/SLAM-Hive/slam_hive_results/mapping_results/3293/2220_vins-fusion-stereo+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/336e8ff0-9d45-11ef-b0cb-0242ac110002/roslaunch-55f309c746c6-118.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
[0m[ INFO] [1731010601.401658963]: init begins[0m
[31m[ERROR] [1731010601.406752156]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731010601.406796742]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://55f309c746c6:44311/[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] [1731010602.514536460]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731010602.514802303]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://55f309c746c6:11311/[0m
]2;roscore http://55f309c746c6:11311/
[1msetting /run_id to 336e8ff0-9d45-11ef-b0cb-0242ac110002[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1731010602.544520192]:  fix extrinsic param [0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
camera number 2
[0m[ INFO] [1731010602.583221128]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731010602.583267550]: 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] [1731010602.583693874]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731010602.654495833]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731010602.654894825]: waiting for image and imu...[0m
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [192][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1731010612.772876629]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 327373482.45 
[0m[ INFO] [1731010614.258154217]: Initialization finish![0m
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time: 1403637148.188319, t: 0.013321 0.048615 0.013658 q: 0.997936 -0.061515 -0.002724 0.018241 
time: 1403637148.288319, t: 0.013327 0.048607 0.013636 q: 0.997945 -0.061375 -0.002757 0.018175 
time: 1403637148.388319, t: 0.013322 0.048585 0.013643 q: 0.997952 -0.061272 -0.002828 0.018164 
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time: 1403637149.188319, t: 0.013219 0.048556 0.013091 q: 0.998219 -0.057019 -0.005030 0.016790 
time: 1403637149.288319, t: 0.013220 0.048559 0.012969 q: 0.998254 -0.056409 -0.005150 0.016742 
time: 1403637149.388319, t: 0.013236 0.048619 0.012900 q: 0.998304 -0.055570 -0.005557 0.016453 
time: 1403637149.488319, t: 0.013200 0.048691 0.012667 q: 0.998387 -0.054194 -0.006194 0.015770 
time: 1403637149.688319, t: 0.012680 0.049072 0.012009 q: 0.998891 -0.042793 -0.017815 0.008225 
time: 1403637149.788319, t: 0.012371 0.050503 0.011339 q: 0.998973 -0.038124 -0.023430 0.007047 
time: 1403637149.888319, t: 0.012721 0.053964 0.010333 q: 0.998623 -0.036103 -0.037215 0.008044 
time: 1403637149.988319, t: 0.015292 0.062263 0.007620 q: 0.997607 -0.038803 -0.057205 0.001142 
time: 1403637150.088319, t: 0.025890 0.075125 0.004238 q: 0.996002 -0.045578 -0.076033 -0.011040 
time: 1403637150.188319, t: 0.045789 0.091156 0.004729 q: 0.994970 -0.052468 -0.083256 -0.018708 
