/SLAM-Hive/slam_hive_results/mapping_results/2797/2009_VINS-Fusion-stereo+MH_01_easy_pinhole_right-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720454512.182103295]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720454512.184451513]: init begins[0m
[31m[ERROR] [1720454512.185426319]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/640d5f18-3d43-11ef-bfe0-0242ac110005/roslaunch-d9b058e6719b-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://d9b058e6719b:39813/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[1mROS_MASTER_URI=http://d9b058e6719b:11311/[0m
]2;roscore http://d9b058e6719b:11311/
[1msetting /run_id to 640d5f18-3d43-11ef-bfe0-0242ac110005[0m
[0m[ INFO] [1720454513.489208038]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720454513.492151859]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720454513.499368225]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720454513.499576549]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720454513.499602187]: 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] [1720454513.499832193]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720454513.500054536]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720454513.500244395]: 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
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [221][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720454522.319803171]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316817943.62 
[0m[ INFO] [1720454524.722502307]: Initialization finish![0m
time: 1403636580.813555, t: -0.150252 -0.011286 0.040316 q: 0.998315 -0.005451 -0.057325 -0.007206 
time: 1403636580.913555, t: -0.081509 -0.014203 0.024932 q: 0.998789 -0.014690 -0.045045 -0.013291 
time: 1403636581.013556, t: 0.090417 -0.020811 -0.026089 q: 0.999404 -0.022156 -0.013916 -0.022518 
time: 1403636581.113555, t: 0.056207 -0.027880 0.003171 q: 0.999532 -0.017478 -0.017860 -0.017644 
time: 1403636581.213556, t: 0.105548 -0.023108 -0.021368 q: 0.999769 -0.017661 -0.001157 -0.012194 
time: 1403636581.313555, t: 0.145303 -0.023388 -0.033926 q: 0.999680 -0.017180 0.015372 -0.010451 
time: 1403636581.413555, t: 0.153170 -0.022411 -0.040139 q: 0.999481 -0.019838 0.021863 -0.012923 
time: 1403636581.513556, t: 0.128330 -0.018833 -0.035220 q: 0.999481 -0.022475 0.014116 -0.018266 
time: 1403636581.613555, t: 0.079358 -0.013071 -0.020245 q: 0.999631 -0.022189 0.001426 -0.015618 
time: 1403636581.713556, t: 0.020781 -0.006750 -0.004798 q: 0.999642 -0.021048 -0.007286 -0.014795 
time: 1403636581.813555, t: -0.043854 -0.003679 0.010876 q: 0.999718 -0.016957 -0.010454 -0.012892 
time: 1403636581.913555, t: -0.109619 -0.002763 0.029086 q: 0.999699 -0.014362 -0.017359 -0.009715 
time: 1403636582.013556, t: -0.171103 0.000001 0.043697 q: 0.999303 -0.018450 -0.031770 -0.006620 
time: 1403636582.113555, t: -0.217608 0.001548 0.054057 q: 0.998564 -0.019760 -0.049264 -0.007231 
time: 1403636582.213556, t: -0.241332 -0.000004 0.057924 q: 0.997897 -0.016350 -0.062336 -0.006960 
time: 1403636582.313555, t: -0.231766 -0.003260 0.056367 q: 0.997633 -0.013892 -0.066981 -0.007003 
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time: 1403636582.513556, t: -0.132384 -0.012098 0.031307 q: 0.998902 -0.013834 -0.043925 -0.008614 
time: 1403636582.613555, t: -0.068437 -0.014585 0.014181 q: 0.999119 -0.018475 -0.035832 -0.011623 
time: 1403636582.713556, t: -0.003572 -0.015261 -0.004169 q: 0.999200 -0.022224 -0.031151 -0.011663 
time: 1403636582.813555, t: 0.059664 -0.013946 -0.019419 q: 0.999335 -0.027613 -0.022635 -0.007402 
time: 1403636582.913555, t: 0.119457 -0.012766 -0.035501 q: 0.999347 -0.035232 -0.007534 -0.002909 
time: 1403636583.013556, t: 0.164195 -0.011441 -0.049608 q: 0.999210 -0.038539 0.009407 -0.002531 
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time: 1403636583.213556, t: 0.169268 -0.006764 -0.052673 q: 0.998963 -0.041711 0.015736 -0.009233 
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time: 1403636583.713556, t: -0.120938 0.014454 0.032161 q: 0.999079 -0.031016 -0.028294 -0.008820 
time: 1403636583.813555, t: -0.178756 0.019130 0.043777 q: 0.998349 -0.028727 -0.049707 -0.001668 
time: 1403636583.913555, t: -0.225088 0.019794 0.054774 q: 0.997606 -0.029379 -0.062470 -0.004046 
time: 1403636584.013556, t: -0.252241 0.019427 0.057628 q: 0.997387 -0.024985 -0.067219 -0.008797 
time: 1403636584.113555, t: -0.254280 0.016495 0.055980 q: 0.997514 -0.018192 -0.067418 -0.009457 
time: 1403636584.213556, t: -0.227223 0.013737 0.049193 q: 0.997548 -0.015460 -0.067445 -0.010525 
time: 1403636584.313555, t: -0.178020 0.010598 0.037739 q: 0.997769 -0.015393 -0.064056 -0.010845 
time: 1403636584.413555, t: -0.114894 0.008804 0.024949 q: 0.997836 -0.020320 -0.060414 -0.016119 
time: 1403636584.513556, t: -0.043566 0.007304 0.010794 q: 0.998113 -0.025442 -0.052170 -0.020052 
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time: 1403636584.913555, t: 0.194011 -0.004803 -0.048500 q: 0.998895 -0.042210 0.014975 -0.014214 
time: 1403636585.013556, t: 0.205872 -0.004598 -0.052096 q: 0.998805 -0.044625 0.017464 -0.009648 
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time: 1403636585.213556, t: 0.159010 -0.000693 -0.036808 q: 0.998594 -0.051882 0.007808 -0.007591 
time: 1403636585.313555, t: 0.115056 0.005172 -0.022071 q: 0.998253 -0.057526 0.001192 -0.013410 
time: 1403636585.413555, t: 0.063379 0.012685 -0.005585 q: 0.998037 -0.059137 -0.005664 -0.019827 
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time: 1403636585.913555, t: -0.093123 0.021121 -0.004844 q: 0.996949 -0.014348 -0.076676 -0.002858 
time: 1403636586.013556, t: -0.094122 0.021468 -0.012671 q: 0.994888 -0.018087 -0.099323 0.002387 
time: 1403636586.113555, t: -0.091809 0.020423 -0.019841 q: 0.991961 -0.031908 -0.122355 0.004948 
time: 1403636586.213556, t: -0.089039 0.016087 -0.027057 q: 0.989284 -0.039916 -0.140101 0.009814 
time: 1403636586.313555, t: -0.086512 0.012859 -0.037200 q: 0.986183 -0.041820 -0.159652 0.014318 
time: 1403636586.413555, t: -0.087428 0.011162 -0.047947 q: 0.982504 -0.043396 -0.180001 0.020061 
time: 1403636586.513556, t: -0.088783 0.012720 -0.059606 q: 0.979009 -0.043443 -0.198129 0.019976 
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time: 1403636588.613555, t: -0.066546 0.334484 -0.017762 q: 0.976644 -0.063942 -0.201337 0.039254 
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time: 1403636589.013556, t: -0.069283 0.210488 -0.033562 q: 0.977481 -0.045774 -0.202975 0.035162 
time: 1403636589.113555, t: -0.067732 0.167510 -0.039478 q: 0.978900 -0.039465 -0.197978 0.031640 
time: 1403636589.213556, t: -0.065331 0.121513 -0.044048 q: 0.979868 -0.035075 -0.194336 0.029378 
time: 1403636589.313555, t: -0.064516 0.073239 -0.048632 q: 0.979795 -0.030433 -0.195917 0.026321 
time: 1403636589.413555, t: -0.066735 0.024548 -0.051289 q: 0.979173 -0.025599 -0.200080 0.023092 
time: 1403636589.513556, t: -0.069569 -0.023481 -0.053836 q: 0.979364 -0.023256 -0.199718 0.020451 
time: 1403636589.613555, t: -0.073329 -0.071165 -0.056373 q: 0.979971 -0.020181 -0.197221 0.018817 
time: 1403636589.713556, t: -0.077944 -0.117884 -0.058581 q: 0.980443 -0.017285 -0.195313 0.016885 
time: 1403636589.813555, t: -0.084001 -0.162087 -0.060052 q: 0.980079 -0.010078 -0.197724 0.015749 
time: 1403636589.913555, t: -0.091404 -0.200373 -0.060319 q: 0.978823 -0.002146 -0.204220 0.013976 
time: 1403636590.013556, t: -0.097880 -0.231822 -0.061109 q: 0.978530 0.006952 -0.205467 0.014655 
optimize pose graph 
time: 1403636590.113555, t: -0.099616 -0.253970 -0.062621 q: 0.979714 0.013279 -0.199496 0.013619 
time: 1403636590.213556, t: -0.099133 -0.264877 -0.064602 q: 0.980757 0.017470 -0.194003 0.013147 
time: 1403636590.313555, t: -0.097808 -0.262995 -0.067244 q: 0.980759 0.016715 -0.194209 0.010705 
time: 1403636590.413555, t: -0.095450 -0.248004 -0.070697 q: 0.980449 0.012205 -0.196147 0.009881 
time: 1403636590.513556, t: -0.091820 -0.222143 -0.074791 q: 0.980797 0.005122 -0.194776 0.008532 
time: 1403636590.613555, t: -0.087290 -0.187873 -0.079072 q: 0.981446 -0.001223 -0.191594 0.007338 
time: 1403636590.713556, t: -0.083737 -0.147912 -0.081501 q: 0.981550 -0.007430 -0.190898 0.007839 
time: 1403636590.813555, t: -0.082340 -0.104422 -0.080918 q: 0.980681 -0.011271 -0.194957 0.011418 
time: 1403636590.913555, t: -0.082048 -0.058078 -0.078416 q: 0.979462 -0.014265 -0.200568 0.014963 
time: 1403636591.013556, t: -0.081952 -0.010585 -0.074859 q: 0.979202 -0.016425 -0.201596 0.015874 
time: 1403636591.113555, t: -0.080913 0.034604 -0.070294 q: 0.979520 -0.014897 -0.200024 0.017591 
time: 1403636591.213556, t: -0.079818 0.076615 -0.065498 q: 0.979334 -0.015859 -0.200594 0.020362 
time: 1403636591.313555, t: -0.081173 0.113566 -0.060567 q: 0.978733 -0.019052 -0.203039 0.022211 
time: 1403636591.413555, t: -0.084699 0.142403 -0.055479 q: 0.978211 -0.023806 -0.204795 0.024398 
time: 1403636591.513556, t: -0.089829 0.163691 -0.048208 q: 0.978262 -0.027863 -0.203860 0.025870 
time: 1403636591.613555, t: -0.094042 0.180983 -0.040306 q: 0.979747 -0.041975 -0.193933 0.026892 
time: 1403636591.813555, t: -0.095251 0.198437 -0.026209 q: 0.985812 -0.065911 -0.152617 0.023200 
time: 1403636591.913555, t: -0.091878 0.204764 -0.020977 q: 0.987201 -0.075437 -0.138352 0.024538 
