/SLAM-Hive/slam_hive_results/mapping_results/2808/2016_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-6.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720463345.225080577]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720463345.226431731]: init begins[0m
[31m[ERROR] [1720463345.227485819]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/f4f21870-3d57-11ef-afe0-0242ac110005/roslaunch-597363ceab1f-119.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://597363ceab1f:42563/[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 [156][0m
[0m[ INFO] [1720463346.483724111]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720463346.484673698]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720463346.491589750]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720463346.491794186]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720463346.491827427]: 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] [1720463346.492025257]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720463346.492310014]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://597363ceab1f:11311/[0m
]2;roscore http://597363ceab1f:11311/
[1msetting /run_id to f4f21870-3d57-11ef-afe0-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [243][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720463355.373611999]: 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: 316826776.66 
init first imu pose
averge acc 7.915898 -0.433127 -2.692743
init R0 
  0.325749   0.150146   0.933458
         0  -0.987309   0.158808
  0.945456 -0.0517317  -0.321615
[33m[ WARN] [1720463358.839217555]: gyroscope bias initial calibration -0.00500071   0.0189683   0.0776106[0m
[0m[ INFO] [1720463358.876583997]: Initialization finish![0m
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time: 1403636593.063555, t: 0.206061 -0.008912 -0.093794 q: -0.095036 0.891330 0.073408 0.437162 
wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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time: 1403636609.863555, t: 0.157850 -0.029246 -0.346766 q: -0.122715 0.791122 0.106619 0.589660 
time: 1403636610.063555, t: 0.157811 -0.029271 -0.346784 q: -0.122756 0.791149 0.106571 0.589625 
wait for imu ... 
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time: 1403636611.063555, t: 0.158893 -0.027412 -0.346666 q: -0.125683 0.789371 0.107533 0.591215 
time: 1403636611.263556, t: 0.158965 -0.027321 -0.346685 q: -0.125751 0.789318 0.107493 0.591278 
time: 1403636611.463556, t: 0.159008 -0.027563 -0.347002 q: -0.126642 0.789474 0.106877 0.590990 
time: 1403636611.663555, t: 0.159038 -0.027682 -0.346978 q: -0.126075 0.789328 0.107059 0.591274 
time: 1403636611.863555, t: 0.159126 -0.027918 -0.346933 q: -0.125481 0.789093 0.107209 0.591686 
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time: 1403636612.263556, t: 0.159287 -0.028189 -0.346911 q: -0.124254 0.788975 0.108479 0.591872 
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time: 1403636612.863555, t: 0.159142 -0.027898 -0.346888 q: -0.125740 0.789168 0.107449 0.591488 
time: 1403636613.063555, t: 0.159102 -0.027849 -0.346947 q: -0.126136 0.789116 0.107116 0.591533 
time: 1403636613.263556, t: 0.159087 -0.027860 -0.346975 q: -0.126088 0.789110 0.107165 0.591543 
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time: 1403636613.663555, t: 0.159125 -0.027889 -0.346952 q: -0.126005 0.789086 0.107250 0.591577 
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time: 1403636614.063555, t: 0.159118 -0.027922 -0.346959 q: -0.125822 0.789034 0.107318 0.591673 
time: 1403636614.263556, t: 0.159138 -0.027929 -0.346953 q: -0.125723 0.789067 0.107375 0.591640 
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time: 1403636614.863555, t: 0.159124 -0.027910 -0.346940 q: -0.125768 0.789094 0.107373 0.591594 
wait for imu ... 
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time: 1403636615.263556, t: 0.159136 -0.027894 -0.346925 q: -0.125798 0.789054 0.107362 0.591644 
time: 1403636615.463556, t: 0.159126 -0.027892 -0.346934 q: -0.125782 0.789074 0.107319 0.591628 
time: 1403636615.663555, t: 0.159107 -0.027883 -0.346921 q: -0.125795 0.789088 0.107304 0.591609 
time: 1403636615.863555, t: 0.159119 -0.027886 -0.346934 q: -0.125832 0.789088 0.107290 0.591604 
time: 1403636616.063555, t: 0.159126 -0.027901 -0.346939 q: -0.125790 0.789098 0.107333 0.591592 
time: 1403636616.263556, t: 0.159106 -0.027886 -0.346936 q: -0.125759 0.789079 0.107320 0.591626 
time: 1403636616.463556, t: 0.159133 -0.027904 -0.346943 q: -0.125814 0.789079 0.107325 0.591613 
time: 1403636616.663555, t: 0.159121 -0.027894 -0.346930 q: -0.125772 0.789085 0.107326 0.591614 
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time: 1403636617.063555, t: 0.159122 -0.027893 -0.346941 q: -0.125769 0.789058 0.107326 0.591651 
time: 1403636617.263556, t: 0.159126 -0.027897 -0.346937 q: -0.125764 0.789078 0.107361 0.591619 
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time: 1403636617.863555, t: 0.159119 -0.027885 -0.346937 q: -0.125786 0.789068 0.107310 0.591636 
time: 1403636618.063555, t: 0.159117 -0.027880 -0.346925 q: -0.125785 0.789082 0.107302 0.591620 
time: 1403636618.263556, t: 0.159129 -0.027894 -0.346942 q: -0.125772 0.789067 0.107360 0.591632 
time: 1403636618.463556, t: 0.159122 -0.027897 -0.346940 q: -0.125788 0.789061 0.107327 0.591643 
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time: 1403636619.863555, t: 0.159075 -0.027877 -0.347028 q: -0.125857 0.789042 0.107202 0.591676 
time: 1403636620.063555, t: 0.159084 -0.027894 -0.347017 q: -0.125757 0.789052 0.107322 0.591662 
time: 1403636620.263556, t: 0.159089 -0.027888 -0.347013 q: -0.125748 0.789049 0.107408 0.591652 
wait for imu ... 
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time: 1403636620.663555, t: 0.159094 -0.027897 -0.347004 q: -0.125711 0.789069 0.107345 0.591645 
time: 1403636620.863555, t: 0.159089 -0.027892 -0.347004 q: -0.125785 0.789040 0.107341 0.591669 
time: 1403636621.063555, t: 0.159148 -0.027992 -0.346954 q: -0.125267 0.789000 0.107560 0.591793 
time: 1403636621.263556, t: 0.159155 -0.027966 -0.346994 q: -0.125446 0.788993 0.107565 0.591762 
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time: 1403636622.063555, t: 0.159119 -0.027894 -0.346970 q: -0.125640 0.789008 0.107382 0.591735 
time: 1403636622.263556, t: 0.159129 -0.027919 -0.346962 q: -0.125623 0.789033 0.107472 0.591688 
time: 1403636622.463556, t: 0.159112 -0.027918 -0.346970 q: -0.125583 0.789046 0.107421 0.591689 
time: 1403636622.663555, t: 0.159136 -0.027930 -0.346993 q: -0.125614 0.789006 0.107408 0.591739 
time: 1403636622.863555, t: 0.159145 -0.027975 -0.346956 q: -0.125554 0.788984 0.107227 0.591813 
time: 1403636623.063555, t: 0.159174 -0.028065 -0.346853 q: -0.125529 0.788877 0.107062 0.591991 
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time: 1403636624.063555, t: 0.159267 -0.028391 -0.346731 q: -0.124583 0.789349 0.105702 0.591806 
wait for imu ... 
