/SLAM-Hive/slam_hive_results/mapping_results/3018/2226_vins-fusion-stereo+MH_03_medium+Image_comb_test-6.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720502534.753739520]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720502534.755511883]: init begins[0m
[31m[ERROR] [1720502534.756685732]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/33b90e0a-3db3-11ef-b679-0242ac110005/roslaunch-a911946e8251-118.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://a911946e8251:44297/[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] [1720502535.859955221]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720502535.861669657]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720502535.867914871]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720502535.868183175]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720502535.868233876]: ROW: 480 COL: 752 [0m
no imu, fix extrinsic param; no time offset calibration
 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
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1720502535.868458577]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720502535.868667889]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720502535.868819014]: 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://a911946e8251:11311/[0m
]2;roscore http://a911946e8251:11311/
[1msetting /run_id to 33b90e0a-3db3-11ef-b679-0242ac110005[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
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720502544.922107592]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 316865414.59 
[0m[ INFO] [1720502547.433379413]: Initialization finish![0m
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time: 1403637133.038319, t: 0.000697 0.000036 0.000377 q: 0.999998 -0.000965 0.000057 0.001557 
time: 1403637133.238319, t: 0.003381 0.000998 -0.003558 q: 0.999994 -0.002039 0.002200 -0.001676 
time: 1403637133.438319, t: 0.017316 0.002590 -0.010919 q: 0.999915 -0.011455 -0.004235 -0.004503 
time: 1403637133.638319, t: 0.027573 0.006621 -0.015390 q: 0.999613 -0.017965 -0.021204 0.000894 
time: 1403637133.838319, t: 0.068535 0.012291 -0.032535 q: 0.999221 -0.030958 -0.024468 -0.000372 
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optimize pose graph 
time: 1403637191.438319, t: -1.534881 1.064300 -4.366449 q: -0.320369 0.912098 -0.029340 -0.254128 
time: 1403637191.638319, t: -1.575922 0.947903 -4.469152 q: -0.317412 0.912805 -0.018198 -0.256331 
time: 1403637191.838319, t: -1.584674 0.833369 -4.557612 q: -0.313075 0.909937 -0.004332 -0.271993 
time: 1403637192.038319, t: -1.558717 0.747432 -4.641646 q: -0.308475 0.911449 0.016815 -0.271701 
time: 1403637192.238319, t: -1.499672 0.694254 -4.715888 q: -0.305522 0.907542 0.022054 -0.287292 
time: 1403637192.438319, t: -1.421960 0.682681 -4.792446 q: -0.303504 0.909331 0.031093 -0.282905 
time: 1403637192.638319, t: -1.367850 0.714612 -4.852377 q: -0.303329 0.903445 0.007743 -0.302852 
time: 1403637192.838319, t: -1.333817 0.776508 -4.917271 q: -0.304043 0.902887 0.001783 -0.303890 
time: 1403637193.038319, t: -1.289722 0.858468 -5.007368 q: -0.306229 0.905898 -0.004196 -0.292497 
time: 1403637193.238319, t: -1.230316 0.959255 -5.115502 q: -0.308189 0.896058 -0.036295 -0.317464 
time: 1403637193.438319, t: -1.197520 1.059027 -5.236531 q: -0.306558 0.901445 -0.021293 -0.304903 
time: 1403637193.638319, t: -1.189645 1.160565 -5.367166 q: -0.306323 0.906413 -0.001641 -0.290825 
time: 1403637193.838319, t: -1.157432 1.279553 -5.509426 q: -0.306629 0.907089 0.007213 -0.288299 
time: 1403637194.038319, t: -1.120583 1.421646 -5.648839 q: -0.306214 0.910247 0.002257 -0.278710 
time: 1403637194.238319, t: -1.143733 1.569816 -5.766582 q: -0.305591 0.911080 -0.002181 -0.276663 
time: 1403637194.438319, t: -1.158443 1.728556 -5.877054 q: -0.305195 0.909455 -0.000130 -0.282398 
time: 1403637194.638319, t: -1.150612 1.902291 -5.986692 q: -0.304311 0.908915 -0.000642 -0.285074 
time: 1403637194.838319, t: -1.123993 2.084601 -6.100007 q: -0.302551 0.906092 0.001438 -0.295733 
time: 1403637195.038319, t: -1.113846 2.283353 -6.215163 q: -0.301560 0.909528 -0.005274 -0.285993 
time: 1403637195.238319, t: -1.121850 2.490509 -6.323569 q: -0.300690 0.914971 -0.011604 -0.268848 
time: 1403637195.438319, t: -1.144174 2.700074 -6.414971 q: -0.302600 0.916363 -0.014851 -0.261711 
time: 1403637195.638319, t: -1.141190 2.911967 -6.492963 q: -0.317629 0.910969 -0.014935 -0.262724 
time: 1403637196.038319, t: -1.074757 3.310757 -6.618788 q: -0.330304 0.911458 0.019077 -0.244500 
time: 1403637196.238319, t: -1.043266 3.523890 -6.633049 q: -0.329185 0.919744 0.035606 -0.210808 