time: 1403636592.013556, t: -0.088860 0.213098 -0.013221 q: 0.985967 -0.083529 -0.141116 0.031264 
optimize pose graph 
time: 1403636592.113555, t: -0.085137 0.226642 0.000688 q: 0.983723 -0.093783 -0.147941 0.040093 
time: 1403636592.213556, t: -0.080959 0.241532 0.019815 q: 0.981322 -0.101890 -0.156377 0.046608 
time: 1403636592.313555, t: -0.074447 0.253404 0.042432 q: 0.979594 -0.103693 -0.165044 0.049028 
time: 1403636592.413555, t: -0.065941 0.258067 0.069616 q: 0.978987 -0.097627 -0.171258 0.052194 
time: 1403636592.513556, t: -0.054648 0.253024 0.100377 q: 0.980584 -0.085486 -0.169496 0.049178 
time: 1403636592.613555, t: -0.044169 0.238854 0.133390 q: 0.983744 -0.069047 -0.160636 0.040955 
time: 1403636592.713556, t: -0.035518 0.215816 0.164054 q: 0.986072 -0.051440 -0.155140 0.030791 
time: 1403636592.813555, t: -0.029898 0.181691 0.191003 q: 0.987222 -0.026704 -0.155460 0.022633 
time: 1403636592.913555, t: -0.029454 0.135264 0.207902 q: 0.986869 0.002940 -0.160640 0.016579 
time: 1403636593.013556, t: -0.033179 0.079388 0.210295 q: 0.985360 0.031872 -0.167178 0.010068 
time: 1403636593.113555, t: -0.040761 0.017857 0.198925 q: 0.983365 0.058614 -0.171917 0.001169 
time: 1403636593.213556, t: -0.050540 -0.044586 0.174044 q: 0.981249 0.083066 -0.173924 -0.000617 
time: 1403636593.313555, t: -0.062520 -0.100246 0.138784 q: 0.978932 0.102145 -0.176797 0.000811 
time: 1403636593.413555, t: -0.077470 -0.139058 0.096452 q: 0.977320 0.109269 -0.181396 -0.000969 
time: 1403636593.513556, t: -0.095009 -0.158580 0.050279 q: 0.977085 0.105390 -0.184914 -0.002189 
time: 1403636593.613555, t: -0.115647 -0.160424 0.004721 q: 0.977081 0.095346 -0.190275 0.004127 
time: 1403636593.713556, t: -0.135718 -0.144499 -0.037168 q: 0.976784 0.078518 -0.198718 0.015447 
time: 1403636593.813555, t: -0.152775 -0.113489 -0.075732 q: 0.977626 0.049216 -0.202419 0.029190 
time: 1403636593.913555, t: -0.164577 -0.070245 -0.107983 q: 0.979657 0.012212 -0.195154 0.045153 
time: 1403636594.013556, t: -0.169883 -0.020389 -0.135091 q: 0.980971 -0.028416 -0.183087 0.058037 
time: 1403636594.113555, t: -0.170671 0.034500 -0.148580 q: 0.979717 -0.066719 -0.175666 0.069598 
optimize pose graph 
time: 1403636594.213556, t: -0.167309 0.090963 -0.148409 q: 0.976423 -0.098215 -0.175286 0.078913 
time: 1403636594.313555, t: -0.161939 0.149061 -0.130601 q: 0.973659 -0.119746 -0.175829 0.082054 
time: 1403636594.413555, t: -0.173687 0.188441 -0.063706 q: 0.973014 -0.141498 -0.166679 0.073752 
time: 1403636594.513556, t: -0.135518 0.254769 -0.059534 q: 0.973996 -0.140847 -0.162928 0.070350 
time: 1403636594.613555, t: -0.119163 0.290570 -0.013374 q: 0.975783 -0.140492 -0.152482 0.069710 
time: 1403636594.713556, t: -0.102545 0.301383 0.033275 q: 0.977350 -0.135795 -0.146587 0.069704 
time: 1403636594.813555, t: -0.092970 0.284297 0.076299 q: 0.980407 -0.119646 -0.142920 0.063731 
time: 1403636594.913555, t: -0.086242 0.241646 0.116082 q: 0.984313 -0.095114 -0.139428 0.051394 
time: 1403636595.013556, t: -0.083058 0.175439 0.142090 q: 0.988045 -0.059028 -0.137597 0.036740 
time: 1403636595.113555, t: -0.087191 0.099184 0.155671 q: 0.989596 -0.018792 -0.140990 0.021644 
time: 1403636595.213556, t: -0.092626 0.019845 0.152330 q: 0.988774 0.018191 -0.147823 0.012014 
time: 1403636595.313555, t: -0.103609 -0.043706 0.143307 q: 0.986828 0.050484 -0.153609 0.005166 
time: 1403636595.413555, t: -0.115423 -0.088368 0.120521 q: 0.985142 0.068964 -0.157284 -0.001209 
time: 1403636595.513556, t: -0.126895 -0.104480 0.092872 q: 0.983968 0.077010 -0.160840 -0.002656 
time: 1403636595.613555, t: -0.138010 -0.092855 0.061329 q: 0.983072 0.077841 -0.165810 -0.004233 
time: 1403636595.713556, t: -0.149210 -0.057156 0.029842 q: 0.983243 0.067541 -0.169292 -0.003520 
time: 1403636595.813555, t: -0.161600 -0.006092 0.001625 q: 0.984616 0.043199 -0.169282 -0.002840 
time: 1403636595.913555, t: -0.174211 0.050025 -0.025838 q: 0.985616 0.011483 -0.168590 0.002595 
time: 1403636596.013556, t: -0.186084 0.101757 -0.057821 q: 0.984940 -0.019666 -0.171404 0.011293 
time: 1403636596.113555, t: -0.197373 0.136158 -0.091547 q: 0.983134 -0.047468 -0.175368 0.020993 
optimize pose graph 
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time: 1403636596.313555, t: -0.211460 0.124547 -0.157810 q: 0.982111 -0.066544 -0.172433 0.036011 
time: 1403636596.413555, t: -0.212584 0.088670 -0.196460 q: 0.982792 -0.068439 -0.167738 0.036047 
time: 1403636596.513556, t: -0.213805 0.049003 -0.234360 q: 0.984009 -0.066243 -0.162389 0.031110 
time: 1403636596.613555, t: -0.215385 0.013604 -0.264341 q: 0.984600 -0.064402 -0.160452 0.025905 
time: 1403636596.713556, t: -0.217317 -0.012381 -0.281428 q: 0.984284 -0.063146 -0.163106 0.024382 
time: 1403636596.813555, t: -0.217063 -0.022889 -0.280178 q: 0.984854 -0.061304 -0.160940 0.020051 
time: 1403636596.913555, t: -0.212087 -0.019081 -0.258039 q: 0.985801 -0.061924 -0.155453 0.014033 
time: 1403636597.013556, t: -0.202152 -0.005687 -0.216459 q: 0.985351 -0.064201 -0.157671 0.010049 
time: 1403636597.113555, t: -0.188670 0.012059 -0.162369 q: 0.983638 -0.061906 -0.168932 0.009294 
time: 1403636597.213556, t: -0.169432 0.030967 -0.100692 q: 0.982819 -0.050960 -0.177301 0.005771 
time: 1403636597.313555, t: -0.144380 0.047769 -0.037357 q: 0.983536 -0.036928 -0.176895 -0.001413 
time: 1403636597.413555, t: -0.118944 0.057849 0.025753 q: 0.984697 -0.021376 -0.172701 -0.009446 
time: 1403636597.513556, t: -0.098482 0.060026 0.081969 q: 0.985415 -0.003226 -0.169050 -0.019183 
time: 1403636597.613555, t: -0.086179 0.052418 0.121696 q: 0.986242 0.020300 -0.162426 -0.023071 
time: 1403636597.713556, t: -0.083134 0.033420 0.140087 q: 0.986783 0.044214 -0.153834 -0.025291 
time: 1403636597.813555, t: -0.087171 0.009288 0.135328 q: 0.987006 0.060961 -0.145824 -0.028963 
time: 1403636597.913555, t: -0.097269 -0.011684 0.112823 q: 0.986752 0.070806 -0.141331 -0.036515 
time: 1403636598.013556, t: -0.111473 -0.026425 0.077833 q: 0.985722 0.075343 -0.144057 -0.043858 
time: 1403636598.113555, t: -0.129768 -0.033774 0.037098 q: 0.984136 0.076311 -0.153881 -0.044423 
optimize pose graph 
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time: 1403636598.313555, t: -0.173933 -0.027482 -0.025389 q: 0.978983 0.065921 -0.187162 -0.047083 
time: 1403636598.413555, t: -0.190603 -0.017595 -0.034093 q: 0.978064 0.056564 -0.193989 -0.050585 
time: 1403636598.513556, t: -0.202012 -0.004831 -0.022217 q: 0.978692 0.053965 -0.191069 -0.052377 
time: 1403636598.613555, t: -0.206410 0.006663 0.005635 q: 0.980751 0.059718 -0.178392 -0.052324 
time: 1403636598.713556, t: -0.208398 0.017238 0.041674 q: 0.982991 0.071086 -0.161258 -0.051694 
time: 1403636598.813555, t: -0.215154 0.026099 0.080157 q: 0.985478 0.084255 -0.138707 -0.049952 
time: 1403636598.913555, t: -0.226596 0.035277 0.116293 q: 0.988037 0.090277 -0.116184 -0.046191 
time: 1403636599.013556, t: -0.240906 0.043375 0.147546 q: 0.989717 0.091773 -0.099358 -0.046542 
time: 1403636599.113555, t: -0.252366 0.048374 0.171601 q: 0.990903 0.098843 -0.081055 -0.042099 
time: 1403636599.213556, t: -0.258610 0.051760 0.188684 q: 0.992386 0.104641 -0.052290 -0.038546 
time: 1403636599.313555, t: -0.262656 0.053535 0.203360 q: 0.993631 0.105200 -0.022660 -0.033432 
time: 1403636599.413555, t: -0.268457 0.055532 0.215785 q: 0.994289 0.101364 -0.006971 -0.032641 
time: 1403636599.513556, t: -0.275288 0.056933 0.226604 q: 0.995074 0.093320 -0.005671 -0.032960 
time: 1403636599.613555, t: -0.282364 0.058492 0.233848 q: 0.995689 0.086900 -0.011617 -0.030277 
time: 1403636599.713556, t: -0.289041 0.060297 0.238067 q: 0.995913 0.084322 -0.012382 -0.029888 
time: 1403636599.913555, t: -0.290408 0.063975 0.236909 q: 0.995730 0.087527 0.013459 -0.026075 
time: 1403636600.013556, t: -0.291379 0.065114 0.237085 q: 0.995964 0.085884 0.012067 -0.023131 
time: 1403636600.113555, t: -0.292540 0.067017 0.237026 q: 0.995863 0.087697 0.015330 -0.018180 
time: 1403636600.213556, t: -0.292676 0.067104 0.237023 q: 0.995842 0.087841 0.015717 -0.018312 
optimize pose graph 
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time: 1403636600.413555, t: -0.292744 0.066728 0.236817 q: 0.995807 0.088494 0.015726 -0.017006 
time: 1403636600.513556, t: -0.292760 0.066726 0.236750 q: 0.995811 0.088476 0.015989 -0.016643 
time: 1403636600.613555, t: -0.292737 0.066650 0.236784 q: 0.995803 0.088624 0.015854 -0.016449 
time: 1403636600.713556, t: -0.292755 0.066703 0.236784 q: 0.995811 0.088515 0.015780 -0.016626 
time: 1403636600.813555, t: -0.292756 0.066736 0.236786 q: 0.995814 0.088445 0.015822 -0.016754 
time: 1403636600.913555, t: -0.292742 0.066745 0.236805 q: 0.995814 0.088478 0.015768 -0.016662 
time: 1403636601.013556, t: -0.292773 0.066746 0.236790 q: 0.995817 0.088423 0.015789 -0.016770 
time: 1403636601.113555, t: -0.292759 0.066735 0.236795 q: 0.995817 0.088441 0.015756 -0.016716 
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time: 1403636601.413555, t: -0.292768 0.066722 0.236799 q: 0.995818 0.088459 0.015721 -0.016583 
time: 1403636601.513556, t: -0.292805 0.066720 0.236797 q: 0.995818 0.088452 0.015795 -0.016530 
time: 1403636601.613555, t: -0.292828 0.066697 0.236778 q: 0.995817 0.088486 0.015784 -0.016403 
time: 1403636601.713556, t: -0.292839 0.066702 0.236773 q: 0.995817 0.088501 0.015779 -0.016359 
time: 1403636601.813555, t: -0.292828 0.066682 0.236821 q: 0.995821 0.088463 0.015744 -0.016363 
