/SLAM-Hive/slam_hive_results/mapping_results/2809/2017_vins-fusion-mono-imu+MH_01_easy+Image_comb_test-7.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720463584.033472172]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720463584.035482233]: init begins[0m
[31m[ERROR] [1720463584.036513001]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/834995a8-3d58-11ef-baef-0242ac110005/roslaunch-a550640d9409-118.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://a550640d9409:36959/[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] [1720463585.139558105]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720463585.141891469]: 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] [1720463585.147686832]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720463585.147903588]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720463585.147930511]: ROW: 384 COL: 601 [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] [1720463585.148103216]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720463585.148376298]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://a550640d9409:11311/[0m
]2;roscore http://a550640d9409:11311/
[1msetting /run_id to 834995a8-3d58-11ef-baef-0242ac110005[0m
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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720463594.189790098]: 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: 316827015.48 
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] [1720463597.601916605]: gyroscope bias initial calibration -0.00610948   0.0178876   0.0764484[0m
[0m[ INFO] [1720463597.657200279]: Initialization finish![0m
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time: 1403636591.263556, t: -0.056112 -0.099416 -0.051564 q: -0.050677 0.910795 0.024831 0.408984 
wait for imu ... 
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wait for imu ... 
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time: 1403636611.863555, t: 0.168387 -0.031229 -0.349009 q: -0.124637 0.789057 0.106956 0.591958 
time: 1403636612.063555, t: 0.168402 -0.031150 -0.349023 q: -0.124815 0.789273 0.107198 0.591589 
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time: 1403636612.663555, t: 0.168446 -0.031271 -0.349004 q: -0.124463 0.789120 0.107452 0.591821 
time: 1403636612.863555, t: 0.168454 -0.031187 -0.349006 q: -0.124918 0.789140 0.107146 0.591755 
time: 1403636613.063555, t: 0.168400 -0.031131 -0.349088 q: -0.125320 0.789086 0.106788 0.591806 
time: 1403636613.263556, t: 0.168400 -0.031133 -0.349119 q: -0.125264 0.789085 0.106817 0.591815 
time: 1403636613.463556, t: 0.168410 -0.031109 -0.349074 q: -0.125138 0.789069 0.106903 0.591846 
time: 1403636613.663555, t: 0.168430 -0.031142 -0.349074 q: -0.125086 0.789069 0.106958 0.591848 
time: 1403636613.863555, t: 0.168425 -0.031163 -0.349065 q: -0.124941 0.789052 0.107017 0.591890 
time: 1403636614.063555, t: 0.168421 -0.031193 -0.349091 q: -0.124950 0.789004 0.107018 0.591952 
time: 1403636614.263556, t: 0.168437 -0.031199 -0.349082 q: -0.124848 0.789041 0.107076 0.591914 
time: 1403636614.463556, t: 0.168429 -0.031210 -0.349078 q: -0.124805 0.789023 0.107108 0.591942 
time: 1403636614.663555, t: 0.168428 -0.031201 -0.349063 q: -0.124868 0.789054 0.107076 0.591892 
time: 1403636614.863555, t: 0.168425 -0.031183 -0.349069 q: -0.124889 0.789068 0.107077 0.591869 
wait for imu ... 
time: 1403636615.063555, t: 0.168421 -0.031164 -0.349065 q: -0.124914 0.789041 0.107015 0.591911 
wait for imu ... 
time: 1403636615.263556, t: 0.168432 -0.031161 -0.349058 q: -0.124923 0.789025 0.107067 0.591920 
wait for imu ... 
time: 1403636615.463556, t: 0.168421 -0.031165 -0.349064 q: -0.124906 0.789047 0.107024 0.591903 
time: 1403636615.663555, t: 0.168411 -0.031155 -0.349052 q: -0.124917 0.789061 0.107007 0.591885 
time: 1403636615.863555, t: 0.168415 -0.031157 -0.349062 q: -0.124951 0.789062 0.106994 0.591879 
time: 1403636616.063555, t: 0.168420 -0.031172 -0.349064 q: -0.124910 0.789073 0.107038 0.591865 
time: 1403636616.263556, t: 0.168414 -0.031157 -0.349071 q: -0.124884 0.789051 0.107022 0.591903 
time: 1403636616.663555, t: 0.168422 -0.031168 -0.349063 q: -0.124900 0.789058 0.107024 0.591889 
time: 1403636616.863555, t: 0.168432 -0.031179 -0.349063 q: -0.124948 0.789052 0.107043 0.591884 
time: 1403636617.063555, t: 0.168425 -0.031169 -0.349073 q: -0.124904 0.789027 0.107021 0.591930 
time: 1403636617.263556, t: 0.168428 -0.031171 -0.349069 q: -0.124897 0.789049 0.107058 0.591896 
time: 1403636617.463556, t: 0.168429 -0.031168 -0.349062 q: -0.124919 0.789056 0.107040 0.591885 
time: 1403636617.663555, t: 0.168428 -0.031173 -0.349072 q: -0.124951 0.789048 0.107014 0.591894 
time: 1403636617.863555, t: 0.168427 -0.031162 -0.349070 q: -0.124918 0.789038 0.107011 0.591915 
time: 1403636618.063555, t: 0.168424 -0.031157 -0.349061 q: -0.124920 0.789051 0.107000 0.591899 
time: 1403636618.263556, t: 0.168426 -0.031171 -0.349072 q: -0.124906 0.789035 0.107064 0.591911 
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time: 1403636618.863555, t: 0.168531 -0.031120 -0.349010 q: -0.125018 0.789054 0.106958 0.591882 
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time: 1403636619.863555, t: 0.168511 -0.031144 -0.348975 q: -0.124955 0.789081 0.106941 0.591862 
time: 1403636620.063555, t: 0.168501 -0.031171 -0.348964 q: -0.124853 0.789092 0.107065 0.591847 
time: 1403636620.263556, t: 0.168532 -0.031155 -0.348968 q: -0.124845 0.789088 0.107151 0.591838 
time: 1403636620.463556, t: 0.168509 -0.031172 -0.348961 q: -0.124778 0.789053 0.107137 0.591901 
time: 1403636620.663555, t: 0.168528 -0.031172 -0.348959 q: -0.124807 0.789105 0.107094 0.591834 
time: 1403636620.863555, t: 0.168525 -0.031160 -0.348949 q: -0.124867 0.789078 0.107099 0.591857 
time: 1403636621.063555, t: 0.168605 -0.031251 -0.348903 q: -0.124336 0.789037 0.107327 0.591981 
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time: 1403636621.663555, t: 0.168552 -0.031194 -0.348918 q: -0.124590 0.789075 0.107198 0.591901 
time: 1403636621.863555, t: 0.168549 -0.031189 -0.348921 q: -0.124694 0.789093 0.107180 0.591859 
time: 1403636622.263556, t: 0.168564 -0.031193 -0.348911 q: -0.124727 0.789072 0.107224 0.591871 
time: 1403636622.463556, t: 0.168552 -0.031192 -0.348922 q: -0.124678 0.789084 0.107176 0.591875 
time: 1403636622.663555, t: 0.168570 -0.031201 -0.348941 q: -0.124703 0.789041 0.107169 0.591927 
time: 1403636622.863555, t: 0.168598 -0.031245 -0.348904 q: -0.124634 0.789019 0.106986 0.592005 
time: 1403636623.063555, t: 0.168630 -0.031334 -0.348806 q: -0.124610 0.788907 0.106820 0.592189 
time: 1403636623.263556, t: 0.168647 -0.031364 -0.348758 q: -0.124654 0.788943 0.106762 0.592142 
time: 1403636623.463556, t: 0.168693 -0.031439 -0.348782 q: -0.124592 0.788835 0.106672 0.592315 
time: 1403636623.663555, t: 0.168735 -0.031440 -0.348729 q: -0.124432 0.789070 0.106578 0.592053 
time: 1403636623.863555, t: 0.168727 -0.031579 -0.348712 q: -0.124004 0.789186 0.105801 0.592128 
time: 1403636624.063555, t: 0.168696 -0.031658 -0.348651 q: -0.123644 0.789392 0.105463 0.591989 
wait for imu ... 
