/SLAM-Hive/slam_hive_results/mapping_results/2802/2010_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720461915.344538983]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720461915.347009283]: init begins[0m
[31m[ERROR] [1720461915.347962395]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/a0abc2b4-3d54-11ef-b5ba-0242ac110005/roslaunch-db9ac530a15f-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://db9ac530a15f:46039/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[0m[ INFO] [1720461916.551453563]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720461916.553157006]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
[1mROS_MASTER_URI=http://db9ac530a15f:11311/[0m
]2;roscore http://db9ac530a15f:11311/
[1msetting /run_id to a0abc2b4-3d54-11ef-b5ba-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
result path /home/output/vio.csv
[33m[ WARN] [1720461916.571011511]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720461916.571209581]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720461916.571236369]: ROW: 480 COL: 752 [0m
 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
set g       0       0 9.81007
[0m[ INFO] [1720461916.571424568]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720461916.571690461]: waiting for image and imu...[0m
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
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [235][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720461925.386066442]: 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: 316825346.74 
init first imu pose
averge acc 7.745210 -0.452196 -2.672312
init R0 
  0.330294    0.15748   0.930648
         0  -0.985983   0.166843
  0.943878 -0.0551073  -0.325664
wait for imu ... 
[33m[ WARN] [1720461927.882329002]: gyroscope bias initial calibration -0.0049239  0.0161034  0.0721673[0m
[0m[ INFO] [1720461927.942817189]: Initialization finish![0m
time: 1403636580.813555, t: -0.008422 0.012256 -0.163141 q: -0.038137 0.839125 0.037038 0.541335 
time: 1403636580.913555, t: -0.001869 0.012548 -0.086937 q: -0.026406 0.830886 0.036735 0.554600 
time: 1403636581.013556, t: 0.002713 0.015197 -0.012127 q: -0.023386 0.822629 0.038244 0.566808 
time: 1403636581.113555, t: 0.006919 0.017196 0.053383 q: -0.025425 0.815238 0.037690 0.577339 
wait for imu ... 
time: 1403636581.213556, t: 0.009441 0.016864 0.108153 q: -0.028018 0.806235 0.033178 0.589999 
time: 1403636581.313555, t: 0.009091 0.015812 0.147528 q: -0.029689 0.796681 0.031741 0.602836 
time: 1403636581.413555, t: 0.007211 0.014085 0.157922 q: -0.026236 0.792953 0.032168 0.607867 
time: 1403636581.513556, t: 0.006647 0.011370 0.133769 q: -0.020697 0.797644 0.035541 0.601724 
time: 1403636581.613555, t: 0.004826 0.009134 0.084910 q: -0.021946 0.805379 0.034279 0.591362 
time: 1403636581.713556, t: 0.002842 0.005795 0.023367 q: -0.023029 0.810414 0.034891 0.584364 
time: 1403636581.813555, t: -0.001564 0.003405 -0.042167 q: -0.027515 0.812262 0.036161 0.581520 
time: 1403636581.913555, t: -0.005734 0.003445 -0.109545 q: -0.031116 0.816452 0.035642 0.575472 
time: 1403636582.013556, t: -0.007736 0.001428 -0.171721 q: -0.029292 0.825147 0.031744 0.563265 
time: 1403636582.113555, t: -0.011553 0.002075 -0.220144 q: -0.026955 0.834736 0.032604 0.549023 
time: 1403636582.213556, t: -0.014068 0.005425 -0.244819 q: -0.029410 0.841740 0.034995 0.537945 
time: 1403636582.313555, t: -0.013226 0.008477 -0.235309 q: -0.031239 0.844155 0.036775 0.533924 
time: 1403636582.413555, t: -0.011137 0.012223 -0.192600 q: -0.033359 0.839278 0.036753 0.541432 
time: 1403636582.513556, t: -0.007778 0.014502 -0.133129 q: -0.032014 0.831410 0.036847 0.553511 
time: 1403636582.613555, t: -0.004598 0.014957 -0.067373 q: -0.027157 0.826876 0.036076 0.560568 
time: 1403636582.713556, t: -0.002155 0.013755 -0.000903 q: -0.024568 0.824278 0.033409 0.564664 
time: 1403636582.813555, t: 0.002294 0.010322 0.064184 q: -0.023275 0.819809 0.026586 0.571546 
time: 1403636582.913555, t: 0.005791 0.005968 0.126624 q: -0.020567 0.811500 0.017757 0.583721 
time: 1403636583.013556, t: 0.005699 0.002822 0.174305 q: -0.018802 0.801613 0.014752 0.597365 
time: 1403636583.113555, t: 0.005308 0.001142 0.193250 q: -0.017135 0.797039 0.015977 0.603473 
time: 1403636583.213556, t: 0.004855 -0.000656 0.179603 q: -0.012822 0.797694 0.018096 0.602654 
time: 1403636583.313555, t: 0.006203 -0.001627 0.139838 q: -0.013960 0.800121 0.020042 0.599341 
time: 1403636583.413555, t: 0.006111 -0.003272 0.082271 q: -0.016574 0.802914 0.021899 0.595462 
time: 1403636583.513556, t: 0.004411 -0.005965 0.015702 q: -0.018201 0.806649 0.026561 0.590153 
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time: 1403636583.713556, t: 0.000609 -0.010502 -0.123148 q: -0.021100 0.823361 0.027704 0.566449 
time: 1403636583.813555, t: -0.004189 -0.012439 -0.182705 q: -0.026599 0.835534 0.024781 0.548234 
time: 1403636583.913555, t: -0.008515 -0.013160 -0.229904 q: -0.024266 0.842418 0.027335 0.537584 
time: 1403636584.013556, t: -0.013664 -0.012309 -0.258108 q: -0.025052 0.844579 0.034229 0.533748 
time: 1403636584.113555, t: -0.014911 -0.008526 -0.259925 q: -0.030219 0.844412 0.038755 0.533436 
time: 1403636584.213556, t: -0.012557 -0.006670 -0.231597 q: -0.032181 0.844227 0.041484 0.533408 
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time: 1403636584.413555, t: -0.000922 -0.004703 -0.118262 q: -0.026045 0.840191 0.043020 0.539953 
time: 1403636584.513556, t: 0.007838 -0.004957 -0.046536 q: -0.020336 0.835586 0.042855 0.547307 
time: 1403636584.613555, t: 0.016035 -0.004948 0.028271 q: -0.018783 0.827132 0.038690 0.560359 
time: 1403636584.713556, t: 0.021030 -0.004826 0.099099 q: -0.015160 0.815210 0.032900 0.578032 
time: 1403636584.813555, t: 0.022611 -0.003794 0.159128 q: -0.011963 0.804622 0.028483 0.592983 
time: 1403636584.913555, t: 0.020978 -0.001982 0.201309 q: -0.014713 0.797907 0.024749 0.602092 
time: 1403636585.013556, t: 0.020200 -0.000890 0.215548 q: -0.015616 0.796832 0.019702 0.603678 
time: 1403636585.113555, t: 0.020654 -0.000876 0.201670 q: -0.015237 0.799333 0.017550 0.600439 
time: 1403636585.213556, t: 0.022195 -0.002369 0.166123 q: -0.011214 0.803016 0.014681 0.595671 
time: 1403636585.313555, t: 0.023998 -0.005504 0.118175 q: -0.003103 0.806609 0.016683 0.590842 
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time: 1403636585.513556, t: 0.022503 -0.013666 0.011738 q: -0.001040 0.815997 0.028379 0.577358 
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time: 1403636586.113555, t: -0.033820 -0.020841 -0.085713 q: -0.031854 0.873004 0.027282 0.485907 
time: 1403636586.213556, t: -0.040380 -0.017157 -0.080299 q: -0.027542 0.881996 0.020012 0.470025 
time: 1403636586.313555, t: -0.049155 -0.014644 -0.076014 q: -0.027932 0.891160 0.016518 0.452528 
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time: 1403636588.213556, t: 0.029474 -0.340096 -0.075330 q: -0.023853 0.914448 -0.008969 0.403900 
time: 1403636588.313555, t: 0.031957 -0.350971 -0.079282 q: -0.026574 0.913356 -0.009036 0.406193 
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time: 1403636588.613555, t: 0.024989 -0.334388 -0.078155 q: -0.027384 0.911771 -0.009754 0.409670 
time: 1403636588.713556, t: 0.017630 -0.313005 -0.074676 q: -0.029939 0.911761 -0.008132 0.409548 
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time: 1403636589.013556, t: -0.010286 -0.212545 -0.069479 q: -0.040568 0.911971 0.004596 0.408218 
time: 1403636589.113555, t: -0.021676 -0.170807 -0.064023 q: -0.044236 0.909566 0.010872 0.413055 
time: 1403636589.213556, t: -0.032389 -0.126435 -0.058032 q: -0.046979 0.907787 0.015000 0.416523 
time: 1403636589.313555, t: -0.043421 -0.080066 -0.053902 q: -0.049179 0.908188 0.020440 0.415160 
time: 1403636589.413555, t: -0.054105 -0.032987 -0.052553 q: -0.051076 0.909659 0.026447 0.411355 
time: 1403636589.513556, t: -0.064784 0.013938 -0.051761 q: -0.051741 0.909313 0.030119 0.411783 
time: 1403636589.613555, t: -0.075759 0.060808 -0.051727 q: -0.053640 0.908027 0.033184 0.414136 
time: 1403636589.713556, t: -0.087155 0.106528 -0.052126 q: -0.055240 0.907022 0.036483 0.415847 
time: 1403636589.813555, t: -0.097413 0.149659 -0.054861 q: -0.060644 0.907602 0.041834 0.413317 
time: 1403636589.913555, t: -0.106041 0.186805 -0.059452 q: -0.065920 0.909751 0.048471 0.407011 
time: 1403636590.013556, t: -0.113183 0.217928 -0.063523 q: -0.073700 0.909731 0.053525 0.405084 
optimize pose graph 
time: 1403636590.113555, t: -0.118531 0.239650 -0.063258 q: -0.078831 0.906673 0.057616 0.410378 
time: 1403636590.213556, t: -0.122095 0.250108 -0.061477 q: -0.082608 0.903928 0.060092 0.415305 
time: 1403636590.313555, t: -0.124527 0.248267 -0.059129 q: -0.080812 0.903983 0.061626 0.415315 
time: 1403636590.413555, t: -0.125028 0.234008 -0.056910 q: -0.076268 0.905096 0.059850 0.414007 
time: 1403636590.513556, t: -0.123931 0.208028 -0.053570 q: -0.069973 0.904995 0.056608 0.415793 
time: 1403636590.613555, t: -0.120902 0.173711 -0.049902 q: -0.064384 0.904062 0.053618 0.419109 
time: 1403636590.713556, t: -0.115901 0.134067 -0.048009 q: -0.059692 0.904179 0.049564 0.420048 
time: 1403636590.813555, t: -0.108413 0.091238 -0.049055 q: -0.058418 0.906297 0.044731 0.416188 
time: 1403636590.913555, t: -0.098668 0.045665 -0.052251 q: -0.057966 0.908957 0.040679 0.410831 
time: 1403636591.013556, t: -0.087597 -0.001156 -0.055670 q: -0.056860 0.909601 0.039123 0.409709 
time: 1403636591.113555, t: -0.075345 -0.045547 -0.058795 q: -0.059416 0.908947 0.038779 0.410831 
time: 1403636591.213556, t: -0.063410 -0.086836 -0.061653 q: -0.060424 0.909336 0.036237 0.410053 
time: 1403636591.313555, t: -0.052900 -0.123002 -0.066540 q: -0.058820 0.910639 0.033435 0.407625 
time: 1403636591.413555, t: -0.044513 -0.150145 -0.073451 q: -0.056269 0.911694 0.029189 0.405952 
time: 1403636591.513556, t: -0.035706 -0.169418 -0.082157 q: -0.054121 0.911495 0.025616 0.406930 
time: 1403636591.613555, t: -0.026479 -0.184536 -0.090220 q: -0.044375 0.907875 0.015817 0.416586 
time: 1403636591.713556, t: -0.017630 -0.193247 -0.096025 q: -0.035346 0.899641 0.008089 0.435123 
time: 1403636591.813555, t: -0.010257 -0.198461 -0.097275 q: -0.026174 0.890240 0.001699 0.454736 
time: 1403636591.913555, t: -0.003626 -0.202865 -0.096344 q: -0.019882 0.883695 -0.006039 0.467602 
time: 1403636592.013556, t: 0.005613 -0.209137 -0.096504 q: -0.016995 0.885254 -0.016117 0.464519 
optimize pose graph 
time: 1403636592.113555, t: 0.022421 -0.219267 -0.098254 q: -0.012829 0.888529 -0.028480 0.457757 
time: 1403636592.213556, t: 0.043969 -0.230296 -0.100568 q: -0.009386 0.892416 -0.037983 0.449514 
time: 1403636592.313555, t: 0.069118 -0.238092 -0.102147 q: -0.008826 0.896247 -0.040423 0.441622 
time: 1403636592.413555, t: 0.097960 -0.238183 -0.102661 q: -0.015302 0.899049 -0.039132 0.435828 
time: 1403636592.513556, t: 0.129597 -0.228449 -0.101139 q: -0.024001 0.898226 -0.029769 0.437868 
time: 1403636592.613555, t: 0.161117 -0.208951 -0.099746 q: -0.033042 0.893953 -0.014031 0.446721 
time: 1403636592.713556, t: 0.189139 -0.180675 -0.100089 q: -0.041520 0.890745 0.004348 0.452581 
time: 1403636592.813555, t: 0.209947 -0.142129 -0.100922 q: -0.056638 0.889663 0.025303 0.452384 
time: 1403636592.913555, t: 0.219025 -0.093635 -0.103477 q: -0.076640 0.889973 0.047857 0.446972 
time: 1403636593.013556, t: 0.211960 -0.038176 -0.104741 q: -0.095477 0.890187 0.070565 0.439854 
time: 1403636593.113555, t: 0.189043 0.020488 -0.104093 q: -0.111252 0.889073 0.093749 0.434032 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636593.213556, t: 0.152115 0.077632 -0.101465 q: -0.129582 0.886683 0.109830 0.430046 
time: 1403636593.313555, t: 0.105597 0.126165 -0.098424 q: -0.145704 0.885171 0.119851 0.425299 
time: 1403636593.413555, t: 0.055054 0.157981 -0.097828 q: -0.149757 0.885976 0.125595 0.420529 
time: 1403636593.513556, t: 0.003425 0.169584 -0.100369 q: -0.145407 0.888017 0.124344 0.418116 
time: 1403636593.613555, t: -0.044998 0.164143 -0.106090 q: -0.140170 0.892435 0.113623 0.413524 
time: 1403636593.713556, t: -0.088150 0.142401 -0.113165 q: -0.131918 0.899068 0.095060 0.406495 
time: 1403636593.813555, t: -0.124120 0.105788 -0.119434 q: -0.115553 0.904774 0.067097 0.404387 
time: 1403636593.913555, t: -0.151752 0.058336 -0.122672 q: -0.094612 0.905627 0.032169 0.412134 
time: 1403636594.013556, t: -0.169447 0.004153 -0.122996 q: -0.069712 0.903120 -0.002379 0.423685 
optimize pose graph 
time: 1403636594.113555, t: -0.175055 -0.052625 -0.121787 q: -0.045711 0.900944 -0.034633 0.430129 
time: 1403636594.213556, t: -0.164205 -0.109461 -0.122711 q: -0.026178 0.900707 -0.060548 0.429389 
time: 1403636594.313555, t: -0.137932 -0.165284 -0.124550 q: -0.009723 0.900650 -0.075517 0.427823 
time: 1403636594.413555, t: -0.096693 -0.217084 -0.125619 q: 0.004020 0.898943 -0.081804 0.430340 
time: 1403636594.513556, t: -0.043502 -0.259008 -0.127186 q: 0.012660 0.894619 -0.080175 0.439396 
time: 1403636594.613555, t: 0.010991 -0.286411 -0.127815 q: 0.011838 0.889799 -0.080419 0.449055 
time: 1403636594.713556, t: 0.060440 -0.289958 -0.128518 q: 0.007605 0.887112 -0.078070 0.454840 
time: 1403636594.813555, t: 0.100789 -0.266483 -0.131014 q: -0.002207 0.886027 -0.064183 0.459165 
time: 1403636594.913555, t: 0.131474 -0.218584 -0.134075 q: -0.015500 0.884807 -0.039900 0.463987 
time: 1403636595.013556, t: 0.146807 -0.149069 -0.136403 q: -0.035833 0.883442 -0.006503 0.467123 
time: 1403636595.113555, t: 0.145991 -0.069644 -0.139155 q: -0.059730 0.883303 0.029190 0.464064 
time: 1403636595.213556, t: 0.132676 0.006540 -0.142191 q: -0.084083 0.883381 0.059307 0.457221 
time: 1403636595.313555, t: 0.108626 0.068129 -0.144587 q: -0.105377 0.882707 0.084468 0.450099 
time: 1403636595.413555, t: 0.076988 0.106911 -0.146033 q: -0.117347 0.881945 0.100249 0.445367 
time: 1403636595.513556, t: 0.044045 0.118069 -0.146874 q: -0.122331 0.882556 0.106263 0.441404 
time: 1403636595.613555, t: 0.012676 0.101810 -0.148654 q: -0.121716 0.884582 0.108593 0.436929 
time: 1403636595.713556, t: -0.015301 0.062264 -0.151835 q: -0.112912 0.887585 0.102023 0.434782 
