0.016355 -0.173464 
time: 1403638609.927830, t: 3.346036 -10.458948 3.301487 q: 0.857301 0.484657 -0.015419 -0.172929 
time: 1403638610.027829, t: 3.291012 -10.465468 3.286785 q: 0.857561 0.485241 -0.013161 -0.170167 
time: 1403638610.127830, t: 3.241390 -10.464931 3.273017 q: 0.857876 0.486177 -0.007876 -0.166187 
time: 1403638610.227829, t: 3.194316 -10.463138 3.259393 q: 0.858138 0.486356 -0.002947 -0.164464 
time: 1403638610.327830, t: 3.139862 -10.453366 3.253924 q: 0.858334 0.486697 -0.000952 -0.162446 
optimize pose graph 
time: 1403638610.427830, t: 3.083502 -10.444618 3.252646 q: 0.858486 0.487074 -0.000348 -0.160502 
time: 1403638610.527829, t: 3.022589 -10.427079 3.248546 q: 0.858730 0.486582 0.005085 -0.160609 
time: 1403638610.627830, t: 2.958154 -10.402684 3.240488 q: 0.858713 0.488401 0.017067 -0.154225 
time: 1403638610.727829, t: 2.891802 -10.368213 3.231329 q: 0.858788 0.488461 0.015831 -0.153746 
time: 1403638610.827830, t: 2.829843 -10.324552 3.227455 q: 0.858525 0.487975 0.003246 -0.157497 
time: 1403638610.927830, t: 2.780596 -10.275530 3.220706 q: 0.857861 0.488264 -0.002581 -0.160208 
time: 1403638611.027829, t: 2.744945 -10.226822 3.216097 q: 0.857448 0.489888 -0.001650 -0.157448 
time: 1403638611.127830, t: 2.702998 -10.170277 3.221940 q: 0.856599 0.492068 0.001727 -0.155254 
time: 1403638611.227829, t: 2.648027 -10.109400 3.211567 q: 0.856444 0.492116 0.002273 -0.155949 
time: 1403638611.327830, t: 2.600102 -10.044351 3.206657 q: 0.856321 0.491232 0.003250 -0.159358 
time: 1403638611.427830, t: 2.562785 -9.973724 3.199546 q: 0.856431 0.486812 0.011220 -0.171506 
time: 1403638611.527829, t: 2.527183 -9.897650 3.192925 q: 0.856354 0.482526 0.016418 -0.183183 
time: 1403638611.627830, t: 2.499324 -9.819232 3.171255 q: 0.856903 0.479642 0.013541 -0.188353 
time: 1403638611.727829, t: 2.472239 -9.739193 3.143698 q: 0.857337 0.480062 0.006647 -0.185662 
time: 1403638611.827830, t: 2.430755 -9.656754 3.112771 q: 0.857982 0.482039 -0.002252 -0.177485 
time: 1403638611.927830, t: 2.386108 -9.577169 3.080750 q: 0.858812 0.482470 -0.009585 -0.171969 
time: 1403638612.027829, t: 2.343456 -9.494990 3.056218 q: 0.859077 0.482755 -0.013889 -0.169536 
time: 1403638612.227829, t: 2.276781 -9.330658 3.019396 q: 0.859347 0.482678 -0.017186 -0.168075 
time: 1403638612.327830, t: 2.256337 -9.246844 2.998131 q: 0.859396 0.482430 -0.016616 -0.168592 
time: 1403638612.427830, t: 2.235325 -9.162843 2.981950 q: 0.859677 0.481843 -0.013972 -0.169077 
time: 1403638612.527829, t: 2.210185 -9.077444 2.968458 q: 0.860301 0.480449 -0.009146 -0.170199 
time: 1403638612.627830, t: 2.178642 -8.993632 2.950610 q: 0.861116 0.477507 -0.005111 -0.174470 
time: 1403638612.727829, t: 2.146815 -8.907359 2.937913 q: 0.861930 0.474716 -0.000936 -0.178103 
time: 1403638612.827830, t: 2.102649 -8.821664 2.918448 q: 0.863165 0.472704 0.002752 -0.177452 
time: 1403638612.927830, t: 2.071804 -8.740240 2.898307 q: 0.864029 0.471879 0.004197 -0.175402 
time: 1403638613.027829, t: 2.033806 -8.654633 2.875018 q: 0.864629 0.471165 0.001301 -0.174409 
time: 1403638613.127830, t: 2.006681 -8.569835 2.847704 q: 0.865028 0.470790 -0.000695 -0.173444 
