/SLAM-Hive/slam_hive_results/mapping_results/2839/2047_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-7.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720470302.143167167]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720470302.144627916]: init begins[0m
[31m[ERROR] [1720470302.145627979]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/2797a0be-3d68-11ef-9b44-0242ac110005/roslaunch-d7d092e21f74-118.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://d7d092e21f74:37405/[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] [1720470303.254585418]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720470303.255488530]: 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] [1720470303.274967779]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720470303.275461722]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720470303.275532703]: 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] [1720470303.275978089]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720470303.276637061]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://d7d092e21f74:11311/[0m
]2;roscore http://d7d092e21f74:11311/
[1msetting /run_id to 2797a0be-3d68-11ef-9b44-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720470312.268274978]: 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: 316833455.64 
init first imu pose
averge acc 9.580116 -0.442934 -3.147281
init R0 
   0.314883    0.132273    0.939868
3.08149e-33   -0.990242    0.139362
    0.94913  -0.0438827    -0.31181
[33m[ WARN] [1720470316.615413212]: gyroscope bias initial calibration -0.00806629   0.0253183   0.0759162[0m
[0m[ INFO] [1720470316.650732788]: Initialization finish![0m
time: 1403636860.751667, t: 0.003038 -0.095860 0.101598 q: -0.030925 0.857830 0.021944 0.512533 
time: 1403636861.151666, t: 0.009059 -0.096808 0.250499 q: -0.025565 0.841176 0.036696 0.538909 
time: 1403636861.351666, t: 0.017810 -0.100436 0.371706 q: -0.026517 0.814838 0.035251 0.578008 
time: 1403636861.551666, t: 0.022363 -0.105257 0.418485 q: -0.024827 0.801897 0.029072 0.596238 
time: 1403636861.751667, t: 0.021333 -0.107861 0.347356 q: -0.026336 0.813386 0.030680 0.580317 
time: 1403636861.951667, t: 0.015347 -0.103900 0.233152 q: -0.030977 0.830356 0.033370 0.555370 
time: 1403636862.151666, t: 0.006500 -0.095722 0.129729 q: -0.039375 0.848139 0.029346 0.527493 
time: 1403636862.351666, t: 0.002663 -0.094883 0.106486 q: -0.032900 0.855895 0.039001 0.514626 
wait for imu ... 
time: 1403636862.551666, t: 0.007762 -0.096421 0.197853 q: -0.027861 0.852401 0.039354 0.520661 
time: 1403636862.751667, t: 0.019249 -0.099845 0.332166 q: -0.014353 0.838018 0.032433 0.544488 
time: 1403636862.951667, t: 0.024618 -0.099724 0.456966 q: -0.019892 0.830491 0.017486 0.556402 
time: 1403636863.151666, t: 0.022807 -0.102686 0.475213 q: -0.011124 0.819410 0.024905 0.572559 
time: 1403636863.351666, t: 0.020652 -0.102522 0.376461 q: 0.000682 0.821359 0.030849 0.569576 
time: 1403636863.551666, t: 0.015751 -0.101599 0.240065 q: -0.002057 0.831033 0.023795 0.555710 
time: 1403636863.751667, t: 0.004564 -0.101964 0.126086 q: -0.020706 0.847763 0.016912 0.529701 
time: 1403636863.951667, t: -0.000824 -0.105864 0.116953 q: -0.024541 0.858546 0.018753 0.511805 
time: 1403636864.151666, t: 0.002654 -0.106898 0.231907 q: -0.019026 0.852503 0.027121 0.521671 
time: 1403636864.351666, t: 0.010462 -0.104102 0.370733 q: -0.014694 0.845735 0.026716 0.532731 
time: 1403636864.551666, t: 0.017189 -0.098681 0.468853 q: -0.021077 0.827002 0.013343 0.561646 
time: 1403636864.751667, t: 0.018199 -0.097513 0.462288 q: -0.011229 0.816908 0.017634 0.576389 
time: 1403636864.951667, t: 0.017052 -0.097162 0.358194 q: -0.005015 0.827445 0.020253 0.561160 
time: 1403636865.151666, t: 0.016842 -0.097330 0.235918 q: -0.007491 0.840873 0.013923 0.541002 
time: 1403636865.351666, t: 0.014577 -0.098124 0.151602 q: -0.030552 0.845713 0.002519 0.532757 
time: 1403636865.551666, t: 0.015847 -0.098679 0.141720 q: -0.019438 0.854477 0.013342 0.518954 
wait for imu ... 
time: 1403636865.751667, t: 0.019012 -0.089224 0.233071 q: -0.024148 0.853553 0.018390 0.520121 
time: 1403636865.951667, t: 0.024576 -0.083841 0.367195 q: -0.030077 0.833249 0.013672 0.551911 
time: 1403636866.151666, t: 0.025179 -0.081922 0.487344 q: -0.027389 0.803969 0.008884 0.593973 
time: 1403636866.351666, t: 0.020007 -0.083775 0.511899 q: -0.015041 0.802010 0.011514 0.597010 
time: 1403636866.551666, t: 0.020775 -0.086548 0.427667 q: -0.006744 0.815443 0.014487 0.578616 
time: 1403636866.751667, t: 0.018253 -0.095588 0.323764 q: -0.002105 0.829300 0.016287 0.558562 
time: 1403636866.951667, t: 0.003840 -0.099498 0.254608 q: -0.022810 0.842889 0.020138 0.537227 
time: 1403636867.151666, t: -0.013604 -0.100532 0.223714 q: -0.029105 0.855179 0.019711 0.517139 
time: 1403636867.351666, t: -0.028446 -0.099549 0.221953 q: -0.044023 0.860371 0.029362 0.506913 
time: 1403636867.551666, t: -0.043436 -0.099173 0.232072 q: -0.035152 0.875367 0.032833 0.481061 
time: 1403636867.751667, t: -0.063705 -0.100681 0.224974 q: -0.031637 0.920739 0.033283 0.387466 
time: 1403636867.951667, t: -0.073568 -0.102424 0.220980 q: -0.026331 0.945737 0.022215 0.323101 
time: 1403636868.151666, t: -0.074759 -0.099582 0.230847 q: -0.028093 0.937237 0.020312 0.346967 
time: 1403636868.351666, t: -0.087039 -0.094206 0.233136 q: -0.032940 0.936760 0.017728 0.347967 
time: 1403636868.551666, t: -0.102686 -0.081813 0.237074 q: -0.029033 0.932629 0.011499 0.359484 
time: 1403636868.751667, t: -0.117432 -0.072435 0.245490 q: -0.026190 0.932636 0.008647 0.359762 
time: 1403636868.951667, t: -0.128985 -0.063413 0.247118 q: -0.021803 0.934042 0.016186 0.356130 
time: 1403636869.151666, t: -0.129793 -0.055643 0.249096 q: -0.032522 0.930452 0.019595 0.364440 
time: 1403636869.351666, t: -0.127643 -0.052838 0.245892 q: -0.034578 0.930517 0.023680 0.363842 
time: 1403636869.551666, t: -0.124168 -0.057789 0.244090 q: -0.035061 0.930296 0.024296 0.364321 
time: 1403636869.751667, t: -0.114641 -0.094492 0.242818 q: -0.032184 0.932853 0.021430 0.358175 
time: 1403636869.951667, t: -0.091004 -0.166135 0.244424 q: -0.026190 0.930260 0.008293 0.365871 
time: 1403636870.151666, t: -0.059850 -0.259881 0.243850 q: -0.017160 0.931531 -0.007361 0.363181 
time: 1403636870.551666, t: -0.004114 -0.448409 0.242787 q: -0.004418 0.929692 -0.027175 0.367308 
time: 1403636870.951667, t: 0.021668 -0.530950 0.225813 q: -0.001152 0.923453 -0.039853 0.381634 
time: 1403636871.151666, t: 0.020947 -0.529525 0.215632 q: -0.001283 0.927915 -0.045650 0.369984 
time: 1403636871.351666, t: 0.015687 -0.504788 0.221002 q: 0.001691 0.928924 -0.047275 0.367236 
time: 1403636871.551666, t: 0.004193 -0.441658 0.226873 q: -0.000636 0.928771 -0.039585 0.368533 
time: 1403636871.751667, t: -0.013871 -0.344521 0.234231 q: -0.013907 0.930390 -0.033911 0.364735 
time: 1403636871.951667, t: -0.028856 -0.232313 0.236482 q: -0.023732 0.929285 -0.021330 0.367982 
time: 1403636872.151666, t: -0.039922 -0.116725 0.233703 q: -0.040910 0.924831 -0.008734 0.378071 
time: 1403636872.351666, t: -0.053923 -0.023014 0.223257 q: -0.049751 0.928691 0.006470 0.367446 
time: 1403636872.551666, t: -0.061468 0.026237 0.216739 q: -0.055077 0.930162 0.016408 0.362625 
time: 1403636872.751667, t: -0.062046 0.021752 0.220610 q: -0.053149 0.927197 0.021522 0.370158 
time: 1403636872.951667, t: -0.052786 -0.030210 0.221195 q: -0.045849 0.929095 0.013111 0.366755 
time: 1403636873.151666, t: -0.032046 -0.128789 0.217884 q: -0.036513 0.929737 0.001224 0.366408 
time: 1403636873.351666, t: -0.007142 -0.248163 0.217633 q: -0.027655 0.930992 -0.014850 0.363687 
time: 1403636873.551666, t: 0.012469 -0.364121 0.212172 q: -0.018599 0.932696 -0.028081 0.359088 
time: 1403636873.751667, t: 0.021582 -0.451543 0.200936 q: -0.008890 0.935250 -0.039167 0.351702 
time: 1403636873.951667, t: 0.018644 -0.489917 0.195494 q: -0.007887 0.935207 -0.042596 0.351443 
time: 1403636874.151666, t: 0.019857 -0.485579 0.192307 q: -0.006640 0.935154 -0.045433 0.351252 
time: 1403636874.351666, t: 0.016364 -0.443358 0.195311 q: -0.010596 0.937022 -0.037544 0.347086 
time: 1403636874.551666, t: 0.011135 -0.352945 0.198847 q: -0.020094 0.936004 -0.026358 0.350424 
time: 1403636874.751667, t: -0.000553 -0.234206 0.198731 q: -0.030992 0.934134 -0.012820 0.355344 
time: 1403636874.951667, t: -0.008987 -0.123459 0.189596 q: -0.046216 0.934718 -0.004346 0.352345 
time: 1403636875.151666, t: -0.009714 -0.053424 0.183837 q: -0.041902 0.925692 -0.015021 0.375649 
time: 1403636875.351666, t: -0.019352 -0.010654 0.176549 q: -0.029245 0.915577 -0.061674 0.396307 
time: 1403636875.551666, t: -0.065222 0.011048 0.171421 q: -0.034865 0.915854 -0.103186 0.386456 
time: 1403636875.751667, t: -0.140253 -0.014203 0.171439 q: -0.027279 0.914289 -0.129501 0.382834 
time: 1403636875.951667, t: -0.216396 -0.073652 0.171279 q: -0.002115 0.911240 -0.165431 0.377187 
time: 1403636876.151666, t: -0.266483 -0.162670 0.180879 q: 0.036055 0.899071 -0.209445 0.382759 
time: 1403636876.351666, t: -0.263665 -0.265203 0.183876 q: 0.059422 0.891067 -0.242628 0.378945 
time: 1403636876.551666, t: -0.192689 -0.377033 0.184646 q: 0.079654 0.888223 -0.250978 0.376465 
