/SLAM-Hive/slam_hive_results/mapping_results/2680/1891_vins-mono+MH_02_easy+Image_comb_test-6.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/a7a5c5ec-3c4b-11ef-94e4-0242ac110004/roslaunch-6d143a78b202-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/home/catkin_ws/src/VINS-Mono/vins_estimator/launch/euroc.launch
[1mstarted roslaunch server http://6d143a78b202:46689/[0m

SUMMARY
========

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

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

auto-starting new master
[1mprocess[master]: started with pid [129][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/home/catkin_ws/src/VINS-Mono/vins_estimator/launch/euroc.launch http://localhost:11311
[1msetting /run_id to a7a5c5ec-3c4b-11ef-94e4-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [156][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1720348113.349465838]: init begins[0m
[0m[ INFO] [1720348113.354056718]: Loaded config_file: /slamhive/mappingtask.yaml[0m
result path /home/shaozu/output//vins_result_no_loop.csv
/home/shaozu/output/ not exists, trying to create it 
/home/shaozu not exists, trying to create it 
[0m[ INFO] [1720348113.354492308]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1720348113.354510929]:  fix extrinsic param [0m
[0m[ INFO] [1720348113.354656031]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720348113.354701181]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720348113.354737611]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720348113.354790331]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [181][0m
vocabulary_file/home/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_pattern.yml
/home/shaozu/output/pose_graph/ not exists, trying to create it 
no previous pose graph
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720348120.592759473]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316711263.97 
[33m[ WARN] [1720348124.204850149]: gyroscope bias initial calibration -0.0138436 0.00184966  0.0514729[0m
[0m[ INFO] [1720348124.254978534]: Initialization finish![0m
position: 0.024007, -0.066816, 0.290167
position: 0.022183, -0.073451, 0.312736
position: 0.020680, -0.083185, 0.308283
position: 0.015688, -0.093825, 0.266660
position: 0.007027, -0.103846, 0.202751
position: -0.002352, -0.110571, 0.134866
position: -0.014495, -0.112612, 0.077528
position: -0.027235, -0.115971, 0.037861
position: -0.037234, -0.119302, 0.018861
position: -0.035627, -0.115037, 0.026572
position: -0.016917, -0.098803, 0.069419
position: -0.000450, -0.091756, 0.134017
position: 0.008068, -0.086427, 0.202761
position: 0.013102, -0.087505, 0.268968
position: 0.016822, -0.089385, 0.328702
position: 0.020231, -0.091976, 0.370102
position: 0.022936, -0.094479, 0.379823
position: 0.024584, -0.095943, 0.355751
position: 0.024312, -0.095857, 0.307931
position: 0.021331, -0.094363, 0.251295
position: 0.016848, -0.090493, 0.192616
position: 0.012162, -0.085230, 0.136168
position: 0.008785, -0.080265, 0.089876
position: 0.006832, -0.078311, 0.063501
position: 0.005417, -0.078392, 0.065451
position: 0.004867, -0.078459, 0.098413
position: 0.009233, -0.080894, 0.154143
position: 0.017257, -0.084476, 0.219408
position: 0.024521, -0.085052, 0.287565
position: 0.030763, -0.085147, 0.355261
position: 0.033236, -0.085228, 0.413102
position: 0.033452, -0.086369, 0.441147
position: 0.033585, -0.088551, 0.432925
position: 0.033157, -0.088682, 0.391597
position: 0.032772, -0.088091, 0.330897
position: 0.029873, -0.087628, 0.262509
position: 0.026625, -0.086549, 0.192388
position: 0.021441, -0.085396, 0.128380
position: 0.015691, -0.085731, 0.080223
position: 0.011241, -0.087753, 0.058550
position: 0.007956, -0.089683, 0.072210
position: 0.007106, -0.090677, 0.119402
position: 0.008748, -0.091748, 0.188037
position: 0.012841, -0.091574, 0.261970
position: 0.017384, -0.088825, 0.328738
position: 0.021852, -0.086324, 0.386881
position: 0.026356, -0.083437, 0.430291
position: 0.029398, -0.082209, 0.445832
position: 0.029356, -0.082841, 0.425907
position: 0.027757, -0.082489, 0.377215
position: 0.026986, -0.082614, 0.316958
position: 0.026684, -0.083490, 0.252066
position: 0.027116, -0.084067, 0.190739
position: 0.026441, -0.083557, 0.140968
position: 0.026043, -0.084527, 0.107498
position: 0.026330, -0.084859, 0.089705
position: 0.026741, -0.084528, 0.094704
position: 0.026989, -0.080850, 0.129837
position: 0.027733, -0.075541, 0.187622
position: 0.030882, -0.071709, 0.254972
position: 0.034202, -0.069188, 0.326539
position: 0.036039, -0.067207, 0.394971
position: 0.035523, -0.065920, 0.451621
position: 0.033073, -0.065042, 0.482263
position: 0.031152, -0.065061, 0.479445
position: 0.031359, -0.065861, 0.446572
position: 0.031764, -0.068096, 0.392428
position: 0.031653, -0.073366, 0.333613
position: 0.028622, -0.080383, 0.283187
position: 0.021653, -0.083428, 0.243163
position: 0.014561, -0.083809, 0.210246
position: 0.004285, -0.084147, 0.187974
position: -0.007198, -0.084166, 0.177364
position: -0.020159, -0.081719, 0.175398
position: -0.031031, -0.080468, 0.180284
position: -0.039603, -0.079294, 0.186564
position: -0.048657, optimize pose graph 
-0.078055, 0.190520
position: -0.059274, -0.077556, 0.188598
position: -0.070723, -0.077223, 0.182718
position: -0.079297, -0.078450, 0.178100
position: -0.079953, -0.078550, 0.179308
position: -0.076492, -0.076947, 0.185221
position: -0.076845, -0.075093, 0.190645
position: -0.082248, -0.072905, 0.192692
position: -0.088996, -0.067953, 0.193432
position: -0.095365, -0.060408, 0.194350
position: -0.101229, -0.052016, 0.197656
position: -0.106241, -0.045099, 0.202866
position: -0.113735, -0.039160, 0.205581
position: -0.121509, -0.033730, 0.204739
position: -0.124920, -0.028236, 0.204814
position: -0.125542, -0.023251, 0.206507
position: -0.126488, -0.019066, 0.207882
position: -0.126395, -0.016819, 0.206527
position: -0.124990, -0.016471, 0.204820
position: -0.123523, -0.016987, 0.203851
position: -0.122041, -0.022329, 0.203194
position: -0.119753, -0.037051, 0.202785
position: -0.116084, -0.062614, 0.202764
position: -0.109205, -0.097232, 0.204111
position: -0.099348, -0.139309, 0.207059
position: -0.088006, -0.187718, 0.209361
position: -0.076560, -0.239944, 0.211001
position: -0.065937, -0.293526, 0.214186
position: -0.055595, -0.347208, 0.217517
position: -0.046364, -0.399157, 0.218614
position: -0.039939, -0.442373, 0.216175
position: -0.035604, -0.479249, 0.213279
position: -0.030048, -0.506528, 0.211789
position: -0.025995, -0.522227, 0.208448
position: -0.025606, -0.530772, 0.205741
position: -0.026531, -0.532300, 0.202532
position: -0.027575, -0.531622, 0.199009
position: -0.027197, -0.523518, 0.199378
position: -0.027644, -0.505593, 0.202438
position: -0.029963, -0.477655, 0.204255
position: -0.031655, -0.439260, 0.204341
position: -0.034052, -0.391912, 0.205587
position: -0.036236, -0.337195, 0.206382
position: -0.037890, -0.280502, 0.206448
position: -0.037677, -0.220199, 0.204656
position: -0.035628, -0.159940, 0.200605
position: -0.033678, -0.100006, 0.195022
position: -0.033812, -0.047945, 0.187965
position: -0.035970, -0.002414, 0.179749
position: -0.037112, 0.032557, 0.173202
position: -0.038723, 0.047843, 0.171784
position: -0.040990, 0.048459, 0.173851
position: -0.042890, 0.039450, 0.176532
position: -0.041629, 0.019211, 0.177690
position: -0.038540, -0.015357, 0.178376
position: -0.034577, -0.062672, 0.178925
position: -0.029805, -0.118027, 0.180070
position: -0.023743, -0.178754, 0.182393
position: -0.017772, -0.241666, 0.184964
position: -0.013671, -0.303467, 0.186575
position: -0.012013, -0.361904, 0.186552
position: -0.012847, -0.413100, 0.184039
position: -0.014780, -0.452370, 0.179934
position: -0.017601, -0.479452, 0.176854
position: -0.020524, -0.492339, 0.174740
position: -0.021968, -0.493090, 0.173759