time: 1403636624.263556, t: 0.168333 -0.032340 -0.348266 q: -0.122634 0.790456 0.104610 0.590929 
time: 1403636624.463556, t: 0.165298 -0.038628 -0.348512 q: -0.116336 0.800128 0.103556 0.579256 
time: 1403636624.663555, t: 0.157663 -0.055781 -0.347650 q: -0.108180 0.804825 0.103409 0.574335 
time: 1403636624.863555, t: 0.145129 -0.085939 -0.346923 q: -0.090588 0.806228 0.116831 0.572836 
time: 1403636625.063555, t: 0.121737 -0.118648 -0.318888 q: -0.068395 0.818999 0.133738 0.553785 
time: 1403636625.263556, t: 0.106842 -0.132656 -0.265027 q: -0.078763 0.821034 0.128173 0.550700 
time: 1403636625.463556, t: 0.105941 -0.135149 -0.248487 q: -0.083971 0.820069 0.127321 0.551566 
time: 1403636625.663555, t: 0.115281 -0.130078 -0.256457 q: -0.083685 0.820208 0.129839 0.550815 
time: 1403636625.863555, t: 0.138062 -0.113922 -0.202730 q: -0.089258 0.808972 0.128571 0.566628 
time: 1403636626.063555, t: 0.164263 -0.093229 -0.108850 q: -0.097259 0.803444 0.124317 0.574076 
time: 1403636626.263556, t: 0.184882 -0.077550 -0.027730 q: -0.112418 0.803119 0.114714 0.573762 
time: 1403636626.463556, t: 0.203469 -0.075702 0.004658 q: -0.109960 0.801693 0.117389 0.575689 
time: 1403636626.663555, t: 0.218400 -0.090856 0.009309 q: -0.101681 0.792826 0.126446 0.587451 
time: 1403636626.863555, t: 0.218609 -0.111193 -0.003681 q: -0.100863 0.797902 0.131028 0.579665 
time: 1403636627.063555, t: 0.207679 -0.133862 -0.027596 q: -0.097640 0.807646 0.134141 0.565844 
time: 1403636627.263556, t: 0.197572 -0.154570 -0.024662 q: -0.097956 0.805782 0.134442 0.568371 
time: 1403636627.463556, t: 0.189273 -0.174002 0.016330 q: -0.102357 0.802492 0.131278 0.572971 
time: 1403636627.663555, t: 0.178612 -0.198071 0.044058 q: -0.095479 0.808205 0.119072 0.568779 
optimize pose graph 
time: 1403636627.863555, t: 0.170427 -0.226402 0.022512 q: -0.077336 0.823045 0.103201 0.553142 
time: 1403636628.063555, t: 0.179562 -0.250298 0.014833 q: -0.063122 0.828204 0.091192 0.549343 
time: 1403636628.263556, t: 0.208195 -0.266253 0.048752 q: -0.066600 0.812306 0.077964 0.574147 
time: 1403636628.463556, t: 0.235970 -0.286095 0.094102 q: -0.075051 0.809072 0.069858 0.578697 
time: 1403636628.663555, t: 0.259449 -0.318349 0.119650 q: -0.079522 0.810033 0.069556 0.576788 
time: 1403636628.863555, t: 0.281201 -0.365558 0.121063 q: -0.062589 0.816478 0.068658 0.569852 
time: 1403636629.063555, t: 0.298343 -0.418964 0.135007 q: -0.050469 0.824251 0.061455 0.560613 
time: 1403636629.263556, t: 0.317793 -0.474131 0.164650 q: -0.039312 0.824251 0.047013 0.562898 
time: 1403636629.463556, t: 0.352801 -0.527458 0.174725 q: -0.038718 0.818881 0.025562 0.572086 
time: 1403636629.663555, t: 0.392809 -0.590542 0.156593 q: -0.024275 0.823529 -0.001701 0.566753 
optimize pose graph 
time: 1403636629.863555, t: 0.445518 -0.663727 0.115721 q: 0.005535 0.831971 -0.033540 0.553776 
time: 1403636630.063555, t: 0.511215 -0.735572 0.075095 q: 0.026012 0.831177 -0.059504 0.552202 
time: 1403636630.263556, t: 0.588672 -0.811062 0.069339 q: 0.036493 0.816405 -0.071468 0.571877 
time: 1403636630.463556, t: 0.680584 -0.874318 0.082420 q: 0.039241 0.817421 -0.071431 0.570246 
time: 1403636630.663555, t: 0.772021 -0.938888 0.109580 q: 0.042416 0.820955 -0.061398 0.566096 
time: 1403636630.863555, t: 0.869794 -0.995612 0.126469 q: 0.035403 0.822273 -0.058341 0.564986 
time: 1403636631.063555, t: 0.966739 -1.054816 0.121678 q: 0.028585 0.821378 -0.058155 0.566692 
time: 1403636631.263556, t: 1.063439 -1.117065 0.107892 q: 0.027429 0.817380 -0.056787 0.572637 
time: 1403636631.463556, t: 1.155548 -1.178315 0.085217 q: 0.026979 0.817356 -0.055098 0.572857 
time: 1403636631.663555, t: 1.240335 -1.241178 0.051812 q: 0.029856 0.817910 -0.051005 0.572302 
optimize pose graph 
time: 1403636631.863555, t: 1.325794 -1.298080 0.036324 q: 0.031289 0.818497 -0.048129 0.571636 
time: 1403636632.063555, t: 1.408620 -1.348395 0.042663 q: 0.034085 0.818024 -0.047927 0.572169 
time: 1403636632.263556, t: 1.491521 -1.385820 0.043451 q: 0.039901 0.815749 -0.046777 0.575129 
wait for imu ... 
time: 1403636632.463556, t: 1.562415 -1.408414 0.028287 q: 0.037934 0.817456 -0.052056 0.572379 
time: 1403636632.663555, t: 1.634032 -1.423360 -0.009101 q: 0.014610 0.827791 -0.052439 0.558389 
time: 1403636632.863555, t: 1.726546 -1.445764 -0.038964 q: -0.007827 0.828408 -0.018463 0.559766 
time: 1403636633.063555, t: 1.815688 -1.471448 -0.037176 q: -0.017944 0.821880 0.025000 0.568829 
time: 1403636633.263556, t: 1.910675 -1.494855 -0.041012 q: -0.028702 0.821145 0.043813 0.568310 
time: 1403636633.463556, t: 2.013408 -1.514048 -0.066425 q: -0.039451 0.825224 0.043718 0.561728 
time: 1403636633.663555, t: 2.131388 -1.534749 -0.100347 q: -0.039000 0.829394 0.039557 0.555896 
time: 1403636633.863555, t: 2.266169 -1.555083 -0.112133 q: -0.037851 0.828424 0.032621 0.557868 
time: 1403636634.063555, t: 2.406688 -1.577385 -0.111258 q: -0.045527 0.825944 0.019541 0.561571 
time: 1403636634.263556, t: 2.553381 -1.611389 -0.103393 q: -0.039747 0.827252 0.026034 0.559819 
wait for imu ... 