time: 1403636876.751667, t: -0.088015 -0.453821 0.188519 q: 0.084562 0.886189 -0.223692 0.396838 
time: 1403636876.951667, t: 0.030913 -0.453904 0.195090 q: 0.067994 0.891588 -0.170713 0.413891 
time: 1403636877.151666, t: 0.129710 -0.373172 0.194800 q: 0.027192 0.897889 -0.097635 0.428395 
time: 1403636877.351666, t: 0.180001 -0.237008 0.197120 q: -0.021286 0.902528 -0.022968 0.429491 
time: 1403636877.551666, t: 0.164794 -0.097825 0.194398 q: -0.062166 0.906036 0.035822 0.417074 
time: 1403636877.751667, t: 0.091904 -0.000181 0.184292 q: -0.089278 0.912955 0.056394 0.394161 
time: 1403636877.951667, t: -0.010297 0.032790 0.177141 q: -0.086277 0.921875 0.039714 0.375668 
time: 1403636878.151666, t: -0.109712 0.012705 0.165792 q: -0.058091 0.927291 -0.000567 0.369807 
time: 1403636878.351666, t: -0.180868 -0.062397 0.155489 q: -0.033936 0.923961 -0.053663 0.377179 
time: 1403636878.551666, t: -0.206921 -0.178079 0.154853 q: -0.003650 0.918596 -0.105652 0.380795 
time: 1403636878.751667, t: -0.175339 -0.301296 0.169811 q: 0.033714 0.910853 -0.139505 0.386974 
time: 1403636878.951667, t: -0.105036 -0.401052 0.180934 q: 0.047739 0.905613 -0.153435 0.392483 
time: 1403636879.151666, t: -0.024690 -0.462265 0.192620 q: 0.043758 0.902771 -0.152472 0.399802 
time: 1403636879.351666, t: 0.058459 -0.461847 0.213547 q: 0.037619 0.894563 -0.128629 0.426377 
time: 1403636879.551666, t: 0.123124 -0.396240 0.224531 q: 0.012309 0.895895 -0.076508 0.437455 
time: 1403636879.751667, t: 0.145990 -0.286043 0.237717 q: -0.025809 0.899701 -0.033988 0.434416 
time: 1403636879.951667, t: 0.104697 -0.172084 0.241611 q: -0.049711 0.906790 -0.006285 0.418594 
time: 1403636880.151666, t: 0.025189 -0.122182 0.242527 q: -0.053779 0.912028 0.001843 0.406582 
time: 1403636880.351666, t: -0.064419 -0.150353 0.244682 q: -0.028223 0.909081 -0.029247 0.414632 
time: 1403636880.551666, t: -0.164024 -0.189496 0.261435 q: 0.010532 0.903467 -0.071935 0.422447 
time: 1403636880.751667, t: -0.252369 -0.175326 0.274545 q: 0.024910 0.907317 -0.094706 0.408883 
time: 1403636880.951667, t: -0.303092 -0.112807 0.280394 q: 0.009648 0.909047 -0.086641 0.407472 
time: 1403636881.151666, t: -0.293190 -0.037619 0.284213 q: -0.008773 0.901328 -0.053439 0.429739 
time: 1403636881.351666, t: -0.238561 0.019887 0.288517 q: -0.039230 0.897415 -0.008332 0.439361 
time: 1403636881.551666, t: -0.148424 0.021880 0.293692 q: -0.040568 0.892959 0.023538 0.447687 
time: 1403636881.751667, t: -0.043809 -0.036269 0.290575 q: -0.033130 0.889767 0.043612 0.453117 
time: 1403636881.951667, t: 0.042425 -0.128403 0.276510 q: -0.023052 0.893056 0.030510 0.448317 
time: 1403636882.151666, t: 0.075884 -0.224635 0.254131 q: -0.015844 0.892610 0.006596 0.450502 
time: 1403636882.351666, t: 0.053562 -0.282831 0.223743 q: -0.006257 0.887652 -0.006836 0.460421 
time: 1403636882.551666, t: 0.017435 -0.276631 0.194494 q: -0.023643 0.883870 0.000485 0.467135 
time: 1403636882.751667, t: 0.028295 -0.237960 0.171641 q: -0.049954 0.863694 0.022145 0.501045 
time: 1403636882.951667, t: 0.067588 -0.197439 0.134218 q: -0.085219 0.835016 0.060634 0.540194 
time: 1403636883.151666, t: 0.103469 -0.162855 0.086160 q: -0.108352 0.827934 0.096936 0.541654 
time: 1403636883.351666, t: 0.130706 -0.137776 0.044764 q: -0.114733 0.816195 0.116564 0.554144 
time: 1403636883.551666, t: 0.146927 -0.125903 0.022640 q: -0.126175 0.805363 0.126524 0.565210 
time: 1403636883.751667, t: 0.154848 -0.120615 0.012287 q: -0.133622 0.797611 0.140240 0.571223 
time: 1403636883.951667, t: 0.160096 -0.118732 0.003723 q: -0.142869 0.795412 0.144213 0.571061 
time: 1403636884.151666, t: 0.161574 -0.120107 0.001937 q: -0.148151 0.787327 0.148890 0.579655 
time: 1403636884.351666, t: 0.159978 -0.119827 0.002575 q: -0.148152 0.782309 0.148754 0.586444 
time: 1403636884.551666, t: 0.160035 -0.119776 0.002524 q: -0.147756 0.782322 0.148756 0.586525 
time: 1403636884.751667, t: 0.160394 -0.119757 0.002532 q: -0.147870 0.782585 0.148467 0.586220 
time: 1403636884.951667, t: 0.160415 -0.119834 0.002537 q: -0.147847 0.782636 0.148408 0.586172 
time: 1403636885.151666, t: 0.160438 -0.119957 0.002527 q: -0.147502 0.782763 0.148447 0.586079 
time: 1403636885.351666, t: 0.160418 -0.119950 0.002523 q: -0.147563 0.782840 0.148307 0.585997 
time: 1403636885.551666, t: 0.160431 -0.119970 0.002505 q: -0.147467 0.782852 0.148237 0.586022 
time: 1403636885.751667, t: 0.160406 -0.120001 0.002512 q: -0.147385 0.782861 0.148297 0.586015 
wait for imu ... 
time: 1403636885.951667, t: 0.160410 -0.120013 0.002497 q: -0.147178 0.782932 0.148325 0.585966 
time: 1403636886.151666, t: 0.160394 -0.119964 0.002467 q: -0.147411 0.782999 0.148107 0.585872 
time: 1403636886.351666, t: 0.160410 -0.119964 0.002448 q: -0.147452 0.783069 0.148080 0.585775 
time: 1403636886.551666, t: 0.160404 -0.119978 0.002432 q: -0.147314 0.783045 0.148157 0.585823 
time: 1403636886.751667, t: 0.160396 -0.119968 0.002430 q: -0.147357 0.783076 0.148148 0.585773 
time: 1403636886.951667, t: 0.160374 -0.119985 0.002408 q: -0.147286 0.783070 0.148217 0.585781 
time: 1403636887.151666, t: 0.160365 -0.119986 0.002379 q: -0.147326 0.783111 0.148157 0.585732 
time: 1403636887.351666, t: 0.160279 -0.119987 0.002416 q: -0.147338 0.783091 0.148146 0.585759 
time: 1403636887.551666, t: 0.160350 -0.119993 0.002370 q: -0.147259 0.783165 0.148185 0.585669 
time: 1403636887.751667, t: 0.160289 -0.120019 0.002392 q: -0.147193 0.783168 0.148220 0.585673 
time: 1403636887.951667, t: 0.160145 -0.119975 0.002406 q: -0.147373 0.783164 0.148243 0.585627 
time: 1403636888.151666, t: 0.160175 -0.119890 0.002339 q: -0.147490 0.783180 0.148243 0.585577 
time: 1403636888.351666, t: 0.160169 -0.119856 0.002307 q: -0.147638 0.783174 0.148205 0.585557 
time: 1403636888.551666, t: 0.160158 -0.119859 0.002313 q: -0.147587 0.783237 0.148167 0.585495 
time: 1403636888.751667, t: 0.160018 -0.119748 0.002384 q: -0.147539 0.782977 0.148266 0.585829 
time: 1403636888.951667, t: 0.159940 -0.119685 0.002372 q: -0.147446 0.783108 0.148281 0.585674 
time: 1403636889.151666, t: 0.160004 -0.119674 0.002428 q: -0.147593 0.783122 0.148166 0.585648 
time: 1403636889.351666, t: 0.160132 -0.119721 0.002380 q: -0.147655 0.783150 0.147948 0.585649 
time: 1403636889.551666, t: 0.160125 -0.119701 0.002388 q: -0.147544 0.783154 0.148048 0.585647 
time: 1403636889.751667, t: 0.160020 -0.119757 0.002417 q: -0.147370 0.783001 0.148037 0.585898 
time: 1403636889.951667, t: 0.160033 -0.119769 0.002420 q: -0.147366 0.783035 0.148280 0.585792 
time: 1403636890.151666, t: 0.160085 -0.119913 0.002521 q: -0.147229 0.782923 0.147682 0.586127 
time: 1403636890.351666, t: 0.159982 -0.119776 0.002408 q: -0.147390 0.783315 0.148188 0.585435 
time: 1403636890.551666, t: 0.160010 -0.119780 0.002524 q: -0.147314 0.782721 0.147874 0.586327 
time: 1403636890.751667, t: 0.160012 -0.119837 0.002403 q: -0.147222 0.783326 0.148063 0.585494 
time: 1403636890.951667, t: 0.160100 -0.119897 0.002522 q: -0.147194 0.783061 0.147891 0.585898 
time: 1403636891.151666, t: 0.160048 -0.119852 0.002466 q: -0.147273 0.783029 0.147893 0.585921 
time: 1403636891.351666, t: 0.160059 -0.119821 0.002467 q: -0.147269 0.783028 0.147971 0.585904 
time: 1403636891.551666, t: 0.160063 -0.119846 0.002459 q: -0.147239 0.783052 0.147998 0.585873 
time: 1403636891.751667, t: 0.160073 -0.119872 0.002429 q: -0.147206 0.783065 0.147957 0.585874 
time: 1403636891.951667, t: 0.160076 -0.119874 0.002442 q: -0.147142 0.783064 0.147989 0.585883 
time: 1403636892.151666, t: 0.160058 -0.119863 0.002402 q: -0.147237 0.783055 0.147933 0.585886 
wait for imu ... 
time: 1403636892.351666, t: 0.160084 -0.119910 0.002433 q: -0.147076 0.783053 0.147937 0.585928 
time: 1403636892.551666, t: 0.160117 -0.119923 0.002421 q: -0.146973 0.783063 0.147911 0.585947 
time: 1403636892.751667, t: 0.160119 -0.119920 0.002404 q: -0.146997 0.783065 0.147962 0.585926 
time: 1403636892.951667, t: 0.160122 -0.119913 0.002407 q: -0.146998 0.783073 0.148068 0.585887 
time: 1403636893.151666, t: 0.160115 -0.119919 0.002378 q: -0.147018 0.783009 0.147986 0.585988 
time: 1403636893.351666, t: 0.160106 -0.119909 0.002355 q: -0.147047 0.783015 0.147992 0.585972 
time: 1403636893.551666, t: 0.160117 -0.119926 0.002375 q: -0.146949 0.783048 0.148039 0.585940 
time: 1403636893.751667, t: 0.160109 -0.119915 0.002376 q: -0.146946 0.783012 0.148107 0.585972 
time: 1403636893.951667, t: 0.160130 -0.119929 0.002370 q: -0.147055 0.783113 0.148027 0.585831 
time: 1403636894.151666, t: 0.160111 -0.119931 0.002342 q: -0.147024 0.783119 0.147934 0.585854 
time: 1403636894.351666, t: 0.160114 -0.119920 0.002334 q: -0.147016 0.783124 0.147909 0.585855 
time: 1403636894.551666, t: 0.159968 -0.119505 0.002563 q: -0.147502 0.782043 0.148629 0.586993 
time: 1403636894.751667, t: 0.159963 -0.119466 0.002574 q: -0.147574 0.782030 0.148650 0.586988 
time: 1403636894.951667, t: 0.160003 -0.119468 0.002588 q: -0.147503 0.782065 0.148530 0.586989 
time: 1403636895.151666, t: 0.160030 -0.119518 0.002609 q: -0.147351 0.781975 0.148735 0.587095 
time: 1403636895.351666, t: 0.160006 -0.119484 0.002606 q: -0.147348 0.782018 0.148654 0.587059 
time: 1403636895.751667, t: 0.159988 -0.119476 0.002627 q: -0.147423 0.781949 0.148788 0.587098 
wait for imu ... 