time: 1403636595.813555, t: -0.038300 0.007200 -0.157337 q: -0.093144 0.890544 0.087045 0.436667 
time: 1403636595.913555, t: -0.059162 -0.053559 -0.163853 q: -0.070932 0.893423 0.064143 0.438919 
time: 1403636596.013556, t: -0.083094 -0.109652 -0.169093 q: -0.049896 0.897106 0.039633 0.437196 
optimize pose graph 
time: 1403636596.113555, t: -0.112486 -0.149077 -0.172307 q: -0.032838 0.900356 0.015364 0.433640 
time: 1403636596.213556, t: -0.145456 -0.162188 -0.170945 q: -0.025465 0.901238 -0.000171 0.432575 
time: 1403636596.313555, t: -0.182824 -0.148853 -0.163111 q: -0.026214 0.900002 -0.008368 0.435016 
time: 1403636596.413555, t: -0.225535 -0.119756 -0.150339 q: -0.024824 0.897846 -0.009803 0.439501 
time: 1403636596.513556, t: -0.268154 -0.086353 -0.137921 q: -0.023876 0.895177 -0.004603 0.445048 
time: 1403636596.613555, t: -0.302212 -0.055853 -0.128586 q: -0.022506 0.894121 0.000538 0.447259 
time: 1403636596.713556, t: -0.322668 -0.033292 -0.124156 q: -0.022713 0.895272 0.002668 0.444932 
time: 1403636596.813555, t: -0.323274 -0.022598 -0.123809 q: -0.021781 0.894016 0.007077 0.447450 
time: 1403636596.913555, t: -0.301122 -0.022277 -0.125630 q: -0.018034 0.891254 0.011018 0.453012 
time: 1403636597.013556, t: -0.256958 -0.028477 -0.129261 q: -0.013771 0.892238 0.012833 0.451174 
time: 1403636597.113555, t: -0.198182 -0.037395 -0.134290 q: -0.014773 0.897267 0.015321 0.440975 
time: 1403636597.213556, t: -0.130917 -0.046193 -0.135864 q: -0.021249 0.900574 0.025273 0.433447 
time: 1403636597.313555, t: -0.059928 -0.052354 -0.132244 q: -0.028644 0.899697 0.039218 0.433805 
time: 1403636597.413555, t: 0.010101 -0.052531 -0.128047 q: -0.036971 0.896788 0.054600 0.437520 
time: 1403636597.513556, t: 0.070399 -0.045873 -0.125761 q: -0.046197 0.893486 0.072908 0.440718 
time: 1403636597.613555, t: 0.110757 -0.030863 -0.126217 q: -0.063207 0.888436 0.089545 0.445722 
time: 1403636597.713556, t: 0.126196 -0.009008 -0.128360 q: -0.081920 0.882047 0.104621 0.452036 
time: 1403636597.813555, t: 0.116924 0.014216 -0.129958 q: -0.093716 0.876142 0.116991 0.458155 
time: 1403636597.913555, t: 0.089252 0.031386 -0.131551 q: -0.097214 0.872266 0.128559 0.461708 
time: 1403636598.013556, t: 0.049733 0.040522 -0.134217 q: -0.096549 0.872315 0.137139 0.459279 
time: 1403636598.113555, t: 0.004071 0.042063 -0.139257 q: -0.096232 0.876688 0.138544 0.450515 
time: 1403636598.213556, t: -0.038899 0.035913 -0.148106 q: -0.091141 0.884980 0.137348 0.435475 
time: 1403636598.313555, t: -0.069426 0.025785 -0.161320 q: -0.083207 0.892861 0.136670 0.420948 
time: 1403636598.413555, t: -0.081376 0.013467 -0.175180 q: -0.073663 0.896493 0.134352 0.415721 
time: 1403636598.513556, t: -0.072088 0.003319 -0.190114 q: -0.070193 0.895425 0.133938 0.418746 
time: 1403636598.613555, t: -0.045616 -0.003644 -0.203297 q: -0.075931 0.889358 0.136673 0.429649 
time: 1403636598.713556, t: -0.010420 -0.008173 -0.217268 q: -0.086401 0.880260 0.141606 0.444549 
time: 1403636598.813555, t: 0.025366 -0.010738 -0.236133 q: -0.099774 0.868368 0.146322 0.463220 
time: 1403636598.913555, t: 0.057321 -0.013587 -0.259005 q: -0.108041 0.856969 0.145531 0.482443 
time: 1403636599.013556, t: 0.083576 -0.016573 -0.282759 q: -0.109556 0.848317 0.145715 0.497115 
time: 1403636599.113555, t: 0.103364 -0.017420 -0.301458 q: -0.118497 0.838375 0.144861 0.511959 
time: 1403636599.213556, t: 0.118530 -0.017621 -0.313109 q: -0.126860 0.822665 0.143232 0.535363 
time: 1403636599.313555, t: 0.131504 -0.017144 -0.321723 q: -0.132406 0.806721 0.137196 0.559327 
time: 1403636599.413555, t: 0.141917 -0.016952 -0.331261 q: -0.130522 0.798418 0.133393 0.572450 
time: 1403636599.513556, t: 0.150052 -0.016557 -0.341214 q: -0.123727 0.799018 0.128755 0.574182 
time: 1403636599.613555, t: 0.155095 -0.016702 -0.350330 q: -0.119527 0.803772 0.123116 0.569655 
time: 1403636599.713556, t: 0.157415 -0.017734 -0.358120 q: -0.117581 0.804794 0.121177 0.569033 
time: 1403636599.813555, t: 0.157708 -0.020033 -0.358543 q: -0.120012 0.794507 0.120603 0.582932 
time: 1403636599.913555, t: 0.156932 -0.021587 -0.359780 q: -0.123077 0.789588 0.118584 0.589356 
time: 1403636600.013556, t: 0.157055 -0.022745 -0.360747 q: -0.122959 0.790916 0.115403 0.588230 
optimize pose graph 
time: 1403636600.113555, t: 0.156926 -0.024680 -0.361927 q: -0.127425 0.789032 0.112258 0.590415 
time: 1403636600.213556, t: 0.156714 -0.024919 -0.362047 q: -0.127353 0.788872 0.112338 0.590628 
time: 1403636600.313555, t: 0.156586 -0.024828 -0.362177 q: -0.127905 0.788943 0.111982 0.590482 
wait for imu ... 
time: 1403636600.413555, t: 0.156518 -0.024769 -0.362124 q: -0.128196 0.788933 0.111557 0.590513 
time: 1403636600.513556, t: 0.156452 -0.024831 -0.362071 q: -0.128234 0.788897 0.111137 0.590632 
wait for imu ... 
time: 1403636600.613555, t: 0.156511 -0.024736 -0.362077 q: -0.128371 0.789034 0.111014 0.590442 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636600.713556, t: 0.156508 -0.024834 -0.362060 q: -0.128047 0.789182 0.111051 0.590307 
wait for imu ... 
time: 1403636600.813555, t: 0.156500 -0.024869 -0.362055 q: -0.127835 0.789191 0.111079 0.590336 
time: 1403636600.913555, t: 0.156520 -0.024877 -0.362047 q: -0.127798 0.789272 0.110995 0.590252 
time: 1403636601.013556, t: 0.156480 -0.024915 -0.362031 q: -0.127606 0.789357 0.110981 0.590183 
wait for imu ... 
time: 1403636601.113555, t: 0.156492 -0.024906 -0.362029 q: -0.127575 0.789421 0.110871 0.590124 
time: 1403636601.213556, t: 0.156474 -0.024925 -0.362036 q: -0.127534 0.789451 0.110848 0.590098 
wait for imu ... 
time: 1403636601.313555, t: 0.156475 -0.024947 -0.362038 q: -0.127445 0.789503 0.110791 0.590057 
time: 1403636601.413555, t: 0.156496 -0.024928 -0.362046 q: -0.127470 0.789548 0.110659 0.590016 
wait for imu ... 
time: 1403636601.513556, t: 0.156474 -0.024953 -0.362072 q: -0.127433 0.789551 0.110561 0.590039 
time: 1403636601.613555, t: 0.156453 -0.024935 -0.362090 q: -0.127437 0.789589 0.110460 0.590006 
wait for imu ... 
time: 1403636601.713556, t: 0.156439 -0.024949 -0.362118 q: -0.127402 0.789592 0.110408 0.590019 
wait for imu ... 
time: 1403636601.813555, t: 0.156506 -0.024948 -0.362130 q: -0.127423 0.789643 0.110389 0.589950 
time: 1403636601.913555, t: 0.156494 -0.024946 -0.362120 q: -0.127323 0.789651 0.110325 0.589974 
time: 1403636602.013556, t: 0.156474 -0.024954 -0.362105 q: -0.127256 0.789677 0.110307 0.589957 
time: 1403636602.113555, t: 0.156476 -0.024953 -0.362096 q: -0.127238 0.789730 0.110255 0.589900 
time: 1403636602.213556, t: 0.156476 -0.024949 -0.362098 q: -0.127180 0.789739 0.110227 0.589905 
wait for imu ... 
time: 1403636602.313555, t: 0.156470 -0.024974 -0.362095 q: -0.127096 0.789790 0.110246 0.589851 
wait for imu ... 
time: 1403636602.413555, t: 0.156475 -0.025001 -0.362116 q: -0.127066 0.789795 0.110256 0.589849 
time: 1403636602.513556, t: 0.156450 -0.025006 -0.362104 q: -0.126944 0.789823 0.110239 0.589840 
time: 1403636602.613555, t: 0.156452 -0.025029 -0.362095 q: -0.126883 0.789857 0.110265 0.589803 
time: 1403636602.713556, t: 0.156452 -0.025025 -0.362105 q: -0.126844 0.789865 0.110214 0.589811 
time: 1403636602.813555, t: 0.156430 -0.025038 -0.362113 q: -0.126759 0.789874 0.110207 0.589818 
time: 1403636602.913555, t: 0.156431 -0.025054 -0.362103 q: -0.126704 0.789894 0.110228 0.589799 
time: 1403636603.013556, t: 0.156438 -0.025051 -0.362111 q: -0.126617 0.789897 0.110206 0.589818 
wait for imu ... 
time: 1403636603.213556, t: 0.156410 -0.025060 -0.362099 q: -0.126553 0.789955 0.110162 0.589763 
wait for imu ... 
time: 1403636603.313555, t: 0.156418 -0.025061 -0.362110 q: -0.126506 0.789945 0.110170 0.589784 
time: 1403636603.413555, t: 0.156406 -0.025063 -0.362114 q: -0.126459 0.789937 0.110148 0.589809 
time: 1403636603.513556, t: 0.156405 -0.025049 -0.362093 q: -0.126395 0.789997 0.110136 0.589745 
time: 1403636603.613555, t: 0.156396 -0.025061 -0.362093 q: -0.126376 0.790015 0.110139 0.589724 
time: 1403636603.713556, t: 0.156380 -0.025066 -0.362084 q: -0.126341 0.790031 0.110110 0.589716 
wait for imu ... 
time: 1403636603.813555, t: 0.156374 -0.025086 -0.362088 q: -0.126305 0.790076 0.110117 0.589662 
time: 1403636603.913555, t: 0.156353 -0.025076 -0.362129 q: -0.126356 0.790064 0.110056 0.589679 
wait for imu ... 
time: 1403636604.013556, t: 0.156367 -0.025073 -0.362121 q: -0.126355 0.790054 0.110012 0.589700 
time: 1403636604.113555, t: 0.156382 -0.025082 -0.362120 q: -0.126313 0.790057 0.110008 0.589706 
time: 1403636604.213556, t: 0.156369 -0.025091 -0.362120 q: -0.126235 0.790075 0.110024 0.589696 
time: 1403636604.313555, t: 0.156369 -0.025098 -0.362115 q: -0.126207 0.790091 0.109999 0.589685 
wait for imu ... 
time: 1403636604.413555, t: 0.156362 -0.025106 -0.362106 q: -0.126176 0.790125 0.110027 0.589640 
time: 1403636604.513556, t: 0.156368 -0.025112 -0.362113 q: -0.126109 0.790111 0.110016 0.589676 
wait for imu ... 
time: 1403636604.613555, t: 0.156361 -0.025112 -0.362128 q: -0.126077 0.790118 0.109997 0.589677 
wait for imu ... 
time: 1403636604.713556, t: 0.156374 -0.025126 -0.362118 q: -0.126072 0.790136 0.110030 0.589647 
time: 1403636604.813555, t: 0.156361 -0.025124 -0.362110 q: -0.125983 0.790153 0.110059 0.589638 
wait for imu ... 
time: 1403636604.913555, t: 0.156360 -0.025126 -0.362100 q: -0.125966 0.790187 0.110025 0.589603 
wait for imu ... 
time: 1403636605.113555, t: 0.156360 -0.025146 -0.362103 q: -0.125875 0.790196 0.110054 0.589605 
wait for imu ... 
time: 1403636605.213556, t: 0.156350 -0.025146 -0.362104 q: -0.125882 0.790226 0.110003 0.589573 
wait for imu ... 
time: 1403636605.313555, t: 0.156349 -0.025156 -0.362111 q: -0.125836 0.790216 0.110022 0.589592 
time: 1403636605.413555, t: 0.156344 -0.025149 -0.362110 q: -0.125841 0.790241 0.109981 0.589566 
wait for imu ... 
time: 1403636605.513556, t: 0.156340 -0.025161 -0.362102 q: -0.125850 0.790268 0.109968 0.589530 
wait for imu ... 
time: 1403636605.613555, t: 0.156336 -0.025158 -0.362098 q: -0.125806 0.790278 0.109968 0.589526 
time: 1403636605.713556, t: 0.156300 -0.025182 -0.362063 q: -0.125814 0.790307 0.109948 0.589488 
time: 1403636605.813555, t: 0.156301 -0.025167 -0.362052 q: -0.125726 0.790317 0.109950 0.589493 
wait for imu ... 
time: 1403636605.913555, t: 0.156312 -0.025178 -0.362046 q: -0.125729 0.790346 0.109954 0.589453 
wait for imu ... 
time: 1403636606.013556, t: 0.156311 -0.025180 -0.362046 q: -0.125697 0.790353 0.109952 0.589451 
time: 1403636606.113555, t: 0.156299 -0.025174 -0.362048 q: -0.125685 0.790355 0.109917 0.589458 
wait for imu ... 
time: 1403636606.213556, t: 0.156304 -0.025169 -0.362046 q: -0.125649 0.790360 0.109920 0.589458 
wait for imu ... 
time: 1403636606.313555, t: 0.156298 -0.025175 -0.362055 q: -0.125614 0.790380 0.109904 0.589441 
time: 1403636606.413555, t: 0.156291 -0.025176 -0.362051 q: -0.125603 0.790376 0.109898 0.589451 
wait for imu ... 
time: 1403636606.513556, t: 0.156292 -0.025192 -0.362066 q: -0.125634 0.790391 0.109869 0.589430 
time: 1403636606.613555, t: 0.156297 -0.025186 -0.362079 q: -0.125565 0.790375 0.109897 0.589461 
time: 1403636606.713556, t: 0.156301 -0.025190 -0.362079 q: -0.125555 0.790378 0.109911 0.589455 
time: 1403636606.813555, t: 0.156298 -0.025194 -0.362067 q: -0.125533 0.790408 0.109906 0.589421 
time: 1403636606.913555, t: 0.156298 -0.025196 -0.362055 q: -0.125491 0.790437 0.109902 0.589392 
time: 1403636607.013556, t: 0.156287 -0.025198 -0.362062 q: -0.125475 0.790436 0.109871 0.589403 
time: 1403636607.113555, t: 0.156290 -0.025210 -0.362059 q: -0.125464 0.790454 0.109890 0.589378 
wait for imu ... 
time: 1403636607.213556, t: 0.156282 -0.025206 -0.362049 q: -0.125407 0.790487 0.109878 0.589347 
time: 1403636607.313555, t: 0.156284 -0.025208 -0.362039 q: -0.125376 0.790506 0.109874 0.589330 
time: 1403636607.413555, t: 0.156269 -0.025210 -0.362036 q: -0.125349 0.790520 0.109849 0.589321 
time: 1403636607.513556, t: 0.156271 -0.025228 -0.362048 q: -0.125343 0.790510 0.109856 0.589334 
wait for imu ... 
time: 1403636607.613555, t: 0.156267 -0.025212 -0.362038 q: -0.125251 0.790523 0.109858 0.589336 
wait for imu ... 
time: 1403636607.713556, t: 0.156272 -0.025224 -0.362028 q: -0.125239 0.790566 0.109842 0.589284 
wait for imu ... 
time: 1403636607.813555, t: 0.156265 -0.025227 -0.362030 q: -0.125211 0.790562 0.109852 0.589294 
time: 1403636607.913555, t: 0.156259 -0.025230 -0.362040 q: -0.125227 0.790567 0.109794 0.589293 
wait for imu ... 
time: 1403636608.013556, t: 0.156257 -0.025224 -0.362022 q: -0.125156 0.790585 0.109826 0.589279 
wait for imu ... 
time: 1403636608.113555, t: 0.156258 -0.025236 -0.362033 q: -0.125149 0.790594 0.109804 0.589273 
wait for imu ... 
time: 1403636608.213556, t: 0.156266 -0.025241 -0.362041 q: -0.125161 0.790591 0.109801 0.589274 
time: 1403636608.313555, t: 0.156274 -0.025252 -0.362051 q: -0.125165 0.790587 0.109807 0.589278 
wait for imu ... 
wait for imu ... 
time: 1403636608.413555, t: 0.156272 -0.025251 -0.362046 q: -0.125155 0.790603 0.109793 0.589261 
wait for imu ... 
time: 1403636608.613555, t: 0.156266 -0.025255 -0.362064 q: -0.125120 0.790590 0.109789 0.589286 
wait for imu ... 
time: 1403636608.713556, t: 0.156259 -0.025245 -0.362058 q: -0.125050 0.790603 0.109794 0.589283 
time: 1403636608.813555, t: 0.156263 -0.025255 -0.362040 q: -0.125050 0.790631 0.109803 0.589244 
wait for imu ... 
time: 1403636608.913555, t: 0.156261 -0.025262 -0.362044 q: -0.125049 0.790639 0.109788 0.589236 
time: 1403636609.013556, t: 0.156253 -0.025260 -0.362041 q: -0.125037 0.790646 0.109774 0.589232 
time: 1403636609.113555, t: 0.156264 -0.025269 -0.362049 q: -0.125046 0.790639 0.109785 0.589237 
wait for imu ... 
time: 1403636609.213556, t: 0.156264 -0.025277 -0.362071 q: -0.125080 0.790619 0.109750 0.589264 
time: 1403636609.313555, t: 0.156273 -0.025275 -0.362064 q: -0.125033 0.790635 0.109762 0.589249 
wait for imu ... 
time: 1403636609.413555, t: 0.156257 -0.025264 -0.362053 q: -0.125015 0.790658 0.109746 0.589226 
time: 1403636609.513556, t: 0.156258 -0.025266 -0.362051 q: -0.124989 0.790667 0.109754 0.589218 
wait for imu ... 
time: 1403636609.613555, t: 0.156262 -0.025275 -0.362070 q: -0.125006 0.790658 0.109731 0.589230 
wait for imu ... 
