/SLAM-Hive/slam_hive_results/mapping_results/3105/2310_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720540555.609939253]: init begins[0m
[31m[ERROR] [1720540555.610880288]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720540555.610895353]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/b9eb3f04-3e0b-11ef-b14b-0242ac110005/roslaunch-d53d7181a5ed-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://d53d7181a5ed:40161/[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] [1720540556.717959013]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720540556.718172607]: 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] [1720540556.723723248]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720540556.723939083]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720540556.723967039]: 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
 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 9.81007
[0m[ INFO] [1720540556.724212901]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720540556.724411570]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720540556.724591870]: 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://d53d7181a5ed:11311/[0m
]2;roscore http://d53d7181a5ed:11311/
[1msetting /run_id to b9eb3f04-3e0b-11ef-b14b-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 [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720540565.764365489]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316903987.06 
init first imu pose
averge acc 7.745210 -0.452196 -2.672312
init R0 
  0.330294    0.15748   0.930648
         0  -0.985983   0.166843
  0.943878 -0.0551073  -0.325664
[33m[ WARN] [1720540568.048015890]: gyroscope bias initial calibration -0.00206265   0.0213709   0.0816788[0m
[0m[ INFO] [1720540568.119730182]: Initialization finish![0m
time: 1403636580.813555, t: -0.009224 0.015612 -0.162933 q: -0.042985 0.841478 0.045596 0.536645 
time: 1403636580.913555, t: -0.002411 0.016409 -0.084700 q: -0.041846 0.832996 0.052955 0.549147 
time: 1403636581.013556, t: 0.001988 0.016096 -0.009389 q: -0.074707 0.822291 0.078506 0.558653 
time: 1403636581.113555, t: 0.008417 0.014458 0.055365 q: -0.084459 0.815642 0.080930 0.566608 
time: 1403636581.213556, t: 0.013052 0.012932 0.109388 q: -0.083007 0.808002 0.072041 0.578837 
time: 1403636581.313555, t: 0.013800 0.010857 0.148454 q: -0.082685 0.798445 0.068016 0.592471 
time: 1403636581.413555, t: 0.012127 0.008069 0.157284 q: -0.080221 0.794632 0.068402 0.597868 
time: 1403636581.513556, t: 0.008761 0.007520 0.132010 q: -0.070882 0.798662 0.070383 0.593432 
time: 1403636581.613555, t: 0.005939 0.007154 0.081391 q: -0.069007 0.806103 0.068309 0.583755 
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time: 1403636581.813555, t: -0.005891 0.001031 -0.045820 q: -0.086417 0.804177 0.077607 0.582931 
time: 1403636581.913555, t: -0.008581 0.003107 -0.113061 q: -0.094839 0.809091 0.080149 0.574415 
time: 1403636582.013556, t: -0.012141 0.005248 -0.175853 q: -0.096787 0.818228 0.079778 0.561045 
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time: 1403636583.013556, t: 0.000604 -0.008924 0.171113 q: -0.066146 0.798589 0.044993 0.596537 
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time: 1403636585.713556, t: -0.006304 -0.026566 -0.071557 q: -0.064913 0.823422 0.068832 0.559487 
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time: 1403636588.413555, t: 0.039777 -0.355904 -0.090450 q: -0.047622 0.911186 0.007855 0.409158 
time: 1403636588.513556, t: 0.036926 -0.351413 -0.090252 q: -0.045844 0.911289 0.007055 0.409148 
time: 1403636588.613555, t: 0.031621 -0.338719 -0.086092 q: -0.044376 0.911156 0.006929 0.409607 
time: 1403636588.713556, t: 0.023453 -0.318192 -0.082237 q: -0.046724 0.911097 0.008446 0.409449 
time: 1403636588.813555, t: 0.013602 -0.291699 -0.080699 q: -0.049063 0.912185 0.012788 0.406631 
time: 1403636588.913555, t: 0.003334 -0.258628 -0.079303 q: -0.052775 0.912315 0.015925 0.405762 
time: 1403636589.013556, t: -0.008633 -0.220654 -0.075252 q: -0.056273 0.911013 0.020813 0.407991 
time: 1403636589.113555, t: -0.021992 -0.179772 -0.069019 q: -0.059386 0.908491 0.026761 0.412796 
time: 1403636589.213556, t: -0.034803 -0.135959 -0.062063 q: -0.062082 0.906611 0.030850 0.416233 
time: 1403636589.313555, t: -0.047942 -0.089952 -0.056993 q: -0.063845 0.906935 0.036147 0.414833 
time: 1403636589.513556, t: -0.073532 0.003791 -0.053274 q: -0.065903 0.907909 0.045617 0.411433 
time: 1403636589.613555, t: -0.086517 0.050226 -0.052779 q: -0.067708 0.906548 0.048548 0.413799 
time: 1403636589.713556, t: -0.099347 0.095393 -0.052988 q: -0.069029 0.905474 0.051689 0.415548 
optimize pose graph 
time: 1403636589.813555, t: -0.111128 0.138339 -0.055457 q: -0.073927 0.905952 0.056871 0.412978 
time: 1403636589.913555, t: -0.120734 0.175569 -0.060107 q: -0.078268 0.908006 0.063257 0.406691 
time: 1403636590.013556, t: -0.128817 0.206424 -0.064072 q: -0.085408 0.907894 0.068071 0.404723 
time: 1403636590.113555, t: -0.135196 0.227983 -0.063561 q: -0.090841 0.904684 0.072217 0.409974 
time: 1403636590.213556, t: -0.139493 0.238177 -0.061515 q: -0.095011 0.901825 0.074822 0.414832 
time: 1403636590.313555, t: -0.141382 0.235426 -0.059290 q: -0.093109 0.901927 0.076295 0.414774 
time: 1403636590.413555, t: -0.140890 0.220735 -0.057494 q: -0.087749 0.903183 0.074197 0.413589 
time: 1403636590.513556, t: -0.138354 0.194737 -0.054738 q: -0.080904 0.903223 0.070706 0.415505 
time: 1403636590.613555, t: -0.134103 0.160551 -0.051502 q: -0.075206 0.902372 0.067664 0.418916 
time: 1403636590.713556, t: -0.127644 0.121170 -0.049998 q: -0.070296 0.902614 0.063519 0.419894 
time: 1403636590.813555, t: -0.118476 0.078907 -0.051605 q: -0.068173 0.904887 0.058375 0.416082 
time: 1403636590.913555, t: -0.107246 0.033913 -0.055097 q: -0.066993 0.907656 0.054031 0.410795 
time: 1403636591.013556, t: -0.094936 -0.012245 -0.058835 q: -0.065482 0.908321 0.052190 0.409807 
time: 1403636591.113555, t: -0.081635 -0.055955 -0.062078 q: -0.067660 0.907677 0.051542 0.410959 
time: 1403636591.213556, t: -0.068734 -0.096577 -0.065156 q: -0.068497 0.908096 0.048835 0.410224 
time: 1403636591.413555, t: -0.048063 -0.159526 -0.076964 q: -0.064090 0.910622 0.041460 0.406129 
time: 1403636591.513556, t: -0.038711 -0.179008 -0.085475 q: -0.061767 0.910509 0.037780 0.407101 
time: 1403636591.613555, t: -0.028910 -0.194399 -0.093500 q: -0.052130 0.907069 0.027976 0.416804 
time: 1403636591.713556, t: -0.019924 -0.203417 -0.099041 q: -0.043116 0.898964 0.020141 0.435430 
optimize pose graph 
time: 1403636591.813555, t: -0.012579 -0.208818 -0.100191 q: -0.033820 0.889646 0.013565 0.455194 
time: 1403636591.913555, t: -0.005681 -0.213628 -0.099123 q: -0.027338 0.883240 0.005682 0.468089 
time: 1403636592.013556, t: 0.003945 -0.219891 -0.099306 q: -0.024638 0.884931 -0.004218 0.465051 
time: 1403636592.113555, t: 0.020950 -0.229947 -0.100797 q: -0.020151 0.888408 -0.016684 0.458309 
time: 1403636592.213556, t: 0.042847 -0.240668 -0.103157 q: -0.016113 0.892429 -0.026345 0.450129 
time: 1403636592.313555, t: 0.068205 -0.248146 -0.104474 q: -0.014492 0.896310 -0.029133 0.442233 
time: 1403636592.513556, t: 0.128327 -0.237012 -0.103207 q: -0.028106 0.898170 -0.018925 0.438341 
time: 1403636592.613555, t: 0.159320 -0.216596 -0.101830 q: -0.037446 0.893723 -0.003107 0.447044 
time: 1403636592.713556, t: 0.186552 -0.187779 -0.101975 q: -0.045919 0.890323 0.015120 0.452756 
time: 1403636592.813555, t: 0.206326 -0.148733 -0.102469 q: -0.061485 0.889015 0.036255 0.452281 
time: 1403636592.913555, t: 0.213753 -0.099817 -0.104589 q: -0.081960 0.889000 0.059039 0.446626 
time: 1403636593.013556, t: 0.204741 -0.044855 -0.105629 q: -0.100618 0.888939 0.081599 0.439323 
time: 1403636593.213556, t: 0.142212 0.068588 -0.103165 q: -0.133398 0.885126 0.120016 0.429365 
time: 1403636593.313555, t: 0.096489 0.115365 -0.101737 q: -0.147421 0.883948 0.128976 0.424580 
time: 1403636593.413555, t: 0.046370 0.145992 -0.101994 q: -0.150341 0.884956 0.134223 0.419803 
time: 1403636593.513556, t: -0.005208 0.156799 -0.104561 q: -0.146154 0.886972 0.133084 0.417383 
time: 1403636593.613555, t: -0.054524 0.150152 -0.109450 q: -0.142033 0.891249 0.122917 0.412786 
time: 1403636593.713556, t: -0.096582 0.127317 -0.116407 q: -0.133964 0.898045 0.104439 0.405785 
optimize pose graph 
time: 1403636593.813555, t: -0.132389 0.089619 -0.122275 q: -0.118235 0.903883 0.076824 0.403874 
time: 1403636593.913555, t: -0.158853 0.041515 -0.125467 q: -0.097637 0.905021 0.041955 0.411878 
time: 1403636594.013556, t: -0.175940 -0.013383 -0.125425 q: -0.073479 0.902702 0.007669 0.423877 
time: 1403636594.113555, t: -0.180149 -0.070452 -0.124523 q: -0.050032 0.900803 -0.024413 0.430644 
time: 1403636594.213556, t: -0.168152 -0.127000 -0.125166 q: -0.030794 0.900860 -0.050243 0.430092 
time: 1403636594.313555, t: -0.139549 -0.180502 -0.127097 q: -0.014182 0.900948 -0.065341 0.428745 
time: 1403636594.413555, t: -0.097463 -0.229534 -0.128127 q: -0.000016 0.899233 -0.071785 0.431541 
time: 1403636594.513556, t: -0.045034 -0.269904 -0.129232 q: 0.008543 0.894849 -0.070140 0.440741 
time: 1403636594.613555, t: 0.010239 -0.295725 -0.130083 q: 0.007567 0.889966 -0.070244 0.450521 
time: 1403636594.713556, t: 0.059118 -0.298185 -0.130295 q: 0.003202 0.887272 -0.067742 0.456235 
time: 1403636594.813555, t: 0.098507 -0.274311 -0.132771 q: -0.006552 0.886017 -0.053809 0.460473 
time: 1403636594.913555, t: 0.128443 -0.225512 -0.136295 q: -0.020101 0.884554 -0.029367 0.465077 
time: 1403636595.013556, t: 0.142193 -0.156090 -0.138549 q: -0.040894 0.882834 0.004146 0.467883 
time: 1403636595.113555, t: 0.139203 -0.077630 -0.141142 q: -0.064989 0.882259 0.039784 0.464556 
time: 1403636595.213556, t: 0.123542 -0.002670 -0.143706 q: -0.089341 0.881998 0.069788 0.457413 
time: 1403636595.313555, t: 0.098518 0.057570 -0.146014 q: -0.110788 0.881040 0.094838 0.450001 
time: 1403636595.413555, t: 0.065967 0.095263 -0.147176 q: -0.122517 0.880103 0.110522 0.445189 
time: 1403636595.513556, t: 0.033378 0.105639 -0.148376 q: -0.127310 0.880649 0.116483 0.441228 
time: 1403636595.613555, t: 0.003313 0.088746 -0.150694 q: -0.126242 0.882682 0.118656 0.436870 
time: 1403636595.713556, t: -0.023013 0.048986 -0.154202 q: -0.117444 0.885724 0.112171 0.434876 
time: 1403636595.813555, t: -0.044292 -0.006416 -0.159845 q: -0.097780 0.888816 0.097261 0.437019 
optimize pose graph 