time: 1403637196.438319, t: -1.010317 3.751985 -6.581084 q: -0.326056 0.925458 0.041841 -0.188321 
time: 1403637196.638319, t: -0.989376 4.008630 -6.456224 q: -0.323635 0.925561 0.032878 -0.193694 
time: 1403637196.838319, t: -0.979600 4.272343 -6.265341 q: -0.321752 0.924885 0.020163 -0.201637 
time: 1403637197.038319, t: -0.953735 4.523503 -6.010788 q: -0.324051 0.923351 0.002216 -0.205937 
time: 1403637197.238319, t: -0.895076 4.779177 -5.709129 q: -0.351891 0.909507 -0.010453 -0.221045 
time: 1403637197.438319, t: -0.807378 5.008827 -5.381473 q: -0.408721 0.882481 -0.014773 -0.232284 
time: 1403637197.638319, t: -0.684058 5.226947 -5.056441 q: -0.486369 0.843554 0.002902 -0.227714 
time: 1403637197.838319, t: -0.517934 5.414866 -4.700926 q: 0.561057 -0.802991 -0.016416 0.200376 
time: 1403637198.038319, t: -0.345382 5.595730 -4.372825 q: 0.622863 -0.762375 -0.023677 0.173972 
time: 1403637198.238319, t: -0.111460 5.766446 -3.950566 q: 0.666265 -0.728125 -0.027108 0.158715 
time: 1403637198.438319, t: 0.135605 5.914980 -3.544743 q: 0.703545 -0.697984 -0.031828 0.129733 
time: 1403637198.638319, t: 0.328992 6.034916 -3.124487 q: 0.718246 -0.687020 -0.035445 0.104257 
time: 1403637198.838319, t: 0.476877 6.124750 -2.683764 q: 0.723786 -0.682253 -0.024696 0.100278 
time: 1403637199.038319, t: 0.590250 6.197054 -2.162212 q: 0.727860 -0.677443 0.011194 0.105672 
time: 1403637199.238319, t: 0.723805 6.200862 -1.610349 q: 0.746239 -0.654305 0.017899 0.121209 
time: 1403637199.438319, t: 0.877946 6.143401 -1.062360 q: 0.775544 -0.621793 0.017261 0.107738 
time: 1403637199.638319, t: 1.044946 6.041537 -0.526818 q: 0.810053 -0.578318 0.020825 0.094492 
time: 1403637199.838319, t: 1.151969 5.888231 -0.004122 q: 0.847479 -0.520124 0.046489 0.095332 
time: 1403637200.038319, t: 1.140411 5.716191 0.489562 q: 0.886351 -0.443938 0.092584 0.093431 
time: 1403637200.238319, t: 1.091925 5.541403 0.986339 q: 0.916976 -0.379741 0.103138 0.065677 
time: 1403637200.438319, t: 1.313385 5.301237 1.041873 q: 0.948051 -0.311285 0.002649 0.065528 
time: 1403637200.638319, t: 1.053261 5.015571 1.503859 q: 0.947587 -0.313349 0.005468 0.062142 
time: 1403637200.838319, t: 1.036374 4.756636 1.751364 q: 0.946476 -0.312648 0.009112 0.079694 
time: 1403637201.038319, t: 1.042698 4.464167 1.972322 q: 0.939163 -0.332057 0.012711 0.086890 
time: 1403637201.238319, t: 1.059223 4.187550 2.126218 q: 0.932401 -0.348826 0.010241 0.094043 
time: 1403637201.438319, t: 1.082502 3.931934 2.237758 q: 0.922570 -0.358959 0.016282 0.140525 
time: 1403637201.638319, t: 1.076115 3.725147 2.292499 q: 0.909936 -0.372323 0.017766 0.181867 
time: 1403637201.838319, t: 1.053704 3.576677 2.285601 q: 0.904443 -0.389182 0.024244 0.173012 
time: 1403637202.038319, t: 1.032312 3.468149 2.227289 q: 0.903539 -0.390840 0.019923 0.174540 
time: 1403637202.238319, t: 1.014926 3.400129 2.114558 q: 0.904985 -0.386819 -0.010694 0.176803 
time: 1403637202.438319, t: 0.993838 3.378970 1.978326 q: 0.905909 -0.396126 -0.042343 0.143600 
time: 1403637202.638319, t: 0.974414 3.392914 1.847577 q: 0.907131 -0.399661 -0.029292 0.128558 
time: 1403637202.838319, t: 0.975148 3.432336 1.706913 q: 0.907630 -0.404852 -0.022878 0.108530 
time: 1403637203.038319, t: 0.965102 3.481780 1.571429 q: 0.906742 -0.410502 -0.027765 0.092392 
time: 1403637203.238319, t: 0.942723 3.530473 1.453238 q: 0.906221 -0.411946 -0.026395 0.091469 
optimize pose graph 
time: 1403637203.438319, t: 0.909073 3.572259 1.350452 q: 0.905588 -0.413524 -0.026260 0.090659 
time: 1403637203.638319, t: 0.867086 3.612057 1.259253 q: 0.904829 -0.416063 -0.026697 0.086389 
time: 1403637203.838319, t: 0.806745 3.639806 1.191161 q: 0.904156 -0.417490 -0.024217 0.087282 
time: 1403637204.038319, t: 0.738572 3.664293 1.131334 q: 0.903721 -0.418724 -0.024130 0.085889 
time: 1403637204.238319, t: 0.689323 3.672408 1.076635 q: 0.903366 -0.419342 -0.024253 0.086572 
time: 1403637204.438319, t: 0.675854 3.672422 1.026870 q: 0.903001 -0.419424 -0.019269 0.091114 
time: 1403637204.638319, t: 0.689324 3.658077 0.972950 q: 0.901554 -0.421740 -0.013851 0.095621 
time: 1403637204.838319, t: 0.708421 3.634985 0.916673 q: 0.899533 -0.425320 -0.019497 0.097790 
time: 1403637205.038319, t: 0.704551 3.613049 0.871672 q: 0.898442 -0.426286 -0.028808 0.101258 
time: 1403637205.238319, t: 0.683370 3.589327 0.841760 q: 0.899066 -0.424702 -0.032283 0.101325 
time: 1403637205.438319, t: 0.663624 3.564998 0.827585 q: 0.904972 -0.413695 -0.032550 0.093925 
optimize pose graph 
time: 1403637205.638319, t: 0.668969 3.539557 0.819775 q: 0.910158 -0.404533 -0.025591 0.085497 
time: 1403637205.838319, t: 0.649729 3.511060 0.820360 q: 0.912250 -0.400212 -0.025814 0.083457 