position: -0.021270, -0.487335, 0.173585
position: -0.020914, -0.472271, 0.174809
position: -0.019913, -0.444416, 0.174924
position: -0.017334, -0.402965, 0.174228
position: -0.014254, -0.353017, 0.173355
position: -0.012176, -0.294410, 0.171186
position: -0.009685, -0.232456, 0.166518
position: -0.007059, -0.172608, 0.159291
position: -0.004255, -0.119861, 0.152235
position: 0.000176, -0.079506, 0.147717
position: 0.007322, -0.050873, 0.144364
position: 0.011783, -0.028375, 0.140147
position: 0.013661, -0.008885, 0.135125
position: 0.005308, 0.009352, 0.133140
position: -0.015859, 0.019780, 0.134116
position: -0.048260, 0.016335, 0.135782
position: -0.084489, 0.001388, 0.137271
position: -0.123437, -0.020872, 0.137594
position: -0.162145, -0.049717, 0.139146
position: -0.198019, -0.086898, 0.144020
position: -0.224969, -0.131791, 0.151066
position: -0.240207, -0.180789, 0.156167
position: -0.242916, -0.234217, 0.157832
position: -0.232771, -0.292396, 0.158773
position: -0.207251, -0.349816, 0.161961
position: -0.157174, -0.396121, 0.170377
position: -0.093712, -0.426850, 0.170233
position: -0.038386, -0.445354, 0.170708
position: 0.016797, -0.442513, 0.169257
position: 0.070041, -0.417543, 0.164689
position: 0.114992, -0.370877, 0.160272
position: 0.149906, -0.307941, 0.155948
position: 0.170791, -0.235796, 0.152072
position: 0.174540, -0.160932, 0.147022
position: 0.162441, -0.089050, 0.140519
position: 0.137243, -0.027180, 0.134817
position: 0.098790, 0.023870, 0.130674
position: 0.051596, 0.061525, 0.127700
position: -0.002242, 0.083736, 0.126636
position: -0.052905, 0.084883, 0.123496
position: -0.091711, 0.064051, 0.119278
position: -0.123530, 0.030091, 0.114795
position: -0.150990, -0.013743, 0.111342
position: -0.173532, -0.068437, 0.111332
position: -0.181192, -0.130814, 0.116021
[0m[ INFO] [1720348142.811532366]:  little feature 1[0m
position: -0.175322, -0.196596, 0.124141
position: -0.156366, -0.262059, 0.134162
position: -0.125135, -0.323665, 0.142923
position: -0.094941, -0.380443, 0.146682
position: -0.064540, -0.428366, 0.152226
position: -0.026738, -0.460407, 0.164872
position: 0.018953, -0.472823, 0.174413
position: 0.061489, -0.467123, 0.182398
position: 0.100534, -0.446019, 0.187687
position: 0.131074, -0.409320, 0.191524
position: 0.151251, -0.360068, 0.195391
position: 0.158921, -0.301237, 0.199091
position: 0.152871, -0.239630, 0.200383
position: 0.129407, -0.182582, 0.198244
position: 0.094114, -0.140258, 0.197117
position: 0.052938, -0.118368, 0.198112
position: 0.004635, -0.116734, 0.201951
position: -0.040825, -0.130514, 0.204431
position: -0.084787, -0.149161, 0.210300
position: -0.128310, -0.159617, 0.219649
position: -0.170072, -0.155324, 0.227927
position: -0.204594, -0.134407, 0.232874
position: -0.227640, -0.101877, 0.234284
position: -0.244811, -0.064739, 0.236583
position: -0.243544, -0.027138, 0.236367
position: -0.227454, 0.009042, 0.234569
position: -0.201461, 0.041131, 0.232290
position: -0.167836, 0.062550, 0.231675
position: -0.131760, 0.071692, 0.232367
position: -0.090378, 0.061409, 0.234091
position: -0.049252, 0.031782, 0.233933
position: -0.012708, -0.012407, 0.232290
position: 0.026710, -0.063745, 0.226877
position: 0.058502, -0.118256, 0.221011
position: 0.079667, -0.173984, 0.214351
position: 0.087047, -0.224872, 0.204738
position: 0.081094, -0.263365, 0.191754
position: 0.065313, -0.282109, 0.176752
position: 0.047982, -0.281282, 0.160011
position: 0.036128, -0.269072, 0.145467
position: 0.036694, -0.252634, 0.133885
position: 0.049518, -0.233731, 0.122558
position: 0.069439, -0.216523, 0.106127
position: 0.090414, -0.200917, 0.083577
position: 0.109010, -0.186435, 0.057224
position: 0.123232, -0.173906, 0.032604
position: 0.133735, -0.163178, 0.008808
position: 0.136487, -0.154241, -0.012228
position: 0.129834, -0.143803, -0.025330
position: 0.133258, -0.140895, -0.032229
position: 0.135772, -0.139283,optimize pose graph 
 -0.037755
position: 0.136834, -0.138601, -0.041615
position: 0.136559, -0.138521, -0.044037
position: 0.136832, -0.138817, -0.046440
position: 0.136206, -0.138987, -0.046550
position: 0.135185, -0.140301, -0.047542
position: 0.133653, -0.140504, -0.047154
position: 0.132675, -0.139560, -0.046978
position: 0.132328, -0.139582, -0.046554
position: 0.132304, -0.139399, -0.046527
position: 0.132389, -0.139285, -0.046527
position: 0.132357, -0.139177, -0.046529
position: 0.132364, -0.139082, -0.046521
position: 0.132389, -0.139068, -0.046561
position: 0.132386, -0.139037, -0.046612
position: 0.132439, -0.139019, -0.046674
position: 0.132419, -0.138939, -0.046670
position: 0.132441, -0.138858, -0.046697
position: 0.132411, -0.138815, -0.046739
position: 0.132429, -0.138774, -0.046764
position: 0.132386, -0.138774, -0.046800
position: 0.132518, -0.138734, -0.046851
position: 0.132410, -0.138671, -0.046861
position: 0.132391, -0.138676, -0.046903
position: 0.132446, -0.138601, -0.046880
position: 0.132406, -0.138555, -0.046881
position: 0.132386, -0.138511, -0.046879
position: 0.132450, -0.138515, -0.046924
position: 0.132426, -0.138512, -0.046979
position: 0.132441, -0.138498, -0.047008
position: 0.132410, -0.138479, -0.047027
position: 0.132416, -0.138461, -0.047028
position: 0.132397, -0.138467, -0.047048
position: 0.132403, -0.138457, -0.047095
position: 0.132388, -0.138425, -0.047094
position: 0.132390, -0.138446, -0.047103
position: 0.132343, -0.138434, -0.047099
position: 0.132326, -0.138393, -0.047112
position: 0.132330, -0.138385, -0.047124
position: 0.132343, -0.138401, -0.047149
position: 0.132352, -0.138385, -0.047180
position: 0.132345, -0.138398, -0.047195
position: 0.132346, -0.138401, -0.047222
position: 0.132342, -0.138379, -0.047196
position: 0.132345, -0.138384, -0.047198
position: 0.132332, -0.138396, -0.047213
position: 0.132337, -0.138395, -0.047214
position: 0.132320, -0.138380, -0.047210
position: 0.132317, -0.138368, -0.047199
position: 0.132313, -0.138373, -0.047197
position: 0.132352, -0.138360, -0.047182
position: 0.132240, -0.138215, -0.047210
position: 0.132260, -0.138194, -0.047306
position: 0.132263, -0.138198, -0.047324
position: 0.132219, -0.138163, -0.047237
position: 0.132327, -0.138203, -0.047248
position: 0.132474, -0.138233, -0.047253
position: 0.132515, -0.138267, -0.047299
position: 0.132428, -0.138248, -0.047253
position: 0.132472, -0.138241, -0.047328
position: 0.132471, -0.138309, -0.047293
position: 0.132453, -0.138276, -0.047335
position: 0.132421, -0.138314, -0.047329
position: 0.132360, -0.138280, -0.047351
position: 0.132444, -0.138390, -0.047316
position: 0.132471, -0.138384, -0.047161
position: 0.132207, -0.138266, -0.047159
position: 0.132191, -0.138263, -0.047241
position: 0.132431, -0.138312, -0.047206
position: 0.132303, -0.138263, -0.047177
position: 0.132149, -0.138217, -0.047278
position: 0.132247, -0.138305, -0.047267
position: 0.132407, -0.138363, -0.047143
position: 0.132357, -0.138379, -0.047132
position: 0.132313, -0.138355, -0.047166
position: 0.132282, -0.138322, -0.047177
position: 0.132238, -0.138301, -0.047164
position: 0.132247, -0.138304, -0.047189
position: 0.132264, -0.138311, -0.047196
position: 0.132246, -0.138321, -0.047185
position: 0.132264, -0.138321, -0.047156
position: 0.132265, -0.138345, -0.047202
position: 0.132237, -0.138342, -0.047221
position: 0.132237, -0.138340, -0.047194
position: 0.132235, -0.138333, -0.047207
position: 0.132239, -0.138335, -0.047202
position: 0.132235, -0.138348, -0.047197
position: 0.132248, -0.138374, -0.047190
position: 0.132287, -0.138388, -0.047214
position: 0.132305, -0.138384, -0.047196
position: 0.132283, -0.138375, -0.047194
position: 0.132280, -0.138370, -0.047217
position: 0.132248, -0.138376, -0.047214
position: 0.132241, -0.138380, -0.047219
position: 0.132253, -0.138378, -0.047215
position: 0.132251, -0.138373, -0.047229