time: 1403636595.913555, t: -0.063333 -0.067036 -0.166620 q: -0.075667 0.891899 0.074362 0.439616 
time: 1403636596.013556, t: -0.085979 -0.123471 -0.172149 q: -0.055064 0.895792 0.050012 0.438205 
time: 1403636596.113555, t: -0.114945 -0.163174 -0.174645 q: -0.038213 0.899304 0.025803 0.434886 
time: 1403636596.213556, t: -0.147775 -0.177106 -0.173283 q: -0.030969 0.900370 0.010229 0.433900 
time: 1403636596.313555, t: -0.184611 -0.164497 -0.166057 q: -0.031802 0.899200 0.001934 0.436376 
time: 1403636596.413555, t: -0.227640 -0.136602 -0.153570 q: -0.030594 0.897056 0.000453 0.440855 
time: 1403636596.513556, t: -0.270650 -0.104792 -0.141438 q: -0.029838 0.894358 0.005515 0.446322 
time: 1403636596.613555, t: -0.305064 -0.075788 -0.132170 q: -0.028642 0.893292 0.010619 0.448438 
time: 1403636596.713556, t: -0.325940 -0.053757 -0.127724 q: -0.028708 0.894435 0.012686 0.446095 
time: 1403636596.813555, t: -0.326574 -0.043164 -0.127395 q: -0.027625 0.893157 0.016967 0.448575 
time: 1403636596.913555, t: -0.304116 -0.042342 -0.129343 q: -0.023745 0.890370 0.020806 0.454142 
time: 1403636597.013556, t: -0.260127 -0.047436 -0.132861 q: -0.019355 0.891306 0.022629 0.452423 
time: 1403636597.113555, t: -0.201624 -0.054854 -0.137645 q: -0.020163 0.896319 0.025289 0.442229 
time: 1403636597.213556, t: -0.134383 -0.061864 -0.139067 q: -0.026458 0.899522 0.035324 0.434640 
time: 1403636597.313555, t: -0.064305 -0.066350 -0.135253 q: -0.033708 0.898453 0.049240 0.434995 
time: 1403636597.413555, t: 0.004746 -0.064623 -0.130717 q: -0.042034 0.895331 0.064608 0.438681 
time: 1403636597.513556, t: 0.063825 -0.056198 -0.128451 q: -0.051276 0.891796 0.082917 0.441810 
time: 1403636597.613555, t: 0.103393 -0.040538 -0.128857 q: -0.068306 0.886558 0.099440 0.446611 
time: 1403636597.713556, t: 0.117952 -0.018689 -0.130836 q: -0.086804 0.880029 0.114350 0.452702 
time: 1403636597.813555, t: 0.107954 0.003795 -0.132126 q: -0.098329 0.874067 0.126454 0.458637 
optimize pose graph 
time: 1403636597.913555, t: 0.080169 0.020027 -0.133748 q: -0.101637 0.870130 0.137851 0.462105 
time: 1403636598.013556, t: 0.040275 0.027741 -0.135933 q: -0.100655 0.870182 0.146382 0.459592 
time: 1403636598.113555, t: -0.004868 0.027859 -0.140888 q: -0.100173 0.874591 0.147821 0.450783 
time: 1403636598.213556, t: -0.046803 0.020916 -0.149894 q: -0.094807 0.882936 0.146662 0.435805 
time: 1403636598.313555, t: -0.075963 0.010296 -0.163571 q: -0.086663 0.890832 0.145985 0.421422 
time: 1403636598.413555, t: -0.087062 -0.001777 -0.177635 q: -0.077228 0.894416 0.143844 0.416372 
time: 1403636598.513556, t: -0.077580 -0.011838 -0.192647 q: -0.074195 0.893259 0.143654 0.419460 
time: 1403636598.613555, t: -0.051126 -0.018333 -0.205652 q: -0.080307 0.887091 0.146412 0.430329 
time: 1403636598.713556, t: -0.015747 -0.022064 -0.219464 q: -0.091180 0.877916 0.151401 0.445003 
time: 1403636598.813555, t: 0.019745 -0.023925 -0.237970 q: -0.104781 0.865925 0.156078 0.463503 
time: 1403636598.913555, t: 0.051634 -0.026126 -0.260360 q: -0.113313 0.854505 0.155266 0.482571 
time: 1403636599.013556, t: 0.077498 -0.028200 -0.283715 q: -0.115125 0.845815 0.155382 0.497192 
time: 1403636599.113555, t: 0.097021 -0.028537 -0.301875 q: -0.124228 0.835908 0.154519 0.511810 
time: 1403636599.213556, t: 0.111882 -0.028383 -0.313190 q: -0.133008 0.820148 0.152858 0.535071 
time: 1403636599.313555, t: 0.124786 -0.027544 -0.321741 q: -0.138847 0.804177 0.146791 0.558994 
time: 1403636599.413555, t: 0.134951 -0.027181 -0.331110 q: -0.137089 0.795904 0.142956 0.572108 
time: 1403636599.513556, t: 0.142843 -0.026750 -0.340785 q: -0.130018 0.796541 0.138366 0.573998 
time: 1403636599.613555, t: 0.147498 -0.027081 -0.349711 q: -0.125528 0.801352 0.132788 0.569600 
time: 1403636599.713556, t: 0.149783 -0.028199 -0.357298 q: -0.123331 0.802386 0.130837 0.569076 
time: 1403636599.813555, t: 0.149768 -0.030505 -0.357492 q: -0.125967 0.792095 0.130123 0.582911 
optimize pose graph 
time: 1403636599.913555, t: 0.148855 -0.032145 -0.358688 q: -0.129144 0.787175 0.127953 0.589327 
time: 1403636600.013556, t: 0.148938 -0.033358 -0.359674 q: -0.128951 0.788563 0.124656 0.588218 
time: 1403636600.113555, t: 0.148874 -0.035243 -0.360845 q: -0.133454 0.786753 0.121465 0.590302 
time: 1403636600.213556, t: 0.148784 -0.035386 -0.360931 q: -0.133312 0.786616 0.121549 0.590499 
time: 1403636600.313555, t: 0.148611 -0.035260 -0.361036 q: -0.133758 0.786717 0.121109 0.590353 
time: 1403636600.413555, t: 0.148527 -0.035212 -0.360982 q: -0.134138 0.786725 0.120747 0.590331 
time: 1403636600.513556, t: 0.148447 -0.035269 -0.360939 q: -0.134195 0.786689 0.120371 0.590443 
time: 1403636600.613555, t: 0.148501 -0.035170 -0.360955 q: -0.134376 0.786801 0.120286 0.590270 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636600.813555, t: 0.148468 -0.035294 -0.360954 q: -0.133803 0.786941 0.120360 0.590198 
time: 1403636600.913555, t: 0.148489 -0.035303 -0.360950 q: -0.133807 0.787019 0.120284 0.590109 
time: 1403636601.013556, t: 0.148441 -0.035337 -0.360948 q: -0.133594 0.787094 0.120283 0.590058 
time: 1403636601.113555, t: 0.148446 -0.035321 -0.360954 q: -0.133580 0.787138 0.120216 0.590016 
time: 1403636601.213556, t: 0.148425 -0.035339 -0.360965 q: -0.133516 0.787180 0.120197 0.589978 
time: 1403636601.313555, t: 0.148420 -0.035347 -0.360966 q: -0.133464 0.787221 0.120168 0.589941 
time: 1403636601.413555, t: 0.148437 -0.035328 -0.360974 q: -0.133508 0.787267 0.120057 0.589892 
time: 1403636601.513556, t: 0.148415 -0.035344 -0.361003 q: -0.133497 0.787272 0.119994 0.589901 
time: 1403636601.613555, t: 0.148384 -0.035317 -0.361019 q: -0.133537 0.787306 0.119927 0.589860 
time: 1403636601.713556, t: 0.148373 -0.035330 -0.361040 q: -0.133537 0.787320 0.119887 0.589849 
time: 1403636601.813555, t: 0.148438 -0.035319 -0.361053 q: -0.133555 0.787375 0.119874 0.589775 
optimize pose graph 
time: 1403636601.913555, t: 0.148416 -0.035306 -0.361042 q: -0.133483 0.787386 0.119848 0.589782 
time: 1403636602.013556, t: 0.148400 -0.035309 -0.361029 q: -0.133426 0.787417 0.119843 0.589755 
time: 1403636602.113555, t: 0.148399 -0.035311 -0.361026 q: -0.133446 0.787465 0.119793 0.589696 
time: 1403636602.213556, t: 0.148390 -0.035301 -0.361029 q: -0.133419 0.787463 0.119773 0.589708 
time: 1403636602.313555, t: 0.148383 -0.035324 -0.361033 q: -0.133345 0.787507 0.119796 0.589662 
time: 1403636602.413555, t: 0.148389 -0.035346 -0.361057 q: -0.133337 0.787515 0.119808 0.589650 
time: 1403636602.513556, t: 0.148363 -0.035348 -0.361046 q: -0.133237 0.787545 0.119805 0.589634 
time: 1403636602.613555, t: 0.148364 -0.035368 -0.361042 q: -0.133185 0.787571 0.119834 0.589604 
time: 1403636602.713556, t: 0.148364 -0.035361 -0.361055 q: -0.133175 0.787579 0.119798 0.589603 
time: 1403636602.813555, t: 0.148339 -0.035368 -0.361062 q: -0.133104 0.787588 0.119814 0.589604 
time: 1403636602.913555, t: 0.148340 -0.035376 -0.361054 q: -0.133059 0.787604 0.119846 0.589587 
time: 1403636603.013556, t: 0.148350 -0.035376 -0.361064 q: -0.133033 0.787618 0.119831 0.589577 
time: 1403636603.113555, t: 0.148323 -0.035371 -0.361062 q: -0.133014 0.787617 0.119829 0.589583 
time: 1403636603.213556, t: 0.148322 -0.035383 -0.361062 q: -0.133006 0.787661 0.119799 0.589531 
time: 1403636603.313555, t: 0.148330 -0.035384 -0.361073 q: -0.133005 0.787657 0.119804 0.589536 
time: 1403636603.413555, t: 0.148318 -0.035378 -0.361074 q: -0.132999 0.787654 0.119793 0.589544 
time: 1403636603.513556, t: 0.148313 -0.035365 -0.361060 q: -0.132939 0.787704 0.119789 0.589491 
time: 1403636603.713556, t: 0.148295 -0.035389 -0.361066 q: -0.132954 0.787736 0.119750 0.589453 
time: 1403636603.813555, t: 0.148288 -0.035407 -0.361075 q: -0.132929 0.787773 0.119755 0.589409 
time: 1403636603.913555, t: 0.148271 -0.035392 -0.361117 q: -0.133005 0.787770 0.119704 0.589406 
time: 1403636604.013556, t: 0.148281 -0.035376 -0.361102 q: -0.133026 0.787760 0.119687 0.589418 
time: 1403636604.113555, t: 0.148296 -0.035378 -0.361100 q: -0.133004 0.787769 0.119696 0.589409 
time: 1403636604.213556, t: 0.148287 -0.035387 -0.361101 q: -0.132965 0.787790 0.119711 0.589387 
time: 1403636604.313555, t: 0.148288 -0.035391 -0.361099 q: -0.132955 0.787802 0.119696 0.589375 
time: 1403636604.413555, t: 0.148281 -0.035392 -0.361097 q: -0.132925 0.787831 0.119728 0.589338 
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time: 1403636604.613555, t: 0.148283 -0.035394 -0.361111 q: -0.132907 0.787834 0.119720 0.589339 
time: 1403636604.713556, t: 0.148296 -0.035405 -0.361104 q: -0.132921 0.787849 0.119760 0.589308 
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time: 1403636605.313555, t: 0.148276 -0.035420 -0.361115 q: -0.132797 0.787921 0.119772 0.589237 
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time: 1403636605.613555, t: 0.148266 -0.035414 -0.361116 q: -0.132777 0.787971 0.119743 0.589180 
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time: 1403636605.913555, t: 0.148200 -0.035478 -0.361080 q: -0.132809 0.788034 0.119725 0.589092 
time: 1403636606.013556, t: 0.148201 -0.035479 -0.361082 q: -0.132793 0.788040 0.119728 0.589088 
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time: 1403636608.813555, t: 0.148159 -0.035505 -0.361128 q: -0.132665 0.788291 0.119720 0.588783 
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optimize pose graph 
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time: 1403636626.013556, t: 0.138316 -0.102011 -0.146456 q: -0.103290 0.801279 0.140453 0.572325 
time: 1403636626.113555, t: 0.149141 -0.091954 -0.100222 q: -0.111444 0.800789 0.135321 0.572718 
time: 1403636626.213556, t: 0.159246 -0.084103 -0.058454 q: -0.119634 0.800647 0.129873 0.572526 
time: 1403636626.313555, t: 0.169735 -0.079403 -0.028002 q: -0.122803 0.800568 0.127876 0.572414 
time: 1403636626.413555, t: 0.179624 -0.079028 -0.012084 q: -0.121335 0.800008 0.129045 0.573247 
time: 1403636626.513556, t: 0.189324 -0.081964 -0.005335 q: -0.116809 0.796993 0.133003 0.577467 
time: 1403636626.613555, t: 0.196768 -0.088069 -0.002966 q: -0.112358 0.792105 0.137769 0.583922 
time: 1403636626.713556, t: 0.200902 -0.096910 -0.004350 q: -0.110212 0.790190 0.141353 0.586065 
time: 1403636626.813555, t: 0.201321 -0.106645 -0.010406 q: -0.110323 0.792880 0.143810 0.581798 
time: 1403636626.913555, t: 0.197655 -0.117684 -0.020377 q: -0.109561 0.797302 0.145891 0.575345 