time: 1403637206.038319, t: 0.622524 3.475759 0.832360 q: 0.913107 -0.398249 -0.024183 0.083952 
time: 1403637206.238319, t: 0.620006 3.434811 0.841853 q: 0.914308 -0.393312 -0.019076 0.094774 
time: 1403637206.438319, t: 0.646153 3.387216 0.844310 q: 0.914299 -0.392581 -0.016048 0.098391 
time: 1403637206.638319, t: 0.680072 3.344668 0.833274 q: 0.913780 -0.394257 -0.016633 0.096392 
time: 1403637206.838319, t: 0.688105 3.300077 0.827181 q: 0.912935 -0.397116 -0.016443 0.092619 
time: 1403637207.038319, t: 0.702569 3.252466 0.815080 q: 0.912300 -0.398892 -0.013086 0.091779 
time: 1403637207.238319, t: 0.715169 3.200296 0.797383 q: 0.911225 -0.401169 -0.010357 0.092872 
time: 1403637207.438319, t: 0.700618 3.144605 0.781094 q: 0.910235 -0.403129 -0.011088 0.094002 
optimize pose graph 
time: 1403637207.638319, t: 0.661529 3.084861 0.763696 q: 0.909566 -0.400659 -0.019095 0.108621 
time: 1403637207.838319, t: 0.645110 3.033629 0.736744 q: 0.908915 -0.400813 -0.025018 0.112231 
time: 1403637208.038319, t: 0.666643 2.992570 0.697017 q: 0.908230 -0.405493 -0.023554 0.100693 
time: 1403637208.238319, t: 0.712677 2.951719 0.652195 q: 0.907447 -0.408146 -0.025023 0.096597 
time: 1403637208.438319, t: 0.747408 2.914334 0.613416 q: 0.907058 -0.406438 -0.016374 0.108561 
time: 1403637208.638319, t: 0.757048 2.885467 0.575105 q: 0.906270 -0.409787 -0.016965 0.102279 
time: 1403637208.838319, t: 0.743297 2.854755 0.541961 q: 0.905831 -0.412233 -0.016028 0.096315 
time: 1403637209.038319, t: 0.710948 2.823902 0.511184 q: 0.904411 -0.418572 -0.026019 0.078489 
time: 1403637209.238319, t: 0.667935 2.774053 0.503006 q: 0.910619 -0.405377 -0.028918 0.074876 
time: 1403637209.438319, t: 0.654412 2.712941 0.498334 q: 0.921750 -0.376368 -0.040310 0.084263 
optimize pose graph 
time: 1403637209.638319, t: 0.670856 2.657426 0.497181 q: 0.926325 -0.358224 -0.073151 0.090805 
time: 1403637209.838319, t: 0.716589 2.617640 0.526742 q: 0.927475 -0.350573 -0.088716 0.094960 
time: 1403637210.038319, t: 0.756578 2.613746 0.595741 q: 0.926027 -0.347569 -0.105496 0.102665 
time: 1403637210.238319, t: 0.749210 2.645721 0.725083 q: 0.922820 -0.345733 -0.127703 0.112088 
time: 1403637210.438319, t: 0.749375 2.724634 0.915489 q: 0.921787 -0.345040 -0.134652 0.114565 
time: 1403637210.638319, t: 0.770102 2.856731 1.168376 q: 0.925962 -0.346866 -0.106214 0.104863 
time: 1403637210.838319, t: 0.800967 3.020031 1.462278 q: 0.928959 -0.343056 -0.085793 0.109488 
time: 1403637211.038319, t: 0.821858 3.220451 1.776485 q: 0.931627 -0.339326 -0.053511 0.118600 
time: 1403637211.238319, t: 0.837289 3.446552 2.102808 q: 0.931214 -0.346013 -0.037079 0.108353 
time: 1403637211.438319, t: 0.834369 3.675517 2.417932 q: 0.929489 -0.356393 -0.022203 0.092422 
time: 1403637211.638319, t: 0.826937 3.911986 2.715381 q: 0.928800 -0.356444 -0.027537 0.097568 
optimize pose graph 
time: 1403637211.838319, t: 0.844925 4.153082 2.993136 q: 0.928528 -0.349480 -0.039709 0.118837 
time: 1403637212.038319, t: 0.889696 4.409267 3.258661 q: 0.927994 -0.353102 -0.040815 0.111711 
time: 1403637212.238319, t: 0.969560 4.675010 3.508344 q: 0.928098 -0.360233 -0.016476 0.092710 
time: 1403637212.438319, t: 1.062393 4.930068 3.731940 q: 0.927175 -0.364123 -0.008934 0.087639 
time: 1403637212.638319, t: 1.183777 5.170029 3.928187 q: 0.925531 -0.366009 -0.025854 0.093605 
time: 1403637212.838319, t: 1.294300 5.404291 4.125938 q: 0.924431 -0.367603 -0.038849 0.093736 
time: 1403637213.038319, t: 1.408961 5.637932 4.326626 q: 0.924686 -0.368228 -0.041883 0.087238 
time: 1403637213.238319, t: 1.514081 5.862877 4.524495 q: 0.926284 -0.363136 -0.039654 0.092511 
time: 1403637213.438319, t: 1.606557 6.086138 4.736054 q: 0.926758 -0.362902 -0.034600 0.090686 
time: 1403637213.638319, t: 1.678674 6.309976 4.945629 q: 0.926111 -0.368377 -0.033450 0.074148 
optimize pose graph 
time: 1403637213.838319, t: 1.724417 6.515829 5.161849 q: 0.925123 -0.372290 -0.043444 0.060505 
time: 1403637214.038319, t: 1.767469 6.723455 5.382546 q: 0.926867 -0.369106 -0.039996 0.055490 
time: 1403637214.238319, t: 1.835317 6.902125 5.618272 q: 0.936418 -0.345147 -0.021679 0.059371 
time: 1403637214.438319, t: 1.926914 7.053415 5.848600 q: 0.949978 -0.310278 -0.011860 0.033595 
time: 1403637214.638319, t: 2.043697 7.158409 6.069006 q: 0.962375 -0.271317 -0.011758 -0.009101 
time: 1403637214.838319, t: 2.170777 7.204912 6.275297 q: 0.967719 -0.248908 -0.009104 -0.038494 
time: 1403637215.038319, t: 2.285782 7.177853 6.476972 q: 0.970068 -0.239404 -0.005049 -0.040351 
time: 1403637215.238319, t: 2.360741 7.089704 6.678598 q: 0.970688 -0.237437 0.006090 -0.036753 
