/SLAM-Hive/slam_hive_results/mapping_results/3289/287_VINS-Fusion-stereo+MH_01_easy.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1731009717.204092914]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731009717.210513422]: init begins[0m
[31m[ERROR] [1731009717.211933542]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/247e716a-9d43-11ef-9fb5-0242ac110002/roslaunch-48fc7293a17b-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://48fc7293a17b:36539/[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] [1731009718.311471632]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731009718.317120862]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
config_file: /slamhive/mappingtask.yaml
result path /home/output/vio.csv
[33m[ WARN] [1731009718.324568637]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731009718.324760493]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731009718.324789646]: 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] [1731009718.325010769]: reading paramerter of camera /slamhive/cam0_mei.yaml[0m
[0m[ INFO] [1731009718.325806949]: reading paramerter of camera /slamhive/cam1_mei.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731009718.325975868]: waiting for image and imu...[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://48fc7293a17b:11311/[0m
]2;roscore http://48fc7293a17b:11311/
[1msetting /run_id to 247e716a-9d43-11ef-9fb5-0242ac110002[0m
loop start load vocabulary
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_mei.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1731009727.204804909]: 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: 327373148.50 
[0m[ INFO] [1731009729.574350983]: Initialization finish![0m
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time: 1403636580.913555, t: -0.082491 -0.013814 0.024303 q: 0.998835 -0.014722 -0.044032 -0.013190 
time: 1403636581.013556, t: 0.092014 -0.020493 -0.027037 q: 0.999412 -0.022140 -0.014025 -0.022110 
time: 1403636581.113555, t: 0.051143 -0.029056 0.010597 q: 0.999607 -0.017227 -0.016215 -0.015040 
time: 1403636581.213556, t: 0.104035 -0.022727 -0.021249 q: 0.999786 -0.017597 -0.000153 -0.010901 
time: 1403636581.313555, t: 0.143781 -0.022835 -0.033841 q: 0.999675 -0.017092 0.016408 -0.009417 
time: 1403636581.413555, t: 0.151352 -0.021693 -0.039696 q: 0.999470 -0.019725 0.022957 -0.012020 
time: 1403636581.613555, t: 0.077783 -0.014103 -0.021679 q: 0.999636 -0.022231 0.002766 -0.015064 
time: 1403636581.713556, t: 0.018810 -0.007046 -0.005072 q: 0.999657 -0.021069 -0.005718 -0.014495 
time: 1403636581.813555, t: -0.045404 -0.003665 0.010567 q: 0.999734 -0.016958 -0.008715 -0.012961 
time: 1403636581.913555, t: -0.111110 -0.000949 0.030165 q: 0.999729 -0.014243 -0.015388 -0.010076 
time: 1403636582.013556, t: -0.172548 0.001736 0.044407 q: 0.999366 -0.018392 -0.029626 -0.007209 
time: 1403636582.113555, t: -0.219873 0.003068 0.055086 q: 0.998675 -0.019895 -0.046766 -0.008092 
time: 1403636582.213556, t: -0.243454 0.001693 0.058724 q: 0.998045 -0.016573 -0.059760 -0.007825 
time: 1403636582.313555, t: -0.233733 -0.001883 0.057439 q: 0.997809 -0.014219 -0.064130 -0.007874 
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time: 1403636590.913555, t: -0.095567 -0.065992 -0.069648 q: 0.982744 -0.016078 -0.183831 0.012759 
time: 1403636591.013556, t: -0.095112 -0.018378 -0.066985 q: 0.982546 -0.017920 -0.184639 0.013818 
time: 1403636591.113555, t: -0.093455 0.026832 -0.063409 q: 0.982863 -0.016171 -0.182969 0.015534 
time: 1403636591.213556, t: -0.091944 0.069021 -0.059491 q: 0.982746 -0.016883 -0.183256 0.018509 
time: 1403636591.313555, t: -0.092900 0.105957 -0.054897 q: 0.982242 -0.019919 -0.185450 0.020282 
time: 1403636591.413555, t: -0.095721 0.134735 -0.050237 q: 0.981807 -0.024609 -0.186957 0.022303 
time: 1403636591.513556, t: -0.100381 0.156121 -0.043671 q: 0.981884 -0.028691 -0.185800 0.023655 
time: 1403636591.613555, t: -0.104342 0.173666 -0.035797 q: 0.983253 -0.042608 -0.175442 0.024857 
time: 1403636591.713556, t: -0.106167 0.184607 -0.027996 q: 0.986039 -0.054840 -0.155417 0.023763 
time: 1403636591.813555, t: -0.104401 0.191596 -0.021851 q: 0.988546 -0.066256 -0.133907 0.021336 
time: 1403636591.913555, t: -0.100528 0.197876 -0.016817 q: 0.989688 -0.075743 -0.119458 0.022583 
time: 1403636592.013556, t: -0.097223 0.206415 -0.009300 q: 0.988563 -0.083679 -0.121904 0.029660 
time: 1403636592.113555, t: -0.093031 0.219676 0.004385 q: 0.986518 -0.094063 -0.128288 0.038439 
time: 1403636592.213556, t: -0.087797 0.234646 0.023111 q: 0.984310 -0.102133 -0.136613 0.045162 
optimize pose graph 
time: 1403636592.313555, t: -0.080432 0.246851 0.045227 q: 0.982798 -0.103886 -0.145035 0.047760 
time: 1403636592.413555, t: -0.071099 0.251685 0.072052 q: 0.982362 -0.097903 -0.150928 0.050996 
time: 1403636592.513556, t: -0.059121 0.247263 0.102664 q: 0.983974 -0.085612 -0.148935 0.047789 
time: 1403636592.613555, t: -0.047385 0.233228 0.134886 q: 0.986933 -0.069416 -0.140026 0.039217 
time: 1403636592.713556, t: -0.037982 0.210423 0.165636 q: 0.989121 -0.052088 -0.134558 0.028635 
time: 1403636592.813555, t: -0.031811 0.176140 0.192456 q: 0.990301 -0.027806 -0.134674 0.019837 
time: 1403636592.913555, t: -0.030950 0.129687 0.209180 q: 0.990085 0.001516 -0.139838 0.013193 
time: 1403636593.013556, t: -0.035394 0.073913 0.212223 q: 0.988753 0.030209 -0.146357 0.005879 
time: 1403636593.113555, t: -0.044211 0.012531 0.202213 q: 0.986877 0.056603 -0.151184 -0.003684 
time: 1403636593.213556, t: -0.055901 -0.049488 0.177780 q: 0.984844 0.081086 -0.153219 -0.005604 
time: 1403636593.413555, t: -0.087233 -0.144205 0.102870 q: 0.981209 0.107034 -0.160381 -0.007044 
time: 1403636593.513556, t: -0.107405 -0.163410 0.058356 q: 0.981076 0.103394 -0.163522 -0.007707 
time: 1403636593.613555, t: -0.129700 -0.165973 0.014395 q: 0.981231 0.093180 -0.168824 -0.001114 
time: 1403636593.713556, t: -0.151186 -0.151232 -0.026790 q: 0.981232 0.076049 -0.176905 0.010258 
time: 1403636593.813555, t: -0.169792 -0.121375 -0.064839 q: 0.982283 0.046742 -0.179870 0.024119 
time: 1403636593.913555, t: -0.182617 -0.079513 -0.096826 q: 0.984265 0.009822 -0.171749 0.040348 
time: 1403636594.013556, t: -0.188749 -0.030314 -0.124093 q: 0.985381 -0.030393 -0.158875 0.053478 
time: 1403636594.113555, t: -0.189596 0.023594 -0.138742 q: 0.984038 -0.068486 -0.150734 0.065252 
time: 1403636594.213556, t: -0.185538 0.080017 -0.140555 q: 0.980808 -0.099465 -0.149844 0.075298 
optimize pose graph 
time: 1403636594.313555, t: -0.178507 0.137774 -0.123966 q: 0.978092 -0.121153 -0.150157 0.078170 
time: 1403636594.413555, t: -0.165520 0.193258 -0.095427 q: 0.976925 -0.135821 -0.146771 0.075026 
time: 1403636594.513556, t: -0.147983 0.243436 -0.055199 q: 0.977957 -0.141383 -0.137548 0.068493 
time: 1403636594.613555, t: -0.129055 0.278966 -0.009562 q: 0.979504 -0.140888 -0.127042 0.067695 
time: 1403636594.713556, t: -0.111183 0.290431 0.034572 q: 0.980940 -0.136157 -0.121050 0.067565 
time: 1403636594.813555, t: -0.099553 0.274830 0.075613 q: 0.983851 -0.120244 -0.117500 0.061412 
time: 1403636594.913555, t: -0.091724 0.233349 0.113337 q: 0.987605 -0.095897 -0.114412 0.048486 
time: 1403636595.013556, t: -0.088831 0.168750 0.141361 q: 0.991259 -0.060463 -0.112617 0.032654 
time: 1403636595.113555, t: -0.092809 0.092507 0.156632 q: 0.992818 -0.020701 -0.116574 0.017165 
time: 1403636595.213556, t: -0.099331 0.015565 0.154897 q: 0.992175 0.016401 -0.123581 0.006967 
time: 1403636595.313555, t: -0.110521 -0.047739 0.145132 q: 0.990361 0.048482 -0.129748 -0.000878 
time: 1403636595.413555, t: -0.123473 -0.091015 0.123604 q: 0.988726 0.066999 -0.133702 -0.007513 
time: 1403636595.513556, t: -0.136524 -0.106998 0.096969 q: 0.987651 0.074801 -0.137330 -0.009526 
time: 1403636595.613555, t: -0.149338 -0.095910 0.066894 q: 0.986876 0.075798 -0.142159 -0.011033 
time: 1403636595.713556, t: -0.162063 -0.062021 0.036475 q: 0.987207 0.064827 -0.145297 -0.010471 
time: 1403636595.813555, t: -0.175164 -0.012339 0.007852 q: 0.988599 0.039916 -0.144853 -0.009805 
time: 1403636595.913555, t: -0.188540 0.043391 -0.019238 q: 0.989599 0.008520 -0.143561 -0.003402 
time: 1403636596.013556, t: -0.201860 0.093899 -0.050295 q: 0.989049 -0.022698 -0.145729 0.005557 
time: 1403636596.113555, t: -0.214249 0.127675 -0.084462 q: 0.987374 -0.050108 -0.149368 0.016456 
time: 1403636596.213556, t: -0.225182 0.134830 -0.116400 q: 0.986314 -0.065045 -0.149431 0.024975 
time: 1403636596.313555, t: -0.231714 0.115173 -0.149910 q: 0.986388 -0.068831 -0.145830 0.032170 
optimize pose graph 
time: 1403636596.413555, t: -0.235832 0.079029 -0.187311 q: 0.987022 -0.070702 -0.140623 0.031847 
time: 1403636596.613555, t: -0.243456 0.003365 -0.253836 q: 0.988596 -0.066960 -0.133163 0.021495 
time: 1403636596.713556, t: -0.246605 -0.022714 -0.270530 q: 0.988344 -0.065780 -0.135842 0.019923 
time: 1403636596.813555, t: -0.246877 -0.033557 -0.269063 q: 0.988857 -0.064209 -0.133393 0.015656 
time: 1403636596.913555, t: -0.240726 -0.029809 -0.247294 q: 0.989604 -0.065093 -0.127883 0.009625 
time: 1403636597.013556, t: -0.228184 -0.016087 -0.207324 q: 0.989166 -0.067435 -0.130263 0.005847 
time: 1403636597.113555, t: -0.211418 0.002459 -0.154652 q: 0.987757 -0.065241 -0.141607 0.005232 
time: 1403636597.213556, t: -0.188872 0.022016 -0.094584 q: 0.987181 -0.054404 -0.150039 0.001734 