time: 1403636634.463556, t: 2.711596 -1.653643 -0.082230 q: -0.032778 0.818267 0.035227 0.572821 
time: 1403636634.663555, t: 2.860671 -1.695414 -0.086788 q: -0.033851 0.813370 0.044287 0.579070 
time: 1403636634.863555, t: 3.010242 -1.732338 -0.094710 q: -0.041025 0.815821 0.058123 0.573912 
time: 1403636635.063555, t: 3.155984 -1.760270 -0.081176 q: -0.046044 0.818505 0.069958 0.568363 
time: 1403636635.263556, t: 3.290695 -1.783888 -0.077620 q: -0.051408 0.820939 0.074446 0.563803 
time: 1403636635.463556, t: 3.438543 -1.805173 -0.086696 q: -0.060722 0.823415 0.071106 0.559683 
time: 1403636635.663555, t: 3.590246 -1.827514 -0.074934 q: -0.065051 0.823088 0.066981 0.560186 
time: 1403636635.863555, t: 3.745520 -1.855619 -0.037604 q: -0.072852 0.817261 0.058536 0.568639 
time: 1403636636.063555, t: 3.903070 -1.898594 0.016540 q: -0.068664 0.825389 0.058907 0.557268 
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time: 1403636636.863555, t: 4.510923 -2.071827 0.197182 q: -0.023084 0.800013 0.090659 0.592645 
time: 1403636637.063555, t: 4.622718 -2.080797 0.180141 q: -0.043305 0.806654 0.080217 0.583951 
time: 1403636637.263556, t: 4.724980 -2.080892 0.152112 q: -0.052006 0.814988 0.076705 0.572020 
time: 1403636637.463556, t: 4.820568 -2.074548 0.143464 q: -0.052724 0.818928 0.079278 0.565944 
time: 1403636637.663555, t: 4.909373 -2.064871 0.163640 q: -0.056799 0.820619 0.079406 0.563075 
time: 1403636637.863555, t: 5.006842 -2.053135 0.210990 q: -0.057773 0.816963 0.081465 0.567976 
time: 1403636638.063555, t: 5.111736 -2.038079 0.254032 q: -0.059968 0.811986 0.082331 0.574721 
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time: 1403636638.463556, t: 5.289871 -2.010780 0.202866 q: -0.074303 0.825438 0.075757 0.554429 
time: 1403636638.663555, t: 5.382262 -2.008483 0.169685 q: -0.072843 0.832947 0.077967 0.542969 
time: 1403636638.863555, t: 5.496504 -2.015459 0.177532 q: -0.067947 0.822872 0.082550 0.558078 
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wait for imu ... 
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time: 1403636702.063555, t: 5.266152 -3.819553 -1.044270 q: 0.138592 0.789694 -0.218162 0.556400 
time: 1403636702.263556, t: 5.247662 -3.885893 -1.081831 q: 0.161640 0.779021 -0.253903 0.550030 
time: 1403636702.463556, t: 5.235163 -3.950689 -1.139582 q: 0.179328 0.778485 -0.271548 0.536716 
time: 1403636702.663555, t: 5.233516 -4.011094 -1.214317 q: 0.189015 0.780033 -0.277995 0.527769 
time: 1403636702.863555, t: 5.249014 -4.071672 -1.305196 q: 0.191275 0.782996 -0.278899 0.522060 
time: 1403636703.063555, t: 5.276503 -4.134487 -1.386856 q: 0.187879 0.780721 -0.279684 0.526264 
time: 1403636703.263556, t: 5.318406 -4.203759 -1.437201 q: 0.173879 0.767585 -0.287242 0.545959 
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time: 1403636703.863555, t: 5.397067 -4.447114 -1.457488 q: 0.183213 0.771211 -0.274795 0.544201 
time: 1403636704.063555, t: 5.419497 -4.525538 -1.475580 q: 0.176034 0.768412 -0.275628 0.550077 
time: 1403636704.263556, t: 5.436676 -4.603424 -1.509644 q: 0.174913 0.776532 -0.272905 0.540302 
time: 1403636704.463556, t: 5.458652 -4.686002 -1.536123 q: 0.177291 0.782598 -0.269267 0.532544 
time: 1403636704.663555, t: 5.493806 -4.772582 -1.534932 q: 0.177870 0.788063 -0.267975 0.524889 
time: 1403636704.863555, t: 5.545693 -4.861825 -1.550857 q: 0.175126 0.796576 -0.267522 0.513059 
time: 1403636705.063555, t: 5.623768 -4.961179 -1.587371 q: 0.174075 0.801994 -0.265054 0.506212 
time: 1403636705.263556, t: 5.732381 -5.071008 -1.621564 q: 0.183560 0.787191 -0.256378 0.530006 
time: 1403636705.463556, t: 5.858631 -5.179629 -1.638096 q: 0.183580 0.785154 -0.256029 0.533179 
time: 1403636705.663555, t: 5.995883 -5.281796 -1.663009 q: 0.181256 0.790460 -0.258911 0.524675 
time: 1403636705.863555, t: 6.151524 -5.390164 -1.702594 q: 0.179305 0.782579 -0.260367 0.536310 
time: 1403636706.063555, t: 6.310159 -5.496940 -1.716012 q: 0.161912 0.771630 -0.270098 0.552647 
time: 1403636706.263556, t: 6.455528 -5.609582 -1.721984 q: 0.168799 0.771430 -0.262161 0.554684 
time: 1403636706.463556, t: 6.588209 -5.722082 -1.755537 q: 0.182431 0.780611 -0.249704 0.543152 
time: 1403636706.663555, t: 6.717698 -5.823749 -1.779955 q: 0.184930 0.784609 -0.247971 0.537308 
time: 1403636706.863555, t: 6.860843 -5.920083 -1.777797 q: 0.183137 0.789290 -0.252098 0.529083 
time: 1403636707.063555, t: 7.021749 -6.016272 -1.763188 q: 0.186577 0.785263 -0.255181 0.532386 
time: 1403636707.263556, t: 7.187382 -6.107214 -1.745745 q: 0.191004 0.782550 -0.259613 0.532668 
time: 1403636707.463556, t: 7.369120 -6.193786 -1.706705 q: 0.194139 0.783534 -0.262736 0.528539 
time: 1403636707.663555, t: 7.576267 -6.299295 -1.648297 q: 0.183171 0.783204 -0.271140 0.528699 
time: 1403636707.863555, t: 7.760357 -6.355593 -1.619677 q: 0.174978 0.780726 -0.276516 0.532342 
time: 1403636708.063555, t: 7.955469 -6.441860 -1.635821 q: 0.177315 0.778847 -0.269349 0.537966 
time: 1403636708.263556, t: 8.140555 -6.528458 -1.678242 q: 0.176454 0.776064 -0.263935 0.544911 
time: 1403636708.463556, t: 8.316307 -6.617704 -1.729074 q: 0.156426 0.766949 -0.275307 0.558146 
time: 1403636708.663555, t: 8.478910 -6.725973 -1.753054 q: 0.166949 0.766764 -0.268718 0.558562 
time: 1403636708.863555, t: 8.614758 -6.832261 -1.784511 q: 0.192582 0.768453 -0.254993 0.554411 
time: 1403636709.063555, t: 8.747384 -6.921452 -1.812955 q: 0.204930 0.763103 -0.254587 0.557550 
time: 1403636709.263556, t: 8.873239 -6.983378 -1.816074 q: 0.207706 0.765460 -0.259951 0.550776 
time: 1403636709.463556, t: 8.999686 -7.022240 -1.809036 q: 0.206610 0.770491 -0.262653 0.542835 
time: 1403636709.663555, t: 9.130947 -7.046210 -1.829663 q: 0.206187 0.773779 -0.262279 0.538482 
optimize pose graph 
time: 1403636709.863555, t: 9.265790 -7.053955 -1.854682 q: 0.203505 0.774834 -0.260019 0.539080 
wait for imu ... 