time: 1403637215.438319, t: 2.416949 6.952698 6.850126 q: 0.976081 -0.214782 0.023656 -0.023983 
time: 1403637215.638319, t: 2.465367 6.743206 6.989942 q: 0.984240 -0.171420 0.037241 -0.022368 
time: 1403637215.838319, t: 2.503849 6.490691 7.083599 q: 0.992523 -0.117554 0.011244 -0.030877 
time: 1403637216.038319, t: 2.556676 6.214143 7.128062 q: 0.997161 -0.068992 -0.007215 -0.029295 
time: 1403637216.238319, t: 2.624651 5.929222 7.136689 q: 0.999073 -0.030997 -0.013079 -0.026872 
time: 1403637216.438319, t: 2.655723 5.651234 7.139932 q: 0.999553 -0.016722 -0.001810 -0.024736 
time: 1403637216.638319, t: 2.642235 5.400412 7.111525 q: 0.999614 -0.013478 0.012887 -0.020570 
time: 1403637217.038319, t: 2.593151 4.949448 6.919402 q: 0.999071 -0.022745 0.032409 -0.017036 
time: 1403637217.238319, t: 2.551622 4.748355 6.736416 q: 0.999580 -0.019162 0.017676 0.012642 
time: 1403637217.438319, t: 2.474719 4.583660 6.529163 q: 0.999291 -0.020100 0.013419 0.028871 
time: 1403637217.638319, t: 2.372857 4.461905 6.295223 q: 0.999548 -0.015149 0.019286 0.017363 
time: 1403637217.838319, t: 2.263937 4.363517 6.025971 q: 0.998878 0.010816 0.028709 -0.036074 
time: 1403637218.038319, t: 2.160309 4.268274 5.715873 q: 0.996726 0.051425 0.019569 -0.059241 
time: 1403637218.238319, t: 2.049071 4.161634 5.365401 q: 0.995096 0.075029 0.007794 -0.063987 
time: 1403637218.438319, t: 1.917788 4.068958 4.989667 q: 0.994230 0.083456 0.006401 -0.067092 
time: 1403637218.638319, t: 1.784934 3.991946 4.581718 q: 0.994082 0.083841 0.004049 -0.068956 
time: 1403637218.838319, t: 1.676060 3.890510 4.167700 q: 0.994401 0.078040 -0.007822 -0.070815 
time: 1403637219.038319, t: 1.516441 3.785342 3.749403 q: 0.993727 0.068467 -0.011961 -0.087613 
time: 1403637219.238319, t: 1.309352 3.677193 3.334773 q: 0.993785 0.066865 -0.012414 -0.088125 
time: 1403637219.438319, t: 1.128989 3.537308 2.910190 q: 0.994251 0.066489 -0.018563 -0.081854 
time: 1403637219.638319, t: 0.987834 3.371871 2.465598 q: 0.993813 0.064917 -0.050495 -0.074644 
time: 1403637219.838319, t: 0.872315 3.206650 2.033131 q: 0.993386 0.063469 -0.063790 -0.071325 
time: 1403637220.038319, t: 0.808134 3.020485 1.631030 q: 0.993053 0.063339 -0.069504 -0.070736 
time: 1403637220.238319, t: 0.765677 2.831486 1.246814 q: 0.993200 0.064596 -0.070400 -0.066514 
time: 1403637220.438319, t: 0.758147 2.628492 0.899793 q: 0.994631 0.069537 -0.061654 -0.045515 
time: 1403637220.638319, t: 0.745354 2.453902 0.564953 q: 0.995305 0.071703 -0.054266 -0.035807 
time: 1403637220.838319, t: 0.710278 2.299752 0.259860 q: 0.995127 0.070982 -0.057316 -0.037399 
time: 1403637221.038319, t: 0.660080 2.157922 -0.011695 q: 0.995090 0.066109 -0.062985 -0.038190 
time: 1403637221.238319, t: 0.604224 2.029035 -0.253640 q: 0.996055 0.041880 -0.070407 -0.034114 
time: 1403637221.438319, t: 0.525586 1.914498 -0.460167 q: 0.997216 0.014488 -0.068738 -0.025008 
time: 1403637221.638319, t: 0.440778 1.809845 -0.633913 q: 0.997347 -0.000947 -0.070476 -0.018222 
time: 1403637221.838319, t: 0.352345 1.722237 -0.778652 q: 0.997222 -0.010452 -0.072780 -0.011938 
time: 1403637222.038319, t: 0.252456 1.655690 -0.891293 q: 0.996662 -0.035998 -0.073271 -0.001157 
time: 1403637222.238319, t: 0.152660 1.605087 -0.973432 q: 0.994165 -0.081299 -0.069721 0.012867 
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time: 1403637225.838319, t: -0.011843 1.363659 -1.183319 q: 0.992066 -0.119055 -0.040332 -0.001924 
time: 1403637226.038319, t: 0.032922 1.312167 -1.213581 q: 0.992481 -0.117967 -0.032495 -0.002899 
time: 1403637226.238319, t: 0.075337 1.254186 -1.245198 q: 0.992731 -0.117888 -0.023904 -0.004050 
time: 1403637226.438319, t: 0.089065 1.190764 -1.276679 q: 0.992022 -0.119114 -0.041009 -0.004796 
time: 1403637226.638319, t: 0.089867 1.123666 -1.300121 q: 0.991252 -0.119453 -0.055924 -0.004844 
time: 1403637226.838319, t: 0.078106 1.051310 -1.300491 q: 0.991288 -0.118425 -0.057604 -0.002350 
time: 1403637227.038319, t: 0.059085 0.980082 -1.286437 q: 0.992099 -0.113522 -0.050768 0.016568 
time: 1403637227.238319, t: 0.050896 0.919230 -1.262386 q: 0.992448 -0.110066 -0.042096 0.034052 
time: 1403637227.438319, t: 0.071618 0.879708 -1.243544 q: 0.991853 -0.117795 -0.045114 0.017785 
time: 1403637227.638319, t: 0.081882 0.851846 -1.220017 q: 0.991499 -0.119581 -0.046744 0.021085 
time: 1403637227.838319, t: 0.073232 0.836396 -1.184592 q: 0.991364 -0.119537 -0.046851 0.026702 
time: 1403637228.038319, t: 0.056725 0.834032 -1.142572 q: 0.991852 -0.123754 -0.028401 0.010340 
time: 1403637228.238319, t: 0.032197 0.832986 -1.107575 q: 0.992319 -0.122076 -0.019192 0.005631 