time: 1403638613.227829, t: 1.998346 -8.487797 2.816921 q: 0.865086 0.470544 -0.003943 -0.173776 
time: 1403638613.327830, t: 1.982866 -8.402952 2.781806 q: 0.865221 0.469942 -0.004711 -0.174714 
time: 1403638613.427830, t: 1.976767 -8.319559 2.746651 q: 0.865122 0.469762 -0.003947 -0.175707 
time: 1403638613.527829, t: 1.964562 -8.233635 2.711929 q: 0.866352 0.468699 -0.001977 -0.172488 
time: 1403638613.627830, t: 1.941442 -8.146670 2.676238 q: 0.868715 0.466497 -0.001065 -0.166471 
time: 1403638613.727829, t: 1.914225 -8.060697 2.646667 q: 0.870315 0.466060 0.003204 -0.159150 
time: 1403638613.827830, t: 1.871779 -7.970986 2.610740 q: 0.873814 0.461364 0.007954 -0.153394 
time: 1403638613.927830, t: 1.828032 -7.877959 2.576903 q: 0.879677 0.451412 0.009428 -0.149353 
time: 1403638614.027829, t: 1.780642 -7.779837 2.543525 q: 0.887844 0.436056 0.009323 -0.146636 
time: 1403638614.127830, t: 1.727303 -7.675850 2.509368 q: 0.897307 0.417478 0.007214 -0.143178 
time: 1403638614.227829, t: 1.677885 -7.573954 2.474621 q: 0.906625 0.398023 0.003548 -0.139987 
time: 1403638614.327830, t: 1.640056 -7.467024 2.443860 q: 0.913488 0.383266 0.000317 -0.136550 
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time: 1403638618.727829, t: 2.043260 -2.262976 2.173331 q: 0.998166 -0.053608 -0.028086 0.001462 
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time: 1403638619.927830, t: 2.414884 -1.336288 3.022182 q: 0.973184 -0.209573 0.009258 0.094372 
time: 1403638620.027829, t: 2.417856 -1.264454 3.092445 q: 0.972468 -0.212771 0.010428 0.094472 
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time: 1403638620.227829, t: 2.434434 -1.113711 3.203143 q: 0.971800 -0.217216 0.017693 0.090054 
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time: 1403638620.827830, t: 2.524304 -0.642017 3.412328 q: 0.973657 -0.211935 -0.002591 0.084078 
time: 1403638620.927830, t: 2.523090 -0.562563 3.444759 q: 0.974098 -0.212764 -0.005087 0.076414 
time: 1403638621.027829, t: 2.520748 -0.481440 3.474856 q: 0.974569 -0.213257 -0.003199 0.068757 
time: 1403638621.127830, t: 2.514557 -0.400242 3.502251 q: 0.975068 -0.212066 -0.000673 0.065352 
time: 1403638621.227829, t: 2.519914 -0.321116 3.526055 q: 0.975552 -0.210398 0.002622 0.063433 
time: 1403638621.327830, t: 2.533085 -0.243119 3.548115 q: 0.975849 -0.209973 0.001959 0.060212 
time: 1403638621.427830, t: 2.543093 -0.170160 3.569076 q: 0.976192 -0.208837 0.004259 0.058457 
time: 1403638621.527829, t: 2.550840 -0.100135 3.588481 q: 0.976451 -0.208219 0.007828 0.055916 
time: 1403638621.627830, t: 2.548765 -0.031718 3.611540 q: 0.976693 -0.207267 0.010921 0.054702 
time: 1403638621.727829, t: 2.541645 0.033719 3.631211 q: 0.976839 -0.206795 0.012310 0.053579 
time: 1403638621.827830, t: 2.532875 0.094831 3.650416 q: 0.976842 -0.207095 0.016029 0.051335 
time: 1403638621.927830, t: 2.520378 0.152741 3.666825 q: 0.976798 -0.207316 0.021701 0.049132 
time: 1403638622.027829, t: 2.503607 0.202249 3.682946 q: 0.976786 -0.207014 0.023891 0.049628 
time: 1403638622.127830, t: 2.475820 0.252735 3.691714 q: 0.976857 -0.205950 0.022977 0.052976 