time: 1403636710.063555, t: 9.410146 -7.045549 -1.856489 q: 0.202297 0.774654 -0.256715 0.541372 
time: 1403636710.263556, t: 9.564103 -7.024172 -1.865053 q: 0.198845 0.774500 -0.252838 0.544687 
time: 1403636710.463556, t: 9.723523 -6.990179 -1.905861 q: 0.169484 0.772145 -0.258393 0.555248 
time: 1403636710.663555, t: 9.872206 -6.955635 -1.961141 q: 0.144742 0.776046 -0.244309 0.563130 
time: 1403636710.863555, t: 10.002717 -6.931211 -2.014474 q: 0.135749 0.785239 -0.206527 0.567731 
time: 1403636711.063555, t: 10.119407 -6.909617 -2.044343 q: 0.131557 0.795477 -0.167290 0.567383 
time: 1403636711.263556, t: 10.232627 -6.877200 -2.058291 q: 0.129917 0.797799 -0.148905 0.569619 
time: 1403636711.463556, t: 10.334389 -6.826069 -2.057856 q: 0.121162 0.788602 -0.150197 0.583838 
time: 1403636711.663555, t: 10.421546 -6.759788 -2.047904 q: 0.129108 0.778754 -0.148567 0.595652 
time: 1403636711.863555, t: 10.477623 -6.671284 -2.032734 q: 0.127404 0.782609 -0.155243 0.589229 
time: 1403636712.063555, t: 10.507808 -6.568473 -2.004836 q: 0.106769 0.787713 -0.173062 0.581514 
time: 1403636712.263556, t: 10.517388 -6.470072 -1.956036 q: 0.106997 0.789038 -0.163807 0.582356 
time: 1403636712.463556, t: 10.510356 -6.371716 -1.887780 q: 0.107953 0.792153 -0.130201 0.586419 
time: 1403636712.663555, t: 10.486894 -6.262786 -1.810745 q: 0.094573 0.789978 -0.111922 0.595369 
time: 1403636713.063555, t: 10.375591 -6.025359 -1.720995 q: 0.080516 0.795003 -0.101571 0.592597 
time: 1403636713.263556, t: 10.291474 -5.896925 -1.671150 q: 0.074035 0.798175 -0.102967 0.588926 
time: 1403636713.463556, t: 10.198001 -5.767297 -1.591763 q: 0.071114 0.800741 -0.106007 0.585251 
time: 1403636713.663555, t: 10.095505 -5.641975 -1.506102 q: 0.062597 0.802853 -0.114937 0.581634 
time: 1403636713.863555, t: 9.985225 -5.530813 -1.444490 q: 0.057500 0.803895 -0.122907 0.579085 
optimize pose graph 
time: 1403636714.063555, t: 9.869426 -5.438493 -1.405837 q: 0.069241 0.804993 -0.119992 0.576883 
time: 1403636714.263556, t: 9.752545 -5.359955 -1.387509 q: 0.072300 0.803114 -0.123320 0.578423 
time: 1403636714.463556, t: 9.632696 -5.289725 -1.384219 q: 0.070231 0.807900 -0.127185 0.571129 
time: 1403636714.663555, t: 9.513537 -5.224800 -1.394500 q: 0.057677 0.818361 -0.112251 0.560677 
time: 1403636714.863555, t: 9.407580 -5.172116 -1.388636 q: 0.039978 0.824304 -0.070673 0.560295 
time: 1403636715.063555, t: 9.317099 -5.126718 -1.353824 q: 0.017523 0.827983 -0.026198 0.559867 
time: 1403636715.263556, t: 9.241014 -5.084020 -1.298140 q: 0.004020 0.828887 -0.001767 0.559398 
time: 1403636715.463556, t: 9.192807 -5.047908 -1.260845 q: -0.009946 0.822729 0.000272 0.568347 
time: 1403636715.663555, t: 9.152296 -5.017593 -1.256168 q: -0.024608 0.816542 -0.009400 0.576685 
time: 1403636715.863555, t: 9.114318 -5.004173 -1.257830 q: -0.008033 0.804380 -0.002785 0.594054 
optimize pose graph 
time: 1403636716.063555, t: 9.055121 -4.994276 -1.239798 q: -0.000464 0.799707 -0.003636 0.600380 
time: 1403636716.263556, t: 8.971854 -4.984215 -1.207580 q: -0.001616 0.809771 -0.012408 0.586613 
time: 1403636716.463556, t: 8.878556 -4.978686 -1.188779 q: 0.001682 0.814421 -0.017963 0.579994 
time: 1403636716.663555, t: 8.789076 -4.975759 -1.196660 q: 0.003058 0.813593 -0.012500 0.581292 
time: 1403636717.063555, t: 8.604045 -4.966941 -1.234580 q: -0.037873 0.813418 0.045963 0.578623 
time: 1403636717.263556, t: 8.509695 -4.964475 -1.224677 q: -0.053699 0.811244 0.079844 0.576736 
time: 1403636717.463556, t: 8.407607 -4.963487 -1.210115 q: -0.046381 0.808003 0.105531 0.577792 
time: 1403636717.663555, t: 8.302046 -4.945207 -1.215154 q: -0.054600 0.807817 0.104808 0.577465 
time: 1403636717.863555, t: 8.193238 -4.910151 -1.238047 q: -0.054718 0.807479 0.112916 0.576397 
time: 1403636718.063555, t: 8.076877 -4.852095 -1.241809 q: -0.068360 0.804228 0.137173 0.574219 
time: 1403636718.263556, t: 7.953385 -4.773249 -1.232463 q: -0.101472 0.801099 0.158409 0.568199 
time: 1403636718.463556, t: 7.825700 -4.689009 -1.249829 q: -0.128143 0.798454 0.176705 0.561093 
time: 1403636718.663555, t: 7.703359 -4.601744 -1.288889 q: -0.155999 0.795420 0.190980 0.553623 
time: 1403636718.863555, t: 7.592153 -4.524814 -1.341726 q: -0.162448 0.792222 0.206237 0.550874 
time: 1403636719.063555, t: 7.498043 -4.460156 -1.375692 q: -0.154721 0.786246 0.219743 0.556410 
time: 1403636719.263556, t: 7.411119 -4.396611 -1.379864 q: -0.156835 0.778936 0.218728 0.566409 
time: 1403636719.463556, t: 7.310189 -4.339621 -1.401576 q: -0.161659 0.776099 0.212293 0.571374 
time: 1403636719.663555, t: 7.205535 -4.293408 -1.441658 q: -0.160162 0.782670 0.208555 0.564164 
time: 1403636719.863555, t: 7.091815 -4.255381 -1.454502 q: -0.156232 0.789207 0.203698 0.557898 
time: 1403636720.063555, t: 6.983978 -4.223709 -1.453345 q: -0.153669 0.792209 0.199964 0.555703 
optimize pose graph 
time: 1403636720.263556, t: 6.888356 -4.199823 -1.472147 q: -0.153242 0.793316 0.199166 0.554527 