time: 1403636895.951667, t: 0.159988 -0.119473 0.002684 q: -0.147409 0.781915 0.148934 0.587110 
time: 1403636896.151666, t: 0.160350 -0.119560 0.002498 q: -0.147488 0.782761 0.148977 0.585951 
time: 1403636896.351666, t: 0.160359 -0.119602 0.002525 q: -0.147476 0.782742 0.149047 0.585962 
time: 1403636896.551666, t: 0.160234 -0.119591 0.002576 q: -0.147409 0.782379 0.149230 0.586417 
time: 1403636896.751667, t: 0.160503 -0.119657 0.002490 q: -0.147635 0.783047 0.149335 0.585441 
time: 1403636896.951667, t: 0.160415 -0.119689 0.002599 q: -0.147615 0.782843 0.149643 0.585639 
time: 1403636897.151666, t: 0.159025 -0.119860 0.003245 q: -0.149334 0.781353 0.153840 0.586105 
time: 1403636897.351666, t: 0.154075 -0.126694 0.002221 q: -0.147808 0.783732 0.151985 0.583796 
time: 1403636897.551666, t: 0.138030 -0.150236 0.001250 q: -0.131735 0.794914 0.148190 0.573408 
time: 1403636897.751667, t: 0.113771 -0.182131 0.011407 q: -0.109662 0.814016 0.155174 0.548884 
time: 1403636897.951667, t: 0.097846 -0.209136 0.048641 q: -0.102228 0.820771 0.161684 0.538278 
time: 1403636898.151666, t: 0.098335 -0.223832 0.080948 q: -0.110460 0.809094 0.163321 0.553617 
time: 1403636898.351666, t: 0.108238 -0.228938 0.110359 q: -0.114555 0.806709 0.168009 0.554861 
time: 1403636898.551666, t: 0.123478 -0.227898 0.151420 q: -0.120367 0.806283 0.172485 0.552873 
time: 1403636898.751667, t: 0.144769 -0.221205 0.190769 q: -0.121955 0.806518 0.177146 0.550704 
time: 1403636898.951667, t: 0.172437 -0.208979 0.222109 q: -0.129836 0.807908 0.175097 0.547511 
time: 1403636899.151666, t: 0.211976 -0.198743 0.245091 q: -0.130506 0.808581 0.159231 0.551191 
time: 1403636899.351666, t: 0.261376 -0.199974 0.266805 q: -0.108667 0.803050 0.127152 0.571957 
time: 1403636899.551666, t: 0.304728 -0.212270 0.281883 q: -0.086509 0.810066 0.086172 0.573484 
time: 1403636899.751667, t: 0.344136 -0.232956 0.291957 q: -0.075502 0.819233 0.062883 0.564980 
optimize pose graph 
time: 1403636899.951667, t: 0.389580 -0.265835 0.298240 q: -0.058851 0.819023 0.060663 0.567502 
time: 1403636900.151666, t: 0.441308 -0.299680 0.298349 q: -0.053279 0.809294 0.061618 0.581729 
time: 1403636900.351666, t: 0.479425 -0.336570 0.330226 q: -0.052996 0.810757 0.065739 0.579260 
time: 1403636900.551666, t: 0.513938 -0.371412 0.378488 q: -0.055508 0.817846 0.071652 0.568255 
time: 1403636900.751667, t: 0.552803 -0.408664 0.408471 q: -0.059739 0.825792 0.075045 0.555759 
time: 1403636900.951667, t: 0.600699 -0.446196 0.416283 q: -0.073547 0.824152 0.069085 0.557308 
time: 1403636901.151666, t: 0.659524 -0.496562 0.408609 q: -0.080455 0.820961 0.064388 0.561609 
time: 1403636901.351666, t: 0.723943 -0.564440 0.405725 q: -0.074895 0.819281 0.067410 0.564469 
time: 1403636901.551666, t: 0.801398 -0.641947 0.423576 q: -0.064759 0.818134 0.073095 0.566674 
time: 1403636901.751667, t: 0.880553 -0.719578 0.428340 q: -0.064283 0.815336 0.072974 0.570763 
optimize pose graph 
time: 1403636901.951667, t: 0.958059 -0.800609 0.408736 q: -0.062726 0.815224 0.074445 0.570906 
time: 1403636902.151666, t: 1.035050 -0.880952 0.390030 q: -0.061468 0.814052 0.077424 0.572317 
time: 1403636902.351666, t: 1.111456 -0.960634 0.387232 q: -0.064154 0.814907 0.074352 0.571212 
time: 1403636902.551666, t: 1.181996 -1.044063 0.346501 q: -0.057840 0.815717 0.073238 0.570874 
time: 1403636902.751667, t: 1.249380 -1.122752 0.302099 q: -0.048305 0.814530 0.073608 0.573401 
time: 1403636902.951667, t: 1.308394 -1.196571 0.285756 q: -0.051958 0.811560 0.072774 0.577386 
time: 1403636903.151666, t: 1.364718 -1.266154 0.300423 q: -0.056027 0.813001 0.074844 0.574707 
time: 1403636903.351666, t: 1.421131 -1.335029 0.345189 q: -0.056754 0.815323 0.079026 0.570773 
time: 1403636903.551666, t: 1.475379 -1.401083 0.374033 q: -0.055080 0.815587 0.083289 0.569954 
time: 1403636903.751667, t: 1.521959 -1.459196 0.376538 q: -0.060246 0.820805 0.081185 0.562191 
optimize pose graph 
time: 1403636903.951667, t: 1.579728 -1.511285 0.381809 q: -0.070008 0.821387 0.074944 0.561076 
time: 1403636904.151666, t: 1.646655 -1.570915 0.419755 q: -0.074686 0.818831 0.071139 0.564692 
time: 1403636904.351666, t: 1.718533 -1.640010 0.470209 q: -0.075177 0.816815 0.068868 0.567820 
time: 1403636904.551666, t: 1.789022 -1.717850 0.505892 q: -0.068327 0.815951 0.070259 0.569753 
time: 1403636904.751667, t: 1.861412 -1.803865 0.529020 q: -0.060064 0.815918 0.072249 0.570482 
wait for imu ... 
time: 1403636904.951667, t: 1.935329 -1.890257 0.542137 q: -0.051597 0.816503 0.073871 0.570266 
wait for imu ... 
time: 1403636905.151666, t: 2.011728 -1.972722 0.543580 q: -0.047253 0.815443 0.072205 0.572369 
wait for imu ... 
time: 1403636905.351666, t: 2.088573 -2.045342 0.560173 q: -0.041748 0.817781 0.071566 0.569535 
wait for imu ... 
time: 1403636905.551666, t: 2.161334 -2.103610 0.596297 q: -0.040446 0.819382 0.080776 0.566085 
time: 1403636905.751667, t: 2.235449 -2.149372 0.616751 q: -0.048168 0.819133 0.087083 0.564905 
time: 1403636905.951667, t: 2.310285 -2.183767 0.608047 q: -0.055316 0.821175 0.089033 0.560968 
time: 1403636906.151666, t: 2.392656 -2.212928 0.582064 q: -0.055163 0.824252 0.094233 0.555595 
time: 1403636906.351666, t: 2.483010 -2.228039 0.578514 q: -0.062045 0.815541 0.092022 0.567957 
time: 1403636906.551666, t: 2.571216 -2.236870 0.596409 q: -0.080964 0.814884 0.078596 0.568534 
time: 1403636906.751667, t: 2.659104 -2.258145 0.602207 q: -0.072767 0.816404 0.083419 0.566773 
wait for imu ... 
time: 1403636906.951667, t: 2.749402 -2.284581 0.591203 q: -0.062805 0.816320 0.092504 0.566675 
time: 1403636907.151666, t: 2.842514 -2.305504 0.595918 q: -0.061243 0.817877 0.097498 0.563755 
time: 1403636907.351666, t: 2.940674 -2.320057 0.589255 q: -0.065925 0.823469 0.097437 0.555030 
time: 1403636907.551666, t: 3.047310 -2.329915 0.592091 q: -0.078608 0.825401 0.090145 0.551732 
wait for imu ... 
time: 1403636907.751667, t: 3.174918 -2.345326 0.627053 q: -0.083366 0.824753 0.087329 0.552455 
time: 1403636907.951667, t: 3.317748 -2.369787 0.657985 q: -0.082565 0.821420 0.088174 0.557384 
time: 1403636908.151666, t: 3.475288 -2.402047 0.656766 q: -0.073450 0.815012 0.098358 0.566291 
time: 1403636908.351666, t: 3.620856 -2.433791 0.663950 q: -0.073380 0.812988 0.104297 0.568145 
time: 1403636908.551666, t: 3.759293 -2.463266 0.654490 q: -0.076613 0.814243 0.107614 0.565294 
wait for imu ... 
wait for imu ... 
time: 1403636908.751667, t: 3.897711 -2.493332 0.648815 q: -0.079274 0.817134 0.110954 0.560086 
time: 1403636908.951667, t: 4.041316 -2.520454 0.675067 q: -0.083373 0.821876 0.110681 0.552557 
time: 1403636909.151666, t: 4.194565 -2.545747 0.716958 q: -0.087856 0.822524 0.107762 0.551474 
time: 1403636909.351666, t: 4.360568 -2.571225 0.737278 q: -0.086661 0.822686 0.106574 0.551651 
time: 1403636909.551666, t: 4.537850 -2.599620 0.738879 q: -0.082688 0.818288 0.106764 0.558721 
time: 1403636909.751667, t: 4.717503 -2.630578 0.718861 q: -0.085973 0.813361 0.100946 0.566447 
time: 1403636909.951667, t: 4.893663 -2.666797 0.679890 q: -0.062009 0.804283 0.115961 0.579514 
time: 1403636910.151666, t: 5.052024 -2.688632 0.629406 q: -0.062664 0.802563 0.116113 0.581794 
time: 1403636910.351666, t: 5.195368 -2.696562 0.599341 q: -0.074192 0.811994 0.109905 0.568404 
time: 1403636910.551666, t: 5.333473 -2.701744 0.597360 q: -0.075611 0.813662 0.112483 0.565318 
time: 1403636910.751667, t: 5.470391 -2.705191 0.584821 q: -0.076510 0.813767 0.113594 0.564824 
time: 1403636910.951667, t: 5.601453 -2.703676 0.554053 q: -0.082359 0.813121 0.110208 0.565602 
time: 1403636911.151666, t: 5.727768 -2.703713 0.531694 q: -0.088440 0.802410 0.106885 0.580424 
time: 1403636911.351666, t: 5.840270 -2.713627 0.530173 q: -0.080100 0.811600 0.112288 0.567698 
time: 1403636911.551666, t: 5.941501 -2.722071 0.558403 q: -0.077531 0.812419 0.113412 0.566659 
time: 1403636911.751667, t: 6.046388 -2.728282 0.576049 q: -0.078135 0.812795 0.111975 0.566322 
time: 1403636911.951667, t: 6.151414 -2.733670 0.571317 q: -0.091743 0.817205 0.100616 0.560031 
time: 1403636912.151666, t: 6.257608 -2.746082 0.548767 q: -0.087462 0.816896 0.101986 0.560919 
time: 1403636912.351666, t: 6.376899 -2.761566 0.547804 q: -0.080881 0.814397 0.105183 0.564935 
time: 1403636912.551666, t: 6.493564 -2.780413 0.551686 q: -0.085682 0.814994 0.099884 0.564329 
time: 1403636912.751667, t: 6.623151 -2.805428 0.532510 q: -0.094092 0.815743 0.091829 0.563274 
time: 1403636912.951667, t: 6.741463 -2.846609 0.497308 q: -0.089789 0.812883 0.094027 0.567730 
time: 1403636913.151666, t: 6.861852 -2.897930 0.447489 q: -0.080468 0.806595 0.100737 0.576872 
time: 1403636913.351666, t: 6.970713 -2.953349 0.420832 q: -0.080185 0.807724 0.101656 0.575168 
wait for imu ... 