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time: 1403636609.813555, t: 0.156233 -0.025296 -0.362082 q: -0.125041 0.790737 0.109721 0.589119 
time: 1403636609.913555, t: 0.156250 -0.025288 -0.362065 q: -0.125030 0.790696 0.109674 0.589185 
time: 1403636610.013556, t: 0.156255 -0.025291 -0.362054 q: -0.125006 0.790699 0.109651 0.589191 
wait for imu ... 
time: 1403636610.113555, t: 0.156249 -0.025295 -0.362079 q: -0.125044 0.790694 0.109626 0.589193 
time: 1403636610.213556, t: 0.156252 -0.025287 -0.362072 q: -0.125026 0.790706 0.109613 0.589183 
time: 1403636610.313555, t: 0.156523 -0.025032 -0.362295 q: -0.126726 0.789281 0.110476 0.590568 
time: 1403636610.413555, t: 0.156568 -0.024958 -0.362254 q: -0.127067 0.789110 0.110713 0.590679 
wait for imu ... 
time: 1403636610.513556, t: 0.156571 -0.024861 -0.362263 q: -0.127688 0.788953 0.111009 0.590699 
time: 1403636610.613555, t: 0.156577 -0.024816 -0.362260 q: -0.127916 0.788897 0.111113 0.590706 
time: 1403636610.713556, t: 0.156594 -0.024784 -0.362258 q: -0.128126 0.788868 0.111202 0.590681 
time: 1403636610.813555, t: 0.156684 -0.024757 -0.362194 q: -0.128182 0.788928 0.111400 0.590552 
time: 1403636610.913555, t: 0.156683 -0.024774 -0.362193 q: -0.128196 0.788891 0.111524 0.590575 
wait for imu ... 
time: 1403636611.013556, t: 0.156671 -0.024716 -0.362203 q: -0.128365 0.788837 0.111455 0.590624 
time: 1403636611.113555, t: 0.156730 -0.024692 -0.362228 q: -0.128468 0.788853 0.111506 0.590571 
time: 1403636611.213556, t: 0.156721 -0.024723 -0.362251 q: -0.128404 0.788873 0.111601 0.590540 
time: 1403636611.313555, t: 0.156710 -0.024706 -0.362245 q: -0.128437 0.788877 0.111531 0.590541 
time: 1403636611.413555, t: 0.156691 -0.024594 -0.362227 q: -0.128839 0.788826 0.111469 0.590533 
time: 1403636611.513556, t: 0.156877 -0.025373 -0.362539 q: -0.127924 0.788808 0.111605 0.590729 
time: 1403636611.613555, t: 0.156883 -0.025224 -0.362542 q: -0.128387 0.788834 0.111526 0.590610 
time: 1403636611.713556, t: 0.156844 -0.025292 -0.362543 q: -0.128291 0.788715 0.111381 0.590816 
time: 1403636611.813555, t: 0.156760 -0.025122 -0.362562 q: -0.129021 0.788870 0.110859 0.590549 
time: 1403636611.913555, t: 0.156801 -0.025251 -0.362578 q: -0.128528 0.788834 0.111317 0.590619 
time: 1403636612.013556, t: 0.156858 -0.025018 -0.362499 q: -0.129396 0.788753 0.110920 0.590611 
time: 1403636612.113555, t: 0.156845 -0.024892 -0.362539 q: -0.129701 0.788894 0.110716 0.590395 
time: 1403636612.213556, t: 0.156816 -0.024959 -0.362559 q: -0.129552 0.788928 0.110846 0.590357 
time: 1403636612.313555, t: 0.156761 -0.024938 -0.362568 q: -0.129842 0.788806 0.110666 0.590491 
time: 1403636612.413555, t: 0.156794 -0.025031 -0.362548 q: -0.129432 0.788752 0.110879 0.590613 
wait for imu ... 
time: 1403636612.513556, t: 0.156842 -0.025074 -0.362530 q: -0.129198 0.788763 0.110969 0.590633 
time: 1403636612.613555, t: 0.156845 -0.025170 -0.362567 q: -0.128888 0.788729 0.111107 0.590720 
time: 1403636612.713556, t: 0.156917 -0.025176 -0.362543 q: -0.128965 0.788721 0.111171 0.590701 
time: 1403636612.813555, t: 0.156891 -0.025247 -0.362533 q: -0.128654 0.788710 0.111253 0.590769 
time: 1403636612.913555, t: 0.156870 -0.025306 -0.362528 q: -0.128445 0.788705 0.111395 0.590794 
time: 1403636613.013556, t: 0.156883 -0.025336 -0.362558 q: -0.128405 0.788619 0.111385 0.590919 
wait for imu ... 
time: 1403636613.113555, t: 0.156881 -0.025358 -0.362571 q: -0.128289 0.788650 0.111552 0.590872 
time: 1403636613.213556, t: 0.156866 -0.025333 -0.362590 q: -0.128288 0.788608 0.111427 0.590952 
time: 1403636613.313555, t: 0.156909 -0.025332 -0.362585 q: -0.128413 0.788549 0.111382 0.591011 
wait for imu ... 
time: 1403636613.413555, t: 0.156895 -0.025312 -0.362577 q: -0.128299 0.788639 0.111429 0.590907 
wait for imu ... 
time: 1403636613.513556, t: 0.156872 -0.025309 -0.362558 q: -0.128389 0.788605 0.111401 0.590938 
time: 1403636613.613555, t: 0.156886 -0.025307 -0.362575 q: -0.128385 0.788610 0.111381 0.590936 
wait for imu ... 
time: 1403636613.713556, t: 0.156858 -0.025264 -0.362588 q: -0.128504 0.788605 0.111257 0.590940 
time: 1403636613.813555, t: 0.156857 -0.025264 -0.362573 q: -0.128567 0.788603 0.111254 0.590931 
time: 1403636613.913555, t: 0.156869 -0.025269 -0.362584 q: -0.128551 0.788625 0.111288 0.590898 
time: 1403636614.013556, t: 0.156869 -0.025255 -0.362587 q: -0.128617 0.788627 0.111226 0.590893 
wait for imu ... 
time: 1403636614.113555, t: 0.156853 -0.025242 -0.362591 q: -0.128573 0.788599 0.111239 0.590936 
time: 1403636614.213556, t: 0.156865 -0.025230 -0.362569 q: -0.128574 0.788638 0.111247 0.590883 
wait for imu ... 
time: 1403636614.313555, t: 0.156858 -0.025234 -0.362591 q: -0.128622 0.788618 0.111189 0.590910 
time: 1403636614.413555, t: 0.156840 -0.025213 -0.362594 q: -0.128667 0.788666 0.111166 0.590840 
time: 1403636614.513556, t: 0.156882 -0.025218 -0.362571 q: -0.128637 0.788615 0.111203 0.590908 
time: 1403636614.613555, t: 0.156877 -0.025227 -0.362572 q: -0.128595 0.788668 0.111202 0.590847 
time: 1403636614.713556, t: 0.156867 -0.025216 -0.362572 q: -0.128578 0.788642 0.111208 0.590885 
wait for imu ... 
time: 1403636614.813555, t: 0.156884 -0.025226 -0.362559 q: -0.128512 0.788643 0.111252 0.590889 
wait for imu ... 
time: 1403636614.913555, t: 0.156887 -0.025227 -0.362592 q: -0.128521 0.788652 0.111247 0.590875 
wait for imu ... 
time: 1403636615.013556, t: 0.156885 -0.025224 -0.362569 q: -0.128540 0.788623 0.111231 0.590913 
wait for imu ... 
time: 1403636615.113555, t: 0.156889 -0.025243 -0.362581 q: -0.128481 0.788658 0.111311 0.590865 
time: 1403636615.213556, t: 0.156897 -0.025247 -0.362578 q: -0.128468 0.788641 0.111311 0.590890 
time: 1403636615.313555, t: 0.156881 -0.025242 -0.362574 q: -0.128459 0.788662 0.111303 0.590865 
time: 1403636615.413555, t: 0.156883 -0.025236 -0.362590 q: -0.128469 0.788635 0.111275 0.590904 
wait for imu ... 
time: 1403636615.513556, t: 0.156892 -0.025239 -0.362581 q: -0.128486 0.788642 0.111278 0.590891 
time: 1403636615.613555, t: 0.156881 -0.025243 -0.362564 q: -0.128445 0.788662 0.111297 0.590869 
wait for imu ... 
time: 1403636615.713556, t: 0.156891 -0.025243 -0.362561 q: -0.128472 0.788664 0.111297 0.590861 
time: 1403636615.813555, t: 0.156895 -0.025240 -0.362596 q: -0.128478 0.788616 0.111259 0.590931 
time: 1403636615.913555, t: 0.156884 -0.025237 -0.362559 q: -0.128449 0.788660 0.111289 0.590873 
time: 1403636616.113555, t: 0.156894 -0.025237 -0.362590 q: -0.128494 0.788635 0.111249 0.590904 
time: 1403636616.213556, t: 0.156888 -0.025234 -0.362573 q: -0.128468 0.788654 0.111276 0.590879 
time: 1403636616.313555, t: 0.156888 -0.025238 -0.362578 q: -0.128464 0.788642 0.111283 0.590895 
time: 1403636616.413555, t: 0.156902 -0.025250 -0.362584 q: -0.128492 0.788657 0.111272 0.590870 
time: 1403636616.513556, t: 0.156883 -0.025232 -0.362582 q: -0.128478 0.788634 0.111249 0.590910 
time: 1403636616.613555, t: 0.156891 -0.025236 -0.362574 q: -0.128475 0.788664 0.111280 0.590864 
time: 1403636616.713556, t: 0.156900 -0.025243 -0.362582 q: -0.128508 0.788651 0.111272 0.590875 
wait for imu ... 
time: 1403636616.813555, t: 0.156893 -0.025241 -0.362587 q: -0.128518 0.788655 0.111271 0.590868 
time: 1403636616.913555, t: 0.156887 -0.025230 -0.362578 q: -0.128496 0.788648 0.111256 0.590885 
time: 1403636617.013556, t: 0.156896 -0.025242 -0.362583 q: -0.128493 0.788643 0.111285 0.590886 
time: 1403636617.113555, t: 0.156884 -0.025229 -0.362578 q: -0.128470 0.788649 0.111277 0.590885 
time: 1403636617.213556, t: 0.156897 -0.025237 -0.362580 q: -0.128521 0.788634 0.111267 0.590896 
wait for imu ... 
time: 1403636617.313555, t: 0.156895 -0.025231 -0.362587 q: -0.128498 0.788641 0.111254 0.590894 
time: 1403636617.513556, t: 0.156898 -0.025245 -0.362580 q: -0.128502 0.788639 0.111279 0.590892 
time: 1403636617.613555, t: 0.156903 -0.025245 -0.362585 q: -0.128480 0.788645 0.111291 0.590886 
time: 1403636617.713556, t: 0.156890 -0.025238 -0.362596 q: -0.128503 0.788623 0.111274 0.590913 
time: 1403636617.813555, t: 0.156889 -0.025238 -0.362578 q: -0.128485 0.788646 0.111261 0.590890 
time: 1403636617.913555, t: 0.156882 -0.025236 -0.362585 q: -0.128463 0.788650 0.111265 0.590887 
time: 1403636618.013556, t: 0.156889 -0.025232 -0.362582 q: -0.128474 0.788643 0.111270 0.590894 
time: 1403636618.113555, t: 0.156892 -0.025237 -0.362584 q: -0.128475 0.788638 0.111274 0.590900 
time: 1403636618.213556, t: 0.156898 -0.025236 -0.362581 q: -0.128462 0.788648 0.111308 0.590883 
wait for imu ... 
time: 1403636618.313555, t: 0.156897 -0.025237 -0.362582 q: -0.128491 0.788649 0.111269 0.590883 
time: 1403636618.413555, t: 0.156890 -0.025237 -0.362593 q: -0.128492 0.788622 0.111258 0.590921 
time: 1403636618.513556, t: 0.156899 -0.025179 -0.362625 q: -0.128688 0.788584 0.111546 0.590874 
time: 1403636618.613555, t: 0.156866 -0.025187 -0.362616 q: -0.128629 0.788608 0.111354 0.590892 
wait for imu ... 
time: 1403636618.713556, t: 0.156835 -0.025209 -0.362601 q: -0.128436 0.788688 0.110994 0.590893 
time: 1403636618.813555, t: 0.156888 -0.025221 -0.362629 q: -0.128661 0.788650 0.111135 0.590870 
wait for imu ... 
time: 1403636618.913555, t: 0.156846 -0.025121 -0.362615 q: -0.128902 0.788602 0.111288 0.590851 
wait for imu ... 
time: 1403636619.013556, t: 0.156852 -0.025114 -0.362598 q: -0.128892 0.788600 0.111269 0.590860 
wait for imu ... 
time: 1403636619.113555, t: 0.156878 -0.025179 -0.362608 q: -0.128756 0.788648 0.111085 0.590860 
wait for imu ... 
time: 1403636619.213556, t: 0.156868 -0.025178 -0.362591 q: -0.128536 0.788679 0.110918 0.590899 
time: 1403636619.313555, t: 0.156879 -0.025193 -0.362604 q: -0.128517 0.788656 0.111126 0.590894 
time: 1403636619.413555, t: 0.156898 -0.025150 -0.362597 q: -0.128770 0.788571 0.111403 0.590901 
time: 1403636619.513556, t: 0.156899 -0.025156 -0.362584 q: -0.128651 0.788657 0.111246 0.590842 
wait for imu ... 
time: 1403636619.613555, t: 0.156939 -0.025218 -0.362599 q: -0.128560 0.788633 0.111254 0.590892 
time: 1403636619.713556, t: 0.156946 -0.025249 -0.362612 q: -0.128509 0.788636 0.111186 0.590912 
time: 1403636619.813555, t: 0.156926 -0.025248 -0.362628 q: -0.128522 0.788632 0.111172 0.590917 
time: 1403636619.913555, t: 0.156930 -0.025246 -0.362620 q: -0.128556 0.788618 0.111136 0.590935 
time: 1403636620.013556, t: 0.156936 -0.025232 -0.362605 q: -0.128587 0.788656 0.111215 0.590863 
wait for imu ... 
time: 1403636620.113555, t: 0.156936 -0.025230 -0.362623 q: -0.128500 0.788607 0.111263 0.590938 
time: 1403636620.213556, t: 0.156935 -0.025245 -0.362605 q: -0.128512 0.788627 0.111318 0.590897 
time: 1403636620.313555, t: 0.156925 -0.025244 -0.362608 q: -0.128496 0.788633 0.111236 0.590909 
time: 1403636620.413555, t: 0.156935 -0.025236 -0.362606 q: -0.128540 0.788632 0.111301 0.590888 
wait for imu ... 
time: 1403636620.513556, t: 0.156932 -0.025242 -0.362626 q: -0.128553 0.788636 0.111211 0.590897 
wait for imu ... 
time: 1403636620.613555, t: 0.156933 -0.025241 -0.362605 q: -0.128542 0.788662 0.111215 0.590864 
wait for imu ... 
time: 1403636620.713556, t: 0.156926 -0.025246 -0.362615 q: -0.128508 0.788625 0.111249 0.590914 
time: 1403636620.813555, t: 0.156933 -0.025247 -0.362605 q: -0.128569 0.788648 0.111246 0.590872 
wait for imu ... 
time: 1403636620.913555, t: 0.156932 -0.025246 -0.362613 q: -0.128566 0.788639 0.111210 0.590891 
wait for imu ... 
time: 1403636621.013556, t: 0.156933 -0.025247 -0.362582 q: -0.128506 0.788681 0.111227 0.590845 
wait for imu ... 
time: 1403636621.113555, t: 0.156968 -0.025255 -0.362596 q: -0.128595 0.788613 0.111194 0.590922 
wait for imu ... 
time: 1403636621.213556, t: 0.156972 -0.025221 -0.362578 q: -0.128532 0.788592 0.111231 0.590956 
time: 1403636621.313555, t: 0.156955 -0.025240 -0.362576 q: -0.128522 0.788647 0.111230 0.590886 
wait for imu ... 
time: 1403636621.413555, t: 0.156959 -0.025250 -0.362587 q: -0.128558 0.788667 0.111198 0.590857 
time: 1403636621.513556, t: 0.156957 -0.025252 -0.362591 q: -0.128462 0.788642 0.111255 0.590901 
wait for imu ... 
time: 1403636621.613555, t: 0.156955 -0.025258 -0.362580 q: -0.128461 0.788661 0.111223 0.590881 
time: 1403636621.713556, t: 0.156950 -0.025263 -0.362579 q: -0.128460 0.788638 0.111270 0.590904 
wait for imu ... 
time: 1403636621.813555, t: 0.156963 -0.025275 -0.362580 q: -0.128413 0.788628 0.111320 0.590918 
wait for imu ... 
time: 1403636622.013556, t: 0.156977 -0.025281 -0.362566 q: -0.128323 0.788620 0.111371 0.590939 
wait for imu ... 
time: 1403636622.113555, t: 0.156976 -0.025293 -0.362570 q: -0.128351 0.788618 0.111360 0.590937 
time: 1403636622.213556, t: 0.156989 -0.025280 -0.362570 q: -0.128425 0.788619 0.111348 0.590922 
wait for imu ... 