time: 1403637150.288319, t: 0.074054 0.107364 0.010787 q: 0.994996 -0.058253 -0.078396 -0.021046 
time: 1403637150.388319, t: 0.107490 0.123649 0.023985 q: 0.995798 -0.061689 -0.065130 -0.018387 
optimize pose graph 
time: 1403637150.488319, t: 0.140654 0.139088 0.040188 q: 0.996294 -0.065044 -0.053685 -0.016905 
time: 1403637150.588319, t: 0.174123 0.154719 0.056854 q: 0.996293 -0.068539 -0.049419 -0.016160 
time: 1403637150.688319, t: 0.206536 0.171543 0.078874 q: 0.996250 -0.070915 -0.047135 -0.015321 
time: 1403637150.788319, t: 0.236866 0.188108 0.100319 q: 0.996123 -0.072958 -0.046413 -0.016199 
time: 1403637150.888319, t: 0.266900 0.202811 0.120080 q: 0.996198 -0.074628 -0.041142 -0.018124 
time: 1403637150.988319, t: 0.294239 0.218695 0.143121 q: 0.996474 -0.074671 -0.033096 -0.019212 
time: 1403637151.088319, t: 0.318320 0.233232 0.166115 q: 0.996714 -0.073849 -0.026144 -0.020598 
time: 1403637151.188319, t: 0.338494 0.246020 0.186288 q: 0.996897 -0.072552 -0.021064 -0.022090 
time: 1403637151.288319, t: 0.358150 0.256653 0.204436 q: 0.996939 -0.070515 -0.027287 -0.019875 
time: 1403637151.488319, t: 0.421290 0.275419 0.222937 q: 0.997098 -0.064437 -0.039823 -0.007537 
time: 1403637151.588319, t: 0.453659 0.285747 0.232510 q: 0.997036 -0.064443 -0.040804 -0.010059 
time: 1403637151.788319, t: 0.505415 0.313267 0.251521 q: 0.996942 -0.064407 -0.041496 -0.015345 
time: 1403637151.888319, t: 0.524791 0.326767 0.262120 q: 0.996910 -0.064486 -0.041410 -0.017247 
time: 1403637151.988319, t: 0.544000 0.340117 0.274407 q: 0.996875 -0.064451 -0.041973 -0.017997 
time: 1403637152.088319, t: 0.567453 0.355569 0.284115 q: 0.996930 -0.063378 -0.042802 -0.016781 
time: 1403637152.188319, t: 0.593489 0.368424 0.293771 q: 0.996899 -0.062993 -0.044614 -0.015298 
time: 1403637152.288319, t: 0.617204 0.383571 0.306164 q: 0.996882 -0.062484 -0.046217 -0.013666 
time: 1403637152.388319, t: 0.632970 0.400170 0.318981 q: 0.996891 -0.061928 -0.047019 -0.012726 
optimize pose graph 
time: 1403637152.488319, t: 0.642998 0.419255 0.338297 q: 0.996860 -0.061854 -0.047595 -0.013410 
time: 1403637152.588319, t: 0.647200 0.438013 0.357203 q: 0.996842 -0.061926 -0.047741 -0.013886 
time: 1403637152.688319, t: 0.651539 0.457875 0.377986 q: 0.996918 -0.061908 -0.046139 -0.013917 
time: 1403637152.788319, t: 0.657769 0.478556 0.397688 q: 0.997217 -0.060644 -0.041808 -0.011539 
time: 1403637152.888319, t: 0.669121 0.499217 0.417480 q: 0.997457 -0.059927 -0.037039 -0.010802 
time: 1403637152.988319, t: 0.689083 0.521657 0.434885 q: 0.997494 -0.059976 -0.035179 -0.013112 
time: 1403637153.088319, t: 0.707671 0.543358 0.451573 q: 0.997411 -0.060729 -0.035419 -0.015131 
time: 1403637153.188319, t: 0.722427 0.566230 0.467840 q: 0.997265 -0.061361 -0.037851 -0.016259 
time: 1403637153.288319, t: 0.732077 0.589453 0.483589 q: 0.997079 -0.062528 -0.039573 -0.018935 
time: 1403637153.388319, t: 0.737794 0.612026 0.499757 q: 0.996944 -0.063558 -0.040262 -0.021039 
time: 1403637153.488319, t: 0.746944 0.633191 0.517324 q: 0.996737 -0.064402 -0.043117 -0.022566 