time: 1403636913.551666, t: 7.074913 -3.012457 0.420459 q: -0.084748 0.812207 0.098211 0.568764 
time: 1403636913.751667, t: 7.174683 -3.074549 0.404097 q: -0.078491 0.812238 0.101010 0.569127 
time: 1403636913.951667, t: 7.270162 -3.138681 0.392104 q: -0.076884 0.811010 0.102612 0.570809 
time: 1403636914.151666, t: 7.367895 -3.206238 0.401888 q: -0.081530 0.811099 0.099834 0.570531 
time: 1403636914.351666, t: 7.459334 -3.276227 0.401033 q: -0.078730 0.811325 0.101068 0.570385 
time: 1403636914.551666, t: 7.545139 -3.343963 0.399966 q: -0.072906 0.810873 0.104283 0.571222 
time: 1403636914.751667, t: 7.630978 -3.410511 0.425131 q: -0.071188 0.809178 0.104323 0.573829 
time: 1403636914.951667, t: 7.708664 -3.474125 0.444847 q: -0.069371 0.810997 0.103655 0.571600 
time: 1403636915.151666, t: 7.783760 -3.533086 0.444015 q: -0.067420 0.814759 0.103027 0.566575 
time: 1403636915.351666, t: 7.861154 -3.587657 0.421822 q: -0.064851 0.823449 0.103666 0.554057 
time: 1403636915.551666, t: 7.946044 -3.632937 0.399333 q: -0.072863 0.819839 0.098450 0.559341 
time: 1403636915.751667, t: 8.041274 -3.676548 0.404074 q: -0.086540 0.812507 0.090149 0.569400 
time: 1403636915.951667, t: 8.127810 -3.732851 0.437967 q: -0.086377 0.811026 0.091774 0.571274 
time: 1403636916.151666, t: 8.213096 -3.797713 0.467954 q: -0.071269 0.809478 0.103917 0.573469 
time: 1403636916.351666, t: 8.292608 -3.859360 0.491020 q: -0.072311 0.809917 0.104660 0.572584 
time: 1403636916.551666, t: 8.369548 -3.921281 0.518804 q: -0.058266 0.810918 0.096809 0.574147 
time: 1403636916.751667, t: 8.441557 -3.975577 0.527060 q: -0.041962 0.812698 0.076459 0.576121 
time: 1403636916.951667, t: 8.509633 -4.017133 0.513547 q: -0.032703 0.813160 0.064388 0.577543 
time: 1403636917.151666, t: 8.573884 -4.045944 0.481571 q: -0.033686 0.814142 0.055466 0.577028 
time: 1403636917.351666, t: 8.629621 -4.072759 0.429758 q: -0.022794 0.814081 0.036647 0.579145 
time: 1403636917.551666, t: 8.681000 -4.100653 0.361712 q: 0.000955 0.813964 0.005028 0.580892 
time: 1403636917.751667, t: 8.726130 -4.120320 0.312773 q: 0.013121 0.812440 -0.016670 0.582659 
time: 1403636917.951667, t: 8.763528 -4.132611 0.296382 q: 0.024405 0.811273 -0.027642 0.583504 
time: 1403636918.151666, t: 8.790914 -4.137659 0.281670 q: 0.031038 0.813508 -0.030576 0.579919 
time: 1403636918.351666, t: 8.812294 -4.134893 0.268583 q: 0.035748 0.817214 -0.027277 0.574577 
time: 1403636918.551666, t: 8.833354 -4.120837 0.281435 q: 0.034175 0.828231 -0.025667 0.558755 
time: 1403636918.751667, t: 8.871377 -4.094807 0.330104 q: 0.026356 0.826050 -0.025572 0.562400 
time: 1403636918.951667, t: 8.921524 -4.064857 0.401868 q: 0.001861 0.815347 -0.044604 0.577249 
time: 1403636919.151666, t: 8.970746 -4.055018 0.484638 q: 0.000263 0.809667 -0.061557 0.583652 
time: 1403636919.351666, t: 9.006284 -4.070224 0.571227 q: 0.008931 0.807636 -0.068767 0.585590 
time: 1403636919.551666, t: 9.030415 -4.105893 0.638950 q: 0.031758 0.807541 -0.064226 0.585444 
time: 1403636919.751667, t: 9.042966 -4.147425 0.677856 q: 0.043355 0.806510 -0.060906 0.586474 
time: 1403636919.951667, t: 9.046490 -4.185022 0.687712 q: 0.038906 0.804466 -0.064472 0.589206 
time: 1403636920.151666, t: 9.037565 -4.224604 0.671874 q: 0.026985 0.802009 -0.070170 0.592562 
time: 1403636920.351666, t: 9.010792 -4.273709 0.639064 q: 0.034330 0.802167 -0.062238 0.592854 
time: 1403636920.551666, t: 8.968554 -4.324112 0.608861 q: 0.044037 0.807081 -0.053653 0.586347 
time: 1403636920.751667, t: 8.913493 -4.366822 0.609376 q: 0.044111 0.815404 -0.053790 0.574698 
time: 1403636920.951667, t: 8.858726 -4.402198 0.639806 q: 0.043256 0.819856 -0.055740 0.568206 
time: 1403636921.151666, t: 8.811630 -4.430346 0.670601 q: 0.043510 0.819320 -0.056779 0.568856 
time: 1403636921.351666, t: 8.769471 -4.451935 0.680470 q: 0.042878 0.809635 -0.057951 0.582489 
wait for imu ... 
time: 1403636921.551666, t: 8.723104 -4.468819 0.666949 q: 0.030506 0.807155 -0.066901 0.585743 
time: 1403636921.751667, t: 8.668108 -4.491112 0.629202 q: 0.025914 0.823720 -0.071742 0.561842 
time: 1403636921.951667, t: 8.624007 -4.523659 0.587904 q: 0.035854 0.825191 -0.068066 0.559590 
time: 1403636922.151666, t: 8.597543 -4.559110 0.547812 q: 0.049235 0.813431 -0.069301 0.575415 
time: 1403636922.351666, t: 8.570795 -4.590498 0.527893 q: 0.058152 0.818270 -0.075929 0.566822 
time: 1403636922.551666, t: 8.549914 -4.616453 0.509331 q: 0.066850 0.824272 -0.088140 0.555283 
time: 1403636922.751667, t: 8.540485 -4.639427 0.476946 q: 0.080456 0.812631 -0.103122 0.567911 
time: 1403636922.951667, t: 8.533614 -4.653751 0.451187 q: 0.073566 0.798829 -0.121597 0.584530 
time: 1403636923.151666, t: 8.512873 -4.669560 0.440542 q: 0.074718 0.796337 -0.135137 0.584810 
time: 1403636923.351666, t: 8.475961 -4.694233 0.411161 q: 0.095770 0.804064 -0.147642 0.567901 
time: 1403636923.551666, t: 8.436620 -4.718707 0.366647 q: 0.105149 0.816505 -0.158462 0.545118 
time: 1403636923.751667, t: 8.418442 -4.746047 0.346903 q: 0.108745 0.821763 -0.162928 0.535103 
wait for imu ... 
time: 1403636923.951667, t: 8.429572 -4.778168 0.356124 q: 0.112185 0.821776 -0.161699 0.534745 
time: 1403636924.151666, t: 8.470372 -4.808924 0.349246 q: 0.113509 0.820689 -0.158727 0.537020 
time: 1403636924.351666, t: 8.536872 -4.841154 0.328735 q: 0.110779 0.818763 -0.158091 0.540706 
time: 1403636924.551666, t: 8.624538 -4.876381 0.335259 q: 0.096010 0.808236 -0.165812 0.556815 
time: 1403636924.751667, t: 8.714369 -4.924599 0.351277 q: 0.082789 0.797866 -0.171429 0.571985 
time: 1403636924.951667, t: 8.791166 -4.988519 0.341973 q: 0.080575 0.790108 -0.175580 0.581729 
time: 1403636925.151666, t: 8.845818 -5.072147 0.301001 q: 0.104187 0.793408 -0.179289 0.572280 
time: 1403636925.351666, t: 8.887877 -5.159231 0.239983 q: 0.125765 0.805877 -0.177561 0.550652 
time: 1403636925.551666, t: 8.939057 -5.243559 0.174787 q: 0.129561 0.818194 -0.182787 0.529492 
time: 1403636925.751667, t: 9.021241 -5.328070 0.141516 q: 0.130361 0.824480 -0.186066 0.518283 
time: 1403636925.951667, t: 9.139742 -5.415028 0.148261 q: 0.135658 0.813387 -0.182753 0.535350 
time: 1403636926.151666, t: 9.278618 -5.496806 0.157766 q: 0.133591 0.791230 -0.182671 0.568102 
time: 1403636926.351666, t: 9.406036 -5.568255 0.135829 q: 0.119226 0.781673 -0.189340 0.582171 
time: 1403636926.551666, t: 9.511327 -5.638341 0.094058 q: 0.113158 0.782778 -0.189348 0.581894 
time: 1403636926.751667, t: 9.590853 -5.709783 0.069894 q: 0.118060 0.790217 -0.184732 0.572270 
time: 1403636926.951667, t: 9.653297 -5.786102 0.070778 q: 0.118960 0.791555 -0.206921 0.562559 
time: 1403636927.151666, t: 9.706074 -5.875207 0.064348 q: 0.138783 0.782738 -0.238990 0.557623 
time: 1403636927.351666, t: 9.746709 -5.975720 0.031397 q: 0.169329 0.773121 -0.272303 0.547232 
time: 1403636927.551666, t: 9.781272 -6.076662 -0.016910 q: 0.187437 0.782694 -0.291086 0.517229 
time: 1403636927.751667, t: 9.833190 -6.185005 -0.051020 q: 0.194941 0.786410 -0.301112 0.502881 
time: 1403636927.951667, t: 9.912884 -6.308676 -0.057692 q: 0.196585 0.783393 -0.304268 0.505045 
time: 1403636928.151666, t: 10.014835 -6.442805 -0.072211 q: 0.200211 0.776658 -0.300939 0.515901 
time: 1403636928.351666, t: 10.128419 -6.584173 -0.100910 q: 0.199933 0.761082 -0.297814 0.540452 
time: 1403636928.551666, t: 10.233867 -6.719470 -0.140570 q: 0.203091 0.757542 -0.292804 0.546946 
time: 1403636928.751667, t: 10.330735 -6.847168 -0.159687 q: 0.202200 0.768606 -0.291446 0.532371 
time: 1403636928.951667, t: 10.430392 -6.969054 -0.143660 q: 0.204138 0.771882 -0.289363 0.528010 
time: 1403636929.151666, t: 10.536914 -7.087428 -0.092932 q: 0.196262 0.755197 -0.294167 0.551928 
time: 1403636929.351666, t: 10.626386 -7.199197 -0.036390 q: 0.185202 0.753323 -0.300408 0.554942 
time: 1403636929.551666, t: 10.696131 -7.314919 -0.001558 q: 0.192133 0.758278 -0.293123 0.549708 
time: 1403636929.751667, t: 10.752601 -7.428538 0.008498 q: 0.203622 0.762281 -0.283007 0.545318 
time: 1403636929.951667, t: 10.799983 -7.525955 0.000031 q: 0.201474 0.761384 -0.283369 0.547178 
time: 1403636930.151666, t: 10.843413 -7.613436 0.011379 q: 0.193962 0.759814 -0.289079 0.549086 
time: 1403636930.351666, t: 10.875528 -7.700722 0.051024 q: 0.190409 0.761311 -0.291676 0.546878 
time: 1403636930.551666, t: 10.894272 -7.784083 0.089992 q: 0.200745 0.761646 -0.285253 0.546103 
time: 1403636930.751667, t: 10.907544 -7.862229 0.104761 q: 0.193313 0.759401 -0.289857 0.549475 
time: 1403636930.951667, t: 10.906826 -7.934635 0.097195 q: 0.182247 0.753957 -0.302360 0.553997 
time: 1403636931.151666, t: 10.891514 -8.024162 0.080112 q: 0.195968 0.744802 -0.315604 0.554311 
time: 1403636931.351666, t: 10.850295 -8.111522 0.086377 q: 0.223098 0.737713 -0.313090 0.554961 
time: 1403636931.551666, t: 10.793019 -8.183171 0.116792 q: 0.244462 0.740976 -0.306986 0.544934 
wait for imu ... 