time: 1403637228.438319, t: 0.026143 0.825696 -1.090619 q: 0.992459 -0.121304 -0.017580 0.000968 
time: 1403637228.638319, t: 0.043125 0.808115 -1.097522 q: 0.992340 -0.122276 -0.016082 -0.007122 
time: 1403637228.838319, t: 0.061152 0.778859 -1.117870 q: 0.992239 -0.119984 -0.032399 0.003883 
time: 1403637229.038319, t: 0.062823 0.746488 -1.140094 q: 0.991956 -0.121862 -0.034203 0.001823 
time: 1403637229.238319, t: 0.049734 0.711142 -1.155727 q: 0.991858 -0.124629 -0.025428 -0.006221 
time: 1403637229.438319, t: 0.014541 0.670589 -1.177439 q: 0.989805 -0.137867 -0.034841 0.008014 
time: 1403637229.638319, t: -0.035695 0.634006 -1.196049 q: 0.982197 -0.170804 -0.051255 0.059051 
time: 1403637229.838319, t: -0.085839 0.625425 -1.208468 q: 0.968678 -0.232851 -0.047805 0.071815 
time: 1403637230.038319, t: -0.136392 0.638340 -1.212891 q: 0.950598 -0.301800 -0.033834 0.064312 
time: 1403637230.238319, t: -0.174139 0.650719 -1.216956 q: 0.931844 -0.349259 -0.042087 0.088957 
time: 1403637230.438319, t: -0.176468 0.663877 -1.214298 q: 0.921806 -0.375113 -0.036039 0.090917 
time: 1403637230.638319, t: -0.145718 0.673067 -1.212272 q: 0.915811 -0.392244 -0.010383 0.085603 
time: 1403637230.838319, t: -0.102041 0.670820 -1.222819 q: 0.900228 -0.420152 -0.012953 0.113552 
time: 1403637231.038319, t: -0.071307 0.674028 -1.241766 q: 0.871145 -0.466541 -0.029401 0.150273 
time: 1403637231.238319, t: -0.084254 0.704804 -1.256211 q: 0.829662 -0.527938 -0.025217 0.179741 
time: 1403637231.438319, t: -0.157727 0.765978 -1.261575 q: 0.775910 -0.596570 -0.009227 0.204897 
time: 1403637231.638319, t: -0.283506 0.824925 -1.266382 q: 0.710772 -0.661295 0.001541 0.239771 
time: 1403637231.838319, t: -0.407662 0.902353 -1.297512 q: 0.645821 -0.718938 0.007127 0.256893 
time: 1403637232.038319, t: -0.516604 0.997204 -1.370575 q: 0.591812 -0.759198 0.018522 0.270248 
time: 1403637232.238319, t: -0.597859 1.104638 -1.481330 q: 0.541805 -0.796334 0.045828 0.264950 
time: 1403637232.438319, t: -0.667781 1.199683 -1.602702 q: -0.492415 0.830040 -0.046313 -0.257715 
time: 1403637232.638319, t: -0.698369 1.255308 -1.757660 q: -0.440640 0.848224 -0.057700 -0.288136 
time: 1403637232.838319, t: -0.730215 1.280817 -1.936629 q: -0.390079 0.860298 -0.061501 -0.322403 
time: 1403637233.038319, t: -0.741547 1.311930 -2.162936 q: -0.359998 0.867407 -0.039593 -0.341231 
time: 1403637233.238319, t: -0.780007 1.343428 -2.449727 q: -0.351194 0.867119 -0.019133 -0.352706 
time: 1403637233.438319, t: -0.829199 1.381842 -2.789261 q: -0.354492 0.860760 -0.003820 -0.365258 
time: 1403637233.638319, t: -0.937481 1.460110 -3.139317 q: -0.361934 0.875856 0.046451 -0.315787 
optimize pose graph 
time: 1403637233.838319, t: -1.082823 1.600855 -3.492753 q: -0.365667 0.892536 0.085980 -0.249548 
time: 1403637234.038319, t: -1.234356 1.805783 -3.793991 q: -0.365352 0.897244 0.104684 -0.224749 
time: 1403637234.238319, t: -1.369251 2.079235 -4.014145 q: -0.363088 0.901999 0.118815 -0.201119 
time: 1403637234.438319, t: -1.482850 2.434038 -4.141512 q: -0.367122 0.903898 0.088135 -0.201054 
time: 1403637234.638319, t: -1.564749 2.836519 -4.192800 q: -0.392392 0.895625 0.045753 -0.204428 
time: 1403637234.838319, t: -1.657687 3.222169 -4.148791 q: -0.429575 0.878616 0.009805 -0.208333 
time: 1403637235.038319, t: -1.738985 3.609950 -4.061078 q: -0.472083 0.855450 -0.014757 -0.212425 
time: 1403637235.238319, t: -1.783882 3.974103 -3.932293 q: 0.513045 -0.834198 0.009863 0.201995 
time: 1403637235.438319, t: -1.794509 4.289242 -3.792908 q: 0.538526 -0.813496 -0.006554 0.219478 
time: 1403637235.638319, t: -1.773838 4.588678 -3.628153 q: 0.560524 -0.793867 -0.020462 0.234880 
time: 1403637235.838319, t: -1.722140 4.885488 -3.471845 q: 0.588026 -0.783861 -0.024906 0.197906 
optimize pose graph 
time: 1403637236.038319, t: -1.619363 5.169462 -3.290033 q: 0.618710 -0.768550 -0.043591 0.156933 
time: 1403637236.238319, t: -1.481531 5.429286 -3.066160 q: 0.652716 -0.742732 -0.054094 0.139229 
time: 1403637236.438319, t: -1.291918 5.686936 -2.759146 q: 0.686132 -0.713329 -0.048882 0.134145 
time: 1403637236.638319, t: -1.080243 5.924221 -2.425726 q: 0.708660 -0.692277 -0.030924 0.132658 
time: 1403637236.838319, t: -0.879271 6.134799 -2.023968 q: 0.725297 -0.678399 -0.009473 0.116743 
time: 1403637237.038319, t: -0.633963 6.292519 -1.619566 q: 0.746337 -0.658229 0.032541 0.093038 
time: 1403637237.238319, t: -0.386430 6.369986 -1.210328 q: 0.766063 -0.633791 0.070104 0.080881 
time: 1403637237.438319, t: -0.111879 6.334936 -0.776737 q: 0.785544 -0.608459 0.071332 0.087233 
time: 1403637237.638319, t: 0.181943 6.174238 -0.380452 q: 0.796447 -0.592237 0.075079 0.096382 