time: 1403637153.588319, t: 0.762152 0.654272 0.532247 q: 0.996580 -0.064449 -0.046907 -0.021786 
time: 1403637153.688319, t: 0.784911 0.673473 0.546356 q: 0.996625 -0.064234 -0.046142 -0.022008 
time: 1403637153.788319, t: 0.812558 0.691552 0.561488 q: 0.996759 -0.064511 -0.042448 -0.022555 
time: 1403637153.888319, t: 0.834445 0.708397 0.576854 q: 0.996898 -0.064341 -0.039841 -0.021637 
time: 1403637153.988319, t: 0.850141 0.725675 0.595015 q: 0.997014 -0.064175 -0.037369 -0.021152 
time: 1403637154.088319, t: 0.856455 0.741946 0.613020 q: 0.996999 -0.063593 -0.039877 -0.018949 
time: 1403637154.188319, t: 0.853891 0.756850 0.633405 q: 0.996923 -0.060188 -0.049860 -0.005979 
time: 1403637154.288319, t: 0.848076 0.775442 0.656481 q: 0.996701 -0.056469 -0.057615 0.008878 
time: 1403637154.388319, t: 0.841130 0.799929 0.684713 q: 0.996610 -0.056950 -0.058578 0.009658 
optimize pose graph 
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time: 1403637154.588319, t: 0.827452 0.866988 0.741917 q: 0.996839 -0.064133 -0.046304 -0.007343 
time: 1403637154.688319, t: 0.824277 0.903762 0.771819 q: 0.995999 -0.070262 -0.052365 -0.017517 
time: 1403637154.788319, t: 0.824948 0.939493 0.803608 q: 0.994784 -0.079879 -0.059907 -0.020885 
time: 1403637154.888319, t: 0.825735 0.973518 0.837801 q: 0.993607 -0.091574 -0.064046 -0.016054 
time: 1403637154.988319, t: 0.834943 1.006827 0.875448 q: 0.992587 -0.101246 -0.066354 -0.010834 
time: 1403637155.088319, t: 0.851059 1.038146 0.916583 q: 0.991594 -0.113165 -0.062484 -0.005608 
time: 1403637155.188319, t: 0.877321 1.069444 0.961848 q: 0.990717 -0.125583 -0.052043 0.000384 
time: 1403637155.288319, t: 0.910038 1.098907 1.003514 q: 0.990096 -0.133266 -0.044107 0.002232 
time: 1403637155.388319, t: 0.944352 1.128418 1.044530 q: 0.989333 -0.141067 -0.035968 0.005123 
time: 1403637155.488319, t: 0.971853 1.155731 1.088431 q: 0.987450 -0.154780 -0.029500 0.010723 
time: 1403637155.588319, t: 0.991632 1.184148 1.135554 q: 0.985385 -0.167109 -0.026615 0.019586 
time: 1403637155.688319, t: 1.001909 1.213429 1.182947 q: 0.983577 -0.175953 -0.025607 0.031006 
time: 1403637155.788319, t: 1.008558 1.245545 1.225827 q: 0.981015 -0.187931 -0.024336 0.041227 
time: 1403637155.888319, t: 1.007745 1.281303 1.267826 q: 0.976994 -0.205570 -0.025040 0.050966 
time: 1403637155.988319, t: 1.005816 1.322619 1.300304 q: 0.971716 -0.227174 -0.027582 0.058299 
time: 1403637156.088319, t: 1.001143 1.367294 1.332012 q: 0.965875 -0.248707 -0.022278 0.068798 
time: 1403637156.188319, t: 0.995183 1.413827 1.371255 q: 0.958898 -0.271891 -0.016626 0.079464 
time: 1403637156.288319, t: 0.989194 1.470877 1.390868 q: 0.950847 -0.295935 -0.012261 0.090347 
time: 1403637156.388319, t: 0.982606 1.532467 1.404403 q: 0.941726 -0.320693 -0.009850 0.101054 
optimize pose graph 
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time: 1403637156.588319, t: 0.958078 1.660911 1.430877 q: 0.921133 -0.371447 -0.004438 0.116284 
