/SLAM-Hive/slam_hive_results/mapping_results/2892/2100_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720480088.820123873]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720480088.821796293]: init begins[0m
[31m[ERROR] [1720480088.822813809]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/f0e7a93a-3d7e-11ef-8ad0-0242ac110005/roslaunch-466fcfea2552-117.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://466fcfea2552:40129/[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 [154][0m
[0m[ INFO] [1720480089.926339415]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720480089.927929698]: 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] [1720480089.936433636]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720480089.936663399]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720480089.936692381]: ROW: 480 COL: 752 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
set g       0       0 9.81007
[0m[ INFO] [1720480089.936873366]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720480089.937129177]: 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://466fcfea2552:11311/[0m
]2;roscore http://466fcfea2552:11311/
[1msetting /run_id to f0e7a93a-3d7e-11ef-8ad0-0242ac110005[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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720480098.976959662]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316841971.87 
init first imu pose
averge acc 9.049359 -0.057205 -3.951263
init R0 
    0.400188    0.0132665     0.916337
-2.46519e-32    -0.999895    0.0144762
    0.916433  -0.00579322    -0.400146
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1720480100.333279042]: IMU excitation not enouth![0m
[0m[ INFO] [1720480100.334390008]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480100.543031219]: IMU excitation not enouth![0m
[0m[ INFO] [1720480100.543500329]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720480100.612738885]: IMU excitation not enouth![0m
[0m[ INFO] [1720480100.613095027]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720480100.816751277]: IMU excitation not enouth![0m
[0m[ INFO] [1720480100.817055123]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1720480101.013555988]: IMU excitation not enouth![0m
[0m[ INFO] [1720480101.013846088]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720480101.147124679]: IMU excitation not enouth![0m
[0m[ INFO] [1720480101.317187937]: IMU excitation not enouth![0m
[0m[ INFO] [1720480101.753260076]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720480101.978812934]: gyroscope bias initial calibration -0.000859371    0.0337782    0.0783913[0m
[0m[ INFO] [1720480102.079272883]: Initialization finish![0m
time: 1403638129.795097, t: 0.006480 0.000471 0.064970 q: -0.022302 0.835837 0.001246 0.548523 
time: 1403638129.895097, t: 0.006644 0.003274 0.083658 q: -0.021155 0.841229 0.006993 0.540220 
time: 1403638129.995097, t: 0.008176 0.006256 0.113511 q: -0.021493 0.839975 0.009900 0.542109 
time: 1403638130.095097, t: 0.009919 0.007895 0.151539 q: -0.030947 0.830633 0.001673 0.555956 
time: 1403638130.195097, t: 0.011747 0.010659 0.190572 q: -0.036204 0.828377 0.003896 0.558987 
time: 1403638130.295097, t: 0.013045 0.013026 0.231388 q: -0.041283 0.825854 0.006372 0.562335 
time: 1403638130.395097, t: 0.014398 0.014048 0.273809 q: -0.053537 0.819148 -0.002940 0.571070 
time: 1403638130.495097, t: 0.013834 0.016073 0.313362 q: -0.056803 0.819097 0.002384 0.570830 
time: 1403638130.595097, t: 0.013553 0.018338 0.352158 q: -0.050207 0.820820 0.011594 0.568859 
time: 1403638130.695097, t: 0.011225 0.018820 0.391037 q: -0.053756 0.814113 0.006450 0.578178 
time: 1403638130.795097, t: 0.009814 0.018705 0.426336 q: -0.071339 0.807220 -0.007273 0.585879 
time: 1403638130.895097, t: 0.007260 0.017515 0.452177 q: -0.077651 0.805377 -0.008316 0.587596 
time: 1403638130.995097, t: 0.003568 0.013300 0.463768 q: -0.075972 0.795522 -0.015192 0.600952 
time: 1403638131.095097, t: 0.000567 0.009934 0.457651 q: -0.073236 0.788906 -0.019106 0.609835 
time: 1403638131.195097, t: 0.001480 0.011421 0.434856 q: -0.064148 0.797238 -0.009402 0.600173 
time: 1403638131.295097, t: 0.003605 0.014299 0.405350 q: -0.052396 0.808454 0.004138 0.586208 
time: 1403638131.395097, t: 0.004042 0.013718 0.374633 q: -0.049529 0.810974 0.005208 0.582959 
time: 1403638131.495097, t: 0.003523 0.010352 0.341097 q: -0.043200 0.810781 0.006375 0.583719 
time: 1403638131.595097, t: 0.000208 0.007743 0.301912 q: -0.040322 0.814501 0.008019 0.578704 
time: 1403638131.695097, t: -0.001937 0.004087 0.261012 q: -0.036735 0.815821 0.011661 0.577018 
time: 1403638131.795097, t: -0.005947 -0.000954 0.216334 q: -0.029471 0.816210 0.015997 0.576782 
time: 1403638131.895097, t: -0.007041 -0.005712 0.174204 q: -0.020158 0.817883 0.019593 0.574697 
time: 1403638131.995097, t: -0.010658 -0.009044 0.140549 q: -0.013420 0.819732 0.025804 0.572008 
time: 1403638132.095097, t: -0.007826 -0.004959 0.126179 q: -0.003736 0.825596 0.041210 0.562742 
time: 1403638132.195097, t: -0.008763 -0.003463 0.138401 q: -0.003313 0.826234 0.047591 0.561304 
time: 1403638132.295097, t: -0.007716 -0.001869 0.180027 q: -0.015639 0.818125 0.039779 0.573450 
time: 1403638132.395097, t: -0.007512 0.001162 0.235430 q: -0.028354 0.813588 0.034429 0.579729 
time: 1403638132.495097, t: -0.006664 0.004372 0.293679 q: -0.047609 0.805146 0.023216 0.590706 
time: 1403638132.595097, t: -0.006555 0.007486 0.348870 q: -0.065963 0.790887 0.008824 0.608333 
time: 1403638132.695097, t: -0.005564 0.015636 0.389781 q: -0.072467 0.790882 0.004973 0.607643 
time: 1403638132.795097, t: -0.004239 0.026740 0.415199 q: -0.074443 0.796388 0.003257 0.600179 
time: 1403638132.895097, t: -0.006121 0.034719 0.426211 q: -0.080067 0.788818 -0.005263 0.609367 
time: 1403638132.995097, t: -0.006692 0.036080 0.421046 q: -0.086457 0.782194 -0.006009 0.616978 
time: 1403638133.095097, t: -0.005132 0.026854 0.403127 q: -0.076736 0.787140 0.008230 0.611927 
wait for imu ... 
