/SLAM-Hive/slam_hive_results/mapping_results/2833/2041_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-1.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720469112.427204836]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720469112.428632422]: init begins[0m
[31m[ERROR] [1720469112.429679690]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/6276b682-3d65-11ef-b977-0242ac110005/roslaunch-a01adc448ca6-118.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://a01adc448ca6:43341/[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] [1720469113.533458451]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720469113.534978715]: 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] [1720469113.540752751]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720469113.540934342]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720469113.540959436]: 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] [1720469113.541129814]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720469113.541367243]: 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://a01adc448ca6:11311/[0m
]2;roscore http://a01adc448ca6:11311/
[1msetting /run_id to 6276b682-3d65-11ef-b977-0242ac110005[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_02_easy.bag  --clock 
[0m[ INFO] [1720469122.569816358]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316832265.95 
init first imu pose
averge acc 9.439445 -0.460368 -3.138128
init R0 
  0.318508   0.137589   0.937882
         0   -0.98941   0.145148
   0.94792 -0.0462307  -0.315135
wait for imu ... 
wait for imu ... 
[33m[ WARN] [1720469125.961268393]: gyroscope bias initial calibration -0.0200687  0.0216369  0.0508533[0m
[0m[ INFO] [1720469126.011737183]: Initialization finish![0m
time: 1403636859.701667, t: 0.017226 -0.075808 0.213537 q: -0.032849 0.815583 0.021912 0.577291 
time: 1403636859.801666, t: 0.021354 -0.078847 0.256320 q: -0.023645 0.809190 0.020864 0.586700 
time: 1403636859.901666, t: 0.022681 -0.080657 0.294610 q: -0.016004 0.805474 0.021243 0.592034 
time: 1403636860.001667, t: 0.022551 -0.082990 0.326737 q: -0.012731 0.804559 0.019177 0.593426 
time: 1403636860.101666, t: 0.022958 -0.089072 0.345702 q: -0.010098 0.806822 0.014666 0.590527 
wait for imu ... 
time: 1403636860.201667, t: 0.025114 -0.093786 0.336631 q: -0.009951 0.811455 0.011594 0.584215 
time: 1403636860.301666, t: 0.022711 -0.096348 0.290004 q: -0.014966 0.819402 0.009086 0.572952 
wait for imu ... 
time: 1403636860.401666, t: 0.018316 -0.097952 0.232228 q: -0.016242 0.831649 0.005094 0.555041 
time: 1403636860.501667, t: 0.012569 -0.097446 0.175372 q: -0.017806 0.844441 0.001170 0.535352 
wait for imu ... 
time: 1403636860.601666, t: 0.007383 -0.096232 0.130440 q: -0.021158 0.854147 -0.000248 0.519601 
time: 1403636860.701667, t: 0.002351 -0.095841 0.101321 q: -0.024292 0.858054 0.002952 0.512976 
time: 1403636860.801666, t: -0.001352 -0.096323 0.093980 q: -0.019999 0.858070 0.009897 0.513047 
time: 1403636860.901666, t: -0.002252 -0.096771 0.113926 q: -0.017248 0.857587 0.016491 0.513785 
wait for imu ... 
time: 1403636861.001667, t: -0.000768 -0.097239 0.158116 q: -0.016904 0.855458 0.021062 0.517168 
wait for imu ... 
time: 1403636861.101666, t: 0.003197 -0.098290 0.216481 q: -0.017008 0.848086 0.021539 0.529147 
time: 1403636861.201667, t: 0.008643 -0.099936 0.279170 q: -0.016313 0.836016 0.021701 0.548033 
wait for imu ... 
time: 1403636861.301666, t: 0.012600 -0.102132 0.341541 q: -0.017148 0.822285 0.021532 0.568410 
wait for imu ... 
time: 1403636861.401666, t: 0.015320 -0.105153 0.392113 q: -0.018153 0.810982 0.018272 0.584505 
time: 1403636861.501667, t: 0.017026 -0.108573 0.416581 q: -0.017476 0.803896 0.015814 0.594302 
time: 1403636861.601666, t: 0.018669 -0.111549 0.407268 q: -0.015821 0.804699 0.014789 0.593287 
wait for imu ... 
time: 1403636861.701667, t: 0.019954 -0.112313 0.369429 q: -0.017658 0.811188 0.015412 0.584316 
time: 1403636861.801666, t: 0.018513 -0.111558 0.316817 q: -0.017300 0.818142 0.017749 0.574482 
time: 1403636861.901666, t: 0.014934 -0.108516 0.259407 q: -0.021097 0.826040 0.019340 0.562885 
time: 1403636862.001667, t: 0.010785 -0.104321 0.200980 q: -0.025685 0.837622 0.018594 0.545329 
time: 1403636862.101666, t: 0.006285 -0.098820 0.148234 q: -0.029539 0.846733 0.016161 0.530951 
wait for imu ... 
time: 1403636862.201667, t: 0.003327 -0.095419 0.109764 q: -0.032834 0.851458 0.017112 0.523115 
wait for imu ... 
time: 1403636862.301666, t: 0.000909 -0.094842 0.097120 q: -0.027686 0.855261 0.022611 0.516962 
time: 1403636862.401666, t: 0.001032 -0.095326 0.117284 q: -0.026557 0.858386 0.025916 0.511661 
wait for imu ... 
time: 1403636862.501667, t: 0.002949 -0.096540 0.164898 q: -0.025525 0.856326 0.026596 0.515119 
wait for imu ... 
time: 1403636862.601666, t: 0.009021 -0.100121 0.226961 q: -0.014421 0.850355 0.025155 0.525410 
time: 1403636862.701667, t: 0.015124 -0.102290 0.295109 q: -0.006022 0.842520 0.022953 0.538143 
wait for imu ... 
time: 1403636862.801666, t: 0.020011 -0.102650 0.364028 q: -0.007510 0.837521 0.016122 0.546115 
wait for imu ... 
time: 1403636862.901666, t: 0.022649 -0.102849 0.428621 q: -0.010446 0.834158 0.007578 0.551374 
wait for imu ... 
time: 1403636863.001667, t: 0.021583 -0.103236 0.472635 q: -0.015023 0.828490 0.004116 0.559788 
time: 1403636863.101666, t: 0.020560 -0.105342 0.481591 q: -0.008957 0.822582 0.008799 0.568508 
time: 1403636863.201667, t: 0.019668 -0.106467 0.455891 q: -0.000877 0.820252 0.014380 0.571821 
time: 1403636863.301666, t: 0.019060 -0.105769 0.404137 q: 0.004759 0.821720 0.017951 0.569588 
time: 1403636863.401666, t: 0.018192 -0.105639 0.340397 q: 0.010464 0.823930 0.017505 0.566324 
time: 1403636863.501667, t: 0.016166 -0.104642 0.271340 q: 0.009830 0.828591 0.012792 0.559622 
wait for imu ... 
time: 1403636863.601666, t: 0.010373 -0.103325 0.203543 q: -0.002614 0.836424 0.009803 0.547989 
time: 1403636863.701667, t: 0.004614 -0.103109 0.144830 q: -0.013113 0.844834 0.007109 0.534820 
time: 1403636863.801666, t: 0.001098 -0.104068 0.106717 q: -0.017807 0.852611 0.003885 0.522228 
wait for imu ... 
time: 1403636863.901666, t: -0.001900 -0.105539 0.101453 q: -0.018751 0.858210 0.005157 0.512930 
time: 1403636864.001667, t: -0.002521 -0.107218 0.133387 q: -0.021455 0.859270 0.008175 0.511007 
wait for imu ... 
time: 1403636864.101666, t: -0.001438 -0.108172 0.193038 q: -0.019650 0.855773 0.013336 0.516806 
wait for imu ... 
time: 1403636864.201667, t: 0.002160 -0.109425 0.265796 q: -0.011296 0.851215 0.015510 0.524466 
time: 1403636864.301666, t: 0.006300 -0.108022 0.336119 q: -0.009933 0.848180 0.015394 0.529392 
time: 1403636864.401666, t: 0.009480 -0.105646 0.397901 q: -0.011719 0.844240 0.012929 0.535681 
time: 1403636864.501667, t: 0.013136 -0.103913 0.449300 q: -0.013178 0.834216 0.005489 0.551252 
time: 1403636864.601666, t: 0.016241 -0.101876 0.477895 q: -0.017238 0.822547 -0.000024 0.568436 
time: 1403636864.701667, t: 0.016474 -0.101721 0.474531 q: -0.011446 0.817219 0.003222 0.576204 
time: 1403636864.801666, t: 0.016270 -0.101921 0.439988 q: -0.005896 0.820055 0.008360 0.572193 
time: 1403636864.901666, t: 0.016114 -0.100907 0.385185 q: -0.004482 0.825407 0.008924 0.564449 
time: 1403636865.001667, t: 0.015741 -0.100984 0.324109 q: 0.001921 0.831659 0.008087 0.555225 
time: 1403636865.101666, t: 0.015649 -0.100872 0.262287 q: 0.002212 0.838785 0.007333 0.544409 
time: 1403636865.201667, t: 0.015543 -0.099875 0.206467 q: -0.013243 0.843938 -0.001409 0.536276 
wait for imu ... 