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time: 1403637156.888319, t: 0.889572 1.880076 1.428124 q: 0.892277 -0.434304 -0.011594 0.122830 
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time: 1403637157.088319, t: 0.822461 2.029711 1.419872 q: 0.885291 -0.447435 -0.024545 0.124336 
time: 1403637157.188319, t: 0.790858 2.102729 1.421198 q: 0.884773 -0.447212 -0.024549 0.128743 
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time: 1403637157.388319, t: 0.749117 2.263561 1.417083 q: 0.886661 -0.441236 -0.019011 0.137045 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403637206.888319, t: 0.671310 2.940310 0.645704 q: 0.919803 -0.381334 -0.019113 0.090455 
optimize pose graph 
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optimize pose graph 
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time: 1403637209.588319, t: 0.648719 2.333736 0.294019 q: 0.931955 -0.345372 -0.068547 0.086484 
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optimize pose graph 
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time: 1403637212.888319, t: 1.284724 4.988970 4.065592 q: 0.931116 -0.350843 -0.044547 0.089146 
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optimize pose graph 
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time: 1403637232.288319, t: -0.541587 0.812889 -1.815233 q: 0.543812 -0.797707 0.040319 0.257502 
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time: 1403637232.688319, t: -0.625486 0.958470 -2.108383 q: -0.442570 0.846580 -0.054675 -0.290594 
time: 1403637232.788319, t: -0.642788 0.976335 -2.208892 q: -0.416820 0.852750 -0.058460 -0.309291 
time: 1403637232.888319, t: -0.654708 0.991546 -2.318534 q: -0.396430 0.857805 -0.051650 -0.323026 
time: 1403637232.988319, t: -0.665807 1.003651 -2.438887 q: -0.382342 0.861317 -0.041000 -0.332064 
time: 1403637233.088319, t: -0.673182 1.020144 -2.565070 q: -0.373116 0.863757 -0.029134 -0.337430 
time: 1403637233.188319, t: -0.679740 1.037727 -2.710161 q: -0.369079 0.863243 -0.017752 -0.343915 
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time: 1403637233.388319, t: -0.713138 1.090864 -3.027109 q: -0.369257 0.858073 -0.002647 -0.356866 
optimize pose graph 
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time: 1403637233.688319, t: -0.880393 1.225841 -3.561354 q: -0.380029 0.876913 0.063226 -0.287410 
time: 1403637233.788319, t: -0.943499 1.308685 -3.734882 q: -0.381702 0.885140 0.083712 -0.252631 
time: 1403637233.888319, t: -1.012374 1.401067 -3.901550 q: -0.382366 0.889421 0.095567 -0.231502 
time: 1403637234.088319, t: -1.146428 1.635992 -4.170582 q: -0.381398 0.893368 0.112682 -0.209122 
time: 1403637234.188319, t: -1.206464 1.779817 -4.280744 q: -0.379775 0.895817 0.122258 -0.195794 
time: 1403637234.288319, t: -1.266068 1.935794 -4.363427 q: -0.378971 0.897855 0.119162 -0.189836 
time: 1403637234.388319, t: -1.321097 2.103371 -4.419730 q: -0.380704 0.898937 0.103420 -0.190473 
time: 1403637234.488319, t: -1.372965 2.291967 -4.450270 q: -0.388373 0.897318 0.081517 -0.193239 