time: 1403636931.751667, t: 10.733140 -8.227665 0.147511 q: 0.250376 0.743496 -0.306394 0.539118 
time: 1403636931.951667, t: 10.672530 -8.245637 0.149805 q: 0.232835 0.747075 -0.320412 0.533856 
time: 1403636932.151666, t: 10.610172 -8.254525 0.132138 q: 0.230472 0.742463 -0.323327 0.539528 
time: 1403636932.351666, t: 10.540414 -8.250085 0.118552 q: 0.248834 0.739108 -0.314043 0.541459 
time: 1403636932.551666, t: 10.464922 -8.217593 0.132653 q: 0.259523 0.736131 -0.319293 0.537412 
time: 1403636932.751667, t: 10.387774 -8.160623 0.175997 q: 0.264701 0.724973 -0.348227 0.532057 
time: 1403636932.951667, t: 10.311542 -8.084053 0.233028 q: 0.272136 0.718567 -0.367992 0.523628 
time: 1403636933.151666, t: 10.234252 -7.995773 0.246116 q: 0.280364 0.713746 -0.385811 0.512946 
time: 1403636933.351666, t: 10.158364 -7.898064 0.221108 q: 0.270658 0.726451 -0.405850 0.484044 
time: 1403636933.551666, t: 10.094670 -7.812605 0.189661 q: 0.272872 0.722634 -0.407216 0.487356 
time: 1403636933.751667, t: 10.040650 -7.739086 0.172943 q: 0.279808 0.714822 -0.399924 0.500797 
time: 1403636933.951667, t: 9.991350 -7.666810 0.183913 q: 0.280535 0.707896 -0.399952 0.510120 
time: 1403636934.151666, t: 9.934795 -7.595500 0.189004 q: 0.293103 0.695469 -0.420975 0.503183 
time: 1403636934.351666, t: 9.870147 -7.518523 0.150436 q: 0.318231 0.672222 -0.455399 0.489345 
time: 1403636934.551666, t: 9.798686 -7.436008 0.115797 q: 0.335444 0.641377 -0.500599 0.474883 
time: 1403636934.751667, t: 9.715619 -7.351737 0.117812 q: 0.357519 0.620934 -0.532371 0.450780 
time: 1403636934.951667, t: 9.631320 -7.267688 0.152359 q: 0.368761 0.619558 -0.545428 0.427401 
time: 1403636935.151666, t: 9.549595 -7.191195 0.217451 q: 0.376278 0.614758 -0.543004 0.430853 
time: 1403636935.351666, t: 9.470147 -7.121089 0.279578 q: 0.372263 0.610099 -0.540517 0.443893 
time: 1403636935.551666, t: 9.386504 -7.053815 0.313425 q: 0.367290 0.612505 -0.537832 0.447965 
time: 1403636935.751667, t: 9.298612 -6.988535 0.318788 q: 0.363805 0.616537 -0.535962 0.447519 
time: 1403636935.951667, t: 9.203403 -6.924972 0.294131 q: 0.352621 0.629318 -0.541028 0.432327 
time: 1403636936.151666, t: 9.103897 -6.879099 0.251438 q: 0.344485 0.637317 -0.545807 0.421013 
time: 1403636936.351666, t: 9.010329 -6.861933 0.217784 q: 0.355650 0.631403 -0.539887 0.428211 
time: 1403636936.551666, t: 8.925879 -6.863508 0.211918 q: 0.366023 0.622094 -0.535290 0.438739 
time: 1403636936.751667, t: 8.846234 -6.871205 0.209469 q: 0.370003 0.618645 -0.536662 0.438600 
time: 1403636936.951667, t: 8.768371 -6.879326 0.195400 q: 0.374472 0.619381 -0.536553 0.433876 
time: 1403636937.151666, t: 8.699548 -6.891130 0.207806 q: 0.375158 0.618910 -0.537783 0.432431 
time: 1403636937.351666, t: 8.633638 -6.900134 0.226025 q: 0.373159 0.615815 -0.541077 0.434465 
time: 1403636937.551666, t: 8.567019 -6.910510 0.220062 q: 0.374830 0.614583 -0.541879 0.433770 
time: 1403636937.751667, t: 8.508028 -6.920236 0.190660 q: 0.384810 0.618361 -0.536880 0.425806 
time: 1403636937.951667, t: 8.455367 -6.925071 0.145869 q: 0.398896 0.613900 -0.529315 0.428759 
time: 1403636938.151666, t: 8.420492 -6.916957 0.083355 q: 0.410441 0.601644 -0.527397 0.437510 
time: 1403636938.351666, t: 8.397859 -6.884203 0.023288 q: 0.396489 0.583448 -0.546786 0.451010 
time: 1403636938.551666, t: 8.363794 -6.820306 -0.010560 q: 0.368526 0.573935 -0.572772 0.454665 
time: 1403636938.751667, t: 8.297445 -6.752564 -0.014096 q: -0.366607 -0.575341 0.578224 -0.447481 
time: 1403636938.951667, t: 8.203019 -6.682785 -0.003915 q: 0.378819 0.587065 -0.571900 0.429862 
time: 1403636939.151666, t: 8.096031 -6.615496 -0.005073 q: 0.385679 0.592516 -0.566518 0.423359 
time: 1403636939.351666, t: 7.988007 -6.554955 -0.026162 q: 0.387665 0.591944 -0.562173 0.428112 
time: 1403636939.551666, t: 7.879219 -6.492864 -0.038669 q: 0.391406 0.591901 -0.554530 0.434684 
time: 1403636939.751667, t: 7.768904 -6.424419 -0.024444 q: 0.395728 0.587453 -0.548587 0.444240 
time: 1403636939.951667, t: 7.654385 -6.335805 -0.023165 q: 0.392271 0.586126 -0.552710 0.443949 
time: 1403636940.151666, t: 7.532084 -6.234037 -0.047914 q: 0.392399 0.578730 -0.567001 0.435437 
time: 1403636940.351666, t: 7.402030 -6.124028 -0.088326 q: -0.394170 -0.572566 0.576056 -0.430067 
time: 1403636940.551666, t: 7.263701 -6.006565 -0.134661 q: -0.394988 -0.567749 0.582989 -0.426344 
time: 1403636940.751667, t: 7.115249 -5.887972 -0.156254 q: -0.391902 -0.575444 0.589232 -0.409979 
time: 1403636940.951667, t: 6.964061 -5.778539 -0.145238 q: -0.393258 -0.581091 0.589413 -0.400342 
time: 1403636941.151666, t: 6.818591 -5.688555 -0.106638 q: -0.398528 -0.578232 0.585072 -0.405602 
time: 1403636941.351666, t: 6.678547 -5.607774 -0.063675 q: -0.402676 -0.576606 0.579105 -0.412328 
time: 1403636941.551666, t: 6.541482 -5.527572 -0.043357 q: 0.403589 0.579319 -0.573035 0.416098 
time: 1403636941.751667, t: 6.411656 -5.445819 -0.041695 q: 0.401116 0.583422 -0.570473 0.416274 
time: 1403636941.951667, t: 6.284931 -5.365001 -0.030776 q: 0.395961 0.586310 -0.571018 0.416407 
time: 1403636942.151666, t: 6.160047 -5.284276 -0.000233 q: 0.391431 0.583611 -0.573459 0.421098 
time: 1403636942.351666, t: 6.033841 -5.202646 0.018258 q: 0.389695 0.578801 -0.576323 0.425416 
time: 1403636942.551666, t: 5.900707 -5.121970 0.010860 q: -0.384023 -0.575280 0.583353 -0.425768 
time: 1403636942.751667, t: 5.759484 -5.041875 -0.013615 q: -0.383917 -0.579274 0.586558 -0.415932 
time: 1403636942.951667, t: 5.613761 -4.971747 -0.027844 q: -0.394502 -0.578866 0.582054 -0.412911 
time: 1403636943.151666, t: 5.470091 -4.903616 -0.009948 q: -0.401748 -0.574475 0.579625 -0.415466 
time: 1403636943.351666, t: 5.331600 -4.838382 0.001812 q: -0.406369 -0.572303 0.579632 -0.413957 
time: 1403636943.551666, t: 5.196335 -4.763078 -0.009915 q: -0.410235 -0.569795 0.580244 -0.412744 
time: 1403636943.751667, t: 5.065885 -4.683167 -0.043214 q: -0.414431 -0.568492 0.579404 -0.411528 
time: 1403636943.951667, t: 4.940956 -4.599685 -0.100412 q: -0.401915 -0.578926 0.580055 -0.408467 
time: 1403636944.151666, t: 4.823782 -4.519384 -0.164345 q: 0.376141 0.602107 -0.582701 0.395530 
time: 1403636944.351666, t: 4.715755 -4.469791 -0.194686 q: 0.371701 0.608090 -0.576737 0.399299 
time: 1403636944.551666, t: 4.617674 -4.447097 -0.192543 q: 0.391532 0.604312 -0.558197 0.412221 
time: 1403636944.751667, t: 4.536565 -4.428257 -0.171234 q: 0.403638 0.608229 -0.541845 0.416579 
time: 1403636944.951667, t: 4.477708 -4.400788 -0.132411 q: 0.392652 0.607311 -0.540998 0.429324 
time: 1403636945.151666, t: 4.431354 -4.366891 -0.117318 q: 0.389698 0.608834 -0.538416 0.433088 
time: 1403636945.351666, t: 4.394853 -4.320886 -0.125168 q: 0.389054 0.609745 -0.536963 0.434189 
time: 1403636945.551666, t: 4.365573 -4.261673 -0.115052 q: 0.388020 0.609568 -0.539268 0.432500 
time: 1403636945.751667, t: 4.346890 -4.199946 -0.123170 q: 0.375691 0.619644 -0.551484 0.413236 
time: 1403636945.951667, t: 4.337563 -4.149503 -0.150175 q: 0.373007 0.621236 -0.556557 0.406418 
time: 1403636946.151666, t: 4.339990 -4.114787 -0.192109 q: 0.386067 0.610965 -0.550540 0.417826 
time: 1403636946.351666, t: 4.351038 -4.085060 -0.259279 q: 0.394141 0.605007 -0.548610 0.421481 
time: 1403636946.551666, t: 4.369172 -4.047935 -0.348608 q: 0.396733 0.600044 -0.550478 0.423703 
time: 1403636946.951667, t: 4.413346 -3.960855 -0.491643 q: 0.360240 0.580691 -0.579997 0.443428 
time: 1403636947.151666, t: 4.400695 -3.915401 -0.561909 q: -0.357487 -0.582352 0.582724 -0.439888 
time: 1403636947.351666, t: 4.359371 -3.881018 -0.614430 q: 0.365309 0.610212 -0.578234 0.399794 
time: 1403636947.551666, t: 4.318520 -3.885214 -0.631351 q: 0.364490 0.610755 -0.579801 0.397437 
time: 1403636947.751667, t: 4.280901 -3.919273 -0.620138 q: 0.378433 0.605919 -0.570881 0.404654 
time: 1403636947.951667, t: 4.250853 -3.973057 -0.624170 q: 0.394561 0.613465 -0.557868 0.395936 
time: 1403636948.151666, t: 4.240343 -4.035473 -0.649540 q: 0.384141 0.615529 -0.563212 0.395413 
time: 1403636948.351666, t: 4.245421 -4.111289 -0.688156 q: 0.388231 0.618233 -0.556778 0.396311 
time: 1403636948.551666, t: 4.271560 -4.194841 -0.734172 q: 0.402590 0.626182 -0.541707 0.390347 
time: 1403636948.751667, t: 4.334128 -4.283729 -0.775938 q: 0.412561 0.626367 -0.530452 0.395068 
time: 1403636948.951667, t: 4.436493 -4.365391 -0.790423 q: 0.390805 0.607879 -0.543158 0.427473 
time: 1403636949.151666, t: 4.544160 -4.439022 -0.804468 q: 0.385068 0.601543 -0.543941 0.440451 
time: 1403636949.351666, t: 4.645641 -4.500472 -0.837138 q: 0.384139 0.602975 -0.542535 0.441037 
time: 1403636949.551666, t: 4.743306 -4.549746 -0.883352 q: 0.377979 0.599268 -0.545751 0.447398 
time: 1403636949.751667, t: 4.827772 -4.588116 -0.913397 q: 0.372156 0.604156 -0.549752 0.440759 
time: 1403636949.951667, t: 4.898069 -4.621472 -0.922405 q: 0.363551 0.612949 -0.555806 0.428024 
time: 1403636950.151666, t: 4.959492 -4.663772 -0.916547 q: 0.358448 0.616117 -0.560403 0.421738 
time: 1403636950.351666, t: 5.012205 -4.721675 -0.921722 q: 0.368060 0.617675 -0.555083 0.418202 
time: 1403636950.551666, t: 5.065371 -4.793904 -0.941867 q: 0.386247 0.617027 -0.542636 0.419090 
time: 1403636950.751667, t: 5.132979 -4.867219 -0.958365 q: 0.391159 0.614616 -0.538316 0.423624 
time: 1403636950.951667, t: 5.209440 -4.931854 -0.950960 q: 0.385525 0.609948 -0.540340 0.432858 
time: 1403636951.151666, t: 5.289166 -4.989649 -0.920069 q: 0.373390 0.605827 -0.547621 0.440074 
time: 1403636951.351666, t: 5.362130 -5.044430 -0.907044 q: 0.364496 0.615705 -0.554331 0.425167 