time: 1403636865.301666, t: 0.014527 -0.099218 0.163530 q: -0.027036 0.846157 -0.007198 0.532199 
time: 1403636865.401666, t: 0.014043 -0.099345 0.136595 q: -0.026344 0.847192 -0.007517 0.530580 
time: 1403636865.501667, t: 0.014268 -0.099316 0.130905 q: -0.019179 0.851937 -0.001409 0.523291 
wait for imu ... 
time: 1403636865.601666, t: 0.015430 -0.097800 0.153888 q: -0.016410 0.857539 0.004440 0.514139 
time: 1403636865.701667, t: 0.015889 -0.093850 0.201104 q: -0.020632 0.857033 0.007457 0.514794 
wait for imu ... 
time: 1403636865.801666, t: 0.017912 -0.090319 0.262830 q: -0.023212 0.850366 0.006992 0.525632 
wait for imu ... 
time: 1403636865.901666, t: 0.021039 -0.088659 0.330992 q: -0.025548 0.840463 0.004549 0.541248 
wait for imu ... 
time: 1403636866.001667, t: 0.023078 -0.087996 0.399657 q: -0.028615 0.826505 0.001402 0.562200 
wait for imu ... 
time: 1403636866.101666, t: 0.022998 -0.087827 0.461263 q: -0.026667 0.810764 -0.001949 0.584762 
wait for imu ... 
time: 1403636866.201667, t: 0.020217 -0.088191 0.504073 q: -0.022533 0.800701 -0.000917 0.598639 
time: 1403636866.301666, t: 0.018006 -0.087754 0.516152 q: -0.016275 0.800140 0.000785 0.599592 
time: 1403636866.401666, t: 0.017279 -0.087393 0.497348 q: -0.008391 0.806363 0.002038 0.591358 
time: 1403636866.501667, t: 0.017800 -0.087632 0.454061 q: -0.005359 0.813096 0.003396 0.582095 
wait for imu ... 
time: 1403636866.601666, t: 0.018230 -0.089737 0.397565 q: -0.002836 0.819582 0.003568 0.572944 
wait for imu ... 
time: 1403636866.701667, t: 0.017081 -0.094951 0.344824 q: 0.001177 0.826872 0.003609 0.562377 
wait for imu ... 
time: 1403636866.801666, t: 0.012906 -0.098913 0.302789 q: -0.002532 0.832790 0.007371 0.553535 
time: 1403636866.901666, t: 0.005835 -0.101891 0.268378 q: -0.014813 0.839256 0.009627 0.543449 
time: 1403636867.101666, t: -0.007282 -0.102841 0.224052 q: -0.025182 0.853985 0.009010 0.519609 
time: 1403636867.201667, t: -0.016406 -0.102381 0.217250 q: -0.032323 0.857178 0.011384 0.513878 
time: 1403636867.301666, t: -0.026761 -0.101299 0.216786 q: -0.041590 0.859414 0.017699 0.509278 
wait for imu ... 
time: 1403636867.401666, t: -0.034521 -0.101604 0.220872 q: -0.041874 0.862892 0.020035 0.503253 
time: 1403636867.501667, t: -0.042222 -0.100956 0.227222 q: -0.037938 0.869658 0.020645 0.491762 
wait for imu ... 
time: 1403636867.601666, t: -0.051434 -0.101114 0.229141 q: -0.032751 0.884847 0.024065 0.464105 
wait for imu ... 
time: 1403636867.701667, t: -0.061954 -0.101398 0.225401 q: -0.032879 0.908623 0.024096 0.415624 
optimize pose graph 
time: 1403636867.801666, t: -0.072184 -0.102879 0.219503 q: -0.030022 0.932252 0.021479 0.359922 
wait for imu ... 
wait for imu ... 
time: 1403636867.901666, t: -0.076879 -0.104215 0.217240 q: -0.027710 0.944698 0.015581 0.326397 
time: 1403636868.001667, t: -0.076939 -0.103320 0.220923 q: -0.028025 0.945188 0.010954 0.325137 
time: 1403636868.101666, t: -0.077348 -0.102013 0.226876 q: -0.028640 0.939956 0.010077 0.339944 
wait for imu ... 
time: 1403636868.201667, t: -0.080140 -0.100810 0.230232 q: -0.030916 0.936130 0.010360 0.350141 
time: 1403636868.301666, t: -0.086215 -0.098531 0.231362 q: -0.033093 0.936006 0.008848 0.350313 
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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: 1403636880.901666, t: -0.293507 -0.139161 0.266173 q: 0.016609 0.908687 -0.102425 0.404377 
time: 1403636881.001667, t: -0.303562 -0.101674 0.267753 q: 0.008128 0.906288 -0.091451 0.412569 
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time: 1403636881.201667, t: -0.279857 -0.026905 0.270709 q: -0.014545 0.899063 -0.053594 0.434284 
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time: 1403636881.401666, t: -0.214740 0.016990 0.276262 q: -0.039619 0.896433 -0.010463 0.441281 
wait for imu ... 
time: 1403636881.501667, t: -0.168409 0.016535 0.278898 q: -0.039683 0.894370 0.005002 0.445537 
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time: 1403636881.801666, t: -0.013831 -0.071012 0.272512 q: -0.026078 0.890567 0.033077 0.452898 
time: 1403636881.901666, t: 0.028699 -0.118397 0.265080 q: -0.021239 0.892244 0.025155 0.450351 
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time: 1403636882.101666, t: 0.074529 -0.219074 0.245681 q: -0.014496 0.893053 0.000491 0.449717 
time: 1403636882.201667, t: 0.075063 -0.262136 0.231200 q: -0.008197 0.891490 -0.009621 0.452864 
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time: 1403636882.401666, t: 0.041894 -0.304208 0.199938 q: -0.003411 0.886401 -0.016875 0.462597 
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time: 1403636882.601666, t: 0.014240 -0.284323 0.171061 q: -0.023656 0.881443 -0.006741 0.471650 
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time: 1403636882.901666, t: 0.058950 -0.223500 0.127516 q: -0.069997 0.839976 0.039958 0.536604 
time: 1403636883.001667, t: 0.079279 -0.204740 0.103784 q: -0.087774 0.833195 0.059390 0.542728 
time: 1403636883.101666, t: 0.098314 -0.187946 0.079114 q: -0.099927 0.831059 0.077879 0.541563 
time: 1403636883.201667, t: 0.115579 -0.173741 0.056340 q: -0.102465 0.825714 0.093003 0.546852 
time: 1403636883.301666, t: 0.129574 -0.161285 0.035566 q: -0.106146 0.819483 0.102930 0.553703 
time: 1403636883.401666, t: 0.139931 -0.152579 0.019411 q: -0.111473 0.815846 0.107543 0.557139 
time: 1403636883.501667, t: 0.147136 -0.147650 0.009357 q: -0.116863 0.810635 0.112645 0.562606 
time: 1403636883.601666, t: 0.152324 -0.144265 0.003073 q: -0.122075 0.803356 0.119291 0.570514 
time: 1403636883.701667, t: 0.156929 -0.141708 -0.002284 q: -0.125164 0.799906 0.127457 0.572921 
wait for imu ... 