time: 1403636622.313555, t: 0.156971 -0.025272 -0.362562 q: -0.128365 0.788628 0.111329 0.590926 
time: 1403636622.413555, t: 0.156972 -0.025279 -0.362560 q: -0.128398 0.788648 0.111309 0.590896 
time: 1403636622.513556, t: 0.156982 -0.025282 -0.362582 q: -0.128378 0.788627 0.111309 0.590929 
time: 1403636622.613555, t: 0.156971 -0.025296 -0.362580 q: -0.128322 0.788635 0.111327 0.590928 
time: 1403636622.713556, t: 0.156988 -0.025297 -0.362577 q: -0.128413 0.788621 0.111259 0.590938 
time: 1403636622.813555, t: 0.156988 -0.025304 -0.362556 q: -0.128350 0.788641 0.111241 0.590929 
time: 1403636622.913555, t: 0.157008 -0.025388 -0.362511 q: -0.128280 0.788526 0.111087 0.591126 
time: 1403636623.013556, t: 0.157051 -0.025417 -0.362453 q: -0.128219 0.788469 0.111045 0.591224 
time: 1403636623.113555, t: 0.157061 -0.025473 -0.362394 q: -0.128272 0.788486 0.110963 0.591204 
wait for imu ... 
time: 1403636623.213556, t: 0.157054 -0.025483 -0.362412 q: -0.128214 0.788468 0.110979 0.591238 
time: 1403636623.313555, t: 0.157090 -0.025514 -0.362435 q: -0.128140 0.788407 0.110973 0.591337 
wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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time: 1403636623.813555, t: 0.157162 -0.025638 -0.362379 q: -0.127725 0.788841 0.110253 0.590982 
time: 1403636623.913555, t: 0.157151 -0.025699 -0.362379 q: -0.127464 0.788884 0.110008 0.591027 
time: 1403636624.013556, t: 0.157130 -0.025761 -0.362312 q: -0.127366 0.788940 0.109886 0.590997 
time: 1403636624.113555, t: 0.157037 -0.025787 -0.362225 q: -0.126754 0.789352 0.109264 0.590693 
time: 1403636624.213556, t: 0.156961 -0.025841 -0.362183 q: -0.126684 0.789572 0.108869 0.590487 
time: 1403636624.313555, t: 0.156737 -0.026379 -0.362076 q: -0.125234 0.791414 0.108981 0.588305 
time: 1403636624.413555, t: 0.155086 -0.029899 -0.362245 q: -0.121482 0.796711 0.108641 0.581971 
time: 1403636624.513556, t: 0.151881 -0.036456 -0.362418 q: -0.118367 0.802686 0.107039 0.574653 
time: 1403636624.613555, t: 0.147788 -0.045209 -0.361827 q: -0.114044 0.805388 0.106762 0.571792 
time: 1403636624.713556, t: 0.143214 -0.057059 -0.362535 q: -0.107334 0.803900 0.109552 0.574649 
time: 1403636624.813555, t: 0.135654 -0.072602 -0.362264 q: -0.098772 0.803986 0.115741 0.574851 
time: 1403636624.913555, t: 0.125065 -0.091026 -0.356321 q: -0.086085 0.809073 0.126152 0.567517 
time: 1403636625.013556, t: 0.111993 -0.109194 -0.341511 q: -0.074961 0.815153 0.135155 0.558247 
time: 1403636625.113555, t: 0.100457 -0.122065 -0.319106 q: -0.070872 0.821390 0.138608 0.548710 
time: 1403636625.213556, t: 0.093099 -0.128198 -0.290721 q: -0.077999 0.822733 0.133784 0.546926 
time: 1403636625.313555, t: 0.090871 -0.130188 -0.264064 q: -0.084146 0.818878 0.129767 0.552737 
time: 1403636625.413555, t: 0.090350 -0.131203 -0.256414 q: -0.087009 0.818088 0.129644 0.553493 
time: 1403636625.513556, t: 0.091774 -0.130368 -0.263896 q: -0.087212 0.820460 0.130637 0.549704 
time: 1403636625.613555, t: 0.096462 -0.127626 -0.270024 q: -0.087113 0.820682 0.132744 0.548882 
time: 1403636625.713556, t: 0.105253 -0.122172 -0.260834 q: -0.088700 0.817851 0.133433 0.552674 
time: 1403636625.813555, t: 0.118090 -0.113849 -0.234231 q: -0.090900 0.811895 0.133162 0.561098 
time: 1403636625.913555, t: 0.131632 -0.103477 -0.192577 q: -0.094973 0.806438 0.131394 0.568660 
time: 1403636626.013556, t: 0.144505 -0.093451 -0.143266 q: -0.097619 0.803432 0.130399 0.572682 
optimize pose graph 
time: 1403636626.113555, t: 0.155761 -0.084068 -0.096115 q: -0.106127 0.802889 0.125283 0.573071 
time: 1403636626.213556, t: 0.166529 -0.076803 -0.053331 q: -0.114506 0.802718 0.119876 0.572854 
time: 1403636626.313555, t: 0.177095 -0.072840 -0.022754 q: -0.117830 0.802645 0.117907 0.572691 
time: 1403636626.413555, t: 0.186674 -0.073359 -0.007536 q: -0.116492 0.802032 0.119092 0.573577 
time: 1403636626.513556, t: 0.196609 -0.076634 -0.002196 q: -0.111822 0.799113 0.123045 0.577732 
time: 1403636626.613555, t: 0.203971 -0.083234 -0.000367 q: -0.107087 0.794349 0.127790 0.584133 
time: 1403636626.713556, t: 0.207850 -0.091898 -0.002814 q: -0.104668 0.792560 0.131364 0.586206 
time: 1403636626.813555, t: 0.207895 -0.101223 -0.009935 q: -0.104560 0.795374 0.133724 0.581863 
time: 1403636626.913555, t: 0.204210 -0.112085 -0.020149 q: -0.103843 0.799791 0.135730 0.575438 
time: 1403636627.013556, t: 0.198272 -0.123556 -0.033135 q: -0.101976 0.804906 0.137487 0.568177 
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time: 1403636627.313555, t: 0.183815 -0.154868 -0.029612 q: -0.103108 0.803408 0.137552 0.570073 
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time: 1403636627.513556, t: 0.174461 -0.175447 0.016579 q: -0.105488 0.803145 0.132311 0.571248 
time: 1403636627.613555, t: 0.168536 -0.188010 0.031782 q: -0.101397 0.805632 0.125261 0.570075 
time: 1403636627.713556, t: 0.161610 -0.201889 0.029935 q: -0.095040 0.811215 0.119305 0.564503 
time: 1403636627.813555, t: 0.156450 -0.217177 0.018935 q: -0.085740 0.819104 0.111451 0.556145 
time: 1403636627.913555, t: 0.155115 -0.232375 0.007041 q: -0.076024 0.826132 0.103254 0.548694 
time: 1403636628.013556, t: 0.159482 -0.245269 0.002701 q: -0.068540 0.828958 0.097585 0.546450 
optimize pose graph 
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time: 1403636628.713556, t: 0.248074 -0.329556 0.117028 q: -0.080894 0.810064 0.073526 0.576061 
time: 1403636628.813555, t: 0.258257 -0.354041 0.117215 q: -0.071248 0.813751 0.073197 0.572168 
time: 1403636628.913555, t: 0.268599 -0.379889 0.115761 q: -0.061814 0.819124 0.070224 0.565936 
time: 1403636629.013556, t: 0.276997 -0.406378 0.121826 q: -0.055965 0.823184 0.067046 0.561018 
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time: 1403636629.413555, t: 0.335841 -0.514782 0.164219 q: -0.042772 0.820796 0.036416 0.568453 
time: 1403636629.513556, t: 0.356532 -0.542786 0.161787 q: -0.042580 0.818229 0.022636 0.572866 
time: 1403636629.613555, t: 0.380941 -0.572498 0.150830 q: -0.034920 0.820845 0.009254 0.570008 
time: 1403636629.713556, t: 0.405554 -0.605513 0.133044 q: -0.021522 0.826959 -0.004258 0.561834 
time: 1403636629.813555, t: 0.431851 -0.641301 0.110351 q: -0.005989 0.831303 -0.020136 0.555422 
time: 1403636629.913555, t: 0.462502 -0.677407 0.084363 q: 0.007850 0.833265 -0.037539 0.551541 
time: 1403636630.013556, t: 0.494908 -0.714587 0.065598 q: 0.018492 0.833098 -0.050492 0.550506 
time: 1403636630.113555, t: 0.533178 -0.748062 0.054113 q: 0.025629 0.829128 -0.059153 0.555330 
optimize pose graph 
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time: 1403636630.313555, t: 0.617146 -0.815566 0.058723 q: 0.033800 0.815198 -0.068242 0.574154 
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time: 1403636630.713556, t: 0.794079 -0.951020 0.116066 q: 0.038962 0.822187 -0.055953 0.565119 
time: 1403636630.813555, t: 0.840201 -0.982888 0.124641 q: 0.034581 0.822698 -0.055077 0.564747 
time: 1403636630.913555, t: 0.885318 -1.012186 0.128440 q: 0.029903 0.822638 -0.055374 0.565071 
time: 1403636631.013556, t: 0.931920 -1.044044 0.126919 q: 0.026889 0.822338 -0.055714 0.565626 
time: 1403636631.113555, t: 0.979915 -1.072015 0.122308 q: 0.025772 0.820709 -0.055293 0.568080 
time: 1403636631.213556, t: 1.025799 -1.102143 0.116214 q: 0.025133 0.818614 -0.054747 0.571176 
time: 1403636631.313555, t: 1.070350 -1.132752 0.109080 q: 0.025046 0.817622 -0.054275 0.572643 
time: 1403636631.413555, t: 1.115355 -1.162163 0.096925 q: 0.025142 0.817525 -0.053579 0.572843 
time: 1403636631.513556, t: 1.155791 -1.190822 0.080083 q: 0.026645 0.817619 -0.051883 0.572797 
time: 1403636631.713556, t: 1.244722 -1.247755 0.047671 q: 0.028789 0.818346 -0.047838 0.572008 
time: 1403636631.813555, t: 1.286783 -1.274810 0.040363 q: 0.028965 0.818429 -0.046419 0.571997 
time: 1403636631.913555, t: 1.323213 -1.299571 0.041528 q: 0.030982 0.819160 -0.044938 0.570961 
time: 1403636632.013556, t: 1.365368 -1.321667 0.041438 q: 0.031830 0.819131 -0.045085 0.570945 
time: 1403636632.113555, t: 1.404846 -1.342049 0.043838 q: 0.033966 0.817276 -0.044351 0.573532 
optimize pose graph 
time: 1403636632.213556, t: 1.442459 -1.359242 0.046362 q: 0.038689 0.816455 -0.042863 0.574515 
time: 1403636632.313555, t: 1.472473 -1.372990 0.046636 q: 0.038613 0.815743 -0.045241 0.575348 
time: 1403636632.413555, t: 1.513649 -1.385355 0.036358 q: 0.038468 0.816008 -0.046934 0.574846 
time: 1403636632.513556, t: 1.553279 -1.394217 0.019780 q: 0.031923 0.819736 -0.050617 0.569607 
time: 1403636632.613555, t: 1.584907 -1.400174 0.002283 q: 0.019363 0.825810 -0.051864 0.561224 
time: 1403636632.713556, t: 1.627632 -1.409192 -0.018262 q: 0.005885 0.829614 -0.044846 0.556503 
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time: 1403636632.913555, t: 1.712567 -1.431944 -0.034123 q: -0.012567 0.826098 -0.002623 0.563381 
time: 1403636633.013556, t: 1.763019 -1.446057 -0.032320 q: -0.017227 0.822714 0.019347 0.567864 
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time: 1403636638.113555, t: 5.080732 -1.998386 0.259382 q: -0.063850 0.810696 0.084772 0.575768 
wait for imu ... 
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wait for imu ... 
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optimize pose graph 
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time: 1403636694.613555, t: 5.669091 -3.833761 -0.537095 q: -0.222101 0.757541 0.311760 0.528779 
time: 1403636694.713556, t: 5.694449 -3.831671 -0.536676 q: -0.220973 0.756946 0.311811 0.530073 
time: 1403636694.813555, t: 5.718904 -3.828516 -0.542716 q: -0.223229 0.755488 0.308599 0.533079 
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time: 1403636695.813555, t: 5.972540 -3.860334 -0.550045 q: -0.210454 0.757117 0.302264 0.539555 
time: 1403636695.913555, t: 5.991504 -3.863313 -0.555606 q: -0.210449 0.758202 0.301227 0.538613 
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time: 1403636696.113555, t: 6.027643 -3.866691 -0.577911 q: -0.206972 0.765574 0.301453 0.529325 
time: 1403636696.213556, t: 6.045706 -3.866782 -0.592734 q: -0.201028 0.766599 0.304555 0.528356 
optimize pose graph 
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time: 1403636696.813555, t: 6.103718 -3.851171 -0.643573 q: -0.213326 0.756561 0.292392 0.544624 
time: 1403636696.913555, t: 6.104368 -3.853283 -0.649609 q: -0.210760 0.756893 0.294208 0.544183 
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time: 1403636698.313555, t: 5.718978 -3.614852 -0.536117 q: -0.141146 0.792407 0.209575 0.555201 
optimize pose graph 
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time: 1403636704.613555, t: 5.187669 -4.532196 -1.496340 q: 0.181199 0.785129 -0.272942 0.525587 
time: 1403636704.713556, t: 5.208002 -4.575796 -1.498142 q: 0.181514 0.788917 -0.272347 0.520087 
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time: 1403636706.513556, t: 6.284551 -5.516165 -1.730557 q: 0.187280 0.780054 -0.253143 0.540704 
time: 1403636706.613555, t: 6.349375 -5.567605 -1.741991 q: 0.187897 0.781926 -0.252669 0.538001 
time: 1403636706.713556, t: 6.415785 -5.615666 -1.749918 q: 0.188186 0.783931 -0.253319 0.534667 
time: 1403636706.813555, t: 6.485804 -5.662741 -1.748585 q: 0.186639 0.786531 -0.255881 0.530150 
time: 1403636706.913555, t: 6.560161 -5.710652 -1.746840 q: 0.186155 0.787222 -0.258572 0.527986 
time: 1403636707.013556, t: 6.638474 -5.758766 -1.737876 q: 0.188148 0.785006 -0.260057 0.529845 
time: 1403636707.113555, t: 6.719933 -5.806422 -1.730558 q: 0.191264 0.781533 -0.260892 0.533442 
time: 1403636707.213556, t: 6.800360 -5.851758 -1.723410 q: 0.193320 0.780675 -0.263445 0.532702 
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time: 1403636707.513556, t: 7.064000 -5.980751 -1.662660 q: 0.196729 0.781247 -0.268950 0.527842 
time: 1403636707.613555, t: 7.159607 -6.021953 -1.629444 q: 0.193658 0.781241 -0.272026 0.527409 
time: 1403636707.713556, t: 7.255127 -6.062144 -1.605104 q: 0.183870 0.780426 -0.278672 0.528648 
time: 1403636707.813555, t: 7.353341 -6.102909 -1.591496 q: 0.179168 0.779541 -0.281504 0.530067 
time: 1403636707.913555, t: 7.450498 -6.147971 -1.590171 q: 0.177703 0.777662 -0.280531 0.533822 
time: 1403636708.013556, t: 7.546455 -6.192508 -1.597563 q: 0.179122 0.777023 -0.276677 0.536284 
time: 1403636708.113555, t: 7.640731 -6.239458 -1.615328 q: 0.181945 0.776665 -0.271150 0.538670 
time: 1403636708.213556, t: 7.735443 -6.284569 -1.636243 q: 0.182224 0.775674 -0.267933 0.541605 
time: 1403636708.313555, t: 7.820517 -6.327581 -1.663868 q: 0.174831 0.771839 -0.271102 0.547908 
time: 1403636708.413555, t: 7.911516 -6.374159 -1.689096 q: 0.163254 0.766997 -0.278027 0.554765 
time: 1403636708.513556, t: 7.992710 -6.423877 -1.709074 q: 0.158358 0.764144 -0.280784 0.558719 
time: 1403636708.613555, t: 8.072646 -6.480246 -1.720454 q: 0.163794 0.763549 -0.277257 0.559725 
time: 1403636708.713556, t: 8.149284 -6.538341 -1.730799 q: 0.177741 0.765553 -0.268986 0.556762 
time: 1403636708.813555, t: 8.220044 -6.595605 -1.745924 q: 0.192076 0.766599 -0.260763 0.554469 
time: 1403636708.913555, t: 8.287902 -6.648468 -1.766300 q: 0.199078 0.765740 -0.259387 0.553831 
time: 1403636709.013556, t: 8.351673 -6.694184 -1.781347 q: 0.203800 0.762801 -0.260236 0.555768 
time: 1403636709.113555, t: 8.418555 -6.735737 -1.789596 q: 0.208789 0.760333 -0.260950 0.556961 
time: 1403636709.213556, t: 8.478450 -6.766624 -1.790710 q: 0.210002 0.761771 -0.264148 0.553019 
time: 1403636709.313555, t: 8.541562 -6.793601 -1.786364 q: 0.209798 0.765560 -0.266558 0.546671 
time: 1403636709.413555, t: 8.596009 -6.810898 -1.781856 q: 0.210348 0.768404 -0.267212 0.542131 
time: 1403636709.513556, t: 8.659005 -6.827490 -1.784534 q: 0.210385 0.769613 -0.267289 0.540361 
time: 1403636709.613555, t: 8.716640 -6.837032 -1.792867 q: 0.209393 0.771243 -0.267713 0.538209 
time: 1403636709.713556, t: 8.784278 -6.846951 -1.805245 q: 0.209027 0.772575 -0.266662 0.536961 
time: 1403636709.813555, t: 8.851949 -6.852844 -1.818334 q: 0.207886 0.773155 -0.265165 0.537311 
time: 1403636709.913555, t: 8.918654 -6.853393 -1.824849 q: 0.206767 0.773034 -0.264163 0.538409 
time: 1403636710.013556, t: 8.991732 -6.851177 -1.827080 q: 0.205478 0.772965 -0.262751 0.539690 
time: 1403636710.113555, t: 9.065589 -6.847013 -1.823960 q: 0.204634 0.772771 -0.260774 0.541246 
time: 1403636710.213556, t: 9.140698 -6.837383 -1.828788 q: 0.203942 0.773002 -0.258178 0.542421 