time: 1403636951.551666, t: 5.430780 -5.111104 -0.916454 q: 0.363562 0.621841 -0.555503 0.415395 
time: 1403636951.751667, t: 5.495660 -5.193876 -0.931767 q: 0.371884 0.620924 -0.550191 0.416468 
time: 1403636951.951667, t: 5.567313 -5.294513 -0.925268 q: 0.384839 0.619779 -0.541312 0.418035 
time: 1403636952.151666, t: 5.650971 -5.399821 -0.924939 q: 0.388123 0.617112 -0.539203 0.421656 
time: 1403636952.351666, t: 5.745550 -5.499882 -0.946941 q: 0.382943 0.606323 -0.542514 0.437499 
time: 1403636952.551666, t: 5.837404 -5.588407 -0.989257 q: 0.385837 0.605484 -0.539762 0.439517 
time: 1403636952.751667, t: 5.929787 -5.666188 -1.029115 q: 0.388253 0.608215 -0.537411 0.436490 
time: 1403636952.951667, t: 6.023518 -5.729508 -1.058250 q: 0.375785 0.614090 -0.546584 0.427698 
time: 1403636953.151666, t: 6.110291 -5.791323 -1.101035 q: 0.360915 0.610765 -0.557807 0.430766 
time: 1403636953.351666, t: 6.187498 -5.864072 -1.154289 q: 0.361305 0.612220 -0.557203 0.429152 
time: 1403636953.551666, t: 6.253463 -5.943393 -1.184005 q: 0.374226 0.614830 -0.546886 0.427615 
time: 1403636953.751667, t: 6.320169 -6.023894 -1.186634 q: 0.378294 0.624751 -0.541678 0.416131 
time: 1403636953.951667, t: 6.398523 -6.109309 -1.155406 q: 0.379956 0.627474 -0.538078 0.415189 
time: 1403636954.151666, t: 6.493015 -6.204540 -1.127216 q: 0.376289 0.624531 -0.539977 0.420466 
time: 1403636954.351666, t: 6.601107 -6.313024 -1.111589 q: 0.373473 0.624927 -0.542665 0.418926 
time: 1403636954.551666, t: 6.715414 -6.427181 -1.077177 q: 0.371877 0.625269 -0.546664 0.414614 
time: 1403636954.751667, t: 6.836995 -6.543369 -1.062586 q: 0.380056 0.619113 -0.546750 0.416319 
time: 1403636954.951667, t: 6.967518 -6.672015 -1.100548 q: 0.387858 0.607722 -0.548141 0.424007 
time: 1403636955.151666, t: 7.099845 -6.788280 -1.150947 q: 0.394984 0.605009 -0.550437 0.418295 
time: 1403636955.351666, t: 7.237332 -6.897586 -1.176493 q: 0.399988 0.599807 -0.555097 0.414860 
time: 1403636955.551666, t: 7.385920 -7.005476 -1.190381 q: 0.403211 0.596372 -0.558911 0.411558 
time: 1403636955.751667, t: 7.539757 -7.106159 -1.217922 q: 0.404459 0.594042 -0.561808 0.409755 
time: 1403636955.951667, t: 7.699430 -7.200401 -1.225144 q: 0.398793 0.589101 -0.568119 0.413722 
time: 1403636956.151666, t: 7.855710 -7.288165 -1.200953 q: -0.384963 -0.576508 0.580240 -0.427509 
time: 1403636956.351666, t: 7.984990 -7.362428 -1.183226 q: -0.390934 -0.577425 0.579269 -0.422136 
time: 1403636956.551666, t: 8.098057 -7.432114 -1.188371 q: 0.404505 0.585415 -0.566421 0.415731 
time: 1403636956.751667, t: 8.217268 -7.494954 -1.217196 q: 0.382372 0.590630 -0.554350 0.444571 
time: 1403636956.951667, t: 8.325041 -7.543194 -1.230370 q: 0.350516 0.620177 -0.526177 0.464389 
time: 1403636957.151666, t: 8.416911 -7.584997 -1.210934 q: 0.332970 0.660150 -0.477005 0.475183 
time: 1403636957.351666, t: 8.498896 -7.624730 -1.179296 q: 0.313362 0.685270 -0.443367 0.485423 
time: 1403636957.551666, t: 8.577154 -7.656511 -1.170547 q: 0.298644 0.694399 -0.429990 0.493690 
time: 1403636957.751667, t: 8.651319 -7.682416 -1.189670 q: 0.280884 0.703852 -0.414154 0.504155 
time: 1403636957.951667, t: 8.721894 -7.699681 -1.227502 q: 0.246409 0.725920 -0.376925 0.519856 
time: 1403636958.151666, t: 8.784096 -7.722212 -1.248429 q: 0.211114 0.750260 -0.328109 0.533746 
time: 1403636958.351666, t: 8.830682 -7.749714 -1.234096 q: 0.186019 0.766529 -0.289491 0.542241 
time: 1403636958.551666, t: 8.867407 -7.780657 -1.197619 q: 0.176253 0.777093 -0.264898 0.543038 
time: 1403636958.751667, t: 8.903746 -7.813628 -1.175826 q: 0.175111 0.778959 -0.257669 0.544212 
time: 1403636958.951667, t: 8.942874 -7.850697 -1.172121 q: 0.178858 0.779307 -0.258917 0.541897 
time: 1403636959.151666, t: 8.989141 -7.884444 -1.191610 q: 0.180789 0.778809 -0.264551 0.539244 
time: 1403636959.351666, t: 9.038469 -7.913956 -1.232607 q: 0.191600 0.778771 -0.262715 0.536457 
time: 1403636959.551666, t: 9.098665 -7.939458 -1.295040 q: 0.196780 0.773908 -0.263229 0.541345 
time: 1403636959.751667, t: 9.156607 -7.954418 -1.344696 q: 0.191669 0.770691 -0.270279 0.544286 
time: 1403636959.951667, t: 9.216797 -7.965393 -1.363251 q: 0.190680 0.772653 -0.274010 0.539969 
time: 1403636960.151666, t: 9.275279 -7.974955 -1.353321 q: 0.192269 0.772516 -0.274003 0.539606 
time: 1403636960.351666, t: 9.334091 -7.981106 -1.348441 q: 0.204766 0.775553 -0.264979 0.535140 
time: 1403636960.551666, t: 9.403967 -7.976542 -1.359933 q: 0.208238 0.772887 -0.253191 0.543302 
wait for imu ... 
time: 1403636960.751667, t: 9.477298 -7.949513 -1.385360 q: 0.193749 0.772932 -0.249163 0.550414 
time: 1403636960.951667, t: 9.551045 -7.908170 -1.425200 q: 0.165299 0.781560 -0.235194 0.553646 
time: 1403636961.151666, t: 9.621287 -7.859981 -1.448074 q: 0.134148 0.791963 -0.193382 0.563384 
time: 1403636961.351666, t: 9.683530 -7.810089 -1.442299 q: 0.104604 0.801570 -0.149213 0.569454 
time: 1403636961.551666, t: 9.740418 -7.760994 -1.403690 q: 0.084417 0.806199 -0.121582 0.572831 
time: 1403636961.751667, t: 9.793222 -7.709921 -1.339795 q: 0.062558 0.809162 -0.092851 0.576820 
time: 1403636961.951667, t: 9.843891 -7.658436 -1.280206 q: 0.040724 0.812188 -0.057921 0.579084 
time: 1403636962.151666, t: 9.884012 -7.603450 -1.240977 q: 0.014290 0.815610 -0.019683 0.578090 
time: 1403636962.351666, t: 9.921723 -7.543928 -1.192080 q: -0.013348 0.814425 0.021964 0.579699 
time: 1403636962.551666, t: 9.956193 -7.480797 -1.119551 q: -0.036286 0.811628 0.069649 0.578872 
time: 1403636962.751667, t: 9.982308 -7.411354 -1.046178 q: -0.048608 0.806385 0.116893 0.577682 
time: 1403636962.951667, t: 9.995821 -7.326983 -0.999813 q: -0.063600 0.803109 0.131431 0.577665 
time: 1403636963.151666, t: 9.994182 -7.231106 -0.973484 q: -0.077852 0.794112 0.126105 0.589425 
time: 1403636963.351666, t: 9.979071 -7.129502 -0.967681 q: -0.083726 0.801352 0.115088 0.581016 
time: 1403636963.551666, t: 9.953809 -7.031438 -0.970181 q: -0.078191 0.804450 0.109258 0.578626 
time: 1403636963.751667, t: 9.916510 -6.937471 -0.955239 q: -0.069883 0.805685 0.105110 0.578740 
time: 1403636963.951667, t: 9.872415 -6.843167 -0.912149 q: -0.065929 0.805493 0.101043 0.580194 
time: 1403636964.151666, t: 9.818979 -6.745649 -0.846064 q: -0.063779 0.804571 0.101194 0.581685 
time: 1403636964.351666, t: 9.754169 -6.650345 -0.793027 q: -0.062623 0.803259 0.103979 0.583131 
time: 1403636964.551666, t: 9.677604 -6.548856 -0.762562 q: -0.060336 0.802584 0.111648 0.582883 
time: 1403636964.751667, t: 9.593877 -6.435581 -0.748672 q: -0.062863 0.798142 0.138340 0.582992 
time: 1403636964.951667, t: 9.491690 -6.305345 -0.745901 q: -0.090154 0.788408 0.171204 0.583931 
time: 1403636965.151666, t: 9.370242 -6.161478 -0.720937 q: -0.122432 0.782083 0.205079 0.575586 
time: 1403636965.351666, t: 9.234220 -6.013181 -0.672695 q: -0.131725 0.796211 0.228889 0.544341 
time: 1403636965.551666, t: 9.110701 -5.848242 -0.595674 q: -0.140114 0.809568 0.231172 0.521082 
time: 1403636965.751667, t: 9.016916 -5.668134 -0.481782 q: -0.167260 0.791945 0.210296 0.548290 
time: 1403636965.951667, t: 8.929851 -5.498305 -0.391003 q: -0.154727 0.783101 0.213932 0.563067 
time: 1403636966.151666, t: 8.830852 -5.334954 -0.327726 q: -0.143208 0.779841 0.217192 0.569356 
time: 1403636966.351666, t: 8.722180 -5.177023 -0.294073 q: -0.144481 0.779223 0.212665 0.571586 
time: 1403636966.551666, t: 8.609484 -5.032996 -0.290141 q: -0.171278 0.782988 0.190150 0.566953 
time: 1403636966.751667, t: 8.501064 -4.921473 -0.307285 q: -0.153977 0.781988 0.196754 0.571029 
time: 1403636966.951667, t: 8.383567 -4.829536 -0.309011 q: -0.154789 0.782402 0.192912 0.571552 
time: 1403636967.151666, t: 8.262008 -4.747130 -0.304547 q: -0.146515 0.781808 0.195980 0.573499 
time: 1403636967.351666, t: 8.135545 -4.676605 -0.324309 q: -0.141382 0.781089 0.197730 0.575164 
time: 1403636967.551666, t: 7.994684 -4.606536 -0.327671 q: -0.138983 0.780370 0.197271 0.576880 
time: 1403636967.751667, t: 7.840552 -4.542681 -0.322438 q: -0.135993 0.780304 0.196963 0.577786 
time: 1403636967.951667, t: 7.673253 -4.483292 -0.370682 q: -0.135956 0.779124 0.196889 0.579411 
time: 1403636968.151666, t: 7.495467 -4.426333 -0.443911 q: -0.140700 0.779156 0.194527 0.579033 
time: 1403636968.351666, t: 7.303352 -4.378773 -0.503366 q: -0.140573 0.780986 0.194809 0.576497 
time: 1403636968.551666, t: 7.101824 -4.337621 -0.528370 q: -0.141657 0.782292 0.193608 0.574864 
time: 1403636968.751667, t: 6.891997 -4.297775 -0.531515 q: -0.130485 0.781106 0.200870 0.576626 
time: 1403636968.951667, t: 6.671575 -4.254375 -0.536301 q: -0.132776 0.781877 0.198330 0.575938 
time: 1403636969.151666, t: 6.442724 -4.208142 -0.516100 q: -0.139044 0.785592 0.193897 0.570890 
time: 1403636969.351666, t: 6.213379 -4.169607 -0.472187 q: -0.136538 0.797523 0.194883 0.554377 
time: 1403636969.551666, t: 5.993777 -4.128294 -0.416872 q: -0.131476 0.802783 0.196309 0.547463 
time: 1403636969.751667, t: 5.789575 -4.081046 -0.382578 q: -0.130822 0.803383 0.194576 0.547359 
time: 1403636969.951667, t: 5.600953 -4.026740 -0.369596 q: -0.130293 0.803229 0.194479 0.547746 
time: 1403636970.151666, t: 5.428635 -3.966322 -0.373379 q: -0.134400 0.792384 0.193044 0.562849 
time: 1403636970.351666, t: 5.255051 -3.906690 -0.384554 q: -0.136488 0.790556 0.193039 0.564914 
time: 1403636970.551666, t: 5.082969 -3.847132 -0.394831 q: -0.133634 0.801674 0.196126 0.548630 
time: 1403636970.751667, t: 4.922602 -3.778031 -0.387141 q: -0.131755 0.809368 0.199841 0.536309 
time: 1403636970.951667, t: 4.787752 -3.696223 -0.366290 q: -0.130296 0.817661 0.202650 0.522864 