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time: 1403636624.663555, t: 0.148058 -0.052395 -0.345767 q: -0.108990 0.804690 0.103787 0.574302 
time: 1403636624.863555, t: 0.135243 -0.081595 -0.344997 q: -0.091030 0.806096 0.117111 0.572895 
time: 1403636625.063555, t: 0.112469 -0.113179 -0.317518 q: -0.069068 0.818829 0.133981 0.553893 
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time: 1403636625.463556, t: 0.096168 -0.130000 -0.247669 q: -0.085098 0.819967 0.127391 0.551528 
time: 1403636625.663555, t: 0.105526 -0.125288 -0.255295 q: -0.084807 0.820205 0.129692 0.550682 
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time: 1403636626.263556, t: 0.175084 -0.073234 -0.025929 q: -0.113646 0.803142 0.114533 0.573524 
time: 1403636626.463556, t: 0.195733 -0.072867 0.007062 q: -0.111271 0.801735 0.117184 0.575419 
time: 1403636626.663555, t: 0.211889 -0.085298 0.010330 q: -0.102613 0.792863 0.126123 0.587309 
time: 1403636626.863555, t: 0.210755 -0.106322 -0.002154 q: -0.101982 0.797811 0.130738 0.579659 
time: 1403636627.063555, t: 0.199314 -0.128946 -0.026505 q: -0.098672 0.807569 0.133834 0.565848 
time: 1403636627.263556, t: 0.188969 -0.149463 -0.023820 q: -0.098983 0.805745 0.134161 0.568312 
time: 1403636627.463556, t: 0.179972 -0.169513 0.017863 q: -0.103435 0.802481 0.130996 0.572857 
time: 1403636627.663555, t: 0.168338 -0.193667 0.046400 q: -0.096493 0.808172 0.118826 0.568707 
time: 1403636627.863555, t: 0.158864 -0.222926 0.025507 q: -0.078445 0.823041 0.103072 0.553015 
optimize pose graph 
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time: 1403636628.263556, t: 0.196413 -0.264086 0.052584 q: -0.067839 0.812335 0.077873 0.573974 
time: 1403636628.463556, t: 0.224256 -0.284184 0.098590 q: -0.076287 0.809098 0.069752 0.578511 
time: 1403636628.663555, t: 0.247513 -0.316688 0.125118 q: -0.080752 0.810075 0.069407 0.576577 
time: 1403636628.863555, t: 0.269685 -0.364463 0.124966 q: -0.063923 0.816490 0.068534 0.569702 
time: 1403636629.063555, t: 0.288046 -0.418887 0.138934 q: -0.051882 0.824289 0.061382 0.560435 
time: 1403636629.263556, t: 0.307395 -0.475914 0.166859 q: -0.040998 0.824205 0.047150 0.562834 
time: 1403636629.463556, t: 0.344018 -0.531320 0.176693 q: -0.040714 0.818806 0.025990 0.572034 
time: 1403636629.663555, t: 0.384679 -0.594724 0.157954 q: -0.025999 0.823470 -0.001267 0.566762 
time: 1403636629.863555, t: 0.430991 -0.670169 0.115425 q: 0.003902 0.831838 -0.033121 0.554016 
optimize pose graph 
time: 1403636630.063555, t: 0.493578 -0.743439 0.075531 q: 0.024953 0.830972 -0.059333 0.552578 
time: 1403636630.263556, t: 0.568920 -0.818929 0.068642 q: 0.035403 0.816157 -0.071291 0.572322 
time: 1403636630.463556, t: 0.662941 -0.884733 0.085065 q: 0.038491 0.817174 -0.071465 0.570647 
time: 1403636630.663555, t: 0.757465 -0.950689 0.118152 q: 0.041683 0.820822 -0.061412 0.566341 
time: 1403636630.863555, t: 0.861576 -1.007855 0.137236 q: 0.034215 0.822276 -0.057948 0.565096 
time: 1403636631.063555, t: 0.951177 -1.072647 0.134894 q: 0.027363 0.821341 -0.057826 0.566839 
time: 1403636631.263556, t: 1.053791 -1.135511 0.122403 q: 0.025948 0.817459 -0.056151 0.572656 
time: 1403636631.463556, t: 1.146486 -1.198199 0.099143 q: 0.025483 0.817437 -0.054418 0.572875 
time: 1403636631.663555, t: 1.235179 -1.258429 0.064243 q: 0.028122 0.818102 -0.050112 0.572195 
time: 1403636631.863555, t: 1.320003 -1.314082 0.047780 q: 0.029722 0.818689 -0.047308 0.571513 
optimize pose graph 
time: 1403636632.063555, t: 1.406675 -1.363845 0.051873 q: 0.032509 0.818227 -0.047078 0.572042 
time: 1403636632.263556, t: 1.486130 -1.401069 0.053109 q: 0.038481 0.815932 -0.046121 0.575019 
wait for imu ... 