time: 1403638133.195097, t: -0.002768 0.005055 0.379931 q: -0.065250 0.791471 0.009875 0.607634 
time: 1403638133.395097, t: -0.002904 -0.067548 0.330551 q: -0.031876 0.799151 -0.007633 0.600237 
time: 1403638133.495097, t: -0.009371 -0.113590 0.309087 q: -0.012223 0.802337 -0.021827 0.596347 
time: 1403638133.595097, t: -0.021394 -0.161161 0.290428 q: -0.004459 0.803775 -0.044221 0.593272 
time: 1403638133.695097, t: -0.038532 -0.204089 0.271365 q: -0.003136 0.807113 -0.061866 0.587138 
time: 1403638133.795097, t: -0.054191 -0.240728 0.254014 q: 0.010847 0.808908 -0.075857 0.582920 
time: 1403638133.895097, t: -0.063990 -0.267823 0.237219 q: 0.027150 0.811256 -0.083810 0.578017 
time: 1403638133.995097, t: -0.060332 -0.278058 0.229107 q: 0.034101 0.810293 -0.089555 0.578137 
time: 1403638134.095097, t: -0.038893 -0.264515 0.227532 q: 0.037383 0.813279 -0.084628 0.574471 
time: 1403638134.195097, t: -0.004454 -0.245029 0.227120 q: 0.039621 0.814834 -0.077880 0.573072 
time: 1403638134.295097, t: 0.018978 -0.210363 0.235394 q: 0.035611 0.805441 -0.085494 0.585396 
time: 1403638134.395097, t: 0.056372 -0.170882 0.240144 q: 0.026318 0.806927 -0.090075 0.583149 
time: 1403638134.495097, t: 0.090406 -0.128176 0.242508 q: 0.018664 0.808137 -0.093646 0.581202 
time: 1403638134.595097, t: 0.117935 -0.085652 0.245737 q: 0.007730 0.806448 -0.098345 0.583019 
time: 1403638134.695097, t: 0.133298 -0.040487 0.248773 q: 0.002708 0.809956 -0.097099 0.578390 
time: 1403638134.795097, t: 0.148175 0.004270 0.252133 q: -0.000187 0.817216 -0.091129 0.569081 
time: 1403638134.895097, t: 0.154983 0.045942 0.263147 q: 0.001872 0.819376 -0.086566 0.566680 
time: 1403638134.995097, t: 0.162859 0.080719 0.269408 q: 0.000859 0.815409 -0.086778 0.572344 
time: 1403638135.095097, t: 0.161842 0.109746 0.269306 q: 0.003776 0.819340 -0.078662 0.567873 
time: 1403638135.195097, t: 0.159613 0.127462 0.263510 q: 0.004772 0.823729 -0.070853 0.562519 
time: 1403638135.295097, t: 0.156800 0.128910 0.252953 q: 0.006717 0.825542 -0.067721 0.560222 
time: 1403638135.395097, t: 0.146479 0.118826 0.242828 q: 0.009522 0.822982 -0.069619 0.563705 
time: 1403638135.495097, t: 0.135060 0.097141 0.232475 q: 0.018334 0.825395 -0.068562 0.560077 
time: 1403638135.595097, t: 0.127593 0.071142 0.226759 q: 0.025916 0.830197 -0.068598 0.552625 
time: 1403638135.695097, t: 0.120451 0.038619 0.224503 q: 0.030695 0.826082 -0.078327 0.557236 
time: 1403638135.795097, t: 0.103687 0.003422 0.221293 q: 0.027756 0.822894 -0.091264 0.560130 
time: 1403638135.895097, t: 0.081799 -0.027577 0.219509 q: 0.038017 0.828196 -0.086998 0.552338 
time: 1403638135.995097, t: 0.057151 -0.056400 0.226335 q: 0.049846 0.833558 -0.082897 0.543897 
time: 1403638136.095097, t: 0.035208 -0.094192 0.244680 q: 0.058919 0.826317 -0.088901 0.553015 
time: 1403638136.195097, t: 0.012073 -0.137884 0.259183 q: 0.056545 0.815929 -0.102683 0.566144 
time: 1403638136.295097, t: -0.012985 -0.181055 0.260657 q: 0.062855 0.813407 -0.107899 0.568133 
time: 1403638136.395097, t: -0.034523 -0.216371 0.252379 q: 0.072279 0.815255 -0.108933 0.564153 
time: 1403638136.495097, t: -0.049794 -0.237022 0.246357 q: 0.078024 0.817715 -0.111159 0.559373 
time: 1403638136.595097, t: -0.055007 -0.238887 0.250196 q: 0.072025 0.818205 -0.121793 0.557242 
time: 1403638136.695097, t: -0.050570 -0.220090 0.262648 q: 0.058442 0.816991 -0.123573 0.560214 
time: 1403638136.795097, t: -0.042156 -0.187771 0.277319 q: 0.041175 0.816719 -0.119402 0.563043 
time: 1403638136.895097, t: -0.031140 -0.146807 0.287862 q: 0.016221 0.809432 -0.120920 0.574400 
time: 1403638136.995097, t: -0.019201 -0.104029 0.283405 q: -0.002632 0.799479 -0.123990 0.587753 
time: 1403638137.095097, t: -0.009111 -0.063665 0.260003 q: -0.009719 0.799972 -0.118144 0.588212 
time: 1403638137.195097, t: -0.002597 -0.029369 0.225324 q: -0.007008 0.808188 -0.104675 0.579506 
time: 1403638137.295097, t: 0.000535 -0.002141 0.185734 q: -0.003517 0.817139 -0.090637 0.569260 
time: 1403638137.395097, t: 0.001352 0.018030 0.145725 q: -0.001130 0.822638 -0.083410 0.562414 
time: 1403638137.495097, t: 0.003464 0.031210 0.107302 q: 0.009113 0.830704 -0.074875 0.551581 
time: 1403638137.595097, t: 0.004279 0.040692 0.075339 q: 0.023884 0.839429 -0.063753 0.539189 
time: 1403638137.695097, t: 0.005225 0.047061 0.050029 q: 0.032069 0.840154 -0.063823 0.537624 
time: 1403638137.795097, t: 0.003001 0.050466 0.031073 q: 0.034579 0.839331 -0.069228 0.538085 
time: 1403638137.895097, t: -0.000005 0.052849 0.017641 q: 0.040859 0.845010 -0.065671 0.529128 
time: 1403638137.995097, t: -0.000783 0.055060 0.008419 q: 0.046616 0.853661 -0.057976 0.515490 
time: 1403638138.095097, t: -0.000689 0.056655 0.003411 q: 0.048218 0.853950 -0.054423 0.515251 
time: 1403638138.195097, t: -0.001342 0.055641 0.002963 q: 0.044701 0.846019 -0.062203 0.527622 
optimize pose graph 
time: 1403638138.295097, t: -0.001793 0.055233 0.001607 q: 0.042347 0.842216 -0.064925 0.533539 
time: 1403638138.395097, t: -0.003099 0.055758 0.001894 q: 0.042486 0.837684 -0.065477 0.540549 
time: 1403638138.495097, t: -0.003519 0.055612 0.001851 q: 0.043014 0.837496 -0.064341 0.540935 
time: 1403638138.595097, t: -0.003489 0.055743 0.001766 q: 0.042262 0.837455 -0.064218 0.541072 
time: 1403638138.695097, t: -0.003430 0.055976 0.001722 q: 0.041086 0.837433 -0.064612 0.541149 
wait for imu ... 
wait for imu ... 
time: 1403638138.795097, t: -0.003463 0.055916 0.001783 q: 0.040738 0.837564 -0.063884 0.541060 
time: 1403638138.895097, t: -0.003261 0.056329 0.001740 q: 0.038993 0.837403 -0.064688 0.541342 
time: 1403638138.995097, t: -0.003317 0.056253 0.001793 q: 0.038870 0.837531 -0.064080 0.541226 
wait for imu ... 
time: 1403638139.095097, t: -0.003321 0.056177 0.001823 q: 0.038670 0.837617 -0.063506 0.541174 
wait for imu ... 
time: 1403638139.195097, t: -0.003331 0.056146 0.001859 q: 0.038469 0.837609 -0.063049 0.541255 
time: 1403638139.295097, t: -0.003335 0.056172 0.001884 q: 0.038098 0.837623 -0.062768 0.541292 
wait for imu ... 
time: 1403638139.395097, t: -0.003328 0.056235 0.001926 q: 0.037494 0.837655 -0.062648 0.541298 
wait for imu ... 
time: 1403638139.495097, t: -0.003332 0.056290 0.001941 q: 0.036949 0.837686 -0.062566 0.541297 
wait for imu ... 
wait for imu ... 
time: 1403638139.595097, t: -0.003317 0.056339 0.001971 q: 0.036467 0.837695 -0.062367 0.541339 
time: 1403638139.695097, t: -0.003332 0.056370 0.001992 q: 0.036158 0.837715 -0.062223 0.541345 
wait for imu ... 
time: 1403638139.795097, t: -0.003318 0.056388 0.002034 q: 0.035704 0.837754 -0.062027 0.541338 
wait for imu ... 
time: 1403638139.895097, t: -0.003313 0.056408 0.002080 q: 0.035472 0.837764 -0.061790 0.541364 
time: 1403638139.995097, t: -0.003320 0.056401 0.002094 q: 0.035224 0.837809 -0.061653 0.541327 
wait for imu ... 
time: 1403638140.095097, t: -0.003300 0.056425 0.002139 q: 0.034880 0.837836 -0.061450 0.541330 
wait for imu ... 
time: 1403638140.195097, t: -0.003304 0.056436 0.002148 q: 0.034603 0.837840 -0.061338 0.541354 
wait for imu ... 
time: 1403638140.295097, t: -0.003305 0.056458 0.002165 q: 0.034270 0.837840 -0.061156 0.541396 
wait for imu ... 
time: 1403638140.395097, t: -0.003293 0.056482 0.002195 q: 0.033965 0.837852 -0.061022 0.541411 
time: 1403638140.495097, t: -0.003303 0.056499 0.002195 q: 0.033780 0.837868 -0.060952 0.541407 
time: 1403638140.595097, t: -0.003302 0.056501 0.002222 q: 0.033573 0.837861 -0.060829 0.541444 
wait for imu ... 
wait for imu ... 
time: 1403638140.695097, t: -0.003303 0.056514 0.002235 q: 0.033354 0.837860 -0.060642 0.541480 
wait for imu ... 
time: 1403638140.795097, t: -0.003299 0.056534 0.002259 q: 0.033111 0.837856 -0.060524 0.541515 
time: 1403638140.895097, t: -0.003295 0.056554 0.002289 q: 0.032893 0.837869 -0.060417 0.541519 
time: 1403638140.995097, t: -0.003302 0.056567 0.002296 q: 0.032791 0.837877 -0.060346 0.541522 
wait for imu ... 