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time: 1403636883.901666, t: 0.162408 -0.139576 -0.010238 q: -0.135487 0.797815 0.132308 0.572389 
time: 1403636884.001667, t: 0.164201 -0.139341 -0.012460 q: -0.137041 0.795053 0.135507 0.575107 
time: 1403636884.101666, t: 0.164940 -0.140044 -0.013718 q: -0.142864 0.790668 0.136829 0.579406 
time: 1403636884.201667, t: 0.164736 -0.141191 -0.013695 q: -0.140496 0.787033 0.139229 0.584342 
time: 1403636884.301666, t: 0.163626 -0.140816 -0.013334 q: -0.139766 0.784624 0.138536 0.587910 
time: 1403636884.401666, t: 0.163151 -0.140506 -0.013289 q: -0.140903 0.784215 0.137909 0.588331 
time: 1403636884.501667, t: 0.163164 -0.140757 -0.013253 q: -0.139966 0.784148 0.138447 0.588518 
time: 1403636884.601666, t: 0.163102 -0.140648 -0.013189 q: -0.140414 0.784094 0.138221 0.588537 
time: 1403636884.701667, t: 0.163202 -0.140719 -0.013246 q: -0.140306 0.784363 0.138114 0.588229 
wait for imu ... 
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time: 1403636884.901666, t: 0.163283 -0.140817 -0.013243 q: -0.140075 0.784455 0.138022 0.588183 
wait for imu ... 
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time: 1403636885.101666, t: 0.163227 -0.140802 -0.013225 q: -0.140251 0.784572 0.137714 0.588057 
wait for imu ... 
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wait for imu ... 
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time: 1403636885.601666, t: 0.163254 -0.140853 -0.013209 q: -0.139938 0.784713 0.137509 0.587992 
time: 1403636885.701667, t: 0.163314 -0.140842 -0.013232 q: -0.140009 0.784827 0.137428 0.587841 
time: 1403636885.801666, t: 0.163326 -0.140844 -0.013228 q: -0.139939 0.784825 0.137428 0.587861 
time: 1403636885.901666, t: 0.163312 -0.140816 -0.013236 q: -0.139999 0.784895 0.137369 0.587767 
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: 1403636886.701667, t: 0.163288 -0.140852 -0.013256 q: -0.139763 0.784941 0.137384 0.587758 
wait for imu ... 
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time: 1403636887.001667, t: 0.163282 -0.140844 -0.013262 q: -0.139680 0.784958 0.137426 0.587745 
time: 1403636887.101666, t: 0.163289 -0.140861 -0.013274 q: -0.139714 0.784970 0.137405 0.587726 
wait for imu ... 
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time: 1403636887.301666, t: 0.163303 -0.140873 -0.013297 q: -0.139727 0.785011 0.137320 0.587688 
time: 1403636887.401666, t: 0.163309 -0.140868 -0.013285 q: -0.139616 0.785034 0.137376 0.587670 
wait for imu ... 
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time: 1403636887.601666, t: 0.163289 -0.140859 -0.013292 q: -0.139656 0.785032 0.137327 0.587675 
time: 1403636887.701667, t: 0.163277 -0.140843 -0.013305 q: -0.139695 0.785046 0.137312 0.587650 
wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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time: 1403636888.401666, t: 0.163308 -0.140902 -0.013339 q: -0.139595 0.785174 0.137290 0.587509 
wait for imu ... 
time: 1403636888.501667, t: 0.163308 -0.140903 -0.013329 q: -0.139582 0.785198 0.137263 0.587486 
time: 1403636888.601666, t: 0.163283 -0.140897 -0.013317 q: -0.139570 0.785159 0.137183 0.587559 
time: 1403636888.701667, t: 0.163238 -0.140835 -0.013284 q: -0.139602 0.784998 0.137313 0.587736 
time: 1403636888.901666, t: 0.163142 -0.140703 -0.013319 q: -0.139650 0.785156 0.137251 0.587529 
time: 1403636889.001667, t: 0.163173 -0.140684 -0.013267 q: -0.139955 0.785002 0.137407 0.587625 
time: 1403636889.101666, t: 0.163158 -0.140742 -0.013268 q: -0.139641 0.785093 0.137131 0.587643 
time: 1403636889.201667, t: 0.163156 -0.140784 -0.013353 q: -0.139444 0.785105 0.137049 0.587692 
time: 1403636889.301666, t: 0.163298 -0.140865 -0.013419 q: -0.139454 0.785138 0.136917 0.587677 
time: 1403636889.401666, t: 0.163333 -0.140878 -0.013424 q: -0.139605 0.785062 0.137245 0.587666 
time: 1403636889.501667, t: 0.163333 -0.140948 -0.013415 q: -0.139248 0.785112 0.137157 0.587705 
time: 1403636889.601666, t: 0.163355 -0.141011 -0.013398 q: -0.139047 0.785093 0.137007 0.587813 
time: 1403636889.701667, t: 0.163215 -0.141046 -0.013352 q: -0.139143 0.784935 0.137200 0.587956 
time: 1403636889.801666, t: 0.163140 -0.141047 -0.013374 q: -0.139220 0.784925 0.137288 0.587930 
time: 1403636889.901666, t: 0.163159 -0.141097 -0.013365 q: -0.139089 0.785053 0.136916 0.587878 
time: 1403636890.001667, t: 0.163156 -0.141094 -0.013401 q: -0.139176 0.785099 0.137141 0.587743 
time: 1403636890.101666, t: 0.163205 -0.141221 -0.013350 q: -0.138937 0.785145 0.136430 0.587904 
time: 1403636890.201667, t: 0.163146 -0.141099 -0.013268 q: -0.139376 0.784768 0.136972 0.588177 
time: 1403636890.301666, t: 0.163105 -0.141026 -0.013361 q: -0.139405 0.785105 0.137375 0.587625 
time: 1403636890.401666, t: 0.163121 -0.141136 -0.013388 q: -0.138871 0.785322 0.136719 0.587615 
time: 1403636890.501667, t: 0.163148 -0.141180 -0.013298 q: -0.138843 0.784883 0.136500 0.588259 
time: 1403636890.601666, t: 0.163127 -0.141040 -0.013276 q: -0.139223 0.784776 0.137340 0.588116 
time: 1403636890.701667, t: 0.163087 -0.141059 -0.013387 q: -0.139224 0.785217 0.137332 0.587530 
time: 1403636890.801666, t: 0.163151 -0.141186 -0.013327 q: -0.138988 0.785189 0.136580 0.587798 
time: 1403636890.901666, t: 0.163190 -0.141147 -0.013241 q: -0.139163 0.784975 0.136717 0.588010 
wait for imu ... 
time: 1403636891.001667, t: 0.163159 -0.141148 -0.013336 q: -0.139349 0.785015 0.136780 0.587898 
time: 1403636891.101666, t: 0.163214 -0.141120 -0.013342 q: -0.139195 0.785042 0.136826 0.587888 
wait for imu ... 
time: 1403636891.201667, t: 0.163222 -0.141097 -0.013329 q: -0.139159 0.785008 0.136895 0.587926 
time: 1403636891.301666, t: 0.163203 -0.141126 -0.013368 q: -0.139209 0.785016 0.136958 0.587889 
time: 1403636891.401666, t: 0.163229 -0.141108 -0.013356 q: -0.139170 0.784971 0.136940 0.587963 
time: 1403636891.501667, t: 0.163257 -0.141084 -0.013346 q: -0.139236 0.784991 0.136968 0.587914 
time: 1403636891.601666, t: 0.163206 -0.141125 -0.013339 q: -0.139244 0.785035 0.136964 0.587854 
wait for imu ... 
time: 1403636891.701667, t: 0.163209 -0.141125 -0.013350 q: -0.139209 0.785014 0.136906 0.587903 
time: 1403636891.801666, t: 0.163209 -0.141106 -0.013351 q: -0.139244 0.785010 0.136918 0.587898 
time: 1403636891.901666, t: 0.163194 -0.141122 -0.013350 q: -0.139282 0.785003 0.136945 0.587892 
time: 1403636892.001667, t: 0.163212 -0.141116 -0.013353 q: -0.139189 0.785009 0.136932 0.587909 
time: 1403636892.101666, t: 0.163241 -0.141105 -0.013350 q: -0.139210 0.785011 0.136961 0.587894 
time: 1403636892.201667, t: 0.163202 -0.141136 -0.013358 q: -0.139180 0.785011 0.136969 0.587900 
time: 1403636892.301666, t: 0.163280 -0.141219 -0.013368 q: -0.138870 0.785029 0.137091 0.587920 
time: 1403636892.401666, t: 0.163255 -0.141176 -0.013340 q: -0.139046 0.785025 0.136785 0.587955 
wait for imu ... 