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time: 1403636632.663555, t: 1.637791 -1.439064 -0.000333 q: 0.013623 0.828048 -0.052217 0.558054 
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optimize pose graph 
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optimize pose graph 
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time: 1403636701.863555, t: 5.274303 -3.677946 -1.009274 q: 0.128680 0.794444 -0.196162 0.560196 
time: 1403636702.063555, t: 5.262394 -3.740900 -1.027671 q: 0.144333 0.787336 -0.226356 0.555007 
time: 1403636702.263556, t: 5.245870 -3.805824 -1.065323 q: 0.167343 0.776290 -0.261882 0.548442 
time: 1403636702.463556, t: 5.230394 -3.870708 -1.122104 q: 0.184844 0.775556 -0.279465 0.535019 
time: 1403636702.663555, t: 5.227085 -3.931370 -1.196446 q: 0.194422 0.777046 -0.285844 0.526016 
time: 1403636702.863555, t: 5.242730 -3.990199 -1.289125 q: 0.196713 0.779942 -0.286781 0.520337 
time: 1403636703.063555, t: 5.266703 -4.051877 -1.369963 q: 0.193395 0.777683 -0.287457 0.524573 
time: 1403636703.263556, t: 5.306964 -4.122191 -1.420476 q: 0.179573 0.764480 -0.294835 0.544423 
time: 1403636703.463556, t: 5.338776 -4.202359 -1.443566 q: 0.183360 0.762371 -0.290833 0.548257 
time: 1403636703.663555, t: 5.359293 -4.285500 -1.442677 q: 0.193106 0.770415 -0.282450 0.537952 
time: 1403636703.863555, t: 5.381543 -4.366365 -1.441899 q: 0.188835 0.768206 -0.282408 0.542629 
time: 1403636704.063555, t: 5.401638 -4.440299 -1.456804 q: 0.181776 0.765389 -0.283172 0.548590 
time: 1403636704.263556, t: 5.419406 -4.517840 -1.491245 q: 0.180544 0.773549 -0.280559 0.538807 
time: 1403636704.463556, t: 5.440819 -4.599249 -1.516342 q: 0.182871 0.779667 -0.276970 0.531004 
time: 1403636704.663555, t: 5.472274 -4.683106 -1.514053 q: 0.183387 0.785121 -0.275785 0.523352 
time: 1403636704.863555, t: 5.520699 -4.772464 -1.529579 q: 0.180504 0.793659 -0.275387 0.511552 
time: 1403636705.063555, t: 5.594811 -4.873079 -1.566271 q: 0.179338 0.799093 -0.272997 0.504738 
time: 1403636705.263556, t: 5.699883 -4.984733 -1.600945 q: 0.189013 0.784368 -0.264195 0.528433 
time: 1403636705.463556, t: 5.822396 -5.094833 -1.616792 q: 0.189016 0.782341 -0.263867 0.531592 
time: 1403636705.663555, t: 5.958422 -5.200191 -1.639680 q: 0.186585 0.787676 -0.266806 0.523036 
time: 1403636705.863555, t: 6.112624 -5.307867 -1.676494 q: 0.184851 0.779802 -0.268251 0.534584 
time: 1403636706.063555, t: 6.269592 -5.415239 -1.691263 q: 0.167703 0.768728 -0.277973 0.551057 
time: 1403636706.263556, t: 6.412501 -5.530657 -1.698180 q: 0.174612 0.768619 -0.270002 0.553023 
time: 1403636706.463556, t: 6.543140 -5.643646 -1.732759 q: 0.188194 0.777902 -0.257642 0.541362 
time: 1403636706.663555, t: 6.671671 -5.746622 -1.760480 q: 0.190708 0.781865 -0.255988 0.535525 
time: 1403636706.863555, t: 6.812199 -5.841941 -1.762309 q: 0.188930 0.786419 -0.260207 0.527393 
time: 1403636707.063555, t: 6.965319 -5.937270 -1.746660 q: 0.192417 0.782323 -0.263246 0.530705 
time: 1403636707.263556, t: 7.126492 -6.029712 -1.730268 q: 0.196841 0.779544 -0.267625 0.530981 
time: 1403636707.463556, t: 7.299598 -6.116070 -1.690164 q: 0.199917 0.780486 -0.270731 0.526858 
time: 1403636707.663555, t: 7.490964 -6.199773 -1.628524 q: 0.189974 0.779736 -0.279410 0.527116 
time: 1403636707.863555, t: 7.685082 -6.285230 -1.600747 q: 0.180673 0.777662 -0.284315 0.530815 
time: 1403636708.063555, t: 7.879821 -6.379234 -1.616863 q: 0.182968 0.775911 -0.277070 0.536394 
time: 1403636708.263556, t: 8.068830 -6.472499 -1.659178 q: 0.182181 0.773223 -0.271677 0.543256 
time: 1403636708.463556, t: 8.245564 -6.566576 -1.709734 q: 0.162250 0.764056 -0.282998 0.556601 
time: 1403636708.663555, t: 8.409351 -6.679089 -1.736269 q: 0.172774 0.763942 -0.276495 0.556859 
time: 1403636708.863555, t: 8.546421 -6.790196 -1.767656 q: 0.198365 0.765780 -0.262849 0.552397 
time: 1403636709.063555, t: 8.679398 -6.882209 -1.797514 q: 0.210781 0.760401 -0.262534 0.555371 
time: 1403636709.263556, t: 8.795079 -6.943748 -1.800979 q: 0.213442 0.762615 -0.267982 0.548678 
time: 1403636709.463556, t: 8.911793 -6.983196 -1.793691 q: 0.212202 0.767557 -0.270732 0.540862 
time: 1403636709.663555, t: 9.036241 -7.008441 -1.811144 q: 0.211703 0.770824 -0.270395 0.536562 
time: 1403636709.863555, t: 9.172126 -7.020341 -1.835454 q: 0.209045 0.771923 -0.268219 0.537116 
time: 1403636710.063555, t: 9.318523 -7.019203 -1.839736 q: 0.207863 0.771827 -0.264723 0.539442 
optimize pose graph 
time: 1403636710.263556, t: 9.468531 -7.002997 -1.848735 q: 0.204352 0.771739 -0.260858 0.542782 
time: 1403636710.463556, t: 9.623395 -6.972889 -1.887055 q: 0.174986 0.769335 -0.266410 0.553650 
time: 1403636710.663555, t: 9.768251 -6.941908 -1.941820 q: 0.150335 0.773316 -0.252437 0.561835 
time: 1403636710.863555, t: 9.896381 -6.920477 -1.996371 q: 0.141488 0.782794 -0.214922 0.566589 
time: 1403636711.063555, t: 10.011605 -6.899805 -2.026003 q: 0.137468 0.793373 -0.175948 0.566308 
time: 1403636711.263556, t: 10.120752 -6.869191 -2.039047 q: 0.135963 0.795821 -0.157714 0.568603 
time: 1403636711.463556, t: 10.225257 -6.820028 -2.039074 q: 0.127479 0.786574 -0.159020 0.582892 
time: 1403636711.663555, t: 10.309196 -6.756325 -2.026334 q: 0.135617 0.776712 -0.157366 0.594611 