wait for imu ... 
time: 1403638141.095097, t: -0.003292 0.056584 0.002314 q: 0.032602 0.837844 -0.060223 0.541598 
wait for imu ... 
time: 1403638141.195097, t: -0.003292 0.056587 0.002325 q: 0.032347 0.837843 -0.060108 0.541627 
time: 1403638141.295097, t: -0.003287 0.056598 0.002342 q: 0.032204 0.837851 -0.059985 0.541637 
time: 1403638141.395097, t: -0.003292 0.056608 0.002353 q: 0.032033 0.837833 -0.059900 0.541684 
time: 1403638141.495097, t: -0.003285 0.056604 0.002363 q: 0.031887 0.837848 -0.059831 0.541677 
wait for imu ... 
time: 1403638141.595097, t: -0.003279 0.056615 0.002385 q: 0.031792 0.837839 -0.059738 0.541707 
wait for imu ... 
time: 1403638141.695097, t: -0.003277 0.056610 0.002391 q: 0.031670 0.837852 -0.059668 0.541702 
time: 1403638141.795097, t: -0.003276 0.056623 0.002408 q: 0.031573 0.837849 -0.059594 0.541720 
time: 1403638141.895097, t: -0.003271 0.056624 0.002414 q: 0.031460 0.837839 -0.059526 0.541749 
wait for imu ... 
time: 1403638141.995097, t: -0.003305 0.056638 0.002445 q: 0.031350 0.837830 -0.059424 0.541781 
wait for imu ... 
time: 1403638142.095097, t: -0.003286 0.056668 0.002463 q: 0.031285 0.837857 -0.059332 0.541753 
wait for imu ... 
wait for imu ... 
time: 1403638142.195097, t: -0.003302 0.056643 0.002468 q: 0.031347 0.837817 -0.059522 0.541791 
time: 1403638142.295097, t: -0.003316 0.056545 0.002475 q: 0.031611 0.837828 -0.059833 0.541724 
wait for imu ... 
time: 1403638142.395097, t: -0.003320 0.056624 0.002506 q: 0.031703 0.837877 -0.059740 0.541653 
time: 1403638142.495097, t: -0.003306 0.056678 0.002508 q: 0.031381 0.837953 -0.059589 0.541571 
wait for imu ... 
time: 1403638142.595097, t: -0.003271 0.056749 0.002494 q: 0.030779 0.837981 -0.059069 0.541619 
time: 1403638142.695097, t: -0.003295 0.056760 0.002522 q: 0.031004 0.838078 -0.059154 0.541446 
wait for imu ... 
time: 1403638142.795097, t: -0.003308 0.056663 0.002547 q: 0.031480 0.838112 -0.059420 0.541338 
time: 1403638142.895097, t: -0.003300 0.056653 0.002563 q: 0.031453 0.838143 -0.059287 0.541306 
time: 1403638142.995097, t: -0.003290 0.056721 0.002564 q: 0.031341 0.838129 -0.058908 0.541375 
wait for imu ... 
time: 1403638143.095097, t: -0.003302 0.056696 0.002575 q: 0.031420 0.838192 -0.058948 0.541270 
time: 1403638143.295097, t: -0.003312 0.056672 0.002553 q: 0.031322 0.838204 -0.059179 0.541231 
wait for imu ... 
time: 1403638143.395097, t: -0.003319 0.056688 0.002572 q: 0.031433 0.838197 -0.059212 0.541232 
time: 1403638143.495097, t: -0.003322 0.056687 0.002568 q: 0.031541 0.838198 -0.059235 0.541222 
time: 1403638143.695097, t: -0.003309 0.056656 0.002557 q: 0.031558 0.838189 -0.059410 0.541215 
wait for imu ... 
wait for imu ... 
time: 1403638143.795097, t: -0.003317 0.056657 0.002561 q: 0.031511 0.838191 -0.059367 0.541220 
time: 1403638143.895097, t: -0.003323 0.056667 0.002555 q: 0.031484 0.838185 -0.059455 0.541220 
time: 1403638143.995097, t: -0.003330 0.056658 0.002555 q: 0.031514 0.838165 -0.059468 0.541248 
time: 1403638144.095097, t: -0.003335 0.056653 0.002557 q: 0.031480 0.838197 -0.059470 0.541201 
time: 1403638144.195097, t: -0.003345 0.056646 0.002552 q: 0.031536 0.838160 -0.059470 0.541254 
time: 1403638144.295097, t: -0.003334 0.056648 0.002543 q: 0.031477 0.838142 -0.059399 0.541293 
wait for imu ... 
time: 1403638144.395097, t: -0.003324 0.056644 0.002528 q: 0.031445 0.838123 -0.059410 0.541325 
time: 1403638144.495097, t: -0.003330 0.056628 0.002530 q: 0.031489 0.838119 -0.059463 0.541322 
time: 1403638144.695097, t: -0.003315 0.056641 0.002545 q: 0.031376 0.838076 -0.059373 0.541405 
wait for imu ... 
time: 1403638144.795097, t: -0.003332 0.056651 0.002542 q: 0.031350 0.838082 -0.059415 0.541392 
time: 1403638144.895097, t: -0.003330 0.056652 0.002542 q: 0.031381 0.838104 -0.059423 0.541355 
time: 1403638144.995097, t: -0.003321 0.056635 0.002557 q: 0.031426 0.838073 -0.059387 0.541405 
wait for imu ... 
time: 1403638145.095097, t: -0.003327 0.056631 0.002549 q: 0.031390 0.838081 -0.059412 0.541393 
time: 1403638145.195097, t: -0.003322 0.056644 0.002567 q: 0.031439 0.838072 -0.059399 0.541404 
time: 1403638145.295097, t: -0.003323 0.056633 0.002566 q: 0.031404 0.838087 -0.059393 0.541383 
wait for imu ... 
time: 1403638145.395097, t: -0.003356 0.056620 0.002580 q: 0.031501 0.838073 -0.059407 0.541399 
time: 1403638145.495097, t: -0.003347 0.056633 0.002607 q: 0.031481 0.838061 -0.059390 0.541419 
wait for imu ... 
time: 1403638145.595097, t: -0.003317 0.056612 0.002612 q: 0.031417 0.838075 -0.059331 0.541408 
time: 1403638145.695097, t: -0.003309 0.056609 0.002627 q: 0.031405 0.838046 -0.059333 0.541453 
wait for imu ... 
wait for imu ... 
time: 1403638145.795097, t: -0.003313 0.056611 0.002625 q: 0.031451 0.838083 -0.059272 0.541401 
time: 1403638145.895097, t: -0.003319 0.056617 0.002627 q: 0.031446 0.838044 -0.059288 0.541460 
time: 1403638145.995097, t: -0.003302 0.056625 0.002633 q: 0.031406 0.838039 -0.059300 0.541469 
wait for imu ... 
time: 1403638146.095097, t: -0.003287 0.056624 0.002657 q: 0.031359 0.838080 -0.059218 0.541417 
time: 1403638146.195097, t: -0.003295 0.056624 0.002653 q: 0.031396 0.838019 -0.059247 0.541505 
time: 1403638146.295097, t: -0.003270 0.056633 0.002687 q: 0.031461 0.838032 -0.059245 0.541481 
time: 1403638146.395097, t: -0.003265 0.056623 0.002704 q: 0.031499 0.838051 -0.059198 0.541455 
wait for imu ... 
time: 1403638146.495097, t: -0.003272 0.056619 0.002711 q: 0.031517 0.838081 -0.059271 0.541401 
time: 1403638146.595097, t: -0.003265 0.056634 0.002708 q: 0.031592 0.838037 -0.059255 0.541465 
time: 1403638146.695097, t: -0.003243 0.056618 0.002741 q: 0.031639 0.838084 -0.059253 0.541391 
wait for imu ... 
time: 1403638146.795097, t: -0.003261 0.056636 0.002710 q: 0.031623 0.837996 -0.059223 0.541530 
time: 1403638146.895097, t: -0.003209 0.056629 0.002775 q: 0.031714 0.838073 -0.059123 0.541416 
time: 1403638146.995097, t: -0.003228 0.056638 0.002774 q: 0.031794 0.838190 -0.059191 0.541224 
time: 1403638147.095097, t: -0.003210 0.056755 0.002714 q: 0.031683 0.838258 -0.059104 0.541135 
wait for imu ... 
time: 1403638147.195097, t: -0.003186 0.056776 0.002691 q: 0.031758 0.838355 -0.058988 0.540992 
wait for imu ... 
wait for imu ... 