time: 1403637237.838319, t: 0.399152 5.974195 -0.075505 q: 0.801995 -0.579506 0.086687 0.116029 
time: 1403637238.038319, t: 0.640918 5.702958 0.229080 q: 0.789050 -0.588713 0.078078 0.157233 
time: 1403637238.238319, t: 0.780277 5.395312 0.452734 q: 0.758161 -0.609458 0.084320 0.215970 
time: 1403637238.438319, t: 0.919940 5.050718 0.619839 q: 0.706991 -0.646515 0.101674 0.268039 
time: 1403637238.638319, t: 1.002532 4.711012 0.660140 q: 0.651357 -0.684625 0.111339 0.307615 
time: 1403637238.838319, t: 1.035869 4.345676 0.610718 q: 0.614281 -0.692017 0.084142 0.369717 
time: 1403637239.038319, t: 1.058565 4.033621 0.411099 q: 0.593416 -0.688773 0.040996 0.414449 
time: 1403637239.238319, t: 1.014173 3.814025 0.156569 q: 0.581307 -0.722657 0.014742 0.373674 
time: 1403637239.438319, t: 0.952424 3.669696 -0.299040 q: 0.559064 -0.751634 0.019248 0.349461 
time: 1403637239.638319, t: 0.833907 3.570731 -0.728567 q: 0.514024 -0.785534 0.027939 0.343417 
time: 1403637239.838319, t: 0.594615 3.488174 -1.172496 q: -0.461080 0.830783 -0.037746 -0.309483 
time: 1403637240.038319, t: 0.377857 3.421873 -1.665884 q: -0.403595 0.869384 -0.041050 -0.282131 
time: 1403637240.238319, t: 0.004676 3.254854 -2.088156 q: -0.346177 0.894596 -0.049438 -0.278236 
time: 1403637240.438319, t: 0.123034 3.504066 -2.374173 q: -0.277944 0.904822 0.001583 -0.322556 
time: 1403637240.638319, t: -0.353919 3.183215 -2.904149 q: -0.277728 0.902159 -0.003949 -0.330092 
time: 1403637240.838319, t: -0.554564 3.127567 -3.361125 q: -0.277218 0.908462 0.001709 -0.312802 
time: 1403637241.038319, t: -0.754047 3.115900 -3.805772 q: -0.282025 0.916628 -0.001627 -0.283289 
time: 1403637241.238319, t: -0.946571 3.133661 -4.200994 q: -0.288610 0.913800 0.000419 -0.285786 
time: 1403637241.438319, t: -1.140717 3.153610 -4.572751 q: -0.293953 0.914456 0.016993 -0.277618 
time: 1403637241.638319, t: -1.315417 3.196495 -4.914323 q: -0.298677 0.918028 0.030085 -0.259058 
time: 1403637241.838319, t: -1.456339 3.276540 -5.212569 q: -0.303278 0.923267 0.021924 -0.234778 
optimize pose graph 
time: 1403637242.038319, t: -1.541477 3.381851 -5.445695 q: -0.306526 0.925436 -0.014937 -0.222232 
time: 1403637242.238319, t: -1.576923 3.496760 -5.629423 q: -0.302902 0.925938 0.000871 -0.225585 
time: 1403637242.438319, t: -1.588728 3.608298 -5.749219 q: -0.298660 0.929341 0.024227 -0.215734 
time: 1403637242.638319, t: -1.605502 3.736658 -5.793695 q: -0.305565 0.929318 0.026425 -0.205668 
time: 1403637242.838319, t: -1.576098 3.887829 -5.764023 q: -0.338353 0.917906 0.003643 -0.207249 
time: 1403637243.038319, t: -1.502449 4.025340 -5.672860 q: -0.361334 0.910775 -0.004845 -0.199757 
time: 1403637243.238319, t: -1.431481 4.153449 -5.515109 q: -0.370215 0.904358 0.005582 -0.212241 
time: 1403637243.438319, t: -1.373490 4.280149 -5.308429 q: -0.373189 0.899078 -0.001520 -0.228880 
time: 1403637243.638319, t: -1.305631 4.393661 -5.073802 q: -0.373926 0.894713 -0.009320 -0.244093 
time: 1403637243.838319, t: -1.203408 4.503469 -4.825664 q: -0.373211 0.886046 -0.027196 -0.273671 
time: 1403637244.038319, t: -1.066372 4.607685 -4.594298 q: -0.369595 0.882365 -0.038246 -0.288737 
optimize pose graph 
time: 1403637244.238319, t: -0.901582 4.695540 -4.393235 q: -0.364850 0.885243 -0.036883 -0.286127 
time: 1403637244.438319, t: -0.721911 4.766695 -4.213489 q: -0.365561 0.882357 -0.035030 -0.294251 
time: 1403637244.638319, t: -0.530882 4.842832 -4.053589 q: -0.383706 0.876729 -0.009650 -0.289868 
time: 1403637244.838319, t: -0.367671 4.926477 -3.913452 q: -0.409376 0.866478 0.006302 -0.285634 
time: 1403637245.038319, t: -0.234946 5.026500 -3.767848 q: -0.424732 0.856440 0.002359 -0.293441 
time: 1403637245.238319, t: -0.130447 5.145040 -3.643196 q: -0.430236 0.844859 -0.009189 -0.317845 
time: 1403637245.438319, t: -0.047976 5.286973 -3.541872 q: -0.431434 0.852027 0.005471 -0.296454 
time: 1403637245.638319, t: 0.014906 5.452721 -3.459985 q: -0.448408 0.845606 0.011696 -0.289384 
time: 1403637245.838319, t: 0.051497 5.637669 -3.393317 q: -0.486199 0.831558 0.005228 -0.268505 
time: 1403637246.038319, t: 0.083060 5.861024 -3.297597 q: 0.542702 -0.805804 0.001693 0.236962 
optimize pose graph 
time: 1403637246.238319, t: 0.093421 6.060865 -3.205532 q: 0.616471 -0.758449 0.004563 0.211416 
time: 1403637246.438319, t: 0.106174 6.250330 -3.047518 q: 0.689236 -0.702272 -0.004094 0.178188 
time: 1403637246.638319, t: 0.110457 6.424624 -2.914157 q: 0.753212 -0.643471 -0.004284 0.136376 
time: 1403637246.838319, t: 0.124778 6.537402 -2.714548 q: 0.802788 -0.587321 0.002060 0.102866 