time: 1403636601.913555, t: -0.292818 0.066681 0.236806 q: 0.995821 0.088456 0.015760 -0.016367 
time: 1403636602.013556, t: -0.292813 0.066675 0.236806 q: 0.995821 0.088461 0.015770 -0.016352 
time: 1403636602.113555, t: -0.292828 0.066675 0.236812 q: 0.995819 0.088493 0.015773 -0.016252 
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time: 1403636604.013556, t: -0.292876 0.066674 0.236762 q: 0.995820 0.088478 0.015823 -0.016255 
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optimize pose graph 
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time: 1403636626.713556, t: 0.063399 0.118289 0.163632 q: 0.995527 0.081057 0.007209 -0.047989 
time: 1403636626.813555, t: 0.057716 0.128191 0.163640 q: 0.995361 0.082566 0.002089 -0.049350 
time: 1403636626.913555, t: 0.046937 0.139002 0.161192 q: 0.995226 0.083160 -0.005928 -0.050731 
time: 1403636627.013556, t: 0.032926 0.150323 0.157779 q: 0.995080 0.082702 -0.015006 -0.052457 
time: 1403636627.113555, t: 0.021299 0.161395 0.153409 q: 0.994897 0.082308 -0.023824 -0.053266 
time: 1403636627.213556, t: 0.020996 0.171048 0.147253 q: 0.994940 0.082776 -0.020002 -0.053320 
time: 1403636627.313555, t: 0.031053 0.179734 0.138112 q: 0.995030 0.083962 -0.012584 -0.052031 
time: 1403636627.413555, t: 0.049022 0.187154 0.125950 q: 0.995070 0.084871 -0.010985 -0.050129 
time: 1403636627.513556, t: 0.072338 0.195801 0.111075 q: 0.995384 0.083181 -0.011037 -0.046591 
time: 1403636627.613555, t: 0.085298 0.206958 0.098562 q: 0.996095 0.076025 -0.013212 -0.042895 
time: 1403636627.713556, t: 0.082733 0.219557 0.091734 q: 0.996652 0.067453 -0.020946 -0.041196 
time: 1403636627.813555, t: 0.070250 0.233615 0.088523 q: 0.997198 0.054886 -0.032085 -0.039427 
time: 1403636627.913555, t: 0.058336 0.248568 0.088606 q: 0.997524 0.042036 -0.042126 -0.037483 
time: 1403636628.013556, t: 0.056098 0.261255 0.091986 q: 0.997755 0.032480 -0.045416 -0.036967 
time: 1403636628.113555, t: 0.067214 0.272380 0.096890 q: 0.998371 0.026912 -0.036509 -0.034614 
time: 1403636628.213556, t: 0.088046 0.281136 0.103411 q: 0.999083 0.024545 -0.018709 -0.029666 
optimize pose graph 
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time: 1403636628.413555, t: 0.141185 0.300232 0.113383 q: 0.999512 0.026096 -0.006355 -0.015978 
time: 1403636628.513556, t: 0.164033 0.312863 0.116482 q: 0.999507 0.027400 -0.006775 -0.013725 
time: 1403636628.613555, t: 0.179616 0.329343 0.119972 q: 0.999460 0.029509 -0.008191 -0.011881 
time: 1403636628.713556, t: 0.188415 0.349147 0.126507 q: 0.999455 0.028980 -0.008260 -0.013511 
time: 1403636628.813555, t: 0.191034 0.374421 0.134915 q: 0.999510 0.021157 -0.013925 -0.018370 
time: 1403636628.913555, t: 0.193629 0.401810 0.138520 q: 0.999461 0.011919 -0.022404 -0.020843 
time: 1403636629.013556, t: 0.202531 0.430587 0.143795 q: 0.999353 0.005419 -0.028769 -0.020884 
time: 1403636629.113555, t: 0.219218 0.456804 0.151204 q: 0.999320 -0.000740 -0.030593 -0.020589 
time: 1403636629.213556, t: 0.238154 0.484463 0.159656 q: 0.999354 -0.010302 -0.029727 -0.017398 
time: 1403636629.313555, t: 0.251787 0.512864 0.173032 q: 0.999418 -0.019391 -0.025269 -0.012192 
time: 1403636629.413555, t: 0.261688 0.542640 0.187487 q: 0.999488 -0.024939 -0.019578 -0.004317 
time: 1403636629.513556, t: 0.266304 0.573323 0.207116 q: 0.999321 -0.033702 -0.013532 0.006211 
time: 1403636629.613555, t: 0.262912 0.606226 0.226763 q: 0.998603 -0.048499 -0.016585 0.012867 
time: 1403636629.713556, t: 0.253126 0.645274 0.250628 q: 0.997218 -0.067778 -0.026125 0.016733 
time: 1403636629.813555, t: 0.240595 0.687053 0.274830 q: 0.995169 -0.089902 -0.033215 0.021297 
time: 1403636629.913555, t: 0.227288 0.731715 0.303275 q: 0.992711 -0.111239 -0.036933 0.028035 
time: 1403636630.013556, t: 0.217826 0.775822 0.341253 q: 0.990581 -0.127881 -0.036636 0.032471 
time: 1403636630.113555, t: 0.220812 0.820465 0.378674 q: 0.989186 -0.139280 -0.029767 0.035012 
time: 1403636630.213556, t: 0.235850 0.865661 0.412260 q: 0.988301 -0.147475 -0.015726 0.035565 
optimize pose graph 
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time: 1403636630.513556, t: 0.306807 0.997213 0.507579 q: 0.987305 -0.154841 -0.012614 0.033085 
time: 1403636630.613555, t: 0.340963 1.035766 0.540987 q: 0.987448 -0.154811 -0.015519 0.027190 
time: 1403636630.713556, t: 0.372441 1.072190 0.573905 q: 0.987736 -0.153284 -0.018401 0.023301 
time: 1403636630.813555, t: 0.392861 1.112740 0.606790 q: 0.988249 -0.149626 -0.018673 0.025043 
time: 1403636630.913555, t: 0.411144 1.150071 0.644116 q: 0.988696 -0.146171 -0.018256 0.027932 
time: 1403636631.013556, t: 0.425420 1.183024 0.683237 q: 0.988908 -0.144427 -0.017725 0.029786 
time: 1403636631.113555, t: 0.434596 1.224436 0.716647 q: 0.989209 -0.142673 -0.014713 0.029899 
time: 1403636631.213556, t: 0.444988 1.264233 0.754876 q: 0.989435 -0.141509 -0.011272 0.029432 
time: 1403636631.313555, t: 0.456293 1.301304 0.794972 q: 0.989547 -0.140934 -0.010076 0.028848 
time: 1403636631.413555, t: 0.456860 1.340065 0.835028 q: 0.989683 -0.140104 -0.009904 0.028276 
time: 1403636631.513556, t: 0.455095 1.379942 0.873257 q: 0.989821 -0.139492 -0.010394 0.026256 
time: 1403636631.613555, t: 0.452656 1.417395 0.912585 q: 0.989938 -0.139134 -0.010823 0.023408 
time: 1403636631.713556, t: 0.454616 1.451002 0.953726 q: 0.990090 -0.138215 -0.012095 0.021737 
time: 1403636631.813555, t: 0.461964 1.484442 0.991965 q: 0.990237 -0.137312 -0.012550 0.020446 
time: 1403636631.913555, t: 0.473691 1.515294 1.030262 q: 0.990229 -0.137494 -0.014334 0.018324 
time: 1403636632.013556, t: 0.485901 1.546105 1.064724 q: 0.990228 -0.137539 -0.014305 0.018091 
time: 1403636632.113555, t: 0.502525 1.574323 1.099535 q: 0.990206 -0.138213 -0.011438 0.016066 
time: 1403636632.213556, t: 0.517638 1.600928 1.133743 q: 0.989975 -0.140335 -0.010504 0.012025 
time: 1403636632.313555, t: 0.528086 1.620522 1.171033 q: 0.989860 -0.141030 -0.009506 0.014045 
optimize pose graph 
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time: 1403636632.913555, t: 0.526678 1.720704 1.439961 q: 0.996836 -0.074430 -0.025534 0.011258 
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time: 1403636633.113555, t: 0.561634 1.759900 1.535793 q: 0.998713 -0.044714 -0.019778 -0.013452 
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time: 1403636633.713556, t: 0.604905 1.873771 1.865657 q: 0.998987 -0.026794 -0.035430 -0.007200 
time: 1403636633.813555, t: 0.618905 1.894626 1.925510 q: 0.998963 -0.029237 -0.034526 -0.005043 
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time: 1403636634.113555, t: 0.683650 1.965688 2.116087 q: 0.999042 -0.031081 -0.028422 0.011869 
time: 1403636634.213556, t: 0.709405 1.992965 2.181610 q: 0.998978 -0.031702 -0.031348 0.007462 
time: 1403636634.313555, t: 0.744276 2.026619 2.247183 q: 0.999065 -0.032597 -0.028408 -0.000725 
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time: 1403636636.313555, t: 1.413390 2.579592 3.555293 q: 0.999488 0.004581 -0.018016 -0.026041 
time: 1403636636.413555, t: 1.479267 2.611787 3.618485 q: 0.999562 0.003956 -0.002911 -0.029175 
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optimize pose graph 
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time: 1403636696.913555, t: 1.483876 4.882094 5.572148 q: 0.956286 0.264666 -0.012274 -0.123765 
time: 1403636697.013556, t: 1.474212 4.885449 5.571371 q: 0.955815 0.260053 -0.008871 -0.136789 
time: 1403636697.113555, t: 1.464204 4.886044 5.566556 q: 0.955227 0.254982 -0.005413 -0.149990 
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time: 1403636698.213556, t: 1.478965 4.624336 5.244988 q: 0.980801 0.166882 -0.020911 -0.098706 
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optimize pose graph 
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optimize pose graph 
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time: 1403636707.913555, t: 1.014825 7.409220 6.681180 q: 0.913668 -0.389074 -0.008400 0.117309 
time: 1403636708.013556, t: 1.035637 7.467330 6.763238 q: 0.914670 -0.388045 -0.006356 0.112959 
time: 1403636708.113555, t: 1.052065 7.529378 6.848907 q: 0.915737 -0.387343 -0.004904 0.106614 
time: 1403636708.213556, t: 1.060633 7.593278 6.936938 q: 0.916848 -0.385549 -0.002229 0.103619 
time: 1403636708.313555, t: 1.069774 7.655843 7.025172 q: 0.917749 -0.381616 0.005335 0.109899 
time: 1403636708.413555, t: 1.077304 7.717902 7.107546 q: 0.918417 -0.376251 0.014588 0.121380 
time: 1403636708.513556, t: 1.090675 7.785169 7.185559 q: 0.918641 -0.373839 0.019604 0.126328 
time: 1403636708.613555, t: 1.106921 7.854862 7.254092 q: 0.918518 -0.376032 0.020328 0.120464 
time: 1403636708.813555, t: 1.133188 7.991105 7.378059 q: 0.916559 -0.389131 0.011580 0.091445 
optimize pose graph 
time: 1403636708.913555, t: 1.137635 8.056018 7.440031 q: 0.915064 -0.393767 0.011150 0.086496 
time: 1403636709.013556, t: 1.144203 8.116423 7.500340 q: 0.913519 -0.397754 0.014213 0.084105 
time: 1403636709.113555, t: 1.156894 8.169976 7.554663 q: 0.911936 -0.401806 0.016517 0.081562 
time: 1403636709.213556, t: 1.177383 8.216530 7.607358 q: 0.910742 -0.404169 0.012548 0.083904 
time: 1403636709.313555, t: 1.200106 8.252701 7.657986 q: 0.910051 -0.405271 0.005495 0.086792 
time: 1403636709.413555, t: 1.222936 8.284691 7.712220 q: 0.909652 -0.406020 0.000117 0.087642 