time: 1403636711.863555, t: 10.366455 -6.669373 -2.010213 q: 0.133884 0.780487 -0.164129 0.588198 
time: 1403636712.063555, t: 10.400488 -6.567711 -1.982313 q: 0.113202 0.785399 -0.182047 0.580683 
optimize pose graph 
time: 1403636712.263556, t: 10.414202 -6.470242 -1.933653 q: 0.113493 0.786838 -0.172890 0.581476 
time: 1403636712.463556, t: 10.413751 -6.370007 -1.866607 q: 0.114597 0.790333 -0.139445 0.585489 
time: 1403636712.663555, t: 10.395175 -6.259075 -1.790386 q: 0.101400 0.788349 -0.121252 0.594577 
time: 1403636712.863555, t: 10.355912 -6.140452 -1.736007 q: 0.089141 0.788752 -0.113967 0.597441 
time: 1403636713.063555, t: 10.294528 -6.020251 -1.701715 q: 0.087328 0.793563 -0.111105 0.591851 
time: 1403636713.263556, t: 10.216369 -5.890657 -1.651397 q: 0.080813 0.796750 -0.112557 0.588209 
time: 1403636713.463556, t: 10.129178 -5.758717 -1.572598 q: 0.077905 0.799289 -0.115688 0.584538 
time: 1403636713.663555, t: 10.031528 -5.631511 -1.488504 q: 0.069375 0.801283 -0.124741 0.581010 
time: 1403636713.863555, t: 9.926693 -5.518979 -1.427432 q: 0.064246 0.802239 -0.132808 0.578487 
time: 1403636714.063555, t: 9.816179 -5.424815 -1.387947 q: 0.075968 0.803393 -0.130021 0.576092 
optimize pose graph 
time: 1403636714.263556, t: 9.702544 -5.342291 -1.368191 q: 0.079095 0.801490 -0.133437 0.577539 
time: 1403636714.463556, t: 9.586885 -5.268454 -1.367136 q: 0.077040 0.806243 -0.137364 0.570236 
time: 1403636714.663555, t: 9.473421 -5.201818 -1.377780 q: 0.064397 0.816881 -0.122584 0.559938 
time: 1403636714.863555, t: 9.371377 -5.146195 -1.371897 q: 0.046748 0.823308 -0.081168 0.559813 
time: 1403636715.063555, t: 9.282680 -5.097920 -1.335873 q: 0.024331 0.827518 -0.036759 0.559706 
time: 1403636715.263556, t: 9.209870 -5.052775 -1.280806 q: 0.010868 0.828721 -0.012419 0.559419 
time: 1403636715.463556, t: 9.162000 -5.013615 -1.244019 q: -0.002946 0.822548 -0.010418 0.568593 
time: 1403636715.663555, t: 9.122381 -4.981503 -1.238674 q: -0.017501 0.816222 -0.020040 0.577126 
time: 1403636715.863555, t: 9.080741 -4.964806 -1.241135 q: -0.000692 0.804056 -0.013309 0.594405 
time: 1403636716.063555, t: 9.020902 -4.951766 -1.223834 q: 0.007014 0.799297 -0.014162 0.600729 
time: 1403636716.263556, t: 8.939349 -4.938932 -1.193029 q: 0.005739 0.809225 -0.023126 0.587016 
optimize pose graph 
time: 1403636716.463556, t: 8.846957 -4.930034 -1.175144 q: 0.009011 0.813776 -0.028782 0.580396 
time: 1403636716.663555, t: 8.755802 -4.925716 -1.184057 q: 0.010360 0.813012 -0.023312 0.581689 
time: 1403636716.863555, t: 8.665549 -4.919788 -1.212912 q: -0.005190 0.813203 -0.002499 0.581951 
time: 1403636717.063555, t: 8.568813 -4.911656 -1.222032 q: -0.030507 0.813584 0.035101 0.579585 
time: 1403636717.263556, t: 8.470542 -4.906823 -1.209939 q: -0.046370 0.811836 0.069047 0.577931 
time: 1403636717.463556, t: 8.365244 -4.902103 -1.192018 q: -0.039003 0.808966 0.094773 0.578853 
time: 1403636717.663555, t: 8.259431 -4.880340 -1.195714 q: -0.047208 0.808802 0.094021 0.578594 
time: 1403636717.863555, t: 8.148561 -4.843495 -1.218926 q: -0.047359 0.808580 0.102198 0.577504 
time: 1403636718.063555, t: 8.029974 -4.782408 -1.221817 q: -0.061032 0.805670 0.126591 0.575452 
time: 1403636718.263556, t: 7.906938 -4.701679 -1.212485 q: -0.094272 0.802814 0.148008 0.569820 
optimize pose graph 
time: 1403636718.463556, t: 7.784571 -4.614012 -1.229721 q: -0.121037 0.800449 0.166406 0.562975 
time: 1403636718.663555, t: 7.664180 -4.524812 -1.267178 q: -0.149106 0.797605 0.180818 0.555786 
time: 1403636718.863555, t: 7.560567 -4.447105 -1.319046 q: -0.155683 0.794594 0.196256 0.553053 
time: 1403636719.063555, t: 7.468205 -4.379595 -1.353438 q: -0.147924 0.788779 0.209911 0.558465 
time: 1403636719.263556, t: 7.379689 -4.314304 -1.359699 q: -0.149969 0.781405 0.209032 0.568526 
time: 1403636719.463556, t: 7.275222 -4.253133 -1.381536 q: -0.154692 0.778485 0.202618 0.573565 
time: 1403636719.663555, t: 7.164842 -4.203032 -1.421526 q: -0.153253 0.784982 0.198815 0.566383 
time: 1403636719.863555, t: 7.049914 -4.162303 -1.433990 q: -0.149436 0.791401 0.193931 0.560129 
time: 1403636720.063555, t: 6.937867 -4.129478 -1.432506 q: -0.146986 0.794257 0.190242 0.557996 
time: 1403636720.263556, t: 6.837003 -4.101362 -1.451974 q: -0.146606 0.795307 0.189447 0.556869 
time: 1403636720.463556, t: 6.738560 -4.076142 -1.485781 q: -0.149071 0.795363 0.189862 0.555993 
optimize pose graph 
time: 1403636720.663555, t: 6.650644 -4.061070 -1.504615 q: -0.151482 0.795547 0.191752 0.554426 
time: 1403636720.863555, t: 6.575430 -4.056383 -1.497414 q: -0.145293 0.796962 0.184908 0.556372 
time: 1403636721.063555, t: 6.511628 -4.057726 -1.501898 q: -0.133121 0.799489 0.162182 0.562843 
time: 1403636721.263556, t: 6.451139 -4.066266 -1.519751 q: -0.116740 0.800690 0.133886 0.572138 
time: 1403636721.463556, t: 6.395520 -4.085062 -1.515766 q: -0.102069 0.803169 0.116396 0.575286 
time: 1403636721.663555, t: 6.331358 -4.110734 -1.507545 q: -0.085121 0.807654 0.102253 0.574451 
time: 1403636721.863555, t: 6.262786 -4.134929 -1.523557 q: -0.076721 0.807919 0.095918 0.576351 
time: 1403636722.063555, t: 6.197128 -4.156515 -1.547121 q: -0.068325 0.807111 0.101547 0.577575 