time: 1403636892.501667, t: 0.163221 -0.141145 -0.013323 q: -0.139069 0.784960 0.136866 0.588018 
time: 1403636892.601666, t: 0.163180 -0.141153 -0.013320 q: -0.139091 0.784963 0.136906 0.588000 
time: 1403636892.701667, t: 0.163208 -0.141134 -0.013324 q: -0.139056 0.784955 0.136941 0.588011 
time: 1403636892.801666, t: 0.163216 -0.141120 -0.013303 q: -0.139051 0.784934 0.137057 0.588012 
time: 1403636892.901666, t: 0.163220 -0.141142 -0.013335 q: -0.139062 0.785038 0.137005 0.587883 
wait for imu ... 
time: 1403636893.001667, t: 0.163234 -0.141153 -0.013336 q: -0.138999 0.784954 0.137040 0.588002 
time: 1403636893.101666, t: 0.163235 -0.141133 -0.013332 q: -0.139006 0.784943 0.137017 0.588021 
wait for imu ... 
time: 1403636893.201667, t: 0.163200 -0.141145 -0.013351 q: -0.139052 0.784960 0.136980 0.587996 
wait for imu ... 
time: 1403636893.301666, t: 0.163200 -0.141146 -0.013364 q: -0.139078 0.784962 0.136966 0.587990 
time: 1403636893.401666, t: 0.163216 -0.141135 -0.013343 q: -0.139059 0.784999 0.136975 0.587942 
wait for imu ... 
time: 1403636893.501667, t: 0.163228 -0.141153 -0.013348 q: -0.139035 0.784993 0.136970 0.587958 
time: 1403636893.601666, t: 0.163224 -0.141146 -0.013349 q: -0.138976 0.784993 0.136959 0.587975 
wait for imu ... 
time: 1403636893.701667, t: 0.163229 -0.141144 -0.013346 q: -0.138984 0.784981 0.137038 0.587970 
time: 1403636893.901666, t: 0.163218 -0.141141 -0.013354 q: -0.139047 0.785034 0.136947 0.587906 
wait for imu ... 
time: 1403636894.001667, t: 0.163206 -0.141137 -0.013355 q: -0.139052 0.785047 0.136896 0.587899 
wait for imu ... 
time: 1403636894.101666, t: 0.163184 -0.141146 -0.013350 q: -0.138998 0.785067 0.136878 0.587890 
wait for imu ... 
time: 1403636894.201667, t: 0.163199 -0.141162 -0.013371 q: -0.139029 0.785028 0.136897 0.587929 
time: 1403636894.301666, t: 0.163188 -0.141148 -0.013369 q: -0.139023 0.784998 0.136876 0.587976 
wait for imu ... 
time: 1403636894.401666, t: 0.163193 -0.141162 -0.013365 q: -0.139007 0.785050 0.136902 0.587904 
wait for imu ... 
time: 1403636894.501667, t: 0.163221 -0.141143 -0.013365 q: -0.139056 0.785029 0.136919 0.587917 
time: 1403636894.601666, t: 0.163213 -0.141131 -0.013374 q: -0.138992 0.785050 0.136843 0.587922 
time: 1403636894.701667, t: 0.163183 -0.141164 -0.013397 q: -0.139090 0.784985 0.136862 0.587981 
time: 1403636894.801666, t: 0.163201 -0.141164 -0.013413 q: -0.139051 0.785011 0.136849 0.587959 
time: 1403636894.901666, t: 0.163262 -0.141192 -0.013386 q: -0.138837 0.784992 0.136798 0.588045 
wait for imu ... 
time: 1403636895.001667, t: 0.163264 -0.141209 -0.013413 q: -0.138923 0.784992 0.136854 0.588013 
wait for imu ... 
time: 1403636895.101666, t: 0.163278 -0.141186 -0.013395 q: -0.138959 0.785022 0.136846 0.587965 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636895.201667, t: 0.163257 -0.141202 -0.013396 q: -0.138912 0.784978 0.136772 0.588054 
wait for imu ... 
time: 1403636895.301666, t: 0.163254 -0.141155 -0.013383 q: -0.138919 0.784960 0.136795 0.588070 
time: 1403636895.401666, t: 0.163226 -0.141157 -0.013374 q: -0.138848 0.784986 0.136837 0.588042 
time: 1403636895.501667, t: 0.163237 -0.141155 -0.013377 q: -0.138883 0.784930 0.136880 0.588099 
time: 1403636895.601666, t: 0.163236 -0.141163 -0.013361 q: -0.138872 0.784997 0.136850 0.588019 
wait for imu ... 
time: 1403636895.701667, t: 0.163254 -0.141171 -0.013359 q: -0.138850 0.784949 0.136890 0.588079 
wait for imu ... 
time: 1403636895.801666, t: 0.163242 -0.141183 -0.013340 q: -0.138755 0.784879 0.136932 0.588185 
time: 1403636895.901666, t: 0.163279 -0.141176 -0.013345 q: -0.138805 0.784887 0.137052 0.588135 
wait for imu ... 
time: 1403636896.001667, t: 0.163234 -0.141178 -0.013306 q: -0.138763 0.784935 0.137095 0.588071 
time: 1403636896.101666, t: 0.163431 -0.141231 -0.013354 q: -0.138820 0.785430 0.137112 0.587392 
time: 1403636896.201667, t: 0.163689 -0.141328 -0.013524 q: -0.138881 0.786127 0.137055 0.586457 
time: 1403636896.301666, t: 0.163641 -0.141352 -0.013472 q: -0.138764 0.786008 0.137249 0.586600 
time: 1403636896.401666, t: 0.163490 -0.141297 -0.013382 q: -0.138668 0.785600 0.137355 0.587143 
wait for imu ... 
time: 1403636896.501667, t: 0.163445 -0.141255 -0.013358 q: -0.138646 0.785337 0.137445 0.587480 
time: 1403636896.601666, t: 0.163444 -0.141277 -0.013369 q: -0.138626 0.785326 0.137463 0.587495 
time: 1403636896.701667, t: 0.163590 -0.141342 -0.013420 q: -0.138735 0.785562 0.137602 0.587120 
time: 1403636896.801666, t: 0.163678 -0.141331 -0.013512 q: -0.138950 0.785719 0.137788 0.586816 
time: 1403636896.901666, t: 0.163676 -0.141396 -0.013476 q: -0.138854 0.785630 0.138089 0.586888 
time: 1403636897.001667, t: 0.163452 -0.141311 -0.013353 q: -0.139135 0.785057 0.138136 0.587576 
time: 1403636897.101666, t: 0.162875 -0.141463 -0.013034 q: -0.140016 0.784478 0.140300 0.587628 
time: 1403636897.201667, t: 0.161616 -0.141786 -0.013171 q: -0.141736 0.784433 0.143109 0.586596 
time: 1403636897.301666, t: 0.159431 -0.144705 -0.013652 q: -0.140880 0.785388 0.142082 0.585774 
time: 1403636897.401666, t: 0.154216 -0.152358 -0.014025 q: -0.135632 0.788871 0.139536 0.582938 
wait for imu ... 
wait for imu ... 
time: 1403636897.501667, t: 0.146028 -0.163918 -0.014467 q: -0.127608 0.794131 0.137794 0.578001 
time: 1403636897.601666, t: 0.135428 -0.177356 -0.014508 q: -0.118439 0.802197 0.137180 0.568888 
time: 1403636897.701667, t: 0.123155 -0.192868 -0.009593 q: -0.105934 0.812351 0.140812 0.555910 
time: 1403636897.801666, t: 0.111146 -0.208292 0.002555 q: -0.097383 0.820158 0.145541 0.544679 
time: 1403636897.901666, t: 0.101991 -0.221752 0.020896 q: -0.093615 0.825175 0.148696 0.536854 
time: 1403636898.001667, t: 0.098730 -0.231580 0.043457 q: -0.094972 0.819803 0.150363 0.544329 
time: 1403636898.101666, t: 0.099358 -0.238435 0.058523 q: -0.099860 0.813577 0.150989 0.552561 
time: 1403636898.201667, t: 0.101943 -0.243742 0.070583 q: -0.103111 0.810361 0.152327 0.556308 
time: 1403636898.301666, t: 0.106939 -0.246319 0.084753 q: -0.104849 0.809373 0.154770 0.556747 
time: 1403636898.401666, t: 0.112679 -0.247096 0.102090 q: -0.106949 0.808911 0.157532 0.556245 
time: 1403636898.501667, t: 0.119689 -0.246603 0.122277 q: -0.110159 0.809069 0.159947 0.554697 
time: 1403636898.601666, t: 0.128055 -0.245045 0.143569 q: -0.111472 0.808872 0.162515 0.553976 
time: 1403636898.701667, t: 0.137693 -0.242481 0.163345 q: -0.111770 0.808905 0.165048 0.553118 
time: 1403636898.801666, t: 0.149458 -0.237943 0.181013 q: -0.114195 0.808751 0.165824 0.552616 
time: 1403636898.901666, t: 0.162917 -0.232133 0.196360 q: -0.117588 0.809762 0.164943 0.550684 
time: 1403636899.001667, t: 0.179139 -0.225574 0.209069 q: -0.123609 0.811003 0.160856 0.548744 
time: 1403636899.101666, t: 0.198947 -0.220625 0.219991 q: -0.124502 0.811191 0.152397 0.550676 
time: 1403636899.201667, t: 0.221735 -0.218873 0.230433 q: -0.116480 0.809622 0.141881 0.557506 
time: 1403636899.301666, t: 0.245931 -0.219968 0.241046 q: -0.106463 0.806011 0.124967 0.568678 
time: 1403636899.401666, t: 0.270088 -0.223954 0.249830 q: -0.090479 0.804005 0.105138 0.578218 
time: 1403636899.501667, t: 0.290782 -0.230258 0.256990 q: -0.079987 0.807359 0.083399 0.578634 
wait for imu ... 