time: 1403636597.313555, t: -0.160298 0.039215 -0.033441 q: 0.987881 -0.040739 -0.149663 -0.005642 
time: 1403636597.413555, t: -0.131093 0.049910 0.027790 q: 0.988903 -0.025500 -0.145687 -0.013986 
time: 1403636597.513556, t: -0.107760 0.052908 0.082963 q: 0.989527 -0.007519 -0.142124 -0.024109 
time: 1403636597.613555, t: -0.093605 0.045472 0.121987 q: 0.990271 0.015802 -0.135235 -0.028720 
time: 1403636597.713556, t: -0.089673 0.026841 0.140003 q: 0.990659 0.039564 -0.126554 -0.031837 
time: 1403636597.813555, t: -0.094398 0.002657 0.136200 q: 0.990710 0.056228 -0.118491 -0.035943 
time: 1403636597.913555, t: -0.106137 -0.018680 0.114778 q: 0.990348 0.065879 -0.113844 -0.043707 
time: 1403636598.113555, t: -0.143620 -0.041798 0.042224 q: 0.988095 0.071200 -0.126143 -0.051843 
time: 1403636598.313555, t: -0.189946 -0.036167 -0.018498 q: 0.983743 0.060215 -0.160184 -0.054443 
optimize pose graph 
time: 1403636598.413555, t: -0.207245 -0.025776 -0.026040 q: 0.982976 0.051081 -0.166801 -0.057672 
time: 1403636598.513556, t: -0.217631 -0.012988 -0.014304 q: 0.983510 0.047970 -0.163673 -0.060152 
time: 1403636598.613555, t: -0.220305 -0.000724 0.013350 q: 0.985231 0.054079 -0.150792 -0.060474 
time: 1403636598.713556, t: -0.220247 0.010371 0.049022 q: 0.987095 0.065231 -0.133098 -0.060600 
time: 1403636598.813555, t: -0.224340 0.019786 0.087279 q: 0.988978 0.078272 -0.110500 -0.059885 
time: 1403636598.913555, t: -0.233452 0.029331 0.123764 q: 0.990950 0.084213 -0.087765 -0.056783 
time: 1403636599.013556, t: -0.245608 0.038211 0.155875 q: 0.992153 0.085658 -0.070564 -0.057593 
time: 1403636599.113555, t: -0.255419 0.043493 0.179756 q: 0.992916 0.092086 -0.051741 -0.054420 
time: 1403636599.213556, t: -0.260567 0.047269 0.197045 q: 0.993594 0.098062 -0.022808 -0.051336 
time: 1403636599.313555, t: -0.263711 0.049676 0.212016 q: 0.993941 0.099440 0.006994 -0.046305 
time: 1403636599.413555, t: -0.268526 0.051934 0.225142 q: 0.994076 0.095829 0.022966 -0.045856 
time: 1403636599.513556, t: -0.274497 0.053650 0.236287 q: 0.994784 0.087672 0.024511 -0.046019 
time: 1403636599.613555, t: -0.281125 0.055386 0.244063 q: 0.995583 0.081181 0.018949 -0.043195 
time: 1403636599.713556, t: -0.287640 0.057573 0.248523 q: 0.995814 0.078745 0.018315 -0.042632 
time: 1403636599.813555, t: -0.287767 0.059789 0.248125 q: 0.995212 0.080569 0.035765 -0.042210 
time: 1403636599.913555, t: -0.289072 0.061289 0.247328 q: 0.994843 0.082169 0.044494 -0.039454 
time: 1403636600.013556, t: -0.289890 0.062345 0.247733 q: 0.995135 0.080537 0.043311 -0.036659 
time: 1403636600.113555, t: -0.290937 0.064258 0.247794 q: 0.994984 0.082588 0.046609 -0.031843 
time: 1403636600.213556, t: -0.291069 0.064403 0.247682 q: 0.994950 0.082755 0.046944 -0.031961 
time: 1403636600.313555, t: -0.291208 0.064187 0.247656 q: 0.994920 0.083253 0.047111 -0.031354 
time: 1403636600.413555, t: -0.291271 0.064112 0.247521 q: 0.994907 0.083519 0.047280 -0.030797 
optimize pose graph 
time: 1403636600.513556, t: -0.291290 0.064123 0.247459 q: 0.994907 0.083540 0.047521 -0.030369 
time: 1403636600.613555, t: -0.291267 0.064044 0.247493 q: 0.994906 0.083694 0.047391 -0.030179 
time: 1403636600.713556, t: -0.291284 0.064099 0.247491 q: 0.994915 0.083577 0.047314 -0.030352 
time: 1403636600.813555, t: -0.291284 0.064132 0.247491 q: 0.994915 0.083506 0.047353 -0.030477 
time: 1403636600.913555, t: -0.291270 0.064117 0.247504 q: 0.994916 0.083489 0.047348 -0.030508 
time: 1403636601.013556, t: -0.291300 0.064144 0.247499 q: 0.994918 0.083479 0.047318 -0.030500 
time: 1403636601.113555, t: -0.291288 0.064132 0.247504 q: 0.994920 0.083501 0.047289 -0.030437 
time: 1403636601.213556, t: -0.291302 0.064130 0.247497 q: 0.994921 0.083488 0.047289 -0.030436 
time: 1403636601.313555, t: -0.291305 0.064126 0.247495 q: 0.994921 0.083489 0.047289 -0.030421 
time: 1403636601.413555, t: -0.291296 0.064106 0.247504 q: 0.994923 0.083496 0.047276 -0.030366 
time: 1403636601.513556, t: -0.291331 0.064118 0.247502 q: 0.994922 0.083514 0.047329 -0.030267 
time: 1403636601.613555, t: -0.291357 0.064094 0.247482 q: 0.994923 0.083550 0.047322 -0.030136 
time: 1403636601.713556, t: -0.291368 0.064088 0.247473 q: 0.994923 0.083539 0.047337 -0.030149 
time: 1403636601.813555, t: -0.291354 0.064086 0.247516 q: 0.994928 0.083531 0.047278 -0.030096 
time: 1403636601.913555, t: -0.291347 0.064083 0.247501 q: 0.994928 0.083524 0.047298 -0.030094 
time: 1403636602.013556, t: -0.291342 0.064076 0.247502 q: 0.994927 0.083527 0.047306 -0.030082 
time: 1403636602.113555, t: -0.291356 0.064064 0.247503 q: 0.994927 0.083535 0.047331 -0.030041 
time: 1403636602.213556, t: -0.291350 0.064052 0.247492 q: 0.994927 0.083549 0.047324 -0.029991 
time: 1403636602.313555, t: -0.291359 0.064064 0.247488 q: 0.994926 0.083533 0.047323 -0.030068 
time: 1403636602.413555, t: -0.291364 0.064077 0.247487 q: 0.994927 0.083514 0.047313 -0.030110 
time: 1403636602.513556, t: -0.291366 0.064083 0.247479 q: 0.994928 0.083495 0.047318 -0.030145 
time: 1403636602.613555, t: -0.291367 0.064090 0.247480 q: 0.994927 0.083498 0.047317 -0.030171 
time: 1403636602.713556, t: -0.291367 0.064088 0.247489 q: 0.994926 0.083510 0.047318 -0.030142 
time: 1403636602.813555, t: -0.291379 0.064100 0.247474 q: 0.994927 0.083499 0.047319 -0.030142 
time: 1403636602.913555, t: -0.291371 0.064104 0.247473 q: 0.994927 0.083503 0.047317 -0.030154 
time: 1403636603.013556, t: -0.291378 0.064107 0.247485 q: 0.994926 0.083486 0.047343 -0.030183 
time: 1403636603.113555, t: -0.291382 0.064103 0.247466 q: 0.994927 0.083486 0.047351 -0.030145 
time: 1403636603.213556, t: -0.291386 0.064104 0.247474 q: 0.994927 0.083495 0.047348 -0.030121 
time: 1403636603.313555, t: -0.291384 0.064094 0.247478 q: 0.994927 0.083484 0.047357 -0.030141 
time: 1403636603.513556, t: -0.291385 0.064093 0.247482 q: 0.994927 0.083502 0.047347 -0.030097 
time: 1403636603.613555, t: -0.291386 0.064087 0.247469 q: 0.994927 0.083491 0.047347 -0.030125 
time: 1403636603.713556, t: -0.291391 0.064088 0.247466 q: 0.994926 0.083499 0.047374 -0.030108 
time: 1403636603.813555, t: -0.291403 0.064098 0.247461 q: 0.994927 0.083496 0.047347 -0.030121 
time: 1403636603.913555, t: -0.291427 0.064080 0.247453 q: 0.994927 0.083530 0.047333 -0.030041 
time: 1403636604.013556, t: -0.291407 0.064072 0.247462 q: 0.994927 0.083535 0.047363 -0.029992 
time: 1403636604.113555, t: -0.291394 0.064072 0.247465 q: 0.994928 0.083496 0.047371 -0.030038 
time: 1403636604.213556, t: -0.291403 0.064081 0.247467 q: 0.994928 0.083487 0.047373 -0.030064 
time: 1403636604.313555, t: -0.291401 0.064085 0.247468 q: 0.994927 0.083484 0.047398 -0.030072 
time: 1403636604.413555, t: -0.291403 0.064089 0.247470 q: 0.994928 0.083517 0.047354 -0.030020 
time: 1403636604.513556, t: -0.291391 0.064089 0.247474 q: 0.994927 0.083486 0.047376 -0.030096 
time: 1403636604.613555, t: -0.291399 0.064091 0.247466 q: 0.994928 0.083479 0.047364 -0.030098 
time: 1403636604.713556, t: -0.291392 0.064093 0.247466 q: 0.994928 0.083474 0.047364 -0.030116 
time: 1403636604.813555, t: -0.291398 0.064103 0.247469 q: 0.994928 0.083493 0.047351 -0.030088 
time: 1403636604.913555, t: -0.291397 0.064094 0.247464 q: 0.994928 0.083480 0.047361 -0.030103 
time: 1403636605.013556, t: -0.291400 0.064105 0.247464 q: 0.994928 0.083491 0.047359 -0.030086 
time: 1403636605.113555, t: -0.291391 0.064103 0.247467 q: 0.994928 0.083467 0.047351 -0.030146 
time: 1403636605.213556, t: -0.291394 0.064098 0.247462 q: 0.994929 0.083469 0.047342 -0.030132 
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time: 1403636605.513556, t: -0.291396 0.064106 0.247464 q: 0.994929 0.083485 0.047337 -0.030097 
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time: 1403636606.613555, t: -0.291378 0.064084 0.247462 q: 0.994930 0.083453 0.047318 -0.030179 
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time: 1403636606.913555, t: -0.291379 0.064084 0.247466 q: 0.994930 0.083454 0.047313 -0.030175 
time: 1403636607.013556, t: -0.291376 0.064078 0.247461 q: 0.994930 0.083450 0.047320 -0.030181 
time: 1403636607.113555, t: -0.291377 0.064080 0.247462 q: 0.994930 0.083454 0.047312 -0.030176 
time: 1403636607.213556, t: -0.291379 0.064080 0.247463 q: 0.994930 0.083458 0.047304 -0.030176 
time: 1403636607.313555, t: -0.291380 0.064080 0.247464 q: 0.994930 0.083458 0.047314 -0.030167 
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time: 1403636607.913555, t: -0.291381 0.064082 0.247457 q: 0.994931 0.083454 0.047307 -0.030175 
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time: 1403636609.213556, t: -0.291381 0.064084 0.247460 q: 0.994930 0.083456 0.047312 -0.030183 
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time: 1403636609.513556, t: -0.291383 0.064082 0.247457 q: 0.994931 0.083453 0.047304 -0.030182 
time: 1403636609.613555, t: -0.291386 0.064085 0.247462 q: 0.994930 0.083466 0.047298 -0.030165 
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optimize pose graph 
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time: 1403636627.213556, t: 0.015632 0.160909 0.136855 q: 0.994673 0.078164 0.013385 -0.065856 
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time: 1403636627.513556, t: 0.064651 0.183684 0.097480 q: 0.994849 0.079008 0.022502 -0.059389 