time: 1403636710.313555, t: 9.217856 -6.824844 -1.841810 q: 0.195948 0.771426 -0.260030 0.546709 
time: 1403636710.413555, t: 9.294858 -6.807817 -1.861516 q: 0.180352 0.769988 -0.263740 0.552298 
optimize pose graph 
time: 1403636710.513556, t: 9.372894 -6.791058 -1.884135 q: 0.164330 0.771094 -0.261883 0.556621 
time: 1403636710.613555, t: 9.445147 -6.774871 -1.910327 q: 0.152600 0.773001 -0.254945 0.560523 
time: 1403636710.713556, t: 9.512807 -6.760931 -1.939860 q: 0.144262 0.776131 -0.242441 0.563943 
time: 1403636710.813555, t: 9.578468 -6.749904 -1.967567 q: 0.139976 0.780537 -0.223507 0.566757 
time: 1403636710.913555, t: 9.637320 -6.740583 -1.988268 q: 0.137149 0.787073 -0.201007 0.566836 
time: 1403636711.013556, t: 9.694764 -6.731698 -2.003624 q: 0.136855 0.792906 -0.179862 0.565881 
time: 1403636711.113555, t: 9.749268 -6.720212 -2.014117 q: 0.135027 0.795693 -0.165998 0.566644 
time: 1403636711.213556, t: 9.802608 -6.705571 -2.021262 q: 0.133872 0.796393 -0.157342 0.568401 
time: 1403636711.313555, t: 9.855226 -6.685335 -2.026209 q: 0.130221 0.795940 -0.154496 0.570660 
time: 1403636711.413555, t: 9.906460 -6.660512 -2.027015 q: 0.125740 0.791870 -0.155613 0.576988 
time: 1403636711.513556, t: 9.951899 -6.631651 -2.021734 q: 0.124852 0.783255 -0.156391 0.588613 
time: 1403636711.613555, t: 9.994819 -6.598564 -2.015046 q: 0.130459 0.778276 -0.154802 0.594393 
time: 1403636711.713556, t: 10.031415 -6.560284 -2.007935 q: 0.135632 0.778042 -0.154238 0.593687 
time: 1403636711.813555, t: 10.060435 -6.516078 -2.000321 q: 0.134703 0.779558 -0.157741 0.590984 
time: 1403636711.913555, t: 10.083153 -6.467451 -1.990928 q: 0.126192 0.783166 -0.165727 0.585884 
time: 1403636712.013556, t: 10.097985 -6.416813 -1.976827 q: 0.115593 0.785761 -0.174847 0.581934 
time: 1403636712.113555, t: 10.104608 -6.366959 -1.957460 q: 0.107553 0.785869 -0.181176 0.581393 
time: 1403636712.213556, t: 10.107188 -6.320717 -1.933941 q: 0.108248 0.786250 -0.176874 0.582073 
time: 1403636712.313555, t: 10.112705 -6.273777 -1.904884 q: 0.112199 0.788587 -0.160757 0.582837 
time: 1403636712.413555, t: 10.109637 -6.227558 -1.872100 q: 0.112404 0.790798 -0.143541 0.584294 
time: 1403636712.513556, t: 10.104520 -6.178309 -1.835476 q: 0.109502 0.791583 -0.129655 0.587022 
optimize pose graph 
time: 1403636712.613555, t: 10.096662 -6.123744 -1.797370 q: 0.102931 0.790694 -0.120690 0.591305 
time: 1403636712.713556, t: 10.083465 -6.066079 -1.764919 q: 0.094467 0.787568 -0.115509 0.597888 
time: 1403636712.813555, t: 10.064661 -6.006962 -1.738529 q: 0.088114 0.787827 -0.111695 0.599240 
time: 1403636712.913555, t: 10.040465 -5.946538 -1.716882 q: 0.084694 0.791072 -0.109720 0.595813 
time: 1403636713.013556, t: 10.010992 -5.884962 -1.700529 q: 0.085668 0.794474 -0.107461 0.591544 
time: 1403636713.113555, t: 9.976454 -5.820363 -1.681735 q: 0.082171 0.794105 -0.108183 0.592403 
time: 1403636713.213556, t: 9.936402 -5.754586 -1.657229 q: 0.079168 0.795841 -0.108879 0.590352 
time: 1403636713.313555, t: 9.893657 -5.689623 -1.625206 q: 0.078506 0.798203 -0.109295 0.587165 
time: 1403636713.413555, t: 9.851387 -5.624727 -1.585494 q: 0.076501 0.799636 -0.111241 0.585111 
time: 1403636713.513556, t: 9.803953 -5.560255 -1.541393 q: 0.073555 0.800382 -0.114150 0.583907 
time: 1403636713.613555, t: 9.757110 -5.498657 -1.498593 q: 0.068896 0.801265 -0.119091 0.582276 
time: 1403636713.713556, t: 9.705258 -5.438280 -1.461318 q: 0.064512 0.802434 -0.124094 0.580119 
time: 1403636713.813555, t: 9.653823 -5.383096 -1.430676 q: 0.061257 0.803113 -0.128574 0.578555 
time: 1403636713.913555, t: 9.598866 -5.331723 -1.406224 q: 0.063964 0.803412 -0.129214 0.577704 
time: 1403636714.013556, t: 9.543168 -5.285862 -1.386878 q: 0.068317 0.804393 -0.128617 0.575971 
time: 1403636714.113555, t: 9.486421 -5.242822 -1.372362 q: 0.075096 0.804355 -0.126925 0.575555 
time: 1403636714.213556, t: 9.428509 -5.201571 -1.362055 q: 0.077915 0.803258 -0.127844 0.576508 
time: 1403636714.313555, t: 9.370537 -5.161553 -1.355749 q: 0.075284 0.801786 -0.132138 0.577936 
time: 1403636714.413555, t: 9.311236 -5.122739 -1.353003 q: 0.075613 0.804263 -0.134302 0.573940 
time: 1403636714.513556, t: 9.252093 -5.088746 -1.355627 q: 0.072814 0.809968 -0.132305 0.566696 
time: 1403636714.613555, t: 9.193783 -5.056054 -1.362233 q: 0.065279 0.815393 -0.125565 0.561344 
time: 1403636714.713556, t: 9.139245 -5.027601 -1.368084 q: 0.057134 0.819638 -0.111416 0.559031 
optimize pose graph 
time: 1403636714.813555, t: 9.085121 -5.000802 -1.365856 q: 0.048254 0.822836 -0.090133 0.559006 
time: 1403636714.913555, t: 9.036949 -4.976606 -1.354206 q: 0.038739 0.824928 -0.065019 0.560148 
time: 1403636715.013556, t: 8.994847 -4.954125 -1.335429 q: 0.026846 0.827076 -0.042705 0.559823 
time: 1403636715.113555, t: 8.957021 -4.932849 -1.309664 q: 0.018567 0.828840 -0.024135 0.558657 
time: 1403636715.213556, t: 8.923914 -4.911377 -1.280770 q: 0.011717 0.829512 -0.012450 0.558227 
time: 1403636715.313555, t: 8.893696 -4.889905 -1.256103 q: 0.004768 0.827869 -0.006829 0.560860 
time: 1403636715.413555, t: 8.868774 -4.868705 -1.237655 q: -0.001804 0.824846 -0.005736 0.565325 
time: 1403636715.513556, t: 8.847172 -4.849075 -1.227824 q: -0.011206 0.820887 -0.010012 0.570893 
time: 1403636715.613555, t: 8.825445 -4.832568 -1.225160 q: -0.021012 0.818940 -0.016522 0.573256 
time: 1403636715.713556, t: 8.804956 -4.821653 -1.225934 q: -0.015795 0.812929 -0.014470 0.581969 
time: 1403636715.813555, t: 8.783806 -4.813396 -1.227662 q: -0.006307 0.806999 -0.010664 0.590422 
time: 1403636715.913555, t: 8.760138 -4.807188 -1.223407 q: 0.000519 0.801837 -0.008416 0.597483 
time: 1403636716.013556, t: 8.730092 -4.801628 -1.215228 q: 0.003146 0.799349 -0.009536 0.600783 
time: 1403636716.113555, t: 8.694923 -4.796423 -1.203396 q: 0.003265 0.800388 -0.012637 0.599340 
time: 1403636716.213556, t: 8.654136 -4.790936 -1.188676 q: 0.001986 0.807233 -0.017389 0.589973 
time: 1403636716.313555, t: 8.609179 -4.786363 -1.172686 q: 0.003480 0.811769 -0.020840 0.583596 
time: 1403636716.413555, t: 8.562649 -4.783282 -1.165057 q: 0.004806 0.813568 -0.023857 0.580960 
time: 1403636716.513556, t: 8.517068 -4.781398 -1.162207 q: 0.006908 0.813921 -0.025709 0.580365 
time: 1403636716.613555, t: 8.471471 -4.780288 -1.168726 q: 0.008654 0.813642 -0.022156 0.580879 
time: 1403636716.713556, t: 8.426650 -4.779015 -1.177048 q: 0.004863 0.813477 -0.014807 0.581389 
time: 1403636716.813555, t: 8.380749 -4.776426 -1.190180 q: -0.003139 0.813238 -0.004659 0.581904 
optimize pose graph 
time: 1403636716.913555, t: 8.332471 -4.773978 -1.204716 q: -0.014687 0.813515 0.009583 0.581280 
time: 1403636717.013556, t: 8.283668 -4.770474 -1.212066 q: -0.027467 0.813573 0.029052 0.580087 
time: 1403636717.113555, t: 8.233843 -4.767285 -1.211627 q: -0.040277 0.813049 0.049242 0.578709 
time: 1403636717.213556, t: 8.182098 -4.765054 -1.204912 q: -0.048472 0.812159 0.065673 0.577698 
time: 1403636717.313555, t: 8.128925 -4.763564 -1.198020 q: -0.048874 0.811220 0.080927 0.577048 
time: 1403636717.413555, t: 8.077848 -4.760954 -1.190489 q: -0.043324 0.809205 0.094762 0.578213 
time: 1403636717.513556, t: 8.025470 -4.754774 -1.186389 q: -0.042636 0.808486 0.100781 0.578252 
time: 1403636717.613555, t: 7.972346 -4.743399 -1.187293 q: -0.048829 0.808692 0.099084 0.577768 
time: 1403636717.713556, t: 7.917311 -4.727629 -1.195293 q: -0.051653 0.808121 0.097056 0.578664 
time: 1403636717.813555, t: 7.861185 -4.708988 -1.206146 q: -0.049871 0.808210 0.102021 0.577842 
time: 1403636717.913555, t: 7.803872 -4.683788 -1.214057 q: -0.052036 0.807631 0.111541 0.576700 
time: 1403636718.013556, t: 7.744463 -4.652908 -1.214849 q: -0.058495 0.805781 0.124102 0.576103 
time: 1403636718.113555, t: 7.680352 -4.615357 -1.208402 q: -0.072821 0.804014 0.136465 0.574139 
time: 1403636718.213556, t: 7.614313 -4.572993 -1.202075 q: -0.090043 0.802595 0.147429 0.570963 
time: 1403636718.313555, t: 7.548777 -4.530013 -1.202899 q: -0.103879 0.801841 0.156020 0.567378 
time: 1403636718.413555, t: 7.483168 -4.485697 -1.211256 q: -0.116302 0.800585 0.166018 0.563893 
time: 1403636718.513556, t: 7.418914 -4.439984 -1.225229 q: -0.130378 0.798278 0.176274 0.560965 
time: 1403636718.613555, t: 7.357023 -4.394545 -1.244027 q: -0.144029 0.796954 0.183474 0.557187 
time: 1403636718.713556, t: 7.301352 -4.351393 -1.267216 q: -0.158025 0.796931 0.187045 0.552217 
time: 1403636718.813555, t: 7.249392 -4.312844 -1.295244 q: -0.161513 0.795082 0.194749 0.551209 
time: 1403636718.913555, t: 7.202443 -4.278568 -1.321542 q: -0.156024 0.792250 0.205454 0.552979 
optimize pose graph 
time: 1403636719.013556, t: 7.158662 -4.247105 -1.341270 q: -0.151525 0.789425 0.212807 0.555483 
time: 1403636719.113555, t: 7.116766 -4.216414 -1.351775 q: -0.150739 0.786037 0.215596 0.559412 
time: 1403636719.213556, t: 7.069397 -4.183746 -1.353180 q: -0.152638 0.782165 0.214594 0.564684 
time: 1403636719.313555, t: 7.023058 -4.152571 -1.358426 q: -0.155888 0.779438 0.211334 0.568783 
time: 1403636719.413555, t: 6.971775 -4.121854 -1.368008 q: -0.157385 0.777633 0.208799 0.571769 
time: 1403636719.513556, t: 6.916229 -4.094230 -1.387260 q: -0.158639 0.777802 0.205876 0.572253 
time: 1403636719.613555, t: 6.862211 -4.070257 -1.406328 q: -0.158442 0.781706 0.203709 0.567745 
time: 1403636719.713556, t: 6.803330 -4.048539 -1.420869 q: -0.155497 0.786432 0.202390 0.562479 
time: 1403636719.813555, t: 6.744509 -4.029430 -1.425243 q: -0.153477 0.789807 0.199827 0.559213 
time: 1403636719.913555, t: 6.685428 -4.012648 -1.422372 q: -0.152414 0.791227 0.196883 0.558540 
time: 1403636720.013556, t: 6.628774 -3.996215 -1.419375 q: -0.150373 0.792912 0.195241 0.557278 
time: 1403636720.113555, t: 6.573627 -3.981690 -1.422726 q: -0.149561 0.793688 0.194464 0.556664 
time: 1403636720.213556, t: 6.523329 -3.968092 -1.431552 q: -0.149718 0.794591 0.193921 0.555521 
time: 1403636720.313555, t: 6.474149 -3.955372 -1.444489 q: -0.150683 0.794520 0.193408 0.555541 
time: 1403636720.413555, t: 6.427854 -3.943474 -1.460410 q: -0.151393 0.794347 0.194143 0.555338 
time: 1403636720.513556, t: 6.380590 -3.934690 -1.476947 q: -0.153094 0.794818 0.194498 0.554073 
time: 1403636720.613555, t: 6.336886 -3.926662 -1.487145 q: -0.153473 0.794900 0.195963 0.553335 
time: 1403636720.713556, t: 6.295410 -3.923080 -1.490550 q: -0.154832 0.793991 0.196115 0.554206 
time: 1403636720.813555, t: 6.257116 -3.918968 -1.486053 q: -0.152340 0.795385 0.192264 0.554247 
time: 1403636720.913555, t: 6.227897 -3.919207 -1.481360 q: -0.144928 0.797529 0.184611 0.555754 
time: 1403636721.013556, t: 6.194364 -3.919501 -1.483190 q: -0.139217 0.798702 0.172993 0.559255 
time: 1403636721.113555, t: 6.164509 -3.922609 -1.491169 q: -0.132984 0.799809 0.159927 0.563067 
optimize pose graph 
time: 1403636721.213556, t: 6.134142 -3.927075 -1.501728 q: -0.123521 0.800690 0.145454 0.567874 
time: 1403636721.313555, t: 6.103955 -3.932511 -1.506053 q: -0.116011 0.801278 0.133031 0.571663 
time: 1403636721.413555, t: 6.075450 -3.943234 -1.505519 q: -0.108214 0.802098 0.124472 0.573964 
time: 1403636721.513556, t: 6.044330 -3.953821 -1.498147 q: -0.101068 0.803910 0.117628 0.574175 
time: 1403636721.613555, t: 6.011444 -3.965661 -1.495149 q: -0.092230 0.806217 0.109836 0.573972 
time: 1403636721.713556, t: 5.978946 -3.977464 -1.497581 q: -0.085143 0.807335 0.104387 0.574513 
time: 1403636721.813555, t: 5.943691 -3.989991 -1.505184 q: -0.080187 0.807899 0.101677 0.574918 
time: 1403636721.913555, t: 5.909230 -4.002564 -1.517529 q: -0.079239 0.807710 0.099888 0.575628 
time: 1403636722.013556, t: 5.874150 -4.014564 -1.529523 q: -0.073945 0.807126 0.103775 0.576463 
time: 1403636722.113555, t: 5.839318 -4.024850 -1.535010 q: -0.071669 0.806910 0.107126 0.576441 
time: 1403636722.213556, t: 5.802610 -4.033998 -1.533313 q: -0.074946 0.807413 0.106903 0.575360 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636722.313555, t: 5.765623 -4.041044 -1.526827 q: -0.079036 0.807656 0.106478 0.574550 
time: 1403636722.413555, t: 5.730339 -4.047222 -1.523788 q: -0.078779 0.808301 0.105324 0.573891 
time: 1403636722.513556, t: 5.692367 -4.054242 -1.526898 q: -0.076293 0.808427 0.101095 0.574809 
time: 1403636722.613555, t: 5.654321 -4.060299 -1.533478 q: -0.072470 0.808946 0.098729 0.574984 
time: 1403636722.713556, t: 5.614501 -4.065412 -1.542667 q: -0.069371 0.809144 0.097063 0.575372 
time: 1403636722.813555, t: 5.577441 -4.068845 -1.551566 q: -0.066153 0.809916 0.096854 0.574699 
time: 1403636722.913555, t: 5.536551 -4.071015 -1.554100 q: -0.065411 0.810135 0.095997 0.574619 
time: 1403636723.013556, t: 5.495678 -4.071706 -1.549501 q: -0.068119 0.810408 0.094153 0.574225 
time: 1403636723.113555, t: 5.456863 -4.071181 -1.537963 q: -0.071111 0.810027 0.092232 0.574711 
time: 1403636723.213556, t: 5.420833 -4.069772 -1.527797 q: -0.071463 0.810147 0.091535 0.574609 
optimize pose graph 
time: 1403636723.313555, t: 5.384847 -4.068001 -1.521880 q: -0.067976 0.810310 0.093253 0.574526 
time: 1403636723.413555, t: 5.351111 -4.067039 -1.520177 q: -0.062140 0.810208 0.090834 0.575718 
time: 1403636723.513556, t: 5.311180 -4.065822 -1.521964 q: -0.054080 0.807452 0.083503 0.581485 
time: 1403636723.613555, t: 5.271893 -4.062642 -1.518931 q: -0.052575 0.801039 0.071287 0.592022 
time: 1403636723.713556, t: 5.234565 -4.056760 -1.507011 q: -0.048424 0.803258 0.063212 0.590285 
time: 1403636723.813555, t: 5.193643 -4.050915 -1.496120 q: -0.045208 0.809317 0.056215 0.582925 
time: 1403636723.913555, t: 5.147545 -4.045482 -1.489571 q: -0.043287 0.813876 0.050886 0.577185 
time: 1403636724.013556, t: 5.102060 -4.039969 -1.487865 q: -0.040325 0.819122 0.045977 0.570350 
time: 1403636724.113555, t: 5.056508 -4.036239 -1.492586 q: -0.033640 0.823689 0.037687 0.564788 
time: 1403636724.213556, t: 5.012651 -4.033787 -1.499713 q: -0.024730 0.824948 0.025553 0.564088 
time: 1403636724.313555, t: 4.972802 -4.031848 -1.511012 q: -0.012883 0.824478 0.011081 0.565639 
time: 1403636724.413555, t: 4.933705 -4.029814 -1.521247 q: -0.000809 0.821550 -0.004370 0.570118 
time: 1403636724.513556, t: 4.903055 -4.026633 -1.524628 q: 0.009011 0.818553 -0.016337 0.574129 
time: 1403636724.613555, t: 4.866550 -4.021746 -1.522107 q: 0.015861 0.816646 -0.024961 0.576381 
time: 1403636724.713556, t: 4.834069 -4.015141 -1.510657 q: 0.019805 0.816052 -0.030463 0.576835 
wait for imu ... 