time: 1403636899.601666, t: 0.309223 -0.238204 0.262540 q: -0.073979 0.814183 0.066479 0.572026 
time: 1403636899.701667, t: 0.327805 -0.248575 0.268053 q: -0.069059 0.818112 0.054876 0.568253 
optimize pose graph 
time: 1403636899.801666, t: 0.348083 -0.261972 0.272389 q: -0.062164 0.821006 0.048665 0.565435 
time: 1403636899.901666, t: 0.369326 -0.278877 0.275708 q: -0.052757 0.821159 0.048420 0.566189 
time: 1403636900.001667, t: 0.393424 -0.297002 0.276275 q: -0.046238 0.817668 0.049219 0.571716 
time: 1403636900.101666, t: 0.418036 -0.315172 0.275953 q: -0.044348 0.812562 0.049432 0.579079 
time: 1403636900.201667, t: 0.440907 -0.333669 0.282973 q: -0.043303 0.808773 0.050793 0.584320 
time: 1403636900.301666, t: 0.459626 -0.352766 0.298383 q: -0.042604 0.809417 0.053157 0.583269 
time: 1403636900.401666, t: 0.476428 -0.371488 0.320708 q: -0.044645 0.814103 0.055339 0.576352 
time: 1403636900.501667, t: 0.491607 -0.389910 0.345623 q: -0.045868 0.817813 0.058872 0.570624 
time: 1403636900.601666, t: 0.508896 -0.407332 0.363957 q: -0.048049 0.819747 0.060988 0.567439 
time: 1403636900.701667, t: 0.524987 -0.425601 0.378004 q: -0.050069 0.824348 0.062479 0.560392 
time: 1403636900.801666, t: 0.544422 -0.443197 0.383944 q: -0.053844 0.828216 0.062861 0.554264 
time: 1403636900.901666, t: 0.564905 -0.462129 0.388832 q: -0.061986 0.826605 0.059034 0.556235 
time: 1403636901.001667, t: 0.590805 -0.483709 0.388021 q: -0.067212 0.823622 0.056070 0.560344 
time: 1403636901.101666, t: 0.621083 -0.507478 0.382960 q: -0.071419 0.822175 0.053733 0.562174 
time: 1403636901.201667, t: 0.652290 -0.538867 0.377630 q: -0.072629 0.821152 0.052868 0.563595 
time: 1403636901.301666, t: 0.683802 -0.571036 0.375844 q: -0.068669 0.820385 0.055457 0.564959 
time: 1403636901.401666, t: 0.719957 -0.608220 0.379770 q: -0.064925 0.819956 0.057772 0.565791 
time: 1403636901.501667, t: 0.757104 -0.646312 0.391488 q: -0.059537 0.819188 0.061068 0.567149 
time: 1403636901.601666, t: 0.796288 -0.685329 0.400751 q: -0.055921 0.818503 0.063214 0.568268 
time: 1403636901.701667, t: 0.834200 -0.726190 0.403892 q: -0.055242 0.816596 0.063285 0.571064 
optimize pose graph 
time: 1403636901.801666, t: 0.872792 -0.765888 0.399632 q: -0.056321 0.816070 0.062494 0.571798 
time: 1403636901.901666, t: 0.910793 -0.805978 0.389930 q: -0.055745 0.815980 0.063261 0.571897 
time: 1403636902.001667, t: 0.948140 -0.847329 0.377354 q: -0.054582 0.815645 0.064650 0.572332 
wait for imu ... 
time: 1403636902.101666, t: 0.984257 -0.886627 0.366266 q: -0.054435 0.814932 0.065823 0.573228 
time: 1403636902.201667, t: 1.019519 -0.928012 0.364719 q: -0.053998 0.815046 0.066994 0.572971 
time: 1403636902.301666, t: 1.053089 -0.966280 0.363438 q: -0.056222 0.815387 0.064544 0.572553 
time: 1403636902.401666, t: 1.085604 -1.009265 0.355587 q: -0.056672 0.816118 0.062508 0.571692 
time: 1403636902.501667, t: 1.118504 -1.049275 0.331685 q: -0.053638 0.816971 0.062117 0.570809 
time: 1403636902.601666, t: 1.150956 -1.091160 0.305941 q: -0.047152 0.816918 0.063264 0.571331 
time: 1403636902.801666, t: 1.214082 -1.167483 0.270649 q: -0.041409 0.815438 0.061679 0.574057 
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time: 1403636903.301666, t: 1.355711 -1.342584 0.309054 q: -0.049830 0.815736 0.067486 0.572309 
time: 1403636903.401666, t: 1.378965 -1.375788 0.330515 q: -0.048185 0.816461 0.070558 0.571044 
time: 1403636903.501667, t: 1.403733 -1.405912 0.345553 q: -0.047661 0.816696 0.072211 0.570545 
time: 1403636903.601666, t: 1.427437 -1.434488 0.354424 q: -0.048287 0.817074 0.073019 0.569848 
time: 1403636903.701667, t: 1.451366 -1.467569 0.353677 q: -0.051942 0.820151 0.071333 0.565302 
time: 1403636903.801666, t: 1.476621 -1.494140 0.351595 q: -0.056041 0.822712 0.069092 0.561454 
time: 1403636903.901666, t: 1.506246 -1.521579 0.353746 q: -0.060342 0.823039 0.066311 0.560864 
time: 1403636904.001667, t: 1.541086 -1.552222 0.363401 q: -0.064035 0.821325 0.063882 0.563244 
time: 1403636904.101666, t: 1.573748 -1.582962 0.379628 q: -0.066629 0.819345 0.062092 0.566021 
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time: 1403636904.301666, t: 1.641910 -1.650721 0.428872 q: -0.069081 0.818107 0.059061 0.567839 
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time: 1403636904.601666, t: 1.748501 -1.770981 0.481244 q: -0.059548 0.816417 0.061320 0.571101 
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time: 1403636905.001667, t: 1.899538 -1.943528 0.511052 q: -0.043485 0.816987 0.063646 0.571481 
time: 1403636905.101666, t: 1.935225 -1.985755 0.510819 q: -0.040558 0.816513 0.063221 0.572420 
time: 1403636905.201667, t: 1.977064 -2.027270 0.516234 q: -0.038209 0.816078 0.062546 0.573275 
wait for imu ... 
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time: 1403636905.401666, t: 2.048758 -2.097924 0.538188 q: -0.033470 0.819857 0.061788 0.568240 
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time: 1403636905.601666, t: 2.115740 -2.152917 0.573241 q: -0.033448 0.819911 0.073812 0.566726 
wait for imu ... 
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time: 1403636905.801666, t: 2.188269 -2.197504 0.585403 q: -0.043600 0.820286 0.077106 0.565053 
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time: 1403636906.001667, t: 2.266265 -2.235512 0.571856 q: -0.049093 0.823279 0.079914 0.559835 
time: 1403636906.101666, t: 2.306624 -2.250323 0.558679 q: -0.047880 0.825051 0.083080 0.556863 
wait for imu ... 
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time: 1403636906.301666, t: 2.402877 -2.274002 0.549514 q: -0.052354 0.818693 0.083663 0.565687 
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time: 1403636907.001667, t: 2.717462 -2.347967 0.558520 q: -0.055422 0.817160 0.084439 0.567492 
wait for imu ... 