time: 1403638147.295097, t: -0.003191 0.056809 0.002710 q: 0.031672 0.838317 -0.059105 0.541044 
time: 1403638147.395097, t: -0.003169 0.056816 0.002757 q: 0.031731 0.838196 -0.059052 0.541233 
time: 1403638147.495097, t: -0.003227 0.056701 0.002954 q: 0.031619 0.837750 -0.058866 0.541951 
time: 1403638147.595097, t: -0.003216 0.056705 0.003094 q: 0.031099 0.837304 -0.059035 0.542651 
wait for imu ... 
time: 1403638147.695097, t: -0.002775 0.056694 0.002969 q: 0.030699 0.837457 -0.058227 0.542524 
time: 1403638147.795097, t: -0.000891 0.056266 0.004043 q: 0.031302 0.835240 -0.058825 0.545833 
time: 1403638147.895097, t: 0.003891 0.054968 0.008133 q: 0.033961 0.828126 -0.061815 0.556087 
time: 1403638147.995097, t: 0.012367 0.053493 0.018258 q: 0.034651 0.821399 -0.063971 0.565695 
time: 1403638148.095097, t: 0.022073 0.051749 0.036299 q: 0.035400 0.816278 -0.063281 0.573090 
time: 1403638148.195097, t: 0.032528 0.049750 0.063377 q: 0.036046 0.813443 -0.060176 0.577400 
time: 1403638148.295097, t: 0.041260 0.048042 0.105114 q: 0.034382 0.813148 -0.057360 0.578202 
time: 1403638148.395097, t: 0.049286 0.047115 0.155383 q: 0.032765 0.812891 -0.054332 0.578950 
time: 1403638148.495097, t: 0.056053 0.046771 0.189820 q: 0.032661 0.816763 -0.051209 0.573768 
time: 1403638148.595097, t: 0.065641 0.046081 0.200302 q: 0.032661 0.820839 -0.048753 0.568137 
time: 1403638148.695097, t: 0.072753 0.047657 0.193355 q: 0.031951 0.824492 -0.046617 0.563044 
time: 1403638148.795097, t: 0.085254 0.047055 0.185188 q: 0.029877 0.826977 -0.045395 0.559603 
time: 1403638148.895097, t: 0.094859 0.052235 0.184384 q: 0.028475 0.827655 -0.043982 0.558786 
time: 1403638148.995097, t: 0.116361 0.055355 0.206195 q: 0.027406 0.825854 -0.042840 0.561586 
time: 1403638149.095097, t: 0.130630 0.058202 0.227775 q: 0.027072 0.822084 -0.041285 0.567221 
time: 1403638149.195097, t: 0.149898 0.062619 0.257897 q: 0.026737 0.819798 -0.040688 0.570580 
time: 1403638149.295097, t: 0.173409 0.067223 0.288938 q: 0.024760 0.818552 -0.042027 0.572358 
time: 1403638149.395097, t: 0.195442 0.073620 0.313891 q: 0.024043 0.817242 -0.042169 0.574246 
time: 1403638149.495097, t: 0.217777 0.076522 0.337905 q: 0.024508 0.816476 -0.041647 0.575354 
time: 1403638149.595097, t: 0.237623 0.081924 0.352684 q: 0.025331 0.816368 -0.040158 0.575577 
time: 1403638149.695097, t: 0.258481 0.089124 0.361726 q: 0.022675 0.816577 -0.035515 0.575696 
time: 1403638149.795097, t: 0.282322 0.095272 0.373771 q: 0.019629 0.816855 -0.030339 0.575711 
time: 1403638149.895097, t: 0.303285 0.103340 0.378813 q: 0.016990 0.816862 -0.026678 0.575965 
time: 1403638149.995097, t: 0.328518 0.112782 0.385162 q: 0.016933 0.817361 -0.023031 0.575416 
time: 1403638150.195097, t: 0.377427 0.139774 0.380098 q: 0.030983 0.817587 -0.010895 0.574867 
optimize pose graph 
time: 1403638150.295097, t: 0.403243 0.159855 0.369848 q: 0.034834 0.818603 -0.008717 0.573236 
time: 1403638150.395097, t: 0.428453 0.185008 0.354876 q: 0.032122 0.822756 -0.009784 0.567402 
time: 1403638150.495097, t: 0.456223 0.217367 0.346038 q: 0.021245 0.828397 -0.010364 0.559642 
time: 1403638150.595097, t: 0.484784 0.250900 0.341396 q: 0.013552 0.832040 -0.006391 0.554513 
time: 1403638150.695097, t: 0.517668 0.287684 0.349290 q: 0.007685 0.832221 -0.002587 0.554385 
time: 1403638150.795097, t: 0.553243 0.323952 0.362738 q: 0.004168 0.831030 0.004003 0.556198 
time: 1403638150.895097, t: 0.594010 0.362253 0.378722 q: 0.000024 0.828426 0.013383 0.559938 
time: 1403638150.995097, t: 0.636916 0.401313 0.390599 q: -0.004047 0.824118 0.021673 0.565989 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403638151.095097, t: 0.684363 0.447030 0.397237 q: -0.009797 0.821896 0.033998 0.568538 
time: 1403638151.195097, t: 0.726967 0.492942 0.398750 q: -0.019191 0.819498 0.051443 0.570445 
time: 1403638151.295097, t: 0.770914 0.541737 0.392407 q: -0.033446 0.819120 0.070405 0.568301 
time: 1403638151.395097, t: 0.814403 0.593743 0.386075 q: -0.048901 0.817736 0.090735 0.566289 
time: 1403638151.495097, t: 0.854109 0.645673 0.383984 q: -0.064981 0.815344 0.110250 0.564657 
time: 1403638151.595097, t: 0.893103 0.700055 0.387602 q: -0.077737 0.813061 0.126926 0.562831 
time: 1403638151.695097, t: 0.930054 0.755950 0.398703 q: -0.086780 0.810544 0.139440 0.562178 
time: 1403638151.795097, t: 0.968624 0.812978 0.416857 q: -0.091965 0.809764 0.148158 0.560245 
time: 1403638151.895097, t: 1.005111 0.873607 0.440913 q: -0.095186 0.809185 0.153085 0.559217 
time: 1403638151.995097, t: 1.046509 0.934186 0.472888 q: -0.095125 0.809318 0.156906 0.557975 
time: 1403638152.095097, t: 1.086465 0.998407 0.498819 q: -0.095153 0.809720 0.157779 0.557140 
time: 1403638152.195097, t: 1.124252 1.062106 0.519975 q: -0.094687 0.809676 0.158238 0.557154 
time: 1403638152.295097, t: 1.161182 1.128929 0.532861 q: -0.092130 0.809262 0.159639 0.557784 
time: 1403638152.395097, t: 1.199613 1.198396 0.540438 q: -0.088430 0.809151 0.160683 0.558244 
wait for imu ... 