time: 1403636709.513556, t: 1.242222 8.310679 7.768581 q: 0.909548 -0.406174 -0.002128 0.087979 
time: 1403636709.613555, t: 1.254332 8.333276 7.829003 q: 0.909625 -0.405736 -0.004792 0.089099 
time: 1403636709.813555, t: 1.274922 8.369871 7.954161 q: 0.910812 -0.403228 -0.006903 0.088210 
time: 1403636709.913555, t: 1.288831 8.383732 8.021607 q: 0.911483 -0.401785 -0.005934 0.087934 
time: 1403636710.013556, t: 1.310234 8.392906 8.089391 q: 0.912267 -0.400094 -0.004869 0.087576 
time: 1403636710.113555, t: 1.336873 8.395514 8.159104 q: 0.912998 -0.398731 -0.003842 0.086219 
time: 1403636710.213556, t: 1.356343 8.397417 8.232155 q: 0.913952 -0.396919 -0.003187 0.084483 
time: 1403636710.313555, t: 1.364765 8.398798 8.310585 q: 0.915712 -0.391618 0.001878 0.090019 
time: 1403636710.413555, t: 1.370482 8.396702 8.387820 q: 0.918847 -0.381195 0.008214 0.101698 
time: 1403636710.513556, t: 1.372980 8.392778 8.469074 q: 0.923514 -0.367538 0.011651 0.109097 
time: 1403636710.613555, t: 1.371464 8.386362 8.546933 q: 0.928379 -0.354706 0.013564 0.110053 
time: 1403636710.713556, t: 1.365855 8.383453 8.621777 q: 0.933976 -0.341354 0.013584 0.104791 
time: 1403636710.813555, t: 1.358545 8.383330 8.693889 q: 0.940291 -0.327488 0.012161 0.091956 
time: 1403636710.913555, t: 1.355258 8.383308 8.759108 q: 0.946786 -0.312784 0.006977 0.075589 
time: 1403636711.013556, t: 1.359432 8.378589 8.820280 q: 0.951778 -0.301052 0.001170 0.059027 
optimize pose graph 
time: 1403636711.113555, t: 1.363235 8.375951 8.876835 q: 0.955248 -0.291768 -0.000554 0.048703 
time: 1403636711.213556, t: 1.371655 8.369288 8.931055 q: 0.957321 -0.285941 0.000011 0.042119 
time: 1403636711.313555, t: 1.382148 8.360379 8.984960 q: 0.958724 -0.281251 0.002286 0.041723 
time: 1403636711.413555, t: 1.397537 8.345676 9.035900 q: 0.959440 -0.278179 0.010156 0.044600 
time: 1403636711.513556, t: 1.420810 8.326397 9.080142 q: 0.959355 -0.277606 0.024278 0.044546 
time: 1403636711.613555, t: 1.441209 8.298164 9.123269 q: 0.958347 -0.281139 0.031317 0.039373 
time: 1403636711.713556, t: 1.458621 8.265812 9.160157 q: 0.957379 -0.284962 0.030507 0.035939 
time: 1403636711.813555, t: 1.473814 8.227299 9.189552 q: 0.956970 -0.286126 0.027687 0.039663 
time: 1403636711.913555, t: 1.490516 8.180213 9.215662 q: 0.957088 -0.284267 0.022360 0.051728 
time: 1403636712.013556, t: 1.507737 8.129179 9.236589 q: 0.957158 -0.281357 0.018907 0.065792 
time: 1403636712.113555, t: 1.527546 8.080312 9.250955 q: 0.957221 -0.278626 0.019202 0.075678 
time: 1403636712.213556, t: 1.547882 8.030253 9.261553 q: 0.957983 -0.277051 0.019518 0.071629 
time: 1403636712.313555, t: 1.580019 7.982079 9.264228 q: 0.960764 -0.271023 0.017087 0.056458 
time: 1403636712.413555, t: 1.610140 7.931027 9.263737 q: 0.964161 -0.261439 0.015750 0.042380 
time: 1403636712.513556, t: 1.638657 7.875943 9.258030 q: 0.967259 -0.251113 0.017092 0.032569 
time: 1403636712.613555, t: 1.671554 7.817299 9.250626 q: 0.969938 -0.240739 0.020814 0.028832 
time: 1403636712.713556, t: 1.698681 7.757116 9.234948 q: 0.972229 -0.230560 0.027918 0.028864 
time: 1403636712.813555, t: 1.716732 7.694688 9.219097 q: 0.973906 -0.223185 0.028953 0.029272 
time: 1403636712.913555, t: 1.731281 7.627134 9.205233 q: 0.974800 -0.219728 0.024040 0.030123 
time: 1403636713.013556, t: 1.736395 7.559436 9.185352 q: 0.975067 -0.219330 0.018469 0.028250 
time: 1403636713.113555, t: 1.742406 7.488246 9.160830 q: 0.975495 -0.217004 0.019466 0.030658 
time: 1403636713.213556, t: 1.753337 7.416164 9.128748 q: 0.975894 -0.215014 0.016932 0.033368 
optimize pose graph 
time: 1403636713.413555, t: 1.789403 7.268667 9.047918 q: 0.976028 -0.214108 0.011232 0.037430 
time: 1403636713.513556, t: 1.815801 7.194774 8.999441 q: 0.976019 -0.213414 0.010289 0.041653 
time: 1403636713.613555, t: 1.843244 7.121386 8.950595 q: 0.975880 -0.212635 0.009081 0.048592 
time: 1403636713.713556, t: 1.860756 7.051528 8.900100 q: 0.975673 -0.211982 0.007303 0.055433 
time: 1403636713.813555, t: 1.872340 6.984223 8.850644 q: 0.975328 -0.212075 0.006089 0.061012 
time: 1403636713.913555, t: 1.878693 6.922852 8.797915 q: 0.974868 -0.214473 0.004913 0.060085 
time: 1403636714.013556, t: 1.880506 6.864275 8.746007 q: 0.974305 -0.217838 0.002387 0.057186 
time: 1403636714.113555, t: 1.879240 6.809846 8.691887 q: 0.973625 -0.222159 0.001151 0.051950 
time: 1403636714.213556, t: 1.871298 6.755696 8.641478 q: 0.972995 -0.225132 0.002493 0.050888 
time: 1403636714.313555, t: 1.857383 6.704735 8.590893 q: 0.972642 -0.225442 0.004942 0.055857 
time: 1403636714.413555, t: 1.846060 6.654174 8.540580 q: 0.972157 -0.227088 0.000035 0.057803 
time: 1403636714.513556, t: 1.819031 6.610429 8.490631 q: 0.972832 -0.223783 -0.008693 0.058673 
time: 1403636714.613555, t: 1.792270 6.566748 8.441915 q: 0.974959 -0.214035 -0.016237 0.058147 
time: 1403636714.713556, t: 1.769962 6.528065 8.395076 q: 0.978287 -0.199523 -0.021358 0.051849 
time: 1403636714.813555, t: 1.755068 6.488775 8.350857 q: 0.982440 -0.180618 -0.024382 0.039925 
time: 1403636714.913555, t: 1.752138 6.453596 8.306813 q: 0.986669 -0.158615 -0.026250 0.025230 
time: 1403636715.013556, t: 1.758288 6.419284 8.264065 q: 0.990118 -0.136455 -0.029086 0.014149 
time: 1403636715.113555, t: 1.769895 6.387641 8.223928 q: 0.992330 -0.119349 -0.031909 0.004339 
time: 1403636715.213556, t: 1.785653 6.356476 8.189313 q: 0.993695 -0.107103 -0.033135 -0.001005 
time: 1403636715.313555, t: 1.799578 6.328469 8.158959 q: 0.994707 -0.098231 -0.030103 -0.001831 
time: 1403636715.413555, t: 1.808884 6.300787 8.134706 q: 0.995425 -0.092356 -0.024465 0.000477 
optimize pose graph 
time: 1403636715.513556, t: 1.813643 6.276480 8.112927 q: 0.996004 -0.087211 -0.017045 0.008968 
time: 1403636715.613555, t: 1.808933 6.257310 8.094578 q: 0.996266 -0.083036 -0.013044 0.019701 
time: 1403636715.713556, t: 1.801917 6.243865 8.077918 q: 0.996210 -0.085784 -0.002992 0.014041 
time: 1403636715.813555, t: 1.792411 6.232682 8.059776 q: 0.995815 -0.091026 0.006720 0.004575 
time: 1403636715.913555, t: 1.787834 6.222683 8.035863 q: 0.995359 -0.095061 0.014797 -0.001996 
time: 1403636716.013556, t: 1.783863 6.213228 8.006663 q: 0.995033 -0.097686 0.018884 -0.003072 
time: 1403636716.113555, t: 1.781931 6.201254 7.970615 q: 0.994868 -0.099642 0.017559 -0.000296 
time: 1403636716.213556, t: 1.782786 6.189376 7.928322 q: 0.994815 -0.101357 0.006378 0.005361 
time: 1403636716.313555, t: 1.780067 6.177294 7.883577 q: 0.994485 -0.104561 -0.001132 0.008071 
time: 1403636716.413555, t: 1.774370 6.168342 7.836798 q: 0.994166 -0.107309 -0.004290 0.010022 
time: 1403636716.513556, t: 1.762209 6.158891 7.792225 q: 0.993861 -0.110032 -0.005024 0.010363 
time: 1403636716.613555, t: 1.744420 6.149240 7.752014 q: 0.993940 -0.109622 -0.004768 0.006609 
time: 1403636716.713556, t: 1.719482 6.139493 7.712914 q: 0.994710 -0.102592 -0.004330 0.002802 
time: 1403636716.813555, t: 1.691604 6.130035 7.673378 q: 0.995904 -0.090310 -0.004251 -0.000841 
time: 1403636716.913555, t: 1.665725 6.118430 7.631741 q: 0.997305 -0.072944 -0.005583 -0.005603 
time: 1403636717.013556, t: 1.645686 6.103480 7.591595 q: 0.998534 -0.051748 -0.007588 -0.013925 
time: 1403636717.113555, t: 1.631542 6.090641 7.544859 q: 0.999251 -0.029876 -0.009568 -0.022636 
time: 1403636717.213556, t: 1.621986 6.078032 7.498293 q: 0.999363 -0.013868 -0.010842 -0.031053 
time: 1403636717.313555, t: 1.613384 6.065939 7.450164 q: 0.998988 -0.004764 -0.012035 -0.043069 
time: 1403636717.413555, t: 1.605408 6.052653 7.403484 q: 0.998268 -0.001243 -0.011296 -0.057716 
time: 1403636717.513556, t: 1.594254 6.037474 7.356138 q: 0.997937 0.001715 -0.011372 -0.063164 
time: 1403636717.613555, t: 1.578008 6.017931 7.309821 q: 0.998227 0.005686 -0.011573 -0.058110 
time: 1403636717.713556, t: 1.554871 5.994983 7.266513 q: 0.998425 0.006900 -0.010155 -0.054738 
time: 1403636717.813555, t: 1.528020 5.969064 7.223474 q: 0.998114 0.008325 -0.011522 -0.059719 
time: 1403636717.913555, t: 1.503247 5.935989 7.178859 q: 0.997606 0.015686 -0.012753 -0.066130 
time: 1403636718.013556, t: 1.483073 5.897088 7.132213 q: 0.996880 0.028406 -0.012773 -0.072523 
time: 1403636718.113555, t: 1.469569 5.853567 7.078605 q: 0.996032 0.047579 -0.013585 -0.073979 
time: 1403636718.213556, t: 1.453476 5.802474 7.030380 q: 0.994911 0.068046 -0.015288 -0.072721 
time: 1403636718.313555, t: 1.432543 5.753633 6.980571 q: 0.993714 0.084653 -0.017538 -0.071123 
time: 1403636718.413555, t: 1.404586 5.703296 6.937801 q: 0.992109 0.100908 -0.019869 -0.071710 
time: 1403636718.513556, t: 1.371196 5.650616 6.895773 q: 0.990138 0.118446 -0.021109 -0.071775 
time: 1403636718.613555, t: 1.334505 5.601311 6.855780 q: 0.988261 0.134135 -0.023240 -0.069337 
time: 1403636718.713556, t: 1.296445 5.552062 6.819416 q: 0.986623 0.147665 -0.027020 -0.063568 
time: 1403636718.813555, t: 1.256017 5.508158 6.785512 q: 0.985215 0.154978 -0.027516 -0.067644 
time: 1403636718.913555, t: 1.217170 5.468021 6.754734 q: 0.984087 0.156776 -0.025562 -0.079632 
time: 1403636719.113555, t: 1.161363 5.390475 6.687397 q: 0.983009 0.158026 -0.017680 -0.091695 
time: 1403636719.213556, t: 1.144056 5.353194 6.650057 q: 0.983061 0.159014 -0.010974 -0.090473 
time: 1403636719.313555, t: 1.126110 5.315819 6.612477 q: 0.983374 0.159564 -0.005790 -0.086497 
time: 1403636719.413555, t: 1.101094 5.280596 6.574071 q: 0.983673 0.159316 -0.002060 -0.083672 