time: 1403636724.813555, t: 4.808902 -4.006349 -1.490692 q: 0.021549 0.816813 -0.033649 0.575517 
time: 1403636724.913555, t: 4.781598 -3.995849 -1.464748 q: 0.019490 0.817878 -0.035690 0.573953 
time: 1403636725.013556, t: 4.756735 -3.985058 -1.431599 q: 0.014051 0.818525 -0.037795 0.573054 
time: 1403636725.113555, t: 4.731683 -3.975171 -1.391249 q: 0.009467 0.818560 -0.038901 0.573024 
time: 1403636725.213556, t: 4.709792 -3.967495 -1.348985 q: 0.007718 0.819125 -0.038503 0.572270 
time: 1403636725.313555, t: 4.684207 -3.961574 -1.310501 q: 0.008706 0.819755 -0.036550 0.571481 
time: 1403636725.413555, t: 4.661336 -3.957172 -1.277987 q: 0.011018 0.819676 -0.034345 0.571691 
optimize pose graph 
time: 1403636725.513556, t: 4.640220 -3.953322 -1.251693 q: 0.013039 0.819739 -0.032830 0.571646 
time: 1403636725.613555, t: 4.620741 -3.950785 -1.232574 q: 0.015344 0.820078 -0.031845 0.571159 
time: 1403636725.713556, t: 4.603709 -3.947185 -1.217924 q: 0.015270 0.818969 -0.032366 0.572721 
time: 1403636725.813555, t: 4.585469 -3.943590 -1.208476 q: 0.015377 0.819032 -0.031964 0.572651 
time: 1403636725.913555, t: 4.566814 -3.939769 -1.204011 q: 0.012693 0.819845 -0.033032 0.571491 
time: 1403636726.013556, t: 4.548675 -3.935693 -1.203599 q: 0.010965 0.819657 -0.033127 0.571791 
time: 1403636726.113555, t: 4.531527 -3.931989 -1.207461 q: 0.012045 0.819216 -0.031105 0.572514 
time: 1403636726.213556, t: 4.514555 -3.928304 -1.215192 q: 0.012314 0.817656 -0.029503 0.574818 
time: 1403636726.313555, t: 4.497708 -3.924339 -1.223410 q: 0.012308 0.817288 -0.027738 0.575429 
time: 1403636726.413555, t: 4.478008 -3.918654 -1.221388 q: 0.012231 0.816236 -0.026147 0.576997 
time: 1403636726.513556, t: 4.466818 -3.914494 -1.218211 q: 0.008617 0.815432 -0.026706 0.578173 
time: 1403636726.613555, t: 4.453582 -3.910853 -1.208135 q: -0.005477 0.813871 -0.034744 0.579980 
wait for imu ... 
time: 1403636726.713556, t: 4.437451 -3.911124 -1.191794 q: -0.013183 0.812116 -0.039005 0.582042 
time: 1403636726.813555, t: 4.415875 -3.914859 -1.166482 q: -0.005729 0.811488 -0.032991 0.583409 
time: 1403636726.913555, t: 4.397191 -3.922021 -1.135792 q: 0.000643 0.811398 -0.023450 0.584023 
time: 1403636727.013556, t: 4.376694 -3.930816 -1.100073 q: 0.002182 0.811353 -0.017777 0.584282 
time: 1403636727.113555, t: 4.345393 -3.938131 -1.060476 q: 0.004507 0.811369 -0.013236 0.584367 
time: 1403636727.213556, t: 4.329928 -3.947126 -1.031213 q: 0.008416 0.812255 -0.008435 0.583180 
time: 1403636727.313555, t: 4.310450 -3.953457 -1.007387 q: 0.012711 0.812917 -0.004357 0.582224 
time: 1403636727.413555, t: 4.288497 -3.957756 -0.988008 q: 0.014152 0.814004 -0.002766 0.580681 
time: 1403636727.513556, t: 4.252835 -3.957236 -0.965340 q: 0.013400 0.812924 -0.003344 0.582206 
optimize pose graph 
time: 1403636727.613555, t: 4.229843 -3.954106 -0.943876 q: 0.009213 0.811248 -0.006259 0.584596 
time: 1403636727.713556, t: 4.203588 -3.948943 -0.916613 q: 0.007735 0.811998 -0.007392 0.583562 
time: 1403636727.813555, t: 4.176872 -3.942138 -0.881799 q: 0.009821 0.812660 -0.005663 0.582629 
time: 1403636727.913555, t: 4.148938 -3.932999 -0.842184 q: 0.018544 0.813010 -0.000214 0.581954 
time: 1403636728.013556, t: 4.119971 -3.920293 -0.806856 q: 0.018588 0.813218 -0.000475 0.581662 
time: 1403636728.113555, t: 4.075216 -3.903394 -0.771989 q: 0.014098 0.812430 -0.003977 0.582875 
time: 1403636728.213556, t: 4.043404 -3.884099 -0.748954 q: 0.011273 0.811167 -0.006497 0.584670 
time: 1403636728.313555, t: 4.010176 -3.863243 -0.732839 q: 0.009145 0.810918 -0.008333 0.585030 
wait for imu ... 
time: 1403636728.413555, t: 3.964902 -3.838674 -0.716688 q: 0.006117 0.811423 -0.010756 0.584328 
time: 1403636728.513556, t: 3.929473 -3.815768 -0.712991 q: -0.005364 0.811355 -0.019157 0.584215 
time: 1403636728.613555, t: 3.891714 -3.794771 -0.712016 q: -0.011781 0.811345 -0.020699 0.584083 
time: 1403636728.713556, t: 3.847339 -3.774015 -0.706574 q: -0.008858 0.811725 -0.008961 0.583904 
time: 1403636728.813555, t: 3.808595 -3.756395 -0.698330 q: -0.009466 0.811951 0.008143 0.583592 
time: 1403636728.913555, t: 3.768043 -3.734795 -0.679856 q: -0.013304 0.810842 0.023151 0.584656 
time: 1403636729.013556, t: 3.723147 -3.713366 -0.665192 q: -0.018772 0.809129 0.033435 0.586379 
time: 1403636729.113555, t: 3.677041 -3.691644 -0.655557 q: -0.023098 0.807185 0.041293 0.588399 
time: 1403636729.213556, t: 3.632507 -3.670588 -0.651710 q: -0.026187 0.808342 0.046012 0.586328 
time: 1403636729.313555, t: 3.586780 -3.647961 -0.653084 q: -0.030011 0.809053 0.047842 0.585016 
time: 1403636729.413555, t: 3.537072 -3.625909 -0.657028 q: -0.031736 0.808495 0.049090 0.585593 
time: 1403636729.513556, t: 3.486358 -3.602118 -0.657247 q: -0.032561 0.808354 0.049745 0.585687 
time: 1403636729.613555, t: 3.432766 -3.578131 -0.650554 q: -0.033338 0.809192 0.049851 0.584476 
optimize pose graph 
time: 1403636729.713556, t: 3.377774 -3.553823 -0.637197 q: -0.034765 0.809444 0.048923 0.584122 
time: 1403636729.813555, t: 3.323263 -3.528039 -0.623505 q: -0.033944 0.811882 0.048331 0.580826 
time: 1403636729.913555, t: 3.266506 -3.503704 -0.612793 q: -0.034501 0.814614 0.047078 0.577060 
time: 1403636730.013556, t: 3.210349 -3.478976 -0.607134 q: -0.034049 0.816577 0.047062 0.574307 
time: 1403636730.113555, t: 3.157397 -3.451647 -0.606345 q: -0.034514 0.817439 0.047488 0.573016 
time: 1403636730.213556, t: 3.102660 -3.425055 -0.609390 q: -0.034735 0.818014 0.047513 0.572179 
time: 1403636730.313555, t: 3.053392 -3.398403 -0.617074 q: -0.036618 0.817798 0.046829 0.572427 
time: 1403636730.413555, t: 3.001314 -3.372822 -0.627779 q: -0.036471 0.818752 0.047793 0.570992 
time: 1403636730.513556, t: 2.952729 -3.347417 -0.634737 q: -0.035780 0.822953 0.048948 0.564865 
time: 1403636730.613555, t: 2.912470 -3.321249 -0.634071 q: -0.036843 0.827005 0.048596 0.558878 
wait for imu ... 
time: 1403636730.713556, t: 2.879172 -3.294259 -0.625124 q: -0.037586 0.828433 0.048427 0.556723 
time: 1403636730.813555, t: 2.846110 -3.265040 -0.606013 q: -0.036806 0.829236 0.049171 0.555514 
time: 1403636730.913555, t: 2.811812 -3.235520 -0.583822 q: -0.041373 0.830203 0.045495 0.554059 
time: 1403636731.013556, t: 2.784294 -3.207438 -0.565073 q: -0.049951 0.828985 0.038708 0.555689 
time: 1403636731.113555, t: 2.761339 -3.181946 -0.550825 q: -0.059149 0.822356 0.031055 0.565038 
time: 1403636731.213556, t: 2.744184 -3.163213 -0.541275 q: -0.059365 0.817137 0.029970 0.572595 
time: 1403636731.313555, t: 2.729235 -3.150387 -0.537505 q: -0.051121 0.813932 0.034545 0.577674 
time: 1403636731.413555, t: 2.716696 -3.141299 -0.537668 q: -0.042831 0.813926 0.039686 0.578027 
time: 1403636731.513556, t: 2.705708 -3.135462 -0.542605 q: -0.042427 0.814101 0.039703 0.577809 
time: 1403636731.613555, t: 2.691676 -3.130136 -0.550598 q: -0.048763 0.814446 0.035601 0.577090 
wait for imu ... 
time: 1403636731.713556, t: 2.678316 -3.129143 -0.562922 q: -0.050507 0.814448 0.034412 0.577008 
time: 1403636731.813555, t: 2.664840 -3.131245 -0.579548 q: -0.046253 0.814458 0.037561 0.577155 
time: 1403636731.913555, t: 2.652133 -3.134983 -0.599041 q: -0.043187 0.814215 0.040697 0.577522 
time: 1403636732.013556, t: 2.639533 -3.140162 -0.621503 q: -0.042890 0.813549 0.041716 0.578410 
time: 1403636732.113555, t: 2.626212 -3.146207 -0.648783 q: -0.043072 0.812527 0.042279 0.579791 
time: 1403636732.213556, t: 2.611198 -3.152135 -0.678276 q: -0.042346 0.811477 0.043590 0.581215 
time: 1403636732.313555, t: 2.595688 -3.160824 -0.703047 q: -0.042340 0.810361 0.044725 0.582686 
time: 1403636732.413555, t: 2.577714 -3.168893 -0.719301 q: -0.036449 0.809467 0.049060 0.583975 
time: 1403636732.513556, t: 2.557046 -3.176177 -0.725052 q: -0.023476 0.805562 0.058587 0.589141 
time: 1403636732.613555, t: 2.531641 -3.179500 -0.724520 q: -0.014644 0.801301 0.065505 0.594484 
time: 1403636732.713556, t: 2.500756 -3.175617 -0.718807 q: -0.019176 0.798992 0.063307 0.597693 
time: 1403636732.813555, t: 2.463299 -3.168129 -0.707456 q: -0.028255 0.798857 0.058074 0.598044 
time: 1403636732.913555, t: 2.422201 -3.156790 -0.697420 q: -0.031217 0.799573 0.056448 0.597095 
time: 1403636733.013556, t: 2.373895 -3.144729 -0.694103 q: -0.032703 0.802615 0.056305 0.592933 
time: 1403636733.113555, t: 2.324513 -3.130241 -0.692741 q: -0.033059 0.806604 0.056640 0.587443 
time: 1403636733.213556, t: 2.270865 -3.114859 -0.682062 q: -0.030675 0.807319 0.058882 0.586369 
time: 1403636733.313555, t: 2.216981 -3.095529 -0.667144 q: -0.031919 0.808104 0.059133 0.585195 
time: 1403636733.413555, t: 2.159497 -3.075643 -0.645588 q: -0.035388 0.810989 0.058039 0.581100 
time: 1403636733.513556, t: 2.104052 -3.053912 -0.618033 q: -0.037834 0.813415 0.056544 0.577691 
time: 1403636733.613555, t: 2.052109 -3.030503 -0.593207 q: -0.037979 0.815085 0.056992 0.575279 
time: 1403636733.713556, t: 1.996071 -3.007810 -0.573376 q: -0.039261 0.816536 0.056353 0.573194 
time: 1403636733.813555, t: 1.943073 -2.983469 -0.559405 q: -0.039079 0.817863 0.056835 0.571265 
time: 1403636733.913555, t: 1.888495 -2.959367 -0.551395 q: -0.037904 0.817644 0.058006 0.571538 
time: 1403636734.013556, t: 1.835369 -2.933969 -0.546530 q: -0.034402 0.814315 0.060410 0.576244 
time: 1403636734.113555, t: 1.782658 -2.906230 -0.543758 q: -0.035067 0.811799 0.058520 0.579939 
time: 1403636734.213556, t: 1.728498 -2.878346 -0.539869 q: -0.036754 0.811339 0.057304 0.580598 
time: 1403636734.313555, t: 1.674760 -2.848210 -0.528510 q: -0.039905 0.811736 0.056161 0.579947 
time: 1403636734.413555, t: 1.619356 -2.818869 -0.510296 q: -0.042600 0.813554 0.055438 0.577270 
time: 1403636734.513556, t: 1.564844 -2.790604 -0.487978 q: -0.043796 0.815560 0.055988 0.574290 
time: 1403636734.713556, t: 1.465167 -2.732903 -0.457931 q: -0.043918 0.819408 0.058411 0.568533 
time: 1403636734.813555, t: 1.414211 -2.705457 -0.452161 q: -0.043920 0.819665 0.059955 0.568001 
time: 1403636734.913555, t: 1.365106 -2.678467 -0.452586 q: -0.045401 0.819786 0.060736 0.567627 
time: 1403636735.013556, t: 1.319915 -2.651573 -0.457229 q: -0.045452 0.819733 0.061378 0.567631 
time: 1403636735.113555, t: 1.280454 -2.625175 -0.466247 q: -0.046812 0.819430 0.060365 0.568066 
wait for imu ... 