time: 1403638152.495097, t: 1.236454 1.271394 0.539674 q: -0.084762 0.809650 0.161336 0.557901 
time: 1403638152.595097, t: 1.271714 1.347680 0.533715 q: -0.084882 0.809712 0.160763 0.557958 
time: 1403638152.695097, t: 1.308258 1.429418 0.526045 q: -0.090369 0.811507 0.159087 0.554960 
time: 1403638152.795097, t: 1.346629 1.514373 0.524871 q: -0.098052 0.809961 0.162330 0.554975 
time: 1403638152.895097, t: 1.384342 1.600361 0.532335 q: -0.109484 0.805904 0.168558 0.556884 
time: 1403638152.995097, t: 1.422708 1.688420 0.547295 q: -0.120244 0.801876 0.179921 0.556924 
time: 1403638153.095097, t: 1.458854 1.774626 0.567704 q: -0.128915 0.802184 0.192197 0.550402 
time: 1403638153.195097, t: 1.494725 1.860180 0.588355 q: -0.134399 0.802695 0.202097 0.544771 
time: 1403638153.295097, t: 1.536150 1.946962 0.605665 q: -0.137874 0.801861 0.210809 0.541820 
time: 1403638153.395097, t: 1.577524 2.033524 0.617836 q: -0.144114 0.800039 0.221302 0.538697 
time: 1403638153.495097, t: 1.621262 2.123953 0.629885 q: -0.146381 0.796407 0.237868 0.536402 
time: 1403638153.595097, t: 1.664568 2.215818 0.647283 q: -0.149255 0.792049 0.256619 0.533412 
time: 1403638153.695097, t: 1.704865 2.310198 0.669597 q: -0.158120 0.786199 0.273700 0.531015 
time: 1403638153.795097, t: 1.744818 2.409962 0.690835 q: -0.171323 0.779607 0.286705 0.529775 
time: 1403638153.895097, t: 1.784016 2.512990 0.706797 q: -0.182121 0.773500 0.296213 0.529893 
time: 1403638153.995097, t: 1.821298 2.618164 0.716939 q: -0.191958 0.768299 0.300556 0.531541 
time: 1403638154.095097, t: 1.859100 2.726149 0.721471 q: -0.197742 0.764446 0.303250 0.533441 
time: 1403638154.195097, t: 1.897872 2.836831 0.721508 q: -0.200172 0.759404 0.304899 0.538770 
time: 1403638154.295097, t: 1.934616 2.947769 0.717145 q: -0.200457 0.755385 0.305838 0.543759 
time: 1403638154.495097, t: 1.999806 3.173143 0.699251 q: -0.205298 0.746949 0.300288 0.556549 
time: 1403638154.595097, t: 2.025664 3.286026 0.691489 q: -0.206914 0.748202 0.299799 0.554527 
time: 1403638154.695097, t: 2.040079 3.389077 0.687496 q: -0.209759 0.750757 0.304250 0.547537 
time: 1403638154.795097, t: 2.052475 3.494986 0.693130 q: -0.209126 0.751791 0.314036 0.540794 
time: 1403638154.895097, t: 2.059173 3.596802 0.704360 q: -0.208336 0.750372 0.323267 0.537621 
time: 1403638154.995097, t: 2.063839 3.702587 0.723596 q: -0.209865 0.746825 0.332686 0.536218 
time: 1403638155.095097, t: 2.066515 3.816290 0.746286 q: -0.215870 0.741524 0.342621 0.534933 
time: 1403638155.195097, t: 2.054692 3.913966 0.773230 q: -0.224267 0.736167 0.349972 0.534118 
time: 1403638155.295097, t: 2.043316 4.019042 0.790860 q: -0.231444 0.729909 0.354967 0.536345 
time: 1403638155.395097, t: 2.026773 4.123679 0.801817 q: -0.236928 0.722795 0.361993 0.538881 
time: 1403638155.495097, t: 2.003788 4.227674 0.805733 q: -0.241755 0.716109 0.371691 0.539062 
time: 1403638155.595097, t: 1.974405 4.332856 0.803321 q: -0.255782 0.710754 0.378623 0.534836 
time: 1403638155.695097, t: 1.938304 4.434938 0.797744 q: -0.274163 0.702207 0.386694 0.531233 
time: 1403638155.795097, t: 1.898101 4.534509 0.787681 q: -0.289028 0.694174 0.399508 0.524383 
time: 1403638155.895097, t: 1.854062 4.629880 0.773439 q: -0.302221 0.687877 0.415712 0.512515 
wait for imu ... 
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time: 1403638156.095097, t: 1.755807 4.802522 0.756024 q: -0.321170 0.678226 0.459262 0.475330 
time: 1403638156.195097, t: 1.706133 4.883849 0.760225 q: -0.333083 0.670688 0.475339 0.461829 
time: 1403638156.295097, t: 1.657785 4.964490 0.770703 q: -0.341095 0.663720 0.491502 0.448950 
time: 1403638156.395097, t: 1.612427 5.043116 0.780841 q: -0.347448 0.658854 0.503314 0.438025 
time: 1403638156.495097, t: 1.570110 5.124491 0.784222 q: -0.351293 0.655953 0.511026 0.430316 
time: 1403638156.595097, t: 1.531586 5.207827 0.781579 q: -0.354349 0.653088 0.515112 0.427285 
time: 1403638156.695097, t: 1.496276 5.293034 0.772585 q: -0.355071 0.652278 0.517117 0.425497 
time: 1403638156.795097, t: 1.463643 5.382391 0.758759 q: -0.354957 0.651670 0.517897 0.425576 
time: 1403638156.895097, t: 1.431977 5.475453 0.742846 q: -0.353845 0.652223 0.517625 0.425986 
time: 1403638156.995097, t: 1.401794 5.570149 0.729633 q: -0.352133 0.653635 0.516453 0.426662 
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time: 1403638157.295097, t: 1.331521 5.884947 0.730876 q: -0.346680 0.659890 0.514697 0.423609 
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time: 1403638157.495097, t: 1.299528 6.110541 0.751189 q: -0.347450 0.650058 0.520411 0.431134 
time: 1403638157.595097, t: 1.281443 6.230242 0.755116 q: -0.353659 0.641224 0.525203 0.433497 
time: 1403638157.695097, t: 1.265513 6.349972 0.756020 q: -0.361064 0.627679 0.534111 0.436322 
time: 1403638157.795097, t: 1.243808 6.469580 0.761266 q: -0.369132 0.613365 0.546931 0.434041 
time: 1403638157.895097, t: 1.219324 6.591634 0.775021 q: -0.381719 0.600306 0.559193 0.425708 
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time: 1403638158.195097, t: 1.144956 6.944576 0.822927 q: -0.410161 0.580137 0.582849 0.394329 
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optimize pose graph 
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time: 1403638206.495097, t: 7.687607 9.690910 2.967666 q: -0.228992 0.729557 0.333894 0.551202 
time: 1403638206.595097, t: 7.599709 9.808162 2.994883 q: -0.237149 0.726682 0.335859 0.550357 
time: 1403638206.695097, t: 7.507670 9.922481 3.015932 q: -0.244740 0.723774 0.338318 0.549358 
time: 1403638206.795097, t: 7.410181 10.031144 3.030575 q: -0.250957 0.721375 0.345272 0.545368 
time: 1403638206.895097, t: 7.310634 10.132756 3.038801 q: -0.255486 0.718027 0.350890 0.544095 
time: 1403638206.995097, t: 7.207925 10.232858 3.042488 q: -0.261731 0.714456 0.352359 0.544879 
time: 1403638207.095097, t: 7.102796 10.324774 3.039484 q: -0.264705 0.711022 0.353787 0.547004 
time: 1403638207.195097, t: 6.993810 10.415954 3.028907 q: -0.268594 0.709685 0.354108 0.546637 
time: 1403638207.295097, t: 6.880656 10.498394 3.010934 q: -0.272889 0.705620 0.359496 0.546256 
time: 1403638207.395097, t: 6.759154 10.575921 2.988139 q: -0.281911 0.698619 0.367391 0.545419 
time: 1403638207.495097, t: 6.634458 10.640545 2.966233 q: -0.292894 0.689523 0.380994 0.541862 
time: 1403638207.595097, t: 6.504603 10.696862 2.950295 q: -0.301052 0.684781 0.396874 0.531915 
time: 1403638207.695097, t: 6.373930 10.740929 2.938663 q: -0.307866 0.686506 0.409321 0.516124 
time: 1403638207.795097, t: 6.243203 10.776637 2.935950 q: -0.313570 0.687773 0.417174 0.504586 
time: 1403638207.895097, t: 6.114625 10.807857 2.939761 q: -0.314894 0.691760 0.423274 0.493102 
time: 1403638207.995097, t: 5.990126 10.831312 2.950558 q: -0.314333 0.693338 0.427007 0.487999 