time: 1403636971.151666, t: 4.670314 -3.600619 -0.362710 q: -0.148908 0.813254 0.190293 0.529370 
time: 1403636971.351666, t: 4.581453 -3.508275 -0.382833 q: -0.173758 0.805478 0.172704 0.539617 
time: 1403636971.551666, t: 4.517691 -3.439874 -0.419159 q: -0.171274 0.802273 0.175674 0.544207 
time: 1403636971.751667, t: 4.476418 -3.392694 -0.471436 q: -0.155087 0.790974 0.188917 0.560909 
time: 1403636971.951667, t: 4.432603 -3.361466 -0.528157 q: -0.156326 0.786476 0.189954 0.566512 
time: 1403636972.151666, t: 4.399464 -3.346901 -0.563879 q: -0.154201 0.787310 0.191943 0.565264 
time: 1403636972.351666, t: 4.363231 -3.344185 -0.573737 q: -0.155731 0.796941 0.190533 0.551661 
time: 1403636972.551666, t: 4.340934 -3.349435 -0.547688 q: -0.150669 0.795708 0.192971 0.553995 
time: 1403636972.751667, t: 4.323139 -3.358294 -0.507580 q: -0.144999 0.792510 0.195296 0.559252 
time: 1403636972.951667, t: 4.302339 -3.368866 -0.491534 q: -0.142415 0.794466 0.192389 0.558147 
time: 1403636973.151666, t: 4.280452 -3.384141 -0.499528 q: -0.128659 0.802238 0.174998 0.556091 
time: 1403636973.351666, t: 4.263086 -3.397177 -0.529302 q: -0.119327 0.804459 0.162222 0.558830 
time: 1403636973.551666, t: 4.251637 -3.406782 -0.573794 q: -0.112289 0.804839 0.156722 0.561306 
time: 1403636973.751667, t: 4.246620 -3.409772 -0.626970 q: -0.109909 0.800318 0.154162 0.568898 
time: 1403636973.951667, t: 4.237001 -3.410795 -0.656571 q: -0.111321 0.798002 0.153842 0.571955 
time: 1403636974.151666, t: 4.221956 -3.413322 -0.665905 q: -0.107320 0.807066 0.138441 0.563880 
time: 1403636974.351666, t: 4.210060 -3.422941 -0.685666 q: -0.075486 0.813342 0.103336 0.567537 
time: 1403636974.551666, t: 4.202079 -3.432266 -0.726896 q: -0.039157 0.814736 0.054348 0.575950 
time: 1403636974.751667, t: 4.189543 -3.438803 -0.774978 q: -0.005059 0.817916 0.001995 0.575311 
time: 1403636974.951667, t: 4.172826 -3.443633 -0.796979 q: 0.012664 0.824454 -0.050281 0.563548 
time: 1403636975.151666, t: 4.169013 -3.456015 -0.790793 q: 0.036687 0.821279 -0.084836 0.562991 
time: 1403636975.351666, t: 4.175537 -3.471850 -0.788739 q: 0.058517 0.810065 -0.094737 0.575670 
time: 1403636975.551666, t: 4.181896 -3.483559 -0.810642 q: 0.064816 0.812623 -0.095859 0.571186 
time: 1403636975.751667, t: 4.191874 -3.497251 -0.815491 q: 0.062958 0.819379 -0.091481 0.562393 
time: 1403636975.951667, t: 4.213685 -3.498396 -0.797802 q: 0.068100 0.820648 -0.100210 0.558441 
time: 1403636976.151666, t: 4.240820 -3.509182 -0.793208 q: 0.073756 0.806317 -0.140743 0.569741 
time: 1403636976.351666, t: 4.262842 -3.530887 -0.810562 q: 0.088319 0.790740 -0.192787 0.574250 
time: 1403636976.551666, t: 4.269274 -3.573900 -0.845556 q: 0.128126 0.782262 -0.229638 0.564727 
time: 1403636976.751667, t: 4.270055 -3.624089 -0.900916 q: 0.160061 0.779195 -0.243837 0.554779 
time: 1403636976.951667, t: 4.268070 -3.672396 -0.969691 q: 0.160369 0.782592 -0.258304 0.543241 
time: 1403636977.151666, t: 4.268880 -3.726280 -1.006235 q: 0.156041 0.784122 -0.262254 0.540394 
time: 1403636977.351666, t: 4.274565 -3.793890 -1.016644 q: 0.152488 0.784262 -0.258311 0.543098 
time: 1403636977.551666, t: 4.283671 -3.872739 -1.037544 q: 0.157354 0.778719 -0.247090 0.554782 
time: 1403636977.751667, t: 4.288814 -3.954646 -1.079648 q: 0.155834 0.776865 -0.248475 0.557186 
time: 1403636977.951667, t: 4.284816 -4.038635 -1.135959 q: 0.153244 0.775560 -0.259562 0.554662 
time: 1403636978.151666, t: 4.273870 -4.127247 -1.167466 q: 0.164106 0.774982 -0.257743 0.553210 
time: 1403636978.351666, t: 4.259565 -4.223261 -1.172808 q: 0.169155 0.779758 -0.257816 0.544880 
time: 1403636978.551666, t: 4.245844 -4.320845 -1.157684 q: 0.169283 0.789610 -0.259999 0.529395 
time: 1403636978.751667, t: 4.249268 -4.423652 -1.158376 q: 0.167359 0.796582 -0.263594 0.517655 
time: 1403636978.951667, t: 4.278668 -4.533605 -1.174906 q: 0.170731 0.791183 -0.261826 0.525669 
time: 1403636979.151666, t: 4.325029 -4.644656 -1.210651 q: 0.178764 0.776092 -0.256122 0.547839 
time: 1403636979.351666, t: 4.373661 -4.744110 -1.264862 q: 0.175448 0.783987 -0.258093 0.536628 
time: 1403636979.551666, t: 4.433753 -4.840714 -1.296492 q: 0.171601 0.792596 -0.260831 0.523748 
time: 1403636979.751667, t: 4.512344 -4.939643 -1.298691 q: 0.173255 0.794268 -0.262504 0.519820 
time: 1403636979.951667, t: 4.611181 -5.035497 -1.278868 q: 0.181078 0.784645 -0.262160 0.531803 
time: 1403636980.151666, t: 4.719498 -5.129331 -1.275010 q: 0.185516 0.780150 -0.263511 0.536202 
time: 1403636980.351666, t: 4.834597 -5.216479 -1.289391 q: 0.185947 0.774888 -0.266241 0.542298 
time: 1403636980.551666, t: 4.951056 -5.299554 -1.323972 q: 0.181736 0.767433 -0.268812 0.552955 
time: 1403636980.751667, t: 5.060463 -5.377908 -1.360393 q: 0.178225 0.766440 -0.268750 0.555499 
time: 1403636980.951667, t: 5.163232 -5.454252 -1.369825 q: 0.183681 0.776959 -0.261578 0.542377 
time: 1403636981.151666, t: 5.266239 -5.520031 -1.375314 q: 0.180997 0.776213 -0.262602 0.543850 
time: 1403636981.351666, t: 5.364369 -5.576551 -1.397327 q: 0.164090 0.766051 -0.277532 0.556072 
time: 1403636981.551666, t: 5.452840 -5.641746 -1.434054 q: 0.175761 0.769733 -0.274304 0.548977 
time: 1403636981.751667, t: 5.517748 -5.696421 -1.448292 q: 0.192097 0.777882 -0.268631 0.534635 
time: 1403636981.951667, t: 5.590872 -5.747530 -1.434214 q: 0.192156 0.786265 -0.274210 0.519300 
time: 1403636982.151666, t: 5.688829 -5.803754 -1.420706 q: 0.183357 0.793697 -0.283423 0.506060 
time: 1403636982.351666, t: 5.811233 -5.872771 -1.422083 q: 0.174279 0.787961 -0.290273 0.514282 
time: 1403636982.551666, t: 5.948512 -5.963491 -1.421070 q: 0.176886 0.772206 -0.285971 0.539101 
time: 1403636982.751667, t: 6.087659 -6.069956 -1.405035 q: 0.175082 0.774123 -0.282949 0.538536 
time: 1403636982.951667, t: 6.223468 -6.187260 -1.394757 q: 0.177538 0.779522 -0.278435 0.532259 
time: 1403636983.151666, t: 6.364076 -6.312408 -1.406442 q: 0.183664 0.774399 -0.273392 0.540214 
time: 1403636983.351666, t: 6.506409 -6.439662 -1.438185 q: 0.190629 0.772351 -0.269256 0.542804 
time: 1403636983.551666, t: 6.650716 -6.557909 -1.474292 q: 0.192909 0.772655 -0.270062 0.541163 
time: 1403636983.751667, t: 6.789160 -6.662917 -1.486340 q: 0.193415 0.778983 -0.273545 0.530047 
time: 1403636983.951667, t: 6.933505 -6.759516 -1.467338 q: 0.194146 0.782803 -0.276888 0.522361 
time: 1403636984.151666, t: 7.088636 -6.852872 -1.432772 q: 0.194970 0.782962 -0.280135 0.520079 
time: 1403636984.351666, t: 7.259161 -6.949698 -1.419662 q: 0.200000 0.775172 -0.280289 0.529666 
time: 1403636984.551666, t: 7.440290 -7.047394 -1.436529 q: 0.203710 0.771304 -0.279840 0.534117 
time: 1403636984.751667, t: 7.625852 -7.135681 -1.450180 q: 0.203015 0.769996 -0.279194 0.536603 
time: 1403636984.951667, t: 7.811590 -7.216284 -1.445321 q: 0.195166 0.767748 -0.283827 0.540292 
time: 1403636985.151666, t: 7.987639 -7.287351 -1.429096 q: 0.196984 0.769612 -0.283029 0.537392 
time: 1403636985.351666, t: 8.163270 -7.354457 -1.447398 q: 0.200808 0.770018 -0.280146 0.536904 
time: 1403636985.551666, t: 8.346160 -7.413409 -1.465488 q: 0.195810 0.776372 -0.263585 0.537985 
time: 1403636985.751667, t: 8.531436 -7.459000 -1.453347 q: 0.195090 0.778665 -0.246787 0.542878 
optimize pose graph 
time: 1403636985.951667, t: 8.717347 -7.485706 -1.426795 q: 0.197637 0.761944 -0.233688 0.570764 
time: 1403636986.151666, t: 8.884885 -7.482740 -1.433102 q: 0.197313 0.761255 -0.229880 0.573336 
time: 1403636986.351666, t: 9.033186 -7.448220 -1.464068 q: 0.189879 0.778097 -0.235359 0.550562 
time: 1403636986.551666, t: 9.175055 -7.395904 -1.496548 q: 0.174839 0.780054 -0.245338 0.548412 
time: 1403636986.751667, t: 9.310174 -7.335695 -1.498736 q: 0.164643 0.778527 -0.251473 0.550954 
time: 1403636986.951667, t: 9.438799 -7.281310 -1.464703 q: 0.161806 0.776376 -0.253993 0.553667 
time: 1403636987.151666, t: 9.556024 -7.232433 -1.403545 q: 0.170430 0.775536 -0.251087 0.553582 
time: 1403636987.351666, t: 9.661690 -7.183490 -1.358462 q: 0.173443 0.772765 -0.252020 0.556091 
time: 1403636987.551666, t: 9.760932 -7.128251 -1.335257 q: 0.176409 0.769168 -0.242447 0.564340 
time: 1403636987.751667, t: 9.846964 -7.065228 -1.325457 q: 0.176161 0.767355 -0.235434 0.569829 
time: 1403636987.951667, t: 9.912431 -6.986553 -1.299054 q: 0.165268 0.769172 -0.237605 0.569742 
time: 1403636988.151666, t: 9.960146 -6.902584 -1.268298 q: 0.148278 0.773800 -0.248673 0.563391 
time: 1403636988.351666, t: 9.991295 -6.827340 -1.253681 q: 0.143362 0.766573 -0.253815 0.572182 
time: 1403636988.551666, t: 9.993934 -6.764719 -1.219464 q: 0.147473 0.757831 -0.251139 0.583843 
time: 1403636988.751667, t: 9.960112 -6.703969 -1.173785 q: 0.149070 0.755282 -0.249947 0.587243 
time: 1403636988.951667, t: 9.891975 -6.646473 -1.148682 q: 0.147813 0.749912 -0.250726 0.594070 
time: 1403636989.151666, t: 9.784663 -6.591529 -1.142576 q: 0.147210 0.746652 -0.252639 0.597506 
time: 1403636989.351666, t: 9.636249 -6.540926 -1.134649 q: 0.157602 0.758019 -0.249029 0.581854 
time: 1403636989.551666, t: 9.457436 -6.491597 -1.099247 q: 0.162908 0.773482 -0.248543 0.559834 
time: 1403636989.751667, t: 9.277044 -6.443176 -1.058930 q: 0.170999 0.778926 -0.243759 0.551919 
time: 1403636989.951667, t: 9.099085 -6.390402 -1.041773 q: 0.170917 0.775227 -0.243884 0.557073 
time: 1403636990.151666, t: 8.918297 -6.332458 -1.027930 q: 0.172620 0.768381 -0.241979 0.566780 
time: 1403636990.351666, t: 8.727487 -6.267258 -0.991773 q: 0.173544 0.773411 -0.239298 0.560761 
wait for imu ... 