time: 1403636627.013556, t: 0.192306 -0.129311 -0.033380 q: -0.107660 0.802417 0.147682 0.568090 
time: 1403636627.113555, t: 0.186648 -0.140741 -0.043651 q: -0.106192 0.807412 0.148780 0.560957 
time: 1403636627.213556, t: 0.182157 -0.151397 -0.041981 q: -0.106837 0.805191 0.148733 0.564031 
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time: 1403636627.413555, t: 0.174543 -0.170824 -0.009335 q: -0.110963 0.800095 0.146862 0.570935 
time: 1403636627.513556, t: 0.169576 -0.181851 0.016743 q: -0.111667 0.800762 0.143048 0.570831 
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time: 1403636627.813555, t: 0.153487 -0.223778 0.018636 q: -0.092259 0.816851 0.122401 0.556112 
optimize pose graph 
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time: 1403636628.013556, t: 0.157759 -0.250131 0.002284 q: -0.074876 0.826857 0.108574 0.546730 
time: 1403636628.113555, t: 0.168929 -0.259463 0.010967 q: -0.071981 0.822752 0.102728 0.554388 
time: 1403636628.213556, t: 0.182928 -0.267196 0.028949 q: -0.073943 0.813474 0.095846 0.568864 
time: 1403636628.413555, t: 0.210899 -0.284520 0.075736 q: -0.083880 0.807200 0.084678 0.578119 
time: 1403636628.513556, t: 0.223860 -0.296564 0.095740 q: -0.086357 0.807521 0.083587 0.577464 
time: 1403636628.613555, t: 0.235130 -0.311723 0.108632 q: -0.089010 0.808236 0.083258 0.576108 
time: 1403636628.713556, t: 0.246508 -0.330637 0.115423 q: -0.087365 0.808310 0.084391 0.576091 
time: 1403636628.813555, t: 0.258223 -0.354265 0.115254 q: -0.077871 0.811988 0.084283 0.572283 
time: 1403636628.913555, t: 0.268972 -0.379629 0.113854 q: -0.068357 0.817410 0.081387 0.566166 
time: 1403636629.013556, t: 0.279093 -0.406345 0.119712 q: -0.062847 0.821462 0.078384 0.561343 
time: 1403636629.113555, t: 0.289323 -0.432518 0.134316 q: -0.058643 0.822973 0.075042 0.560040 
time: 1403636629.213556, t: 0.304452 -0.459340 0.148363 q: -0.053678 0.823299 0.067286 0.561043 
time: 1403636629.313555, t: 0.325410 -0.485780 0.157584 q: -0.050470 0.821731 0.058244 0.564640 
time: 1403636629.413555, t: 0.350513 -0.510946 0.161994 q: -0.051804 0.819359 0.048994 0.568830 
time: 1403636629.513556, t: 0.376919 -0.537359 0.159278 q: -0.051956 0.817057 0.035538 0.573111 
time: 1403636629.613555, t: 0.404170 -0.565863 0.147078 q: -0.044412 0.819837 0.022353 0.570435 
time: 1403636629.713556, t: 0.430950 -0.598661 0.127776 q: -0.030730 0.826078 0.008811 0.562649 
time: 1403636629.813555, t: 0.459254 -0.634543 0.104350 q: -0.014855 0.830565 -0.007302 0.556676 
time: 1403636629.913555, t: 0.492599 -0.670327 0.077636 q: -0.000994 0.832737 -0.024941 0.553106 
optimize pose graph 
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time: 1403636630.113555, t: 0.569487 -0.739773 0.044859 q: 0.015693 0.828693 -0.046364 0.557560 
time: 1403636630.313555, t: 0.663739 -0.810276 0.048325 q: 0.021838 0.814877 -0.054792 0.576626 
time: 1403636630.413555, t: 0.712014 -0.844445 0.057445 q: 0.022548 0.816050 -0.055058 0.574911 
time: 1403636630.513556, t: 0.759024 -0.879550 0.071311 q: 0.023974 0.818692 -0.052585 0.571318 
time: 1403636630.613555, t: 0.804034 -0.914675 0.089629 q: 0.027507 0.820028 -0.047537 0.569682 
time: 1403636630.713556, t: 0.854088 -0.946221 0.106142 q: 0.028160 0.821602 -0.042894 0.567748 
time: 1403636630.813555, t: 0.899755 -0.980069 0.115283 q: 0.024700 0.821963 -0.042482 0.567416 
time: 1403636630.913555, t: 0.947480 -1.009857 0.118949 q: 0.020514 0.821891 -0.043069 0.567644 
time: 1403636631.013556, t: 0.994345 -1.038511 0.119383 q: 0.018664 0.821659 -0.044087 0.567965 
time: 1403636631.113555, t: 1.042728 -1.067408 0.115061 q: 0.017752 0.819981 -0.043793 0.570438 
time: 1403636631.213556, t: 1.090374 -1.096684 0.109402 q: 0.017381 0.817896 -0.043435 0.573462 
time: 1403636631.313555, t: 1.135379 -1.126601 0.103944 q: 0.017760 0.817023 -0.043242 0.574707 
time: 1403636631.413555, t: 1.182508 -1.156249 0.090818 q: 0.017777 0.816907 -0.042478 0.574928 
time: 1403636631.513556, t: 1.227229 -1.185250 0.074252 q: 0.019154 0.817093 -0.040783 0.574742 
time: 1403636631.613555, t: 1.268040 -1.214270 0.057917 q: 0.021346 0.817117 -0.038794 0.574769 
time: 1403636631.713556, t: 1.314244 -1.241012 0.043469 q: 0.021764 0.817770 -0.036817 0.573955 
time: 1403636631.813555, t: 1.357286 -1.267053 0.036746 q: 0.021994 0.817873 -0.035397 0.573888 
time: 1403636631.913555, t: 1.403271 -1.291799 0.035567 q: 0.023820 0.818759 -0.033857 0.572644 
optimize pose graph 
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time: 1403636632.113555, t: 1.488243 -1.336441 0.041873 q: 0.027063 0.816993 -0.033389 0.575044 
time: 1403636632.213556, t: 1.529284 -1.354477 0.044564 q: 0.031727 0.816176 -0.031862 0.576051 
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time: 1403636632.413555, t: 1.609522 -1.380083 0.035140 q: 0.031471 0.815955 -0.035945 0.576138 
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time: 1403636632.613555, t: 1.688806 -1.395157 -0.000215 q: 0.012610 0.825815 -0.040892 0.562315 
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time: 1403636632.913555, t: 1.824547 -1.424356 -0.041303 q: -0.019550 0.825443 0.008096 0.564089 
time: 1403636633.013556, t: 1.877062 -1.435549 -0.041139 q: -0.024269 0.821728 0.030004 0.568572 
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time: 1403636633.713556, t: 2.271213 -1.492246 -0.110597 q: -0.047543 0.828055 0.051795 0.556221 
time: 1403636633.813555, t: 2.335752 -1.501070 -0.117111 q: -0.046891 0.827808 0.048552 0.556936 
time: 1403636633.913555, t: 2.406610 -1.508199 -0.115683 q: -0.049679 0.827020 0.042963 0.558323 
time: 1403636634.013556, t: 2.476256 -1.518503 -0.115838 q: -0.054642 0.825218 0.035752 0.561027 
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time: 1403636695.213556, t: 6.287680 -3.697922 -0.567843 q: -0.231095 0.757240 0.310287 0.526217 
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time: 1403636696.013556, t: 6.474212 -3.727512 -0.548647 q: -0.217369 0.758253 0.309555 0.531017 
optimize pose graph 
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time: 1403636696.213556, t: 6.507116 -3.728531 -0.576048 q: -0.206914 0.763210 0.314489 0.525161 
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time: 1403636696.513556, t: 6.548304 -3.711152 -0.616310 q: -0.219574 0.748790 0.303607 0.546738 
time: 1403636696.613555, t: 6.554049 -3.709360 -0.622861 q: -0.220158 0.750312 0.302529 0.545012 
time: 1403636696.713556, t: 6.556814 -3.708311 -0.623889 q: -0.220954 0.752109 0.301442 0.542811 
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time: 1403636698.013556, t: 6.284214 -3.571109 -0.513411 q: -0.162721 0.782592 0.247085 0.547741 
optimize pose graph 
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time: 1403636698.713556, t: 6.024442 -3.365159 -0.584040 q: -0.098514 0.808163 0.149476 0.561092 
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time: 1403636699.613555, t: 5.760512 -3.078609 -0.669891 q: 0.018752 0.821695 -0.089939 0.562473 
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time: 1403636700.113555, t: 5.678253 -3.059509 -0.726554 q: 0.070687 0.806975 -0.145133 0.568094 
optimize pose graph 
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time: 1403636706.113555, t: 6.513561 -5.180926 -1.682048 q: 0.154353 0.770731 -0.267296 0.557407 
time: 1403636706.213556, t: 6.582261 -5.234173 -1.685211 q: 0.161130 0.771328 -0.260757 0.557759 
time: 1403636706.313555, t: 6.647542 -5.287002 -1.695725 q: 0.170661 0.775345 -0.252587 0.553095 
time: 1403636706.413555, t: 6.712909 -5.340989 -1.713605 q: 0.177039 0.780040 -0.246659 0.547132 
time: 1403636706.513556, t: 6.777818 -5.392279 -1.733479 q: 0.180300 0.783552 -0.243530 0.542431 
time: 1403636706.613555, t: 6.844334 -5.441141 -1.745227 q: 0.181047 0.785427 -0.243068 0.539671 
time: 1403636706.713556, t: 6.913326 -5.487235 -1.752982 q: 0.181446 0.787414 -0.243835 0.536285 
time: 1403636706.813555, t: 6.984492 -5.532682 -1.752256 q: 0.179912 0.790089 -0.246463 0.531647 
time: 1403636706.913555, t: 7.056995 -5.577477 -1.750092 q: 0.179409 0.790771 -0.249128 0.529555 
time: 1403636707.013556, t: 7.133299 -5.622509 -1.740392 q: 0.181267 0.788580 -0.250660 0.531463 
time: 1403636707.113555, t: 7.211521 -5.667063 -1.732402 q: 0.184162 0.785132 -0.251421 0.535201 
time: 1403636707.213556, t: 7.290095 -5.709419 -1.724560 q: 0.186158 0.784311 -0.253882 0.534552 
time: 1403636707.313555, t: 7.370538 -5.749852 -1.713283 q: 0.188897 0.784463 -0.255580 0.532555 
time: 1403636707.413555, t: 7.456713 -5.789234 -1.692784 q: 0.189679 0.784721 -0.257737 0.530855 
time: 1403636707.513556, t: 7.543402 -5.827723 -1.665622 q: 0.189446 0.784933 -0.259199 0.529912 
time: 1403636707.613555, t: 7.635090 -5.864922 -1.633571 q: 0.186346 0.784975 -0.262234 0.529455 
time: 1403636707.713556, t: 7.726450 -5.901596 -1.609105 q: 0.176445 0.784261 -0.268900 0.530561 
time: 1403636707.913555, t: 7.914257 -5.979094 -1.595046 q: 0.170142 0.781583 -0.270824 0.535569 
time: 1403636708.013556, t: 8.010116 -6.020335 -1.602478 q: 0.171626 0.780909 -0.267029 0.537980 
time: 1403636708.113555, t: 8.104714 -6.066076 -1.617933 q: 0.174438 0.780504 -0.261647 0.540301 
time: 1403636708.213556, t: 8.201892 -6.109715 -1.640187 q: 0.174682 0.779520 -0.258402 0.543197 
time: 1403636708.313555, t: 8.295114 -6.154381 -1.665907 q: 0.167286 0.775749 -0.261708 0.549307 
time: 1403636708.413555, t: 8.386869 -6.198962 -1.690082 q: 0.155697 0.771023 -0.268630 0.555985 
time: 1403636708.513556, t: 8.475923 -6.250132 -1.707560 q: 0.150715 0.768294 -0.271502 0.559729 
time: 1403636708.613555, t: 8.560152 -6.306318 -1.718165 q: 0.156095 0.767682 -0.268061 0.560751 
time: 1403636708.713556, t: 8.638538 -6.362036 -1.729605 q: 0.170072 0.769569 -0.259790 0.557986 
time: 1403636708.813555, t: 8.711036 -6.417677 -1.743986 q: 0.184396 0.770528 -0.251567 0.555877 
time: 1403636708.913555, t: 8.780525 -6.469252 -1.762678 q: 0.191311 0.769679 -0.250252 0.555310 
time: 1403636709.013556, t: 8.848091 -6.515318 -1.777642 q: 0.195951 0.766811 -0.251098 0.557274 
time: 1403636709.113555, t: 8.914499 -6.555748 -1.786711 q: 0.200877 0.764351 -0.251797 0.558582 
time: 1403636709.213556, t: 8.976337 -6.588067 -1.788101 q: 0.202039 0.765820 -0.254970 0.554698 
time: 1403636709.313555, t: 9.039714 -6.613616 -1.783980 q: 0.201890 0.769631 -0.257343 0.548345 
time: 1403636709.413555, t: 9.098065 -6.633687 -1.781308 q: 0.202408 0.772411 -0.258055 0.543893 