time: 1403636719.513556, t: 1.067676 5.247757 6.536382 q: 0.984059 0.158605 -0.001417 -0.080439 
time: 1403636719.613555, t: 1.034736 5.217037 6.493827 q: 0.984467 0.157053 -0.007332 -0.078140 
optimize pose graph 
time: 1403636719.713556, t: 1.005287 5.188505 6.447825 q: 0.984891 0.153928 -0.014399 -0.078028 
time: 1403636719.813555, t: 0.983391 5.161967 6.399819 q: 0.985400 0.150747 -0.019077 -0.076799 
time: 1403636719.913555, t: 0.968133 5.135390 6.349525 q: 0.985918 0.148052 -0.020261 -0.075065 
time: 1403636720.013556, t: 0.952646 5.111084 6.302294 q: 0.986280 0.145509 -0.022262 -0.074720 
time: 1403636720.113555, t: 0.932378 5.085932 6.259167 q: 0.986475 0.144128 -0.023033 -0.074592 
time: 1403636720.213556, t: 0.907719 5.064767 6.218415 q: 0.986531 0.143885 -0.024428 -0.073868 
time: 1403636720.313555, t: 0.881897 5.044961 6.180822 q: 0.986531 0.144269 -0.024494 -0.073091 
time: 1403636720.413555, t: 0.852339 5.026612 6.144358 q: 0.986385 0.145155 -0.024614 -0.073276 
time: 1403636720.513556, t: 0.823310 5.012499 6.108122 q: 0.986157 0.146819 -0.025892 -0.072577 
time: 1403636720.613555, t: 0.800411 4.998078 6.073106 q: 0.985899 0.147970 -0.026678 -0.073466 
time: 1403636720.713556, t: 0.786890 4.984403 6.037648 q: 0.985807 0.148908 -0.025478 -0.073225 
time: 1403636720.813555, t: 0.779169 4.974277 6.002968 q: 0.986566 0.144582 -0.026007 -0.071465 
time: 1403636720.913555, t: 0.771592 4.967416 5.970255 q: 0.988244 0.133732 -0.025729 -0.069487 
time: 1403636721.013556, t: 0.758749 4.961727 5.941405 q: 0.990231 0.121955 -0.022906 -0.063604 
time: 1403636721.113555, t: 0.741465 4.958225 5.914848 q: 0.992271 0.108555 -0.019602 -0.056837 
time: 1403636721.213556, t: 0.722432 4.954849 5.888106 q: 0.994355 0.091788 -0.015560 -0.050910 
time: 1403636721.313555, t: 0.706330 4.958209 5.864567 q: 0.995832 0.078423 -0.012065 -0.044984 
time: 1403636721.413555, t: 0.694507 4.959424 5.837180 q: 0.996806 0.066661 -0.009953 -0.042829 
time: 1403636721.513556, t: 0.690133 4.963488 5.805420 q: 0.997469 0.056782 -0.010506 -0.041488 
time: 1403636721.613555, t: 0.683389 4.969091 5.774169 q: 0.998103 0.044861 -0.011775 -0.040497 
time: 1403636721.713556, t: 0.673751 4.975881 5.742895 q: 0.998476 0.035936 -0.012050 -0.040108 
time: 1403636721.813555, t: 0.658046 4.983463 5.712815 q: 0.998634 0.030408 -0.012225 -0.040691 
optimize pose graph 
time: 1403636721.913555, t: 0.637948 4.991669 5.684770 q: 0.998734 0.028664 -0.011277 -0.039774 
time: 1403636722.013556, t: 0.616222 4.997812 5.656808 q: 0.998535 0.026554 -0.010745 -0.045902 
time: 1403636722.113555, t: 0.601397 5.001831 5.625974 q: 0.998339 0.026569 -0.011161 -0.049885 
time: 1403636722.213556, t: 0.591806 5.003115 5.591863 q: 0.998368 0.028890 -0.011943 -0.047791 
time: 1403636722.313555, t: 0.586805 5.002619 5.555471 q: 0.998399 0.031859 -0.012436 -0.045052 
time: 1403636722.413555, t: 0.579780 5.001429 5.520032 q: 0.998450 0.030843 -0.013294 -0.044373 
time: 1403636722.513556, t: 0.565211 5.002359 5.486990 q: 0.998678 0.026345 -0.012304 -0.042382 
time: 1403636722.613555, t: 0.547234 5.002138 5.454101 q: 0.998779 0.021893 -0.012524 -0.042478 
time: 1403636722.713556, t: 0.526414 5.001730 5.420536 q: 0.998833 0.018482 -0.012280 -0.042899 
time: 1403636722.813555, t: 0.505365 4.997871 5.388803 q: 0.998797 0.015731 -0.013363 -0.044481 
time: 1403636722.913555, t: 0.491167 4.994168 5.355015 q: 0.998821 0.014691 -0.013459 -0.044267 
time: 1403636723.013556, t: 0.485874 4.987372 5.318545 q: 0.998936 0.015737 -0.013473 -0.041195 
time: 1403636723.113555, t: 0.485514 4.979472 5.279825 q: 0.999059 0.016941 -0.012526 -0.037908 
time: 1403636723.213556, t: 0.483829 4.970970 5.241190 q: 0.999093 0.016746 -0.012443 -0.037111 
time: 1403636723.313555, t: 0.476727 4.962886 5.206342 q: 0.998988 0.014861 -0.012858 -0.040448 
time: 1403636723.413555, t: 0.467503 4.955470 5.172914 q: 0.998994 0.008767 -0.012163 -0.042267 
time: 1403636723.513556, t: 0.454432 4.947820 5.138195 q: 0.999114 -0.002068 -0.005550 -0.041673 
time: 1403636723.613555, t: 0.446211 4.937474 5.100148 q: 0.999346 -0.010474 0.007473 -0.033798 
time: 1403636723.713556, t: 0.442019 4.924586 5.057064 q: 0.999373 -0.018557 0.005194 -0.029717 
time: 1403636723.813555, t: 0.438088 4.910029 5.014970 q: 0.999352 -0.025382 -0.003810 -0.025225 
time: 1403636723.913555, t: 0.430064 4.896948 4.969252 q: 0.999265 -0.030096 -0.010724 -0.021193 
time: 1403636724.013556, t: 0.416083 4.884208 4.927278 q: 0.999025 -0.035409 -0.019072 -0.018207 
time: 1403636724.113555, t: 0.398242 4.872796 4.885988 q: 0.998509 -0.045794 -0.025965 -0.014459 
time: 1403636724.213556, t: 0.376981 4.863407 4.848702 q: 0.997780 -0.060144 -0.026887 -0.009690 
time: 1403636724.313555, t: 0.353229 4.855872 4.815726 q: 0.996623 -0.078102 -0.024864 -0.004995 
time: 1403636724.413555, t: 0.332426 4.847732 4.788719 q: 0.995104 -0.096970 -0.019120 -0.000075 
time: 1403636724.513556, t: 0.316116 4.837506 4.759579 q: 0.993611 -0.112008 -0.013410 0.003291 
time: 1403636724.613555, t: 0.310444 4.824194 4.728913 q: 0.992381 -0.122648 -0.010268 0.005630 
time: 1403636724.713556, t: 0.310769 4.810978 4.697007 q: 0.991588 -0.128886 -0.009253 0.007428 
time: 1403636724.813555, t: 0.319141 4.795178 4.665155 q: 0.991129 -0.132186 -0.010464 0.008966 
time: 1403636724.913555, t: 0.333412 4.777539 4.631152 q: 0.991131 -0.131813 -0.011929 0.011936 
time: 1403636725.013556, t: 0.354534 4.758414 4.595916 q: 0.991450 -0.128803 -0.012407 0.016811 
time: 1403636725.113555, t: 0.385542 4.739673 4.557031 q: 0.991767 -0.125856 -0.012109 0.020272 
time: 1403636725.213556, t: 0.417932 4.722342 4.519004 q: 0.991939 -0.124321 -0.012995 0.020775 
time: 1403636725.313555, t: 0.448528 4.707264 4.482301 q: 0.991989 -0.124130 -0.014234 0.018646 
time: 1403636725.413555, t: 0.474008 4.695707 4.450080 q: 0.991965 -0.124729 -0.014462 0.015449 
time: 1403636725.513556, t: 0.493168 4.684864 4.420635 q: 0.991901 -0.125500 -0.014654 0.012956 
time: 1403636725.613555, t: 0.507640 4.674352 4.393400 q: 0.991758 -0.126738 -0.015379 0.010833 
time: 1403636725.713556, t: 0.516026 4.665445 4.369642 q: 0.991758 -0.126963 -0.013234 0.011048 
time: 1403636725.813555, t: 0.518780 4.656671 4.348999 q: 0.991766 -0.126925 -0.013279 0.010686 
time: 1403636725.913555, t: 0.518948 4.650441 4.331677 q: 0.991913 -0.125352 -0.014697 0.013374 
time: 1403636726.013556, t: 0.512007 4.642562 4.316965 q: 0.992067 -0.124068 -0.014234 0.014414 
optimize pose graph 
time: 1403636726.113555, t: 0.501971 4.635846 4.303743 q: 0.992135 -0.123823 -0.013689 0.012159 
time: 1403636726.213556, t: 0.488906 4.630206 4.292349 q: 0.992281 -0.123070 -0.011122 0.010386 
time: 1403636726.313555, t: 0.474276 4.624486 4.281832 q: 0.992429 -0.122045 -0.010542 0.008917 
time: 1403636726.413555, t: 0.466035 4.618475 4.269649 q: 0.992598 -0.120901 -0.008861 0.007378 
time: 1403636726.513556, t: 0.465596 4.611186 4.254957 q: 0.992894 -0.118364 -0.007430 0.009775 
time: 1403636726.613555, t: 0.472155 4.605484 4.238935 q: 0.993447 -0.111622 -0.003884 0.024246 
time: 1403636726.713556, t: 0.484374 4.601121 4.217164 q: 0.993650 -0.107880 -0.000770 0.031941 
time: 1403636726.813555, t: 0.501164 4.600919 4.193334 q: 0.993643 -0.110296 -0.000390 0.022566 
time: 1403636726.913555, t: 0.525352 4.601735 4.163242 q: 0.993877 -0.109923 -0.001116 0.011129 
time: 1403636727.013556, t: 0.554244 4.602944 4.129431 q: 0.994138 -0.107967 -0.001468 0.005596 
time: 1403636727.113555, t: 0.583685 4.603945 4.096724 q: 0.994236 -0.107190 -0.002140 0.000603 
time: 1403636727.213556, t: 0.609206 4.604500 4.062211 q: 0.994165 -0.107646 -0.004238 -0.005459 
time: 1403636727.313555, t: 0.626291 4.604381 4.028917 q: 0.993992 -0.108750 -0.005878 -0.010868 
time: 1403636727.413555, t: 0.641093 4.600949 3.996259 q: 0.993913 -0.109112 -0.008130 -0.012844 
time: 1403636727.513556, t: 0.652914 4.594847 3.964842 q: 0.993983 -0.108663 -0.006407 -0.012185 
time: 1403636727.613555, t: 0.668219 4.584867 3.931517 q: 0.994222 -0.107024 -0.003169 -0.007648 
time: 1403636727.713556, t: 0.687175 4.572626 3.895653 q: 0.994290 -0.106482 -0.004190 -0.005646 
time: 1403636727.813555, t: 0.712965 4.556927 3.857237 q: 0.994183 -0.107242 -0.005679 -0.008167 
time: 1403636727.913555, t: 0.742486 4.538235 3.816105 q: 0.993637 -0.111044 -0.007146 -0.017450 
time: 1403636728.013556, t: 0.768228 4.518010 3.776919 q: 0.993627 -0.111146 -0.007562 -0.017167 
time: 1403636728.113555, t: 0.791032 4.495699 3.739506 q: 0.993923 -0.109284 -0.006141 -0.011676 
time: 1403636728.213556, t: 0.803973 4.467173 3.704572 q: 0.994053 -0.108518 -0.003683 -0.008260 
optimize pose graph 
time: 1403636728.313555, t: 0.812384 4.438412 3.669988 q: 0.994150 -0.107820 -0.003195 -0.005446 
time: 1403636728.413555, t: 0.812798 4.406617 3.635918 q: 0.994278 -0.106741 -0.003911 -0.001587 
time: 1403636728.513556, t: 0.806305 4.375644 3.604056 q: 0.994661 -0.102471 -0.002638 0.011892 
time: 1403636728.613555, t: 0.794546 4.347505 3.573412 q: 0.995017 -0.098248 -0.002291 0.016859 
time: 1403636728.713556, t: 0.783076 4.320319 3.541612 q: 0.995577 -0.093710 -0.003598 0.005558 
time: 1403636728.813555, t: 0.777249 4.293540 3.505175 q: 0.996486 -0.083231 -0.005283 -0.007806 
time: 1403636728.913555, t: 0.780586 4.262829 3.467689 q: 0.997283 -0.071259 -0.004782 -0.018048 