position: 0.132232, -0.138372, -0.047234
position: 0.132234, -0.138371, -0.047243
position: 0.132236, -0.138384, -0.047238
position: 0.132236, -0.138390, -0.047242
position: 0.132235, -0.138393, -0.047279
position: 0.132228, -0.138374, -0.047238
position: 0.132227, -0.138391, -0.047244
position: 0.132223, -0.138387, -0.047198
position: 0.132210, -0.138391, -0.047209
position: 0.132204, -0.138386, -0.047197
position: 0.132213, -0.138385, -0.047194
position: 0.132202, -0.138377, -0.047196
position: 0.131378, -0.138793, -0.046279
position: 0.131410, -0.139069, -0.046279
position: 0.131433, -0.139255, -0.046268
position: 0.131440, -0.139303, -0.046259
position: 0.131498, -0.139346, -0.046273
position: 0.131539, -0.139365, -0.046250
position: 0.131539, -0.139407, -0.046254
position: 0.131532, -0.139457, -0.046298
position: 0.131562, -0.139453, -0.046286
position: 0.131536, -0.139439, -0.046270
position: 0.131517, -0.139441, -0.046277
position: 0.131520, -0.139449, -0.046257
position: 0.131504, -0.139460, -0.046274
position: 0.131496, -0.139436, -0.046266
position: 0.131496, -0.139429, -0.046221
position: 0.131489, -0.139455, -0.046247
position: 0.131572, -0.139500, -0.046261
position: 0.131814, -0.139601, -0.046338
position: 0.131968, -0.139712, -0.046363
position: 0.131794, -0.139627, -0.046298
position: 0.131680, -0.139624, -0.046347
position: 0.131664, -0.139618, -0.046297
position: 0.131676, -0.139573, -0.046209
position: 0.131886, -0.139749, -0.046336
position: 0.131712, -0.139645, -0.046191
position: 0.131727, -0.139776, -0.046279
position: 0.131083, -0.139770, -0.046061
position: 0.129158, -0.140101, -0.045954
position: 0.127180, -0.141349, -0.046356
position: 0.123904, -0.146048, -0.046612
position: 0.117427, -0.154978, -0.047786
position: 0.107705, -0.166559, -0.048842
position: 0.096088, -0.179504, -0.047735
position: 0.083960, -0.193254, -0.041123
position: 0.072923, -0.205613, -0.028143
position: 0.066601, -0.215072, -0.008512
position: 0.064906, -0.222075, 0.009787
position: 0.063935, -0.229176, 0.022771
position: 0.065486, -0.234778, 0.038562
position: 0.069517, -0.237728, 0.056496
position: 0.075178, -0.238402, 0.076618
position: 0.082365, -0.237784, 0.098228
position: 0.090845, -0.236441,optimize pose graph 
optimize pose graph 
5028, -0.595013, 0.374506
position: 0.662926, -0.633395, 0.376569
position: 0.692097, -0.677239, 0.385583
position: 0.725116, -0.720220, 0.397906
position: 0.756119, -0.763428, 0.405256
position: 0.789569, -0.807395, 0.406225
position: 0.821081, -0.851397, 0.401204
position: 0.853577, -0.896456, 0.390999
position: 0.886197, -0.943360, 0.380478
position: 0.918766, -0.988919, 0.375019
position: 0.951127, -1.034522, 0.375429
position: 0.982528, -1.079036, 0.374299
position: 1.013167, -1.124941, 0.359963
position: 1.042164, -1.172776, 0.333949
position: 1.070443, -1.215366, 0.308208
position: 1.098644, -1.257128, 0.289503
position: 1.128492, -1.300371, 0.277706
position: 1.155545, -1.340516, 0.276631
position: 1.180225, -1.380008, 0.278844
position: 1.207536, -1.419295, 0.292782
position: 1.234342, -1.459057, 0.314482
position: 1.258693, -1.499123, 0.338875
position: 1.281440, -1.538850, 0.357376
position: 1.303478, -1.572621, 0.370938
position: 1.324951, -1.603946, 0.377658
position: 1.348375, -1.636322, 0.37769optimize pose graph 
3
position: 1.373206, -1.666699, 0.379390
position: 1.404922, -1.700496, 0.388307
position: 1.434718, -1.732360, 0.404610
position: 1.467399, -1.766965, 0.427526
position: 1.500183, -1.803013, 0.455325
position: 1.531916, -1.842243, 0.483707
position: 1.562383, -1.880296, 0.502677
position: 1.594661, -1.924540, 0.519212
position: 1.625367, -1.967452, 0.530958
position: 1.657433, -2.015114, 0.542614
position: 1.689561, -2.060253, 0.552690
position: 1.721373, -2.107173, 0.558254
position: 1.755560, -2.154014, 0.560156
position: 1.787928, -2.198581, 0.562506
position: 1.824346, -2.241951, 0.569562
position: 1.856072, -2.280307, 0.580934
position: 1.891487, -2.319011, 0.600114
position: 1.923429, -2.350508, 0.620950
position: 1.958864, -2.384383, 0.636501
position: 1.992770, -2.410722, 0.644105
position: 2.027793, -2.433875, 0.644067
position: 2.061106, -2.453647, 0.636138
position: 2.099140, -2.473271, 0.625182
position: 2.140539, -2.491205, 0.612140
position: 2.185042, -2.504325, 0.605854
position: 2.230872, -2.515184, 0.608944
position: 2.276503, -2.525090, 0.617547
position: 2.323209, -2.536592, 0.626681
position: 2.367322, -2.550313, 0.633085
position: 2.410944, -2.567561, 0.633438
position: 2.455021, -2.586987, 0.627059
position: 2.501859, -2.606234, 0.619261
position: 2.546325, -2.622939, 0.619539
position: 2.595549, -2.639552, 0.621878
position: 2.641197, -2.653539, 0.620964
position: 2.690462, -2.665873, 0.615065
position: 2.745452, -2.677240, 0.611987
position: 2.799278, -2.688589, 0.618770
position: 2.861479, -2.702787, 0.633707
position: 2.923337, -2.718406, 0.655305
position: 2.987558, -2.736498, 0.678414
position: 3.058901, -2.759512, 0.688650
position: 3.138385, -2.785920, 0.687346
position: 3.211915, -2.810638, 0.685472
position: 3.286447, -2.836920, 0.687229
position: 3.356230, -2.862537, 0.688203
position: 3.425424, -2.886823, 0.686253
position: 3.493525, -2.912404, 0.678429
position: 3.561926, -2.935928, 0.671117
position: 3.629673, -2.960890, 0.670971
position: 3.699885, -2.982075, 0.679667
position: 3.771896, -3.005151, 0.697667
position: 3.845418, -3.024936, 0.718617
position: 3.923643, -3.047593, 0.737873
position: 4.003388, -3.069911, 0.750513
position: 4.082467, -3.093146, 0.760270
position: 4.169843, -3.118338, 0.764056
position: 4.254694, -3.143801, 0.763425
position: 4.339277, -3.169866, 0.756196
position: 4.423404, -3.196887, 0.744195
position: 4.509707, -3.225306, 0.726204
position: 4.593113, -3.253150, 0.702914
position: 4.668725, -3.275618, 0.675387
position: 4.743199, -3.294000, 0.648050
position: 4.814660, -3.307546, 0.628546
position: 4.882092, -3.319783, 0.618929
position: 4.951635, -3.332386, 0.615959
position: 5.019353, -3.343022, 0.617272
position: 5.089135, -3.356458, 0.614361
position: 5.157092, -3.366083, 0.605550
position: 5.222521, -3.375710, 0.590770
position: 5.289061, -3.383291, 0.574094
position: 5.354212, -3.391741, 0.560920
position: 5.418303, -3.401055, 0.551229
position: 5.477211, -3.412634, 0.545794
position: 5.532991, -3.423371, 0.548479
position: 5.579066, -3.432824, 0.561580
position: 5.629494, -3.441729, 0.575579
position: 5.676395, -3.449048, 0.588468
position: 5.725201, -3.457983, 0.593682
position: 5.776361, -3.466316, 0.597201
position: 5.825873, -3.476568, 0.591309
position: 5.890810, -3.489234, 0.582464
position: 5.945761, -3.503031, 0.570292
position: 6.009539, -3.517467, 0.567166
position: 6.065633, -3.532956, 0.568916
position: 6.125523, -3.548036, 0.573505
position: 6.182444, -3.566045, 0.574727
position: 6.240052, -3.585616, 0.568503
position: 6.297141, -3.607347, 0.557664
position: 6.358887, -3.633062, 0.540273
position: 6.416246, -3.662782, 0.522363
position: 6.471096, -3.693929, 0.499849
position: 6.519686, -3.724609, 0.473077
position: 6.570864, -3.758195, 0.457609
position: 6.617232, -3.788669, 0.446586
position: 6.665107, -3.823094, 0.446255
position: 6.711943, -3.859473, 0.447631
position: 6.757805, -3.895366, 0.442171
position: 6.804007, -3.933549, 0.433371
position: 6.847610, -3.970736, 0.423794
position: 6.892761, -4.009462, 0.422341
position: 6.939757, -4.050267, 0.426365
position: 6.986966, -4.090201, 0.434670
position: 7.033148, -4.133678, 0.435556
position: 7.075900, -4.175036, 0.434988
position: 7.115042, -4.215688, 0.433129
position: 7.154837, -4.258037, 0.434880
position: 7.195427, -4.297444, 0.447283
position: 7.230151, -4.334684, 0.465253
position: 7.266679, -4.372308, 0.481014
position: 7.302596, -4.412536, 0.488727
position: 7.334858, -4.446592, 0.491454
position: 7.366538, -4.481655, 0.489250