time: 1403636720.463556, t: 6.793928 -4.179824 -1.505122 q: -0.155681 0.793382 0.199555 0.553612 
time: 1403636720.663555, t: 6.708803 -4.168343 -1.523404 q: -0.158068 0.793558 0.201382 0.552019 
time: 1403636720.863555, t: 6.634273 -4.163612 -1.515388 q: -0.151770 0.795084 0.194452 0.554071 
time: 1403636721.063555, t: 6.567424 -4.164891 -1.518059 q: -0.139562 0.797884 0.171629 0.560756 
time: 1403636721.263556, t: 6.507817 -4.175771 -1.535671 q: -0.123294 0.799373 0.143400 0.570296 
time: 1403636721.463556, t: 6.447958 -4.195665 -1.530387 q: -0.108606 0.802039 0.125930 0.573655 
time: 1403636721.663555, t: 6.382606 -4.220975 -1.521423 q: -0.091598 0.806698 0.111799 0.573017 
time: 1403636722.063555, t: 6.248998 -4.266189 -1.560695 q: -0.074754 0.806212 0.111037 0.576285 
time: 1403636722.263556, t: 6.179584 -4.282351 -1.557672 q: -0.079851 0.807189 0.111749 0.574092 
time: 1403636722.463556, t: 6.108329 -4.294920 -1.552198 q: -0.080269 0.807599 0.108493 0.574081 
time: 1403636722.663555, t: 6.030435 -4.308290 -1.565424 q: -0.073865 0.808698 0.102806 0.574441 
time: 1403636722.863555, t: 5.955314 -4.314669 -1.580228 q: -0.067861 0.809242 0.101998 0.574559 
time: 1403636723.063555, t: 5.873756 -4.315075 -1.571169 q: -0.073216 0.809506 0.097766 0.574266 
time: 1403636723.263556, t: 5.797924 -4.315034 -1.554601 q: -0.073305 0.809977 0.097267 0.573674 
time: 1403636723.463556, t: 5.725087 -4.313978 -1.553397 q: -0.060351 0.808643 0.093586 0.577665 
time: 1403636723.663555, t: 5.647323 -4.308370 -1.548367 q: -0.054264 0.800329 0.071575 0.592795 
time: 1403636723.863555, t: 5.565628 -4.298989 -1.526543 q: -0.047315 0.811231 0.058661 0.579849 
time: 1403636724.063555, t: 5.475232 -4.290795 -1.523254 q: -0.040764 0.821023 0.047418 0.567460 
time: 1403636724.263556, t: 5.389883 -4.285331 -1.537454 q: -0.022380 0.824904 0.023532 0.564339 
time: 1403636724.463556, t: 5.312158 -4.282613 -1.556952 q: 0.000695 0.820280 -0.005856 0.571932 
time: 1403636724.663555, t: 5.239235 -4.275281 -1.552858 q: 0.014874 0.816039 -0.022383 0.577372 
time: 1403636724.863555, t: 5.180895 -4.257909 -1.515924 q: 0.017747 0.817309 -0.029280 0.575182 
time: 1403636725.063555, t: 5.128431 -4.236577 -1.447545 q: 0.008159 0.818222 -0.033427 0.573872 
time: 1403636725.263556, t: 5.083255 -4.221470 -1.363552 q: 0.003498 0.819360 -0.032786 0.572331 
time: 1403636725.463556, t: 5.042717 -4.212786 -1.296209 q: 0.008315 0.819601 -0.028741 0.572153 
time: 1403636725.663555, t: 5.006833 -4.206529 -1.254938 q: 0.012121 0.819104 -0.026660 0.572897 
time: 1403636725.863555, t: 4.971923 -4.200355 -1.238809 q: 0.011232 0.819923 -0.026973 0.571728 
time: 1403636726.063555, t: 4.939201 -4.194183 -1.240489 q: 0.007873 0.819448 -0.026979 0.572464 
optimize pose graph 
time: 1403636726.263556, t: 4.906565 -4.187264 -1.255815 q: 0.009362 0.817553 -0.023176 0.575310 
time: 1403636726.463556, t: 4.876002 -4.179510 -1.260461 q: 0.007642 0.815822 -0.020468 0.577890 
time: 1403636726.663555, t: 4.846555 -4.173167 -1.237734 q: -0.015717 0.812410 -0.033458 0.581913 
time: 1403636726.863555, t: 4.810316 -4.179949 -1.186715 q: -0.005282 0.811449 -0.022787 0.583955 
time: 1403636727.063555, t: 4.762418 -4.194232 -1.116840 q: 0.000218 0.811181 -0.010535 0.584701 
time: 1403636727.263556, t: 4.720988 -4.211214 -1.055796 q: 0.007175 0.812548 -0.001392 0.582848 
time: 1403636727.463556, t: 4.666932 -4.215701 -1.015249 q: 0.012055 0.813764 0.002692 0.581064 
time: 1403636727.663555, t: 4.622410 -4.212347 -0.973405 q: 0.004106 0.811087 -0.002625 0.584905 
time: 1403636727.863555, t: 4.560709 -4.197979 -0.902690 q: 0.011322 0.813064 0.001910 0.582061 
time: 1403636728.063555, t: 4.503918 -4.173801 -0.835797 q: 0.013993 0.813324 0.003228 0.581634 
optimize pose graph 
time: 1403636728.263556, t: 4.440187 -4.138613 -0.790888 q: 0.007115 0.810816 -0.002367 0.585253 
time: 1403636728.463556, t: 4.360920 -4.093780 -0.765945 q: -0.002452 0.811139 -0.009788 0.584767 
time: 1403636728.663555, t: 4.287224 -4.053581 -0.762547 q: -0.013669 0.811859 -0.010859 0.583593 
time: 1403636728.863555, t: 4.195263 -4.015323 -0.737450 q: -0.014628 0.811578 0.020857 0.583689 
time: 1403636729.063555, t: 4.102873 -3.974092 -0.702973 q: -0.024035 0.807549 0.042862 0.587750 
time: 1403636729.263556, t: 4.007505 -3.931374 -0.689994 q: -0.032582 0.808517 0.051625 0.585298 
time: 1403636729.463556, t: 3.900946 -3.886039 -0.693751 q: -0.035285 0.807902 0.054430 0.585736 
time: 1403636729.663555, t: 3.794202 -3.840767 -0.678975 q: -0.036806 0.809133 0.054474 0.583936 
time: 1403636729.863555, t: 3.683098 -3.793806 -0.651472 q: -0.036362 0.813087 0.053256 0.578560 
time: 1403636730.063555, t: 3.567081 -3.744688 -0.638783 q: -0.037460 0.816672 0.051985 0.573534 
time: 1403636730.263556, t: 3.461854 -3.691753 -0.646597 q: -0.038083 0.817629 0.052697 0.572062 
time: 1403636730.463556, t: 3.364451 -3.640206 -0.666296 q: -0.040167 0.820506 0.052610 0.567793 
wait for imu ... 