time: 1403638622.227829, t: 2.450643 0.300419 3.696266 q: 0.976943 -0.204834 0.022042 0.056028 
time: 1403638622.327830, t: 2.429448 0.341803 3.693871 q: 0.976917 -0.204112 0.021965 0.059061 
time: 1403638622.427830, t: 2.412986 0.379966 3.682532 q: 0.976753 -0.205609 0.020194 0.057182 
time: 1403638622.527829, t: 2.402535 0.417699 3.662110 q: 0.976613 -0.206977 0.019758 0.054742 
time: 1403638622.627830, t: 2.401033 0.446082 3.637643 q: 0.976279 -0.209604 0.021706 0.049738 
optimize pose graph 
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time: 1403638622.827830, t: 2.414339 0.484094 3.568297 q: 0.974868 -0.212691 0.049580 0.044012 
time: 1403638622.927830, t: 2.415761 0.496789 3.516855 q: 0.974755 -0.212911 0.049604 0.045405 
time: 1403638623.027829, t: 2.408601 0.502970 3.459290 q: 0.975089 -0.212426 0.039790 0.049936 
time: 1403638623.127830, t: 2.395333 0.504786 3.398300 q: 0.975382 -0.211221 0.030553 0.055516 
time: 1403638623.227829, t: 2.375317 0.501008 3.333864 q: 0.975559 -0.209699 0.025717 0.060416 
time: 1403638623.327830, t: 2.352336 0.497820 3.265936 q: 0.975684 -0.208734 0.019903 0.063833 
time: 1403638623.427830, t: 2.323913 0.492584 3.195881 q: 0.975729 -0.208871 0.015251 0.063978 
time: 1403638623.527829, t: 2.289736 0.487856 3.126549 q: 0.975782 -0.208217 0.014458 0.065472 
time: 1403638623.627830, t: 2.265409 0.480436 3.048916 q: 0.975615 -0.209768 0.015125 0.062805 
time: 1403638623.727829, t: 2.241095 0.472975 2.969199 q: 0.975468 -0.210936 0.013744 0.061477 
time: 1403638623.827830, t: 2.226205 0.463398 2.882966 q: 0.975310 -0.212113 0.012032 0.060282 
time: 1403638623.927830, t: 2.212589 0.452559 2.793412 q: 0.975022 -0.213671 0.008952 0.059970 
time: 1403638624.027829, t: 2.197722 0.439691 2.707234 q: 0.974762 -0.214661 0.007336 0.060867 
time: 1403638624.127830, t: 2.177626 0.424612 2.620643 q: 0.974545 -0.214612 0.006390 0.064527 
time: 1403638624.227829, t: 2.153358 0.407445 2.535229 q: 0.974310 -0.214469 0.006192 0.068443 
time: 1403638624.327830, t: 2.122772 0.392275 2.448570 q: 0.974078 -0.214755 0.007148 0.070720 
time: 1403638624.427830, t: 2.089387 0.374673 2.362849 q: 0.973806 -0.215590 0.007104 0.071925 
time: 1403638624.527829, t: 2.050470 0.359021 2.281082 q: 0.973426 -0.216268 0.011961 0.074344 
time: 1403638624.627830, t: 2.008049 0.345280 2.197294 q: 0.972980 -0.215784 0.027818 0.077289 
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time: 1403638624.827830, t: 1.919368 0.318424 2.019368 q: 0.975167 -0.212677 0.014346 0.060097 
optimize pose graph 
time: 1403638624.927830, t: 1.886985 0.298703 1.920510 q: 0.976486 -0.207636 0.008226 0.057407 
time: 1403638625.027829, t: 1.852985 0.273594 1.821884 q: 0.977675 -0.201182 0.007424 0.060186 
time: 1403638625.127830, t: 1.820552 0.250354 1.723012 q: 0.978572 -0.195144 0.006758 0.065352 
time: 1403638625.227829, t: 1.782560 0.233928 1.624133 q: 0.979211 -0.191345 0.005692 0.067085 
time: 1403638625.327830, t: 1.738511 0.220681 1.529289 q: 0.979609 -0.189494 0.005843 0.066509 
time: 1403638625.427830, t: 1.701534 0.203677 1.429220 q: 0.979840 -0.188532 0.006242 0.065803 