time: 1403636709.513556, t: 9.162469 -6.649030 -1.783711 q: 0.202535 0.773623 -0.258195 0.542053 
time: 1403636709.613555, t: 9.222721 -6.660365 -1.793568 q: 0.201588 0.775163 -0.258686 0.539969 
time: 1403636709.713556, t: 9.287672 -6.668540 -1.805896 q: 0.201270 0.776449 -0.257626 0.538745 
time: 1403636709.813555, t: 9.353994 -6.672001 -1.817788 q: 0.200208 0.776988 -0.256197 0.539045 
time: 1403636709.913555, t: 9.422356 -6.672029 -1.824634 q: 0.199163 0.776824 -0.255340 0.540074 
time: 1403636710.013556, t: 9.494203 -6.668103 -1.825526 q: 0.197959 0.776728 -0.253992 0.541289 
time: 1403636710.113555, t: 9.567080 -6.660290 -1.821894 q: 0.197263 0.776511 -0.252178 0.542701 
time: 1403636710.213556, t: 9.640355 -6.648102 -1.826079 q: 0.196655 0.776689 -0.249661 0.543830 
time: 1403636710.313555, t: 9.717031 -6.631856 -1.838968 q: 0.188777 0.775133 -0.251602 0.547932 
optimize pose graph 
time: 1403636710.413555, t: 9.790933 -6.613781 -1.859070 q: 0.173064 0.773709 -0.255288 0.553400 
time: 1403636710.513556, t: 9.867308 -6.593363 -1.881163 q: 0.157067 0.774795 -0.253401 0.557504 
time: 1403636710.613555, t: 9.940768 -6.572715 -1.906299 q: 0.145513 0.776609 -0.246599 0.561153 
time: 1403636710.713556, t: 10.009216 -6.556992 -1.936206 q: 0.137215 0.779634 -0.234131 0.564380 
time: 1403636710.813555, t: 10.073071 -6.544251 -1.963387 q: 0.132918 0.783859 -0.215197 0.567088 
time: 1403636710.913555, t: 10.132652 -6.531254 -1.983450 q: 0.130163 0.790168 -0.192682 0.567068 
time: 1403636711.013556, t: 10.189154 -6.519349 -1.998409 q: 0.129901 0.795760 -0.171504 0.566108 
time: 1403636711.113555, t: 10.242938 -6.505879 -2.008719 q: 0.128063 0.798402 -0.157583 0.566852 
time: 1403636711.213556, t: 10.294520 -6.489006 -2.015943 q: 0.126957 0.798974 -0.148886 0.568643 
time: 1403636711.313555, t: 10.344287 -6.467887 -2.020867 q: 0.123237 0.798443 -0.145928 0.570970 
time: 1403636711.413555, t: 10.393062 -6.442242 -2.021186 q: 0.118690 0.794326 -0.147063 0.577349 
time: 1403636711.513556, t: 10.437675 -6.412270 -2.015643 q: 0.117684 0.785693 -0.147923 0.589030 
time: 1403636711.613555, t: 10.479572 -6.377349 -2.008589 q: 0.123290 0.780697 -0.146424 0.594871 
time: 1403636711.713556, t: 10.515172 -6.338426 -2.001959 q: 0.128518 0.780480 -0.145848 0.594191 
time: 1403636711.813555, t: 10.543020 -6.293772 -1.994188 q: 0.127622 0.782041 -0.149354 0.591453 
time: 1403636711.913555, t: 10.565237 -6.244207 -1.984903 q: 0.119269 0.785696 -0.157404 0.586242 
time: 1403636712.013556, t: 10.580747 -6.191908 -1.971374 q: 0.108852 0.788316 -0.166643 0.582185 
time: 1403636712.113555, t: 10.589963 -6.139868 -1.952127 q: 0.100909 0.788473 -0.173104 0.581518 
time: 1403636712.213556, t: 10.595981 -6.090887 -1.928795 q: 0.101701 0.788775 -0.168888 0.582210 
time: 1403636712.313555, t: 10.600564 -6.042972 -1.899355 q: 0.105662 0.790923 -0.152774 0.583041 
time: 1403636712.413555, t: 10.599636 -5.992952 -1.865678 q: 0.105937 0.792917 -0.135619 0.584523 
optimize pose graph 
time: 1403636712.513556, t: 10.594632 -5.940236 -1.828290 q: 0.103057 0.793504 -0.121769 0.587285 
time: 1403636712.613555, t: 10.586090 -5.883890 -1.789724 q: 0.096456 0.792463 -0.112832 0.591580 
time: 1403636712.713556, t: 10.571262 -5.824707 -1.756220 q: 0.087874 0.789246 -0.107609 0.598154 
time: 1403636712.813555, t: 10.550334 -5.764682 -1.729165 q: 0.081450 0.789427 -0.103665 0.599520 
time: 1403636712.913555, t: 10.524374 -5.703162 -1.706233 q: 0.078025 0.792653 -0.101610 0.596060 
time: 1403636713.013556, t: 10.493931 -5.640821 -1.689619 q: 0.079043 0.796033 -0.099290 0.591798 
time: 1403636713.113555, t: 10.458137 -5.575923 -1.670775 q: 0.075527 0.795681 -0.100015 0.592609 
time: 1403636713.213556, t: 10.416983 -5.510338 -1.645311 q: 0.072519 0.797464 -0.100698 0.590468 
time: 1403636713.313555, t: 10.372758 -5.445783 -1.613876 q: 0.071873 0.799794 -0.101086 0.587320 
time: 1403636713.413555, t: 10.327825 -5.381846 -1.573898 q: 0.069781 0.801216 -0.103011 0.585296 
time: 1403636713.513556, t: 10.278378 -5.317766 -1.529172 q: 0.066873 0.801962 -0.105933 0.584092 
time: 1403636713.613555, t: 10.228576 -5.256401 -1.485266 q: 0.062271 0.802818 -0.110934 0.582494 
time: 1403636713.713556, t: 10.174808 -5.196493 -1.447762 q: 0.057949 0.804000 -0.115956 0.580328 
time: 1403636713.813555, t: 10.120187 -5.141350 -1.417150 q: 0.054765 0.804646 -0.120454 0.578824 
time: 1403636713.913555, t: 10.063143 -5.090178 -1.390652 q: 0.057445 0.805022 -0.121126 0.577900 
time: 1403636714.013556, t: 10.004427 -5.044660 -1.370073 q: 0.061827 0.806025 -0.120535 0.576170 
time: 1403636714.113555, t: 9.944706 -5.001321 -1.354570 q: 0.068619 0.806041 -0.118819 0.575736 
time: 1403636714.213556, t: 9.883919 -4.959913 -1.342150 q: 0.071424 0.805007 -0.119685 0.576661 
time: 1403636714.313555, t: 9.823089 -4.919509 -1.335593 q: 0.068740 0.803566 -0.124079 0.578067 
time: 1403636714.413555, t: 9.761611 -4.881333 -1.330213 q: 0.069096 0.806155 -0.126193 0.573948 
time: 1403636714.513556, t: 9.699402 -4.847819 -1.333488 q: 0.066330 0.811782 -0.124151 0.566742 
optimize pose graph 
time: 1403636714.613555, t: 9.637844 -4.815611 -1.339366 q: 0.058797 0.817102 -0.117308 0.561362 
time: 1403636714.713556, t: 9.580232 -4.788524 -1.345356 q: 0.050644 0.821159 -0.103125 0.559015 
time: 1403636714.813555, t: 9.525953 -4.761116 -1.343108 q: 0.041909 0.824094 -0.081965 0.558923 
time: 1403636714.913555, t: 9.476359 -4.735115 -1.331528 q: 0.032552 0.825866 -0.057026 0.560030 
time: 1403636715.013556, t: 9.431781 -4.710948 -1.311851 q: 0.020828 0.827765 -0.034764 0.559609 
time: 1403636715.113555, t: 9.392266 -4.688967 -1.285893 q: 0.012737 0.829314 -0.016226 0.558403 
time: 1403636715.213556, t: 9.357235 -4.666277 -1.257728 q: 0.005995 0.829814 -0.004600 0.557989 
time: 1403636715.313555, t: 9.326979 -4.643837 -1.233059 q: -0.000874 0.828080 0.000917 0.560609 
time: 1403636715.413555, t: 9.302794 -4.622005 -1.215266 q: -0.007353 0.825022 0.001934 0.565049 
time: 1403636715.513556, t: 9.279660 -4.601112 -1.204556 q: -0.016725 0.821090 -0.002467 0.570549 
time: 1403636715.613555, t: 9.257203 -4.584588 -1.201657 q: -0.026511 0.819214 -0.009068 0.572803 
time: 1403636715.713556, t: 9.236312 -4.573869 -1.201704 q: -0.021408 0.813232 -0.007060 0.581503 
time: 1403636715.813555, t: 9.214663 -4.566402 -1.203381 q: -0.012086 0.807256 -0.003293 0.590069 
time: 1403636716.013556, t: 9.160154 -4.557130 -1.190888 q: -0.002868 0.799741 -0.002102 0.600335 
time: 1403636716.113555, t: 9.124094 -4.553186 -1.179545 q: -0.002810 0.800809 -0.005202 0.598890 
time: 1403636716.213556, t: 9.082937 -4.549687 -1.164100 q: -0.004124 0.807746 -0.009841 0.589434 
time: 1403636716.313555, t: 9.037389 -4.546448 -1.148994 q: -0.002622 0.812359 -0.013297 0.583000 
time: 1403636716.413555, t: 8.991388 -4.546160 -1.140400 q: -0.001395 0.814233 -0.016244 0.580309 
time: 1403636716.513556, t: 8.944388 -4.545915 -1.137789 q: 0.000666 0.814649 -0.018080 0.579673 
time: 1403636716.613555, t: 8.898587 -4.545966 -1.142971 q: 0.002374 0.814306 -0.014604 0.580247 
time: 1403636716.713556, t: 8.851685 -4.544918 -1.151032 q: -0.001337 0.814056 -0.007377 0.580737 
optimize pose graph 
time: 1403636716.813555, t: 8.803993 -4.542611 -1.163809 q: -0.009252 0.813726 0.002732 0.581169 
time: 1403636716.913555, t: 8.755650 -4.539829 -1.178512 q: -0.020654 0.813785 0.016878 0.580554 
time: 1403636717.013556, t: 8.707985 -4.535315 -1.186449 q: -0.033141 0.813611 0.036183 0.579335 
time: 1403636717.113555, t: 8.658156 -4.531161 -1.186717 q: -0.045672 0.812902 0.056237 0.577877 
time: 1403636717.213556, t: 8.609424 -4.528070 -1.180837 q: -0.053633 0.811906 0.072496 0.576781 
time: 1403636717.313555, t: 8.559909 -4.526296 -1.174171 q: -0.053921 0.810862 0.087662 0.576117 
time: 1403636717.413555, t: 8.509842 -4.523736 -1.166718 q: -0.048300 0.808735 0.101393 0.577351 
time: 1403636717.513556, t: 8.458596 -4.517778 -1.161807 q: -0.047553 0.807962 0.107384 0.577412 
time: 1403636717.613555, t: 8.406446 -4.507329 -1.162067 q: -0.053719 0.808244 0.105703 0.576787 
time: 1403636717.713556, t: 8.353644 -4.492278 -1.169562 q: -0.056582 0.807681 0.103654 0.577673 
time: 1403636717.813555, t: 8.299742 -4.474903 -1.180310 q: -0.054810 0.807781 0.108569 0.576799 
time: 1403636717.913555, t: 8.244911 -4.450786 -1.187853 q: -0.056944 0.807142 0.117997 0.575635 
time: 1403636718.013556, t: 8.186757 -4.421425 -1.189037 q: -0.063398 0.805188 0.130551 0.574987 
time: 1403636718.113555, t: 8.127365 -4.384963 -1.181563 q: -0.077645 0.803391 0.142766 0.572845 
time: 1403636718.213556, t: 8.066751 -4.345836 -1.175964 q: -0.094869 0.801891 0.153794 0.569490 
time: 1403636718.313555, t: 8.004172 -4.306902 -1.177072 q: -0.108789 0.801013 0.162442 0.565824 
time: 1403636718.413555, t: 7.941452 -4.266412 -1.186031 q: -0.121305 0.799628 0.172546 0.562235 
time: 1403636718.513556, t: 7.879737 -4.224093 -1.199747 q: -0.135391 0.797252 0.182814 0.559139 
time: 1403636718.613555, t: 7.820489 -4.181790 -1.218421 q: -0.149064 0.795880 0.190045 0.555192 
time: 1403636718.713556, t: 7.765089 -4.140722 -1.240943 q: -0.162998 0.795848 0.193588 0.550074 
time: 1403636718.813555, t: 7.715052 -4.104438 -1.267712 q: -0.166471 0.794010 0.201216 0.548951 
optimize pose graph 
time: 1403636718.913555, t: 7.668159 -4.071609 -1.293637 q: -0.161024 0.791113 0.211879 0.550743 
time: 1403636719.013556, t: 7.623226 -4.040593 -1.313184 q: -0.156508 0.788222 0.219130 0.553348 
time: 1403636719.113555, t: 7.577906 -4.009344 -1.322672 q: -0.155636 0.784826 0.221740 0.557366 
time: 1403636719.213556, t: 7.531235 -3.978279 -1.323507 q: -0.157519 0.781021 0.220641 0.562593 
time: 1403636719.313555, t: 7.483689 -3.948050 -1.328276 q: -0.160683 0.778295 0.217307 0.566758 
time: 1403636719.413555, t: 7.434077 -3.920404 -1.337348 q: -0.162243 0.776555 0.214676 0.569696 
time: 1403636719.513556, t: 7.380935 -3.895608 -1.355617 q: -0.163511 0.776698 0.211667 0.570265 
time: 1403636719.613555, t: 7.326056 -3.873310 -1.373312 q: -0.163281 0.780670 0.209457 0.565704 
time: 1403636719.713556, t: 7.268862 -3.853616 -1.386324 q: -0.160328 0.785342 0.208133 0.560547 
time: 1403636719.813555, t: 7.211120 -3.836758 -1.390019 q: -0.158348 0.788716 0.205565 0.557311 
time: 1403636719.913555, t: 7.154528 -3.821530 -1.387281 q: -0.157242 0.790164 0.202666 0.556635 
time: 1403636720.013556, t: 7.100938 -3.806852 -1.384662 q: -0.155225 0.791899 0.201059 0.555317 
time: 1403636720.113555, t: 7.049226 -3.792883 -1.388510 q: -0.154381 0.792659 0.200362 0.554719 