time: 1403636627.613555, t: 0.076974 0.193920 0.084551 q: 0.995656 0.071890 0.020363 -0.055558 
time: 1403636627.713556, t: 0.073763 0.206145 0.077201 q: 0.996468 0.063259 0.013165 -0.053635 
time: 1403636627.813555, t: 0.061326 0.220601 0.074734 q: 0.997387 0.050928 0.002622 -0.051169 
time: 1403636627.913555, t: 0.049225 0.235608 0.075461 q: 0.998063 0.038023 -0.006789 -0.048767 
time: 1403636628.013556, t: 0.047296 0.248683 0.078276 q: 0.998403 0.028565 -0.009710 -0.047762 
time: 1403636628.113555, t: 0.058182 0.259230 0.082831 q: 0.998699 0.023179 -0.000305 -0.045423 
time: 1403636628.213556, t: 0.079740 0.268252 0.088090 q: 0.998798 0.021366 0.017643 -0.040420 
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time: 1403636628.413555, t: 0.134446 0.286169 0.094053 q: 0.998902 0.023696 0.030188 -0.026870 
optimize pose graph 
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time: 1403636628.613555, t: 0.173102 0.315062 0.099732 q: 0.998959 0.027487 0.028596 -0.022533 
time: 1403636628.713556, t: 0.182950 0.334621 0.104884 q: 0.998931 0.026919 0.028635 -0.024350 
time: 1403636628.813555, t: 0.186687 0.359463 0.111958 q: 0.999138 0.018920 0.022903 -0.028988 
time: 1403636628.913555, t: 0.190954 0.386835 0.113493 q: 0.999363 0.009640 0.014331 -0.031229 
time: 1403636629.013556, t: 0.200697 0.414723 0.119176 q: 0.999475 0.003083 0.008254 -0.031179 
time: 1403636629.113555, t: 0.217785 0.440589 0.125674 q: 0.999509 -0.002815 0.006748 -0.030483 
time: 1403636629.213556, t: 0.237337 0.467448 0.133351 q: 0.999532 -0.012104 0.007928 -0.026945 
time: 1403636629.313555, t: 0.251594 0.494698 0.146765 q: 0.999473 -0.020756 0.012831 -0.021384 
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time: 1403636629.513556, t: 0.267546 0.552687 0.181256 q: 0.999087 -0.034044 0.025699 -0.002432 
time: 1403636629.613555, t: 0.266462 0.587499 0.201271 q: 0.998548 -0.048406 0.023153 0.004706 
time: 1403636629.713556, t: 0.259338 0.625952 0.223583 q: 0.997571 -0.067578 0.014093 0.009323 
time: 1403636629.813555, t: 0.250263 0.667761 0.248756 q: 0.995844 -0.089594 0.007438 0.014543 
time: 1403636629.913555, t: 0.239365 0.711874 0.277343 q: 0.993594 -0.110784 0.004409 0.021871 
time: 1403636630.013556, t: 0.235906 0.754794 0.309816 q: 0.991493 -0.127280 0.004813 0.026816 
time: 1403636630.113555, t: 0.243996 0.797852 0.342911 q: 0.989827 -0.138676 0.011880 0.029493 
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time: 1403636630.513556, t: 0.343828 0.968875 0.456617 q: 0.987167 -0.154450 0.029501 0.027849 
optimize pose graph 
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time: 1403636630.713556, t: 0.410340 1.042951 0.510136 q: 0.987765 -0.152964 0.024106 0.018467 
time: 1403636630.813555, t: 0.433109 1.081698 0.539820 q: 0.988305 -0.149262 0.023864 0.020111 
time: 1403636630.913555, t: 0.451066 1.124440 0.566001 q: 0.988842 -0.145148 0.024481 0.022909 
time: 1403636631.013556, t: 0.470061 1.159385 0.601035 q: 0.989088 -0.143051 0.025162 0.024672 
time: 1403636631.113555, t: 0.482478 1.197411 0.636479 q: 0.989228 -0.141510 0.028210 0.024654 
time: 1403636631.213556, t: 0.494859 1.235644 0.673702 q: 0.989291 -0.140408 0.031764 0.024067 
time: 1403636631.313555, t: 0.510389 1.271334 0.713389 q: 0.989349 -0.139766 0.033208 0.023490 
time: 1403636631.413555, t: 0.517342 1.307469 0.752418 q: 0.989455 -0.139109 0.033234 0.022868 
time: 1403636631.513556, t: 0.520310 1.344888 0.790825 q: 0.989576 -0.138739 0.032624 0.020668 
time: 1403636631.613555, t: 0.521441 1.379533 0.832738 q: 0.989659 -0.138583 0.032497 0.017740 
time: 1403636631.713556, t: 0.527530 1.412967 0.871300 q: 0.989849 -0.137731 0.031191 0.016005 
time: 1403636631.813555, t: 0.537669 1.446628 0.907281 q: 0.990012 -0.136781 0.030795 0.014770 
time: 1403636631.913555, t: 0.552466 1.476805 0.942796 q: 0.990057 -0.137057 0.028999 0.012695 
time: 1403636632.013556, t: 0.568574 1.504370 0.976766 q: 0.990021 -0.137302 0.029192 0.012435 
time: 1403636632.113555, t: 0.587391 1.529632 1.010631 q: 0.989825 -0.138228 0.032099 0.010467 
time: 1403636632.213556, t: 0.605645 1.553509 1.044295 q: 0.989481 -0.140710 0.032948 0.006481 
time: 1403636632.313555, t: 0.619573 1.573715 1.076093 q: 0.989360 -0.141146 0.034192 0.008628 
time: 1403636632.413555, t: 0.627136 1.591591 1.114290 q: 0.989266 -0.141803 0.033793 0.010163 
time: 1403636632.513556, t: 0.629467 1.608853 1.153650 q: 0.989842 -0.138296 0.028026 0.017352 
optimize pose graph 
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time: 1403636709.913555, t: 2.347939 8.139079 7.373977 q: 0.891602 -0.432530 0.101171 0.087908 
time: 1403636710.013556, t: 2.381530 8.150909 7.432380 q: 0.892309 -0.430985 0.102143 0.087199 
time: 1403636710.113555, t: 2.418679 8.158245 7.491606 q: 0.892958 -0.429655 0.103398 0.085628 
time: 1403636710.213556, t: 2.451603 8.163637 7.555625 q: 0.893828 -0.428108 0.103864 0.083710 
time: 1403636710.313555, t: 2.474840 8.168376 7.626587 q: 0.895450 -0.422371 0.109347 0.088406 
time: 1403636710.413555, t: 2.493457 8.172377 7.701731 q: 0.898804 -0.411043 0.116314 0.098314 
time: 1403636710.513556, t: 2.510221 8.174999 7.776963 q: 0.903973 -0.396988 0.120184 0.103867 
time: 1403636710.613555, t: 2.523085 8.175865 7.852027 q: 0.909190 -0.384430 0.122238 0.103177 
time: 1403636710.713556, t: 2.530529 8.181122 7.923934 q: 0.915131 -0.371888 0.122270 0.096360 
optimize pose graph 
time: 1403636710.813555, t: 2.536897 8.186085 7.992628 q: 0.921552 -0.359889 0.120323 0.082121 
time: 1403636710.913555, t: 2.545465 8.189878 8.055465 q: 0.928373 -0.347715 0.114365 0.064338 
time: 1403636711.013556, t: 2.558843 8.191297 8.113658 q: 0.933667 -0.338286 0.107931 0.046674 
time: 1403636711.113555, t: 2.575276 8.193347 8.166265 q: 0.937245 -0.330398 0.105550 0.035600 
time: 1403636711.213556, t: 2.594038 8.190454 8.216855 q: 0.939181 -0.325500 0.105753 0.028373 
time: 1403636711.313555, t: 2.615370 8.182483 8.267296 q: 0.940443 -0.321173 0.108011 0.027342 
time: 1403636711.413555, t: 2.637807 8.169531 8.315221 q: 0.940546 -0.317847 0.116168 0.029187 
time: 1403636711.513556, t: 2.664619 8.151602 8.359965 q: 0.938916 -0.317138 0.130662 0.028083 
time: 1403636711.613555, t: 2.688993 8.128262 8.400562 q: 0.936815 -0.320781 0.137695 0.022740 
time: 1403636711.713556, t: 2.712700 8.098354 8.434434 q: 0.935591 -0.324908 0.136784 0.019836 
time: 1403636711.813555, t: 2.730184 8.061130 8.464785 q: 0.935450 -0.326055 0.134368 0.023804 
time: 1403636711.913555, t: 2.747812 8.017950 8.491116 q: 0.936706 -0.323207 0.129724 0.035932 
time: 1403636712.013556, t: 2.765179 7.970263 8.512365 q: 0.937882 -0.319027 0.126948 0.049830 
time: 1403636712.113555, t: 2.784046 7.923185 8.526665 q: 0.938439 -0.315376 0.127834 0.059408 
time: 1403636712.213556, t: 2.802485 7.875307 8.537550 q: 0.939054 -0.314224 0.128044 0.055181 
time: 1403636712.313555, t: 2.827872 7.824777 8.540910 q: 0.941625 -0.310121 0.124926 0.039503 
time: 1403636712.413555, t: 2.852300 7.771742 8.540869 q: 0.944891 -0.302463 0.122860 0.024556 
time: 1403636712.513556, t: 2.876138 7.713954 8.537068 q: 0.947838 -0.293575 0.123415 0.013636 
time: 1403636712.613555, t: 2.903592 7.653012 8.529519 q: 0.950491 -0.283688 0.126549 0.008591 
time: 1403636712.713556, t: 2.922706 7.589937 8.520840 q: 0.952444 -0.273805 0.133530 0.007148 
time: 1403636712.813555, t: 2.933021 7.525562 8.510905 q: 0.954301 -0.266746 0.134571 0.006802 
optimize pose graph 
time: 1403636712.913555, t: 2.937345 7.458949 8.500795 q: 0.955858 -0.263363 0.130074 0.007520 
time: 1403636713.013556, t: 2.933598 7.389678 8.489603 q: 0.956508 -0.263686 0.124601 0.006039 
time: 1403636713.113555, t: 2.929154 7.318907 8.472473 q: 0.957048 -0.261067 0.125844 0.008096 
time: 1403636713.213556, t: 2.927655 7.246846 8.449645 q: 0.957894 -0.258974 0.123519 0.010720 
time: 1403636713.313555, t: 2.928882 7.171480 8.419759 q: 0.958379 -0.258713 0.120146 0.011897 
time: 1403636713.413555, t: 2.935261 7.095002 8.383339 q: 0.958794 -0.257889 0.118272 0.014766 
time: 1403636713.513556, t: 2.945667 7.018151 8.342346 q: 0.959085 -0.256872 0.117527 0.018963 
time: 1403636713.613555, t: 2.956076 6.941000 8.300314 q: 0.959367 -0.255486 0.116954 0.025752 
time: 1403636713.713556, t: 2.957963 6.868024 8.257771 q: 0.959667 -0.254184 0.115598 0.032664 
time: 1403636713.813555, t: 2.954211 6.797458 8.216915 q: 0.959648 -0.253777 0.114936 0.038232 
time: 1403636713.913555, t: 2.945421 6.733255 8.174275 q: 0.959132 -0.256302 0.113827 0.037661 
time: 1403636714.013556, t: 2.933396 6.672686 8.131255 q: 0.958536 -0.259929 0.111386 0.035198 
time: 1403636714.113555, t: 2.916784 6.616325 8.089623 q: 0.957502 -0.264813 0.110136 0.030553 
time: 1403636714.213556, t: 2.894799 6.561496 8.050224 q: 0.956547 -0.267651 0.111797 0.029706 
time: 1403636714.313555, t: 2.868943 6.510181 8.010891 q: 0.956172 -0.267301 0.114440 0.034485 
time: 1403636714.413555, t: 2.843844 6.459405 7.969955 q: 0.956236 -0.268616 0.109989 0.036885 
time: 1403636714.513556, t: 2.807246 6.414521 7.934948 q: 0.957954 -0.265831 0.101130 0.037823 
time: 1403636714.613555, t: 2.771126 6.371718 7.897974 q: 0.961348 -0.256438 0.093320 0.036629 
time: 1403636714.713556, t: 2.737576 6.329575 7.864851 q: 0.965559 -0.243198 0.087798 0.029033 
time: 1403636714.813555, t: 2.712109 6.288549 7.831889 q: 0.970378 -0.226116 0.083698 0.015254 