time: 1403638625.527829, t: 1.670164 0.187757 1.326157 q: 0.979909 -0.188269 0.006688 0.065487 
time: 1403638625.627830, t: 1.643697 0.175446 1.219006 q: 0.979890 -0.188601 0.004215 0.065014 
time: 1403638625.727829, t: 1.622233 0.159037 1.110420 q: 0.979867 -0.188289 -0.000840 0.066393 
time: 1403638625.827830, t: 1.599536 0.147481 1.004912 q: 0.979711 -0.188319 -0.008477 0.068046 
time: 1403638625.927830, t: 1.574068 0.137135 0.900713 q: 0.979576 -0.189228 -0.010490 0.067187 
time: 1403638626.027829, t: 1.547228 0.129597 0.804327 q: 0.979377 -0.189816 -0.012175 0.068141 
time: 1403638626.127830, t: 1.512981 0.124324 0.708611 q: 0.979241 -0.189549 -0.013117 0.070616 
time: 1403638626.227829, t: 1.476292 0.120694 0.621953 q: 0.979145 -0.190520 -0.013063 0.069331 
time: 1403638626.327830, t: 1.436209 0.120263 0.535516 q: 0.979083 -0.193408 -0.009902 0.062389 
time: 1403638626.527829, t: 1.354171 0.115684 0.376898 q: 0.979041 -0.196228 -0.008769 0.053821 
time: 1403638626.627830, t: 1.311178 0.114714 0.299108 q: 0.979041 -0.195647 -0.012482 0.055189 
time: 1403638626.727829, t: 1.267280 0.112027 0.222636 q: 0.979063 -0.194674 -0.017251 0.056924 
time: 1403638626.827830, t: 1.234309 0.109491 0.151803 q: 0.978997 -0.193823 -0.022868 0.058949 
time: 1403638626.927830, t: 1.207954 0.107689 0.083223 q: 0.978971 -0.193498 -0.026922 0.058724 
optimize pose graph 
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time: 1403638627.227829, t: 1.143125 0.103190 -0.089389 q: 0.979315 -0.191653 -0.026238 0.059359 
time: 1403638627.327830, t: 1.121728 0.100165 -0.138419 q: 0.979325 -0.192571 -0.026470 0.056028 
time: 1403638627.427830, t: 1.098064 0.101697 -0.180545 q: 0.979357 -0.192878 -0.026303 0.054455 
time: 1403638627.527829, t: 1.072118 0.102655 -0.217002 q: 0.979362 -0.192823 -0.025711 0.054852 
time: 1403638627.627830, t: 1.047297 0.105047 -0.249079 q: 0.979298 -0.194421 -0.022473 0.051682 
time: 1403638627.727829, t: 1.023573 0.104543 -0.275947 q: 0.979315 -0.195150 -0.017279 0.050590 
time: 1403638627.827830, t: 1.001187 0.100890 -0.302020 q: 0.979224 -0.196041 -0.015270 0.049547 
time: 1403638627.927830, t: 0.978728 0.095139 -0.327959 q: 0.979051 -0.196788 -0.017538 0.049251 
time: 1403638628.027829, t: 0.957453 0.094076 -0.346792 q: 0.978840 -0.197700 -0.020518 0.048652 
time: 1403638628.127830, t: 0.938141 0.090977 -0.363814 q: 0.978649 -0.198414 -0.022549 0.048686 
time: 1403638628.227829, t: 0.925287 0.083583 -0.378127 q: 0.978438 -0.199233 -0.023253 0.049248 
time: 1403638628.327830, t: 0.908656 0.068816 -0.387733 q: 0.978222 -0.199910 -0.024362 0.050240 
time: 1403638628.427830, t: 0.898459 0.058720 -0.394528 q: 0.978232 -0.199165 -0.023547 0.053299 
time: 1403638628.527829, t: 0.894221 0.049647 -0.396797 q: 0.978469 -0.196105 -0.013193 0.062991 
time: 1403638628.627830, t: 0.893079 0.040902 -0.400223 q: 0.978555 -0.193709 -0.001468 0.070029 
time: 1403638628.727829, t: 0.887125 0.029833 -0.407784 q: 0.978519 -0.192924 -0.000483 0.072673 
time: 1403638628.827830, t: 0.878267 0.024488 -0.413430 q: 0.978445 -0.194610 -0.003098 0.069009 