time: 1403636720.213556, t: 6.999629 -3.780137 -1.397181 q: -0.154490 0.793596 0.199754 0.553568 
time: 1403636720.313555, t: 6.952448 -3.768724 -1.409709 q: -0.155511 0.793530 0.199357 0.553519 
time: 1403636720.413555, t: 6.906301 -3.757572 -1.425622 q: -0.156136 0.793383 0.200001 0.553321 
time: 1403636720.513556, t: 6.860263 -3.749810 -1.440926 q: -0.157819 0.793841 0.200461 0.552018 
time: 1403636720.613555, t: 6.818004 -3.742457 -1.450708 q: -0.158149 0.793957 0.201881 0.551240 
time: 1403636720.713556, t: 6.777450 -3.738201 -1.453523 q: -0.159408 0.793029 0.202064 0.552146 
time: 1403636720.813555, t: 6.740265 -3.734740 -1.448787 q: -0.156866 0.794463 0.198215 0.552206 
time: 1403636720.913555, t: 6.707320 -3.733640 -1.444726 q: -0.149401 0.796687 0.190447 0.553804 
time: 1403636721.013556, t: 6.675602 -3.733802 -1.447046 q: -0.143656 0.797991 0.178770 0.557327 
optimize pose graph 
time: 1403636721.113555, t: 6.645170 -3.736230 -1.455521 q: -0.137317 0.799178 0.165568 0.561289 
time: 1403636721.213556, t: 6.614596 -3.740148 -1.466813 q: -0.127797 0.800130 0.150998 0.566269 
time: 1403636721.313555, t: 6.585754 -3.746170 -1.471188 q: -0.120304 0.800813 0.138581 0.570107 
time: 1403636721.413555, t: 6.556956 -3.754393 -1.472903 q: -0.112465 0.801633 0.129672 0.572644 
time: 1403636721.513556, t: 6.526367 -3.764423 -1.466851 q: -0.105304 0.803485 0.122755 0.572934 
time: 1403636721.613555, t: 6.495768 -3.776528 -1.464147 q: -0.096458 0.805829 0.114987 0.572812 
time: 1403636721.713556, t: 6.464826 -3.789103 -1.466208 q: -0.089430 0.806983 0.109549 0.573393 
time: 1403636721.813555, t: 6.432654 -3.802233 -1.473482 q: -0.084561 0.807582 0.106768 0.573813 
time: 1403636721.913555, t: 6.400518 -3.814588 -1.484723 q: -0.083688 0.807377 0.104982 0.574558 
time: 1403636722.013556, t: 6.368253 -3.826322 -1.496782 q: -0.078406 0.806760 0.108740 0.575470 
time: 1403636722.113555, t: 6.335946 -3.836692 -1.501192 q: -0.076145 0.806582 0.112035 0.575392 
time: 1403636722.213556, t: 6.301337 -3.845260 -1.499646 q: -0.079333 0.807071 0.111702 0.574338 
time: 1403636722.313555, t: 6.266061 -3.852354 -1.492872 q: -0.083328 0.807293 0.111255 0.573547 
time: 1403636722.413555, t: 6.231744 -3.858103 -1.489825 q: -0.082973 0.807936 0.110119 0.572912 
time: 1403636722.513556, t: 6.195988 -3.865395 -1.493018 q: -0.080513 0.808076 0.105808 0.573877 
time: 1403636722.613555, t: 6.159730 -3.871758 -1.499811 q: -0.076745 0.808634 0.103378 0.574051 
time: 1403636722.713556, t: 6.122101 -3.877504 -1.509124 q: -0.073715 0.808839 0.101680 0.574462 
time: 1403636722.813555, t: 6.085602 -3.881151 -1.518444 q: -0.070512 0.809587 0.101462 0.573849 
time: 1403636722.913555, t: 6.047812 -3.883689 -1.520904 q: -0.069788 0.809811 0.100577 0.573777 
time: 1403636723.013556, t: 6.009696 -3.884741 -1.515760 q: -0.072519 0.810023 0.098873 0.573435 
time: 1403636723.113555, t: 5.972370 -3.885044 -1.504646 q: -0.075525 0.809629 0.096853 0.573948 
time: 1403636723.213556, t: 5.935052 -3.884753 -1.494742 q: -0.075853 0.809696 0.096071 0.573941 
optimize pose graph 
time: 1403636723.313555, t: 5.898815 -3.883927 -1.489735 q: -0.072343 0.809815 0.097733 0.573947 
time: 1403636723.413555, t: 5.864102 -3.882743 -1.488838 q: -0.066443 0.809728 0.095450 0.575165 
time: 1403636723.513556, t: 5.826399 -3.882295 -1.489995 q: -0.058473 0.806987 0.088053 0.581033 
time: 1403636723.613555, t: 5.788522 -3.879453 -1.486593 q: -0.057016 0.800643 0.075724 0.591596 
time: 1403636723.713556, t: 5.746897 -3.874435 -1.475755 q: -0.052767 0.802926 0.067789 0.589857 
time: 1403636723.813555, t: 5.704774 -3.869196 -1.465944 q: -0.049431 0.808979 0.060954 0.582576 
time: 1403636723.913555, t: 5.658991 -3.865139 -1.459433 q: -0.047543 0.813538 0.055603 0.576891 
time: 1403636724.013556, t: 5.612603 -3.860690 -1.457773 q: -0.044574 0.818846 0.050819 0.570019 
time: 1403636724.113555, t: 5.568123 -3.857721 -1.462287 q: -0.037856 0.823475 0.042431 0.564496 
time: 1403636724.213556, t: 5.523054 -3.855541 -1.469091 q: -0.028945 0.824871 0.030253 0.563768 
time: 1403636724.313555, t: 5.483120 -3.854033 -1.480218 q: -0.017088 0.824547 0.015685 0.565317 
time: 1403636724.413555, t: 5.446746 -3.852086 -1.490474 q: -0.005027 0.821787 0.000193 0.569772 
time: 1403636724.513556, t: 5.411389 -3.848543 -1.492677 q: 0.004929 0.818910 -0.011922 0.573778 
time: 1403636724.613555, t: 5.376692 -3.843868 -1.489543 q: 0.011789 0.817043 -0.020463 0.576092 
time: 1403636724.713556, t: 5.343618 -3.836868 -1.478646 q: 0.015704 0.816420 -0.025832 0.576666 
time: 1403636724.813555, t: 5.313137 -3.828137 -1.459224 q: 0.017418 0.817159 -0.028926 0.575422 
time: 1403636724.913555, t: 5.282580 -3.818176 -1.433493 q: 0.015391 0.818190 -0.030997 0.573906 
time: 1403636725.013556, t: 5.253120 -3.807021 -1.400474 q: 0.010072 0.818789 -0.033135 0.573049 
time: 1403636725.113555, t: 5.226397 -3.796693 -1.359179 q: 0.005555 0.818808 -0.034320 0.573013 
time: 1403636725.213556, t: 5.198523 -3.788977 -1.315719 q: 0.003862 0.819329 -0.033799 0.572313 
time: 1403636725.313555, t: 5.174004 -3.782432 -1.276687 q: 0.004979 0.819933 -0.031924 0.571546 
optimize pose graph 
time: 1403636725.413555, t: 5.149563 -3.777718 -1.243266 q: 0.007344 0.819815 -0.029754 0.571808 
time: 1403636725.513556, t: 5.126002 -3.773350 -1.215800 q: 0.009437 0.819823 -0.028234 0.571843 
time: 1403636725.613555, t: 5.103565 -3.768995 -1.194013 q: 0.011788 0.820124 -0.027131 0.571420 
time: 1403636725.713556, t: 5.082917 -3.764317 -1.176769 q: 0.011802 0.818988 -0.027639 0.573022 
time: 1403636725.813555, t: 5.063624 -3.760442 -1.166818 q: 0.011933 0.819017 -0.027278 0.572996 
time: 1403636725.913555, t: 5.044978 -3.756591 -1.162423 q: 0.009274 0.819828 -0.028392 0.571830 
time: 1403636726.013556, t: 5.027976 -3.752668 -1.162808 q: 0.007557 0.819646 -0.028552 0.572108 
time: 1403636726.113555, t: 5.011218 -3.748343 -1.168043 q: 0.008692 0.819198 -0.026574 0.572829 
time: 1403636726.213556, t: 4.995236 -3.744489 -1.176827 q: 0.008990 0.817635 -0.025006 0.575124 
time: 1403636726.313555, t: 4.979509 -3.740789 -1.186402 q: 0.009003 0.817255 -0.023252 0.575736 
time: 1403636726.413555, t: 4.965002 -3.736909 -1.189618 q: 0.008889 0.816225 -0.021509 0.577265 
time: 1403636726.613555, t: 4.938706 -3.728577 -1.174272 q: -0.008807 0.813991 -0.030208 0.580025 
time: 1403636726.713556, t: 4.922889 -3.728735 -1.158435 q: -0.016486 0.812275 -0.034505 0.582020 
time: 1403636726.813555, t: 4.906576 -3.734044 -1.133133 q: -0.009052 0.811785 -0.028378 0.583196 
time: 1403636726.913555, t: 4.888233 -3.741324 -1.103441 q: -0.002649 0.811639 -0.018889 0.583848 
time: 1403636727.013556, t: 4.866723 -3.749882 -1.068187 q: -0.001060 0.811514 -0.013270 0.584182 
time: 1403636727.113555, t: 4.841748 -3.758251 -1.028151 q: 0.001269 0.811625 -0.008629 0.584114 
time: 1403636727.213556, t: 4.820601 -3.765596 -0.997615 q: 0.005241 0.812410 -0.003931 0.583049 
time: 1403636727.313555, t: 4.795623 -3.771143 -0.971681 q: 0.009565 0.813007 0.000001 0.582176 
time: 1403636727.413555, t: 4.769105 -3.774492 -0.950093 q: 0.011071 0.814053 0.001506 0.580684 
optimize pose graph 
time: 1403636727.513556, t: 4.737589 -3.774462 -0.925226 q: 0.010299 0.813122 0.000958 0.582001 
time: 1403636727.613555, t: 4.710848 -3.771066 -0.903095 q: 0.006107 0.811408 -0.002016 0.584445 
time: 1403636727.713556, t: 4.681917 -3.765627 -0.874052 q: 0.004656 0.812148 -0.003170 0.583424 
time: 1403636727.813555, t: 4.652289 -3.758743 -0.837758 q: 0.006762 0.812786 -0.001466 0.582521 
time: 1403636727.913555, t: 4.620472 -3.748973 -0.796490 q: 0.015501 0.813059 0.003945 0.581961 
time: 1403636728.013556, t: 4.585293 -3.737653 -0.754042 q: 0.015451 0.813403 0.003740 0.581483 
time: 1403636728.113555, t: 4.553146 -3.721469 -0.725539 q: 0.010899 0.812694 0.000339 0.582589 
time: 1403636728.213556, t: 4.519514 -3.701537 -0.701173 q: 0.008065 0.811459 -0.002244 0.584349 
time: 1403636728.313555, t: 4.485076 -3.679866 -0.682761 q: 0.005922 0.811268 -0.004116 0.584631 
time: 1403636728.413555, t: 4.445438 -3.656609 -0.665047 q: 0.002785 0.811972 -0.006510 0.583653 
time: 1403636728.513556, t: 4.408707 -3.633188 -0.661104 q: -0.008651 0.811916 -0.014936 0.583519 
time: 1403636728.613555, t: 4.370561 -3.611844 -0.659586 q: -0.015043 0.811926 -0.016488 0.583333 
time: 1403636728.713556, t: 4.330430 -3.592545 -0.653374 q: -0.012229 0.812339 -0.004490 0.583040 
time: 1403636728.813555, t: 4.290982 -3.573848 -0.645984 q: -0.012824 0.812434 0.012549 0.582777 
time: 1403636728.913555, t: 4.250270 -3.552901 -0.626803 q: -0.016724 0.811253 0.027816 0.583794 
time: 1403636729.013556, t: 4.207706 -3.532672 -0.612685 q: -0.022273 0.809483 0.038280 0.585471 
time: 1403636729.113555, t: 4.162677 -3.511569 -0.603582 q: -0.026635 0.807482 0.046164 0.587479 
time: 1403636729.213556, t: 4.117345 -3.490543 -0.600318 q: -0.029710 0.808617 0.050919 0.585375 
time: 1403636729.313555, t: 4.070277 -3.468796 -0.602216 q: -0.033493 0.809298 0.052757 0.584065 
time: 1403636729.413555, t: 4.020295 -3.446160 -0.606363 q: -0.035129 0.808752 0.053912 0.584619 
time: 1403636729.513556, t: 3.968269 -3.423130 -0.606848 q: -0.035815 0.808574 0.054414 0.584777 
time: 1403636729.613555, t: 3.914539 -3.399477 -0.600780 q: -0.036572 0.809386 0.054540 0.583594 
optimize pose graph 
time: 1403636729.713556, t: 3.859283 -3.375469 -0.587515 q: -0.038001 0.809637 0.053621 0.583240 
time: 1403636729.813555, t: 3.807634 -3.350548 -0.575043 q: -0.037079 0.812037 0.052948 0.580015 
time: 1403636729.913555, t: 3.751276 -3.325716 -0.565785 q: -0.037571 0.814726 0.051667 0.576316 
time: 1403636730.013556, t: 3.695504 -3.301304 -0.560674 q: -0.037083 0.816653 0.051616 0.573620 
time: 1403636730.113555, t: 3.645109 -3.276246 -0.559783 q: -0.037593 0.817517 0.051978 0.572320 
time: 1403636730.213556, t: 3.591627 -3.250143 -0.563957 q: -0.037807 0.818088 0.051964 0.571491 
time: 1403636730.313555, t: 3.544049 -3.225833 -0.571735 q: -0.039753 0.817867 0.051278 0.571737 
time: 1403636730.413555, t: 3.493042 -3.200750 -0.582268 q: -0.039599 0.818805 0.052207 0.570320 
time: 1403636730.513556, t: 3.445077 -3.175794 -0.588970 q: -0.038881 0.822994 0.053344 0.564202 
time: 1403636730.613555, t: 3.405862 -3.151880 -0.587416 q: -0.040055 0.827071 0.053014 0.558157 
time: 1403636730.713556, t: 3.371419 -3.126728 -0.577268 q: -0.040869 0.828539 0.052903 0.555926 