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time: 1403637234.988319, t: -1.610674 3.271745 -4.319875 q: -0.476837 0.854794 -0.010600 -0.204552 
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time: 1403637235.188319, t: -1.647494 3.623651 -4.193575 q: 0.518028 -0.832667 0.007782 0.195578 
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time: 1403637235.388319, t: -1.655907 3.936956 -4.049374 q: 0.547485 -0.811615 -0.006732 0.203706 
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time: 1403637235.588319, t: -1.633290 4.233086 -3.886398 q: 0.568811 -0.790021 -0.024259 0.227447 
optimize pose graph 
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time: 1403637235.988319, t: -1.503532 4.805384 -3.527497 q: 0.623610 -0.764337 -0.043006 0.158274 
time: 1403637236.088319, t: -1.448122 4.943729 -3.421012 q: 0.639530 -0.753245 -0.050356 0.145219 
time: 1403637236.188319, t: -1.378969 5.073103 -3.294127 q: 0.655521 -0.740471 -0.056911 0.136955 
time: 1403637236.288319, t: -1.297361 5.195753 -3.157768 q: 0.672360 -0.726342 -0.058611 0.130094 
time: 1403637236.388319, t: -1.200674 5.313210 -3.008612 q: 0.689953 -0.710373 -0.056177 0.127197 
time: 1403637236.488319, t: -1.100765 5.425582 -2.851061 q: 0.706057 -0.694793 -0.048538 0.128024 
time: 1403637236.588319, t: -0.996968 5.536560 -2.675869 q: 0.716806 -0.684114 -0.040830 0.128494 
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time: 1403637236.788319, t: -0.808343 5.732290 -2.297203 q: 0.732813 -0.670559 -0.021327 0.113493 
time: 1403637236.888319, t: -0.705248 5.815585 -2.094052 q: 0.744509 -0.659361 -0.004731 0.104535 
time: 1403637236.988319, t: -0.595908 5.885395 -1.891214 q: 0.755749 -0.648199 0.016429 0.091718 
time: 1403637237.088319, t: -0.466040 5.933648 -1.658967 q: 0.762644 -0.640736 0.038740 0.079567 
time: 1403637237.188319, t: -0.372404 5.955532 -1.473681 q: 0.773748 -0.626296 0.061711 0.072517 
time: 1403637237.288319, t: -0.236388 5.950915 -1.236391 q: 0.784139 -0.612334 0.068100 0.074397 
time: 1403637237.388319, t: -0.102745 5.924022 -1.040854 q: 0.794677 -0.598273 0.067110 0.077811 
time: 1403637237.488319, t: 0.028821 5.869286 -0.854440 q: 0.802664 -0.587141 0.067087 0.080588 
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time: 1403637237.788319, t: 0.428719 5.568716 -0.334563 q: 0.814885 -0.564858 0.079419 0.102910 
optimize pose graph 
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time: 1403637238.388319, t: 0.973298 4.622249 0.329754 q: 0.739445 -0.619266 0.084510 0.250178 
time: 1403637238.488319, t: 1.009032 4.444161 0.378379 q: 0.711629 -0.641276 0.096516 0.270247 
time: 1403637238.588319, t: 1.042714 4.266601 0.396284 q: 0.683658 -0.663269 0.101770 0.286930 
time: 1403637238.688319, t: 1.094975 4.099741 0.386734 q: 0.659995 -0.675783 0.094157 0.314418 
time: 1403637238.788319, t: 1.100642 3.920638 0.352019 q: 0.642061 -0.679485 0.080039 0.345907 
time: 1403637238.888319, t: 1.113266 3.758059 0.292860 q: 0.627161 -0.678871 0.060647 0.376994 