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time: 1403636908.001667, t: 3.294798 -2.451263 0.626609 q: -0.073924 0.820335 0.081432 0.561208 
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time: 1403636908.301666, t: 3.522991 -2.503284 0.631295 q: -0.068023 0.813618 0.093507 0.569785 
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time: 1403636908.601666, t: 3.729994 -2.553686 0.617769 q: -0.071700 0.815352 0.099404 0.565844 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
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wait for imu ... 
wait for imu ... 
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time: 1403636908.901666, t: 3.935309 -2.601793 0.632476 q: -0.076777 0.822215 0.101366 0.554791 
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time: 1403636909.201667, t: 4.163606 -2.645136 0.688333 q: -0.081951 0.823687 0.098419 0.552393 
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time: 1403636909.601666, t: 4.503857 -2.718857 0.701260 q: -0.078321 0.818579 0.096204 0.560838 
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time: 1403636910.601666, t: 5.303139 -2.840630 0.552982 q: -0.070237 0.814085 0.104508 0.566931 
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time: 1403636910.901666, t: 5.503845 -2.842947 0.517129 q: -0.074796 0.815279 0.102706 0.564957 
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time: 1403636911.301666, t: 5.752912 -2.853991 0.479592 q: -0.077318 0.810925 0.101756 0.571024 
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time: 1403636911.901666, t: 6.066281 -2.879546 0.526191 q: -0.083008 0.816335 0.094205 0.563766 
time: 1403636912.001667, t: 6.127203 -2.884281 0.518229 q: -0.085619 0.818215 0.091320 0.561119 
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time: 1403636912.201667, t: 6.250527 -2.899812 0.497357 q: -0.080188 0.816846 0.093737 0.563513 
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time: 1403636912.601666, t: 6.489898 -2.945797 0.498986 q: -0.081390 0.815925 0.089559 0.565351 
time: 1403636912.701667, t: 6.549844 -2.960295 0.488699 q: -0.086030 0.816152 0.085207 0.565008 
time: 1403636912.801666, t: 6.615656 -2.977481 0.473628 q: -0.090471 0.815978 0.081582 0.565102 
time: 1403636912.901666, t: 6.674672 -2.998678 0.456171 q: -0.087137 0.815139 0.083255 0.566591 
time: 1403636913.001667, t: 6.737487 -3.023558 0.434063 q: -0.081261 0.811394 0.087242 0.572211 
time: 1403636913.101666, t: 6.798474 -3.050206 0.409313 q: -0.077093 0.808316 0.090016 0.576697 
time: 1403636913.201667, t: 6.853777 -3.077978 0.387142 q: -0.074288 0.805784 0.092145 0.580261 
time: 1403636913.301666, t: 6.908684 -3.106904 0.372536 q: -0.073160 0.806327 0.093319 0.579462 
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time: 1403636913.601666, t: 7.056173 -3.196636 0.366020 q: -0.077823 0.813081 0.089751 0.569901 
time: 1403636913.701667, t: 7.106575 -3.229274 0.357394 q: -0.074747 0.813397 0.090919 0.569677 
time: 1403636913.801666, t: 7.159658 -3.264260 0.345431 q: -0.073519 0.812975 0.091816 0.570295 
time: 1403636913.901666, t: 7.209313 -3.297389 0.337419 q: -0.072236 0.812301 0.092641 0.571286 
time: 1403636914.001667, t: 7.258546 -3.331966 0.336894 q: -0.071645 0.811846 0.093746 0.571826 
time: 1403636914.101666, t: 7.306721 -3.366243 0.342758 q: -0.074655 0.811735 0.091929 0.571893 
time: 1403636914.201667, t: 7.355542 -3.402523 0.346985 q: -0.076721 0.812158 0.090371 0.571268 
time: 1403636914.301666, t: 7.401591 -3.438897 0.347731 q: -0.075018 0.812798 0.091093 0.570469 
time: 1403636914.401666, t: 7.447395 -3.475899 0.344733 q: -0.071311 0.811854 0.093294 0.571930 
time: 1403636914.501667, t: 7.493382 -3.514808 0.343914 q: -0.068658 0.811686 0.094908 0.572227 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636914.601666, t: 7.537907 -3.550133 0.351162 q: -0.067677 0.811492 0.095286 0.572557 
time: 1403636914.701667, t: 7.586065 -3.587598 0.365965 q: -0.067500 0.810392 0.095082 0.574167 
time: 1403636914.801666, t: 7.626524 -3.620958 0.382540 q: -0.066169 0.809761 0.094861 0.575248 
time: 1403636914.901666, t: 7.664562 -3.655182 0.393579 q: -0.065136 0.810742 0.094375 0.574062 
time: 1403636915.001667, t: 7.700916 -3.687442 0.397215 q: -0.064135 0.812856 0.093748 0.571283 
time: 1403636915.101666, t: 7.734429 -3.718196 0.394941 q: -0.062974 0.814453 0.093695 0.569141 
time: 1403636915.201667, t: 7.770305 -3.746928 0.388652 q: -0.061738 0.816862 0.093553 0.565838 
time: 1403636915.301666, t: 7.808445 -3.774982 0.376401 q: -0.060456 0.821677 0.093761 0.558928 
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time: 1403636915.601666, t: 7.937015 -3.846062 0.344899 q: -0.072312 0.818126 0.085797 0.563986 
time: 1403636915.701667, t: 7.982836 -3.868089 0.346908 q: -0.080650 0.814419 0.080655 0.568957 
time: 1403636915.801666, t: 8.026699 -3.893118 0.356915 q: -0.082403 0.812739 0.080101 0.571183 
time: 1403636915.901666, t: 8.074228 -3.922382 0.375173 q: -0.082696 0.811778 0.080677 0.572424 
time: 1403636916.001667, t: 8.119165 -3.953595 0.395002 q: -0.076666 0.810921 0.085425 0.573787 
time: 1403636916.101666, t: 8.166565 -3.988325 0.410543 q: -0.068232 0.810338 0.091850 0.574682 
time: 1403636916.201667, t: 8.204788 -4.019320 0.419390 q: -0.064104 0.810532 0.095555 0.574281 
time: 1403636916.301666, t: 8.249081 -4.053199 0.429795 q: -0.065856 0.810736 0.094848 0.573911 
time: 1403636916.401666, t: 8.286830 -4.084213 0.445501 q: -0.064841 0.811401 0.095344 0.573005 
time: 1403636916.501667, t: 8.328419 -4.116207 0.460459 q: -0.058028 0.811463 0.091044 0.574344 
time: 1403636916.601666, t: 8.366134 -4.147231 0.470012 q: -0.047854 0.812331 0.081317 0.575514 
time: 1403636916.701667, t: 8.401108 -4.175174 0.473837 q: -0.039334 0.813279 0.070885 0.576199 
time: 1403636916.801666, t: 8.435357 -4.199654 0.472711 q: -0.034228 0.813502 0.061715 0.577265 
time: 1403636916.901666, t: 8.467036 -4.222259 0.466735 q: -0.028759 0.813851 0.056198 0.577634 
time: 1403636917.001667, t: 8.502081 -4.241150 0.455060 q: -0.025632 0.813713 0.052236 0.578347 
time: 1403636917.101666, t: 8.533426 -4.257291 0.437772 q: -0.026354 0.814135 0.047736 0.578110 
time: 1403636917.201667, t: 8.561739 -4.270978 0.417455 q: -0.027915 0.814428 0.042072 0.578063 
time: 1403636917.401666, t: 8.614654 -4.299914 0.360749 q: -0.009334 0.814006 0.018929 0.580473 
time: 1403636917.501667, t: 8.641941 -4.314283 0.325336 q: 0.002914 0.814132 0.002185 0.580668 
time: 1403636917.601666, t: 8.666613 -4.326604 0.294163 q: 0.010247 0.813625 -0.012088 0.581175 
time: 1403636917.701667, t: 8.686885 -4.337348 0.270363 q: 0.016301 0.812607 -0.022427 0.582153 
time: 1403636917.801666, t: 8.709727 -4.346384 0.254452 q: 0.022737 0.811902 -0.030385 0.582559 
time: 1403636917.901666, t: 8.728717 -4.353454 0.247874 q: 0.028595 0.811043 -0.036080 0.583172 
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wait for imu ... 