time: 1403636714.913555, t: 2.697426 6.249863 7.793474 q: 0.975176 -0.206240 0.080587 -0.001648 
time: 1403636715.013556, t: 2.692479 6.211693 7.754940 q: 0.979522 -0.185630 0.076536 -0.014818 
optimize pose graph 
time: 1403636715.113555, t: 2.692833 6.177030 7.719701 q: 0.982441 -0.169786 0.072740 -0.026280 
time: 1403636715.213556, t: 2.699666 6.141038 7.685546 q: 0.984297 -0.158323 0.070789 -0.032886 
time: 1403636715.313555, t: 2.703773 6.109097 7.658010 q: 0.985382 -0.149574 0.073695 -0.034914 
time: 1403636715.413555, t: 2.703531 6.079941 7.636173 q: 0.985901 -0.143259 0.079646 -0.033667 
time: 1403636715.513556, t: 2.700811 6.052763 7.619689 q: 0.986311 -0.137158 0.087671 -0.026324 
time: 1403636715.613555, t: 2.690886 6.032418 7.607244 q: 0.986819 -0.131876 0.092333 -0.016495 
time: 1403636715.813555, t: 2.665236 6.005548 7.581389 q: 0.983240 -0.140563 0.111644 -0.031901 
time: 1403636715.913555, t: 2.655296 5.993246 7.561888 q: 0.981446 -0.144885 0.119531 -0.038514 
time: 1403636716.013556, t: 2.645973 5.980511 7.536465 q: 0.980504 -0.147490 0.123645 -0.039629 
time: 1403636716.113555, t: 2.636944 5.966031 7.503898 q: 0.980528 -0.149102 0.122454 -0.036573 
time: 1403636716.213556, t: 2.628982 5.949508 7.465325 q: 0.981746 -0.150798 0.111886 -0.030272 
time: 1403636716.313555, t: 2.616872 5.933911 7.426046 q: 0.982143 -0.154008 0.104692 -0.026757 
time: 1403636716.413555, t: 2.601662 5.920611 7.385710 q: 0.982062 -0.156726 0.101951 -0.024421 
time: 1403636716.513556, t: 2.580125 5.909056 7.348927 q: 0.981704 -0.159380 0.101430 -0.023800 
time: 1403636716.613555, t: 2.554064 5.896351 7.316429 q: 0.981561 -0.159459 0.101662 -0.027837 
time: 1403636716.713556, t: 2.523867 5.884784 7.284440 q: 0.982496 -0.152870 0.101415 -0.032363 
time: 1403636716.813555, t: 2.487329 5.875902 7.256662 q: 0.984116 -0.141091 0.101069 -0.037324 
time: 1403636716.913555, t: 2.453141 5.863388 7.222680 q: 0.986304 -0.124429 0.098985 -0.043855 
time: 1403636717.013556, t: 2.425516 5.844785 7.189663 q: 0.988415 -0.104520 0.095821 -0.054128 
time: 1403636717.113555, t: 2.401369 5.827277 7.151192 q: 0.990024 -0.084045 0.092567 -0.064963 
time: 1403636717.213556, t: 2.380574 5.810086 7.109891 q: 0.990671 -0.069204 0.090340 -0.074966 
time: 1403636717.313555, t: 2.361453 5.794911 7.067582 q: 0.990329 -0.061412 0.088128 -0.087814 
time: 1403636717.413555, t: 2.342873 5.778090 7.025658 q: 0.989042 -0.059308 0.087857 -0.102758 
time: 1403636717.513556, t: 2.320764 5.758926 6.985261 q: 0.988602 -0.056981 0.087444 -0.108499 
time: 1403636717.613555, t: 2.293794 5.738168 6.946677 q: 0.989339 -0.052462 0.087535 -0.103897 
time: 1403636717.713556, t: 2.260528 5.714015 6.912895 q: 0.989565 -0.050906 0.089318 -0.100954 
time: 1403636717.813555, t: 2.223455 5.686692 6.879634 q: 0.989231 -0.050070 0.087597 -0.106023 
time: 1403636717.913555, t: 2.186755 5.652340 6.846794 q: 0.988906 -0.043520 0.085907 -0.113100 
time: 1403636718.013556, t: 2.154644 5.611641 6.811311 q: 0.988537 -0.031604 0.084806 -0.120846 
time: 1403636718.113555, t: 2.127036 5.563296 6.775836 q: 0.988660 -0.013103 0.083212 -0.124319 
time: 1403636718.213556, t: 2.098195 5.511095 6.736077 q: 0.988849 0.007244 0.080660 -0.124976 
time: 1403636718.313555, t: 2.063594 5.460098 6.701439 q: 0.988794 0.023640 0.077873 -0.125154 
time: 1403636718.413555, t: 2.022822 5.409284 6.671620 q: 0.988238 0.039413 0.074941 -0.127345 
time: 1403636718.513556, t: 1.977373 5.357115 6.644192 q: 0.987327 0.056705 0.072952 -0.129025 
time: 1403636718.613555, t: 1.929254 5.307069 6.619141 q: 0.986619 0.072192 0.070397 -0.128123 
time: 1403636718.713556, t: 1.879931 5.259469 6.597742 q: 0.986346 0.086011 0.066635 -0.123628 
time: 1403636718.813555, t: 1.829829 5.217079 6.579184 q: 0.985180 0.092728 0.065788 -0.128430 
time: 1403636718.913555, t: 1.781233 5.177716 6.562821 q: 0.983384 0.093170 0.067139 -0.140597 
time: 1403636719.013556, t: 1.740324 5.138519 6.541133 q: 0.981942 0.092751 0.069455 -0.149545 
time: 1403636719.113555, t: 1.706645 5.098656 6.519871 q: 0.980973 0.093316 0.074430 -0.153113 
time: 1403636719.213556, t: 1.679378 5.059193 6.492987 q: 0.980425 0.094610 0.081074 -0.152456 
optimize pose graph 
time: 1403636719.413555, t: 1.614134 4.985040 6.441143 q: 0.980380 0.095896 0.090934 -0.146256 
time: 1403636719.513556, t: 1.572754 4.951784 6.415658 q: 0.980801 0.095427 0.091961 -0.143057 
time: 1403636719.613555, t: 1.529353 4.921399 6.386936 q: 0.981865 0.093858 0.086421 -0.140224 
time: 1403636719.713556, t: 1.488838 4.890903 6.354131 q: 0.982866 0.090281 0.079835 -0.139464 
time: 1403636719.813555, t: 1.456075 4.861671 6.316566 q: 0.983761 0.086954 0.075636 -0.137594 
time: 1403636719.913555, t: 1.428255 4.831156 6.275723 q: 0.984316 0.084213 0.074938 -0.135703 
time: 1403636720.013556, t: 1.401835 4.804685 6.237430 q: 0.984765 0.081647 0.073118 -0.135000 
time: 1403636720.113555, t: 1.370487 4.777675 6.204701 q: 0.984958 0.080142 0.072664 -0.134741 
time: 1403636720.213556, t: 1.336974 4.755976 6.173886 q: 0.985191 0.079954 0.071335 -0.133854 
time: 1403636720.313555, t: 1.302403 4.734433 6.144830 q: 0.985256 0.080328 0.071601 -0.133009 
time: 1403636720.413555, t: 1.264942 4.716252 6.118258 q: 0.985167 0.081227 0.071378 -0.133238 
time: 1403636720.513556, t: 1.227197 4.701468 6.091363 q: 0.985191 0.082816 0.070344 -0.132636 
time: 1403636720.613555, t: 1.196666 4.686279 6.063955 q: 0.985037 0.083838 0.069363 -0.133648 
time: 1403636720.713556, t: 1.174644 4.670336 6.034299 q: 0.984882 0.084832 0.070839 -0.133392 
time: 1403636720.813555, t: 1.158152 4.657603 6.004779 q: 0.985526 0.080649 0.070833 -0.131212 
time: 1403636720.913555, t: 1.144494 4.646391 5.975400 q: 0.986659 0.069842 0.071980 -0.128239 
time: 1403636721.013556, t: 1.125870 4.638985 5.951837 q: 0.987942 0.058837 0.075884 -0.121451 
time: 1403636721.113555, t: 1.102744 4.635203 5.929718 q: 0.989145 0.046517 0.080685 -0.113658 
time: 1403636721.213556, t: 1.079217 4.634763 5.909037 q: 0.990078 0.030949 0.086339 -0.106459 
time: 1403636721.313555, t: 1.059552 4.633548 5.886071 q: 0.990672 0.018131 0.090973 -0.099819 
time: 1403636721.413555, t: 1.045056 4.635189 5.860276 q: 0.990895 0.007131 0.093654 -0.096459 
optimize pose graph 
time: 1403636721.513556, t: 1.033589 4.637516 5.831188 q: 0.991109 -0.002469 0.093968 -0.094162 
time: 1403636721.613555, t: 1.022055 4.640424 5.801835 q: 0.991287 -0.014144 0.093475 -0.091720 
time: 1403636721.713556, t: 1.005987 4.645099 5.774365 q: 0.991195 -0.022964 0.094009 -0.090378 
time: 1403636721.813555, t: 0.985751 4.648496 5.748566 q: 0.991005 -0.028756 0.094325 -0.090473 
time: 1403636721.913555, t: 0.960826 4.654393 5.725743 q: 0.990921 -0.030449 0.095627 -0.089462 
time: 1403636722.013556, t: 0.934465 4.659947 5.702998 q: 0.990251 -0.033123 0.095830 -0.095514 
time: 1403636722.213556, t: 0.897382 4.660848 5.645389 q: 0.990254 -0.030981 0.094556 -0.097446 
time: 1403636722.313555, t: 0.885032 4.657582 5.612210 q: 0.990645 -0.027670 0.094061 -0.094917 
time: 1403636722.413555, t: 0.869406 4.653388 5.580943 q: 0.990758 -0.028674 0.093552 -0.093936 
time: 1403636722.513556, t: 0.848939 4.651837 5.552202 q: 0.990715 -0.032897 0.094834 -0.091691 
time: 1403636722.613555, t: 0.824597 4.650022 5.525074 q: 0.990590 -0.037312 0.094853 -0.091334 
time: 1403636722.713556, t: 0.798369 4.648282 5.497915 q: 0.990418 -0.040702 0.095150 -0.091443 
time: 1403636722.813555, t: 0.772296 4.642396 5.471638 q: 0.990269 -0.043765 0.094223 -0.092591 
time: 1403636722.913555, t: 0.751727 4.636465 5.442598 q: 0.990259 -0.044754 0.094112 -0.092344 
time: 1403636723.013556, t: 0.739218 4.626045 5.411376 q: 0.990564 -0.043454 0.094395 -0.089355 
time: 1403636723.113555, t: 0.730459 4.614202 5.375631 q: 0.990816 -0.041801 0.095363 -0.086272 
time: 1403636723.213556, t: 0.719880 4.602610 5.341695 q: 0.990866 -0.041883 0.095488 -0.085514 
time: 1403636723.313555, t: 0.705139 4.592026 5.310845 q: 0.990560 -0.044082 0.094887 -0.088564 
time: 1403636723.413555, t: 0.687333 4.582182 5.282407 q: 0.990060 -0.050340 0.096082 -0.089526 
time: 1403636723.513556, t: 0.667813 4.572736 5.254327 q: 0.988892 -0.060668 0.103162 -0.088142 
time: 1403636723.613555, t: 0.651582 4.560636 5.222251 q: 0.987586 -0.067444 0.116965 -0.080274 
time: 1403636723.713556, t: 0.636440 4.544633 5.186372 q: 0.987602 -0.075046 0.115718 -0.074967 
time: 1403636723.813555, t: 0.620473 4.527287 5.146978 q: 0.988422 -0.081619 0.107576 -0.069200 
time: 1403636723.913555, t: 0.602371 4.511775 5.107306 q: 0.989061 -0.086020 0.101128 -0.064287 
time: 1403636724.013556, t: 0.579186 4.496783 5.071100 q: 0.989615 -0.091293 0.093360 -0.060104 
time: 1403636724.113555, t: 0.552516 4.484537 5.038134 q: 0.989500 -0.101352 0.087225 -0.054852 
time: 1403636724.213556, t: 0.522889 4.472802 5.011318 q: 0.988283 -0.115253 0.087510 -0.048535 
time: 1403636724.313555, t: 0.491486 4.464579 4.989445 q: 0.986108 -0.132463 0.090933 -0.042150 
time: 1403636724.413555, t: 0.463891 4.455726 4.967346 q: 0.983156 -0.150197 0.097913 -0.035465 
time: 1403636724.513556, t: 0.443002 4.444325 4.944326 q: 0.980390 -0.164343 0.104346 -0.030632 
time: 1403636724.613555, t: 0.430368 4.429998 4.919897 q: 0.978345 -0.174328 0.108208 -0.027255 
time: 1403636724.713556, t: 0.424180 4.411595 4.891261 q: 0.977161 -0.180380 0.109572 -0.024763 