time: 1403636735.213556, t: 1.237996 -2.599003 -0.469214 q: -0.048352 0.820166 0.058846 0.567034 
time: 1403636735.313555, t: 1.201187 -2.572790 -0.464983 q: -0.049840 0.821856 0.056304 0.564711 
time: 1403636735.413555, t: 1.172575 -2.548371 -0.449850 q: -0.049242 0.821687 0.054059 0.565229 
time: 1403636735.513556, t: 1.139905 -2.522720 -0.424101 q: -0.047585 0.820623 0.051090 0.567190 
time: 1403636735.613555, t: 1.108042 -2.498753 -0.392487 q: -0.044699 0.819156 0.049113 0.569713 
time: 1403636735.713556, t: 1.078553 -2.475688 -0.363386 q: -0.042762 0.819502 0.046713 0.569567 
time: 1403636735.813555, t: 1.049934 -2.452678 -0.342980 q: -0.041282 0.819688 0.044981 0.569548 
optimize pose graph 
time: 1403636735.913555, t: 1.024480 -2.431255 -0.324495 q: -0.040790 0.818995 0.044510 0.570616 
time: 1403636736.013556, t: 1.002427 -2.411144 -0.310447 q: -0.040359 0.818153 0.046628 0.571685 
time: 1403636736.113555, t: 0.982437 -2.390343 -0.292843 q: -0.045150 0.816035 0.053037 0.573790 
time: 1403636736.213556, t: 0.962143 -2.369767 -0.267726 q: -0.053014 0.812981 0.063123 0.576425 
time: 1403636736.313555, t: 0.942622 -2.349039 -0.244236 q: -0.059222 0.811290 0.073362 0.576992 
time: 1403636736.413555, t: 0.925516 -2.328784 -0.223413 q: -0.063100 0.810374 0.081901 0.576719 
time: 1403636736.513556, t: 0.907993 -2.308191 -0.206829 q: -0.060074 0.808631 0.091958 0.577971 
time: 1403636736.613555, t: 0.889019 -2.286499 -0.197169 q: -0.056595 0.807125 0.099864 0.579115 
time: 1403636736.713556, t: 0.866921 -2.264514 -0.190700 q: -0.056499 0.805847 0.103385 0.580284 
time: 1403636736.813555, t: 0.843531 -2.237670 -0.189121 q: -0.056350 0.805472 0.105899 0.580366 
time: 1403636736.913555, t: 0.816368 -2.208577 -0.189698 q: -0.058121 0.805776 0.107064 0.579555 
time: 1403636737.013556, t: 0.788378 -2.176326 -0.192835 q: -0.064427 0.806288 0.105378 0.578485 
time: 1403636737.113555, t: 0.761115 -2.141027 -0.199655 q: -0.072470 0.805881 0.103102 0.578510 
time: 1403636737.213556, t: 0.729840 -2.107879 -0.210586 q: -0.076342 0.806036 0.103883 0.577656 
time: 1403636737.313555, t: 0.697857 -2.069623 -0.225887 q: -0.079194 0.807662 0.104880 0.574814 
time: 1403636737.413555, t: 0.663507 -2.036423 -0.235549 q: -0.081192 0.809860 0.106599 0.571114 
time: 1403636737.513556, t: 0.635570 -2.001122 -0.238645 q: -0.081112 0.812072 0.109034 0.567513 
time: 1403636737.613555, t: 0.603870 -1.968277 -0.232839 q: -0.084942 0.813430 0.107798 0.565240 
time: 1403636737.713556, t: 0.579476 -1.933554 -0.221883 q: -0.090642 0.815589 0.104308 0.561888 
time: 1403636737.813555, t: 0.552457 -1.905906 -0.202913 q: -0.094764 0.816656 0.101321 0.560203 
time: 1403636737.913555, t: 0.538149 -1.879874 -0.175385 q: -0.095944 0.817026 0.099650 0.559761 
optimize pose graph 
time: 1403636738.013556, t: 0.522747 -1.863579 -0.140591 q: -0.095635 0.816753 0.098549 0.560407 
time: 1403636738.113555, t: 0.512973 -1.851155 -0.100496 q: -0.091469 0.816114 0.099764 0.561817 
time: 1403636738.213556, t: 0.504239 -1.839467 -0.064762 q: -0.088296 0.814763 0.099995 0.564239 
time: 1403636738.313555, t: 0.508011 -1.827731 -0.036071 q: -0.086334 0.814916 0.099187 0.564464 
time: 1403636738.413555, t: 0.500727 -1.819510 -0.013168 q: -0.085322 0.815492 0.097644 0.564055 
time: 1403636738.513556, t: 0.497950 -1.811034 0.002475 q: -0.081882 0.816926 0.093277 0.563229 
time: 1403636738.613555, t: 0.508495 -1.805108 0.007548 q: -0.076128 0.820111 0.082956 0.561017 
time: 1403636738.713556, t: 0.508273 -1.803101 0.010339 q: -0.067779 0.821484 0.067360 0.562168 
time: 1403636738.913555, t: 0.529919 -1.807797 -0.010112 q: -0.048342 0.818336 0.023434 0.572224 
time: 1403636739.013556, t: 0.539425 -1.814778 -0.028226 q: -0.038492 0.817410 -0.003149 0.574760 
time: 1403636739.113555, t: 0.550851 -1.828051 -0.050755 q: -0.023256 0.816884 -0.028389 0.575634 
time: 1403636739.213556, t: 0.558946 -1.848391 -0.077634 q: -0.000318 0.816209 -0.048712 0.575700 
time: 1403636739.313555, t: 0.566383 -1.870979 -0.107277 q: 0.025490 0.814833 -0.067292 0.575212 
time: 1403636739.413555, t: 0.571239 -1.895701 -0.135108 q: 0.050431 0.813241 -0.084899 0.573487 
time: 1403636739.513556, t: 0.573621 -1.920595 -0.154892 q: 0.068694 0.811142 -0.104893 0.571251 
time: 1403636739.613555, t: 0.576798 -1.943909 -0.165167 q: 0.077675 0.807823 -0.124420 0.570884 
time: 1403636739.713556, t: 0.581029 -1.965811 -0.169928 q: 0.085484 0.806270 -0.136037 0.569312 
time: 1403636739.813555, t: 0.586699 -1.986564 -0.176583 q: 0.086261 0.804793 -0.145508 0.568942 
time: 1403636739.913555, t: 0.594284 -2.007742 -0.188406 q: 0.087879 0.804468 -0.149400 0.568145 
time: 1403636740.013556, t: 0.599714 -2.029696 -0.205086 q: 0.089804 0.804705 -0.149294 0.567535 
time: 1403636740.113555, t: 0.603678 -2.051220 -0.225659 q: 0.093191 0.805136 -0.145448 0.567376 
optimize pose graph 
time: 1403636740.213556, t: 0.607451 -2.072937 -0.250541 q: 0.098866 0.805546 -0.138748 0.567513 
time: 1403636740.313555, t: 0.610004 -2.091801 -0.278379 q: 0.099711 0.804951 -0.135225 0.569056 
wait for imu ... 
time: 1403636740.413555, t: 0.608083 -2.108305 -0.309322 q: 0.093348 0.803994 -0.136293 0.571230 
time: 1403636740.513556, t: 0.610493 -2.123565 -0.344274 q: 0.087768 0.803028 -0.137104 0.573275 
time: 1403636740.613555, t: 0.610278 -2.138738 -0.374898 q: 0.086057 0.802716 -0.135332 0.574393 
time: 1403636740.713556, t: 0.608671 -2.153732 -0.399508 q: 0.082166 0.804650 -0.135811 0.572138 
time: 1403636740.813555, t: 0.601317 -2.170388 -0.418850 q: 0.080928 0.806687 -0.134238 0.569813 
time: 1403636740.913555, t: 0.599122 -2.186867 -0.442888 q: 0.082701 0.805759 -0.131237 0.571568 
time: 1403636741.013556, t: 0.592391 -2.202966 -0.470952 q: 0.092635 0.804807 -0.123293 0.573152 
time: 1403636741.113555, t: 0.588350 -2.215979 -0.506971 q: 0.102456 0.802878 -0.120240 0.574832 
time: 1403636741.213556, t: 0.581838 -2.225417 -0.550296 q: 0.103966 0.799675 -0.129347 0.577044 
time: 1403636741.313555, t: 0.572544 -2.230395 -0.598817 q: 0.099254 0.798308 -0.141423 0.576934 
time: 1403636741.413555, t: 0.561364 -2.235354 -0.647958 q: 0.095662 0.801670 -0.151191 0.570364 
time: 1403636741.513556, t: 0.549910 -2.238802 -0.690977 q: 0.095314 0.807710 -0.156825 0.560290 
time: 1403636741.613555, t: 0.538419 -2.245496 -0.727600 q: 0.094589 0.811654 -0.160495 0.553635 
time: 1403636741.713556, t: 0.529857 -2.254295 -0.755906 q: 0.095930 0.812425 -0.160483 0.552275 
time: 1403636741.813555, t: 0.526524 -2.265933 -0.776780 q: 0.099030 0.810095 -0.157230 0.556074 
time: 1403636741.913555, t: 0.524336 -2.277574 -0.799254 q: 0.103782 0.808325 -0.151300 0.559418 
time: 1403636742.013556, t: 0.524226 -2.288832 -0.829194 q: 0.109933 0.809214 -0.143303 0.559064 
time: 1403636742.113555, t: 0.524857 -2.298088 -0.861850 q: 0.107259 0.814081 -0.140854 0.553107 
time: 1403636742.213556, t: 0.531492 -2.307223 -0.892478 q: 0.100331 0.816878 -0.142056 0.549967 
optimize pose graph 
time: 1403636742.313555, t: 0.541424 -2.314888 -0.914003 q: 0.093433 0.816061 -0.142792 0.552200 
time: 1403636742.413555, t: 0.551330 -2.321928 -0.925860 q: 0.090787 0.811571 -0.141650 0.559505 
time: 1403636742.513556, t: 0.565111 -2.329942 -0.932385 q: 0.089530 0.809051 -0.140094 0.563733 
time: 1403636742.613555, t: 0.580448 -2.338241 -0.935437 q: 0.089044 0.807486 -0.138264 0.566498 
time: 1403636742.713556, t: 0.594549 -2.347649 -0.941547 q: 0.088455 0.804577 -0.136773 0.571074 
time: 1403636742.813555, t: 0.607766 -2.356100 -0.958140 q: 0.087993 0.802715 -0.135386 0.574088 
wait for imu ... 
time: 1403636742.913555, t: 0.618315 -2.363914 -0.980435 q: 0.085776 0.801753 -0.135082 0.575837 
time: 1403636743.013556, t: 0.625483 -2.371915 -1.009198 q: 0.086968 0.802573 -0.137945 0.573833 
time: 1403636743.113555, t: 0.633252 -2.381199 -1.049137 q: 0.087417 0.809745 -0.146131 0.561532 
time: 1403636743.213556, t: 0.641302 -2.391748 -1.085865 q: 0.087483 0.819748 -0.153419 0.544814 
time: 1403636743.313555, t: 0.652322 -2.404003 -1.112175 q: 0.088811 0.825735 -0.158199 0.534086 
time: 1403636743.413555, t: 0.671424 -2.419997 -1.129108 q: 0.087931 0.826146 -0.162261 0.532375 
time: 1403636743.513556, t: 0.698229 -2.440133 -1.141255 q: 0.090065 0.821905 -0.162817 0.538379 
time: 1403636743.613555, t: 0.730817 -2.462632 -1.159089 q: 0.094481 0.816359 -0.160452 0.546705 
time: 1403636743.713556, t: 0.767475 -2.486909 -1.182964 q: 0.099536 0.811787 -0.157337 0.553479 
time: 1403636743.813555, t: 0.806574 -2.513212 -1.212660 q: 0.104924 0.806391 -0.159561 0.559700 
time: 1403636743.913555, t: 0.845722 -2.536827 -1.247396 q: 0.108499 0.801450 -0.165041 0.564506 
time: 1403636744.013556, t: 0.887066 -2.561859 -1.288584 q: 0.112213 0.798258 -0.168109 0.567390 
time: 1403636744.113555, t: 0.928838 -2.586537 -1.335618 q: 0.118997 0.795901 -0.172782 0.567915 
time: 1403636744.213556, t: 0.967558 -2.607946 -1.388349 q: 0.122445 0.792799 -0.180228 0.569206 
time: 1403636744.313555, t: 1.002506 -2.628517 -1.446821 q: 0.122570 0.789949 -0.187146 0.570906 
time: 1403636744.513556, t: 1.072952 -2.667701 -1.582037 q: 0.111465 0.786520 -0.199998 0.573552 
time: 1403636744.613555, t: 1.103312 -2.689651 -1.657267 q: 0.107542 0.784133 -0.201821 0.576921 
time: 1403636744.713556, t: 1.128403 -2.712524 -1.732996 q: 0.109281 0.782283 -0.199767 0.579814 
time: 1403636744.813555, t: 1.147778 -2.736590 -1.808518 q: 0.117354 0.783274 -0.194143 0.578808 
time: 1403636744.913555, t: 1.162481 -2.763009 -1.877979 q: 0.122340 0.787626 -0.190105 0.573183 
time: 1403636745.013556, t: 1.173192 -2.784765 -1.937876 q: 0.121419 0.792396 -0.188522 0.567297 
time: 1403636745.113555, t: 1.183848 -2.808886 -1.989697 q: 0.118604 0.797956 -0.186366 0.560774 
time: 1403636745.213556, t: 1.195575 -2.832711 -2.034004 q: 0.114877 0.800131 -0.183813 0.559292 
time: 1403636745.313555, t: 1.209626 -2.857444 -2.074065 q: 0.113256 0.801346 -0.178804 0.559505 
time: 1403636745.413555, t: 1.224078 -2.881103 -2.102131 q: 0.114081 0.796977 -0.172870 0.567389 
time: 1403636745.513556, t: 1.237901 -2.904896 -2.120244 q: 0.115442 0.793178 -0.170482 0.573130 
time: 1403636745.613555, t: 1.250630 -2.925728 -2.133993 q: 0.116998 0.791152 -0.172385 0.575041 
time: 1403636745.713556, t: 1.263823 -2.945125 -2.138080 q: 0.121030 0.789719 -0.175572 0.575213 
time: 1403636745.813555, t: 1.274971 -2.961024 -2.136598 q: 0.127256 0.789778 -0.178898 0.572758 
time: 1403636745.913555, t: 1.287035 -2.974726 -2.127541 q: 0.134822 0.789183 -0.182263 0.570783 
time: 1403636746.013556, t: 1.294969 -2.983596 -2.113102 q: 0.143957 0.789090 -0.184175 0.568060 
time: 1403636746.113555, t: 1.304713 -2.989097 -2.094235 q: 0.151536 0.789723 -0.185763 0.564684 
time: 1403636746.213556, t: 1.314435 -2.989504 -2.069006 q: 0.155648 0.787683 -0.187366 0.565883 
time: 1403636746.313555, t: 1.323564 -2.982976 -2.039752 q: 0.159060 0.779565 -0.187859 0.575923 
time: 1403636746.413555, t: 1.332268 -2.971416 -2.016310 q: 0.159295 0.773961 -0.188592 0.583132 
time: 1403636746.513556, t: 1.337846 -2.952033 -2.003493 q: 0.152898 0.778237 -0.192242 0.577938 
time: 1403636746.613555, t: 1.341014 -2.927434 -1.999862 q: 0.142119 0.790004 -0.196880 0.562969 
time: 1403636746.713556, t: 1.344433 -2.899502 -2.001736 q: 0.127154 0.802133 -0.203079 0.546968 
time: 1403636746.813555, t: 1.351910 -2.874585 -2.006815 q: 0.114198 0.806471 -0.207909 0.541606 
time: 1403636746.913555, t: 1.362272 -2.855298 -2.011551 q: 0.107154 0.805721 -0.209253 0.543641 
time: 1403636747.013556, t: 1.374372 -2.841356 -2.010937 q: 0.106874 0.804082 -0.206580 0.547134 
time: 1403636747.113555, t: 1.391643 -2.832946 -1.998776 q: 0.117363 0.801102 -0.197951 0.552518 
time: 1403636747.213556, t: 1.411532 -2.826181 -1.977674 q: 0.126718 0.797492 -0.191711 0.557850 
time: 1403636747.313555, t: 1.436167 -2.818819 -1.948742 q: 0.133470 0.795708 -0.188263 0.559992 
time: 1403636747.413555, t: 1.458053 -2.807334 -1.914770 q: 0.136405 0.794381 -0.188397 0.561123 
time: 1403636747.513556, t: 1.484653 -2.795053 -1.888049 q: 0.137737 0.794360 -0.190822 0.560007 
time: 1403636747.613555, t: 1.506722 -2.778903 -1.866465 q: 0.137364 0.794931 -0.193951 0.558210 
time: 1403636747.713556, t: 1.535214 -2.762691 -1.840905 q: 0.138385 0.794912 -0.196438 0.557115 
time: 1403636747.813555, t: 1.563167 -2.745161 -1.808205 q: 0.139522 0.794927 -0.198853 0.555952 
time: 1403636747.913555, t: 1.594361 -2.726728 -1.766493 q: 0.134121 0.792492 -0.205792 0.558228 
time: 1403636748.013556, t: 1.626875 -2.708797 -1.722159 q: 0.122562 0.787562 -0.216881 0.563638 
time: 1403636748.113555, t: 1.650926 -2.692661 -1.685117 q: 0.117223 0.785804 -0.223306 0.564718 
wait for imu ... 
time: 1403636748.213556, t: 1.675489 -2.681456 -1.653951 q: 0.116620 0.786103 -0.225940 0.563376 
time: 1403636748.313555, t: 1.700877 -2.675736 -1.629304 q: 0.127973 0.788958 -0.218599 0.559805 
time: 1403636748.413555, t: 1.724782 -2.673080 -1.609966 q: 0.140519 0.791274 -0.209175 0.557122 
time: 1403636748.513556, t: 1.748693 -2.670466 -1.588502 q: 0.145465 0.791014 -0.204983 0.557780 
time: 1403636748.613555, t: 1.771153 -2.665939 -1.563113 q: 0.142534 0.789668 -0.207378 0.559556 
time: 1403636748.713556, t: 1.797093 -2.660529 -1.529242 q: 0.135507 0.787254 -0.213106 0.562543 
time: 1403636748.813555, t: 1.820921 -2.657083 -1.499403 q: 0.129118 0.785543 -0.219014 0.564166 
time: 1403636748.913555, t: 1.841687 -2.656386 -1.477351 q: 0.126723 0.783599 -0.223751 0.565552 
time: 1403636749.013556, t: 1.862917 -2.657758 -1.456833 q: 0.127232 0.782150 -0.227508 0.565944 
time: 1403636749.113555, t: 1.880983 -2.661973 -1.441912 q: 0.122833 0.779651 -0.233942 0.567739 
time: 1403636749.213556, t: 1.894370 -2.670566 -1.426414 q: 0.124335 0.778722 -0.235615 0.567995 
time: 1403636749.313555, t: 1.903243 -2.683759 -1.405491 q: 0.136089 0.779462 -0.230060 0.566561 
time: 1403636749.413555, t: 1.913007 -2.696225 -1.375843 q: 0.145014 0.780890 -0.225272 0.564300 
time: 1403636749.513556, t: 1.914890 -2.710978 -1.342203 q: 0.152783 0.782245 -0.220041 0.562434 
time: 1403636749.613555, t: 1.918304 -2.724605 -1.307789 q: 0.160191 0.783632 -0.213945 0.560792 
time: 1403636749.713556, t: 1.921149 -2.735745 -1.278980 q: 0.160074 0.783454 -0.212332 0.561686 
time: 1403636749.813555, t: 1.926167 -2.745996 -1.258792 q: 0.158083 0.779515 -0.211232 0.568109 
time: 1403636749.913555, t: 1.930614 -2.750625 -1.242747 q: 0.155532 0.775171 -0.210003 0.575168 
time: 1403636750.013556, t: 1.933184 -2.754781 -1.232528 q: 0.153015 0.773153 -0.207469 0.579463 
time: 1403636750.113555, t: 1.931571 -2.753767 -1.225934 q: 0.149790 0.774396 -0.205834 0.579229 
time: 1403636750.213556, t: 1.924006 -2.747196 -1.217019 q: 0.146505 0.777199 -0.204763 0.576689 
time: 1403636750.313555, t: 1.913517 -2.737848 -1.201450 q: 0.143425 0.781179 -0.203377 0.572562 
time: 1403636750.413555, t: 1.901436 -2.727465 -1.176920 q: 0.140279 0.784386 -0.202047 0.569419 
optimize pose graph 
time: 1403636750.513556, t: 1.886705 -2.713946 -1.141699 q: 0.138511 0.785798 -0.198564 0.569130 
time: 1403636750.713556, t: 1.857015 -2.685956 -1.044889 q: 0.136224 0.788808 -0.192134 0.567723 
wait for imu ... 