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time: 1403636918.201667, t: 8.766443 -4.362092 0.229539 q: 0.039528 0.813903 -0.040289 0.578252 
wait for imu ... 
time: 1403636918.301666, t: 8.775145 -4.361443 0.223546 q: 0.041715 0.814780 -0.038798 0.576964 
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time: 1403636919.301666, t: 8.978424 -4.291516 0.503586 q: 0.013197 0.807338 -0.077361 0.584848 
time: 1403636919.401666, t: 8.994174 -4.305023 0.542974 q: 0.020101 0.806638 -0.079855 0.585282 
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time: 1403636919.701667, t: 9.023526 -4.364165 0.616810 q: 0.050432 0.805679 -0.071015 0.585914 
time: 1403636919.801666, t: 9.026413 -4.383987 0.627552 q: 0.050386 0.804755 -0.072293 0.587030 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
wait for imu ... 
wait for imu ... 
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wait for imu ... 
wait for imu ... 
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time: 1403636934.301666, t: 9.755969 -7.810574 0.107444 q: 0.318719 0.673197 -0.454446 0.488572 
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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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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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: 1403636987.801666, t: 9.682406 -7.240203 -1.427067 q: 0.179049 0.765538 -0.239901 0.569509 
optimize pose graph 
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wait for imu ... 
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wait for imu ... 
wait for imu ... 
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wait for imu ... 
wait for imu ... 
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wait for imu ... 
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time: 1403636997.901666, t: 2.780666 -3.405694 -0.336947 q: 0.018330 0.826634 -0.029696 0.561657 
optimize pose graph 
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time: 1403636999.301666, t: 2.543237 -3.131040 0.099472 q: 0.041316 0.811312 -0.033720 0.582176 
time: 1403636999.401666, t: 2.519546 -3.100104 0.108718 q: 0.036605 0.811814 -0.037429 0.581564 
time: 1403636999.501667, t: 2.495540 -3.066763 0.112715 q: 0.033779 0.811410 -0.039705 0.582148 
time: 1403636999.601666, t: 2.470835 -3.032018 0.113662 q: 0.032280 0.809148 -0.041209 0.585269 
time: 1403636999.701667, t: 2.443159 -2.997294 0.110934 q: 0.031861 0.807211 -0.042184 0.587891 
time: 1403636999.801666, t: 2.413735 -2.961710 0.106075 q: 0.031943 0.806791 -0.043070 0.588399 
time: 1403636999.901666, t: 2.383310 -2.927235 0.097521 q: 0.033592 0.807004 -0.042366 0.588065 
time: 1403637000.001667, t: 2.346505 -2.889330 0.092650 q: 0.037786 0.806977 -0.039857 0.588023 
time: 1403637000.101666, t: 2.307515 -2.849572 0.092426 q: 0.040021 0.808022 -0.038121 0.586554 
time: 1403637000.201667, t: 2.264744 -2.807952 0.099939 q: 0.039060 0.809690 -0.038289 0.584303 
time: 1403637000.301666, t: 2.226409 -2.765886 0.110793 q: 0.037783 0.811195 -0.039253 0.582232 
time: 1403637000.401666, t: 2.182917 -2.722389 0.118294 q: 0.035583 0.810576 -0.040644 0.583136 
time: 1403637000.501667, t: 2.143068 -2.677933 0.121166 q: 0.037702 0.810631 -0.039461 0.583008 
wait for imu ... 
time: 1403637000.701667, t: 2.051372 -2.582637 0.129383 q: 0.036316 0.809873 -0.040622 0.584070 
time: 1403637000.801666, t: 2.008626 -2.534018 0.146089 q: 0.036319 0.809262 -0.041295 0.584868 
time: 1403637000.901666, t: 1.961356 -2.483738 0.161127 q: 0.035770 0.809277 -0.042269 0.584811 
time: 1403637001.001667, t: 1.913323 -2.430674 0.171543 q: 0.036101 0.808902 -0.043207 0.585241 
time: 1403637001.101666, t: 1.859394 -2.378174 0.176759 q: 0.035786 0.808693 -0.043978 0.585493 
time: 1403637001.201667, t: 1.804062 -2.324225 0.178782 q: 0.034897 0.807946 -0.045215 0.586482 
time: 1403637001.301666, t: 1.746255 -2.271503 0.185496 q: 0.034043 0.808074 -0.046082 0.586288 
time: 1403637001.401666, t: 1.683729 -2.219143 0.201793 q: 0.031620 0.809346 -0.048116 0.584503 
time: 1403637001.501667, t: 1.623086 -2.167310 0.222319 q: 0.031590 0.812351 -0.049246 0.580227 
time: 1403637001.601666, t: 1.561213 -2.118381 0.242297 q: 0.031888 0.813812 -0.050240 0.578073 
time: 1403637001.701667, t: 1.499193 -2.068275 0.256939 q: 0.032268 0.813897 -0.050927 0.577872 
time: 1403637001.801666, t: 1.441205 -2.022061 0.265629 q: 0.031721 0.812926 -0.052356 0.579140 
time: 1403637001.901666, t: 1.379708 -1.974210 0.269264 q: 0.032680 0.814457 -0.052284 0.576939 
time: 1403637002.001667, t: 1.318645 -1.927538 0.264949 q: 0.033163 0.815275 -0.052380 0.575745 
optimize pose graph 
time: 1403637002.101666, t: 1.258999 -1.882480 0.259417 q: 0.033568 0.815898 -0.052552 0.574823 
time: 1403637002.201667, t: 1.199930 -1.837992 0.247315 q: 0.033267 0.816031 -0.052767 0.574632 
time: 1403637002.301666, t: 1.142019 -1.794206 0.235684 q: 0.034635 0.816074 -0.051911 0.574569 
wait for imu ... 
time: 1403637002.401666, t: 1.082476 -1.751711 0.224686 q: 0.036518 0.816582 -0.050292 0.573873 
time: 1403637002.501667, t: 1.025203 -1.707952 0.223759 q: 0.038065 0.816065 -0.049001 0.574620 
time: 1403637002.601666, t: 0.970233 -1.666095 0.229091 q: 0.040643 0.815734 -0.047077 0.575073 
time: 1403637002.701667, t: 0.913564 -1.619337 0.243836 q: 0.041920 0.816039 -0.047026 0.574553 
time: 1403637002.801666, t: 0.861744 -1.575435 0.256467 q: 0.042100 0.815775 -0.048077 0.574828 
time: 1403637002.901666, t: 0.805704 -1.526155 0.264134 q: 0.039069 0.815162 -0.051471 0.575617 
time: 1403637003.001667, t: 0.753720 -1.478436 0.264910 q: 0.038792 0.815391 -0.053099 0.575164 
time: 1403637003.101666, t: 0.700567 -1.429976 0.257324 q: 0.038737 0.815660 -0.054987 0.574608 
time: 1403637003.201667, t: 0.649575 -1.380773 0.247590 q: 0.039594 0.815202 -0.056125 0.575090 
time: 1403637003.301666, t: 0.599368 -1.334200 0.234172 q: 0.039567 0.814030 -0.057753 0.576588 
time: 1403637003.401666, t: 0.549497 -1.286126 0.227258 q: 0.039492 0.812700 -0.058822 0.578359 
time: 1403637003.501667, t: 0.499971 -1.238952 0.227780 q: 0.039007 0.811417 -0.060408 0.580028 
time: 1403637003.601666, t: 0.450860 -1.192414 0.234149 q: 0.038447 0.811631 -0.061800 0.579619 
time: 1403637003.701667, t: 0.397951 -1.146422 0.247444 q: 0.038286 0.811812 -0.062565 0.579294 
time: 1403637003.801666, t: 0.344427 -1.099779 0.255495 q: 0.036691 0.812239 -0.063077 0.578742 
time: 1403637003.901666, t: 0.291465 -1.054542 0.260346 q: 0.038015 0.814106 -0.060907 0.576261 
time: 1403637004.001667, t: 0.232047 -1.008846 0.257355 q: 0.038470 0.816757 -0.058256 0.572742 
time: 1403637004.101666, t: 0.179549 -0.963048 0.249481 q: 0.039195 0.818891 -0.056030 0.569861 
time: 1403637004.201667, t: 0.130760 -0.919889 0.237229 q: 0.039517 0.820114 -0.054276 0.568247 
time: 1403637004.301666, t: 0.086136 -0.878386 0.229983 q: 0.037255 0.820258 -0.053913 0.568227 
time: 1403637004.401666, t: 0.046764 -0.835434 0.231217 q: 0.035083 0.819150 -0.055693 0.569790 
time: 1403637004.501667, t: 0.007216 -0.793466 0.245347 q: 0.035256 0.814842 -0.057118 0.575784 
time: 1403637004.601666, t: -0.030281 -0.754442 0.269802 q: 0.034957 0.812375 -0.059992 0.578986 
time: 1403637004.701667, t: -0.069324 -0.717740 0.299762 q: 0.026704 0.811663 -0.069092 0.579410 
time: 1403637004.801666, t: -0.110729 -0.681888 0.319887 q: 0.020135 0.811033 -0.076961 0.579566 
wait for imu ... 