position: 7.398218, -4.512845, 0.481514
position: 7.435998, -4.547445, 0.467711
position: 7.473426, -4.576214, 0.453836
position: 7.513295, -4.601274, 0.446891
position: 7.557725, -4.627656, 0.448250
position: 7.599870, -4.654370, 0.457052
position: 7.640487, -4.684283, 0.472615
position: 7.680386, -4.716943, 0.494231
position: 7.720406, -4.753668, 0.514244
position: 7.759429, -4.792350, 0.525873
position: 7.798534, -4.832524, 0.535470
position: 7.831384, -4.867361, 0.550483
position: 7.868263, -4.902620, 0.565322
position: 7.899696, -4.937126, 0.578964
position: 7.935962, -4.969607, 0.585419
position: 7.972567, -5.002018, 0.588445
position: 8.005566, -5.029552, 0.585800
position: 8.037501, -5.054499, 0.578917
position: 8.069274, -5.075657, 0.565466
position: 8.101131, -5.094428, 0.546900
position: 8.126206, -5.111527, 0.525841
position: 8.150276, -5.130216, 0.499053
position: 8.180295, -5.148423, 0.465976
position: 8.207908, -5.164733, 0.432744
position: 8.234699, -5.179908, 0.405962
position: 8.258874, -5.192126, 0.386745
position: 8.280483, -5.201870, 0.376625
position: 8.299182, -5.208660, 0.375051
position: 8.314464, -5.213350, 0.371564
position: 8.324784, -5.216678, 0.362980
position: 8.338023, -5.218292, 0.352790
position: 8.345734, -5.216392, 0.349270
position: 8.354186, -5.211981, 0.350423
position: 8.371310, -5.204991, 0.358624
position: 8.392150, -5.195879, 0.375390
position: 8.411867, -5.182109, 0.403714
position: 8.434432, -5.166468, 0.440902
position: 8.460681, -5.155044, 0.479648
position: 8.484860, -5.148464, 0.521358
position: 8.508366, -5.148125, 0.565182
position: 8.524540, -5.152811, 0.610475
position: 8.543638, -5.163979, 0.652246
position: 8.550959, -5.178887, 0.689879
position: 8.565951, -5.199021, 0.718908
position: 8.577005, -5.220382, 0.740902
position: 8.584298, -5.240580, 0.754931
position: 8.587554, -5.258754, 0.762034
position: 8.582128, -5.274853, 0.767153
position: 8.574525, -5.291264, 0.765961
position: 8.562251, -5.308772, 0.759643
position: 8.545407, -5.328539, 0.748890
position: 8.536174, -5.354832, 0.731505
position: 8.506112, -5.374953, 0.713857
position: 8.475067, -5.394505, 0.704002
position: 8.454620, -5.421990, 0.699801
position: 8.419680, -5.437855, 0.706603
position: 8.395522, -5.460057, 0.718244
position: 8.363329, -5.471934, 0.739345
position: 8.341541, -5.489451, 0.757735
position: 8.314148, -5.499715, 0.771994
position: 8.290745, -5.509757, 0.781458
position: 8.267649, -5.518332, 0.785737
position: 8.255157, -5.529196, 0.782156
position: 8.226106, -5.535433, 0.774902
position: 8.208261, -5.545514, 0.759103
position: 8.175971, -5.556165, 0.739601
position: 8.156400, -5.569087, 0.718708
position: 8.139183, -5.584602, 0.699150
position: 8.125725, -5.600193, 0.677443
position: 8.108367, -5.616087, 0.659046
position: 8.094259, -5.631570, 0.645639
position: 8.081902, -5.645626, 0.638999
position: 8.067055, -5.657756, 0.633221
position: 8.059190, -5.670469, 0.620558
position: 8.055124, -5.682931, 0.604802
position: 8.055052, -5.694414, 0.587835
position: 8.055504, -5.702138, 0.572808
position: 8.053786, -5.707573, 0.564560
position: 8.048715, -5.713734, 0.562243
position: 8.036693, -5.721301, 0.556727
position: 8.022445, -5.732715, 0.547917
position: 8.001228, -5.745099, 0.528775
position: 7.981334, -5.757795, 0.509800
position: 7.963681, -5.770476, 0.486923
position: 7.950512, -5.784399, 0.471184
position: 7.945035, -5.800197, 0.466733
position: 7.947716, -5.815883, 0.471651
position: 7.957559, -5.829987, 0.474915
position: 7.974379, -5.845403, 0.474237
position: 7.997583, -5.862081, 0.468267
position: 8.025221, -5.879229, 0.457714
position: 8.058973, -5.896723, 0.453503
position: 8.097414, -5.914521, 0.455229
position: 8.139412, -5.934697, 0.466550
position: 8.181022, -5.958808, 0.478361
position: 8.220184, -5.986239, 0.484620
position: 8.256659, -6.017928, 0.484447
position: 8.287840, -6.054100, 0.477348
position: 8.311967, -6.094750, 0.460414
position: 8.330294, -6.138311, 0.437968
position: 8.346269, -6.183007, 0.410332
position: 8.361842, -6.227543, 0.378060
position: 8.380509, -6.271864, 0.344209
position: 8.404404, -6.315154, 0.314636
position: 8.435499, -6.357701, 0.293342
position: 8.477024, -6.401379, 0.282280
position: 8.524894, -6.445084, 0.282295
position: 8.585047, -6.490229, 0.289233
position: 8.646932, -6.533383, 0.298033
position: 8.711729, -6.574985, 0.298184
position: 8.772104, -6.613826, 0.291015
position: 8.826701, -6.650953, 0.278184
position: 8.875270, -6.686981, 0.261035
position: 8.916423, -6.722774, 0.240547
position: 8.952462, -6.759510, 0.228660
position: 8.980452, -6.793421, 0.221083
position: 9.006775, -6.828512, 0.221507
position: 9.034757, -6.869430, 0.225689
position: 9.062015, -6.915357, 0.226872
position: 9.085707, -6.964518, 0.222263
position: 9.103611, -7.013394, 0.212636
position: 9.119044, -7.063840, 0.196483
position: 9.133936, -7.114909, 0.174655
position: 9.149142, -7.165371, 0.149705
position: 9.168812, -7.218000, 0.127947
position: 9.196102, -7.273935, 0.116953
position: 9.228932, -7.332352, 0.114789
position: 9.264689, -7.393611, 0.113638
position: 9.306221, -7.458451, 0.108791
position: 9.350562, -7.525512, 0.101528
position: 9.398807, -7.595113, 0.091225
position: 9.446388, -7.664371, 0.076674
position: 9.491351, -7.731949, 0.057945
position: 9.532179, -7.796822, 0.041780
position: 9.571255, -7.857106, 0.030662
position: 9.610036, -7.917983, 0.025971
position: 9.649314, -7.974788, 0.029341
position: 9.693998, -8.037128, 0.040977
position: 9.737544, -8.093064, 0.063659
position: 9.780191, -8.147669, 0.092271
position: 9.826122, -8.210679, 0.121376
position: 9.866285, -8.270770, 0.146400
position: 9.895882, -8.325284, 0.166086
position: 9.925780, -8.388118, 0.178223
position: 9.948318, -8.442146, 0.185529
position: 9.969412, -8.495201, 0.187386
position: 9.993252, -8.550873, 0.180346
position: 10.011045, -8.595405, 0.177144
position: 10.029141, -8.639168, 0.179792
position: 10.050014, -8.686645, 0.188813
position: 10.062929, -8.727373, 0.206517
position: 10.074118, -8.770200, 0.229522
position: 10.083951, -8.814079, 0.252494
position: 10.096504, -8.862084, 0.267351
position: 10.100863, -8.899833, 0.277250
position: 10.109364, -8.942746, 0.279750
position: 10.110113, -8.979350, 0.280334
position: 10.107869, -9.018956, 0.276799
position: 10.104381, -9.067831, 0.269599
position: 10.089835, -9.111519, 0.264474
position: 10.073109, -9.160551, 0.265392
position: 10.049930, -9.204688, 0.272219
position: 10.021647, -9.242207, 0.282745
position: 9.989553, -9.274630, 0.299833
position: 9.957405, -9.299432, 0.316823
position: 9.926593, -9.317072, 0.326392
position: 9.896115, -9.328724, 0.331323
position: 9.863783, -9.332247, 0.330977
position: 9.834572, -9.339383, 0.326008
position: 9.801157, -9.339447, 0.314948
position: 9.766516, -9.338388, 0.305596
position: 9.734510, -9.337054, 0.301808
position: 9.698750, -9.323313, 0.303681
position: 9.665244, -9.305309, 0.314695
position: 9.628135, -9.278010, 0.334337
position: 9.593885, -9.248077, 0.361258
position: 9.558528, -9.211107, 0.393790
position: 9.523004, -9.169102, 0.422776
position: 9.486935, -9.124538, 0.438632
position: 9.449510, -9.076911, 0.440469
position: 9.412778, -9.026947, 0.430309
position: 9.377524, -8.976057, 0.415168
position: 9.346697, -8.929360, 0.401223
position: 9.319354, -8.887644, 0.386415
position: 9.294134, -8.847403, 0.375295
position: 9.270005, -8.809310, 0.370581
position: 9.246555, -8.770884, 0.374003
position: 9.224262, -8.735774, 0.381499
position: 9.200053, -8.696559, 0.391241
position: 9.173632, -8.662236, 0.388773
position: 9.142885, -8.622284, 0.372341
position: 9.113447, -8.586589, 0.351179
position: 9.083388, -8.549419, 0.330143
position: 9.049404, -8.510427, 0.317665
position: 9.011634, -8.470204, 0.315504
position: 8.970072, -8.428035, 0.322946