time: 1403636722.263556, t: 6.125010 -4.172718 -1.545156 q: -0.073474 0.808084 0.102284 0.575447 
time: 1403636722.463556, t: 6.050673 -4.186047 -1.540599 q: -0.073932 0.808424 0.099094 0.575469 
optimize pose graph 
time: 1403636722.663555, t: 5.975482 -4.197196 -1.554828 q: -0.067552 0.809477 0.093297 0.575742 
time: 1403636722.863555, t: 5.896512 -4.204611 -1.570165 q: -0.061526 0.809998 0.092585 0.575799 
time: 1403636723.063555, t: 5.818281 -4.203889 -1.560372 q: -0.066884 0.810193 0.088459 0.575577 
time: 1403636723.263556, t: 5.741812 -4.202052 -1.542236 q: -0.066907 0.810686 0.087927 0.574961 
time: 1403636723.463556, t: 5.667578 -4.199126 -1.541322 q: -0.053888 0.809314 0.084210 0.578806 
time: 1403636723.663555, t: 5.591422 -4.190718 -1.534447 q: -0.047576 0.800786 0.062277 0.593801 
time: 1403636723.863555, t: 5.506724 -4.179786 -1.512452 q: -0.040789 0.811542 0.049236 0.580785 
time: 1403636724.063555, t: 5.420422 -4.168551 -1.509447 q: -0.034362 0.821243 0.037885 0.568282 
time: 1403636724.263556, t: 5.338425 -4.159945 -1.528803 q: -0.015955 0.824922 0.014102 0.564845 
time: 1403636724.463556, t: 5.263558 -4.156537 -1.546061 q: 0.007134 0.819945 -0.015394 0.572191 
time: 1403636724.663555, t: 5.190279 -4.147458 -1.540506 q: 0.021403 0.815550 -0.031856 0.577412 
time: 1403636724.863555, t: 5.129796 -4.130237 -1.502960 q: 0.024222 0.816770 -0.038712 0.575154 
time: 1403636725.063555, t: 5.077534 -4.108401 -1.434162 q: 0.014604 0.817636 -0.042707 0.573964 
time: 1403636725.263556, t: 5.031448 -4.091660 -1.350441 q: 0.009970 0.818771 -0.042070 0.572490 
time: 1403636725.463556, t: 4.988923 -4.081966 -1.284570 q: 0.014776 0.819071 -0.037799 0.572254 
time: 1403636725.663555, t: 4.952817 -4.075713 -1.241920 q: 0.018617 0.818562 -0.035810 0.572999 
time: 1403636725.863555, t: 4.915604 -4.067346 -1.222727 q: 0.017708 0.819380 -0.036016 0.571844 
time: 1403636726.063555, t: 4.883308 -4.059559 -1.223218 q: 0.014386 0.818900 -0.036121 0.572618 
time: 1403636726.263556, t: 4.852357 -4.052777 -1.239015 q: 0.015880 0.817063 -0.032322 0.575422 
time: 1403636726.463556, t: 4.822522 -4.044053 -1.244537 q: 0.014203 0.815343 -0.029611 0.578047 
optimize pose graph 
time: 1403636726.663555, t: 4.792980 -4.037370 -1.222748 q: -0.009130 0.811763 -0.042562 0.582363 
time: 1403636726.863555, t: 4.758571 -4.044941 -1.173618 q: 0.001264 0.810923 -0.031831 0.584285 
time: 1403636727.063555, t: 4.716275 -4.060223 -1.104349 q: 0.006687 0.810855 -0.019525 0.584884 
time: 1403636727.263556, t: 4.675666 -4.076315 -1.044522 q: 0.013631 0.812328 -0.010356 0.582950 
time: 1403636727.463556, t: 4.621698 -4.080324 -1.003203 q: 0.018482 0.813610 -0.006318 0.581082 
time: 1403636727.663555, t: 4.574536 -4.076088 -0.961098 q: 0.010571 0.810842 -0.011624 0.585054 
time: 1403636727.863555, t: 4.523780 -4.064109 -0.893402 q: 0.017638 0.812901 -0.006957 0.582094 
time: 1403636728.063555, t: 4.453874 -4.036328 -0.817823 q: 0.020411 0.813139 -0.005873 0.581681 
time: 1403636728.263556, t: 4.392319 -3.999716 -0.773135 q: 0.013571 0.810592 -0.011433 0.585343 
time: 1403636728.463556, t: 4.321454 -3.954000 -0.751785 q: 0.003992 0.810870 -0.018697 0.584914 
time: 1403636728.663555, t: 4.235028 -3.909405 -0.739939 q: -0.007213 0.811559 -0.019892 0.583887 
optimize pose graph 
time: 1403636728.863555, t: 4.161905 -3.872873 -0.722982 q: -0.008249 0.811682 0.012000 0.583918 
time: 1403636729.063555, t: 4.065037 -3.829612 -0.687478 q: -0.017650 0.807898 0.034207 0.588064 
time: 1403636729.263556, t: 3.972726 -3.785051 -0.677594 q: -0.026253 0.808957 0.042976 0.585707 
time: 1403636729.463556, t: 3.871562 -3.737936 -0.678501 q: -0.028993 0.808423 0.045803 0.586100 
time: 1403636729.663555, t: 3.760009 -3.689324 -0.663543 q: -0.030577 0.809641 0.045874 0.584330 
time: 1403636729.863555, t: 3.655214 -3.640906 -0.637392 q: -0.030236 0.813602 0.044585 0.578921 
time: 1403636730.063555, t: 3.545187 -3.590373 -0.625891 q: -0.031378 0.817186 0.043268 0.573891 
time: 1403636730.263556, t: 3.443269 -3.537155 -0.631446 q: -0.032009 0.818150 0.043916 0.572431 
time: 1403636730.463556, t: 3.347040 -3.485358 -0.650859 q: -0.034156 0.820970 0.043788 0.568264 
time: 1403636730.663555, t: 3.262086 -3.434718 -0.648515 q: -0.034514 0.828000 0.044239 0.557914 
time: 1403636730.863555, t: 3.202616 -3.379196 -0.610916 q: -0.035819 0.829849 0.043855 0.555107 
time: 1403636731.063555, t: 3.153693 -3.323247 -0.576891 q: -0.053132 0.826120 0.030155 0.560173 
time: 1403636731.263556, t: 3.120471 -3.286360 -0.558233 q: -0.053055 0.815166 0.028106 0.576108 
time: 1403636731.463556, t: 3.090187 -3.265023 -0.559496 q: -0.038612 0.813630 0.036583 0.578945 
time: 1403636731.663555, t: 3.061091 -3.253645 -0.577090 q: -0.048131 0.814656 0.030225 0.577153 
time: 1403636731.863555, t: 3.035690 -3.255781 -0.608932 q: -0.041272 0.814596 0.035089 0.577494 
time: 1403636732.063555, t: 3.007448 -3.264940 -0.653799 q: -0.039424 0.812702 0.038330 0.580079 
time: 1403636732.263556, t: 2.979035 -3.278367 -0.710099 q: -0.038039 0.810928 0.041044 0.582464 
time: 1403636732.463556, t: 2.944931 -3.294509 -0.742102 q: -0.027486 0.807817 0.049395 0.586716 