time: 1403637238.988319, t: 1.107392 3.604426 0.202359 q: 0.616046 -0.676681 0.040081 0.401227 
time: 1403637239.088319, t: 1.098036 3.473894 0.080579 q: 0.609370 -0.682860 0.019060 0.402500 
time: 1403637239.188319, t: 1.093610 3.368896 -0.078702 q: 0.604821 -0.700336 0.004482 0.379079 
time: 1403637239.288319, t: 1.084971 3.287316 -0.264546 q: 0.597981 -0.719708 0.001422 0.352756 
time: 1403637239.388319, t: 1.067423 3.220313 -0.463586 q: 0.585862 -0.735368 0.004096 0.340563 
time: 1403637239.488319, t: 1.022351 3.170603 -0.674739 q: 0.567977 -0.750780 0.009709 0.337103 
time: 1403637239.588319, t: 0.956603 3.127698 -0.888564 q: 0.545961 -0.768642 0.015968 0.332959 
time: 1403637239.688319, t: 0.868208 3.098408 -1.115588 q: 0.521674 -0.787046 0.021347 0.328571 
time: 1403637239.788319, t: 0.765607 3.068486 -1.327620 q: -0.495917 0.810561 -0.027270 -0.310343 
time: 1403637239.888319, t: 0.666770 3.058089 -1.558686 q: -0.468004 0.834945 -0.029368 -0.288059 
time: 1403637239.988319, t: 0.557360 3.035027 -1.778212 q: -0.438498 0.855752 -0.032071 -0.272727 
optimize pose graph 
time: 1403637240.088319, t: 0.427882 2.994595 -1.985025 q: -0.408531 0.873149 -0.034818 -0.263631 
time: 1403637240.188319, t: 0.335194 2.990501 -2.207554 q: -0.376841 0.886542 -0.033768 -0.266258 
time: 1403637240.288319, t: 0.200371 2.934241 -2.454209 q: -0.350408 0.893872 -0.032485 -0.277763 
time: 1403637240.388319, t: 0.073606 2.923226 -2.655848 q: -0.327643 0.897526 -0.022169 -0.294290 
time: 1403637240.488319, t: -0.056320 2.890120 -2.864232 q: -0.312707 0.898409 -0.007832 -0.308242 
time: 1403637240.588319, t: -0.165206 2.871793 -3.080170 q: -0.303844 0.899218 -0.000424 -0.314778 
time: 1403637240.788319, t: -0.365222 2.843687 -3.525648 q: -0.299561 0.903086 0.004625 -0.307696 
time: 1403637240.888319, t: -0.456830 2.841923 -3.746370 q: -0.301016 0.909814 0.004709 -0.285666 
time: 1403637240.988319, t: -0.534877 2.848380 -3.965895 q: -0.303525 0.913872 0.004408 -0.269615 
time: 1403637241.088319, t: -0.622666 2.858042 -4.175386 q: -0.306590 0.912734 0.001567 -0.270030 
time: 1403637241.188319, t: -0.703332 2.874024 -4.373004 q: -0.309770 0.910789 0.002770 -0.272943 
time: 1403637241.288319, t: -0.793150 2.889048 -4.575924 q: -0.313378 0.910297 0.010353 -0.270271 
time: 1403637241.388319, t: -0.883763 2.911935 -4.760431 q: -0.315967 0.910929 0.018412 -0.264642 
time: 1403637241.488319, t: -0.975539 2.936350 -4.939476 q: -0.318322 0.911677 0.027182 -0.258412 
time: 1403637241.588319, t: -1.057470 2.970918 -5.113054 q: -0.320504 0.913433 0.035248 -0.248346 
time: 1403637241.688319, t: -1.125391 3.017859 -5.270864 q: -0.322492 0.915548 0.034931 -0.237805 
time: 1403637241.788319, t: -1.187077 3.072163 -5.417477 q: -0.324036 0.918185 0.032035 -0.225634 
time: 1403637241.888319, t: -1.231072 3.133652 -5.549728 q: -0.325596 0.919800 0.019977 -0.218073 
time: 1403637241.988319, t: -1.269115 3.196180 -5.667817 q: -0.327839 0.920478 -0.002718 -0.212684 