time: 1403637247.038319, t: 0.138119 6.642293 -2.501600 q: 0.838768 -0.535530 -0.017009 0.096887 
time: 1403637247.238319, t: 0.180352 6.677380 -2.225869 q: 0.849991 -0.513312 -0.031680 0.114121 
time: 1403637247.438319, t: 0.162940 6.730129 -2.090693 q: 0.856754 -0.506257 0.001230 0.098357 
time: 1403637247.638319, t: 0.122426 6.741770 -1.873969 q: 0.859052 -0.504231 0.011596 0.087443 
time: 1403637247.838319, t: 0.144859 6.705241 -1.633978 q: 0.867814 -0.493115 -0.001600 0.061115 
time: 1403637248.038319, t: 0.142090 6.621431 -1.426321 q: 0.885863 -0.459809 0.008884 0.061177 
time: 1403637248.238319, t: 0.130830 6.489348 -1.228553 q: 0.902024 -0.426076 -0.010417 0.068589 
optimize pose graph 
time: 1403637248.438319, t: 0.129825 6.337615 -1.005718 q: 0.909067 -0.410153 -0.012523 0.072220 
time: 1403637248.638319, t: 0.182810 6.205113 -0.806504 q: 0.911430 -0.405924 -0.008056 0.066763 
time: 1403637248.838319, t: 0.163899 6.010476 -0.580318 q: 0.907611 -0.413174 -0.019131 0.071855 
time: 1403637249.038319, t: 0.209525 5.814995 -0.399027 q: 0.904933 -0.417524 -0.021440 0.079443 
time: 1403637249.238319, t: 0.292249 5.612759 -0.213300 q: 0.902770 -0.421933 -0.021053 0.080851 
time: 1403637249.438319, t: 0.391991 5.408913 -0.027161 q: 0.901732 -0.423918 -0.018855 0.082573 
time: 1403637249.638319, t: 0.426485 5.200757 0.177075 q: 0.902076 -0.422992 -0.017749 0.083797 
time: 1403637249.838319, t: 0.442771 4.986944 0.406319 q: 0.904024 -0.420583 -0.004219 0.076365 
time: 1403637250.038319, t: 0.463040 4.760852 0.604817 q: 0.914325 -0.397136 -0.005105 0.079167 
time: 1403637250.238319, t: 0.500900 4.513191 0.793557 q: 0.925272 -0.368645 -0.009710 0.088759 
optimize pose graph 
time: 1403637250.438319, t: 0.514370 4.274676 0.975886 q: 0.933086 -0.346078 -0.007003 0.097634 
time: 1403637250.638319, t: 0.534628 4.059077 1.149035 q: 0.936621 -0.333677 -0.014959 0.105722 
time: 1403637250.838319, t: 0.566582 3.859382 1.292294 q: 0.939558 -0.326394 -0.018910 0.101686 
time: 1403637251.038319, t: 0.621869 3.675985 1.413893 q: 0.940962 -0.321662 -0.016107 0.104239 
time: 1403637251.238319, t: 0.694122 3.525397 1.514412 q: 0.945220 -0.305969 -0.019881 0.112014 
time: 1403637251.438319, t: 0.796337 3.402372 1.595172 q: 0.950980 -0.294699 -0.017194 0.092159 
time: 1403637251.638319, t: 0.892941 3.312740 1.648819 q: 0.959593 -0.271544 -0.015117 0.072229 
time: 1403637251.838319, t: 0.963983 3.240905 1.698962 q: 0.965215 -0.252680 -0.014881 0.065512 
time: 1403637252.038319, t: 1.018262 3.172072 1.741043 q: 0.967042 -0.250737 -0.005217 0.043963 
time: 1403637252.238319, t: 1.048283 3.105558 1.769688 q: 0.967995 -0.247364 0.005734 0.041989 
time: 1403637252.438319, t: 1.048019 3.035581 1.782170 q: 0.968342 -0.244099 -0.003468 0.052128 
optimize pose graph 
time: 1403637252.638319, t: 1.016357 2.967446 1.781789 q: 0.968028 -0.243193 -0.014551 0.059726 
time: 1403637252.838319, t: 0.973125 2.910978 1.770286 q: 0.967461 -0.239558 -0.032097 0.074839 
time: 1403637253.038319, t: 0.964629 2.874289 1.752088 q: 0.967275 -0.246133 -0.022632 0.057313 
time: 1403637253.238319, t: 0.972558 2.843564 1.723605 q: 0.967003 -0.248772 -0.016466 0.052402 
time: 1403637253.438319, t: 0.955781 2.813333 1.696008 q: 0.966732 -0.249484 -0.015260 0.054352 
time: 1403637253.638319, t: 0.919906 2.789687 1.665008 q: 0.966392 -0.251460 -0.017185 0.050598 
time: 1403637253.838319, t: 0.902369 2.763836 1.621748 q: 0.966086 -0.254374 -0.015294 0.041689 
time: 1403637254.038319, t: 0.906087 2.729612 1.565752 q: 0.965965 -0.255435 -0.014302 0.038214 
time: 1403637254.238319, t: 0.931740 2.678835 1.502986 q: 0.968538 -0.245953 -0.015686 0.034557 
time: 1403637254.438319, t: 0.967469 2.614834 1.431930 q: 0.972660 -0.228551 -0.028044 0.030184 
optimize pose graph 
time: 1403637254.638319, t: 0.985313 2.545818 1.368866 q: 0.975106 -0.217845 -0.031118 0.027252 
time: 1403637254.838319, t: 0.983509 2.476764 1.316423 q: 0.976569 -0.212498 -0.022356 0.025658 
time: 1403637255.038319, t: 0.959512 2.406258 1.266149 q: 0.977200 -0.210188 -0.016197 0.025274 
time: 1403637255.238319, t: 0.933722 2.323530 1.213227 q: 0.980422 -0.195055 -0.015789 0.021820 
time: 1403637255.438319, t: 0.925928 2.234101 1.146257 q: 0.984254 -0.174961 -0.016413 0.019068 
time: 1403637255.638319, t: 0.899461 2.144600 1.079147 q: 0.988781 -0.147922 -0.019872 0.005987 
time: 1403637255.838319, t: 0.866442 2.053081 1.009256 q: 0.993279 -0.111131 -0.030667 -0.010294 
time: 1403637256.038319, t: 0.857461 1.953238 0.930915 q: 0.996304 -0.074262 -0.036965 -0.022318 
time: 1403637256.238319, t: 0.869468 1.848815 0.847172 q: 0.997426 -0.056909 -0.031350 -0.030319 