time: 1403636729.013556, t: 0.779098 4.233042 3.432070 q: 0.997870 -0.060802 -0.002912 -0.023434 
time: 1403636729.113555, t: 0.773322 4.203773 3.391292 q: 0.998233 -0.052599 -0.000625 -0.027649 
time: 1403636729.213556, t: 0.760794 4.174457 3.353679 q: 0.998439 -0.047253 -0.003215 -0.029614 
time: 1403636729.313555, t: 0.743179 4.144580 3.315240 q: 0.998645 -0.043118 -0.004562 -0.028769 
time: 1403636729.413555, t: 0.723876 4.113033 3.274484 q: 0.998733 -0.041114 -0.003865 -0.028767 
time: 1403636729.513556, t: 0.707228 4.081991 3.232107 q: 0.998776 -0.039988 -0.003650 -0.028894 
time: 1403636729.613555, t: 0.695984 4.048069 3.186040 q: 0.998812 -0.039309 -0.004960 -0.028377 
time: 1403636729.713556, t: 0.691720 4.012773 3.136009 q: 0.998878 -0.038717 -0.005287 -0.026752 
time: 1403636729.813555, t: 0.686738 3.977927 3.089159 q: 0.998824 -0.039731 -0.009075 -0.026265 
time: 1403636729.913555, t: 0.677499 3.941799 3.040220 q: 0.998805 -0.040142 -0.013449 -0.024432 
time: 1403636730.013556, t: 0.665023 3.908055 2.991528 q: 0.998740 -0.040570 -0.016765 -0.024301 
time: 1403636730.113555, t: 0.648952 3.876044 2.949555 q: 0.998746 -0.039894 -0.018328 -0.024062 
time: 1403636730.213556, t: 0.629950 3.842702 2.905766 q: 0.998744 -0.039582 -0.019403 -0.023803 
time: 1403636730.313555, t: 0.609723 3.812430 2.866886 q: 0.998837 -0.038316 -0.019048 -0.022217 
time: 1403636730.413555, t: 0.584901 3.779695 2.828124 q: 0.998804 -0.037881 -0.020864 -0.022795 
optimize pose graph 
time: 1403636730.513556, t: 0.563741 3.746838 2.790444 q: 0.998606 -0.037847 -0.028402 -0.023393 
time: 1403636730.613555, t: 0.551372 3.717952 2.755867 q: 0.998448 -0.037002 -0.035531 -0.021694 
time: 1403636730.713556, t: 0.547020 3.686733 2.722996 q: 0.998398 -0.036399 -0.038001 -0.020805 
time: 1403636730.813555, t: 0.551610 3.655423 2.693175 q: 0.998328 -0.036477 -0.039293 -0.021600 
time: 1403636730.913555, t: 0.561695 3.622380 2.667870 q: 0.998435 -0.035073 -0.040589 -0.015810 
time: 1403636731.013556, t: 0.572130 3.592337 2.647035 q: 0.998758 -0.032159 -0.037657 -0.005498 
time: 1403636731.113555, t: 0.581409 3.567666 2.631062 q: 0.999241 -0.029085 -0.025436 0.004956 
time: 1403636731.213556, t: 0.585095 3.547421 2.618240 q: 0.999415 -0.029656 -0.016234 0.005090 
time: 1403636731.313555, t: 0.586147 3.533233 2.607187 q: 0.999364 -0.033600 -0.011160 -0.004134 
time: 1403636731.413555, t: 0.581726 3.522272 2.596367 q: 0.999150 -0.037343 -0.011618 -0.013012 
time: 1403636731.513556, t: 0.572710 3.513666 2.586595 q: 0.999134 -0.037636 -0.011758 -0.013292 
time: 1403636731.613555, t: 0.561571 3.507355 2.576663 q: 0.999297 -0.035012 -0.011975 -0.006093 
time: 1403636731.713556, t: 0.547361 3.503602 2.567281 q: 0.999327 -0.034376 -0.012138 -0.004130 
time: 1403636731.813555, t: 0.529005 3.502716 2.558916 q: 0.999228 -0.036051 -0.012682 -0.009143 
time: 1403636731.913555, t: 0.507576 3.504316 2.551258 q: 0.999154 -0.036770 -0.012529 -0.013485 
time: 1403636732.013556, t: 0.482131 3.507612 2.544351 q: 0.999162 -0.036439 -0.011550 -0.014628 
time: 1403636732.113555, t: 0.452734 3.513059 2.537465 q: 0.999193 -0.035871 -0.009962 -0.015074 
time: 1403636732.213556, t: 0.419937 3.519169 2.531640 q: 0.999194 -0.035547 -0.008176 -0.016748 
time: 1403636732.313555, t: 0.393164 3.524324 2.522406 q: 0.999205 -0.035028 -0.006428 -0.017895 
time: 1403636732.413555, t: 0.374430 3.529659 2.508991 q: 0.998981 -0.037239 -0.005558 -0.024896 
time: 1403636732.513556, t: 0.360820 3.531151 2.493970 q: 0.998273 -0.042239 -0.000403 -0.040830 
time: 1403636732.613555, t: 0.353454 3.529447 2.471670 q: 0.997586 -0.045314 0.005523 -0.052324 
time: 1403636732.813555, t: 0.348846 3.507337 2.410537 q: 0.998444 -0.038555 0.011337 -0.038656 
time: 1403636732.913555, t: 0.343868 3.487238 2.375511 q: 0.998618 -0.037252 0.010601 -0.035529 
time: 1403636733.013556, t: 0.333672 3.466474 2.336044 q: 0.998750 -0.036253 0.005464 -0.033964 
time: 1403636733.113555, t: 0.320822 3.444227 2.293651 q: 0.998793 -0.035878 -0.001292 -0.033523 
time: 1403636733.213556, t: 0.313015 3.419445 2.246912 q: 0.998663 -0.036478 -0.002852 -0.036521 
time: 1403636733.313555, t: 0.310327 3.390756 2.197428 q: 0.998722 -0.035356 -0.004108 -0.035877 
time: 1403636733.413555, t: 0.313750 3.358600 2.143963 q: 0.998880 -0.033344 -0.008714 -0.032408 
time: 1403636733.513556, t: 0.321705 3.325728 2.089718 q: 0.998965 -0.032337 -0.012593 -0.029392 
time: 1403636733.613555, t: 0.329139 3.295443 2.033167 q: 0.998943 -0.031760 -0.015544 -0.029364 
time: 1403636733.713556, t: 0.330542 3.262534 1.980120 q: 0.998966 -0.031039 -0.017952 -0.027946 
time: 1403636733.813555, t: 0.327775 3.231529 1.930314 q: 0.998919 -0.030745 -0.020413 -0.028270 
time: 1403636733.913555, t: 0.318150 3.199224 1.884135 q: 0.998868 -0.031010 -0.020214 -0.029884 
time: 1403636734.013556, t: 0.305945 3.167116 1.840266 q: 0.998772 -0.032356 -0.014802 -0.034471 
time: 1403636734.113555, t: 0.291281 3.133577 1.798617 q: 0.998862 -0.032726 -0.010198 -0.033161 
time: 1403636734.213556, t: 0.281083 3.097453 1.752208 q: 0.998950 -0.032159 -0.009366 -0.031242 
time: 1403636734.313555, t: 0.273212 3.059700 1.707054 q: 0.999094 -0.030259 -0.009523 -0.028382 
time: 1403636734.413555, t: 0.274587 3.022469 1.656608 q: 0.999179 -0.028518 -0.012617 -0.025857 
time: 1403636734.513556, t: 0.277757 2.984550 1.606822 q: 0.999180 -0.027355 -0.016026 -0.025167 
time: 1403636734.613555, t: 0.278612 2.946655 1.561797 q: 0.999141 -0.026385 -0.020427 -0.024583 
time: 1403636734.713556, t: 0.272902 2.909052 1.518952 q: 0.999038 -0.026123 -0.023210 -0.026476 
time: 1403636734.813555, t: 0.261584 2.874465 1.478714 q: 0.999010 -0.025203 -0.024061 -0.027642 
time: 1403636734.913555, t: 0.247901 2.840240 1.440124 q: 0.999039 -0.023731 -0.024654 -0.027406 
time: 1403636735.013556, t: 0.228763 2.807280 1.406203 q: 0.999041 -0.023326 -0.024545 -0.027765 
time: 1403636735.113555, t: 0.208881 2.772439 1.379140 q: 0.999101 -0.023026 -0.023915 -0.026378 
time: 1403636735.213556, t: 0.192058 2.741400 1.347742 q: 0.999143 -0.022703 -0.024889 -0.024041 
time: 1403636735.313555, t: 0.182051 2.710144 1.317841 q: 0.999143 -0.023055 -0.027350 -0.020801 
time: 1403636735.413555, t: 0.185547 2.680878 1.286573 q: 0.999143 -0.024714 -0.026968 -0.019391 
time: 1403636735.613555, t: 0.215707 2.627451 1.224676 q: 0.999111 -0.031082 -0.021769 -0.018350 
time: 1403636735.713556, t: 0.233420 2.601613 1.197889 q: 0.999023 -0.034097 -0.022007 -0.017494 
time: 1403636735.813555, t: 0.247780 2.575227 1.174814 q: 0.998940 -0.036413 -0.022244 -0.017248 
time: 1403636735.913555, t: 0.257443 2.549123 1.157869 q: 0.998923 -0.037384 -0.021244 -0.017420 
time: 1403636736.013556, t: 0.262937 2.525539 1.142059 q: 0.998934 -0.036634 -0.020148 -0.019569 
time: 1403636736.113555, t: 0.273240 2.502045 1.125495 q: 0.999181 -0.029011 -0.017471 -0.022167 
time: 1403636736.213556, t: 0.289685 2.477075 1.106874 q: 0.999420 -0.016813 -0.013951 -0.026112 
time: 1403636736.313555, t: 0.310624 2.453678 1.086470 q: 0.999415 -0.005716 -0.013151 -0.031052 
time: 1403636736.413555, t: 0.326894 2.431661 1.068354 q: 0.999268 0.002507 -0.013306 -0.035792 
time: 1403636736.513556, t: 0.336789 2.408993 1.052526 q: 0.998854 0.006086 -0.012199 -0.045887 
time: 1403636736.613555, t: 0.342854 2.382699 1.040186 q: 0.998409 0.007733 -0.011386 -0.054675 
time: 1403636736.713556, t: 0.341581 2.357731 1.025109 q: 0.998236 0.009642 -0.009926 -0.057739 
optimize pose graph 
time: 1403636736.813555, t: 0.338437 2.326770 1.012656 q: 0.998085 0.010853 -0.010078 -0.060056 
time: 1403636736.913555, t: 0.328852 2.297331 0.997006 q: 0.998066 0.013011 -0.010700 -0.059841 
time: 1403636737.013556, t: 0.315973 2.264917 0.982073 q: 0.998298 0.017165 -0.011212 -0.054604 
time: 1403636737.113555, t: 0.302615 2.228416 0.966335 q: 0.998542 0.022324 -0.010649 -0.047975 
time: 1403636737.213556, t: 0.285235 2.193971 0.950316 q: 0.998525 0.025961 -0.011502 -0.046274 
time: 1403636737.313555, t: 0.267851 2.151620 0.937799 q: 0.998451 0.028394 -0.015030 -0.045426 
time: 1403636737.413555, t: 0.248136 2.121870 0.918579 q: 0.998306 0.031361 -0.019134 -0.045114 
time: 1403636737.513556, t: 0.240398 2.087988 0.899650 q: 0.998081 0.033013 -0.023677 -0.046736 
time: 1403636737.613555, t: 0.236864 2.055757 0.879105 q: 0.998098 0.035585 -0.025880 -0.043186 
time: 1403636737.713556, t: 0.242579 2.021851 0.859617 q: 0.998168 0.038289 -0.029262 -0.036594 
time: 1403636737.813555, t: 0.252665 1.991372 0.838935 q: 0.998229 0.039900 -0.030736 -0.031656 
time: 1403636737.913555, t: 0.269253 1.961984 0.821428 q: 0.998288 0.039883 -0.030934 -0.029556 
time: 1403636738.013556, t: 0.293664 1.939040 0.802417 q: 0.998373 0.039012 -0.029911 -0.028883 
time: 1403636738.113555, t: 0.323012 1.919098 0.785530 q: 0.998406 0.036367 -0.028489 -0.032429 
time: 1403636738.213556, t: 0.350370 1.902161 0.771499 q: 0.998482 0.033993 -0.025872 -0.034781 
time: 1403636738.313555, t: 0.371450 1.888442 0.760490 q: 0.998542 0.032110 -0.025470 -0.035123 
time: 1403636738.413555, t: 0.387952 1.877224 0.751432 q: 0.998609 0.030381 -0.025959 -0.034400 
time: 1403636738.513556, t: 0.399261 1.869027 0.745317 q: 0.998776 0.025195 -0.027191 -0.032761 
time: 1403636738.613555, t: 0.408626 1.863114 0.743077 q: 0.999046 0.014435 -0.030468 -0.027745 
time: 1403636738.713556, t: 0.407728 1.860805 0.744948 q: 0.999377 -0.001607 -0.029131 -0.019856 