position: 8.925820, -8.384449, 0.337254
position: 8.881422, -8.340917, 0.358248
position: 8.837478, -8.299536, 0.385997
position: 8.795953, -8.262184, 0.420578
position: 8.759139, -8.224343, 0.457616
position: 8.719628, -8.192465, 0.486794
position: 8.680369, -8.154686, 0.509514
position: 8.636442, -8.121223, 0.524949
position: 8.591677, -8.080101, 0.531811
position: 8.544374, -8.038730, 0.531486
position: 8.494457, -7.996767, 0.522462
position: 8.442991, -7.956526, 0.506127
position: 8.391353, -7.930844, 0.484604
position: 8.341514, -7.908428, 0.461454
position: 8.291532, -7.893180, 0.439891
position: 8.241187, -7.878119, 0.426970
position: 8.197293, -7.876394, 0.419638
position: 8.160071, -7.880130, 0.421355
position: 8.127792, -7.889932, 0.424130
position: 8.082721, -7.884920, 0.419623
position: 8.057896, -7.904566, 0.413551
position: 8.014679, -7.901293, 0.408952
position: 7.996748, -7.924126, 0.412558
position: 7.957937, -7.920817, 0.422717
position: 7.930355, -7.933874, 0.434596
position: 7.893382, -7.933494, 0.443383
position: 7.858999, -7.935176, 0.445154
position: 7.831348, -7.948932, 0.437931
position: 7.797829, -7.949985, 0.428065
position: 7.766053, -7.951693, 0.412630
position: 7.743743, -7.962182, 0.388522
position: 7.719307, -7.963009, 0.365623
position: 7.704191, -7.966074, 0.334880
position: 7.693240, -7.962048, 0.300522
position: 7.679821, -7.949984, 0.271091
position: 7.668611, -7.932490, 0.244248
position: 7.652733, -7.904452, 0.227592
position: 7.630833, -7.873706, 0.217348
position: 7.601522, -7.841346, 0.214940
position: 7.564585, -7.808647, 0.219995
position: 7.520497, -7.774964, 0.226606
position: 7.470759, -7.738426, 0.232774
position: 7.417829, -7.701181, 0.234636
position: 7.362819, -7.665076, 0.231357
position: 7.310561, -7.634346, 0.224906
position: 7.254607, -7.600321, 0.212738
position: 7.201683, -7.569400, 0.203222
position: 7.148435, -7.537324, 0.201126
position: 7.094990, -7.503185, 0.207201
position: 7.036890, -7.461281, 0.217890
position: 6.983069, -7.419853, 0.222866
position: 6.925414, -7.372585, 0.220979
position: 6.868859, -7.323679, 0.212614
position: 6.806649, -7.268716, 0.197473
position: 6.741315, -7.211097, 0.179662
position: 6.675055, -7.153533, 0.158944
position: 6.606278, -7.094822, 0.136213
position: 6.537009, -7.035296, 0.116786
position: 6.465569, -6.975061, 0.104086
position: 6.394962, -6.918202, 0.099340
position: 6.323084, -6.862225, 0.101472
position: 6.250533, -6.807725, 0.110140
position: 6.179011, -6.758501, 0.126625
position: 6.109239, -6.712490, 0.148365
position: 6.041841, -6.668310, 0.171491
position: 5.975072, -6.625572, 0.191618
position: 5.909366, -6.581828, 0.206067
position: 5.842393, -6.538854, 0.214095
position: 5.778885, -6.494010, 0.218023
position: 5.715531, -6.451878, 0.216445
position: 5.654100, -6.407550, 0.220140
position: 5.591627, -6.363860, 0.229173
position: 5.531740, -6.319545, 0.245099
position: 5.469407, -6.275490, 0.262856
position: 5.410718, -6.231580, 0.278091
position: 5.349648, -6.189014, 0.286705
position: 5.287801, -6.145724, 0.289127
position: 5.222703, -6.103695, 0.285994
position: 5.154834, -6.060787, 0.277358
position: 5.087023, -6.019856, 0.264831
position: 5.016629, -5.979210, 0.254684
position: 4.945885, -5.941307, 0.252675
position: 4.875900, -5.905065, 0.259400
position: 4.806140, -5.869242, 0.271497
position: 4.737900, -5.833953, 0.281403
position: 4.669603, -5.796868, 0.285413
position: 4.603793, -5.759000, 0.283140
position: 4.540182, -5.720364, 0.274346
position: 4.475595, -5.679767, 0.260816
position: 4.411370, -5.637526, 0.242454
position: 4.348969, -5.593068, 0.218352
position: 4.290468, -5.545395, 0.187919
position: 4.231485, -5.500982, 0.154655
position: 4.175557, -5.459893, 0.125791
position: 4.121545, -5.426249, 0.105565
position: 4.069356, -5.401500, 0.095564
position: 4.018594, -5.384245, 0.093194
position: 3.970311, -5.369772, 0.097219
position: 3.925428, -5.355112, 0.105112
position: 3.887480, -5.339752, 0.116733
position: 3.856298, -5.323427, 0.134423
position: 3.830883, -5.307693, 0.157490
position: 3.810643, -5.289352, 0.173680
position: 3.787457, -5.267654, 0.174967
position: 3.767041, -5.242834, 0.169539
position: 3.749611, -5.216969, 0.167216
position: 3.738787, -5.186732, 0.172093
position: 3.726351, -5.156715, 0.179049
position: 3.716619, -5.125047, 0.179495
position: 3.708887, -5.094010, 0.172724
position: 3.706141, -5.066494, 0.159605
position: 3.704738, -5.045148, 0.145409
position: 3.705847, -5.028347, 0.127744
position: 3.708026, -5.013935, 0.103478
position: 3.713105, -4.999443, 0.072111
position: 3.719784, -4.986565, 0.035755
position: 3.728891, -4.972447, -0.007075
position: 3.739207, -4.956777, -0.052832
position: 3.751636, -4.939419, -0.096135
position: 3.765538, -4.914511, -0.133797
position: 3.777125, -4.892813, -0.161826
position: 3.784457, -4.868426, -0.189319
position: 3.783876, -4.846279, -0.221309
position: 3.774352, -4.827319, -0.254632
position: 3.755925, -4.809886, -0.285934
position: 3.734660, -4.795656, -0.308966
position: 3.714336, -4.787925, -0.325524
position: 3.695596, -4.790966, -0.332935
position: 3.676080, -4.803974, -0.330333
position: 3.656494, -4.823341, -0.326194
position: 3.637793, -4.846562, -0.327336
position: 3.622038, -4.873857, -0.334358
position: 3.611951, -4.903486, -0.346282
position: 3.606252, -4.936072, -0.360830
position: 3.603963, -4.971843, -0.379061
position: 3.606432, -5.011089, -0.400466
position: 3.613408, -5.053175, -0.424980
position: 3.627603, -5.096644, -0.450809
position: 3.649402, -5.142803, -0.478279
position: 3.685688, -5.186995, -0.498768
position: 3.732111, -5.231130, -0.510757
position: 3.784651, -5.273423, -0.512744
position: 3.837589, -5.312876, -0.512837
position: 3.887669, -5.349255, -0.516362
position: 3.936070, -5.383680, -0.529158
position: 3.983532, -5.415890, -0.547854
position: 4.028846, -5.441547, -0.570362
position: 4.072472, -5.468686, -0.594131
position: 4.111888, -5.488725, -0.613109
position: 4.147701, -5.509608, -0.626014
position: 4.181359, -5.527112, -0.630251
position: 4.212550, -5.544264, -0.631010
position: 4.242513, -5.566138, -0.628574
position: 4.270145, -5.593891, -0.625410
position: 4.297566, -5.622301, -0.628368
position: 4.323321, -5.657415, -0.635914
position: 4.348897, -5.695384, -0.646447
position: 4.375225, -5.729558, -0.660296
position: 4.405582, -5.768064, -0.673898
position: 4.437069, -5.800445, -0.680354
position: 4.473401, -5.837523, -0.680370
position: 4.510120, -5.870001, -0.670536
position: 4.548929, -5.902579, -0.654434
position: 4.587878, -5.931695, -0.638078
position: 4.625210, -5.962070, -0.628285
position: 4.658602, -5.993275, -0.625742
position: 4.690536, -6.022986, -0.625576
position: 4.719942, -6.060113, -0.632769
position: 4.750422, -6.098204, -0.639089
position: 4.782889, -6.147219, -0.650797
position: 4.815944, -6.196978, -0.648162
position: 4.851158, -6.252280, -0.647751
position: 4.889496, -6.308727, -0.647055
position: 4.931209, -6.360736, -0.646705
position: 4.977200, -6.416453, -0.657774
position: 5.026409, -6.469627, -0.671853
position: 5.071538, -6.517767, -0.690580
position: 5.115493, -6.562472, -0.713724
position: 5.157075, -6.601161, -0.735966
position: 5.198307, -6.634919, -0.752080
position: 5.240639, -6.665428, -0.765633
position: 5.284202, -6.695934, -0.780086
position: 5.330184, -6.728530, -0.799589
position: 5.370689, -6.759999, -0.823381
position: 5.409676, -6.799492, -0.850442
position: 5.442898, -6.838514, -0.876590
position: 5.472458, -6.879018, -0.895056
position: 5.499128, -6.917717, -0.906925
position: 5.526426, -6.957921, -0.913266
position: 5.556974, -7.001728, -0.911758
position: 5.589297, -7.044664, -0.901521
position: 5.635481, -7.097618, -0.888694
position: 5.677866, -7.145471, -0.871994
position: 5.722372, -7.194588, -0.860385