time: 1403636724.813555, t: 0.424228 4.392072 4.859701 q: 0.976751 -0.183443 0.108597 -0.022640 
time: 1403636724.913555, t: 0.428929 4.371325 4.826894 q: 0.977111 -0.182661 0.107262 -0.019581 
time: 1403636725.013556, t: 0.439923 4.347073 4.791279 q: 0.977851 -0.179169 0.107150 -0.014997 
time: 1403636725.113555, t: 0.458181 4.323113 4.751347 q: 0.978465 -0.175726 0.107661 -0.011671 
time: 1403636725.213556, t: 0.478513 4.300740 4.711751 q: 0.978863 -0.174063 0.106801 -0.011091 
time: 1403636725.313555, t: 0.498131 4.278508 4.673999 q: 0.978935 -0.174289 0.105544 -0.013038 
time: 1403636725.413555, t: 0.512825 4.261046 4.639453 q: 0.978749 -0.175247 0.105283 -0.015959 
time: 1403636725.513556, t: 0.523114 4.246069 4.609479 q: 0.978563 -0.176249 0.104961 -0.018284 
time: 1403636725.613555, t: 0.528920 4.232883 4.582840 q: 0.978344 -0.177692 0.104213 -0.020201 
time: 1403636725.713556, t: 0.532114 4.220312 4.559294 q: 0.978078 -0.177868 0.106415 -0.020064 
optimize pose graph 
time: 1403636725.813555, t: 0.529817 4.209494 4.541210 q: 0.978077 -0.177881 0.106338 -0.020394 
time: 1403636725.913555, t: 0.523672 4.200906 4.525162 q: 0.978566 -0.176110 0.105238 -0.017875 
time: 1403636726.013556, t: 0.514292 4.192559 4.513296 q: 0.978794 -0.174682 0.105627 -0.017043 
time: 1403636726.113555, t: 0.500872 4.185420 4.504829 q: 0.978696 -0.174744 0.106026 -0.019424 
time: 1403636726.213556, t: 0.485879 4.179988 4.497999 q: 0.978504 -0.174112 0.108418 -0.021456 
time: 1403636726.313555, t: 0.469639 4.175300 4.492073 q: 0.978574 -0.173221 0.108879 -0.023082 
time: 1403636726.413555, t: 0.458850 4.169114 4.483335 q: 0.978538 -0.172206 0.110413 -0.024864 
time: 1403636726.513556, t: 0.454378 4.159697 4.470509 q: 0.978875 -0.169458 0.112085 -0.022904 
time: 1403636726.613555, t: 0.455249 4.150934 4.454966 q: 0.980008 -0.161037 0.116448 -0.009572 
time: 1403636726.713556, t: 0.461360 4.143785 4.433604 q: 0.980399 -0.156320 0.119897 -0.002591 
time: 1403636726.813555, t: 0.470277 4.139393 4.408255 q: 0.979742 -0.159847 0.120072 -0.011742 
time: 1403636726.913555, t: 0.486485 4.134969 4.376090 q: 0.979567 -0.160796 0.118591 -0.023006 
time: 1403636727.013556, t: 0.505982 4.130148 4.339171 q: 0.979726 -0.159487 0.117811 -0.028659 
time: 1403636727.113555, t: 0.526737 4.124444 4.302527 q: 0.979703 -0.159368 0.116816 -0.033734 
time: 1403636727.213556, t: 0.541220 4.119296 4.266440 q: 0.979569 -0.160550 0.114514 -0.039442 
time: 1403636727.313555, t: 0.551311 4.113880 4.231451 q: 0.979298 -0.162339 0.112394 -0.044599 
time: 1403636727.413555, t: 0.557376 4.106245 4.198970 q: 0.979373 -0.162991 0.110058 -0.046359 
time: 1403636727.513556, t: 0.561585 4.095500 4.168810 q: 0.979269 -0.162494 0.111909 -0.045876 
time: 1403636727.613555, t: 0.567336 4.081237 4.136975 q: 0.979430 -0.160198 0.115345 -0.041826 
time: 1403636727.713556, t: 0.577061 4.063917 4.101430 q: 0.979738 -0.159519 0.114349 -0.039899 
time: 1403636727.813555, t: 0.591192 4.043324 4.063549 q: 0.979654 -0.160598 0.112744 -0.042141 
optimize pose graph 
time: 1403636727.913555, t: 0.608283 4.019112 4.022308 q: 0.978669 -0.165417 0.110778 -0.050709 
time: 1403636728.013556, t: 0.625494 3.991535 3.985393 q: 0.978699 -0.165727 0.110105 -0.050593 
time: 1403636728.113555, t: 0.634320 3.964349 3.949627 q: 0.979139 -0.163261 0.112062 -0.045542 
time: 1403636728.213556, t: 0.638280 3.932688 3.917630 q: 0.979212 -0.161938 0.114576 -0.042342 
time: 1403636728.313555, t: 0.636481 3.901239 3.888765 q: 0.979418 -0.160944 0.115164 -0.039693 
time: 1403636728.413555, t: 0.627366 3.868588 3.863748 q: 0.979843 -0.159499 0.114745 -0.036072 
time: 1403636728.513556, t: 0.610834 3.838181 3.839702 q: 0.980913 -0.153669 0.116842 -0.023315 
time: 1403636728.613555, t: 0.591869 3.810021 3.816464 q: 0.981695 -0.148864 0.117303 -0.018848 
time: 1403636728.713556, t: 0.572884 3.781589 3.795574 q: 0.982095 -0.145845 0.115282 -0.030463 
time: 1403636728.813555, t: 0.557407 3.753522 3.768176 q: 0.983135 -0.137159 0.112358 -0.044809 
time: 1403636728.913555, t: 0.547924 3.720218 3.736261 q: 0.983998 -0.126571 0.112031 -0.056369 
time: 1403636729.013556, t: 0.536147 3.685817 3.706096 q: 0.984652 -0.116898 0.113206 -0.063081 
time: 1403636729.113555, t: 0.519244 3.653463 3.676050 q: 0.984962 -0.109282 0.114993 -0.068436 
time: 1403636729.213556, t: 0.496528 3.622273 3.648279 q: 0.985635 -0.104406 0.112270 -0.070838 
time: 1403636729.313555, t: 0.469524 3.591269 3.622249 q: 0.986220 -0.100367 0.110990 -0.070554 
time: 1403636729.413555, t: 0.440399 3.560233 3.593939 q: 0.986328 -0.098347 0.111659 -0.070828 
time: 1403636729.513556, t: 0.412921 3.529187 3.562023 q: 0.986374 -0.097198 0.112087 -0.071094 
time: 1403636729.613555, t: 0.389715 3.494417 3.527184 q: 0.986619 -0.096531 0.110822 -0.070586 
time: 1403636729.713556, t: 0.371874 3.457983 3.487455 q: 0.986828 -0.095746 0.110628 -0.069023 
time: 1403636729.813555, t: 0.354340 3.417379 3.446908 q: 0.987147 -0.096958 0.107000 -0.068484 
time: 1403636729.913555, t: 0.332817 3.380046 3.408061 q: 0.987709 -0.097303 0.102739 -0.066385 
time: 1403636730.013556, t: 0.307904 3.345033 3.370219 q: 0.988013 -0.097856 0.099495 -0.065993 
time: 1403636730.113555, t: 0.279736 3.309376 3.336626 q: 0.988204 -0.097301 0.098164 -0.065943 
optimize pose graph 
time: 1403636730.213556, t: 0.250136 3.275856 3.304917 q: 0.988353 -0.097035 0.097103 -0.065675 
time: 1403636730.313555, t: 0.218304 3.243976 3.275619 q: 0.988506 -0.095598 0.097852 -0.064352 
time: 1403636730.413555, t: 0.184729 3.212493 3.249410 q: 0.988687 -0.095293 0.095944 -0.064903 
time: 1403636730.513556, t: 0.154606 3.179527 3.223873 q: 0.989335 -0.095731 0.088403 -0.065094 
time: 1403636730.613555, t: 0.131090 3.146671 3.197208 q: 0.990094 -0.095183 0.081662 -0.063134 
time: 1403636730.713556, t: 0.116196 3.112361 3.172163 q: 0.990373 -0.094732 0.079451 -0.062244 
time: 1403636730.813555, t: 0.111101 3.076802 3.147589 q: 0.990389 -0.095083 0.078244 -0.062989 
time: 1403636730.913555, t: 0.112717 3.041848 3.126135 q: 0.990998 -0.093098 0.077263 -0.057333 
time: 1403636731.013556, t: 0.115351 3.010269 3.108578 q: 0.991615 -0.088906 0.080771 -0.047664 
time: 1403636731.113555, t: 0.117909 2.982300 3.093758 q: 0.991293 -0.084180 0.093649 -0.038505 
time: 1403636731.213556, t: 0.116877 2.961748 3.084239 q: 0.990360 -0.084286 0.102809 -0.038891 
time: 1403636731.313555, t: 0.112544 2.946087 3.075275 q: 0.989036 -0.089011 0.107674 -0.047865 
time: 1403636731.413555, t: 0.105257 2.935259 3.067464 q: 0.988259 -0.093752 0.106787 -0.056145 
time: 1403636731.513556, t: 0.093470 2.925820 3.061035 q: 0.988202 -0.094120 0.106848 -0.056414 
time: 1403636731.613555, t: 0.080420 2.919982 3.055177 q: 0.988867 -0.090701 0.107011 -0.049631 
time: 1403636731.713556, t: 0.064288 2.917091 3.050383 q: 0.989039 -0.089859 0.106967 -0.047798 
time: 1403636731.813555, t: 0.045103 2.917597 3.046441 q: 0.988678 -0.092104 0.106178 -0.052533 
time: 1403636731.913555, t: 0.023554 2.920657 3.043739 q: 0.988343 -0.093300 0.106071 -0.056759 
time: 1403636732.013556, t: -0.001135 2.925245 3.042772 q: 0.988194 -0.093089 0.106977 -0.057991 
time: 1403636732.113555, t: -0.029476 2.932744 3.041884 q: 0.988048 -0.092512 0.108458 -0.058646 
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time: 1403636732.613555, t: -0.137293 2.951005 2.999847 q: 0.982318 -0.105385 0.121840 -0.095393 
time: 1403636732.813555, t: -0.157638 2.922829 2.946470 q: 0.983464 -0.096922 0.128374 -0.083217 
time: 1403636732.913555, t: -0.171408 2.900461 2.917360 q: 0.983904 -0.095320 0.127985 -0.080418 
time: 1403636733.013556, t: -0.191276 2.877920 2.885921 q: 0.984773 -0.094389 0.122958 -0.078704 
time: 1403636733.113555, t: -0.214444 2.853368 2.852588 q: 0.985633 -0.094320 0.116378 -0.078018 
time: 1403636733.213556, t: -0.234337 2.825933 2.813994 q: 0.985517 -0.095312 0.114660 -0.080779 
time: 1403636733.313555, t: -0.249591 2.792489 2.773245 q: 0.985791 -0.094299 0.113477 -0.080293 
time: 1403636733.413555, t: -0.261615 2.756747 2.727107 q: 0.986775 -0.092072 0.109091 -0.076792 
time: 1403636733.513556, t: -0.268322 2.720230 2.677978 q: 0.987539 -0.090809 0.105361 -0.073620 
time: 1403636733.613555, t: -0.276470 2.681712 2.629307 q: 0.987863 -0.090590 0.102488 -0.073591 
time: 1403636733.713556, t: -0.289968 2.644920 2.583913 q: 0.988285 -0.089829 0.100178 -0.072027 
time: 1403636733.813555, t: -0.307043 2.607231 2.541790 q: 0.988495 -0.089895 0.097855 -0.072252 
time: 1403636733.913555, t: -0.329423 2.571363 2.504829 q: 0.988326 -0.090404 0.097954 -0.073788 
time: 1403636734.013556, t: -0.354188 2.537417 2.470871 q: 0.987293 -0.092013 0.103132 -0.078420 
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time: 1403636734.213556, t: -0.405484 2.464866 2.402773 q: 0.986968 -0.091140 0.109051 -0.075465 
time: 1403636734.313555, t: -0.425353 2.423803 2.365212 q: 0.987352 -0.088982 0.109106 -0.072896 
time: 1403636734.413555, t: -0.437773 2.382413 2.323063 q: 0.988022 -0.087178 0.106079 -0.070422 
time: 1403636734.513556, t: -0.449038 2.340861 2.280730 q: 0.988532 -0.086098 0.102647 -0.069678 
time: 1403636734.613555, t: -0.461247 2.302002 2.242926 q: 0.989095 -0.085135 0.098426 -0.068964 
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time: 1403636734.913555, t: -0.526066 2.191671 2.151649 q: 0.989480 -0.083054 0.094133 -0.071906 