time: 1403636990.751667, t: 8.334898 -6.116534 -0.936205 q: 0.167509 0.783147 -0.235908 0.550426 
time: 1403636990.951667, t: 8.147580 -6.037457 -0.946314 q: 0.167396 0.784272 -0.233978 0.549682 
time: 1403636991.151666, t: 7.970455 -5.955331 -0.972126 q: 0.168366 0.783147 -0.233830 0.551051 
time: 1403636991.351666, t: 7.798362 -5.871579 -0.986406 q: 0.168751 0.783742 -0.235464 0.549390 
time: 1403636991.551666, t: 7.637158 -5.783816 -0.965304 q: 0.169398 0.783801 -0.238159 0.547942 
time: 1403636991.751667, t: 7.484690 -5.698201 -0.915126 q: 0.160088 0.781278 -0.250363 0.548903 
time: 1403636991.951667, t: 7.329769 -5.619355 -0.859579 q: 0.156132 0.779000 -0.259375 0.549096 
time: 1403636992.151666, t: 7.173091 -5.554562 -0.829773 q: 0.170846 0.776116 -0.254315 0.551162 
time: 1403636992.351666, t: 7.022017 -5.493938 -0.822185 q: 0.178924 0.773987 -0.252906 0.552240 
time: 1403636992.551666, t: 6.877668 -5.429635 -0.818676 q: 0.181636 0.779349 -0.256131 0.542236 
time: 1403636992.751667, t: 6.742534 -5.366179 -0.790762 q: 0.183681 0.780847 -0.259147 0.537942 
time: 1403636992.951667, t: 6.620507 -5.301365 -0.770904 q: 0.189683 0.780362 -0.259093 0.536588 
time: 1403636993.151666, t: 6.509859 -5.229776 -0.771037 q: 0.184383 0.773334 -0.261393 0.547386 
time: 1403636993.351666, t: 6.407361 -5.152442 -0.755366 q: 0.167308 0.775767 -0.244751 0.557037 
time: 1403636993.551666, t: 6.303990 -5.071968 -0.708348 q: 0.145166 0.783771 -0.213281 0.564925 
time: 1403636993.751667, t: 6.198751 -4.995238 -0.653187 q: 0.125308 0.793729 -0.186632 0.565209 
time: 1403636993.951667, t: 6.092753 -4.923285 -0.617605 q: 0.117439 0.796956 -0.171577 0.567125 
time: 1403636994.151666, t: 5.986321 -4.846726 -0.602765 q: 0.120150 0.788789 -0.162027 0.580624 
time: 1403636994.351666, t: 5.869044 -4.759947 -0.606444 q: 0.122453 0.780386 -0.158611 0.592322 
time: 1403636994.551666, t: 5.734305 -4.660088 -0.619408 q: 0.119877 0.780601 -0.161649 0.591744 
time: 1403636994.751667, t: 5.583325 -4.548116 -0.612632 q: 0.107086 0.790758 -0.172826 0.577379 
time: 1403636994.951667, t: 5.420793 -4.437466 -0.590420 q: 0.094205 0.794344 -0.184096 0.571185 
time: 1403636995.151666, t: 5.255464 -4.341737 -0.580526 q: 0.106062 0.788549 -0.175594 0.579749 
time: 1403636995.351666, t: 5.082146 -4.252298 -0.558360 q: 0.113155 0.786997 -0.167881 0.582792 
time: 1403636995.551666, t: 4.895791 -4.155720 -0.508271 q: 0.111636 0.794075 -0.166213 0.573895 
time: 1403636995.751667, t: 4.705598 -4.054792 -0.448229 q: 0.108209 0.795295 -0.168554 0.572176 
time: 1403636995.951667, t: 4.508790 -3.954190 -0.413280 q: 0.094997 0.796685 -0.179460 0.569266 
optimize pose graph 
time: 1403636996.151666, t: 4.315990 -3.871714 -0.399261 q: 0.102096 0.799639 -0.175551 0.565098 
time: 1403636996.351666, t: 4.127809 -3.799272 -0.372590 q: 0.107522 0.801835 -0.168689 0.563067 
time: 1403636996.551666, t: 3.950765 -3.729014 -0.312750 q: 0.099260 0.805350 -0.150552 0.564706 
time: 1403636996.751667, t: 3.781784 -3.658901 -0.251445 q: 0.078082 0.812272 -0.120031 0.565429 
wait for imu ... 
time: 1403636996.951667, t: 3.618697 -3.588008 -0.241079 q: 0.048064 0.818369 -0.083244 0.566598 
time: 1403636997.351666, t: 3.329860 -3.458395 -0.281203 q: 0.010142 0.824527 -0.029188 0.564979 
time: 1403636997.551666, t: 3.207642 -3.404995 -0.286596 q: 0.008210 0.824810 -0.022840 0.564888 
time: 1403636997.751667, t: 3.113972 -3.357342 -0.260415 q: 0.011657 0.826152 -0.023783 0.562824 
time: 1403636997.951667, t: 3.043561 -3.312105 -0.203564 q: 0.015217 0.826912 -0.027385 0.561459 
optimize pose graph 
time: 1403636998.151666, t: 2.990814 -3.272917 -0.121145 q: 0.017508 0.826537 -0.031631 0.561720 
time: 1403636998.351666, t: 2.957279 -3.234446 -0.055375 q: 0.017578 0.826098 -0.035973 0.562102 
time: 1403636998.551666, t: 2.926390 -3.196451 -0.003451 q: 0.018500 0.824349 -0.038355 0.564478 
time: 1403636998.751667, t: 2.903063 -3.162945 0.071216 q: 0.023112 0.811142 -0.036611 0.583244 
time: 1403636998.951667, t: 2.876113 -3.129494 0.146462 q: 0.033464 0.807662 -0.031561 0.587849 
time: 1403636999.151666, t: 2.837554 -3.084425 0.200209 q: 0.039203 0.808781 -0.029078 0.586081 
time: 1403636999.351666, t: 2.795275 -3.025766 0.232655 q: 0.036235 0.812409 -0.032487 0.581053 
time: 1403636999.551666, t: 2.746978 -2.960318 0.242871 q: 0.030418 0.810513 -0.037427 0.583732 
time: 1403636999.751667, t: 2.690167 -2.890644 0.237831 q: 0.028736 0.807450 -0.039507 0.587910 
time: 1403636999.951667, t: 2.623862 -2.818114 0.225541 q: 0.032250 0.807282 -0.038559 0.588021 
time: 1403637000.151666, t: 2.545132 -2.739897 0.223819 q: 0.036685 0.808896 -0.035233 0.585748 
optimize pose graph 
wait for imu ... 
time: 1403637000.351666, t: 2.460506 -2.654620 0.242159 q: 0.034272 0.811494 -0.036507 0.582212 
time: 1403637000.551666, t: 2.368262 -2.564682 0.249304 q: 0.035565 0.810951 -0.035798 0.582934 
wait for imu ... 
time: 1403637000.751667, t: 2.276221 -2.467486 0.266459 q: 0.033600 0.810063 -0.037215 0.584196 
time: 1403637000.951667, t: 2.178756 -2.368144 0.299616 q: 0.033082 0.809773 -0.039420 0.584482 
time: 1403637001.151666, t: 2.077480 -2.265549 0.312127 q: 0.032727 0.808969 -0.040864 0.585515 
time: 1403637001.351666, t: 1.969847 -2.167376 0.324734 q: 0.029700 0.808947 -0.043872 0.585490 
time: 1403637001.551666, t: 1.852693 -2.066135 0.364597 q: 0.028564 0.813673 -0.046666 0.578742 
time: 1403637001.751667, t: 1.731613 -1.968257 0.395036 q: 0.029598 0.814195 -0.048267 0.577824 
time: 1403637001.951667, t: 1.608527 -1.875501 0.401509 q: 0.030056 0.815088 -0.049337 0.576450 
time: 1403637002.151666, t: 1.487354 -1.787219 0.390548 q: 0.030366 0.816245 -0.049624 0.574769 
time: 1403637002.351666, t: 1.371508 -1.703820 0.366995 q: 0.032177 0.816644 -0.048308 0.574216 
time: 1403637002.551666, t: 1.259322 -1.619484 0.364512 q: 0.037740 0.816607 -0.044047 0.574272 
time: 1403637002.751667, t: 1.146442 -1.530810 0.391798 q: 0.038899 0.816714 -0.044643 0.573996 
time: 1403637002.951667, t: 1.038483 -1.438111 0.408321 q: 0.036048 0.815677 -0.049284 0.575276 
time: 1403637003.151666, t: 0.931642 -1.343753 0.398934 q: 0.036440 0.815921 -0.052173 0.574651 
time: 1403637003.351666, t: 0.830124 -1.250245 0.379601 q: 0.035841 0.814098 -0.055674 0.576940 
time: 1403637003.551666, t: 0.732156 -1.159531 0.378587 q: 0.035633 0.812216 -0.058009 0.579370 
time: 1403637003.751667, t: 0.631480 -1.072607 0.400850 q: 0.035240 0.812605 -0.059416 0.578706 
time: 1403637003.951667, t: 0.529109 -0.989544 0.408418 q: 0.035047 0.816278 -0.056578 0.573813 
time: 1403637004.151666, t: 0.432579 -0.905699 0.388880 q: 0.037115 0.819984 -0.051456 0.568859 
wait for imu ... 
optimize pose graph 
time: 1403637004.351666, t: 0.345927 -0.824312 0.376850 q: 0.033507 0.821012 -0.051285 0.567615 
time: 1403637004.551666, t: 0.267974 -0.744350 0.403405 q: 0.033069 0.813617 -0.054505 0.577896 
time: 1403637004.751667, t: 0.188508 -0.668224 0.456967 q: 0.020795 0.811790 -0.069921 0.579375 
time: 1403637004.951667, t: 0.108060 -0.604319 0.468212 q: 0.016655 0.816663 -0.078652 0.571488 
time: 1403637005.151666, t: 0.028308 -0.555869 0.436733 q: 0.033171 0.818108 -0.070758 0.569730 
time: 1403637005.351666, t: -0.043380 -0.518695 0.393933 q: 0.039107 0.820678 -0.066980 0.566102 
time: 1403637005.551666, t: -0.097008 -0.494309 0.348274 q: 0.040809 0.816833 -0.060583 0.572231 
time: 1403637005.751667, t: -0.154042 -0.448333 0.336593 q: 0.029843 0.822453 -0.064309 0.564397 
time: 1403637005.951667, t: -0.202738 -0.418827 0.359956 q: 0.034150 0.819935 -0.059182 0.568364 
time: 1403637006.151666, t: -0.238733 -0.391632 0.374406 q: 0.033308 0.816373 -0.059911 0.573443 
time: 1403637006.351666, t: -0.275067 -0.364782 0.378438 q: 0.028543 0.824574 -0.063110 0.561498 
optimize pose graph 
time: 1403637006.551666, t: -0.299540 -0.342219 0.376612 q: 0.018297 0.828051 -0.068485 0.556153 
time: 1403637006.751667, t: -0.310125 -0.328979 0.371462 q: 0.014196 0.818814 -0.048419 0.571837 
time: 1403637006.951667, t: -0.315871 -0.322605 0.354548 q: -0.006537 0.818690 -0.014566 0.574014 
time: 1403637007.151666, t: -0.319099 -0.322883 0.336291 q: -0.022410 0.817216 0.023568 0.575413 
time: 1403637007.351666, t: -0.324934 -0.324781 0.318036 q: -0.027548 0.808539 0.045801 0.586010 
time: 1403637007.551666, t: -0.340436 -0.323050 0.296198 q: -0.029741 0.810420 0.052246 0.582757 
time: 1403637007.751667, t: -0.362699 -0.314466 0.268579 q: -0.029554 0.825069 0.051118 0.561938 
time: 1403637007.951667, t: -0.378428 -0.298126 0.250152 q: -0.035948 0.816885 0.042111 0.574138 
time: 1403637008.151666, t: -0.394703 -0.282087 0.232922 q: -0.031554 0.820455 0.038537 0.569538 
time: 1403637008.351666, t: -0.408046 -0.266412 0.223782 q: -0.022659 0.832186 0.038847 0.552670 
optimize pose graph 
time: 1403637008.551666, t: -0.404841 -0.244634 0.231973 q: -0.026273 0.820266 0.031691 0.570499 
time: 1403637008.751667, t: -0.396512 -0.223364 0.234561 q: -0.037759 0.816676 0.019206 0.575540 
time: 1403637008.951667, t: -0.384774 -0.216428 0.220635 q: -0.052455 0.823750 0.006544 0.564483 
time: 1403637009.151666, t: -0.366437 -0.231056 0.192889 q: -0.031142 0.821888 0.018546 0.568494 
time: 1403637009.351666, t: -0.341847 -0.253432 0.157747 q: -0.000959 0.820557 0.038072 0.570294 
time: 1403637009.551666, t: -0.330592 -0.267506 0.144928 q: -0.056782 0.800372 0.046165 0.595020 
time: 1403637009.951667, t: -0.346894 -0.278917 0.141783 q: -0.069314 0.790383 0.021186 0.608311 
time: 1403637010.151666, t: -0.348615 -0.279736 0.142008 q: -0.068873 0.790629 0.021899 0.608015 
time: 1403637010.351666, t: -0.348591 -0.280037 0.141919 q: -0.068634 0.790748 0.022005 0.607883 

Done.
time: 1403637010.551666, t: -0.348642 -0.280106 0.142025 q: -0.068584 0.790927 0.021938 0.607659 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720470466.992869463]: Shutdown request received.[0m
[33m[ WARN] [1720470466.992932452]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720470466.993889224]: Shutdown request received.[0m
[33m[ WARN] [1720470466.993940322]: Reason given for shutdown: [user request][0m
killed