time: 1403636738.813555, t: 0.409625 1.855062 0.753086 q: 0.999445 -0.021809 -0.023200 -0.009760 
time: 1403636738.913555, t: 0.403098 1.858398 0.758981 q: 0.998887 -0.043826 -0.017217 0.002709 
optimize pose graph 
time: 1403636739.013556, t: 0.391835 1.869338 0.767360 q: 0.997496 -0.067092 -0.012936 0.018257 
time: 1403636739.113555, t: 0.376222 1.885777 0.777433 q: 0.995078 -0.093981 -0.010797 0.029516 
time: 1403636739.213556, t: 0.355367 1.904377 0.787020 q: 0.991630 -0.124609 -0.009879 0.032340 
time: 1403636739.313555, t: 0.331431 1.933899 0.790603 q: 0.987221 -0.155726 -0.009270 0.032529 
time: 1403636739.413555, t: 0.308312 1.957771 0.799866 q: 0.981925 -0.186257 -0.009485 0.032274 
time: 1403636739.513556, t: 0.288141 1.989787 0.801076 q: 0.976504 -0.211923 -0.009108 0.038031 
time: 1403636739.613555, t: 0.277748 2.013362 0.803778 q: 0.971897 -0.230290 -0.006273 0.048416 
time: 1403636739.713556, t: 0.273160 2.032747 0.804625 q: 0.968437 -0.243434 -0.005876 0.053240 
time: 1403636739.813555, t: 0.268315 2.053085 0.805461 q: 0.966497 -0.249452 -0.004437 0.060316 
time: 1403636740.013556, t: 0.242332 2.096850 0.810440 q: 0.965154 -0.254371 -0.005263 0.061206 
time: 1403636740.113555, t: 0.223532 2.120689 0.815153 q: 0.965323 -0.254845 -0.006250 0.056276 
time: 1403636740.213556, t: 0.201274 2.143481 0.820137 q: 0.965586 -0.255607 -0.007226 0.047498 
time: 1403636740.313555, t: 0.175683 2.165339 0.827204 q: 0.966140 -0.254183 -0.006132 0.043894 
time: 1403636740.413555, t: 0.148664 2.184035 0.836110 q: 0.967065 -0.249889 -0.003770 0.048236 
time: 1403636740.513556, t: 0.115701 2.203270 0.845374 q: 0.967901 -0.245887 -0.001287 0.052012 
time: 1403636740.613555, t: 0.086072 2.221605 0.852249 q: 0.968527 -0.243521 -0.000263 0.051510 
time: 1403636740.713556, t: 0.061559 2.239588 0.855147 q: 0.969075 -0.240653 -0.003130 0.054494 
time: 1403636740.813555, t: 0.043275 2.254049 0.856344 q: 0.969446 -0.239160 -0.006308 0.054190 
time: 1403636740.913555, t: 0.018876 2.271792 0.859236 q: 0.969735 -0.238822 -0.004792 0.050548 
time: 1403636741.013556, t: -0.008838 2.288298 0.862460 q: 0.969468 -0.242196 -0.004202 0.038144 
time: 1403636741.113555, t: -0.046182 2.305885 0.866936 q: 0.968329 -0.247877 -0.002451 0.029815 
optimize pose graph 
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time: 1403636741.613555, t: -0.275088 2.348857 0.891006 q: 0.961724 -0.264372 -0.020476 0.069103 
time: 1403636741.713556, t: -0.306351 2.358583 0.890295 q: 0.961457 -0.265469 -0.021767 0.068216 
time: 1403636741.813555, t: -0.328833 2.374225 0.888759 q: 0.961776 -0.265795 -0.017680 0.063462 
time: 1403636741.913555, t: -0.351129 2.388138 0.891407 q: 0.962222 -0.266119 -0.014650 0.055639 
time: 1403636742.013556, t: -0.380795 2.401244 0.897726 q: 0.962602 -0.266524 -0.016440 0.045730 
time: 1403636742.113555, t: -0.413757 2.410116 0.908453 q: 0.963301 -0.263360 -0.024026 0.045987 
time: 1403636742.213556, t: -0.441362 2.419049 0.919706 q: 0.964179 -0.258765 -0.027745 0.051276 
time: 1403636742.313555, t: -0.457229 2.431289 0.930861 q: 0.965372 -0.253659 -0.024996 0.055586 
time: 1403636742.413555, t: -0.463088 2.441740 0.942948 q: 0.966295 -0.250854 -0.016619 0.055416 
time: 1403636742.513556, t: -0.465328 2.453785 0.954681 q: 0.966951 -0.248824 -0.011781 0.054350 
time: 1403636742.613555, t: -0.463568 2.464759 0.965755 q: 0.967429 -0.247411 -0.008824 0.052827 
time: 1403636742.713556, t: -0.466834 2.477856 0.975964 q: 0.967907 -0.245955 -0.003553 0.051481 
time: 1403636742.813555, t: -0.476441 2.488768 0.990314 q: 0.968262 -0.244822 -0.000247 0.050302 
time: 1403636742.913555, t: -0.493989 2.499656 1.005374 q: 0.968666 -0.243047 0.001839 0.051095 
time: 1403636743.013556, t: -0.519662 2.514501 1.019471 q: 0.967973 -0.245392 -0.000127 0.053016 
time: 1403636743.113555, t: -0.553224 2.527869 1.034972 q: 0.966143 -0.250384 -0.013542 0.060772 
time: 1403636743.213556, t: -0.587086 2.542599 1.051033 q: 0.964038 -0.254745 -0.032121 0.068584 
time: 1403636743.313555, t: -0.611322 2.560042 1.069628 q: 0.962264 -0.258470 -0.043961 0.072858 
time: 1403636743.413555, t: -0.622386 2.581069 1.094007 q: 0.961425 -0.260196 -0.045271 0.076882 
optimize pose graph 
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time: 1403636743.813555, t: -0.657962 2.713183 1.232376 q: 0.960380 -0.271467 -0.013253 0.061645 
time: 1403636743.913555, t: -0.679719 2.748034 1.276238 q: 0.958665 -0.277342 -0.006204 0.063279 
time: 1403636744.013556, t: -0.706732 2.781942 1.323787 q: 0.957278 -0.282197 -0.001993 0.063093 
time: 1403636744.113555, t: -0.742136 2.815694 1.368348 q: 0.954903 -0.290187 0.000243 0.062862 
time: 1403636744.213556, t: -0.780612 2.848902 1.415010 q: 0.952536 -0.297026 0.003515 0.066626 
time: 1403636744.313555, t: -0.824191 2.879763 1.461938 q: 0.950891 -0.301023 0.007296 0.071678 
time: 1403636744.413555, t: -0.875299 2.910077 1.511281 q: 0.950022 -0.301873 0.009886 0.078952 
time: 1403636744.513556, t: -0.930913 2.939679 1.557000 q: 0.949956 -0.299346 0.013268 0.088318 
time: 1403636744.613555, t: -0.991976 2.970348 1.602483 q: 0.950176 -0.297369 0.017813 0.091763 
time: 1403636744.713556, t: -1.054490 3.003638 1.642877 q: 0.950338 -0.297530 0.020754 0.088900 
time: 1403636744.813555, t: -1.118817 3.036556 1.678470 q: 0.950190 -0.300681 0.018382 0.079947 
time: 1403636744.913555, t: -1.179034 3.069517 1.708960 q: 0.950156 -0.302542 0.010594 0.074563 
time: 1403636745.013556, t: -1.230221 3.098119 1.735345 q: 0.950670 -0.301161 0.002673 0.074301 
time: 1403636745.113555, t: -1.276113 3.124831 1.757192 q: 0.951566 -0.298115 -0.005948 0.074925 
time: 1403636745.213556, t: -1.316606 3.154454 1.781981 q: 0.952875 -0.293788 -0.008062 0.075182 
time: 1403636745.313555, t: -1.349332 3.182548 1.803643 q: 0.954297 -0.289901 -0.008751 0.072099 
time: 1403636745.413555, t: -1.370092 3.211056 1.823330 q: 0.955606 -0.287172 -0.000651 0.065948 
time: 1403636745.513556, t: -1.384889 3.239329 1.841021 q: 0.955892 -0.286928 0.005992 0.062508 
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time: 1403636746.113555, t: -1.350517 3.339271 1.883426 q: 0.944541 -0.323979 0.001289 0.053646 
time: 1403636746.213556, t: -1.323640 3.339181 1.882913 q: 0.943179 -0.328138 0.003438 0.052228 
time: 1403636746.313555, t: -1.292618 3.330632 1.884270 q: 0.942166 -0.331132 0.016101 0.049150 
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time: 1403636750.813555, t: -0.208112 3.043122 2.082614 q: 0.946704 -0.315166 0.000326 0.066495 
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time: 1403636751.013556, t: -0.101133 2.990754 2.023104 q: 0.946916 -0.315264 -0.006228 0.062607 
time: 1403636751.113555, t: -0.051359 2.966165 1.996416 q: 0.946808 -0.315417 -0.006906 0.063395 
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time: 1403636751.613555, t: 0.156488 2.840532 1.905746 q: 0.947739 -0.305719 -0.000454 0.091252 
time: 1403636751.713556, t: 0.190106 2.821281 1.890428 q: 0.949575 -0.299194 -0.002709 0.093722 
time: 1403636751.813555, t: 0.221045 2.808505 1.874100 q: 0.951019 -0.293469 -0.011261 0.096502 
time: 1403636751.913555, t: 0.252067 2.799530 1.858981 q: 0.951847 -0.292290 -0.020902 0.090096 
time: 1403636752.013556, t: 0.282213 2.798243 1.845272 q: 0.952367 -0.292842 -0.026236 0.080949 
time: 1403636752.113555, t: 0.315414 2.798329 1.835808 q: 0.952729 -0.293186 -0.024524 0.075820 
time: 1403636752.313555, t: 0.383654 2.804265 1.824846 q: 0.957407 -0.281462 -0.006057 0.064145 
time: 1403636752.413555, t: 0.422322 2.803508 1.818781 q: 0.961673 -0.268062 0.000521 0.057689 
time: 1403636752.513556, t: 0.464872 2.804205 1.809480 q: 0.966833 -0.250296 0.000232 0.050842 
time: 1403636752.613555, t: 0.504827 2.804601 1.799675 q: 0.972062 -0.230682 -0.003627 0.043218 
time: 1403636752.813555, t: 0.562940 2.800466 1.785296 q: 0.981567 -0.188971 -0.010440 0.026578 
time: 1403636752.913555, t: 0.582926 2.798504 1.779468 q: 0.985633 -0.167795 -0.012554 0.014649 
time: 1403636753.013556, t: 0.597711 2.794480 1.780385 q: 0.989106 -0.146403 -0.015361 0.000539 
time: 1403636753.113555, t: 0.606778 2.789998 1.778655 q: 0.992125 -0.123377 -0.017986 -0.011933 
time: 1403636753.213556, t: 0.608769 2.783852 1.778927 q: 0.994634 -0.098872 -0.019838 -0.023121 
time: 1403636753.313555, t: 0.601743 2.776085 1.781283 q: 0.996201 -0.075545 -0.020892 -0.037960 
time: 1403636753.413555, t: 0.593624 2.765882 1.783037 q: 0.997389 -0.053846 -0.018963 -0.044221 
time: 1403636753.513556, t: 0.589429 2.748318 1.787165 q: 0.998282 -0.037043 -0.017921 -0.041698 
time: 1403636753.613555, t: 0.591829 2.726056 1.793163 q: 0.998773 -0.026452 -0.016066 -0.038665 
optimize pose graph 
time: 1403636753.713556, t: 0.599405 2.701980 1.793425 q: 0.998980 -0.021764 -0.015815 -0.036266 
time: 1403636753.813555, t: 0.602059 2.680937 1.792194 q: 0.998976 -0.021090 -0.014047 -0.037479 
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time: 1403636754.013556, t: 0.590998 2.634899 1.793967 q: 0.998940 -0.024774 -0.012480 -0.036747 
time: 1403636754.113555, t: 0.588331 2.611439 1.789445 q: 0.999003 -0.026740 -0.005525 -0.035308 
time: 1403636754.213556, t: 0.591036 2.584969 1.780460 q: 0.998875 -0.030084 -0.000353 -0.036644 
time: 1403636754.313555, t: 0.597875 2.556292 1.765986 q: 0.998720 -0.033398 0.000851 -0.037988 
time: 1403636754.413555, t: 0.610011 2.523407 1.749104 q: 0.998653 -0.033848 0.000655 -0.039317 