time: 1403636750.813555, t: 1.838872 -2.668654 -0.989381 q: 0.135599 0.790428 -0.189976 0.566345 
time: 1403636750.913555, t: 1.821779 -2.650274 -0.924061 q: 0.136205 0.792388 -0.187977 0.564122 
time: 1403636751.013556, t: 1.803902 -2.629648 -0.858862 q: 0.138343 0.794118 -0.186203 0.561753 
time: 1403636751.113555, t: 1.784331 -2.603835 -0.800932 q: 0.138486 0.794265 -0.186744 0.561330 
time: 1403636751.213556, t: 1.770025 -2.580659 -0.747867 q: 0.137742 0.798068 -0.188758 0.555415 
time: 1403636751.313555, t: 1.756697 -2.555135 -0.698381 q: 0.134247 0.801499 -0.192768 0.549925 
time: 1403636751.413555, t: 1.746417 -2.529879 -0.648723 q: 0.128533 0.799139 -0.198649 0.552625 
time: 1403636751.513556, t: 1.737257 -2.504416 -0.600661 q: 0.121677 0.794281 -0.204051 0.559174 
time: 1403636751.613555, t: 1.730744 -2.484790 -0.553232 q: 0.114526 0.791538 -0.203500 0.564748 
time: 1403636751.713556, t: 1.721979 -2.466299 -0.510777 q: 0.107593 0.794064 -0.201505 0.563278 
time: 1403636751.813555, t: 1.712082 -2.453706 -0.472731 q: 0.101691 0.799935 -0.199649 0.556690 
time: 1403636751.913555, t: 1.703901 -2.448639 -0.434080 q: 0.104848 0.805958 -0.192887 0.549757 
time: 1403636752.013556, t: 1.700354 -2.450251 -0.400103 q: 0.110847 0.809240 -0.185478 0.546299 
time: 1403636752.113555, t: 1.699983 -2.454343 -0.365632 q: 0.113880 0.808325 -0.181541 0.548348 
time: 1403636752.213556, t: 1.706250 -2.462079 -0.339375 q: 0.114217 0.803817 -0.175714 0.556738 
time: 1403636752.313555, t: 1.712400 -2.469724 -0.306076 q: 0.109546 0.799698 -0.166604 0.566327 
time: 1403636752.413555, t: 1.721545 -2.476804 -0.272991 q: 0.101508 0.797943 -0.153878 0.573851 
time: 1403636752.513556, t: 1.729733 -2.481727 -0.233700 q: 0.090717 0.800583 -0.137747 0.576075 
optimize pose graph 
time: 1403636752.613555, t: 1.736140 -2.486211 -0.193884 q: 0.079081 0.805016 -0.119534 0.575679 
time: 1403636752.713556, t: 1.739990 -2.489221 -0.160058 q: 0.066219 0.809251 -0.101072 0.574902 
time: 1403636752.813555, t: 1.742914 -2.491816 -0.131918 q: 0.054339 0.812463 -0.080830 0.574819 
time: 1403636752.913555, t: 1.744095 -2.493610 -0.110319 q: 0.043914 0.814631 -0.058378 0.575361 
time: 1403636753.013556, t: 1.745471 -2.493538 -0.095582 q: 0.034610 0.816484 -0.034127 0.575319 
time: 1403636753.113555, t: 1.746515 -2.491712 -0.086964 q: 0.023143 0.817758 -0.010133 0.575007 
time: 1403636753.213556, t: 1.747548 -2.485608 -0.084754 q: 0.009909 0.818213 0.013466 0.574672 
time: 1403636753.313555, t: 1.747735 -2.476017 -0.088643 q: -0.000154 0.817438 0.039349 0.574671 
time: 1403636753.413555, t: 1.747205 -2.461764 -0.096108 q: -0.013855 0.815063 0.057076 0.576387 
time: 1403636753.513556, t: 1.746283 -2.443733 -0.099833 q: -0.028857 0.813876 0.064796 0.576693 
time: 1403636753.613555, t: 1.742397 -2.423498 -0.096808 q: -0.039503 0.812330 0.068382 0.577826 
time: 1403636753.713556, t: 1.736451 -2.402312 -0.089678 q: -0.044836 0.811933 0.069219 0.577896 
time: 1403636753.813555, t: 1.731764 -2.380133 -0.085057 q: -0.044467 0.810803 0.070357 0.579371 
time: 1403636753.913555, t: 1.725015 -2.358342 -0.085723 q: -0.044282 0.810796 0.068649 0.579601 
time: 1403636754.013556, t: 1.718033 -2.334667 -0.090569 q: -0.041821 0.810281 0.067243 0.580667 
time: 1403636754.113555, t: 1.709374 -2.310903 -0.088929 q: -0.041256 0.806564 0.064275 0.586193 
time: 1403636754.213556, t: 1.697590 -2.285621 -0.081783 q: -0.037808 0.803657 0.062916 0.590548 
time: 1403636754.313555, t: 1.681215 -2.258698 -0.069262 q: -0.034273 0.803019 0.061811 0.591747 
time: 1403636754.413555, t: 1.666805 -2.227676 -0.053138 q: -0.032920 0.803094 0.062536 0.591646 
time: 1403636754.513556, t: 1.641836 -2.196992 -0.033428 q: -0.035688 0.803533 0.066703 0.590434 
time: 1403636754.613555, t: 1.614010 -2.163471 -0.020558 q: -0.039333 0.804839 0.076477 0.587229 
time: 1403636754.713556, t: 1.584033 -2.126346 -0.014115 q: -0.048506 0.804596 0.088071 0.585249 
optimize pose graph 
time: 1403636754.813555, t: 1.551362 -2.087257 -0.011788 q: -0.058701 0.802966 0.101785 0.584328 
time: 1403636754.913555, t: 1.516465 -2.048178 -0.014115 q: -0.067399 0.801340 0.112640 0.583629 
time: 1403636755.013556, t: 1.477981 -2.008171 -0.019462 q: -0.073022 0.800549 0.121891 0.582179 
time: 1403636755.113555, t: 1.435854 -1.967628 -0.025348 q: -0.078083 0.799846 0.126926 0.581411 
time: 1403636755.213556, t: 1.388132 -1.926384 -0.025988 q: -0.082427 0.799966 0.129631 0.580048 
time: 1403636755.313555, t: 1.336916 -1.883018 -0.019194 q: -0.083511 0.804239 0.131649 0.573492 
time: 1403636755.413555, t: 1.287044 -1.842053 -0.004873 q: -0.082766 0.810727 0.133230 0.564022 
time: 1403636755.513556, t: 1.241108 -1.798961 0.013190 q: -0.081622 0.813307 0.133269 0.560454 
time: 1403636755.613555, t: 1.198255 -1.752617 0.027468 q: -0.078729 0.812360 0.133742 0.562126 
time: 1403636755.713556, t: 1.156600 -1.702677 0.033671 q: -0.079756 0.811432 0.131117 0.563938 
time: 1403636755.813555, t: 1.115317 -1.651231 0.035234 q: -0.081502 0.809172 0.128305 0.567570 
time: 1403636755.913555, t: 1.074019 -1.597869 0.034626 q: -0.082451 0.806752 0.126843 0.571196 
time: 1403636756.013556, t: 1.033425 -1.544083 0.033908 q: -0.084209 0.805673 0.125395 0.572780 
time: 1403636756.113555, t: 0.993365 -1.489257 0.040532 q: -0.083708 0.804569 0.125664 0.574343 
time: 1403636756.213556, t: 0.952072 -1.432993 0.052179 q: -0.084005 0.803083 0.125774 0.576352 
time: 1403636756.313555, t: 0.905173 -1.374275 0.065928 q: -0.084902 0.802778 0.125766 0.576648 
time: 1403636756.413555, t: 0.859129 -1.316484 0.074649 q: -0.084504 0.801795 0.127195 0.577759 
time: 1403636756.513556, t: 0.807114 -1.257924 0.078013 q: -0.085997 0.801407 0.127451 0.578020 
time: 1403636756.613555, t: 0.759325 -1.201530 0.074978 q: -0.086661 0.800772 0.128137 0.578649 
time: 1403636756.713556, t: 0.704126 -1.148092 0.072508 q: -0.088135 0.799718 0.128640 0.579771 
time: 1403636756.813555, t: 0.651831 -1.093646 0.075276 q: -0.089605 0.798859 0.129022 0.580645 
time: 1403636756.913555, t: 0.587416 -1.040748 0.084614 q: -0.090196 0.798959 0.129630 0.580281 
optimize pose graph 
time: 1403636757.013556, t: 0.530222 -0.987929 0.099809 q: -0.091089 0.798976 0.130202 0.579989 
time: 1403636757.113555, t: 0.464708 -0.937426 0.114194 q: -0.093191 0.799026 0.129498 0.579745 
time: 1403636757.213556, t: 0.402638 -0.887840 0.120727 q: -0.093741 0.799251 0.129410 0.579364 
time: 1403636757.313555, t: 0.333301 -0.838119 0.124377 q: -0.091062 0.799552 0.131810 0.578835 
time: 1403636757.413555, t: 0.265759 -0.788110 0.120025 q: -0.090004 0.801016 0.133301 0.576631 
time: 1403636757.513556, t: 0.195777 -0.739594 0.115632 q: -0.087534 0.803065 0.137549 0.573153 
time: 1403636757.613555, t: 0.127456 -0.686063 0.117016 q: -0.089276 0.807780 0.144580 0.564463 
time: 1403636757.713556, t: 0.055413 -0.630473 0.125000 q: -0.092241 0.813707 0.151621 0.553520 
time: 1403636757.813555, t: -0.008994 -0.570021 0.141137 q: -0.096247 0.817767 0.157211 0.545232 
time: 1403636757.913555, t: -0.066178 -0.507095 0.167662 q: -0.101391 0.818387 0.160259 0.542476 
time: 1403636758.013556, t: -0.121594 -0.438051 0.200943 q: -0.107166 0.811975 0.161118 0.550685 
time: 1403636758.113555, t: -0.171030 -0.368321 0.231043 q: -0.112833 0.804043 0.160659 0.561224 
time: 1403636758.213556, t: -0.215031 -0.301430 0.253406 q: -0.116333 0.798071 0.160314 0.569077 
time: 1403636758.313555, t: -0.267378 -0.233416 0.267597 q: -0.119651 0.795765 0.158764 0.572045 
time: 1403636758.413555, t: -0.316142 -0.170676 0.271566 q: -0.122042 0.800683 0.157394 0.565014 
time: 1403636758.513556, t: -0.359424 -0.108962 0.266169 q: -0.127354 0.812914 0.153436 0.547183 
time: 1403636758.613555, t: -0.402540 -0.048699 0.258937 q: -0.135252 0.824489 0.147436 0.529327 
time: 1403636758.713556, t: -0.434195 0.007992 0.253976 q: -0.135723 0.822228 0.145902 0.533134 
time: 1403636758.813555, t: -0.454364 0.058714 0.248402 q: -0.133378 0.812619 0.146387 0.548117 
time: 1403636758.913555, t: -0.468545 0.102142 0.238917 q: -0.127206 0.804005 0.150429 0.561040 
time: 1403636759.013556, t: -0.480435 0.143048 0.225860 q: -0.124069 0.799793 0.152476 0.567177 
time: 1403636759.113555, t: -0.491491 0.182229 0.209363 q: -0.132656 0.798376 0.146687 0.568754 
optimize pose graph 
time: 1403636759.213556, t: -0.503772 0.219108 0.190806 q: -0.151092 0.799365 0.134248 0.565831 
time: 1403636759.313555, t: -0.515745 0.247304 0.169382 q: -0.160672 0.799863 0.127998 0.563933 
time: 1403636759.413555, t: -0.524384 0.264275 0.143365 q: -0.148358 0.798475 0.137268 0.567084 
time: 1403636759.513556, t: -0.532839 0.273721 0.113775 q: -0.135205 0.796596 0.147025 0.570559 
time: 1403636759.613555, t: -0.541972 0.278471 0.083742 q: -0.126413 0.794900 0.154778 0.572886 
time: 1403636759.713556, t: -0.553066 0.279474 0.063371 q: -0.122020 0.794727 0.159072 0.572902 
time: 1403636759.813555, t: -0.564439 0.278969 0.055321 q: -0.121870 0.793565 0.160093 0.574258 
time: 1403636759.913555, t: -0.578458 0.279132 0.049862 q: -0.121518 0.797147 0.160414 0.569260 
time: 1403636760.013556, t: -0.595205 0.277697 0.041664 q: -0.120078 0.803074 0.161148 0.560967 
time: 1403636760.113555, t: -0.611627 0.276429 0.031353 q: -0.119524 0.808248 0.160928 0.553671 
time: 1403636760.213556, t: -0.624764 0.275804 0.020591 q: -0.120251 0.807993 0.160302 0.554068 
time: 1403636760.313555, t: -0.634099 0.275275 0.010179 q: -0.123777 0.799988 0.157616 0.565558 
time: 1403636760.413555, t: -0.643316 0.273691 -0.004266 q: -0.122339 0.795040 0.158796 0.572476 
wait for imu ... 
time: 1403636760.513556, t: -0.653793 0.271196 -0.020809 q: -0.119424 0.794991 0.160870 0.572580 
time: 1403636760.613555, t: -0.667268 0.268473 -0.039136 q: -0.116595 0.800874 0.163398 0.564187 
time: 1403636760.713556, t: -0.680452 0.266975 -0.055915 q: -0.112459 0.804662 0.166975 0.558562 
time: 1403636760.813555, t: -0.693482 0.267088 -0.069933 q: -0.110676 0.802717 0.168955 0.561115 
time: 1403636760.913555, t: -0.705962 0.269793 -0.082372 q: -0.109393 0.798365 0.170874 0.566964 
time: 1403636761.013556, t: -0.720209 0.275081 -0.096460 q: -0.110745 0.800710 0.170544 0.563483 
time: 1403636761.113555, t: -0.734597 0.282886 -0.110741 q: -0.113268 0.807502 0.169160 0.553620 
time: 1403636761.213556, t: -0.746956 0.293322 -0.126120 q: -0.111893 0.815488 0.170789 0.541562 
optimize pose graph 
time: 1403636761.313555, t: -0.755737 0.306335 -0.138083 q: -0.111768 0.818695 0.170979 0.536668 
time: 1403636761.413555, t: -0.758174 0.322595 -0.144142 q: -0.113751 0.813262 0.169902 0.544792 
time: 1403636761.513556, t: -0.755315 0.341449 -0.145028 q: -0.115564 0.804842 0.168070 0.557340 
time: 1403636761.613555, t: -0.752682 0.360752 -0.143783 q: -0.117572 0.798846 0.165616 0.566210 
time: 1403636761.713556, t: -0.750095 0.379810 -0.141258 q: -0.126689 0.797785 0.158183 0.567861 
time: 1403636761.813555, t: -0.747871 0.396724 -0.137044 q: -0.135710 0.798570 0.151134 0.566593 
time: 1403636761.913555, t: -0.745947 0.408722 -0.131206 q: -0.136923 0.799323 0.149885 0.565569 
time: 1403636762.013556, t: -0.744333 0.415815 -0.123513 q: -0.125787 0.798192 0.156984 0.567823 
time: 1403636762.113555, t: -0.743672 0.420699 -0.114101 q: -0.107181 0.795450 0.169046 0.572010 
time: 1403636762.213556, t: -0.745519 0.427563 -0.105142 q: -0.095858 0.797877 0.176028 0.568522 
time: 1403636762.313555, t: -0.749121 0.439411 -0.100432 q: -0.096663 0.807326 0.174740 0.555290 
time: 1403636762.413555, t: -0.751914 0.455768 -0.103993 q: -0.101568 0.814195 0.170743 0.545543 
time: 1403636762.513556, t: -0.751117 0.477064 -0.114874 q: -0.121048 0.814783 0.156966 0.544827 
time: 1403636762.613555, t: -0.746699 0.498428 -0.133513 q: -0.144958 0.810243 0.139929 0.550375 
time: 1403636762.713556, t: -0.738552 0.513629 -0.160324 q: -0.149729 0.804043 0.136973 0.558869 
time: 1403636762.813555, t: -0.727907 0.522571 -0.194283 q: -0.137010 0.800542 0.146676 0.564665 
time: 1403636762.913555, t: -0.731422 0.514407 -0.194554 q: -0.142957 0.775418 0.140782 0.598724 
time: 1403636763.013556, t: -0.743745 0.496152 -0.204134 q: -0.121054 0.800021 0.137252 0.571379 
time: 1403636763.113555, t: -0.753934 0.478308 -0.213489 q: -0.121878 0.797355 0.112240 0.580321 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636763.213556, t: -0.758645 0.472890 -0.216623 q: -0.120541 0.795676 0.100836 0.584980 
time: 1403636763.313555, t: -0.755985 0.470965 -0.221946 q: -0.121970 0.798901 0.099838 0.580442 
time: 1403636763.413555, t: -0.763363 0.471074 -0.227300 q: -0.122308 0.799808 0.099573 0.579165 
optimize pose graph 
time: 1403636763.513556, t: -0.768437 0.469611 -0.236315 q: -0.122245 0.799692 0.099589 0.579337 
wait for imu ... 
time: 1403636763.613555, t: -0.774383 0.469232 -0.229432 q: -0.122065 0.799683 0.099465 0.579408 
wait for imu ... 
time: 1403636763.713556, t: -0.778302 0.465182 -0.246087 q: -0.122434 0.799752 0.099473 0.579234 
time: 1403636763.813555, t: -0.784252 0.463535 -0.250794 q: -0.122563 0.799745 0.099335 0.579240 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720462113.927564877]: Shutdown request received.[0m
[33m[ WARN] [1720462113.927619744]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720462113.928453122]: Shutdown request received.[0m
[33m[ WARN] [1720462113.928491009]: Reason given for shutdown: [user request][0m
killed