position: 5.774747, -7.252260, -0.856538
position: 5.825250, -7.305997, -0.846855
position: 5.879824, -7.362907, -0.832364
position: 5.941567, -7.430066, -0.818788
position: 6.000287, -7.493605, -0.804901
position: 6.060805, -7.559204, -0.807412
position: 6.125333, -7.631913, -0.825594
position: 6.188809, -7.700440, -0.848402
position: 6.251629, -7.764938, -0.875346
position: 6.312912, -7.822291, -0.897724
position: 6.376553, -7.880734, -0.915368
position: 6.445156, -7.940879, -0.922406
position: 6.515983, -8.000451, -0.925508
position: 6.584619, -8.054789, -0.935802
position: 6.658124, -8.109667, -0.950250
position: 6.733184, -8.162785, -0.964887
position: 6.810929, -8.215048, -0.974127
position: 6.891344, -8.267947, -0.973951
position: 6.966780, -8.315617, -0.963660
position: 7.038555, -8.362951, -0.948056
position: 7.102805, -8.405962, -0.934394
position: 7.159532, -8.445193, -0.927601
position: 7.219053, -8.487392, -0.932046
position: 7.277634, -8.527024, -0.941087
position: 7.330472, -8.558104, -0.952173
position: 7.384352, -8.585557, -0.967567
position: 7.435410, -8.608883, -0.977663
position: 7.481851, -8.629887, -0.980661
position: 7.522391, -8.647227, -0.976301
position: 7.563727, -8.663774, -0.966123
position: 7.604050, -8.678229, -0.952214
position: 7.641481, -8.689556, -0.940505
position: 7.677491, -8.699777, -0.934162
position: 7.714918, -8.710900, -0.935174
position: 7.751524, -8.720490, -0.942020
position: 7.787891, -8.730197, -0.957019
position: 7.822697, -8.738025, -0.976516
position: 7.854442, -8.744469, -0.997034
position: 7.881846, -8.750033, -1.011453
position: 7.906608, -8.758294, -1.017452
position: 7.929610, -8.768746, -1.013900
position: 7.949642, -8.778397, -1.002429
position: 7.967229, -8.788906, -0.983883
position: 7.981998, -8.800470, -0.967408
position: 7.996878, -8.814610, -0.955581
position: 8.012087, -8.832242, -0.946058
position: 8.031387, -8.850821, -0.942613
position: 8.049785, -8.870733, -0.942991
position: 8.071621, -8.890907, -0.949710
position: 8.095731, -8.911022, -0.961674
position: 8.122012, -8.931025, -0.979436
position: 8.156654, -8.952066, -1.005811
position: 8.181638, -8.967388, -1.036491
position: 8.210133, -8.979308, -1.069942
position: 8.241793, -8.988287, -1.101694
position: 8.271666, -8.997779, -1.122065
position: 8.301298, -9.004524, -1.133969
position: 8.329458, -9.009289, -1.139608
position: 8.362386, -9.016492, -1.140827
position: 8.395273, -9.025175, -1.134632
position: 8.427586, -9.032282, -1.130546
position: 8.462801, -9.039476, -1.134191
position: 8.501253, -9.044634, -1.142112
position: 8.533276, -9.037688, -1.149579
position: 8.576784, -9.033651, -1.165398
position: 8.608651, -9.014532, -1.181921
position: 8.637058, -8.991222, -1.200443
position: 8.668004, -8.968201, -1.217946
position: 8.700265, -8.943726, -1.229621
position: 8.725317, -8.915923, -1.234117
position: 8.747481, -8.887979, -1.232060
position: 8.770181, -8.860599, -1.223945
position: 8.791946, -8.833178, -1.209287
position: 8.812199, -8.804816, -1.188151
position: 8.831479, -8.775507, -1.160051
position: 8.851543, -8.746763, -1.125834
position: 8.871171, -8.718208, -1.094105
position: 8.890757, -8.689344, -1.068510
position: 8.908891, -8.661226, -1.049394
position: 8.926662, -8.633444, -1.032962
position: 8.945033, -8.604920, -1.012347
position: 8.960541, -8.575770, -0.986608
position: 8.974051, -8.545616, -0.954370
position: 8.985730, -8.514171, -0.916330
position: 8.994511, -8.480526, -0.878725
position: 8.999946, -8.445037, -0.846931
position: 9.002626, -8.406724, -0.822385
position: 9.003229, -8.363912, -0.804258
position: 9.003015, -8.317095, -0.788526
position: 8.999182, -8.266838, -0.775170
position: 8.992410, -8.214728, -0.766850
position: 8.983980, -8.159827, -0.761381
position: 8.971772, -8.110429, -0.762445
position: 8.960770, -8.056235, -0.760919
position: 8.942748, -8.010234, -0.757942
position: 8.927199, -7.961972, -0.746488
position: 8.908448, -7.913905, -0.728802
position: 8.888496, -7.864668, -0.703778
position: 8.866756, -7.814765, -0.673584
position: 8.847454, -7.756928, -0.638132
position: 8.817405, -7.709213, -0.607956
position: 8.789535, -7.652702, -0.585321
position: 8.756487, -7.601984, -0.568555
position: 8.722787, -7.547655, -0.557134
position: 8.682991, -7.493552, -0.550543
position: 8.641749, -7.433094, -0.550034
position: 8.596191, -7.370341, -0.554200
position: 8.544695, -7.304215, -0.554366
position: 8.486942, -7.233732, -0.547853
position: 8.423683, -7.160905, -0.534107
position: 8.357346, -7.088739, -0.512603
position: 8.290138, -7.015125, -0.487637
position: 8.225278, -6.938897, -0.455866
position: 8.168727, -6.857964, -0.412969
position: 8.124343, -6.773165, -0.355990
position: 8.086332, -6.688714, -0.298051
position: 8.049333, -6.606047, -0.248452
position: 8.010144, -6.525667, -0.207878
position: 7.968744, -6.444887, -0.174894
position: 7.927096, -6.366541, -0.148871
position: 7.878415, -6.287105, -0.132201
position: 7.831717, -6.213100, -0.121364
position: 7.779192, -6.139736, -0.117804
position: 7.729480, -6.070575, -0.116030
position: 7.675942, -6.011357, -0.120965
position: 7.624213, -5.959233, -0.130032
position: 7.573188, -5.908959, -0.135008
position: 7.518275, -5.859701, -0.130432
position: 7.460812, -5.815193, -0.127002
position: 7.404134, -5.774856, -0.127161
position: 7.346093, -5.732810, -0.137269
position: 7.285907, -5.695645, -0.147900
position: 7.221232, -5.657071, -0.153092
position: 7.150940, -5.617344, -0.153197
position: 7.079542, -5.584118, -0.145844
position: 7.002884, -5.546090, -0.149138
position: 6.926711, -5.513697, -0.167487
position: 6.844929, -5.476057, -0.196401
position: 6.762552, -5.443584, -0.231444
position: 6.673462, -5.407997, -0.268450
position: 6.582452, -5.379463, -0.301154
position: 6.489179, -5.352208, -0.326918
position: 6.392595, -5.327631, -0.343416
position: 6.296710, -5.303583, -0.353946
position: 6.195885, -5.281078, -0.355844
position: 6.094785, -5.256348, -0.357071
position: 5.987752, -5.234244, -0.359864
position: 5.878242, -5.204992, -0.362982
position: 5.767330, -5.180649, -0.353897
position: 5.654098, -5.152174, -0.342683
position: 5.538843, -5.129163, -0.323612
position: 5.423183, -5.103646, -0.300955
position: 5.310650, -5.077865, -0.272603
position: 5.204225, -5.051570, -0.247872
position: 5.102864, -5.024380, -0.227932
position: 5.005267, -4.993789, -0.215869
position: 4.911511, -4.963380, -0.207079
position: 4.820094, -4.930122, -0.204707
position: 4.733082, -4.896371, -0.206485
position: 4.648508, -4.862569, -0.212419
position: 4.562668, -4.827502, -0.220400
position: 4.474692, -4.794360, -0.228899
position: 4.391427, -4.760801, -0.236110
position: 4.307476, -4.726238, -0.241953
position: 4.228612, -4.690912, -0.242173
position: 4.154098, -4.652878, -0.234442
position: 4.084340, -4.611546, -0.222685
position: 4.019170, -4.565786, -0.215265
position: 3.963844, -4.516566, -0.212830
position: 3.918439, -4.465725, -0.214792
position: 3.880375, -4.415604, -0.220953
position: 3.846281, -4.370274, -0.231073
position: 3.817357, -4.332236, -0.245643
position: 3.791921, -4.300357, -0.264751
position: 3.775248, -4.275761, -0.290463
position: 3.760736, -4.257041, -0.319795
position: 3.747809, -4.240536, -0.352613
position: 3.730321, -4.226276, -0.381234
position: 3.713496, -4.215068, -0.402539
position: 3.694145, -4.207671, -0.418912
position: 3.670238, -4.202504, -0.427800
position: 3.652252, -4.200448, -0.430449
position: 3.636542, -4.199391, -0.420376
position: 3.626335, -4.201935, -0.405278
position: 3.615508, -4.206290, -0.380798
position: 3.605782, -4.210363, -0.364564
position: 3.594166, -4.215594, -0.351541
position: 3.584987, -4.220601, -0.347562
position: 3.576705, -4.226664, -0.349956
position: 3.569436, -4.232420, -0.357407
position: 3.560365, -4.239488, -0.366899
position: 3.554297, -4.245125, -0.383224