time: 1403636732.663555, t: 2.895453 -3.298855 -0.740842 q: -0.012323 0.800050 0.061406 0.596655 
time: 1403636732.863555, t: 2.826599 -3.284013 -0.720682 q: -0.026911 0.799009 0.053090 0.598367 
time: 1403636733.063555, t: 2.733255 -3.256377 -0.709604 q: -0.029537 0.804429 0.052578 0.590980 
time: 1403636733.263556, t: 2.628858 -3.222071 -0.689031 q: -0.027044 0.807916 0.055857 0.586020 
time: 1403636733.463556, t: 2.517280 -3.180246 -0.647131 q: -0.034376 0.812432 0.052339 0.579684 
time: 1403636733.663555, t: 2.407036 -3.135097 -0.596594 q: -0.036301 0.816105 0.051936 0.574420 
time: 1403636733.863555, t: 2.297998 -3.086045 -0.571858 q: -0.036117 0.818584 0.052937 0.570801 
time: 1403636734.063555, t: 2.197497 -3.034102 -0.563226 q: -0.031056 0.813119 0.055906 0.578573 
time: 1403636734.263556, t: 2.092388 -2.977919 -0.554730 q: -0.035264 0.811165 0.052961 0.581345 time: 1403636734.463556, t: 1.984219 -2.918307 -0.518009 q: -0.040001 0.814835 0.051789 0.575988 
time: 1403636734.663555, t: 1.879204 -2.862844 -0.480987 q: -0.041260 0.819187 0.053560 0.569527 
time: 1403636734.863555, t: 1.781576 -2.807223 -0.469313 q: -0.041587 0.819854 0.056703 0.568239 
time: 1403636735.063555, t: 1.698560 -2.749449 -0.477222 q: -0.043110 0.819606 0.057015 0.568452 
time: 1403636735.263556, t: 1.617634 -2.695689 -0.483702 q: -0.046174 0.821123 0.053667 0.566344 
time: 1403636735.463556, t: 1.552174 -2.644041 -0.450602 q: -0.046241 0.821322 0.048066 0.566552 
time: 1403636735.663555, t: 1.492909 -2.596109 -0.390180 q: -0.039964 0.819103 0.044046 0.570556 
time: 1403636735.863555, t: 1.439932 -2.549829 -0.346598 q: -0.037588 0.819407 0.040661 0.570531 
time: 1403636736.063555, t: 1.391507 -2.510331 -0.316254 q: -0.038549 0.817654 0.045718 0.572596 
time: 1403636736.263556, t: 1.348211 -2.469085 -0.268350 q: -0.053465 0.812328 0.064404 0.577163 
time: 1403636736.463556, t: 1.306060 -2.431688 -0.219051 q: -0.059092 0.809936 0.083353 0.577549 
time: 1403636736.663555, t: 1.268248 -2.394016 -0.199753 q: -0.053931 0.806761 0.098399 0.580126 
optimize pose graph 
time: 1403636736.863555, t: 1.223126 -2.343287 -0.196282 q: -0.055546 0.805689 0.102420 0.580767 
time: 1403636737.063555, t: 1.170051 -2.278437 -0.203367 q: -0.065273 0.806605 0.101171 0.578699 
time: 1403636737.263556, t: 1.110892 -2.210419 -0.224572 q: -0.076660 0.806940 0.100092 0.577021 
time: 1403636737.463556, t: 1.051477 -2.140405 -0.244913 q: -0.079188 0.811643 0.104298 0.569286 
time: 1403636737.663555, t: 0.996447 -2.074647 -0.237004 q: -0.085785 0.814911 0.103034 0.563866 
time: 1403636737.863555, t: 0.948097 -2.020407 -0.201877 q: -0.093547 0.817275 0.097258 0.560224 
time: 1403636738.063555, t: 0.919689 -1.981005 -0.133122 q: -0.092127 0.817359 0.095627 0.560618 
time: 1403636738.263556, t: 0.909002 -1.956326 -0.061067 q: -0.085153 0.815137 0.096576 0.564777 
time: 1403636738.463556, t: 0.900483 -1.936900 -0.016919 q: -0.081361 0.816253 0.093669 0.564214 
time: 1403636738.663555, t: 0.909593 -1.924839 -0.000481 q: -0.069557 0.821248 0.073219 0.561562 
time: 1403636738.863555, t: 0.918546 -1.926907 -0.009911 q: -0.051592 0.818809 0.032514 0.570818 
optimize pose graph 
time: 1403636739.063555, t: 0.936506 -1.942361 -0.046144 q: -0.030340 0.817032 -0.019419 0.575466 
time: 1403636739.263556, t: 0.952766 -1.981877 -0.099850 q: 0.014563 0.815300 -0.061049 0.575628 
time: 1403636739.463556, t: 0.962543 -2.031427 -0.154623 q: 0.063036 0.811515 -0.097104 0.572748 
time: 1403636739.663555, t: 0.970396 -2.076794 -0.177861 q: 0.084579 0.806719 -0.133593 0.569389 
wait for imu ... 
time: 1403636739.863555, t: 0.983285 -2.116509 -0.191455 q: 0.089443 0.803836 -0.150792 0.568428 
time: 1403636740.063555, t: 0.998146 -2.158455 -0.223486 q: 0.093394 0.804408 -0.150543 0.567046 
time: 1403636740.263556, t: 1.006692 -2.202585 -0.273214 q: 0.103380 0.805194 -0.138505 0.567266 
time: 1403636740.463556, t: 1.011228 -2.238538 -0.339231 q: 0.092988 0.803647 -0.139553 0.570990 
time: 1403636740.663555, t: 1.008763 -2.272454 -0.401613 q: 0.086262 0.802735 -0.138551 0.573567 
time: 1403636740.863555, t: 1.002194 -2.304270 -0.446068 q: 0.082995 0.805601 -0.136697 0.570467 
optimize pose graph 
time: 1403636741.063555, t: 0.988951 -2.338028 -0.508162 q: 0.101632 0.803378 -0.122905 0.573714 
time: 1403636741.263556, t: 0.974739 -2.356417 -0.596786 q: 0.104108 0.797766 -0.138852 0.577453 
time: 1403636741.463556, t: 0.950083 -2.366219 -0.698701 q: 0.097872 0.802938 -0.157283 0.566545 
time: 1403636741.663555, t: 0.928155 -2.377880 -0.773413 q: 0.097403 0.811694 -0.163963 0.552070 
time: 1403636741.863555, t: 0.918971 -2.400314 -0.819523 q: 0.103877 0.807861 -0.157509 0.558355 
time: 1403636742.063555, t: 0.919177 -2.423045 -0.879865 q: 0.112330 0.810232 -0.144307 0.556850 
time: 1403636742.263556, t: 0.925481 -2.438750 -0.936357 q: 0.098232 0.816293 -0.146525 0.550042 
time: 1403636742.463556, t: 0.946682 -2.452862 -0.958686 q: 0.092466 0.809253 -0.144223 0.561925 
time: 1403636742.663555, t: 0.975064 -2.468255 -0.964602 q: 0.091737 0.805172 -0.140726 0.568752 
time: 1403636742.863555, t: 1.004300 -2.487212 -0.996289 q: 0.089463 0.801280 -0.138393 0.575148 
time: 1403636743.063555, t: 1.021388 -2.504557 -1.058337 q: 0.090145 0.804545 -0.144841 0.568861 