time: 1403638208.095097, t: 5.865635 10.853583 2.959809 q: -0.315164 0.692165 0.427213 0.488946 
time: 1403638208.195097, t: 5.744704 10.873758 2.964762 q: -0.319801 0.689288 0.423212 0.493459 
time: 1403638208.295097, t: 5.627302 10.890032 2.961520 q: -0.319036 0.688229 0.421579 0.496817 
optimize pose graph 
time: 1403638208.395097, t: 5.512173 10.900446 2.950732 q: -0.315340 0.691439 0.422526 0.493908 
time: 1403638208.495097, t: 5.399102 10.907843 2.937307 q: -0.313891 0.692777 0.425522 0.490371 
time: 1403638208.595097, t: 5.287987 10.911950 2.929191 q: -0.316678 0.690386 0.433328 0.485087 
time: 1403638208.695097, t: 5.178052 10.913467 2.928580 q: -0.323563 0.685017 0.441094 0.481139 
time: 1403638208.795097, t: 5.070183 10.912483 2.934859 q: -0.330483 0.680576 0.447186 0.477098 
time: 1403638208.895097, t: 4.967859 10.907741 2.942082 q: -0.334385 0.675300 0.453002 0.476389 
time: 1403638208.995097, t: 4.867197 10.901262 2.944106 q: -0.337077 0.671372 0.457294 0.475942 
time: 1403638209.095097, t: 4.771067 10.891098 2.939301 q: -0.339970 0.669676 0.459619 0.474030 
time: 1403638209.195097, t: 4.677648 10.877996 2.927305 q: -0.340496 0.668784 0.461584 0.473001 
time: 1403638209.295097, t: 4.586081 10.862752 2.908706 q: -0.342474 0.668862 0.461416 0.471625 
time: 1403638209.395097, t: 4.495028 10.845515 2.884784 q: -0.343668 0.669365 0.461057 0.470393 
time: 1403638209.495097, t: 4.407829 10.827213 2.854696 q: -0.345432 0.668750 0.459876 0.471131 
time: 1403638209.595097, t: 4.324641 10.807017 2.811658 q: -0.346991 0.667316 0.458280 0.473568 
time: 1403638209.695097, t: 4.240844 10.783901 2.750495 q: -0.346494 0.668994 0.457327 0.472483 
time: 1403638209.795097, t: 4.159792 10.757789 2.671215 q: -0.343430 0.667886 0.458724 0.474927 
time: 1403638209.895097, t: 4.075956 10.726673 2.577830 q: -0.341695 0.665798 0.459184 0.478651 
time: 1403638209.995097, t: 4.000061 10.696683 2.477676 q: -0.343121 0.661918 0.457667 0.484432 
time: 1403638210.095097, t: 3.919063 10.658259 2.377865 q: -0.346527 0.657646 0.454715 0.490566 
time: 1403638210.195097, t: 3.844265 10.617322 2.285197 q: -0.350241 0.654108 0.451924 0.495216 
time: 1403638210.295097, t: 3.762418 10.562547 2.196941 q: -0.351062 0.654444 0.451173 0.494875 
time: 1403638210.395097, t: 3.685886 10.503509 2.112681 q: -0.350223 0.655162 0.451530 0.494193 
optimize pose graph 
time: 1403638210.495097, t: 3.605354 10.435131 2.024642 q: -0.351171 0.655409 0.450524 0.494112 
time: 1403638210.595097, t: 3.523937 10.359809 1.931055 q: -0.351016 0.655009 0.449928 0.495294 
time: 1403638210.695097, t: 3.445364 10.280226 1.833354 q: -0.353448 0.655325 0.447637 0.495222 
time: 1403638210.795097, t: 3.367534 10.191047 1.738700 q: -0.353462 0.655375 0.447282 0.495466 
time: 1403638210.895097, t: 3.287275 10.094740 1.651135 q: -0.353147 0.658530 0.447688 0.491123 
time: 1403638210.995097, t: 3.209442 9.992107 1.570296 q: -0.350816 0.662129 0.449628 0.486156 
time: 1403638211.095097, t: 3.132232 9.882654 1.498684 q: -0.349337 0.665103 0.451060 0.481816 
time: 1403638211.195097, t: 3.058068 9.773293 1.437226 q: -0.348976 0.668109 0.451719 0.477278 
time: 1403638211.295097, t: 2.987497 9.665259 1.383555 q: -0.347282 0.669398 0.452158 0.476293 
time: 1403638211.395097, t: 2.920316 9.554062 1.332941 q: -0.343898 0.672549 0.447976 0.478257 
time: 1403638211.495097, t: 2.854653 9.439394 1.277628 q: -0.337933 0.679124 0.439365 0.481197 
time: 1403638211.595097, t: 2.793373 9.321624 1.217329 q: -0.331711 0.687735 0.425961 0.485329 
time: 1403638211.695097, t: 2.736961 9.198560 1.151695 q: -0.324456 0.697433 0.407780 0.491967 
time: 1403638211.795097, t: 2.684797 9.069854 1.082809 q: -0.313880 0.710604 0.386604 0.497050 
time: 1403638211.895097, t: 2.637327 8.938510 1.015638 q: -0.303705 0.724168 0.362948 0.501610 
time: 1403638211.995097, t: 2.595480 8.802920 0.955234 q: -0.289984 0.735678 0.341063 0.508294 
time: 1403638212.095097, t: 2.558617 8.663532 0.902131 q: -0.274983 0.745081 0.320932 0.515986 
time: 1403638212.195097, t: 2.525414 8.521131 0.858071 q: -0.257365 0.752446 0.302825 0.525248 
time: 1403638212.295097, t: 2.493827 8.374426 0.823984 q: -0.241409 0.760199 0.283065 0.532630 
time: 1403638212.395097, t: 2.464122 8.224418 0.796034 q: -0.224121 0.766927 0.264528 0.540016 
optimize pose graph 
time: 1403638212.495097, t: 2.434483 8.069122 0.774716 q: -0.209632 0.773296 0.243792 0.546474 
time: 1403638212.595097, t: 2.404997 7.909250 0.759535 q: -0.195224 0.780395 0.222857 0.550641 
time: 1403638212.695097, t: 2.375675 7.744273 0.749708 q: -0.181224 0.787162 0.200969 0.554206 
time: 1403638212.795097, t: 2.347893 7.577801 0.749651 q: -0.164110 0.792749 0.179865 0.558807 
time: 1403638212.895097, t: 2.319718 7.405707 0.751703 q: -0.149000 0.798873 0.155682 0.561572 
time: 1403638212.995097, t: 2.294232 7.233556 0.761124 q: -0.130942 0.804495 0.131547 0.564214 
time: 1403638213.095097, t: 2.271261 7.060358 0.776557 q: -0.114055 0.809107 0.105139 0.566818 
time: 1403638213.195097, t: 2.250365 6.885938 0.789822 q: -0.099694 0.815858 0.076566 0.564424 
time: 1403638213.295097, t: 2.232331 6.709904 0.796896 q: -0.088285 0.824637 0.045901 0.556842 
time: 1403638213.395097, t: 2.219611 6.529341 0.797181 q: -0.078411 0.832284 0.014208 0.548592 
time: 1403638213.495097, t: 2.214923 6.345841 0.795013 q: -0.069426 0.835979 -0.017188 0.544080 
time: 1403638213.595097, t: 2.216422 6.154628 0.790893 q: -0.051876 0.833384 -0.037676 0.548964 
time: 1403638213.695097, t: 2.225592 5.957477 0.790183 q: -0.028214 0.824620 -0.043977 0.563269 
time: 1403638213.795097, t: 2.235223 5.757459 0.793051 q: -0.008390 0.817706 -0.044662 0.573840 
time: 1403638213.895097, t: 2.247825 5.557654 0.800848 q: 0.002449 0.814752 -0.045090 0.578049 
time: 1403638213.995097, t: 2.259593 5.359126 0.813687 q: 0.007037 0.815396 -0.044884 0.577117 
time: 1403638214.095097, t: 2.269205 5.160761 0.830061 q: 0.009524 0.821301 -0.042829 0.568806 
time: 1403638214.195097, t: 2.278328 4.961956 0.851270 q: 0.008493 0.828231 -0.040392 0.558864 
time: 1403638214.295097, t: 2.290949 4.765330 0.870476 q: 0.006427 0.833520 -0.037434 0.551182 
time: 1403638214.395097, t: 2.307322 4.567390 0.883569 q: 0.004792 0.836979 -0.033468 0.546189 
time: 1403638214.495097, t: 2.329883 4.372655 0.890486 q: 0.003444 0.834972 -0.028876 0.549524 
time: 1403638214.595097, t: 2.355998 4.175412 0.892457 q: 0.002499 0.828765 -0.024765 0.559042 
time: 1403638214.695097, t: 2.384430 3.983473 0.889317 q: 0.001036 0.822213 -0.021175 0.568785 
time: 1403638214.795097, t: 2.412720 3.792112 0.881515 q: -0.000735 0.816996 -0.017881 0.576366 
time: 1403638214.895097, t: 2.438679 3.604268 0.867872 q: -0.001793 0.813935 -0.014937 0.580761 