time: 1403637256.438319, t: 0.862865 1.733746 0.774858 q: 0.997650 -0.053353 -0.025601 -0.034539 
time: 1403637256.638319, t: 0.828587 1.616846 0.700643 q: 0.997593 -0.055720 -0.026347 -0.031761 
optimize pose graph 
time: 1403637256.838319, t: 0.777037 1.498319 0.627868 q: 0.997650 -0.052939 -0.043209 -0.005065 
time: 1403637257.038319, t: 0.727555 1.385795 0.564693 q: 0.998229 -0.045966 -0.035400 -0.013156 
time: 1403637257.238319, t: 0.701479 1.276242 0.500377 q: 0.998553 -0.033226 -0.032896 -0.026554 
time: 1403637257.438319, t: 0.694537 1.166970 0.426225 q: 0.998387 -0.023442 -0.037676 -0.035411 
time: 1403637257.638319, t: 0.682487 1.053560 0.359724 q: 0.998159 -0.018408 -0.043517 -0.038030 
time: 1403637257.838319, t: 0.648281 0.940174 0.303305 q: 0.997722 -0.008876 -0.056776 -0.035346 
time: 1403637258.038319, t: 0.602700 0.823463 0.274358 q: 0.997211 0.015195 -0.062987 -0.037038 
time: 1403637258.438319, t: 0.570904 0.579089 0.246377 q: 0.994206 0.078546 -0.041751 -0.060349 
time: 1403637258.638319, t: 0.529677 0.460027 0.255957 q: 0.993178 0.093850 -0.046007 -0.051705 
optimize pose graph 
time: 1403637258.838319, t: 0.483963 0.358022 0.266068 q: 0.993242 0.096606 -0.037667 -0.052139 
time: 1403637259.038319, t: 0.446689 0.266154 0.271310 q: 0.993605 0.096758 -0.035988 -0.045728 
time: 1403637259.238319, t: 0.454685 0.186138 0.262416 q: 0.993930 0.094159 -0.034498 -0.045249 
time: 1403637259.438319, t: 0.476450 0.119979 0.243252 q: 0.994305 0.093632 -0.033965 -0.037898 
time: 1403637259.638319, t: 0.485369 0.071951 0.229301 q: 0.994564 0.094996 -0.032196 -0.027969 
time: 1403637259.838319, t: 0.480469 0.046029 0.218439 q: 0.994345 0.089491 -0.039966 -0.040903 
time: 1403637260.038319, t: 0.466364 0.039454 0.214244 q: 0.994625 0.090826 -0.033272 -0.036934 
time: 1403637260.238319, t: 0.435737 0.049754 0.206225 q: 0.994238 0.087169 -0.035010 -0.051645 
time: 1403637260.438319, t: 0.395293 0.061953 0.199834 q: 0.993488 0.081875 -0.032593 -0.072227 
time: 1403637260.638319, t: 0.347129 0.065170 0.190967 q: 0.992688 0.082296 -0.052091 -0.071309 
time: 1403637260.838319, t: 0.300195 0.052895 0.191146 q: 0.993175 0.084889 -0.044717 -0.066311 
optimize pose graph 
time: 1403637261.038319, t: 0.253911 0.034642 0.193765 q: 0.993544 0.087383 -0.033113 -0.064333 
time: 1403637261.238319, t: 0.205998 0.012554 0.192709 q: 0.992609 0.086467 -0.055113 -0.064916 
time: 1403637261.438319, t: 0.179025 -0.017023 0.194140 q: 0.993149 0.087721 -0.047436 -0.060906 
time: 1403637261.638319, t: 0.166330 -0.048052 0.198586 q: 0.992657 0.087486 -0.059275 -0.058859 
time: 1403637261.838319, t: 0.176912 -0.079278 0.211596 q: 0.992987 0.085959 -0.052377 -0.062008 
time: 1403637262.238319, t: 0.151203 -0.137071 0.262702 q: 0.994524 0.087383 -0.031091 -0.048162 
time: 1403637262.438319, t: 0.138117 -0.132170 0.260396 q: 0.996431 0.071431 -0.018715 -0.040905 
time: 1403637262.638319, t: 0.135289 -0.122950 0.250280 q: 0.998032 0.060450 0.007181 -0.015065 
time: 1403637262.838319, t: 0.131966 -0.124176 0.253978 q: 0.998048 0.059923 -0.007515 -0.015895 
time: 1403637263.038319, t: 0.132374 -0.124679 0.254753 q: 0.998035 0.059957 -0.008903 -0.015875 
optimize pose graph 
time: 1403637263.238319, t: 0.132408 -0.124918 0.255374 q: 0.998034 0.060041 -0.009244 -0.015434 
time: 1403637263.438319, t: 0.132291 -0.124684 0.255287 q: 0.998033 0.060006 -0.009191 -0.015627 
time: 1403637263.638319, t: 0.132258 -0.124700 0.255302 q: 0.998035 0.059979 -0.009158 -0.015647 
time: 1403637263.838319, t: 0.132279 -0.124573 0.255297 q: 0.998038 0.059776 -0.009158 -0.016205 
time: 1403637264.038319, t: 0.132256 -0.124698 0.255325 q: 0.998034 0.059977 -0.009175 -0.015727 
time: 1403637264.238319, t: 0.132264 -0.124687 0.255333 q: 0.998031 0.060009 -0.009254 -0.015700 
time: 1403637264.438319, t: 0.132253 -0.124683 0.255314 q: 0.998033 0.059982 -0.009189 -0.015747 
time: 1403637264.638319, t: 0.132242 -0.124700 0.255294 q: 0.998034 0.059946 -0.009214 -0.015822 
time: 1403637264.838319, t: 0.132236 -0.124732 0.255295 q: 0.998035 0.059896 -0.009223 -0.015906 
time: 1403637265.038319, t: 0.132232 -0.124730 0.255348 q: 0.998032 0.059965 -0.009289 -0.015819 
time: 1403637265.238319, t: 0.132221 -0.124727 0.255315 q: 0.998032 0.059950 -0.009345 -0.015834 
time: 1403637265.438319, t: 0.132203 -0.124718 0.255314 q: 0.998032 0.059964 -0.009325 -0.015814 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720502681.803666314]: Shutdown request received.[0m
[33m[ WARN] [1720502681.803725297]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720502681.804587912]: Shutdown request received.[0m
[33m[ WARN] [1720502681.804616927]: Reason given for shutdown: [user request][0m
killed