time: 1403637242.088319, t: -1.299096 3.254910 -5.768010 q: -0.327088 0.921562 -0.008750 -0.208952 
optimize pose graph 
time: 1403637242.188319, t: -1.316037 3.307084 -5.854843 q: -0.325263 0.921700 0.000860 -0.211358 
time: 1403637242.388319, t: -1.326477 3.419801 -5.986176 q: -0.320757 0.923986 0.024246 -0.206826 
time: 1403637242.488319, t: -1.336667 3.475116 -6.026763 q: -0.318724 0.926262 0.033506 -0.198319 
time: 1403637242.588319, t: -1.343205 3.542211 -6.045857 q: -0.321548 0.926442 0.033979 -0.192764 
time: 1403637242.688319, t: -1.340432 3.613785 -6.045883 q: -0.333375 0.922391 0.028816 -0.192940 
time: 1403637242.788319, t: -1.327445 3.688696 -6.027165 q: -0.351209 0.915547 0.016764 -0.195307 
time: 1403637242.888319, t: -1.301220 3.761615 -5.993017 q: -0.366724 0.909912 0.003709 -0.193804 
time: 1403637242.988319, t: -1.265674 3.823072 -5.944060 q: -0.378189 0.906512 -0.000958 -0.187638 
time: 1403637243.088319, t: -1.227521 3.881978 -5.880915 q: -0.385156 0.903747 0.005223 -0.186732 
time: 1403637243.188319, t: -1.195031 3.936090 -5.803031 q: -0.389587 0.900524 0.011678 -0.192721 
time: 1403637243.288319, t: -1.163827 3.989876 -5.711228 q: -0.393140 0.896260 0.010573 -0.205057 
time: 1403637243.388319, t: -1.136184 4.043029 -5.603980 q: -0.395016 0.893447 0.007656 -0.213672 
time: 1403637243.588319, t: -1.075432 4.151668 -5.363970 q: -0.395333 0.890214 0.000725 -0.226342 
time: 1403637243.688319, t: -1.032785 4.205183 -5.238320 q: -0.395291 0.886602 -0.003234 -0.240149 
time: 1403637243.788319, t: -0.983043 4.257277 -5.110262 q: -0.394511 0.883077 -0.011851 -0.253762 
time: 1403637243.888319, t: -0.923860 4.304412 -4.982263 q: -0.393544 0.878562 -0.023210 -0.269653 
time: 1403637243.988319, t: -0.857194 4.347340 -4.859247 q: -0.392089 0.876558 -0.029888 -0.277521 
time: 1403637244.088319, t: -0.782353 4.385229 -4.746238 q: -0.390135 0.877063 -0.030939 -0.278564 
time: 1403637244.188319, t: -0.703067 4.419547 -4.641282 q: -0.387980 0.878734 -0.029467 -0.276461 
time: 1403637244.288319, t: -0.616974 4.453166 -4.542172 q: -0.386149 0.879372 -0.030035 -0.276933 
optimize pose graph 
time: 1403637244.388319, t: -0.527776 4.484600 -4.449421 q: -0.385721 0.878020 -0.029345 -0.281850 
time: 1403637244.488319, t: -0.431878 4.517115 -4.361424 q: -0.390113 0.875336 -0.023561 -0.284682 
time: 1403637244.588319, t: -0.333941 4.553278 -4.279521 q: -0.399114 0.872645 -0.009256 -0.281271 
time: 1403637244.688319, t: -0.242931 4.590129 -4.204787 q: -0.411763 0.867749 0.004593 -0.278284 
time: 1403637244.788319, t: -0.163960 4.632806 -4.128469 q: -0.424355 0.862363 0.012409 -0.275862 
time: 1403637244.888319, t: -0.090226 4.675362 -4.056790 q: -0.434806 0.857472 0.016239 -0.274630 
time: 1403637244.988319, t: -0.023467 4.726492 -3.979157 q: -0.442145 0.852630 0.015303 -0.278020 
time: 1403637245.088319, t: 0.033812 4.778768 -3.909077 q: -0.447048 0.845352 0.006272 -0.292384 
time: 1403637245.188319, t: 0.080889 4.833873 -3.844288 q: -0.449601 0.838381 -0.000705 -0.308181 