time: 1403638628.927830, t: 0.864760 0.022232 -0.419135 q: 0.978342 -0.196703 -0.003332 0.064379 
time: 1403638629.027829, t: 0.852454 0.020765 -0.424857 q: 0.978284 -0.198687 -0.005246 0.058794 
time: 1403638629.127830, t: 0.842880 0.020580 -0.429062 q: 0.978280 -0.199811 -0.007626 0.054644 
optimize pose graph 
time: 1403638629.227829, t: 0.835143 0.018320 -0.435054 q: 0.978293 -0.200241 -0.009541 0.052495 
time: 1403638629.327830, t: 0.830709 0.013732 -0.442048 q: 0.978233 -0.200763 -0.011240 0.051263 
time: 1403638629.427830, t: 0.825290 0.007782 -0.448805 q: 0.978039 -0.200848 -0.018343 0.052573 
time: 1403638629.527829, t: 0.822111 0.000575 -0.453083 q: 0.977793 -0.200015 -0.026660 0.056605 
time: 1403638629.627830, t: 0.822354 -0.007024 -0.452933 q: 0.977784 -0.197377 -0.027129 0.065151 
time: 1403638629.727829, t: 0.826420 -0.014498 -0.449873 q: 0.977793 -0.193803 -0.020010 0.077208 
time: 1403638629.827830, t: 0.831107 -0.016095 -0.442520 q: 0.977831 -0.192504 -0.009610 0.081827 
time: 1403638629.927830, t: 0.828714 -0.015556 -0.435908 q: 0.977827 -0.194975 0.000833 0.076413 
time: 1403638630.027829, t: 0.818145 -0.011273 -0.427663 q: 0.977757 -0.199471 0.010463 0.063973 
time: 1403638630.127830, t: 0.795758 -0.006438 -0.418076 q: 0.977715 -0.201964 0.009685 0.056487 
time: 1403638630.227829, t: 0.764648 -0.003312 -0.411429 q: 0.977756 -0.202766 0.002514 0.053604 
time: 1403638630.327830, t: 0.733194 -0.002372 -0.399921 q: 0.977548 -0.203771 -0.008064 0.053032 
time: 1403638630.427830, t: 0.769528 0.002642 -0.437819 q: 0.978186 -0.196117 -0.020317 0.065406 
time: 1403638630.527829, t: 0.736213 0.013759 -0.360662 q: 0.978558 -0.198678 -0.001627 0.054308 
time: 1403638630.627830, t: 0.726096 0.010290 -0.339525 q: 0.978392 -0.199544 -0.000182 0.054143 
time: 1403638630.727829, t: 0.716174 0.010481 -0.376947 q: 0.979579 -0.188043 -0.044707 0.055371 
time: 1403638630.827830, t: 0.719357 0.058872 -0.386808 q: 0.979097 -0.191756 -0.041406 0.053712 
time: 1403638630.927830, t: 0.700065 0.060446 -0.435065 q: 0.979507 -0.189620 -0.042259 0.053151 
time: 1403638631.027829, t: 0.644771 0.026249 -0.347356 q: 0.979413 -0.190212 -0.039756 0.054679 
time: 1403638631.127830, t: 0.645007 0.024257 -0.345112 q: 0.979402 -0.190220 -0.039548 0.054992 
time: 1403638631.227829, t: 0.645469 0.023934 -0.344796 q: 0.979413 -0.190242 -0.039545 0.054724 
time: 1403638631.327830, t: 0.643706 0.024243 -0.344386 q: 0.979412 -0.190303 -0.039241 0.054745 
optimize pose graph 
time: 1403638631.427830, t: 0.642785 0.024254 -0.343976 q: 0.979418 -0.190374 -0.039250 0.054388 
time: 1403638631.527829, t: 0.642593 0.024134 -0.343809 q: 0.979399 -0.190438 -0.039398 0.054396 
time: 1403638631.627830, t: 0.642420 0.024184 -0.343923 q: 0.979396 -0.190525 -0.039453 0.054112 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731043444.495703083]: Shutdown request received.[0m
[33m[ WARN] [1731043444.495738549]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731043444.496533011]: Shutdown request received.[0m
[33m[ WARN] [1731043444.496572766]: Reason given for shutdown: [user request][0m
killed