time: 1403636730.663555, t: 3.280739 -3.588519 -0.664505 q: -0.040332 0.827582 0.052984 0.557381 
time: 1403636730.863555, t: 3.214372 -3.532408 -0.625079 q: -0.041575 0.829434 0.052551 0.554571 
time: 1403636731.063555, t: 3.157837 -3.477531 -0.586904 q: -0.058978 0.825881 0.038798 0.559407 
time: 1403636731.263556, t: 3.119939 -3.439240 -0.566491 q: -0.059021 0.814960 0.036639 0.575338 
time: 1403636731.463556, t: 3.083057 -3.419150 -0.566405 q: -0.044670 0.813346 0.045208 0.578298 
time: 1403636731.663555, t: 3.058871 -3.410591 -0.584170 q: -0.054228 0.814466 0.038826 0.576365 
time: 1403636731.863555, t: 3.036895 -3.414546 -0.616638 q: -0.047360 0.814366 0.043674 0.576765 
time: 1403636732.063555, t: 3.011867 -3.425525 -0.662790 q: -0.045554 0.812449 0.046896 0.579354 
time: 1403636732.263556, t: 2.983750 -3.440176 -0.718942 q: -0.044213 0.810654 0.049598 0.581743 
time: 1403636732.463556, t: 2.948773 -3.457756 -0.751534 q: -0.033735 0.807447 0.057946 0.586117 
time: 1403636732.663555, t: 2.892239 -3.464208 -0.751708 q: -0.018729 0.799538 0.069914 0.596238 
time: 1403636732.863555, t: 2.820583 -3.450608 -0.734073 q: -0.033300 0.798545 0.061591 0.597849 
time: 1403636733.063555, t: 2.725689 -3.427820 -0.724502 q: -0.035926 0.803943 0.061186 0.590459 
time: 1403636733.263556, t: 2.621720 -3.396178 -0.702412 q: -0.033365 0.807373 0.064459 0.585560 
time: 1403636733.463556, t: 2.506339 -3.357081 -0.660885 q: -0.040639 0.811919 0.060997 0.579151 
time: 1403636733.663555, t: 2.392998 -3.312933 -0.612829 q: -0.042501 0.815612 0.060508 0.573855 
time: 1403636733.863555, t: 2.287884 -3.266779 -0.585348 q: -0.042298 0.818109 0.061518 0.570197 
time: 1403636734.063555, t: 2.184023 -3.216697 -0.575317 q: -0.037279 0.812603 0.064427 0.578045 
time: 1403636734.263556, t: 2.075994 -3.161384 -0.565908 q: -0.041475 0.810681 0.061463 0.580773 
time: 1403636734.463556, t: 1.967874 -3.105501 -0.529188 q: -0.046219 0.814355 0.060383 0.575364 
time: 1403636734.663555, t: 1.860918 -3.050477 -0.491310 q: -0.047364 0.818709 0.062120 0.568870 
time: 1403636734.863555, t: 1.763520 -2.995138 -0.479174 q: -0.047588 0.819335 0.065034 0.567623 
time: 1403636735.063555, t: 1.672944 -2.940989 -0.486918 q: -0.049259 0.819079 0.065354 0.567813 
time: 1403636735.263556, t: 1.591110 -2.890377 -0.493181 q: -0.052315 0.820650 0.062074 0.565635 
time: 1403636735.463556, t: 1.524010 -2.838372 -0.461794 q: -0.052295 0.820915 0.056376 0.565849 
time: 1403636735.663555, t: 1.465000 -2.792359 -0.402551 q: -0.046049 0.818744 0.052422 0.569904 
time: 1403636735.863555, t: 1.412178 -2.746765 -0.355920 q: -0.043637 0.819109 0.048935 0.569879 
time: 1403636736.063555, t: 1.363379 -2.705058 -0.325056 q: -0.044534 0.817299 0.053916 0.571955 
time: 1403636736.263556, t: 1.316651 -2.663201 -0.274255 q: -0.059414 0.811793 0.072482 0.576375 
time: 1403636736.463556, t: 1.275320 -2.628189 -0.225879 q: -0.065042 0.809205 0.091417 0.576715 
time: 1403636736.663555, t: 1.230443 -2.585086 -0.203749 q: -0.059730 0.805915 0.106269 0.579345 
time: 1403636736.863555, t: 1.182209 -2.533420 -0.197943 q: -0.061303 0.804821 0.110218 0.579963 
time: 1403636737.063555, t: 1.127913 -2.469222 -0.205948 q: -0.070983 0.805726 0.109016 0.577826 
time: 1403636737.263556, t: 1.066821 -2.401506 -0.226892 q: -0.082362 0.806079 0.107959 0.576019 
time: 1403636737.463556, t: 1.004694 -2.330360 -0.248337 q: -0.084751 0.810735 0.112145 0.568286 
time: 1403636737.663555, t: 0.945377 -2.264619 -0.240502 q: -0.091289 0.814003 0.110802 0.562840 
time: 1403636737.863555, t: 0.894697 -2.210116 -0.205391 q: -0.099030 0.816422 0.105018 0.559124 
time: 1403636738.063555, t: 0.865255 -2.172863 -0.135512 q: -0.097660 0.816532 0.103393 0.559508 
time: 1403636738.263556, t: 0.856779 -2.150475 -0.063810 q: -0.090765 0.814289 0.104258 0.563759 
time: 1403636738.463556, t: 0.847399 -2.132927 -0.019259 q: -0.086986 0.815431 0.101376 0.563231 
time: 1403636738.663555, t: 0.859189 -2.119976 -0.003619 q: -0.075118 0.820628 0.080911 0.560697 
time: 1403636738.863555, t: 0.865920 -2.122654 -0.012472 q: -0.057227 0.818587 0.040209 0.570108 
time: 1403636739.063555, t: 0.883418 -2.138227 -0.048347 q: -0.036001 0.817307 -0.011782 0.574957 
time: 1403636739.263556, t: 0.901003 -2.178037 -0.102482 q: 0.008937 0.815973 -0.053457 0.575543 
time: 1403636739.463556, t: 0.914706 -2.226725 -0.159420 q: 0.057503 0.812543 -0.089504 0.573111 
time: 1403636739.663555, t: 0.922963 -2.271283 -0.183032 q: 0.079128 0.808068 -0.126046 0.569980 
time: 1403636739.863555, t: 0.937678 -2.310393 -0.197742 q: 0.084000 0.805347 -0.143252 0.569069 
time: 1403636740.063555, t: 0.943704 -2.352901 -0.237845 q: 0.087911 0.805704 -0.143031 0.568028 
time: 1403636740.263556, t: 0.965258 -2.397786 -0.282269 q: 0.097829 0.806627 -0.130833 0.568036 
optimize pose graph 
time: 1403636740.463556, t: 0.968603 -2.434017 -0.348231 q: 0.087419 0.805067 -0.131920 0.571684 
time: 1403636740.663555, t: 0.964759 -2.468815 -0.411418 q: 0.080645 0.804161 -0.130952 0.574171 
time: 1403636740.863555, t: 0.958400 -2.500214 -0.455605 q: 0.077437 0.807006 -0.129029 0.571049 
time: 1403636741.063555, t: 0.947002 -2.534455 -0.515682 q: 0.096011 0.804719 -0.115214 0.574400 
time: 1403636741.263556, t: 0.932695 -2.552256 -0.603788 q: 0.098493 0.799245 -0.131203 0.578180 
time: 1403636741.463556, t: 0.906997 -2.562669 -0.702968 q: 0.092315 0.804641 -0.149431 0.567187 
time: 1403636741.663555, t: 0.883464 -2.574637 -0.777637 q: 0.091962 0.813449 -0.155959 0.552740 