time: 1403636730.813555, t: 3.341788 -3.100276 -0.559053 q: -0.040098 0.829361 0.053622 0.554686 
time: 1403636730.913555, t: 3.313139 -3.074002 -0.538118 q: -0.044644 0.830372 0.049953 0.553167 
time: 1403636731.013556, t: 3.289696 -3.048479 -0.520118 q: -0.053222 0.829207 0.043131 0.554727 
time: 1403636731.113555, t: 3.270894 -3.026198 -0.506489 q: -0.062483 0.822630 0.035413 0.564022 
time: 1403636731.213556, t: 3.256047 -3.009258 -0.497270 q: -0.062719 0.817462 0.034252 0.571532 
time: 1403636731.313555, t: 3.243713 -2.998029 -0.494013 q: -0.054466 0.814228 0.038817 0.576679 
time: 1403636731.413555, t: 3.230675 -2.988789 -0.494089 q: -0.046125 0.814198 0.043885 0.577085 
time: 1403636731.513556, t: 3.217493 -2.981714 -0.498609 q: -0.045652 0.814314 0.043883 0.576960 
time: 1403636731.613555, t: 3.203484 -2.976655 -0.506220 q: -0.051943 0.814693 0.039704 0.576196 
time: 1403636731.713556, t: 3.189395 -2.975064 -0.517596 q: -0.053674 0.814753 0.038459 0.576037 
time: 1403636731.813555, t: 3.175212 -2.976231 -0.532924 q: -0.049401 0.814815 0.041572 0.576115 
time: 1403636731.913555, t: 3.161400 -2.979367 -0.551308 q: -0.046312 0.814548 0.044659 0.576518 
time: 1403636732.013556, t: 3.147599 -2.983660 -0.573197 q: -0.045991 0.813871 0.045653 0.577420 
time: 1403636732.113555, t: 3.133152 -2.989477 -0.599523 q: -0.046210 0.812872 0.046218 0.578764 
time: 1403636732.213556, t: 3.119060 -2.996909 -0.628307 q: -0.045587 0.811770 0.047567 0.580249 
time: 1403636732.313555, t: 3.101697 -3.004428 -0.651891 q: -0.045516 0.810649 0.048640 0.581730 
time: 1403636732.413555, t: 3.083399 -3.012417 -0.667413 q: -0.039632 0.809730 0.052936 0.583065 
time: 1403636732.513556, t: 3.063787 -3.018452 -0.674166 q: -0.026630 0.805776 0.062448 0.588316 
time: 1403636732.613555, t: 3.039192 -3.021786 -0.673436 q: -0.017794 0.801465 0.069345 0.593741 
time: 1403636732.713556, t: 3.008922 -3.020048 -0.667330 q: -0.022468 0.799112 0.067133 0.596999 
time: 1403636732.813555, t: 2.973744 -3.012593 -0.656103 q: -0.031496 0.799003 0.061860 0.597307 
time: 1403636732.913555, t: 2.935627 -3.002926 -0.647458 q: -0.034465 0.799657 0.060165 0.596440 
time: 1403636733.013556, t: 2.889740 -2.991322 -0.643763 q: -0.035899 0.802732 0.059994 0.592227 
time: 1403636733.113555, t: 2.842982 -2.979194 -0.643378 q: -0.036299 0.806650 0.060363 0.586817 
time: 1403636733.213556, t: 2.791175 -2.964643 -0.632840 q: -0.033889 0.807386 0.062619 0.585711 
time: 1403636733.313555, t: 2.739725 -2.947418 -0.618809 q: -0.035169 0.808124 0.062836 0.584594 
time: 1403636733.413555, t: 2.683694 -2.928849 -0.597156 q: -0.038630 0.810996 0.061723 0.580503 
time: 1403636733.513556, t: 2.629426 -2.907938 -0.570268 q: -0.041035 0.813401 0.060193 0.577124 
time: 1403636733.613555, t: 2.578449 -2.886343 -0.546011 q: -0.041148 0.815073 0.060547 0.574715 
time: 1403636733.713556, t: 2.523157 -2.864223 -0.526763 q: -0.042381 0.816515 0.060000 0.572631 
time: 1403636733.813555, t: 2.471337 -2.840514 -0.513383 q: -0.042141 0.817830 0.060532 0.570714 
time: 1403636733.913555, t: 2.418699 -2.818054 -0.506376 q: -0.040974 0.817584 0.061701 0.571026 
time: 1403636734.013556, t: 2.367528 -2.794468 -0.502228 q: -0.037486 0.814229 0.064092 0.575776 
time: 1403636734.113555, t: 2.317105 -2.768634 -0.500399 q: -0.038188 0.811722 0.062225 0.579463 
time: 1403636734.213556, t: 2.264147 -2.741901 -0.495285 q: -0.039867 0.811281 0.061049 0.580092 
time: 1403636734.313555, t: 2.212128 -2.714114 -0.483676 q: -0.043025 0.811650 0.059963 0.579463 
time: 1403636734.413555, t: 2.158868 -2.686412 -0.466363 q: -0.045685 0.813432 0.059203 0.576832 
time: 1403636734.513556, t: 2.106107 -2.659487 -0.444548 q: -0.046846 0.815407 0.059701 0.573892 
time: 1403636734.613555, t: 2.058443 -2.631139 -0.426160 q: -0.047702 0.817888 0.060108 0.570237 
time: 1403636734.713556, t: 2.008584 -2.603562 -0.415583 q: -0.046744 0.819281 0.062032 0.568107 
time: 1403636734.813555, t: 1.961507 -2.577031 -0.410789 q: -0.046644 0.819603 0.063515 0.567487 
time: 1403636734.913555, t: 1.915262 -2.551126 -0.412251 q: -0.048065 0.819752 0.064224 0.567073 
time: 1403636735.013556, t: 1.872293 -2.524685 -0.416790 q: -0.048062 0.819718 0.064815 0.567056 
time: 1403636735.113555, t: 1.834928 -2.497132 -0.424945 q: -0.049263 0.819460 0.063783 0.567442 
time: 1403636735.213556, t: 1.794787 -2.472363 -0.428878 q: -0.050795 0.820178 0.062221 0.566442 
time: 1403636735.313555, t: 1.758941 -2.447262 -0.424898 q: -0.052295 0.821866 0.059642 0.564132 
time: 1403636735.413555, t: 1.727905 -2.423547 -0.408640 q: -0.051773 0.821776 0.057506 0.564533 
time: 1403636735.513556, t: 1.697845 -2.400804 -0.384384 q: -0.050191 0.820778 0.054510 0.566421 
time: 1403636735.613555, t: 1.670113 -2.379912 -0.354557 q: -0.047363 0.819384 0.052552 0.568863 
time: 1403636735.713556, t: 1.644591 -2.359942 -0.327248 q: -0.045461 0.819775 0.050170 0.568670 
optimize pose graph 
time: 1403636735.813555, t: 1.619442 -2.339721 -0.305838 q: -0.043902 0.819986 0.048660 0.568619 
time: 1403636735.913555, t: 1.599190 -2.319778 -0.289560 q: -0.043325 0.819360 0.048152 0.569609 
time: 1403636736.013556, t: 1.580233 -2.300881 -0.277747 q: -0.042821 0.818532 0.050253 0.570654 
time: 1403636736.113555, t: 1.562427 -2.281383 -0.261412 q: -0.047611 0.816379 0.056618 0.572759 
time: 1403636736.213556, t: 1.544077 -2.261749 -0.237611 q: -0.055462 0.813265 0.066658 0.575396 
time: 1403636736.313555, t: 1.526159 -2.242476 -0.212867 q: -0.061599 0.811479 0.076987 0.576004 
time: 1403636736.413555, t: 1.510751 -2.223847 -0.192168 q: -0.065469 0.810475 0.085600 0.575775 
time: 1403636736.513556, t: 1.494879 -2.204388 -0.176715 q: -0.062371 0.808645 0.095596 0.577118 
time: 1403636736.613555, t: 1.478776 -2.183610 -0.168217 q: -0.058833 0.807059 0.103554 0.578335 
time: 1403636736.713556, t: 1.458522 -2.162126 -0.163195 q: -0.058670 0.805731 0.106980 0.579578 
time: 1403636736.813555, t: 1.438627 -2.136910 -0.162790 q: -0.058548 0.805314 0.109576 0.579685 
time: 1403636736.913555, t: 1.414291 -2.109961 -0.164505 q: -0.060345 0.805546 0.110721 0.578960 
time: 1403636737.013556, t: 1.389259 -2.079855 -0.168798 q: -0.066662 0.806011 0.109013 0.577944 
time: 1403636737.113555, t: 1.363118 -2.047871 -0.176315 q: -0.074822 0.805608 0.106685 0.577941 
time: 1403636737.213556, t: 1.334409 -2.015631 -0.187434 q: -0.078649 0.805787 0.107360 0.577058 
time: 1403636737.313555, t: 1.306319 -1.982908 -0.201865 q: -0.081555 0.807421 0.108363 0.574176 
time: 1403636737.413555, t: 1.274874 -1.952998 -0.211973 q: -0.083642 0.809523 0.110106 0.570573 
time: 1403636737.513556, t: 1.249608 -1.922962 -0.213541 q: -0.083639 0.811736 0.112570 0.566936 
time: 1403636737.613555, t: 1.222303 -1.892597 -0.208171 q: -0.087456 0.813070 0.111317 0.564692 
time: 1403636737.713556, t: 1.200491 -1.864912 -0.195610 q: -0.093378 0.815222 0.108019 0.561272 
time: 1403636737.813555, t: 1.177187 -1.838260 -0.176933 q: -0.097445 0.816277 0.105002 0.559617 
time: 1403636737.913555, t: 1.161754 -1.816316 -0.150299 q: -0.098731 0.816651 0.103413 0.559141 
optimize pose graph 
time: 1403636738.013556, t: 1.145942 -1.798243 -0.117204 q: -0.098432 0.816325 0.102285 0.559878 
time: 1403636738.113555, t: 1.134124 -1.783244 -0.079287 q: -0.094266 0.815654 0.103496 0.561347 
time: 1403636738.213556, t: 1.125767 -1.769988 -0.045606 q: -0.091066 0.814331 0.103754 0.563744 
time: 1403636738.313555, t: 1.122884 -1.758883 -0.018933 q: -0.089213 0.814484 0.103028 0.563952 
time: 1403636738.413555, t: 1.116695 -1.749850 0.002120 q: -0.088205 0.815057 0.101452 0.563569 
time: 1403636738.513556, t: 1.114257 -1.741619 0.016320 q: -0.084776 0.816519 0.097131 0.562740 
time: 1403636738.613555, t: 1.118276 -1.736272 0.021660 q: -0.079045 0.819747 0.086988 0.560535 
time: 1403636738.713556, t: 1.119823 -1.733213 0.023443 q: -0.070644 0.821199 0.071355 0.561739 
time: 1403636738.813555, t: 1.126963 -1.731543 0.018583 q: -0.061084 0.819816 0.050936 0.567076 
time: 1403636738.913555, t: 1.133356 -1.733177 0.008258 q: -0.050941 0.818348 0.027361 0.571806 
time: 1403636739.113555, t: 1.147724 -1.750202 -0.027015 q: -0.025918 0.817185 -0.024348 0.575277 
time: 1403636739.213556, t: 1.154850 -1.767682 -0.050851 q: -0.002845 0.816662 -0.044698 0.575375 
time: 1403636739.313555, t: 1.161390 -1.790589 -0.078598 q: 0.022870 0.815401 -0.063311 0.574969 
time: 1403636739.413555, t: 1.166039 -1.815358 -0.106064 q: 0.047822 0.813848 -0.081052 0.573406 
time: 1403636739.513556, t: 1.167847 -1.841709 -0.125027 q: 0.065968 0.811861 -0.101074 0.571239 
time: 1403636739.613555, t: 1.170761 -1.865642 -0.135121 q: 0.074853 0.808667 -0.120635 0.570878 
time: 1403636739.713556, t: 1.174511 -1.887704 -0.139380 q: 0.082660 0.807165 -0.132280 0.569345 
time: 1403636739.813555, t: 1.179749 -1.908204 -0.145549 q: 0.083424 0.805713 -0.141771 0.569007 
time: 1403636739.913555, t: 1.185800 -1.929537 -0.157577 q: 0.084940 0.805385 -0.145652 0.568266 
time: 1403636740.013556, t: 1.190618 -1.950366 -0.174483 q: 0.086969 0.805611 -0.145566 0.567661 
time: 1403636740.113555, t: 1.193629 -1.972376 -0.196425 q: 0.090272 0.806012 -0.141705 0.567553 
optimize pose graph 
time: 1403636740.213556, t: 1.196639 -1.993905 -0.221194 q: 0.095988 0.806401 -0.135044 0.567685 
time: 1403636740.313555, t: 1.198602 -2.012964 -0.249230 q: 0.096857 0.805818 -0.131467 0.569204 
time: 1403636740.413555, t: 1.198013 -2.030020 -0.280794 q: 0.090513 0.804905 -0.132501 0.571296 
time: 1403636740.513556, t: 1.200583 -2.046183 -0.316499 q: 0.084907 0.803985 -0.133363 0.573247 
time: 1403636740.613555, t: 1.200812 -2.062114 -0.347851 q: 0.083179 0.803669 -0.131612 0.574347 
time: 1403636740.713556, t: 1.199184 -2.078346 -0.373449 q: 0.079253 0.805633 -0.132073 0.572041 
time: 1403636740.813555, t: 1.193884 -2.096185 -0.393384 q: 0.078019 0.807663 -0.130483 0.569708 
time: 1403636740.913555, t: 1.191914 -2.112932 -0.418490 q: 0.079776 0.806750 -0.127531 0.571425 
time: 1403636741.013556, t: 1.187544 -2.129485 -0.447171 q: 0.089728 0.805808 -0.119587 0.572993 
time: 1403636741.213556, t: 1.177532 -2.154790 -0.528323 q: 0.100802 0.800797 -0.125578 0.576882 
time: 1403636741.313555, t: 1.169638 -2.161129 -0.577978 q: 0.096040 0.799483 -0.137710 0.576749 
time: 1403636741.413555, t: 1.159054 -2.166167 -0.627182 q: 0.092480 0.802905 -0.147481 0.570122 
time: 1403636741.513556, t: 1.148314 -2.170359 -0.672377 q: 0.092190 0.808907 -0.153137 0.560107 