position: 3.550134, -4.248745, -0.404027
position: 3.545842, -4.251622, -0.428115
position: 3.541566, -4.253179, -0.453858
position: 3.537794, -4.254398, -0.478930
position: 3.533592, -4.255216, -0.497488
position: 3.528011, -4.255698, -0.506565
position: 3.519795, -4.255934, -0.511182
position: 3.513786, -4.257469, -0.513773
position: 3.509749, -4.261179, -0.519738
position: 3.509397, -4.266333, -0.529872
position: 3.507992, -4.271260, -0.546473
position: 3.507537, -4.275412, -0.567854
position: 3.508281, -4.278861, -0.591931
position: 3.505515, -4.281725, -0.612791
position: 3.501990, -4.284056, -0.625543
position: 3.499638, -4.286952, -0.629890
position: 3.499417, -4.292607, -0.626661
position: 3.505219, -4.301568, -0.619800
position: 3.514436, -4.311866, -0.616999
position: 3.523841, -4.321905, -0.620909
position: 3.532006, -4.330781, -0.632761
position: 3.538958, -4.337866, -0.648439
position: 3.542920, -4.343691, -0.656790
position: 3.550394, -4.348503, -0.658513
position: 3.559083, -4.353277, -0.650201
position: 3.572517, -4.358262, -0.641984
position: 3.587432, -4.364105, -0.635827
position: 3.601300, -4.369954, -0.633110
position: 3.614032, -4.380138, -0.636582
position: 3.625303, -4.396181, -0.644459
position: 3.632830, -4.417864, -0.656497
position: 3.636804, -4.444243, -0.672503
position: 3.638354, -4.471336, -0.694195
position: 3.639573, -4.497290, -0.723029
position: 3.641275, -4.522204, -0.758363
position: 3.643647, -4.546438, -0.790042
position: 3.646588, -4.571507, -0.812236
position: 3.650385, -4.599928, -0.824378
position: 3.653599, -4.632852, -0.829174
position: 3.656774, -4.668471, -0.832712
position: 3.659164, -4.706320, -0.840824
position: 3.660157, -4.745017, -0.853870
position: 3.660439, -4.783835, -0.872306
position: 3.653884, -4.818064, -0.898152
position: 3.651764, -4.856838, -0.924732
position: 3.648410, -4.896722, -0.949903
position: 3.635772, -4.935356, -0.966738
position: 3.627489, -4.978068, -0.976784
position: 3.614589, -5.018616, -0.979908
position: 3.603084, -5.061369, -0.977081
position: 3.591044, -5.107448, -0.969873
position: 3.581994, -5.152280, -0.959967
position: 3.577888, -5.206747, -0.959427
position: 3.580118, -5.261920, -0.963216
position: 3.586610, -5.310316, -0.965971
position: 3.602684, -5.369341, -0.976247
position: 3.618949, -5.420181, -0.986108
position: 3.643116, -5.476184, -1.009576
position: 3.668662, -5.531116, -1.038234
position: 3.693653, -5.577619, -1.066893
position: 3.717884, -5.623492, -1.084983
position: 3.748577, -5.673013, -1.098828
position: 3.783787, -5.721700, -1.102894
position: 3.820381, -5.768249, -1.100283
position: 3.863016, -5.815425, -1.090949
position: 3.912174, -5.862624, -1.078768
position: 3.961692, -5.908537, -1.072871
position: 4.010609, -5.952825, -1.072429
position: 4.063024, -5.998374, -1.079474
position: 4.116087, -6.041548, -1.087640
position: 4.170113, -6.084681, -1.103655
position: 4.225324, -6.126906, -1.120817
position: 4.277164, -6.167687, -1.140983
position: 4.328405, -6.209074, -1.154008
position: 4.372357, -6.243894, -1.163002
position: 4.417153, -6.278535, -1.164490
position: 4.463686, -6.312743, -1.164869
position: 4.511845, -6.344344, -1.169456
position: 4.560016, -6.374136, -1.177362
position: 4.601796, -6.400319, -1.188183
position: 4.645597, -6.433316, -1.203570
position: 4.679415, -6.462983, -1.220699
position: 4.716984, -6.497369, -1.235633
position: 4.747737, -6.524441, -1.240763
position: 4.782937, -6.551484, -1.238804
position: 4.827333, -6.582974, -1.230042
position: 4.870765, -6.610760, -1.222131
position: 4.923355, -6.643565, -1.216928
position: 4.977693, -6.676794, -1.215807
position: 5.040756, -6.717342, -1.217444
position: 5.106780, -6.763090, -1.219254
position: 5.172909, -6.813858, -1.215896
position: 5.241648, -6.869750, -1.208425
position: 5.310631, -6.928302, -1.199250
position: 5.375075, -6.986538, -1.191286
position: 5.441107, -7.046895, -1.191432
position: 5.506273, -7.108851, -1.194962
position: 5.576732, -7.173148, -1.205401
position: 5.642477, -7.236395, -1.220741
position: 5.711341, -7.299463, -1.238426
position: 5.777603, -7.360513, -1.259461
position: 5.847349, -7.420341, -1.275368
position: 5.912566, -7.475273, -1.287050
position: 5.979452, -7.528455, -1.289329
position: 6.052748, -7.582313, -1.281376
position: 6.120305, -7.629920, -1.270567
position: 6.195845, -7.680710, -1.252911
position: 6.269201, -7.727673, -1.236312
position: 6.352154, -7.780136, -1.224967
position: 6.433114, -7.828571, -1.222648
position: 6.521490, -7.880771, -1.226414
position: 6.608455, -7.929392, -1.235831
position: 6.695051, -7.974178, -1.245693
position: 6.787304, -8.020100, -1.248201
position: 6.873060, -8.058495, -1.247291
position: 6.965788, -8.101350, -1.240439
position: 7.044951, -8.133404, -1.230234
position: 7.129851, -8.172024, -1.220867
position: 7.208162, -8.203003, -1.226255
position: 7.298741, -8.242244, -1.239689
position: 7.380672, -8.270268, -1.254792
position: 7.475596, -8.305012, -1.258459
position: 7.557070, -8.326375, -1.257815
position: 7.653920, -8.353375, -1.249052
position: 7.746299, -8.372603, -1.235428
position: 7.837406, -8.385875, -1.224082
position: 7.924025, -8.391375, -1.221839
position: 8.002474, -8.386769, -1.228953
position: 8.078449, -8.375235, -1.243770
position: 8.152286, -8.357910, -1.260894
position: 8.227567, -8.335132, -1.278640
position: 8.303292, -8.309725, -1.292525
position: 8.376608, -8.282041, -1.297446
position: 8.447687, -8.254602, -1.292584
position: 8.514558, -8.228885, -1.278616
position: 8.579708, -8.205156, -1.254677
position: 8.640706, -8.182758, -1.224806
position: 8.699010, -8.160262, -1.193347
positioptimize pose graph 
on: 8.754441, -8.137912, -1.167690
position: 8.809235, -8.114823, -1.148908
position: 8.861160, -8.090634, -1.136076
position: 8.911689, -8.063820, -1.126477
position: 8.957428, -8.033710, -1.121250
position: 8.998276, -8.000203, -1.117593
position: 9.035268, -7.963021, -1.108746
position: 9.066599, -7.922397, -1.093543
position: 9.093836, -7.881851, -1.074852
position: 9.117591, -7.841060, -1.061094
position: 9.136043, -7.803595, -1.051348
position: 9.148905, -7.769393, -1.041892
position: 9.155624, -7.738601, -1.029069
position: 9.152271, -7.707460, -1.006597
position: 9.139824, -7.675144, -0.981265
position: 9.120133, -7.644588, -0.959783
position: 9.092533, -7.612856, -0.943455
position: 9.053424, -7.583533, -0.933285
position: 9.005349, -7.553895, -0.926922
position: 8.947513, -7.523702, -0.924924
position: 8.875910, -7.495554, -0.922789
position: 8.796279, -7.468736, -0.916835
position: 8.712702, -7.441453, -0.904477
position: 8.624432, -7.414127, -0.885366
position: 8.534287, -7.387397, -0.864464
positoptimize pose graph 
ion: 8.443953, -7.360411, -0.848936
position: 8.355708, -7.334325, -0.836806
position: 8.266270, -7.303368, -0.832295
position: 8.179184, -7.274839, -0.825637
position: 8.086090, -7.240593, -0.817395
position: 7.995427, -7.208239, -0.801535
position: 7.896552, -7.168069, -0.780031
position: 7.804032, -7.130023, -0.756148
position: 7.703444, -7.084902, -0.737382
position: 7.612914, -7.044555, -0.724301
position: 7.515781, -6.999115, -0.719056
position: 7.427318, -6.958177, -0.719834
position: 7.334733, -6.912399, -0.726508
position: 7.249263, -6.870693, -0.736155
position: 7.162011, -6.826952, -0.749620
position: 7.080544, -6.783923, -0.760136
position: 6.998400, -6.738587, -0.764460
position: 6.916191, -6.692479, -0.758383
position: 6.840221, -6.646900, -0.743015
position: 6.767463, -6.602320, -0.719002
position: 6.692150, -6.555785, -0.690769
position: 6.618189, -6.514224, -0.661881
position: 6.540961, -6.473888, -0.633704
position: 6.465259, -6.438203, -0.616667
position: 6.389210, -6.404517, -0.601947
position: 6.311365, -6.368036, -0.599201
position: 6.238915, -6.335280, -0.595480
position: 6.167108, -6.300557, -0.601448