time: 1403636741.863555, t: 0.873249 -2.596934 -0.824346 q: 0.098356 0.809538 -0.149517 0.559124 
time: 1403636742.063555, t: 0.872519 -2.619134 -0.885559 q: 0.106826 0.811758 -0.136284 0.557731 
time: 1403636742.263556, t: 0.881238 -2.634194 -0.941826 q: 0.092812 0.817875 -0.138461 0.550722 
optimize pose graph 
time: 1403636742.463556, t: 0.902053 -2.647407 -0.965617 q: 0.086945 0.810755 -0.136257 0.562629 
time: 1403636742.663555, t: 0.933065 -2.659664 -0.971691 q: 0.086273 0.806611 -0.132900 0.569449 
time: 1403636742.863555, t: 0.964486 -2.677179 -1.002752 q: 0.083946 0.802706 -0.130624 0.575807 
time: 1403636743.063555, t: 0.981986 -2.694142 -1.064681 q: 0.084676 0.806046 -0.137015 0.569515 
time: 1403636743.263556, t: 1.000112 -2.713037 -1.134972 q: 0.086634 0.824959 -0.150918 0.537737 
time: 1403636743.463556, t: 1.040590 -2.745317 -1.171451 q: 0.086237 0.824780 -0.158133 0.536000 
time: 1403636743.663555, t: 1.105096 -2.790153 -1.205574 q: 0.094184 0.815274 -0.154267 0.550145 
time: 1403636743.863555, t: 1.183122 -2.838633 -1.265295 q: 0.102237 0.804418 -0.159186 0.563133 
time: 1403636744.063555, t: 1.264410 -2.886158 -1.349083 q: 0.113482 0.797731 -0.164945 0.568807 
time: 1403636744.263556, t: 1.342323 -2.928233 -1.454741 q: 0.119480 0.791616 -0.179656 0.571658 
time: 1403636744.463556, t: 1.412651 -2.966361 -1.583025 q: 0.113564 0.788441 -0.192026 0.573228 
time: 1403636744.663555, t: 1.472861 -3.008956 -1.727784 q: 0.104061 0.784122 -0.197021 0.579229 
time: 1403636744.863555, t: 1.511345 -3.058296 -1.876839 q: 0.117183 0.785795 -0.187216 0.577706 
time: 1403636745.063555, t: 1.534139 -3.103438 -1.996583 q: 0.117807 0.795835 -0.182459 0.565222 
time: 1403636745.263556, t: 1.563065 -3.152833 -2.089570 q: 0.110858 0.802157 -0.176723 0.559484 
time: 1403636745.463556, t: 1.594217 -3.201854 -2.150997 q: 0.112709 0.795844 -0.165629 0.571399 
time: 1403636745.663555, t: 1.620075 -3.244147 -2.173859 q: 0.115642 0.791262 -0.169175 0.576118 
time: 1403636745.863555, t: 1.641367 -3.276213 -2.166731 q: 0.128155 0.790573 -0.175379 0.572550 
time: 1403636746.063555, t: 1.658680 -3.294229 -2.138252 q: 0.144702 0.789977 -0.180216 0.567908 
time: 1403636746.263556, t: 1.680128 -3.292540 -2.088934 q: 0.153947 0.785599 -0.183531 0.570483 
time: 1403636746.463556, t: 1.696670 -3.266579 -2.043254 q: 0.153249 0.775968 -0.185935 0.582937 
time: 1403636746.663555, t: 1.703629 -3.217111 -2.037301 q: 0.132335 0.797394 -0.194925 0.555566 
time: 1403636746.863555, t: 1.715708 -3.167222 -2.046393 q: 0.106926 0.807365 -0.204639 0.543001 
time: 1403636747.063555, t: 1.743857 -3.141365 -2.044662 q: 0.108808 0.803672 -0.197578 0.550668 
time: 1403636747.263556, t: 1.787182 -3.130722 -2.003118 q: 0.127550 0.797155 -0.184719 0.560494 
time: 1403636747.463556, t: 1.839365 -3.113362 -1.939687 q: 0.134818 0.795212 -0.183822 0.561846 
time: 1403636747.663555, t: 1.891409 -3.085815 -1.894064 q: 0.134710 0.796393 -0.189753 0.558215 
time: 1403636747.863555, t: 1.944155 -3.048612 -1.830673 q: 0.135879 0.795270 -0.195411 0.557581 
time: 1403636748.063555, t: 2.008594 -3.012441 -1.744853 q: 0.115455 0.787587 -0.215881 0.565483 
time: 1403636748.263556, t: 2.053966 -2.989653 -1.686917 q: 0.118331 0.788989 -0.217347 0.562366 
time: 1403636748.463556, t: 2.097564 -2.983186 -1.647748 q: 0.139584 0.792458 -0.201952 0.558339 
time: 1403636748.663555, t: 2.145572 -2.973802 -1.592091 q: 0.136313 0.789911 -0.204316 0.561885 
time: 1403636748.863555, t: 2.186403 -2.966647 -1.537860 q: 0.124394 0.786046 -0.215798 0.565764 
time: 1403636749.063555, t: 2.222522 -2.967954 -1.499400 q: 0.121875 0.782526 -0.225309 0.567482 
time: 1403636749.263556, t: 2.248704 -2.984916 -1.467177 q: 0.127057 0.780610 -0.227679 0.568038 
time: 1403636749.463556, t: 2.260360 -3.013253 -1.411335 q: 0.145776 0.782777 -0.217324 0.564605 
time: 1403636749.663555, t: 2.269953 -3.038951 -1.343218 q: 0.157540 0.785331 -0.207588 0.561555 
time: 1403636749.863555, t: 2.282335 -3.056844 -1.299529 q: 0.153072 0.778147 -0.206023 0.573246 
time: 1403636750.063555, t: 2.287401 -3.062843 -1.280838 q: 0.148076 0.774441 -0.201643 0.581080 
time: 1403636750.263556, t: 2.274649 -3.053844 -1.262489 q: 0.142060 0.780886 -0.198806 0.574902 
time: 1403636750.463556, t: 2.252666 -3.034847 -1.212570 q: 0.136113 0.786894 -0.195275 0.569333 
time: 1403636750.663555, t: 2.223183 -3.009742 -1.123262 q: 0.133459 0.789273 -0.188297 0.569018 
time: 1403636750.863555, t: 2.190381 -2.979256 -1.008897 q: 0.131573 0.792296 -0.184254 0.566574 
time: 1403636751.063555, t: 2.152159 -2.938068 -0.882327 q: 0.135149 0.795530 -0.181206 0.562166 
time: 1403636751.263556, t: 2.122105 -2.890970 -0.775959 q: 0.132475 0.801773 -0.185709 0.552379 
time: 1403636751.463556, t: 2.098349 -2.840183 -0.680039 q: 0.121233 0.797955 -0.197200 0.556492 
time: 1403636751.663555, t: 2.084880 -2.801579 -0.586634 q: 0.107439 0.793178 -0.197605 0.565931 
time: 1403636751.863555, t: 2.064454 -2.776411 -0.509739 q: 0.099001 0.804752 -0.191857 0.552959 
time: 1403636752.063555, t: 2.053708 -2.774072 -0.435832 q: 0.109377 0.810338 -0.178149 0.547404 
time: 1403636752.463556, t: 2.077000 -2.799669 -0.294186 q: 0.092355 0.799970 -0.141482 0.575762 
time: 1403636752.663555, t: 2.087569 -2.808970 -0.217632 q: 0.069461 0.808518 -0.105256 0.574800 
time: 1403636752.863555, t: 2.090395 -2.814270 -0.162533 q: 0.044519 0.814714 -0.065334 0.574449 