optimize pose graph 
time: 1403636743.263556, t: 1.039700 -2.525297 -1.127880 q: 0.091730 0.823367 -0.158911 0.537029 
time: 1403636743.463556, t: 1.079953 -2.559289 -1.163895 q: 0.091265 0.823142 -0.166078 0.535282 
time: 1403636743.663555, t: 1.144398 -2.607415 -1.198187 q: 0.099277 0.813694 -0.162100 0.549335 
time: 1403636743.863555, t: 1.222171 -2.658717 -1.258779 q: 0.107458 0.802785 -0.166970 0.562237 
time: 1403636744.063555, t: 1.303293 -2.708873 -1.342635 q: 0.118748 0.796066 -0.172691 0.567764 
time: 1403636744.263556, t: 1.381055 -2.753034 -1.449937 q: 0.124784 0.789816 -0.187401 0.570526 
time: 1403636744.463556, t: 1.451087 -2.792883 -1.578863 q: 0.118910 0.786519 -0.199801 0.572126 
time: 1403636744.663555, t: 1.511552 -2.836745 -1.724341 q: 0.109492 0.782151 -0.204791 0.578197 
time: 1403636744.863555, t: 1.548099 -2.886214 -1.873050 q: 0.122640 0.783898 -0.195096 0.576542 
time: 1403636745.063555, t: 1.569348 -2.930241 -1.993217 q: 0.123213 0.793950 -0.190454 0.564083 
time: 1403636745.263556, t: 1.594090 -2.978553 -2.085288 q: 0.116276 0.800255 -0.184922 0.558459 
time: 1403636745.463556, t: 1.625128 -3.027605 -2.147957 q: 0.118283 0.794049 -0.173834 0.570331 
time: 1403636745.663555, t: 1.649275 -3.069343 -2.170400 q: 0.121260 0.789426 -0.177362 0.575017 
time: 1403636745.863555, t: 1.668870 -3.100870 -2.161289 q: 0.133759 0.788651 -0.183593 0.571343 
time: 1403636746.063555, t: 1.688573 -3.120121 -2.132917 q: 0.150306 0.788054 -0.188461 0.566446 
time: 1403636746.263556, t: 1.708199 -3.120909 -2.082532 q: 0.159523 0.783630 -0.191716 0.568966 
time: 1403636746.463556, t: 1.725921 -3.095845 -2.037423 q: 0.158996 0.773984 -0.194029 0.581397 
time: 1403636746.663555, t: 1.733128 -3.045872 -2.030557 q: 0.137876 0.795288 -0.203252 0.554252 
time: 1403636746.863555, t: 1.749168 -2.997425 -2.039877 q: 0.112410 0.805177 -0.213055 0.541905 
time: 1403636747.063555, t: 1.777478 -2.970293 -2.036400 q: 0.114451 0.801528 -0.205955 0.549579 
time: 1403636747.263556, t: 1.820317 -2.959269 -1.994757 q: 0.133320 0.795116 -0.193044 0.559241 
time: 1403636747.463556, t: 1.870689 -2.942062 -1.932611 q: 0.140627 0.793110 -0.192119 0.560617 
time: 1403636747.663555, t: 1.920784 -2.914581 -1.888132 q: 0.140526 0.794183 -0.198177 0.557003 
time: 1403636747.863555, t: 1.976758 -2.879481 -1.823752 q: 0.141775 0.792995 -0.203781 0.556357 
time: 1403636748.063555, t: 2.031836 -2.844097 -1.741753 q: 0.121248 0.785082 -0.224186 0.564522 
time: 1403636748.263556, t: 2.087075 -2.823695 -1.681003 q: 0.124271 0.786518 -0.225614 0.561287 
time: 1403636748.463556, t: 2.128523 -2.818637 -1.646087 q: 0.145470 0.790130 -0.210240 0.557075 
time: 1403636748.663555, t: 2.176204 -2.809135 -1.592401 q: 0.142251 0.787556 -0.212562 0.560658 
time: 1403636748.863555, t: 2.215154 -2.804318 -1.538528 q: 0.130321 0.783559 -0.223949 0.564711 
time: 1403636749.063555, t: 2.252218 -2.808373 -1.500914 q: 0.127713 0.779971 -0.233319 0.566478 
time: 1403636749.263556, t: 2.277511 -2.826784 -1.469285 q: 0.132852 0.778038 -0.235558 0.567027 
time: 1403636749.463556, t: 2.289103 -2.855178 -1.414201 q: 0.151550 0.780296 -0.225302 0.563391 
time: 1403636749.663555, t: 2.297429 -2.882890 -1.351420 q: 0.163292 0.782951 -0.215658 0.560192 
time: 1403636749.863555, t: 2.308174 -2.898342 -1.304941 q: 0.159027 0.775717 -0.214091 0.571960 
time: 1403636750.063555, t: 2.312186 -2.902806 -1.284309 q: 0.154123 0.772049 -0.209639 0.579860 
time: 1403636750.263556, t: 2.299751 -2.893210 -1.266950 q: 0.148037 0.778548 -0.206807 0.573741 
time: 1403636750.463556, t: 2.277852 -2.872736 -1.215477 q: 0.142057 0.784615 -0.203277 0.568222 
time: 1403636750.663555, t: 2.249125 -2.846062 -1.125938 q: 0.139437 0.787072 -0.196281 0.567933 
time: 1403636750.863555, t: 2.217220 -2.813428 -1.011725 q: 0.137582 0.790135 -0.192249 0.565507 
time: 1403636751.063555, t: 2.179833 -2.770169 -0.884883 q: 0.141119 0.793408 -0.189208 0.561061 
time: 1403636751.263556, t: 2.151622 -2.722805 -0.779142 q: 0.138313 0.799622 -0.193835 0.551273 
time: 1403636751.463556, t: 2.127847 -2.670090 -0.683128 q: 0.127129 0.795691 -0.205244 0.555508 
time: 1403636751.663555, t: 2.115448 -2.630664 -0.589974 q: 0.113424 0.790908 -0.205616 0.565085 
time: 1403636751.863555, t: 2.096593 -2.604550 -0.513745 q: 0.104895 0.802557 -0.199996 0.552179 
time: 1403636752.063555, t: 2.085195 -2.601060 -0.441229 q: 0.115234 0.808273 -0.186311 0.546538 
time: 1403636752.263556, t: 2.093408 -2.611291 -0.377595 q: 0.114891 0.801011 -0.174806 0.560914 
time: 1403636752.463556, t: 2.105909 -2.622299 -0.298746 q: 0.098568 0.798251 -0.149528 0.575083 
time: 1403636752.663555, t: 2.118989 -2.633603 -0.224596 q: 0.075644 0.807217 -0.113372 0.574304 
time: 1403636752.863555, t: 2.123109 -2.640546 -0.170651 q: 0.050672 0.813859 -0.073529 0.574160 
time: 1403636753.063555, t: 2.127580 -2.643331 -0.142209 q: 0.031723 0.817115 -0.025154 0.575051 
optimize pose graph 
time: 1403636753.263556, t: 2.132449 -2.633496 -0.139851 q: 0.006698 0.818163 0.022875 0.574492 
time: 1403636753.463556, t: 2.136479 -2.607322 -0.154701 q: -0.019698 0.814612 0.058494 0.576714 
time: 1403636753.663555, t: 2.134069 -2.568427 -0.149984 q: -0.040317 0.812336 0.065955 0.578044 