position: 6.098666, -6.267311, -0.595088
position: 6.031321, -6.232307, -0.587798
position: 5.965446, -6.197408, -0.568371
position: 5.903372, -6.161672, -0.558951
position: 5.845913, -6.127172, -0.550659
position: 5.792639, -6.092299, -0.547880
position: 5.738653, -6.052620, -0.550272
position: 5.687483, -6.012748, -0.544783
position: 5.635791, -5.969268, -0.533675
position: 5.581175, -5.925064, -0.513807
position: 5.525141, -5.879464, -0.488305
position: 5.467391, -5.833624, -0.459104
position: 5.409274, -5.788727, -0.432492
position: 5.353146, -5.745313, -0.411770
position: 5.296582, -5.702878, -0.396749
position: 5.239613, -5.660147, -0.385592
position: 5.183952, -5.616890, -0.380534
position: 5.126140, -5.571887, -0.378629
position: 5.065483, -5.523078, -0.383311
position: 5.000188, -5.471523, -0.389515
position: 4.929306, -5.414965, -0.394026
position: 4.854981, -5.355250, -0.392855
posoptimize pose graph 
ition: 4.779812, -5.294346, -0.385235
position: 4.702364, -5.233994, -0.371743
position: 4.623169, -5.176875, -0.359794
position: 4.543147, -5.123886, -0.353355
position: 4.459779, -5.072554, -0.350751
position: 4.374242, -5.021923, -0.344356
position: 4.286184, -4.970492, -0.329788
position: 4.193830, -4.918296, -0.308604
position: 4.098078, -4.863601, -0.280587
position: 4.001482, -4.809590, -0.251531
position: 3.907009, -4.755269, -0.223009
position: 3.813898, -4.705222, -0.203544
position: 3.719220, -4.655293, -0.188210
position: 3.624811, -4.609820, -0.178995
position: 3.527195, -4.565148, -0.174460
position: 3.432515, -4.525764, -0.166490
position: 3.340144, -4.486775, -0.149542
position: 3.249809, -4.449435, -0.124652
position: 3.161073, -4.410131, -0.092365
position: 3.073797, -4.371682, -0.058485
position: 2.988963, -4.334158, -0.036209
position: 2.902731, -4.294484, -0.029068
position: 2.818908, -4.254435, -0.028793
position: 2.733844, -4.214042, -0.032713
position: 2.652732, -4.176039, -0.042166
pooptimize pose graph 
sition: 2.573456, -4.139859, -0.054761
position: 2.498926, -4.106607, -0.066363
position: 2.430633, -4.075839, -0.070568
position: 2.368652, -4.046511, -0.067718
position: 2.310939, -4.019484, -0.057296
position: 2.263791, -3.991894, -0.037796
position: 2.220244, -3.967492, -0.011485
position: 2.185285, -3.945069, 0.021365
position: 2.166592, -3.924808, 0.060648
position: 2.143692, -3.904611, 0.101187
position: 2.127902, -3.885908, 0.137806
position: 2.117978, -3.866632, 0.167148
position: 2.103182, -3.846561, 0.190962
position: 2.091549, -3.827863, 0.217627
position: 2.081518, -3.810203, 0.250590
position: 2.073259, -3.792479, 0.290146
position: 2.062792, -3.775248, 0.330921
position: 2.050316, -3.756564, 0.365776
position: 2.032890, -3.735895, 0.393280
position: 2.015986, -3.711388, 0.415561
position: 1.995183, -3.684671, 0.430965
position: 1.973269, -3.654533, 0.441954
position: 1.951814, -3.621970, 0.449245
position: 1.929557, -3.587746, 0.452200
position: 1.907358, -3.551629, 0.453545
position: 1.880960,optimize pose graph 
 -3.517161, 0.448160
position: 1.851543, -3.481754, 0.441639
position: 1.820617, -3.446678, 0.433157
position: 1.785914, -3.409242, 0.427647
position: 1.747133, -3.369057, 0.429204
position: 1.708581, -3.328603, 0.439708
position: 1.668517, -3.285352, 0.448561
position: 1.629211, -3.241385, 0.455044
position: 1.587384, -3.196264, 0.454865
position: 1.544596, -3.148561, 0.458369
position: 1.504148, -3.098702, 0.472379
position: 1.461296, -3.050016, 0.489600
position: 1.416889, -3.000716, 0.503050
position: 1.369733, -2.950014, 0.513891
position: 1.320256, -2.899540, 0.516231
position: 1.268920, -2.848569, 0.519862
position: 1.213865, -2.796720, 0.532792
position: 1.159035, -2.746450, 0.551533
position: 1.098907, -2.693687, 0.574486
position: 1.042294, -2.643955, 0.592037
position: 0.980696, -2.593900, 0.605918
position: 0.924064, -2.546798, 0.612300
position: 0.868229, -2.500479, 0.613377
position: 0.810593, -2.453851, 0.609172
position: 0.756764, -2.410235, 0.602182
position: 0.704315, -2.369792, 0.588031
posoptimize pose graph 
ition: 0.652191, -2.328805, 0.576363
position: 0.599867, -2.288203, 0.569218
position: 0.549656, -2.245326, 0.571880
position: 0.499008, -2.200931, 0.584042
position: 0.443918, -2.155403, 0.598407
position: 0.393581, -2.108682, 0.609971
position: 0.343362, -2.061295, 0.615251
position: 0.288412, -2.013211, 0.611699
position: 0.243011, -1.967021, 0.604930
position: 0.197754, -1.920806, 0.593956
position: 0.150110, -1.874044, 0.584007
position: 0.106423, -1.827940, 0.581617
position: 0.062134, -1.781750, 0.587108
position: 0.014158, -1.735123, 0.598123
position: -0.031914, -1.689963, 0.611866
position: -0.079020, -1.645380, 0.620653
position: -0.130307, -1.598112, 0.620967
position: -0.176360, -1.556572, 0.615481
position: -0.224087, -1.513236, 0.602101
position: -0.262838, -1.473871, 0.591887
position: -0.309066, -1.432800, 0.587781
position: -0.343911, -1.391679, 0.595756
position: -0.386946, -1.350466, 0.614992
position: -0.422265, -1.310992, 0.642340
position: -0.460462, -1.272985, 0.667505
position: -0.494optimize pose graph 
776, -1.241304, 0.681328
position: -0.532593, -1.212380, 0.679445
position: -0.569408, -1.188007, 0.665272
position: -0.605723, -1.164774, 0.647968
position: -0.637014, -1.146454, 0.626837
position: -0.670872, -1.124195, 0.602259
position: -0.701398, -1.107327, 0.579695
position: -0.729030, -1.089913, 0.559695
position: -0.755318, -1.071353, 0.547377
position: -0.782430, -1.048973, 0.544971
position: -0.812132, -1.033872, 0.555739
position: -0.835299, -1.019167, 0.567221
position: -0.853640, -1.004924, 0.574052
position: -0.874013, -0.989998, 0.578234
position: -0.890252, -0.976558, 0.581457
position: -0.906366, -0.961307, 0.583382
position: -0.919576, -0.948980, 0.583050
position: -0.929172, -0.938875, 0.582035
position: -0.936102, -0.931382, 0.581184
position: -0.941921, -0.925611, 0.575952
position: -0.948606, -0.920507, 0.567592
position: -0.955361, -0.916957, 0.558043
position: -0.962326, -0.915248, 0.548991
position: -0.971082, -0.914916, 0.538761
position: -0.980375, -0.916895, 0.528697
position: -0.98optimize pose graph 
8053, -0.917696, 0.517983
position: -0.997502, -0.917075, 0.505712
position: -1.007996, -0.914913, 0.493263
position: -1.020093, -0.910550, 0.477837
position: -1.031589, -0.904530, 0.463887
position: -1.039920, -0.896981, 0.453278
position: -1.044928, -0.887833, 0.446510
position: -1.051224, -0.879077, 0.440111
position: -1.058898, -0.871385, 0.431390
position: -1.066311, -0.862980, 0.423403
position: -1.070746, -0.854403, 0.419372
position: -1.069872, -0.844078, 0.421256
position: -1.064123, -0.833122, 0.428364
position: -1.058159, -0.822528, 0.433997
position: -1.053374, -0.811895, 0.435561
position: -1.048070, -0.805108, 0.433816
position: -1.040830, -0.805157, 0.427514
position: -1.032126, -0.812600, 0.416709
position: -1.023152, -0.823819, 0.401274
position: -1.012723, -0.836434, 0.382215
position: -1.000147, -0.846628, 0.358168
position: -0.993334, -0.853694, 0.345642
position: -0.987948, -0.856665, 0.337071
position: -0.991210, -0.860922, 0.333893
position: -0.992814, -0.862406, 0.327072
position: -0.9
Done.
optimize pose graph 
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720348275.287525027]: Shutdown request received.[0m
[33m[ WARN] [1720348275.287601019]: Reason given for shutdown: [user request][0m
90963, -0.859872, 0.328416
position: -0.990653, -0.859855, 0.331391
position: -0.988968, -0.859121, 0.330900
position: -0.988251, -0.860122, 0.332086
position: -0.989772, -0.862701, 0.334136
position: -0.993843, -0.866102, 0.335711
position: -0.996266, -0.867552, 0.335665
position: -0.998312, -0.868178, 0.336386
[33m[ WARN] [1720348275.288553752]: Shutdown request received.[0m
[33m[ WARN] [1720348275.288582527]: Reason given for shutdown: [user request][0m
killed