time: 1403638214.995097, t: 2.463385 3.421750 0.848524 q: -0.002627 0.812135 -0.013171 0.583315 
time: 1403638215.095097, t: 2.485817 3.244016 0.823744 q: -0.002287 0.811989 -0.011319 0.583558 
time: 1403638215.195097, t: 2.506215 3.071182 0.795003 q: -0.001942 0.813229 -0.010467 0.581846 
time: 1403638215.295097, t: 2.525947 2.899928 0.763970 q: 0.001606 0.815240 -0.008118 0.579064 
time: 1403638215.395097, t: 2.544746 2.731601 0.733428 q: 0.005890 0.815910 -0.005664 0.578121 
time: 1403638215.495097, t: 2.564257 2.568069 0.709617 q: 0.009788 0.815591 -0.002856 0.578539 
time: 1403638215.595097, t: 2.582958 2.409650 0.694100 q: 0.011271 0.814389 -0.002001 0.580207 
time: 1403638215.695097, t: 2.600507 2.256711 0.685344 q: 0.008084 0.813680 -0.004041 0.581243 
time: 1403638215.795097, t: 2.615803 2.106999 0.678447 q: 0.005223 0.813179 -0.007858 0.581937 
time: 1403638215.895097, t: 2.626430 1.964311 0.665471 q: 0.006340 0.813212 -0.013668 0.581773 
time: 1403638216.095097, t: 2.637181 1.682348 0.625983 q: 0.011238 0.812695 -0.020593 0.582217 
time: 1403638216.195097, t: 2.638995 1.550027 0.608676 q: 0.013731 0.812667 -0.022162 0.582145 
time: 1403638216.295097, t: 2.637851 1.421387 0.598151 q: 0.016256 0.811505 -0.023253 0.583657 
time: 1403638216.395097, t: 2.634923 1.297424 0.594028 q: 0.018230 0.810051 -0.023767 0.585594 
time: 1403638216.495097, t: 2.628959 1.178556 0.595179 q: 0.018898 0.809537 -0.024375 0.586258 
time: 1403638216.595097, t: 2.620982 1.063770 0.592487 q: 0.021064 0.810283 -0.023887 0.585172 
time: 1403638216.695097, t: 2.611445 0.954133 0.582222 q: 0.024011 0.812134 -0.022391 0.582546 
time: 1403638216.795097, t: 2.601623 0.847298 0.566309 q: 0.027447 0.811294 -0.020935 0.583618 
time: 1403638216.895097, t: 2.591846 0.744879 0.545343 q: 0.031637 0.807483 -0.025466 0.588491 
time: 1403638216.995097, t: 2.576429 0.648350 0.521301 q: 0.035180 0.806360 -0.035993 0.589280 
time: 1403638217.095097, t: 2.559002 0.555775 0.494565 q: 0.039310 0.807973 -0.051018 0.585689 
time: 1403638217.195097, t: 2.536979 0.467602 0.465832 q: 0.045457 0.809592 -0.065774 0.581522 
time: 1403638217.295097, t: 2.514967 0.383518 0.438472 q: 0.052192 0.810805 -0.075222 0.578112 
time: 1403638217.395097, t: 2.491653 0.304286 0.419060 q: 0.057737 0.811828 -0.081725 0.575258 
time: 1403638217.495097, t: 2.466279 0.230028 0.408191 q: 0.062868 0.812242 -0.084969 0.573665 
time: 1403638217.595097, t: 2.441129 0.159371 0.405937 q: 0.069800 0.813224 -0.084479 0.571541 
time: 1403638217.695097, t: 2.415561 0.092466 0.410613 q: 0.078347 0.813635 -0.080568 0.570411 
time: 1403638217.795097, t: 2.389868 0.031742 0.422109 q: 0.084594 0.815151 -0.076123 0.567960 
time: 1403638217.895097, t: 2.366046 -0.020262 0.438779 q: 0.087022 0.815683 -0.073714 0.567147 
time: 1403638217.995097, t: 2.344482 -0.064913 0.454947 q: 0.088115 0.813491 -0.070946 0.570469 
time: 1403638218.095097, t: 2.325605 -0.102339 0.462320 q: 0.088422 0.812095 -0.068946 0.572651 
time: 1403638218.195097, t: 2.306692 -0.131591 0.465052 q: 0.086100 0.810374 -0.068556 0.575483 
time: 1403638218.295097, t: 2.287731 -0.154705 0.463047 q: 0.083923 0.806745 -0.067206 0.581037 
time: 1403638218.395097, t: 2.271028 -0.170944 0.459024 q: 0.077311 0.804562 -0.069172 0.584737 
time: 1403638218.495097, t: 2.246840 -0.177993 0.465506 q: 0.071928 0.804771 -0.070893 0.584931 
time: 1403638218.595097, t: 2.223896 -0.180755 0.476426 q: 0.069675 0.805886 -0.071241 0.583624 
optimize pose graph 
time: 1403638218.695097, t: 2.194994 -0.177616 0.492894 q: 0.067179 0.809693 -0.073190 0.578383 
time: 1403638218.795097, t: 2.165879 -0.170420 0.505852 q: 0.070230 0.813992 -0.078803 0.571205 
time: 1403638218.895097, t: 2.140363 -0.160146 0.511065 q: 0.073957 0.815783 -0.086715 0.567018 
time: 1403638218.995097, t: 2.116911 -0.145918 0.510646 q: 0.064596 0.814831 -0.101720 0.567037 
time: 1403638219.095097, t: 2.091110 -0.131945 0.508279 q: 0.057255 0.812024 -0.113686 0.569573 
time: 1403638219.195097, t: 2.070264 -0.118604 0.502031 q: 0.061101 0.809483 -0.115940 0.572329 
time: 1403638219.295097, t: 2.044025 -0.108682 0.495140 q: 0.070280 0.803898 -0.112887 0.579712 
time: 1403638219.395097, t: 2.017228 -0.099028 0.486927 q: 0.076814 0.796427 -0.109961 0.589671 
time: 1403638219.495097, t: 1.991817 -0.087987 0.480748 q: 0.080910 0.791310 -0.107531 0.596422 
time: 1403638219.695097, t: 1.918366 -0.058508 0.483767 q: 0.072822 0.794397 -0.112668 0.592398 
time: 1403638219.795097, t: 1.871846 -0.041029 0.484839 q: 0.065445 0.797673 -0.117443 0.587913 
time: 1403638219.895097, t: 1.821260 -0.025188 0.480211 q: 0.056750 0.800481 -0.123226 0.583802 
time: 1403638219.995097, t: 1.768429 -0.013560 0.470513 q: 0.049450 0.802758 -0.128252 0.580246 
time: 1403638220.195097, t: 1.657503 -0.006732 0.445789 q: 0.055408 0.807370 -0.124497 0.574094 
time: 1403638220.295097, t: 1.603388 -0.011364 0.441335 q: 0.070590 0.810016 -0.114150 0.570843 
time: 1403638220.395097, t: 1.543659 -0.015660 0.446823 q: 0.079373 0.810631 -0.108513 0.569914 
time: 1403638220.495097, t: 1.482884 -0.017129 0.458435 q: 0.082821 0.810911 -0.106373 0.569429 
time: 1403638220.595097, t: 1.426446 -0.016760 0.471843 q: 0.083722 0.810305 -0.106842 0.570072 
time: 1403638220.695097, t: 1.367270 -0.015969 0.482433 q: 0.084623 0.809823 -0.107677 0.570465 
optimize pose graph 
time: 1403638220.795097, t: 1.312149 -0.012259 0.485216 q: 0.083960 0.809947 -0.109656 0.570010 
time: 1403638220.895097, t: 1.256502 -0.006386 0.480876 q: 0.084208 0.809789 -0.110943 0.569950 
time: 1403638220.995097, t: 1.201277 0.001343 0.468925 q: 0.083316 0.810539 -0.112823 0.568644 
time: 1403638221.095097, t: 1.147368 0.010285 0.453452 q: 0.083544 0.810923 -0.113783 0.567871 
time: 1403638221.195097, t: 1.090181 0.019856 0.439237 q: 0.083557 0.812194 -0.114471 0.565912 
time: 1403638221.295097, t: 1.039581 0.031586 0.434014 q: 0.082053 0.813579 -0.116087 0.563809 
time: 1403638221.395097, t: 0.989257 0.043439 0.434300 q: 0.079856 0.814641 -0.118447 0.562098 
time: 1403638221.495097, t: 0.939680 0.054480 0.436310 q: 0.077594 0.814857 -0.120519 0.561660 
time: 1403638221.595097, t: 0.894424 0.065873 0.431030 q: 0.076127 0.814044 -0.122517 0.562607 
time: 1403638221.695097, t: 0.851687 0.075008 0.421961 q: 0.075465 0.812339 -0.123043 0.565040 
time: 1403638221.795097, t: 0.811104 0.082572 0.413773 q: 0.073314 0.810218 -0.124273 0.568092 
time: 1403638221.895097, t: 0.771936 0.089355 0.412143 q: 0.075370 0.809150 -0.122317 0.569766 
time: 1403638221.995097, t: 0.737798 0.093173 0.421513 q: 0.079248 0.808619 -0.119021 0.570691 
time: 1403638222.095097, t: 0.696764 0.099702 0.432697 q: 0.082599 0.810355 -0.116626 0.568243 
time: 1403638222.195097, t: 0.657068 0.106171 0.440664 q: 0.082874 0.814207 -0.116685 0.562657 