time: 1403636753.863555, t: 2.124583 -2.525565 -0.141349 q: -0.041630 0.810815 0.066863 0.579979 
time: 1403636754.063555, t: 2.108103 -2.477254 -0.146909 q: -0.039212 0.808806 0.062488 0.583429 
time: 1403636754.263556, t: 2.084768 -2.426179 -0.133702 q: -0.033589 0.803276 0.059318 0.591693 
time: 1403636754.463556, t: 2.046582 -2.367261 -0.098966 q: -0.032160 0.803428 0.061008 0.591394 
time: 1403636754.663555, t: 1.990142 -2.293457 -0.072892 q: -0.040992 0.804806 0.079083 0.586816 
time: 1403636754.863555, t: 1.919735 -2.217029 -0.065776 q: -0.061907 0.802669 0.104083 0.584001 
time: 1403636755.063555, t: 1.838103 -2.131412 -0.075964 q: -0.073842 0.800376 0.121039 0.582490 
time: 1403636755.263556, t: 1.742456 -2.043040 -0.077244 q: -0.080579 0.801744 0.127547 0.578313 
optimize pose graph 
time: 1403636755.463556, t: 1.643673 -1.951860 -0.052840 q: -0.080151 0.813124 0.129821 0.561740 
time: 1403636755.663555, t: 1.554314 -1.855668 -0.026297 q: -0.077086 0.812105 0.128724 0.563892 
time: 1403636755.863555, t: 1.471009 -1.751891 -0.021855 q: -0.079690 0.808566 0.124019 0.569640 
time: 1403636756.063555, t: 1.388206 -1.641726 -0.021579 q: -0.082237 0.805431 0.121747 0.574191 
time: 1403636756.263556, t: 1.305798 -1.530791 0.001376 q: -0.082090 0.803183 0.122481 0.577197 
time: 1403636756.463556, t: 1.212092 -1.416139 0.019458 q: -0.082756 0.801799 0.124082 0.578682 
time: 1403636756.663555, t: 1.107011 -1.302413 0.016316 q: -0.085069 0.800822 0.125005 0.579501 
time: 1403636756.863555, t: 0.996947 -1.196220 0.021040 q: -0.087887 0.799191 0.125905 0.581134 
time: 1403636757.063555, t: 0.878213 -1.094217 0.047851 q: -0.090760 0.799670 0.125892 0.580037 
time: 1403636757.263556, t: 0.755043 -0.993859 0.065049 q: -0.090809 0.799703 0.126739 0.579798 
optimize pose graph 
time: 1403636757.463556, t: 0.617810 -0.891294 0.060012 q: -0.085803 0.802489 0.131335 0.575674 
time: 1403636757.663555, t: 0.478557 -0.784493 0.062552 q: -0.088022 0.811311 0.144743 0.559532 
time: 1403636757.863555, t: 0.352055 -0.665993 0.095795 q: -0.096903 0.819231 0.155375 0.543442 
time: 1403636758.063555, t: 0.244464 -0.530579 0.159318 q: -0.107737 0.808371 0.157950 0.556760 
time: 1403636758.263556, t: 0.154109 -0.400269 0.204157 q: -0.115817 0.797355 0.156491 0.571246 
time: 1403636758.463556, t: 0.061564 -0.276901 0.213593 q: -0.121957 0.806688 0.152754 0.557715 
time: 1403636758.663555, t: -0.023432 -0.163390 0.201847 q: -0.134174 0.826030 0.143222 0.528355 
time: 1403636758.863555, t: -0.063767 -0.066598 0.190951 q: -0.129776 0.807958 0.144546 0.556299 
time: 1403636759.063555, t: -0.091563 0.018207 0.166287 q: -0.124353 0.799000 0.147931 0.569431 
time: 1403636759.263556, t: -0.106297 0.083213 0.125213 q: -0.156656 0.800151 0.126017 0.565099 
time: 1403636759.463556, t: -0.123103 0.116110 0.073885 q: -0.139887 0.797687 0.139061 0.569903 
optimize pose graph 
time: 1403636759.663555, t: -0.141507 0.125716 0.018119 q: -0.121521 0.795172 0.154229 0.573714 
time: 1403636759.863555, t: -0.162959 0.126225 -0.002288 q: -0.119908 0.794743 0.156686 0.573982 
time: 1403636760.063555, t: -0.192863 0.124841 -0.018619 q: -0.118626 0.806214 0.157151 0.557898 
time: 1403636760.263556, t: -0.216983 0.123826 -0.039641 q: -0.118951 0.804454 0.156080 0.560663 
time: 1403636760.463556, t: -0.236022 0.122044 -0.068079 q: -0.118653 0.794664 0.156537 0.574393 
time: 1403636760.663555, t: -0.261993 0.117449 -0.104163 q: -0.111896 0.803387 0.162234 0.561897 
time: 1403636760.863555, t: -0.285040 0.117742 -0.129575 q: -0.107502 0.800834 0.166876 0.565032 
time: 1403636761.063555, t: -0.314648 0.128154 -0.157093 q: -0.109752 0.804121 0.166515 0.560015 
time: 1403636761.263556, t: -0.339609 0.148343 -0.185802 q: -0.110238 0.818616 0.167149 0.538309 
time: 1403636761.463556, t: -0.344384 0.181240 -0.198953 q: -0.111864 0.809341 0.166027 0.552167 
optimize pose graph 
time: 1403636761.663555, t: -0.338340 0.218943 -0.196270 q: -0.118818 0.798484 0.159420 0.568234 
time: 1403636761.863555, t: -0.334027 0.251120 -0.187070 q: -0.135830 0.799275 0.146047 0.566904 
time: 1403636762.063555, t: -0.330725 0.265623 -0.171429 q: -0.115295 0.797424 0.158772 0.570626 
time: 1403636762.263556, t: -0.334392 0.280543 -0.153995 q: -0.093070 0.802968 0.172583 0.562846 
time: 1403636762.463556, t: -0.338898 0.314687 -0.160987 q: -0.105873 0.816279 0.162510 0.544124 
time: 1403636762.663555, t: -0.328534 0.356300 -0.197771 q: -0.149590 0.807433 0.131496 0.555323 
time: 1403636762.863555, t: -0.311228 0.369935 -0.248182 q: -0.145195 0.782514 0.136211 0.589947 
time: 1403636763.063555, t: -0.333658 0.336157 -0.264819 q: -0.119494 0.802954 0.118758 0.571736 
time: 1403636763.263556, t: -0.343279 0.322421 -0.276377 q: -0.118517 0.800941 0.096803 0.578858 
time: 1403636763.463556, t: -0.350716 0.317808 -0.285184 q: -0.119241 0.799824 0.096251 0.580344 
optimize pose graph 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720463543.961082387]: Shutdown request received.[0m
[33m[ WARN] [1720463543.961138769]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720463543.961957270]: Shutdown request received.[0m
[33m[ WARN] [1720463543.961982519]: Reason given for shutdown: [user request][0m
killed