time: 1403637004.901666, t: -0.146096 -0.653581 0.326748 q: 0.018662 0.813770 -0.080848 0.575234 
time: 1403637005.001667, t: -0.187196 -0.624365 0.317130 q: 0.022167 0.818016 -0.080869 0.569051 
time: 1403637005.101666, t: -0.226271 -0.601514 0.301729 q: 0.030481 0.818067 -0.076971 0.569134 
time: 1403637005.201667, t: -0.259576 -0.583997 0.283177 q: 0.037728 0.817060 -0.073142 0.570649 
time: 1403637005.301666, t: -0.290475 -0.570564 0.260138 q: 0.041181 0.819084 -0.070766 0.567801 
time: 1403637005.401666, t: -0.324571 -0.552579 0.236845 q: 0.042181 0.820101 -0.068964 0.566480 
time: 1403637005.501667, t: -0.357683 -0.536283 0.215432 q: 0.043753 0.817173 -0.064982 0.571044 
time: 1403637005.601666, t: -0.390456 -0.517567 0.199299 q: 0.041750 0.816348 -0.063777 0.572508 
time: 1403637005.701667, t: -0.417045 -0.499874 0.191969 q: 0.035168 0.820478 -0.066165 0.566747 
time: 1403637005.801666, t: -0.441091 -0.482988 0.197361 q: 0.032003 0.822142 -0.067061 0.564412 
time: 1403637005.901666, t: -0.461685 -0.467731 0.209910 q: 0.035421 0.820621 -0.063746 0.566801 
time: 1403637006.001667, t: -0.481021 -0.453828 0.220701 q: 0.038054 0.818239 -0.061755 0.570284 
time: 1403637006.101666, t: -0.498818 -0.439846 0.226398 q: 0.036286 0.816278 -0.062969 0.573069 
time: 1403637006.201667, t: -0.517330 -0.425112 0.230384 q: 0.035416 0.816323 -0.063434 0.573009 
optimize pose graph 
time: 1403637006.301666, t: -0.535426 -0.411035 0.231905 q: 0.032646 0.820502 -0.065410 0.566951 
time: 1403637006.401666, t: -0.553231 -0.396647 0.231942 q: 0.030243 0.826953 -0.067087 0.557435 
time: 1403637006.501667, t: -0.566227 -0.384774 0.230151 q: 0.024175 0.829521 -0.071230 0.553387 
time: 1403637006.601666, t: -0.573337 -0.377035 0.228200 q: 0.020639 0.825124 -0.068953 0.560348 
time: 1403637006.701667, t: -0.577095 -0.371873 0.225163 q: 0.018986 0.820555 -0.058444 0.568255 
time: 1403637006.801666, t: -0.579161 -0.368377 0.219290 q: 0.013336 0.816829 -0.044319 0.575020 
time: 1403637006.901666, t: -0.581151 -0.366031 0.210206 q: 0.001589 0.817256 -0.028325 0.575575 
time: 1403637007.001667, t: -0.583188 -0.364871 0.200665 q: -0.008316 0.818976 -0.006248 0.573734 
time: 1403637007.101666, t: -0.584240 -0.365302 0.191267 q: -0.016206 0.817965 0.012799 0.574897 
time: 1403637007.301666, t: -0.589159 -0.366994 0.172075 q: -0.023900 0.811034 0.038925 0.583214 
time: 1403637007.401666, t: -0.594382 -0.367052 0.162274 q: -0.024716 0.807733 0.045754 0.587250 
time: 1403637007.501667, t: -0.603025 -0.365670 0.150957 q: -0.026612 0.809135 0.048385 0.585022 
time: 1403637007.601666, t: -0.613551 -0.362869 0.138150 q: -0.027959 0.813701 0.048830 0.578554 
time: 1403637007.701667, t: -0.626114 -0.358139 0.123300 q: -0.027755 0.821869 0.048027 0.566969 
time: 1403637007.801666, t: -0.637208 -0.351985 0.110496 q: -0.025756 0.825427 0.047628 0.561907 
time: 1403637007.901666, t: -0.645009 -0.343544 0.100374 q: -0.029042 0.820487 0.043100 0.569297 
time: 1403637008.001667, t: -0.652239 -0.334483 0.092089 q: -0.034833 0.813864 0.036356 0.578870 
time: 1403637008.101666, t: -0.660352 -0.326412 0.084045 q: -0.031312 0.815602 0.035385 0.576682 
time: 1403637008.201667, t: -0.669412 -0.318626 0.075834 q: -0.026778 0.824751 0.035065 0.563772 
time: 1403637008.301666, t: -0.676037 -0.310645 0.071291 q: -0.021744 0.830919 0.035614 0.554827 
optimize pose graph 
time: 1403637008.401666, t: -0.678500 -0.300929 0.071111 q: -0.018978 0.831075 0.034830 0.554745 
time: 1403637008.501667, t: -0.675938 -0.289800 0.076500 q: -0.021906 0.823580 0.030550 0.565953 
time: 1403637008.601666, t: -0.671116 -0.278525 0.082388 q: -0.024520 0.817404 0.026297 0.574942 
time: 1403637008.701667, t: -0.666618 -0.267555 0.083810 q: -0.029325 0.815261 0.020937 0.577971 
time: 1403637008.801666, t: -0.662114 -0.258948 0.080501 q: -0.041709 0.818750 0.010734 0.572533 
time: 1403637008.901666, t: -0.656376 -0.255666 0.072518 q: -0.049795 0.822863 0.004291 0.566038 
time: 1403637009.001667, t: -0.648851 -0.258819 0.060693 q: -0.046397 0.823325 0.005101 0.565648 
time: 1403637009.101666, t: -0.639359 -0.266453 0.046147 q: -0.034131 0.822232 0.012048 0.568000 
time: 1403637009.201667, t: -0.628723 -0.277371 0.030284 q: -0.022190 0.821314 0.019387 0.569716 
time: 1403637009.301666, t: -0.615590 -0.288964 0.012169 q: -0.005907 0.821463 0.029892 0.569447 
time: 1403637009.401666, t: -0.602943 -0.297711 -0.001808 q: -0.019682 0.817407 0.031249 0.574876 
wait for imu ... 
time: 1403637009.501667, t: -0.599597 -0.306223 -0.005835 q: -0.033233 0.808075 0.045524 0.586377 
time: 1403637009.601666, t: -0.599847 -0.311547 -0.012644 q: -0.075236 0.785749 0.035130 0.612947 
time: 1403637009.701667, t: -0.609887 -0.316838 -0.016127 q: -0.064131 0.791179 0.021846 0.607821 
time: 1403637009.801666, t: -0.610060 -0.316514 -0.016175 q: -0.063870 0.790474 0.018715 0.608868 
time: 1403637009.901666, t: -0.613527 -0.317852 -0.015739 q: -0.064509 0.790196 0.019728 0.609131 
time: 1403637010.001667, t: -0.614320 -0.317790 -0.015832 q: -0.064812 0.790117 0.019746 0.609200 
time: 1403637010.101666, t: -0.614432 -0.317727 -0.015970 q: -0.065658 0.790268 0.019465 0.608923 
time: 1403637010.201667, t: -0.614585 -0.318172 -0.015898 q: -0.065891 0.790260 0.019383 0.608910 
time: 1403637010.301666, t: -0.615128 -0.318542 -0.015526 q: -0.066251 0.790497 0.019269 0.608567 
wait for imu ... 
wait for imu ... 
time: 1403637010.401666, t: -0.614842 -0.318668 -0.015496 q: -0.066175 0.790481 0.019243 0.608597 
time: 1403637010.501667, t: -0.613669 -0.317491 -0.015079 q: -0.065967 0.790731 0.019038 0.608302 
optimize pose graph 
time: 1403637010.601666, t: -0.613396 -0.317160 -0.015313 q: -0.066073 0.790771 0.018934 0.608241 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720469277.190478285]: Shutdown request received.[0m
[33m[ WARN] [1720469277.190531613]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720469277.191495650]: Shutdown request received.[0m
[33m[ WARN] [1720469277.191522709]: Reason given for shutdown: [user request][0m
killed