time: 1403636735.013556, t: -0.554099 2.157479 2.129946 q: 0.989460 -0.082828 0.094135 -0.072430 
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time: 1403636735.213556, t: -0.609159 2.095610 2.089885 q: 0.989801 -0.081576 0.094425 -0.068722 
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time: 1403636735.413555, t: -0.634635 2.032297 2.044236 q: 0.990126 -0.083241 0.093030 -0.063774 
time: 1403636735.513556, t: -0.634023 2.000871 2.017616 q: 0.989732 -0.086012 0.095686 -0.062268 
time: 1403636735.613555, t: -0.626844 1.969920 1.991025 q: 0.989140 -0.089372 0.098663 -0.062300 
time: 1403636735.713556, t: -0.618274 1.939421 1.967136 q: 0.988947 -0.092377 0.098565 -0.061111 
time: 1403636735.813555, t: -0.611821 1.912266 1.945680 q: 0.988774 -0.094571 0.098632 -0.060455 
time: 1403636736.013556, t: -0.610990 1.862086 1.916521 q: 0.988404 -0.094774 0.100737 -0.062673 
time: 1403636736.113555, t: -0.607260 1.837371 1.901397 q: 0.988629 -0.087382 0.102870 -0.066298 
time: 1403636736.213556, t: -0.596853 1.809766 1.884335 q: 0.988941 -0.075642 0.105363 -0.071923 
time: 1403636736.313555, t: -0.586872 1.782646 1.865683 q: 0.989169 -0.065314 0.105696 -0.078144 
time: 1403636736.413555, t: -0.577435 1.755853 1.848476 q: 0.989241 -0.057933 0.104960 -0.083842 
time: 1403636736.513556, t: -0.573139 1.729604 1.836328 q: 0.988384 -0.055775 0.105205 -0.094439 
time: 1403636736.613555, t: -0.573724 1.703675 1.826682 q: 0.987496 -0.055097 0.105599 -0.103267 
time: 1403636736.713556, t: -0.580672 1.678499 1.816753 q: 0.987108 -0.053524 0.106752 -0.106573 
time: 1403636736.813555, t: -0.591134 1.648705 1.809923 q: 0.986903 -0.052589 0.106803 -0.108859 
time: 1403636736.913555, t: -0.605529 1.619326 1.802045 q: 0.987088 -0.050553 0.106059 -0.108872 
time: 1403636737.013556, t: -0.622882 1.587015 1.795028 q: 0.987859 -0.045974 0.105683 -0.104176 
time: 1403636737.113555, t: -0.640643 1.551889 1.787399 q: 0.988619 -0.040110 0.106557 -0.098335 
time: 1403636737.213556, t: -0.664293 1.518762 1.781533 q: 0.988975 -0.036461 0.105779 -0.097001 
time: 1403636737.313555, t: -0.687984 1.482332 1.777166 q: 0.989488 -0.033884 0.102508 -0.096217 
time: 1403636737.413555, t: -0.711256 1.449636 1.769612 q: 0.990023 -0.031535 0.098103 -0.096107 
time: 1403636737.513556, t: -0.724872 1.412740 1.758960 q: 0.990343 -0.030725 0.093549 -0.097594 
time: 1403636737.613555, t: -0.734852 1.378787 1.744674 q: 0.990946 -0.028040 0.091412 -0.094250 
time: 1403636737.713556, t: -0.739263 1.343159 1.729617 q: 0.991861 -0.024799 0.088816 -0.087802 
time: 1403636737.813555, t: -0.737103 1.310272 1.712794 q: 0.992432 -0.022788 0.087616 -0.082961 
time: 1403636737.913555, t: -0.727078 1.280093 1.693990 q: 0.992611 -0.022318 0.087621 -0.080915 
time: 1403636738.013556, t: -0.709490 1.251705 1.674286 q: 0.992560 -0.023232 0.088587 -0.080227 
time: 1403636738.113555, t: -0.686780 1.226809 1.654204 q: 0.992112 -0.026282 0.089727 -0.083499 
time: 1403636738.213556, t: -0.664920 1.204525 1.638512 q: 0.991630 -0.028980 0.092128 -0.085684 
time: 1403636738.313555, t: -0.648844 1.187087 1.625149 q: 0.991497 -0.030846 0.092757 -0.085902 
optimize pose graph 
time: 1403636738.413555, t: -0.636526 1.172805 1.614928 q: 0.991559 -0.032576 0.092404 -0.084915 
time: 1403636738.513556, t: -0.627037 1.161874 1.608875 q: 0.991664 -0.037690 0.091463 -0.082565 
time: 1403636738.613555, t: -0.620500 1.153199 1.605890 q: 0.991928 -0.047898 0.089460 -0.076034 
time: 1403636738.713556, t: -0.619282 1.151200 1.609622 q: 0.991556 -0.062756 0.092017 -0.066420 
time: 1403636738.813555, t: -0.619395 1.151650 1.614664 q: 0.990214 -0.080630 0.100143 -0.054283 
time: 1403636738.913555, t: -0.623039 1.155763 1.623624 q: 0.988242 -0.100551 0.108141 -0.039668 
time: 1403636739.013556, t: -0.631740 1.168120 1.633669 q: 0.985713 -0.121399 0.114722 -0.021718 
time: 1403636739.113555, t: -0.643084 1.185257 1.643897 q: 0.982018 -0.146471 0.118889 -0.007264 
time: 1403636739.213556, t: -0.657089 1.206772 1.655867 q: 0.976873 -0.176211 0.121112 -0.000607 
time: 1403636739.313555, t: -0.673548 1.232788 1.664589 q: 0.970548 -0.207257 0.122761 0.003351 
time: 1403636739.413555, t: -0.692270 1.263646 1.670768 q: 0.963693 -0.236520 0.123711 0.007040 
time: 1403636739.513556, t: -0.706074 1.293119 1.676573 q: 0.957000 -0.261174 0.125239 0.015972 
time: 1403636739.613555, t: -0.711095 1.316528 1.678602 q: 0.951522 -0.277685 0.129156 0.028543 
time: 1403636739.713556, t: -0.711568 1.337911 1.677634 q: 0.947601 -0.289632 0.130100 0.035201 
time: 1403636739.813555, t: -0.713523 1.358338 1.677702 q: 0.945494 -0.294460 0.132227 0.043012 
time: 1403636739.913555, t: -0.719581 1.379661 1.680472 q: 0.944365 -0.297618 0.132354 0.045616 
time: 1403636740.013556, t: -0.731037 1.402420 1.685185 q: 0.943990 -0.299275 0.131622 0.044652 
time: 1403636740.113555, t: -0.745061 1.426443 1.691593 q: 0.943973 -0.300497 0.130454 0.039979 
time: 1403636740.213556, t: -0.762224 1.450461 1.698824 q: 0.943883 -0.302455 0.128914 0.031422 
time: 1403636740.313555, t: -0.781992 1.473675 1.708498 q: 0.944189 -0.301531 0.129716 0.027581 
time: 1403636740.413555, t: -0.804948 1.495397 1.720247 q: 0.945234 -0.296619 0.132584 0.031180 
time: 1403636740.513556, t: -0.831249 1.517224 1.733936 q: 0.946143 -0.292178 0.135196 0.034180 
optimize pose graph 
time: 1403636740.613555, t: -0.855669 1.538049 1.744975 q: 0.946732 -0.289911 0.136162 0.033303 
time: 1403636740.713556, t: -0.876068 1.557883 1.751143 q: 0.947938 -0.286888 0.133462 0.036022 
time: 1403636740.813555, t: -0.893542 1.576019 1.755318 q: 0.948794 -0.285415 0.130561 0.035808 
time: 1403636740.913555, t: -0.913761 1.595302 1.760041 q: 0.948741 -0.285439 0.131855 0.032086 
time: 1403636741.013556, t: -0.938833 1.616103 1.767373 q: 0.947621 -0.290120 0.132053 0.020184 
time: 1403636741.113555, t: -0.970969 1.635065 1.778692 q: 0.945489 -0.296829 0.133361 0.012543 
time: 1403636741.213556, t: -1.009219 1.653769 1.792577 q: 0.943081 -0.301868 0.138235 0.019113 
time: 1403636741.313555, t: -1.051513 1.669922 1.808086 q: 0.941951 -0.302942 0.141241 0.031717 
time: 1403636741.413555, t: -1.096755 1.682886 1.823639 q: 0.941788 -0.304550 0.135752 0.043077 
time: 1403636741.513556, t: -1.138683 1.693608 1.835220 q: 0.942011 -0.307180 0.125526 0.049981 
time: 1403636741.613555, t: -1.172254 1.705753 1.844047 q: 0.942232 -0.308406 0.118734 0.054650 
time: 1403636741.713556, t: -1.198031 1.717340 1.851099 q: 0.941971 -0.309776 0.117477 0.054108 
time: 1403636741.813555, t: -1.216307 1.731484 1.855187 q: 0.941392 -0.310864 0.121390 0.049073 
time: 1403636741.913555, t: -1.235606 1.746497 1.861266 q: 0.941031 -0.312105 0.123935 0.041133 
time: 1403636742.013556, t: -1.260566 1.762755 1.872485 q: 0.941130 -0.313865 0.121541 0.031481 
time: 1403636742.113555, t: -1.286932 1.777590 1.887736 q: 0.943040 -0.310945 0.113912 0.031821 
time: 1403636742.213556, t: -1.306032 1.792321 1.901043 q: 0.944976 -0.305755 0.110408 0.036669 
time: 1403636742.313555, t: -1.315362 1.804806 1.913210 q: 0.946255 -0.300234 0.113403 0.040019 
time: 1403636742.413555, t: -1.317602 1.815889 1.925353 q: 0.946222 -0.297224 0.121707 0.038851 
time: 1403636742.513556, t: -1.314030 1.826447 1.935690 q: 0.946232 -0.295420 0.126454 0.037157 
time: 1403636742.613555, t: -1.309223 1.838235 1.944369 q: 0.946347 -0.294057 0.129281 0.035272 
time: 1403636742.713556, t: -1.306045 1.849254 1.953986 q: 0.946082 -0.292850 0.134381 0.033300 
optimize pose graph 
time: 1403636742.813555, t: -1.310328 1.862410 1.968072 q: 0.946036 -0.291707 0.137527 0.031770 
time: 1403636742.913555, t: -1.322118 1.876758 1.984738 q: 0.946321 -0.289733 0.139621 0.032197 
time: 1403636743.013556, t: -1.340165 1.892255 2.003769 q: 0.945712 -0.292220 0.138010 0.034473 
time: 1403636743.113555, t: -1.366561 1.910734 2.023736 q: 0.945705 -0.296706 0.125261 0.043799 
time: 1403636743.213556, t: -1.391793 1.930453 2.044926 q: 0.946139 -0.300793 0.107230 0.053358 
time: 1403636743.313555, t: -1.406156 1.950559 2.064228 q: 0.945849 -0.304542 0.095727 0.058827 
time: 1403636743.413555, t: -1.408025 1.972465 2.085895 q: 0.945214 -0.305941 0.094880 0.062998 
time: 1403636743.513556, t: -1.402445 2.001107 2.108892 q: 0.943964 -0.307813 0.102109 0.061301 
time: 1403636743.613555, t: -1.398798 2.034619 2.137187 q: 0.942520 -0.310184 0.111158 0.055552 
time: 1403636743.713556, t: -1.397457 2.071879 2.170226 q: 0.941151 -0.312703 0.118467 0.049175 
time: 1403636743.813555, t: -1.397442 2.110569 2.208209 q: 0.938385 -0.318100 0.126563 0.047198 
time: 1403636743.913555, t: -1.404171 2.151388 2.249715 q: 0.935518 -0.323255 0.133755 0.049215 
time: 1403636744.013556, t: -1.415982 2.191383 2.294176 q: 0.933276 -0.327736 0.138385 0.049341 
time: 1403636744.113555, t: -1.431184 2.232471 2.339920 q: 0.930149 -0.335493 0.140624 0.049928 
time: 1403636744.213556, t: -1.451934 2.274118 2.387941 q: 0.927176 -0.341474 0.144136 0.054457 
time: 1403636744.313555, t: -1.476399 2.314031 2.437107 q: 0.925068 -0.344515 0.148265 0.059796 
time: 1403636744.413555, t: -1.507433 2.353501 2.488847 q: 0.924193 -0.344266 0.151218 0.066952 
time: 1403636744.513556, t: -1.545123 2.393707 2.540559 q: 0.924319 -0.340394 0.155055 0.075653 
time: 1403636744.613555, t: -1.586717 2.434375 2.591496 q: 0.924250 -0.337764 0.159785 0.078400 
time: 1403636744.713556, t: -1.631677 2.477476 2.638984 q: 0.923892 -0.338161 0.162459 0.075345 