time: 1403638222.295097, t: 0.618495 0.113213 0.443648 q: 0.081882 0.817631 -0.117869 0.557568 
time: 1403638222.395097, t: 0.589993 0.120021 0.439666 q: 0.081052 0.820526 -0.118841 0.553213 
time: 1403638222.495097, t: 0.557902 0.127305 0.432584 q: 0.080723 0.822811 -0.118885 0.549847 
time: 1403638222.595097, t: 0.536140 0.133089 0.421264 q: 0.080990 0.819080 -0.118555 0.555422 
time: 1403638222.695097, t: 0.512742 0.139659 0.407906 q: 0.080138 0.813722 -0.119103 0.563248 
time: 1403638222.795097, t: 0.491946 0.145958 0.391917 q: 0.081081 0.811360 -0.118544 0.566629 
optimize pose graph 
time: 1403638222.895097, t: 0.471780 0.152617 0.375275 q: 0.082654 0.805792 -0.117152 0.574581 
time: 1403638222.995097, t: 0.451340 0.158359 0.357339 q: 0.081786 0.801140 -0.117134 0.581176 
time: 1403638223.095097, t: 0.427555 0.166976 0.343542 q: 0.081919 0.803886 -0.116864 0.577408 
time: 1403638223.195097, t: 0.397433 0.176688 0.335281 q: 0.079314 0.812887 -0.119170 0.564555 
time: 1403638223.295097, t: 0.371691 0.186808 0.328801 q: 0.073470 0.820401 -0.123613 0.553412 
time: 1403638223.395097, t: 0.346168 0.194409 0.325276 q: 0.070569 0.818516 -0.126022 0.556030 
time: 1403638223.495097, t: 0.322587 0.200622 0.319619 q: 0.060461 0.813402 -0.133017 0.563052 
time: 1403638223.595097, t: 0.302571 0.200944 0.309892 q: 0.059437 0.810912 -0.133829 0.566550 
time: 1403638223.695097, t: 0.279924 0.196832 0.301445 q: 0.070233 0.810869 -0.126629 0.567030 
time: 1403638223.795097, t: 0.257544 0.191596 0.288508 q: 0.080935 0.812041 -0.119500 0.565472 
time: 1403638223.895097, t: 0.235426 0.186557 0.275379 q: 0.086270 0.812724 -0.115503 0.564532 
time: 1403638223.995097, t: 0.222951 0.178977 0.262900 q: 0.089845 0.813214 -0.112741 0.563826 
time: 1403638224.095097, t: 0.202547 0.178650 0.244573 q: 0.089027 0.817193 -0.113125 0.558097 
time: 1403638224.195097, t: 0.189218 0.179399 0.226108 q: 0.086627 0.823501 -0.114820 0.548779 
time: 1403638224.295097, t: 0.183509 0.181285 0.212647 q: 0.086078 0.822923 -0.115070 0.549679 
time: 1403638224.395097, t: 0.177556 0.185779 0.201870 q: 0.083752 0.816717 -0.117354 0.558737 
time: 1403638224.495097, t: 0.176801 0.190855 0.189589 q: 0.078995 0.809080 -0.120553 0.569752 
time: 1403638224.595097, t: 0.173135 0.195628 0.177512 q: 0.080857 0.805819 -0.118937 0.574431 
time: 1403638224.695097, t: 0.168927 0.201199 0.163712 q: 0.081287 0.813354 -0.118732 0.563693 
time: 1403638224.795097, t: 0.165450 0.207844 0.151341 q: 0.080658 0.822032 -0.119500 0.550888 
time: 1403638224.895097, t: 0.167232 0.214093 0.148466 q: 0.076614 0.818264 -0.121900 0.556520 
time: 1403638225.095097, t: 0.177771 0.222300 0.153843 q: 0.068144 0.806403 -0.125963 0.573763 
time: 1403638225.195097, t: 0.180759 0.222894 0.157932 q: 0.073635 0.809889 -0.121250 0.569171 
time: 1403638225.295097, t: 0.182858 0.222862 0.162657 q: 0.076791 0.817307 -0.118260 0.558683 
time: 1403638225.395097, t: 0.186804 0.222168 0.168735 q: 0.079179 0.816557 -0.116066 0.559905 
time: 1403638225.495097, t: 0.193079 0.221292 0.169098 q: 0.081579 0.808502 -0.114245 0.571505 
time: 1403638225.595097, t: 0.198300 0.220880 0.162186 q: 0.084660 0.797737 -0.112363 0.586364 
time: 1403638225.695097, t: 0.199066 0.222125 0.148020 q: 0.085942 0.792600 -0.111205 0.593323 
time: 1403638225.795097, t: 0.194461 0.226605 0.121542 q: 0.085009 0.799766 -0.111886 0.583635 
time: 1403638225.895097, t: 0.187420 0.233105 0.087120 q: 0.084138 0.812266 -0.112601 0.566097 
time: 1403638225.995097, t: 0.181411 0.241103 0.049390 q: 0.079851 0.820504 -0.115531 0.554120 
time: 1403638226.095097, t: 0.186646 0.252306 0.048841 q: 0.060282 0.823698 -0.125615 0.549644 
time: 1403638226.195097, t: 0.196783 0.259152 0.051439 q: 0.060551 0.828964 -0.123038 0.542231 
time: 1403638226.295097, t: 0.199146 0.265771 0.045461 q: 0.073485 0.820757 -0.121714 0.553303 
time: 1403638226.395097, t: 0.197664 0.271242 0.035251 q: 0.079583 0.825512 -0.110851 0.547638 
time: 1403638226.495097, t: 0.200777 0.274040 0.030969 q: 0.079417 0.825312 -0.113131 0.547499 
time: 1403638226.595097, t: 0.198172 0.272855 0.032431 q: 0.080055 0.824894 -0.112716 0.548121 
time: 1403638226.695097, t: 0.202219 0.259886 0.066078 q: 0.079341 0.825457 -0.112103 0.547502 
wait for imu ... 
time: 1403638226.795097, t: 0.195711 0.252278 0.065397 q: 0.079161 0.825306 -0.111814 0.547815 
time: 1403638226.895097, t: 0.194456 0.250173 0.072246 q: 0.078892 0.825450 -0.112005 0.547598 
time: 1403638226.995097, t: 0.194618 0.252104 0.065583 q: 0.078159 0.825612 -0.112912 0.547272 
optimize pose graph 
time: 1403638227.095097, t: 0.195822 0.252902 0.072574 q: 0.078155 0.825529 -0.113152 0.547348 
wait for imu ... 
time: 1403638227.195097, t: 0.195750 0.251667 0.075734 q: 0.078357 0.825563 -0.112973 0.547306 
time: 1403638227.295097, t: 0.194348 0.248473 0.076992 q: 0.078547 0.825636 -0.112651 0.547235 
time: 1403638227.395097, t: 0.191324 0.246063 0.077207 q: 0.078672 0.825666 -0.112444 0.547214 
time: 1403638227.495097, t: 0.190242 0.245346 0.078041 q: 0.078537 0.825718 -0.112558 0.547131 
time: 1403638227.595097, t: 0.190245 0.246167 0.079345 q: 0.078377 0.825703 -0.112682 0.547152 
wait for imu ... 
time: 1403638227.695097, t: 0.191776 0.246733 0.080943 q: 0.078277 0.825779 -0.112834 0.547019 
time: 1403638227.795097, t: 0.193468 0.246948 0.080849 q: 0.078263 0.825803 -0.112883 0.546974 
time: 1403638227.895097, t: 0.193364 0.247334 0.078485 q: 0.078345 0.825850 -0.112810 0.546908 
time: 1403638227.995097, t: 0.193389 0.248403 0.074095 q: 0.078382 0.825841 -0.112840 0.546909 
time: 1403638228.095097, t: 0.193239 0.251405 0.066221 q: 0.078509 0.825842 -0.112814 0.546895 
time: 1403638228.195097, t: 0.194945 0.254130 0.059494 q: 0.078537 0.825819 -0.112895 0.546909 
wait for imu ... 
time: 1403638228.295097, t: 0.197887 0.255590 0.055158 q: 0.078482 0.825810 -0.112993 0.546911 
time: 1403638228.395097, t: 0.200159 0.256704 0.051606 q: 0.078400 0.825842 -0.113095 0.546853 
wait for imu ... 
time: 1403638228.495097, t: 0.202009 0.257183 0.049505 q: 0.078390 0.825838 -0.113085 0.546862 
time: 1403638228.595097, t: 0.202553 0.256985 0.048958 q: 0.078315 0.825902 -0.113043 0.546784 
time: 1403638228.695097, t: 0.203866 0.257394 0.047902 q: 0.078353 0.825913 -0.113081 0.546755 
wait for imu ... 
time: 1403638228.795097, t: 0.204149 0.257272 0.047969 q: 0.078321 0.825962 -0.113080 0.546686 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720480202.396719596]: Shutdown request received.[0m
[33m[ WARN] [1720480202.396765776]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720480202.397798485]: Shutdown request received.[0m
[33m[ WARN] [1720480202.397827874]: Reason given for shutdown: [user request][0m
killed