time: 1403636741.613555, t: 1.137073 -2.176886 -0.710059 q: 0.091501 0.812786 -0.156808 0.553550 
time: 1403636741.713556, t: 1.128731 -2.186052 -0.739599 q: 0.092837 0.813477 -0.156743 0.552330 
time: 1403636741.813555, t: 1.124692 -2.199099 -0.762969 q: 0.095815 0.811040 -0.153457 0.556313 
time: 1403636741.913555, t: 1.122423 -2.211858 -0.785786 q: 0.100500 0.809246 -0.147611 0.559671 
time: 1403636742.013556, t: 1.122054 -2.223265 -0.816813 q: 0.106695 0.810098 -0.139638 0.559337 
time: 1403636742.113555, t: 1.123528 -2.231822 -0.850408 q: 0.104152 0.814943 -0.137232 0.553343 
time: 1403636742.213556, t: 1.129064 -2.240827 -0.881010 q: 0.097258 0.817703 -0.138431 0.550218 
optimize pose graph 
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time: 1403636742.413555, t: 1.146886 -2.255348 -0.915063 q: 0.087836 0.812273 -0.138159 0.559830 
time: 1403636742.513556, t: 1.159849 -2.263419 -0.922558 q: 0.086631 0.809716 -0.136619 0.564084 
time: 1403636742.613555, t: 1.174430 -2.272019 -0.926944 q: 0.086146 0.808113 -0.134782 0.566892 
time: 1403636742.713556, t: 1.188600 -2.281665 -0.933865 q: 0.085547 0.805225 -0.133254 0.571435 
time: 1403636742.813555, t: 1.201139 -2.290073 -0.950494 q: 0.085074 0.803319 -0.131882 0.574498 
time: 1403636742.913555, t: 1.211620 -2.297780 -0.973036 q: 0.082912 0.802319 -0.131623 0.576269 
time: 1403636743.113555, t: 1.226437 -2.314368 -1.040376 q: 0.084566 0.810350 -0.142607 0.562000 
time: 1403636743.213556, t: 1.233802 -2.324854 -1.076989 q: 0.084654 0.820350 -0.149886 0.545338 
time: 1403636743.313555, t: 1.245730 -2.337985 -1.103526 q: 0.085907 0.826469 -0.154546 0.534495 
time: 1403636743.413555, t: 1.265677 -2.354665 -1.120530 q: 0.084996 0.826981 -0.158631 0.532648 
time: 1403636743.513556, t: 1.294209 -2.376062 -1.132525 q: 0.087001 0.822893 -0.159150 0.538469 
time: 1403636743.613555, t: 1.327385 -2.398945 -1.150289 q: 0.091390 0.817412 -0.156848 0.546702 
time: 1403636743.713556, t: 1.365535 -2.423421 -1.174303 q: 0.096431 0.812873 -0.153774 0.553437 
time: 1403636743.813555, t: 1.407801 -2.450594 -1.204197 q: 0.101743 0.807596 -0.155979 0.559561 
time: 1403636743.913555, t: 1.447882 -2.474907 -1.239920 q: 0.105300 0.802693 -0.161472 0.564379 
time: 1403636744.013556, t: 1.491011 -2.500863 -1.282793 q: 0.108980 0.799522 -0.164564 0.567279 
time: 1403636744.113555, t: 1.532149 -2.525978 -1.331616 q: 0.115672 0.797107 -0.169238 0.567978 
time: 1403636744.213556, t: 1.570776 -2.547669 -1.384894 q: 0.119087 0.794035 -0.176690 0.569305 
time: 1403636744.313555, t: 1.605561 -2.567704 -1.444439 q: 0.119229 0.791132 -0.183581 0.571132 
time: 1403636744.413555, t: 1.640490 -2.586704 -1.509948 q: 0.115665 0.789408 -0.190119 0.572112 
time: 1403636744.513556, t: 1.672678 -2.604736 -1.578846 q: 0.108064 0.787614 -0.196492 0.573913 
time: 1403636744.613555, t: 1.700777 -2.625576 -1.653318 q: 0.104069 0.785134 -0.198350 0.577401 
time: 1403636744.713556, t: 1.726043 -2.648906 -1.729375 q: 0.105803 0.783291 -0.196355 0.580264 
time: 1403636744.813555, t: 1.745203 -2.672995 -1.805115 q: 0.113853 0.784264 -0.190757 0.579293 
time: 1403636744.913555, t: 1.758273 -2.699018 -1.873289 q: 0.118756 0.788637 -0.186749 0.573649 
time: 1403636745.013556, t: 1.770535 -2.721808 -1.933527 q: 0.117951 0.793463 -0.185073 0.567673 
time: 1403636745.113555, t: 1.781193 -2.745482 -1.985044 q: 0.115162 0.799052 -0.182928 0.561062 
time: 1403636745.213556, t: 1.794040 -2.769042 -2.030152 q: 0.111485 0.801225 -0.180396 0.559523 
time: 1403636745.313555, t: 1.808179 -2.792825 -2.070379 q: 0.109942 0.802336 -0.175475 0.559803 
time: 1403636745.413555, t: 1.824685 -2.816224 -2.099696 q: 0.110813 0.797979 -0.169592 0.567616 
time: 1403636745.513556, t: 1.840450 -2.839595 -2.119895 q: 0.112220 0.794185 -0.167252 0.573327 
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time: 1403636745.713556, t: 1.870119 -2.880827 -2.140422 q: 0.117869 0.790853 -0.172280 0.575307 
time: 1403636745.813555, t: 1.882418 -2.897400 -2.140071 q: 0.124135 0.790915 -0.175614 0.572891 
time: 1403636745.913555, t: 1.896601 -2.912273 -2.132629 q: 0.131695 0.790417 -0.178822 0.570894 
time: 1403636746.013556, t: 1.904272 -2.921696 -2.118825 q: 0.140898 0.790255 -0.180727 0.568315 
time: 1403636746.113555, t: 1.913437 -2.926815 -2.099995 q: 0.148508 0.790913 -0.182224 0.564975 
time: 1403636746.213556, t: 1.922125 -2.926616 -2.073804 q: 0.152629 0.788892 -0.183797 0.566192 
time: 1403636746.313555, t: 1.930605 -2.919178 -2.043565 q: 0.156074 0.780795 -0.184281 0.576230 
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time: 1403636746.513556, t: 1.942724 -2.885419 -2.004694 q: 0.149963 0.779578 -0.188587 0.578104 
time: 1403636746.613555, t: 1.944825 -2.859932 -2.000510 q: 0.139261 0.791362 -0.193202 0.563050 
time: 1403636746.713556, t: 1.947555 -2.832534 -2.002098 q: 0.124347 0.803509 -0.199358 0.546961 
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time: 1403636747.013556, t: 1.976635 -2.772996 -2.010496 q: 0.104019 0.805380 -0.202871 0.547162 
time: 1403636747.113555, t: 1.992911 -2.764121 -1.998415 q: 0.114432 0.802350 -0.194283 0.552625 
time: 1403636747.213556, t: 2.012024 -2.757824 -1.978354 q: 0.123634 0.798729 -0.188117 0.557996 
time: 1403636747.313555, t: 2.034304 -2.751157 -1.950349 q: 0.130218 0.796973 -0.184659 0.560160 
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time: 1403636747.513556, t: 2.077903 -2.730993 -1.893935 q: 0.134234 0.795795 -0.187207 0.560041 
time: 1403636747.613555, t: 2.098854 -2.718078 -1.873165 q: 0.133712 0.796478 -0.190285 0.558154 
time: 1403636747.713556, t: 2.123087 -2.703141 -1.849374 q: 0.134690 0.796498 -0.192785 0.557031 
time: 1403636747.813555, t: 2.148097 -2.687230 -1.818523 q: 0.135773 0.796533 -0.195223 0.555868 
time: 1403636747.913555, t: 2.176107 -2.670571 -1.779576 q: 0.130298 0.794143 -0.202218 0.558092 
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time: 1403636748.213556, t: 2.249872 -2.633485 -1.676020 q: 0.112645 0.787907 -0.222373 0.563085 
time: 1403636748.313555, t: 2.272767 -2.628526 -1.653632 q: 0.124023 0.790767 -0.215085 0.559504 
time: 1403636748.413555, t: 2.295289 -2.625485 -1.635352 q: 0.136618 0.793058 -0.205780 0.556821 
time: 1403636748.513556, t: 2.317568 -2.622811 -1.614773 q: 0.141584 0.792778 -0.201672 0.557481 
time: 1403636748.613555, t: 2.338367 -2.617658 -1.590868 q: 0.138851 0.791392 -0.203964 0.559300 
time: 1403636748.713556, t: 2.362717 -2.613285 -1.560177 q: 0.131870 0.789006 -0.209742 0.562217 
time: 1403636748.813555, t: 2.386227 -2.609558 -1.532572 q: 0.125597 0.787311 -0.215725 0.563764 
time: 1403636748.913555, t: 2.407669 -2.607090 -1.512069 q: 0.123329 0.785372 -0.220300 0.565198 
time: 1403636749.013556, t: 2.426181 -2.608545 -1.493338 q: 0.123802 0.783909 -0.224061 0.565647 
time: 1403636749.113555, t: 2.444524 -2.611640 -1.480229 q: 0.119417 0.781450 -0.230287 0.567488 
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time: 1403636749.413555, t: 2.470893 -2.646162 -1.420649 q: 0.141471 0.782561 -0.221560 0.564355 
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time: 1403636749.613555, t: 2.479295 -2.674083 -1.357574 q: 0.156810 0.785328 -0.210173 0.560802 
time: 1403636749.713556, t: 2.483689 -2.684708 -1.330380 q: 0.156780 0.785160 -0.208602 0.561631 
time: 1403636749.813555, t: 2.489258 -2.694226 -1.309817 q: 0.154694 0.781265 -0.207343 0.568070 
time: 1403636749.913555, t: 2.493752 -2.699176 -1.295532 q: 0.152148 0.776912 -0.206108 0.575134 
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time: 1403636750.513556, t: 2.449233 -2.659684 -1.199309 q: 0.135380 0.787445 -0.194704 0.568941 
time: 1403636750.713556, t: 2.420370 -2.632650 -1.105496 q: 0.133026 0.790553 -0.188308 0.567335 
time: 1403636750.813555, t: 2.403955 -2.616035 -1.049958 q: 0.132387 0.792324 -0.186149 0.565725 
time: 1403636750.913555, t: 2.387252 -2.598419 -0.987442 q: 0.132945 0.794323 -0.184178 0.563432 
time: 1403636751.013556, t: 2.369954 -2.578547 -0.925593 q: 0.135086 0.796060 -0.182407 0.561042 
time: 1403636751.113555, t: 2.353207 -2.555678 -0.869234 q: 0.135128 0.796315 -0.183036 0.560465 
time: 1403636751.213556, t: 2.339371 -2.534690 -0.819486 q: 0.134327 0.800176 -0.185043 0.554466 
time: 1403636751.313555, t: 2.327987 -2.510909 -0.772729 q: 0.130840 0.803657 -0.189085 0.548875 
time: 1403636751.413555, t: 2.319269 -2.487966 -0.726001 q: 0.125087 0.801333 -0.195009 0.551534 
time: 1403636751.513556, t: 2.313273 -2.467191 -0.680676 q: 0.118146 0.796544 -0.200531 0.557984 
time: 1403636751.613555, t: 2.307787 -2.449834 -0.637091 q: 0.110876 0.793791 -0.200093 0.563529 
time: 1403636751.713556, t: 2.300880 -2.435771 -0.597679 q: 0.103904 0.796297 -0.198076 0.562032 
time: 1403636751.813555, t: 2.293160 -2.426174 -0.562076 q: 0.098036 0.802146 -0.196168 0.555400 
time: 1403636751.913555, t: 2.286465 -2.421629 -0.526236 q: 0.101274 0.808081 -0.189417 0.548516 
time: 1403636752.013556, t: 2.283133 -2.422098 -0.492229 q: 0.107355 0.811251 -0.181927 0.545205 
time: 1403636752.113555, t: 2.283881 -2.425889 -0.457481 q: 0.110430 0.810290 -0.178123 0.547273 
time: 1403636752.213556, t: 2.288454 -2.428668 -0.425816 q: 0.110937 0.805684 -0.172366 0.555748 
time: 1403636752.313555, t: 2.294953 -2.434998 -0.391052 q: 0.106263 0.801537 -0.163321 0.565308 
time: 1403636752.413555, t: 2.301887 -2.437888 -0.353014 q: 0.098331 0.799648 -0.150594 0.572901 
optimize pose graph 
time: 1403636752.513556, t: 2.307748 -2.440104 -0.309760 q: 0.087607 0.802114 -0.134418 0.575213 
time: 1403636752.613555, t: 2.312206 -2.443445 -0.269553 q: 0.075988 0.806402 -0.116094 0.574859 
time: 1403636752.713556, t: 2.314636 -2.445388 -0.236367 q: 0.063226 0.810493 -0.097520 0.574103 
time: 1403636752.813555, t: 2.317003 -2.446830 -0.208696 q: 0.051409 0.813591 -0.077235 0.573988 
time: 1403636752.913555, t: 2.317506 -2.447130 -0.187656 q: 0.041056 0.815605 -0.054755 0.574548 
time: 1403636753.013556, t: 2.318479 -2.445669 -0.173574 q: 0.031761 0.817327 -0.030421 0.574493 
time: 1403636753.113555, t: 2.319256 -2.442520 -0.166444 q: 0.020331 0.818476 -0.006361 0.574146 
time: 1403636753.213556, t: 2.320545 -2.435068 -0.164987 q: 0.007132 0.818815 0.017264 0.573754 
time: 1403636753.313555, t: 2.321461 -2.423921 -0.170209 q: -0.002825 0.817902 0.043082 0.573735 
time: 1403636753.413555, t: 2.321131 -2.409464 -0.177892 q: -0.016562 0.815463 0.060759 0.575373 