time: 1403636744.813555, t: -1.679447 2.519957 2.683089 q: 0.923415 -0.342585 0.159518 0.067036 
time: 1403636744.913555, t: -1.723914 2.560752 2.719920 q: 0.923987 -0.345489 0.151665 0.062312 
time: 1403636745.013556, t: -1.763702 2.597609 2.751381 q: 0.925619 -0.344401 0.143882 0.062577 
time: 1403636745.113555, t: -1.799261 2.632212 2.778270 q: 0.927861 -0.341572 0.135590 0.063391 
time: 1403636745.213556, t: -1.826830 2.664089 2.805586 q: 0.929580 -0.337768 0.133524 0.062968 
time: 1403636745.313555, t: -1.849286 2.694958 2.829050 q: 0.931083 -0.334584 0.132742 0.059304 
time: 1403636745.413555, t: -1.862299 2.726468 2.848499 q: 0.931164 -0.332392 0.140442 0.052207 
time: 1403636745.513556, t: -1.868555 2.755982 2.865985 q: 0.930352 -0.332449 0.146950 0.048251 
time: 1403636745.613555, t: -1.870629 2.782708 2.878112 q: 0.929178 -0.334472 0.149634 0.048648 
time: 1403636745.713556, t: -1.868700 2.805992 2.887852 q: 0.927129 -0.339326 0.151208 0.049262 
time: 1403636745.813555, t: -1.862210 2.824333 2.890278 q: 0.924949 -0.346035 0.149278 0.049455 
time: 1403636745.913555, t: -1.850984 2.837245 2.889379 q: 0.922080 -0.354094 0.148352 0.048765 
time: 1403636746.013556, t: -1.835370 2.845785 2.885633 q: 0.919245 -0.362690 0.145813 0.046724 
time: 1403636746.113555, t: -1.815311 2.849158 2.881964 q: 0.916918 -0.370050 0.142426 0.045163 
time: 1403636746.213556, t: -1.788986 2.845365 2.874482 q: 0.914943 -0.374209 0.144527 0.044262 
time: 1403636746.313555, t: -1.760617 2.834229 2.868622 q: 0.912014 -0.376748 0.156920 0.040836 
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time: 1403636746.513556, t: -1.724256 2.797139 2.870268 q: 0.912313 -0.373669 0.160690 0.047280 
time: 1403636746.613555, t: -1.720853 2.773421 2.876846 q: 0.916894 -0.367536 0.143794 0.059548 
time: 1403636746.713556, t: -1.722861 2.750388 2.888022 q: 0.921970 -0.358335 0.126141 0.075203 
time: 1403636746.813555, t: -1.724056 2.728193 2.901631 q: 0.924873 -0.349845 0.121310 0.086621 
time: 1403636746.913555, t: -1.721434 2.711597 2.916824 q: 0.926072 -0.344564 0.124140 0.090860 
time: 1403636747.013556, t: -1.712646 2.700309 2.930950 q: 0.926371 -0.343217 0.127560 0.088134 
time: 1403636747.113555, t: -1.696760 2.692850 2.940311 q: 0.925155 -0.348073 0.131661 0.074823 
time: 1403636747.213556, t: -1.670580 2.685536 2.947965 q: 0.923387 -0.353069 0.136333 0.064127 
time: 1403636747.313555, t: -1.639781 2.677731 2.951680 q: 0.922035 -0.357042 0.138031 0.057613 
time: 1403636747.413555, t: -1.605083 2.667707 2.955322 q: 0.921019 -0.359445 0.139156 0.056199 
time: 1403636747.513556, t: -1.575630 2.658339 2.962108 q: 0.920217 -0.361499 0.138413 0.057985 
time: 1403636747.613555, t: -1.547810 2.646871 2.974792 q: 0.919713 -0.362787 0.137049 0.061086 
time: 1403636747.713556, t: -1.517848 2.635373 2.985883 q: 0.918913 -0.364748 0.136328 0.063036 
time: 1403636747.813555, t: -1.481076 2.621459 2.995035 q: 0.918086 -0.366768 0.135578 0.064951 
time: 1403636747.913555, t: -1.437804 2.605919 3.001371 q: 0.917506 -0.364963 0.140133 0.073128 
time: 1403636748.013556, t: -1.390696 2.589932 3.008476 q: 0.916845 -0.359797 0.149534 0.087064 
time: 1403636748.113555, t: -1.346886 2.577272 3.016507 q: 0.916226 -0.358189 0.152480 0.094766 
time: 1403636748.213556, t: -1.312157 2.569836 3.025430 q: 0.915786 -0.358925 0.151725 0.097410 
time: 1403636748.313555, t: -1.284460 2.565946 3.033777 q: 0.915212 -0.365712 0.145394 0.086619 
time: 1403636748.413555, t: -1.259039 2.564666 3.044065 q: 0.914499 -0.372614 0.139593 0.073235 
time: 1403636748.513556, t: -1.231177 2.563598 3.052440 q: 0.914011 -0.375082 0.139252 0.067121 
time: 1403636748.613555, t: -1.198691 2.561612 3.059486 q: 0.913967 -0.373600 0.142227 0.069705 
time: 1403636748.713556, t: -1.163188 2.556560 3.065255 q: 0.913957 -0.370135 0.147342 0.077284 
time: 1403636748.813555, t: -1.129209 2.552363 3.070746 q: 0.913808 -0.367373 0.150896 0.084988 
time: 1403636748.913555, t: -1.100222 2.550631 3.075513 q: 0.912863 -0.367276 0.154151 0.089594 
time: 1403636749.013556, t: -1.076360 2.553602 3.079814 q: 0.911548 -0.369103 0.155842 0.092502 
time: 1403636749.113555, t: -1.055100 2.558182 3.084007 q: 0.910558 -0.367922 0.160098 0.099428 
time: 1403636749.213556, t: -1.036523 2.565990 3.083456 q: 0.909550 -0.369838 0.160925 0.100206 
time: 1403636749.313555, t: -1.015764 2.576005 3.076280 q: 0.908021 -0.377466 0.157745 0.090189 
time: 1403636749.413555, t: -0.991239 2.584453 3.065807 q: 0.907038 -0.383218 0.153947 0.082018 
time: 1403636749.513556, t: -0.962214 2.591878 3.047767 q: 0.906454 -0.387652 0.150105 0.074399 
time: 1403636749.613555, t: -0.934492 2.597306 3.031905 q: 0.905996 -0.391553 0.146669 0.065923 
time: 1403636749.713556, t: -0.910573 2.602182 3.018516 q: 0.906344 -0.390794 0.147229 0.064376 
time: 1403636749.813555, t: -0.891842 2.604982 3.009526 q: 0.906192 -0.388468 0.154760 0.062909 
time: 1403636749.913555, t: -0.878120 2.606070 3.003505 q: 0.906156 -0.385454 0.162824 0.061605 
time: 1403636750.013556, t: -0.870450 2.604312 2.998206 q: 0.906844 -0.382162 0.167399 0.059698 
time: 1403636750.113555, t: -0.869043 2.599242 2.994005 q: 0.908310 -0.378886 0.166852 0.059817 
time: 1403636750.213556, t: -0.866090 2.589959 2.986830 q: 0.910143 -0.375829 0.163284 0.061078 
time: 1403636750.313555, t: -0.859523 2.575479 2.974880 q: 0.912218 -0.372990 0.157661 0.062293 
time: 1403636750.413555, t: -0.847036 2.557362 2.957569 q: 0.914125 -0.369854 0.153501 0.063405 
time: 1403636750.513556, t: -0.828396 2.535397 2.935029 q: 0.915677 -0.367026 0.151840 0.061420 
time: 1403636750.613555, t: -0.804455 2.510204 2.909051 q: 0.917222 -0.364046 0.150235 0.060030 
time: 1403636750.713556, t: -0.775650 2.482986 2.879011 q: 0.918288 -0.362542 0.148330 0.057525 
time: 1403636750.813555, t: -0.741610 2.452881 2.845248 q: 0.919312 -0.361090 0.145877 0.056558 
time: 1403636750.913555, t: -0.704123 2.420452 2.809333 q: 0.920004 -0.360839 0.142628 0.055176 
optimize pose graph 
time: 1403636751.013556, t: -0.665511 2.386132 2.774469 q: 0.920166 -0.362017 0.139263 0.053327 
time: 1403636751.113555, t: -0.631089 2.350952 2.745552 q: 0.919993 -0.362504 0.138961 0.053789 
time: 1403636751.213556, t: -0.601482 2.318978 2.718680 q: 0.920550 -0.363074 0.132274 0.057166 
time: 1403636751.313555, t: -0.571777 2.285187 2.695226 q: 0.921301 -0.362117 0.126654 0.063514 
time: 1403636751.413555, t: -0.540968 2.254618 2.673819 q: 0.921081 -0.359620 0.131426 0.070784 
time: 1403636751.513556, t: -0.509406 2.227546 2.655230 q: 0.920650 -0.355775 0.140932 0.077244 
time: 1403636751.613555, t: -0.480072 2.202531 2.636939 q: 0.921993 -0.349208 0.147366 0.079158 
time: 1403636751.713556, t: -0.451969 2.179580 2.617935 q: 0.924644 -0.342620 0.145168 0.081070 
time: 1403636751.813555, t: -0.427088 2.161042 2.598745 q: 0.927655 -0.337265 0.136834 0.083572 
time: 1403636751.913555, t: -0.404173 2.148091 2.579837 q: 0.929493 -0.337500 0.126877 0.077704 
time: 1403636752.013556, t: -0.378120 2.138096 2.561198 q: 0.930113 -0.339806 0.121022 0.069112 
time: 1403636752.113555, t: -0.352356 2.133977 2.544590 q: 0.929961 -0.340705 0.122508 0.063907 
time: 1403636752.213556, t: -0.324329 2.130010 2.531673 q: 0.930117 -0.338339 0.131061 0.056848 
time: 1403636752.313555, t: -0.294694 2.130355 2.517324 q: 0.932251 -0.329916 0.140095 0.049368 
time: 1403636752.413555, t: -0.261190 2.125949 2.503075 q: 0.936127 -0.317293 0.146094 0.040585 
time: 1403636752.513556, t: -0.225809 2.119855 2.485127 q: 0.941971 -0.301102 0.145096 0.031220 
time: 1403636752.613555, t: -0.191900 2.112773 2.468255 q: 0.948436 -0.283403 0.140387 0.021075 
time: 1403636752.713556, t: -0.164154 2.105855 2.453986 q: 0.954751 -0.264437 0.135629 0.011289 
time: 1403636752.813555, t: -0.139734 2.101283 2.440625 q: 0.960526 -0.245137 0.131518 -0.000541 
time: 1403636752.913555, t: -0.121855 2.098666 2.430543 q: 0.965569 -0.225973 0.128010 -0.015051 
time: 1403636753.013556, t: -0.108520 2.095524 2.425402 q: 0.969997 -0.206875 0.123736 -0.031584 
time: 1403636753.113555, t: -0.100325 2.089254 2.425134 q: 0.974077 -0.186190 0.119597 -0.046947 
optimize pose graph 
time: 1403636753.313555, t: -0.102453 2.074381 2.431681 q: 0.980068 -0.143019 0.112995 -0.079021 
time: 1403636753.413555, t: -0.111310 2.065140 2.437928 q: 0.981952 -0.122552 0.113759 -0.088379 
time: 1403636753.513556, t: -0.116107 2.049554 2.445325 q: 0.983828 -0.105759 0.114399 -0.088380 
time: 1403636753.613555, t: -0.115089 2.029714 2.448902 q: 0.984863 -0.094728 0.116144 -0.087072 
time: 1403636753.713556, t: -0.112080 2.007905 2.448730 q: 0.985418 -0.089597 0.116737 -0.085416 
time: 1403636753.813555, t: -0.112450 1.985753 2.450349 q: 0.985105 -0.089151 0.118580 -0.086937 
time: 1403636753.913555, t: -0.117573 1.963729 2.454430 q: 0.985061 -0.090142 0.119101 -0.085695 
time: 1403636754.013556, t: -0.127020 1.941766 2.460264 q: 0.984607 -0.092786 0.120630 -0.085956 
time: 1403636754.213556, t: -0.133374 1.888738 2.457568 q: 0.982554 -0.097822 0.132745 -0.086009 
time: 1403636754.313555, t: -0.132628 1.858341 2.446984 q: 0.981962 -0.101286 0.133914 -0.086938 
time: 1403636754.413555, t: -0.128917 1.820935 2.433629 q: 0.981775 -0.102139 0.133806 -0.088210 
time: 1403636754.513556, t: -0.128338 1.782093 2.416084 q: 0.982259 -0.098033 0.131937 -0.090269 