time: 1403636753.063555, t: 2.093501 -2.815752 -0.134894 q: 0.025602 0.817433 -0.016928 0.575205 
time: 1403636753.263556, t: 2.097032 -2.805267 -0.133105 q: 0.000624 0.817965 0.031114 0.574426 
time: 1403636753.463556, t: 2.097109 -2.778349 -0.147187 q: -0.025743 0.814001 0.066684 0.576448 
time: 1403636753.663555, t: 2.091862 -2.739406 -0.141216 q: -0.046310 0.811649 0.074096 0.577574 
time: 1403636753.863555, t: 2.079940 -2.695363 -0.132540 q: -0.047547 0.810124 0.074921 0.579504 
time: 1403636754.063555, t: 2.060240 -2.645191 -0.137257 q: -0.045032 0.808163 0.070434 0.582996 
time: 1403636754.263556, t: 2.034839 -2.593710 -0.123441 q: -0.039439 0.802676 0.067203 0.591303 
time: 1403636754.463556, t: 1.994840 -2.534506 -0.088068 q: -0.037962 0.802822 0.068861 0.591011 
optimize pose graph 
time: 1403636754.663555, t: 1.939284 -2.457891 -0.063519 q: -0.046565 0.804047 0.086809 0.586349 
time: 1403636754.863555, t: 1.869609 -2.382026 -0.057690 q: -0.067439 0.801697 0.111763 0.583303 
time: 1403636755.063555, t: 1.791089 -2.295674 -0.070277 q: -0.079241 0.799249 0.128577 0.581712 
time: 1403636755.263556, t: 1.697304 -2.206254 -0.073222 q: -0.085825 0.800552 0.135009 0.577515 
time: 1403636755.463556, t: 1.598901 -2.114656 -0.049660 q: -0.085212 0.811907 0.137365 0.560961 
time: 1403636755.663555, t: 1.511147 -2.017260 -0.024662 q: -0.082112 0.810916 0.136237 0.563128 
time: 1403636755.863555, t: 1.425843 -1.914654 -0.021418 q: -0.084804 0.807392 0.131534 0.568881 
time: 1403636756.063555, t: 1.342989 -1.807184 -0.021453 q: -0.087412 0.804259 0.129192 0.573442 
time: 1403636756.263556, t: 1.258147 -1.694644 0.001834 q: -0.087283 0.802014 0.129935 0.576431 
time: 1403636756.463556, t: 1.159681 -1.580419 0.022072 q: -0.087996 0.800642 0.131605 0.577849 
optimize pose graph 
time: 1403636756.863555, t: 0.948997 -1.368797 0.024248 q: -0.093339 0.798040 0.133593 0.580149 
time: 1403636757.063555, t: 0.829509 -1.266149 0.052257 q: -0.096165 0.798559 0.133656 0.578958 
time: 1403636757.263556, t: 0.699751 -1.163547 0.068033 q: -0.096198 0.798525 0.134520 0.578799 
time: 1403636757.463556, t: 0.560627 -1.065384 0.061091 q: -0.091203 0.801195 0.139257 0.574783 
time: 1403636757.663555, t: 0.419048 -0.961102 0.064579 q: -0.093262 0.809878 0.152745 0.558631 
time: 1403636757.863555, t: 0.288835 -0.844392 0.097549 q: -0.101941 0.817690 0.163436 0.542475 
time: 1403636758.063555, t: 0.176871 -0.712804 0.161089 q: -0.112953 0.806759 0.165964 0.555732 
time: 1403636758.263556, t: 0.074793 -0.590723 0.204899 q: -0.121357 0.795632 0.164516 0.570242 
time: 1403636758.463556, t: -0.025233 -0.467307 0.215017 q: -0.127334 0.804996 0.160864 0.556677 
time: 1403636758.663555, t: -0.108168 -0.354303 0.203820 q: -0.139199 0.824493 0.151510 0.527144 
optimize pose graph 
time: 1403636758.863555, t: -0.150447 -0.252333 0.192506 q: -0.134915 0.806452 0.152615 0.555104 
time: 1403636759.063555, t: -0.172375 -0.168033 0.164749 q: -0.129582 0.797502 0.155968 0.568219 
time: 1403636759.263556, t: -0.188131 -0.104416 0.123397 q: -0.161923 0.798886 0.134153 0.563529 
time: 1403636759.463556, t: -0.201138 -0.073442 0.070786 q: -0.145272 0.796301 0.147278 0.568428 
time: 1403636759.663555, t: -0.219589 -0.067255 0.014628 q: -0.127016 0.793640 0.162450 0.572375 
time: 1403636759.863555, t: -0.243711 -0.068632 -0.005192 q: -0.125451 0.793205 0.164911 0.572619 
time: 1403636760.063555, t: -0.274767 -0.071008 -0.021204 q: -0.123999 0.804711 0.165486 0.556488 
time: 1403636760.263556, t: -0.300195 -0.071105 -0.042358 q: -0.124358 0.802977 0.164400 0.559228 
time: 1403636760.463556, t: -0.319759 -0.073904 -0.070402 q: -0.124270 0.793172 0.164774 0.572962 
time: 1403636760.663555, t: -0.345562 -0.080017 -0.105553 q: -0.117386 0.801802 0.170647 0.560548 
time: 1403636760.863555, t: -0.370167 -0.079931 -0.131493 q: -0.112942 0.799212 0.175314 0.563710 
optimize pose graph 
time: 1403636761.063555, t: -0.401215 -0.069232 -0.159941 q: -0.115091 0.802479 0.175058 0.558692 
time: 1403636761.263556, t: -0.426420 -0.048508 -0.190030 q: -0.115400 0.816940 0.175946 0.536968 
time: 1403636761.463556, t: -0.431883 -0.014934 -0.204390 q: -0.117239 0.807665 0.174849 0.550781 
time: 1403636761.663555, t: -0.426954 0.023607 -0.200583 q: -0.124358 0.796896 0.168195 0.566747 
time: 1403636762.063555, t: -0.418680 0.070592 -0.175164 q: -0.121036 0.795824 0.167565 0.569154 
time: 1403636762.263556, t: -0.422085 0.085512 -0.157766 q: -0.098785 0.801179 0.181435 0.561635 
time: 1403636762.463556, t: -0.427626 0.119662 -0.164433 q: -0.111339 0.814587 0.171519 0.542800 
time: 1403636762.663555, t: -0.418394 0.161697 -0.201348 q: -0.155145 0.806084 0.140412 0.553572 
time: 1403636762.863555, t: -0.400799 0.174764 -0.252236 q: -0.151184 0.781116 0.144888 0.588225 
time: 1403636763.063555, t: -0.422759 0.140801 -0.268026 q: -0.125266 0.801736 0.127689 0.570284 
time: 1403636763.263556, t: -0.431347 0.127848 -0.278124 q: -0.124338 0.799983 0.105725 0.577399 
time: 1403636763.463556, t: -0.439031 0.120608 -0.278798 q: -0.125146 0.798871 0.105260 0.578847 
time: 1403636763.663555, t: -0.438967 0.111909 -0.267647 q: -0.125915 0.798989 0.105282 0.578513 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720463782.851801092]: Shutdown request received.[0m
[33m[ WARN] [1720463782.851837421]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720463782.852771177]: Shutdown request received.[0m
[33m[ WARN] [1720463782.852812054]: Reason given for shutdown: [user request][0m
killed