time: 1403636754.513556, t: 0.619741 2.485828 1.726661 q: 0.998728 -0.029451 -0.000759 -0.040922 
time: 1403636754.613555, t: 0.623551 2.445559 1.702269 q: 0.998694 -0.020948 -0.004808 -0.046351 
time: 1403636754.713556, t: 0.622968 2.402777 1.678084 q: 0.998688 -0.006880 -0.007026 -0.050248 
time: 1403636754.813555, t: 0.614357 2.357289 1.653731 q: 0.998404 0.009369 -0.007431 -0.055192 
time: 1403636754.913555, t: 0.601962 2.313776 1.624100 q: 0.997975 0.023094 -0.007448 -0.058803 
time: 1403636755.013556, t: 0.583838 2.272596 1.588200 q: 0.997451 0.033490 -0.008347 -0.062446 
time: 1403636755.113555, t: 0.567513 2.222820 1.558739 q: 0.997101 0.040529 -0.009102 -0.063745 
time: 1403636755.213556, t: 0.555222 2.169999 1.524798 q: 0.996901 0.045292 -0.010456 -0.063459 
time: 1403636755.313555, t: 0.544369 2.119474 1.485805 q: 0.996703 0.047234 -0.018186 -0.063421 
time: 1403636755.413555, t: 0.541626 2.068409 1.444352 q: 0.996382 0.047635 -0.029790 -0.063768 
time: 1403636755.513556, t: 0.542370 2.017063 1.403121 q: 0.996259 0.046952 -0.034115 -0.064027 
time: 1403636755.613555, t: 0.540597 1.962021 1.365312 q: 0.996263 0.045012 -0.032377 -0.066231 
time: 1403636755.713556, t: 0.533116 1.905613 1.332165 q: 0.996515 0.044449 -0.030143 -0.063821 
time: 1403636755.813555, t: 0.521966 1.847797 1.302057 q: 0.996827 0.044269 -0.025593 -0.061009 
time: 1403636755.913555, t: 0.508929 1.787485 1.274113 q: 0.997007 0.044167 -0.021322 -0.059762 
optimize pose graph 
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time: 1403636756.113555, t: 0.489490 1.664745 1.214691 q: 0.997138 0.044408 -0.017699 -0.058573 
time: 1403636756.213556, t: 0.484382 1.603895 1.180840 q: 0.997165 0.044787 -0.015055 -0.058556 
time: 1403636756.313555, t: 0.481050 1.540803 1.144471 q: 0.997177 0.045533 -0.014566 -0.057906 
time: 1403636756.413555, t: 0.474298 1.479352 1.107372 q: 0.997085 0.046038 -0.013356 -0.059361 
time: 1403636756.513556, t: 0.463723 1.418135 1.071272 q: 0.997035 0.047397 -0.013221 -0.059153 
time: 1403636756.613555, t: 0.444598 1.359402 1.033269 q: 0.996991 0.048456 -0.012408 -0.059216 
time: 1403636756.713556, t: 0.429285 1.294541 0.999265 q: 0.996952 0.049554 -0.011205 -0.059202 
time: 1403636756.813555, t: 0.416155 1.232264 0.958457 q: 0.996914 0.050980 -0.009920 -0.058871 
time: 1403636756.913555, t: 0.409787 1.169525 0.915108 q: 0.996850 0.051821 -0.010430 -0.059128 
time: 1403636757.013556, t: 0.403516 1.108654 0.865997 q: 0.996814 0.053023 -0.010340 -0.058679 
time: 1403636757.113555, t: 0.398550 1.045190 0.818568 q: 0.996852 0.054116 -0.010611 -0.056963 
time: 1403636757.313555, t: 0.368165 0.924126 0.719438 q: 0.996687 0.053667 -0.012053 -0.059907 
time: 1403636757.413555, t: 0.341897 0.864955 0.669838 q: 0.996564 0.053685 -0.014742 -0.061332 
time: 1403636757.513556, t: 0.312686 0.807834 0.618949 q: 0.996160 0.054270 -0.019108 -0.065990 
time: 1403636757.613555, t: 0.291326 0.741163 0.572704 q: 0.995388 0.059477 -0.029103 -0.069414 
time: 1403636757.713556, t: 0.278908 0.675056 0.525227 q: 0.994344 0.065876 -0.041992 -0.071956 
time: 1403636757.813555, t: 0.278604 0.605276 0.477669 q: 0.993332 0.072246 -0.051764 -0.073435 
time: 1403636757.913555, t: 0.283360 0.534468 0.434034 q: 0.992792 0.078033 -0.054436 -0.072880 
time: 1403636758.013556, t: 0.295574 0.462852 0.393491 q: 0.993013 0.083258 -0.043732 -0.071282 
time: 1403636758.113555, t: 0.301278 0.396691 0.359451 q: 0.993327 0.088041 -0.029513 -0.068399 
time: 1403636758.213556, t: 0.316232 0.324882 0.329510 q: 0.993396 0.090696 -0.020184 -0.067321 
optimize pose graph 
time: 1403636758.313555, t: 0.313786 0.257427 0.297210 q: 0.993481 0.092602 -0.016201 -0.064488 
time: 1403636758.413555, t: 0.301932 0.192736 0.261005 q: 0.993423 0.093726 -0.024382 -0.061091 
time: 1403636758.513556, t: 0.282713 0.121738 0.243184 q: 0.993071 0.095096 -0.045027 -0.052330 
time: 1403636758.613555, t: 0.258169 0.056134 0.226059 q: 0.992326 0.097362 -0.064591 -0.040470 
time: 1403636758.713556, t: 0.246286 0.003445 0.207846 q: 0.992676 0.096922 -0.060346 -0.039489 
time: 1403636758.813555, t: 0.235879 -0.046666 0.198620 q: 0.993575 0.095317 -0.043042 -0.043250 
time: 1403636758.913555, t: 0.221838 -0.093418 0.194531 q: 0.993957 0.092677 -0.028234 -0.051610 
time: 1403636759.013556, t: 0.206817 -0.135750 0.191932 q: 0.994015 0.091432 -0.021194 -0.055901 
time: 1403636759.113555, t: 0.188888 -0.175075 0.191264 q: 0.994224 0.095145 -0.018151 -0.046227 
time: 1403636759.213556, t: 0.168606 -0.210062 0.190277 q: 0.994207 0.102699 -0.019074 -0.025330 
time: 1403636759.313555, t: 0.146823 -0.236256 0.188502 q: 0.993986 0.106709 -0.019814 -0.014601 
time: 1403636759.413555, t: 0.120719 -0.250881 0.189421 q: 0.994148 0.102333 -0.017805 -0.029663 
time: 1403636759.513556, t: 0.091975 -0.257950 0.191154 q: 0.994045 0.097762 -0.015402 -0.045612 
time: 1403636759.613555, t: 0.062467 -0.261391 0.191917 q: 0.993714 0.095283 -0.013637 -0.057168 
time: 1403636759.713556, t: 0.040597 -0.263504 0.187781 q: 0.993448 0.094348 -0.013965 -0.062971 
time: 1403636759.813555, t: 0.028659 -0.265483 0.178297 q: 0.993356 0.094811 -0.012335 -0.064059 
time: 1403636760.013556, t: 0.007801 -0.267993 0.152946 q: 0.993096 0.093846 -0.028978 -0.064138 
time: 1403636760.113555, t: -0.005784 -0.268966 0.142013 q: 0.992914 0.093047 -0.037911 -0.063463 
time: 1403636760.213556, t: -0.018932 -0.269451 0.133858 q: 0.992977 0.093211 -0.037492 -0.062473 
time: 1403636760.313555, t: -0.031402 -0.269804 0.128175 q: 0.993461 0.094592 -0.023180 -0.059584 
time: 1403636760.413555, t: -0.047277 -0.269053 0.124033 q: 0.993496 0.094146 -0.014983 -0.062271 
time: 1403636760.513556, t: -0.065495 -0.267529 0.118726 q: 0.993390 0.093006 -0.015229 -0.065536 
optimize pose graph 
time: 1403636760.613555, t: -0.086630 -0.266399 0.112124 q: 0.993078 0.092122 -0.025780 -0.068161 
time: 1403636760.713556, t: -0.105613 -0.265959 0.104718 q: 0.992671 0.090782 -0.032927 -0.072655 
time: 1403636760.813555, t: -0.121577 -0.267410 0.097677 q: 0.992574 0.090448 -0.029856 -0.075662 
time: 1403636760.913555, t: -0.136640 -0.271430 0.090416 q: 0.992518 0.090564 -0.022844 -0.078639 
time: 1403636761.013556, t: -0.153382 -0.277832 0.082985 q: 0.992461 0.091239 -0.027013 -0.077251 
time: 1403636761.113555, t: -0.171516 -0.286886 0.076212 q: 0.992272 0.092229 -0.038601 -0.073491 
time: 1403636761.213556, t: -0.188919 -0.297885 0.071158 q: 0.991582 0.091923 -0.053181 -0.074073 
time: 1403636761.313555, t: -0.201442 -0.310375 0.069396 q: 0.991256 0.091879 -0.059188 -0.073937 
time: 1403636761.413555, t: -0.206742 -0.325271 0.071694 q: 0.991779 0.092977 -0.049516 -0.072652 
time: 1403636761.513556, t: -0.207680 -0.342262 0.078270 q: 0.992438 0.093712 -0.034063 -0.071583 
time: 1403636761.613555, t: -0.206125 -0.359765 0.084687 q: 0.992874 0.094131 -0.023062 -0.069350 
time: 1403636761.713556, t: -0.203498 -0.377449 0.089679 q: 0.993375 0.097010 -0.020031 -0.058262 
time: 1403636761.813555, t: -0.199500 -0.393124 0.092753 q: 0.993655 0.100045 -0.020401 -0.047171 
time: 1403636761.913555, t: -0.193978 -0.404814 0.094172 q: 0.993712 0.100039 -0.021568 -0.045421 
time: 1403636762.013556, t: -0.186605 -0.411782 0.094334 q: 0.993549 0.095371 -0.020454 -0.057855 
time: 1403636762.113555, t: -0.177837 -0.416921 0.093508 q: 0.992875 0.087583 -0.017636 -0.078853 
time: 1403636762.213556, t: -0.170049 -0.424709 0.090452 q: 0.992186 0.082473 -0.023137 -0.090722 
time: 1403636762.313555, t: -0.167004 -0.437058 0.087494 q: 0.992011 0.082012 -0.039162 -0.087493 
time: 1403636762.413555, t: -0.171321 -0.453401 0.089186 q: 0.991990 0.083390 -0.050561 -0.080281 
time: 1403636762.513556, t: -0.181661 -0.472892 0.095881 q: 0.992972 0.090801 -0.049339 -0.057677 
time: 1403636762.613555, t: -0.198353 -0.491293 0.109821 q: 0.993741 0.099933 -0.039327 -0.030762 
time: 1403636762.713556, t: -0.221010 -0.503283 0.128049 q: 0.994007 0.102156 -0.028522 -0.026486 
optimize pose graph 
time: 1403636762.813555, t: -0.249619 -0.507565 0.149665 q: 0.994023 0.097963 -0.023284 -0.042179 
time: 1403636762.913555, t: -0.250057 -0.499603 0.146156 q: 0.994058 0.099631 0.019788 -0.039122 
time: 1403636763.013556, t: -0.260786 -0.481836 0.131013 q: 0.995689 0.079753 -0.017179 -0.044131 
time: 1403636763.113555, t: -0.268796 -0.469684 0.128504 q: 0.997578 0.064985 -0.006887 -0.023839 
time: 1403636763.213556, t: -0.268471 -0.466744 0.125725 q: 0.998247 0.057013 -0.000322 -0.015886 
time: 1403636763.313555, t: -0.268807 -0.465825 0.130310 q: 0.998240 0.057295 -0.005940 -0.014121 
time: 1403636763.413555, t: -0.268959 -0.465958 0.129877 q: 0.998217 0.057754 -0.007271 -0.013238 
time: 1403636763.513556, t: -0.269069 -0.465920 0.129728 q: 0.998223 0.057640 -0.007013 -0.013378 
time: 1403636763.613555, t: -0.269131 -0.465868 0.129736 q: 0.998229 0.057533 -0.007012 -0.013423 
time: 1403636763.713556, t: -0.269115 -0.465900 0.129839 q: 0.998227 0.057611 -0.006958 -0.013266 
time: 1403636763.813555, t: -0.269114 -0.465914 0.129813 q: 0.998226 0.057664 -0.006916 -0.013111 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720454710.833053046]: Shutdown request received.[0m
[33m[ WARN] [1720454710.833093956]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720454710.833950692]: Shutdown request received.[0m
[33m[ WARN] [1720454710.833977506]: Reason given for shutdown: [user request][0m
killed