time: 1403636754.613555, t: -0.134743 1.741451 2.398457 q: 0.983036 -0.090503 0.127081 -0.096439 
time: 1403636754.713556, t: -0.147801 1.696790 2.383177 q: 0.983947 -0.077260 0.124363 -0.102039 
time: 1403636754.813555, t: -0.166387 1.651387 2.368320 q: 0.984458 -0.061926 0.122813 -0.109205 
time: 1403636754.913555, t: -0.188747 1.605635 2.353103 q: 0.984679 -0.049180 0.121844 -0.114638 
time: 1403636755.013556, t: -0.219547 1.562169 2.334965 q: 0.984683 -0.039762 0.120338 -0.119738 
time: 1403636755.113555, t: -0.247841 1.512863 2.319437 q: 0.984777 -0.033156 0.119404 -0.121893 
time: 1403636755.213556, t: -0.274418 1.462601 2.298001 q: 0.985056 -0.028302 0.118192 -0.122040 
time: 1403636755.313555, t: -0.298935 1.410504 2.271805 q: 0.986003 -0.026837 0.110641 -0.121805 
time: 1403636755.413555, t: -0.317978 1.353693 2.243364 q: 0.987238 -0.027490 0.099435 -0.121314 
optimize pose graph 
time: 1403636755.513556, t: -0.332622 1.294335 2.214753 q: 0.987623 -0.028889 0.095327 -0.121153 
time: 1403636755.613555, t: -0.348732 1.235434 2.189975 q: 0.987127 -0.031200 0.097109 -0.123194 
time: 1403636755.713556, t: -0.369690 1.177702 2.170074 q: 0.987165 -0.031431 0.099609 -0.120815 
time: 1403636755.813555, t: -0.393565 1.120305 2.152946 q: 0.986984 -0.031005 0.104434 -0.118296 
time: 1403636755.913555, t: -0.419395 1.061104 2.140361 q: 0.986604 -0.030721 0.109078 -0.117349 
time: 1403636756.013556, t: -0.446152 1.001332 2.127120 q: 0.986593 -0.029882 0.111468 -0.115398 
time: 1403636756.113555, t: -0.467467 0.939613 2.110965 q: 0.986277 -0.030147 0.113428 -0.116112 
time: 1403636756.213556, t: -0.485549 0.876612 2.091324 q: 0.985965 -0.029804 0.115938 -0.116373 
time: 1403636756.313555, t: -0.502156 0.813212 2.068067 q: 0.985974 -0.028901 0.116418 -0.116046 
time: 1403636756.413555, t: -0.522559 0.749535 2.046524 q: 0.985678 -0.028704 0.117387 -0.117625 
time: 1403636756.513556, t: -0.546984 0.689222 2.026798 q: 0.985691 -0.027244 0.117691 -0.117556 
time: 1403636756.613555, t: -0.578567 0.629360 2.007165 q: 0.985599 -0.026370 0.118287 -0.117932 
time: 1403636756.713556, t: -0.609934 0.568594 1.988104 q: 0.985422 -0.024933 0.119950 -0.118038 
time: 1403636756.813555, t: -0.638185 0.505951 1.964195 q: 0.985320 -0.023435 0.121220 -0.117900 
time: 1403636756.913555, t: -0.661678 0.443997 1.937103 q: 0.985338 -0.022567 0.121027 -0.118121 
time: 1403636757.013556, t: -0.683391 0.379695 1.903844 q: 0.985397 -0.021509 0.120770 -0.118091 
time: 1403636757.113555, t: -0.705504 0.315232 1.871559 q: 0.985595 -0.020198 0.120731 -0.116697 
time: 1403636757.213556, t: -0.736682 0.255290 1.839799 q: 0.985678 -0.019773 0.120466 -0.116342 
time: 1403636757.313555, t: -0.769098 0.193632 1.809331 q: 0.985414 -0.021120 0.119236 -0.119570 
time: 1403636757.413555, t: -0.810337 0.135048 1.779530 q: 0.985606 -0.021408 0.116391 -0.120727 
time: 1403636757.513556, t: -0.856229 0.081120 1.748623 q: 0.985590 -0.021420 0.111908 -0.125021 
time: 1403636757.613555, t: -0.890937 0.015846 1.721249 q: 0.986391 -0.017201 0.101111 -0.128502 
optimize pose graph 
time: 1403636757.713556, t: -0.922064 -0.050811 1.689737 q: 0.987386 -0.011894 0.087986 -0.131098 
time: 1403636757.813555, t: -0.944509 -0.126116 1.657289 q: 0.988072 -0.006387 0.078310 -0.132440 
time: 1403636757.913555, t: -0.957620 -0.200534 1.625976 q: 0.988313 -0.000779 0.075331 -0.132520 
time: 1403636758.013556, t: -0.963612 -0.274298 1.598289 q: 0.987432 0.005079 0.085982 -0.132511 
time: 1403636758.113555, t: -0.972883 -0.343724 1.575375 q: 0.986187 0.010577 0.100088 -0.131553 
time: 1403636758.213556, t: -0.976153 -0.418582 1.555431 q: 0.985151 0.013609 0.109762 -0.131321 
time: 1403636758.313555, t: -0.996894 -0.485502 1.537379 q: 0.984900 0.016146 0.114451 -0.128888 
time: 1403636758.413555, t: -1.024900 -0.555628 1.515774 q: 0.986257 0.016862 0.106882 -0.124858 
time: 1403636758.513556, t: -1.054640 -0.620386 1.504153 q: 0.989381 0.018657 0.087001 -0.114924 
time: 1403636758.613555, t: -1.087018 -0.683526 1.499738 q: 0.992199 0.021553 0.068256 -0.102069 
time: 1403636758.713556, t: -1.108312 -0.738950 1.495684 q: 0.991967 0.021092 0.072961 -0.101159 
time: 1403636758.813555, t: -1.123136 -0.789517 1.495592 q: 0.990108 0.019362 0.089901 -0.105969 
time: 1403636758.913555, t: -1.140583 -0.836228 1.504757 q: 0.987765 0.015897 0.104248 -0.114888 
time: 1403636759.013556, t: -1.158588 -0.877893 1.513366 q: 0.986486 0.014030 0.111119 -0.119588 
time: 1403636759.113555, t: -1.179823 -0.914537 1.523072 q: 0.986965 0.018920 0.115034 -0.110944 
time: 1403636759.213556, t: -1.202143 -0.947867 1.533483 q: 0.988661 0.029230 0.115660 -0.091198 
time: 1403636759.313555, t: -1.226658 -0.971167 1.543889 q: 0.989337 0.034704 0.115938 -0.081035 
time: 1403636759.413555, t: -1.252621 -0.982136 1.553149 q: 0.988116 0.028271 0.117229 -0.095310 
time: 1403636759.513556, t: -1.280039 -0.986317 1.564101 q: 0.986521 0.021557 0.118830 -0.110414 
time: 1403636759.613555, t: -1.308530 -0.986130 1.573589 q: 0.985122 0.017473 0.120053 -0.121721 
time: 1403636759.713556, t: -1.330740 -0.985708 1.576379 q: 0.984507 0.015799 0.119569 -0.127277 
time: 1403636759.813555, t: -1.344628 -0.987400 1.570861 q: 0.984113 0.016114 0.121274 -0.128663 
time: 1403636759.913555, t: -1.357327 -0.989635 1.562138 q: 0.984923 0.015679 0.115259 -0.128047 
optimize pose graph 
time: 1403636760.013556, t: -1.372956 -0.990622 1.553439 q: 0.986130 0.014279 0.105226 -0.127561 
time: 1403636760.113555, t: -1.389133 -0.991336 1.547167 q: 0.987185 0.013179 0.096701 -0.126256 
time: 1403636760.313555, t: -1.418033 -0.991560 1.541500 q: 0.985781 0.015593 0.112055 -0.124241 
time: 1403636760.413555, t: -1.434521 -0.989616 1.542547 q: 0.984431 0.015125 0.120041 -0.127506 
time: 1403636760.513556, t: -1.453388 -0.986710 1.542212 q: 0.984057 0.013371 0.119752 -0.130812 
time: 1403636760.613555, t: -1.475428 -0.983717 1.541665 q: 0.985074 0.011591 0.109237 -0.132521 
time: 1403636760.713556, t: -1.495626 -0.981770 1.539941 q: 0.985354 0.009267 0.102012 -0.136324 
time: 1403636760.813555, t: -1.512889 -0.982237 1.537625 q: 0.984581 0.008560 0.104980 -0.139668 
time: 1403636760.913555, t: -1.529951 -0.985149 1.535766 q: 0.983314 0.008534 0.111906 -0.143170 
time: 1403636761.013556, t: -1.548611 -0.990270 1.534426 q: 0.983967 0.009176 0.107916 -0.141698 
time: 1403636761.113555, t: -1.568751 -0.997580 1.534455 q: 0.985728 0.010239 0.096933 -0.137258 
time: 1403636761.213556, t: -1.588019 -1.006685 1.536900 q: 0.987101 0.009128 0.082642 -0.136815 
time: 1403636761.313555, t: -1.601646 -1.017738 1.540807 q: 0.987661 0.008720 0.076900 -0.136148 
time: 1403636761.413555, t: -1.607670 -1.031610 1.547509 q: 0.986821 0.010265 0.086920 -0.136103 
time: 1403636761.513556, t: -1.608327 -1.047627 1.556962 q: 0.985251 0.011650 0.102578 -0.136461 
time: 1403636761.613555, t: -1.606782 -1.064575 1.565286 q: 0.984145 0.012664 0.113925 -0.135350 
time: 1403636761.713556, t: -1.604528 -1.081899 1.572139 q: 0.984950 0.017159 0.118059 -0.125064 
time: 1403636761.813555, t: -1.601395 -1.097658 1.576443 q: 0.986059 0.021698 0.118731 -0.114537 
time: 1403636762.013556, t: -1.590360 -1.117688 1.577355 q: 0.985007 0.015287 0.118498 -0.124443 
time: 1403636762.113555, t: -1.582651 -1.123997 1.574769 q: 0.982284 0.004670 0.119802 -0.144029 
time: 1403636762.213556, t: -1.576906 -1.133093 1.570868 q: 0.981430 -0.002343 0.113762 -0.154428 
optimize pose graph 
time: 1403636762.313555, t: -1.576040 -1.145924 1.569210 q: 0.983772 -0.003110 0.098380 -0.150014 
time: 1403636762.413555, t: -1.581055 -1.161205 1.574643 q: 0.985960 -0.001235 0.087664 -0.142116 
time: 1403636762.513556, t: -1.590684 -1.178102 1.587120 q: 0.988441 0.009407 0.090665 -0.121146 
time: 1403636762.613555, t: -1.603860 -1.192085 1.607893 q: 0.989737 0.022811 0.102490 -0.096933 
time: 1403636762.713556, t: -1.621182 -1.198708 1.633619 q: 0.988691 0.025883 0.113835 -0.094142 
time: 1403636762.813555, t: -1.642495 -1.196449 1.662863 q: 0.986701 0.019286 0.118442 -0.109635 
time: 1403636762.913555, t: -1.643531 -1.189310 1.658077 q: 0.980458 0.023435 0.161187 -0.110324 
time: 1403636763.013556, t: -1.656411 -1.173014 1.645307 q: 0.985911 0.000820 0.126001 -0.110008 
time: 1403636763.113555, t: -1.664234 -1.159887 1.641792 q: 0.986240 -0.010018 0.139065 -0.088829 
time: 1403636763.213556, t: -1.664632 -1.156845 1.638788 q: 0.985737 -0.016074 0.146932 -0.080468 
time: 1403636763.313555, t: -1.663684 -1.155306 1.643235 q: 0.986668 -0.015816 0.141782 -0.078324 
time: 1403636763.413555, t: -1.664003 -1.155645 1.642599 q: 0.986901 -0.015509 0.140588 -0.077591 
time: 1403636763.513556, t: -1.664108 -1.155619 1.642481 q: 0.986846 -0.015645 0.140847 -0.077792 
time: 1403636763.613555, t: -1.664153 -1.155555 1.642496 q: 0.986842 -0.015755 0.140850 -0.077823 
time: 1403636763.713556, t: -1.664113 -1.155578 1.642590 q: 0.986845 -0.015656 0.140914 -0.077689 
time: 1403636763.813555, t: -1.664128 -1.155590 1.642561 q: 0.986850 -0.015577 0.140966 -0.077543 
optimize pose graph 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731009915.880334820]: Shutdown request received.[0m
[33m[ WARN] [1731009915.880378989]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731009915.881290072]: Shutdown request received.[0m
[33m[ WARN] [1731009915.881333194]: Reason given for shutdown: [user request][0m
killed