time: 1403636753.513556, t: 2.320034 -2.391570 -0.181887 q: -0.031651 0.814212 0.068538 0.575638 
time: 1403636753.613555, t: 2.316872 -2.372131 -0.178780 q: -0.042382 0.812658 0.072172 0.576699 
time: 1403636753.713556, t: 2.311040 -2.352712 -0.170662 q: -0.047868 0.812278 0.073106 0.576687 
time: 1403636753.813555, t: 2.305508 -2.332682 -0.164796 q: -0.047728 0.811144 0.074371 0.578132 
time: 1403636753.913555, t: 2.299135 -2.310069 -0.165711 q: -0.047500 0.811131 0.072681 0.578384 
time: 1403636754.013556, t: 2.292498 -2.286645 -0.170152 q: -0.045080 0.810649 0.071316 0.579422 
time: 1403636754.113555, t: 2.284281 -2.262991 -0.168745 q: -0.044598 0.806953 0.068385 0.584945 
time: 1403636754.213556, t: 2.272698 -2.237831 -0.161458 q: -0.041224 0.804067 0.067061 0.589305 
time: 1403636754.313555, t: 2.256370 -2.211718 -0.148767 q: -0.037771 0.803442 0.066017 0.590504 
time: 1403636754.413555, t: 2.239059 -2.183591 -0.130856 q: -0.036611 0.803466 0.066874 0.590449 
time: 1403636754.513556, t: 2.214621 -2.152415 -0.112001 q: -0.039251 0.803858 0.070921 0.589272 
time: 1403636754.613555, t: 2.186428 -2.118807 -0.099288 q: -0.042776 0.805087 0.080624 0.586092 
time: 1403636754.713556, t: 2.155233 -2.082648 -0.092235 q: -0.051869 0.804760 0.092122 0.584110 
time: 1403636754.813555, t: 2.121952 -2.043108 -0.089514 q: -0.061909 0.803067 0.105670 0.583168 
time: 1403636754.913555, t: 2.085409 -2.002884 -0.090539 q: -0.070486 0.801390 0.116435 0.582451 
time: 1403636755.013556, t: 2.044464 -1.962534 -0.094653 q: -0.076059 0.800527 0.125521 0.581047 
time: 1403636755.113555, t: 2.001093 -1.921002 -0.100100 q: -0.081045 0.799815 0.130488 0.580259 
time: 1403636755.213556, t: 1.953158 -1.879228 -0.100738 q: -0.085276 0.799913 0.133108 0.578920 
time: 1403636755.313555, t: 1.903374 -1.837357 -0.094827 q: -0.086302 0.804146 0.135041 0.572421 
time: 1403636755.413555, t: 1.852303 -1.794712 -0.080433 q: -0.085431 0.810639 0.136469 0.562976 
time: 1403636755.513556, t: 1.805167 -1.750702 -0.062483 q: -0.084337 0.813202 0.136522 0.559420 
time: 1403636755.613555, t: 1.760552 -1.703718 -0.048683 q: -0.081493 0.812240 0.136948 0.561134 
time: 1403636755.713556, t: 1.717727 -1.654357 -0.042235 q: -0.082579 0.811303 0.134388 0.562945 
time: 1403636755.813555, t: 1.675942 -1.603183 -0.040449 q: -0.084341 0.809048 0.131602 0.566577 
time: 1403636755.913555, t: 1.633856 -1.551114 -0.041101 q: -0.085341 0.806646 0.130173 0.570170 
time: 1403636756.013556, t: 1.592539 -1.497469 -0.041894 q: -0.087085 0.805570 0.128618 0.571778 
time: 1403636756.113555, t: 1.551390 -1.443001 -0.034718 q: -0.086538 0.804540 0.128879 0.573251 
time: 1403636756.213556, t: 1.510420 -1.388279 -0.023708 q: -0.086874 0.803045 0.128939 0.575279 
time: 1403636756.313555, t: 1.464314 -1.333957 -0.010366 q: -0.087860 0.802732 0.128865 0.575583 
time: 1403636756.413555, t: 1.419375 -1.279991 -0.001882 q: -0.087497 0.801768 0.130261 0.576666 
time: 1403636756.513556, t: 1.370684 -1.225533 0.002659 q: -0.088869 0.801472 0.130625 0.576786 
time: 1403636756.613555, t: 1.322192 -1.172651 -0.000310 q: -0.089558 0.800862 0.131299 0.577374 
time: 1403636756.713556, t: 1.268174 -1.119210 -0.001601 q: -0.090773 0.799873 0.131708 0.578461 
optimize pose graph 
time: 1403636756.813555, t: 1.215469 -1.066337 0.001153 q: -0.092229 0.798973 0.132070 0.579390 
time: 1403636756.913555, t: 1.155305 -1.015695 0.010572 q: -0.092798 0.799017 0.132641 0.579109 
time: 1403636757.013556, t: 1.097749 -0.964451 0.025729 q: -0.093743 0.798979 0.133160 0.578890 
time: 1403636757.113555, t: 1.035024 -0.914638 0.039793 q: -0.095796 0.799041 0.132455 0.578630 
time: 1403636757.213556, t: 0.973374 -0.866352 0.046204 q: -0.096398 0.799243 0.132338 0.578277 
time: 1403636757.313555, t: 0.907914 -0.818443 0.049604 q: -0.093721 0.799582 0.134832 0.577672 
time: 1403636757.413555, t: 0.842760 -0.770055 0.045463 q: -0.092651 0.801051 0.136293 0.575462 
time: 1403636757.513556, t: 0.775093 -0.723954 0.039788 q: -0.090231 0.803070 0.140684 0.571966 
time: 1403636757.613555, t: 0.709504 -0.670995 0.041176 q: -0.091789 0.807782 0.147633 0.563264 
time: 1403636757.713556, t: 0.644356 -0.617244 0.048303 q: -0.094643 0.813726 0.154649 0.552247 
time: 1403636757.813555, t: 0.585338 -0.561473 0.063635 q: -0.098680 0.817778 0.160206 0.543908 
time: 1403636757.913555, t: 0.531976 -0.501722 0.088956 q: -0.103800 0.818419 0.163313 0.541059 
time: 1403636758.013556, t: 0.483485 -0.438878 0.120912 q: -0.109587 0.812063 0.164225 0.549158 
time: 1403636758.113555, t: 0.440907 -0.374928 0.149706 q: -0.115244 0.804188 0.163728 0.559636 
time: 1403636758.213556, t: 0.400717 -0.312513 0.170831 q: -0.118824 0.798199 0.163427 0.567495 
time: 1403636758.313555, t: 0.356076 -0.252226 0.182313 q: -0.122263 0.795865 0.162019 0.570439 
time: 1403636758.413555, t: 0.314516 -0.190841 0.183568 q: -0.124507 0.800756 0.160587 0.563472 
time: 1403636758.513556, t: 0.270613 -0.133261 0.178115 q: -0.129776 0.812912 0.156569 0.545728 
time: 1403636758.613555, t: 0.231989 -0.076726 0.169376 q: -0.137556 0.824469 0.150455 0.527914 
time: 1403636758.713556, t: 0.204473 -0.024528 0.163176 q: -0.138103 0.822166 0.148822 0.531811 
time: 1403636758.813555, t: 0.185979 0.023380 0.156352 q: -0.135886 0.812508 0.149245 0.546892 
time: 1403636758.913555, t: 0.168275 0.068306 0.147146 q: -0.129655 0.803825 0.153037 0.560032 
optimize pose graph 
time: 1403636759.013556, t: 0.154048 0.110058 0.135188 q: -0.126406 0.799589 0.154916 0.566287 
time: 1403636759.113555, t: 0.139777 0.149445 0.120952 q: -0.134970 0.798204 0.149085 0.567827 
time: 1403636759.213556, t: 0.127003 0.184783 0.103973 q: -0.153289 0.799230 0.136610 0.564864 
time: 1403636759.313555, t: 0.115207 0.211375 0.083959 q: -0.162738 0.799739 0.130273 0.562995 
time: 1403636759.413555, t: 0.105979 0.226949 0.060190 q: -0.150339 0.798319 0.139497 0.566238 
time: 1403636759.513556, t: 0.097704 0.234970 0.032292 q: -0.137254 0.796384 0.149302 0.569775 
time: 1403636759.613555, t: 0.087980 0.238748 0.004452 q: -0.128464 0.794673 0.156966 0.572149 
time: 1403636759.713556, t: 0.076294 0.240230 -0.014262 q: -0.123974 0.794518 0.161121 0.572198 
time: 1403636759.813555, t: 0.064084 0.240943 -0.022234 q: -0.123772 0.793387 0.162058 0.573545 
time: 1403636759.913555, t: 0.051005 0.241246 -0.027451 q: -0.123415 0.797050 0.162295 0.568454 
time: 1403636760.013556, t: 0.034910 0.239844 -0.035409 q: -0.121929 0.802972 0.162993 0.560181 
time: 1403636760.113555, t: 0.019668 0.238187 -0.044948 q: -0.121368 0.808165 0.162712 0.552869 
time: 1403636760.213556, t: 0.008011 0.237234 -0.054658 q: -0.122082 0.807962 0.162022 0.553211 
time: 1403636760.413555, t: -0.009607 0.235158 -0.078611 q: -0.124187 0.795044 0.160436 0.571614 
time: 1403636760.513556, t: -0.020059 0.232784 -0.094826 q: -0.121227 0.795027 0.162379 0.571725 
time: 1403636760.613555, t: -0.032739 0.230656 -0.112751 q: -0.118312 0.800915 0.164874 0.563341 
time: 1403636760.713556, t: -0.045284 0.229153 -0.128735 q: -0.114158 0.804703 0.168343 0.557746 
time: 1403636760.813555, t: -0.056893 0.229478 -0.141719 q: -0.112349 0.802726 0.170311 0.560359 
time: 1403636760.913555, t: -0.068689 0.232116 -0.153755 q: -0.111132 0.798373 0.172246 0.566199 
time: 1403636761.013556, t: -0.082110 0.237057 -0.166908 q: -0.112478 0.800744 0.171884 0.562685 
time: 1403636761.113555, t: -0.096168 0.244391 -0.181081 q: -0.114974 0.807511 0.170528 0.552835 
optimize pose graph 
time: 1403636761.213556, t: -0.107566 0.254634 -0.195442 q: -0.113525 0.815535 0.172044 0.540755 
time: 1403636761.313555, t: -0.115407 0.266751 -0.206006 q: -0.113410 0.818767 0.172242 0.535809 
time: 1403636761.413555, t: -0.117554 0.282051 -0.211335 q: -0.115414 0.813359 0.171116 0.543918 
time: 1403636761.513556, t: -0.115312 0.300067 -0.212830 q: -0.117288 0.804916 0.169303 0.556499 
time: 1403636761.613555, t: -0.112555 0.318390 -0.211813 q: -0.119405 0.798915 0.166903 0.565351 
time: 1403636761.713556, t: -0.110410 0.336596 -0.209809 q: -0.128505 0.797852 0.159457 0.567003 
time: 1403636761.813555, t: -0.108716 0.352719 -0.205913 q: -0.137465 0.798653 0.152355 0.565726 
time: 1403636761.913555, t: -0.107512 0.364364 -0.200157 q: -0.138505 0.799449 0.151029 0.564701 
time: 1403636762.013556, t: -0.106339 0.371126 -0.192621 q: -0.127321 0.798364 0.158129 0.566922 
time: 1403636762.113555, t: -0.105413 0.376034 -0.183652 q: -0.108723 0.795665 0.170172 0.571085 
time: 1403636762.213556, t: -0.107593 0.382933 -0.174765 q: -0.097383 0.798127 0.177104 0.567578 
time: 1403636762.313555, t: -0.111441 0.394545 -0.170068 q: -0.098130 0.807591 0.175713 0.554340 
time: 1403636762.413555, t: -0.114306 0.410683 -0.173511 q: -0.102971 0.814487 0.171709 0.544540 
time: 1403636762.513556, t: -0.114028 0.431661 -0.183887 q: -0.122396 0.815129 0.157803 0.543767 
time: 1403636762.613555, t: -0.110054 0.452589 -0.202150 q: -0.146218 0.810594 0.140673 0.549335 
time: 1403636762.713556, t: -0.102235 0.468227 -0.228255 q: -0.150969 0.804433 0.137666 0.557803 
time: 1403636762.813555, t: -0.091759 0.477311 -0.261620 q: -0.138271 0.800927 0.147366 0.563631 
time: 1403636762.913555, t: -0.095080 0.469118 -0.261568 q: -0.144245 0.775791 0.141474 0.597768 
time: 1403636763.013556, t: -0.107226 0.450747 -0.270978 q: -0.122379 0.800294 0.138025 0.570528 
time: 1403636763.113555, t: -0.117044 0.433239 -0.280578 q: -0.123119 0.797643 0.112851 0.579544 
wait for imu ... 
wait for imu ... 
time: 1403636763.213556, t: -0.121248 0.427611 -0.282998 q: -0.121854 0.795915 0.101319 0.584299 
time: 1403636763.313555, t: -0.117950 0.425472 -0.285679 q: -0.123372 0.799084 0.100145 0.579840 
optimize pose graph 
time: 1403636763.413555, t: -0.123343 0.424307 -0.290017 q: -0.123902 0.799897 0.099895 0.578649 
time: 1403636763.513556, t: -0.130004 0.421806 -0.297052 q: -0.123852 0.799602 0.099894 0.579067 
time: 1403636763.613555, t: -0.116232 0.413555 -0.284962 q: -0.124665 0.799835 0.100246 0.578509 
time: 1403636763.713556, t: -0.125400 0.409381 -0.296236 q: -0.124718 0.799492 0.100015 0.579012 
time: 1403636763.813555, t: -0.131750 0.407241 -0.299189 q: -0.124825 0.799413 0.099843 0.579128 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720540754.608389130]: Shutdown request received.[0m
[33m[ WARN] [1720540754.608444149]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720540754.609654840]: Shutdown request received.[0m
[33m[ WARN] [1720540754.609687601]: Reason given for shutdown: [user request][0m
killed