time: 1403637245.288319, t: 0.124351 4.894791 -3.785763 q: -0.450602 0.840125 0.004521 -0.301873 
time: 1403637245.388319, t: 0.160714 4.959380 -3.736396 q: -0.450877 0.844025 0.011728 -0.290164 
time: 1403637245.488319, t: 0.196648 5.031764 -3.690428 q: -0.454314 0.844648 0.017020 -0.282630 
time: 1403637245.588319, t: 0.228744 5.113632 -3.644785 q: -0.462638 0.841370 0.020591 -0.278638 
time: 1403637245.688319, t: 0.250010 5.201818 -3.593125 q: -0.475154 0.835108 0.022910 -0.276223 
time: 1403637245.788319, t: 0.273295 5.293576 -3.552039 q: -0.493503 0.827526 0.018846 -0.267019 
time: 1403637245.888319, t: 0.291634 5.399394 -3.497223 q: 0.516605 -0.819414 -0.012632 0.248031 
time: 1403637245.988319, t: 0.303446 5.506618 -3.446892 q: 0.545082 -0.805369 -0.008492 0.232797 
time: 1403637246.088319, t: 0.314657 5.614675 -3.385845 q: 0.577376 -0.786503 -0.007371 0.219080 
time: 1403637246.188319, t: 0.324697 5.709211 -3.337968 q: 0.613959 -0.761640 -0.007011 0.207147 
time: 1403637246.288319, t: 0.325062 5.810914 -3.279316 q: 0.651654 -0.732916 -0.007717 0.195248 
time: 1403637246.388319, t: 0.323287 5.898445 -3.218242 q: 0.689392 -0.701941 -0.010965 0.178599 
time: 1403637246.488319, t: 0.320235 5.986575 -3.145317 q: 0.724031 -0.671552 -0.017054 0.156544 
optimize pose graph 
time: 1403637246.588319, t: 0.324459 6.075678 -3.062779 q: 0.754286 -0.642205 -0.016755 0.135445 
time: 1403637246.688319, t: 0.316045 6.152602 -2.985295 q: 0.782299 -0.611981 -0.010927 0.115622 
time: 1403637246.788319, t: 0.302037 6.219146 -2.901892 q: 0.807631 -0.581331 -0.008069 0.098598 
time: 1403637246.988319, t: 0.297406 6.318924 -2.722046 q: 0.848111 -0.522536 -0.018395 0.085593 
time: 1403637247.088319, t: 0.307011 6.345580 -2.614499 q: 0.859358 -0.502379 -0.029345 0.090869 
time: 1403637247.188319, t: 0.320864 6.372788 -2.514907 q: 0.866116 -0.488341 -0.037888 0.099656 
time: 1403637247.288319, t: 0.345826 6.389687 -2.390515 q: 0.868984 -0.481649 -0.040644 0.105969 
time: 1403637247.388319, t: 0.356906 6.406006 -2.278172 q: 0.870495 -0.481740 -0.023313 0.098090 
time: 1403637247.588319, t: 0.352681 6.415061 -2.059048 q: 0.871195 -0.483534 -0.001545 0.084924 
time: 1403637247.688319, t: 0.345056 6.406098 -1.953486 q: 0.874438 -0.479118 -0.004344 0.076062 
time: 1403637247.788319, t: 0.334110 6.391553 -1.856132 q: 0.879428 -0.471847 -0.009992 0.062180 
time: 1403637247.888319, t: 0.320582 6.356068 -1.756028 q: 0.886102 -0.460354 -0.009711 0.052943 
time: 1403637247.988319, t: 0.330264 6.313641 -1.659944 q: 0.895113 -0.442568 -0.001220 0.053898 
time: 1403637248.088319, t: 0.338575 6.254821 -1.562284 q: 0.903823 -0.423674 -0.006564 0.059670 
time: 1403637248.188319, t: 0.310364 6.174126 -1.463095 q: 0.911253 -0.406596 -0.013295 0.064190 
time: 1403637248.288319, t: 0.333026 6.108221 -1.366410 q: 0.916842 -0.392506 -0.023609 0.069159 
time: 1403637248.388319, t: 0.334888 6.024688 -1.255452 q: 0.919643 -0.385665 -0.026207 0.069524 
time: 1403637248.488319, t: 0.321995 5.941635 -1.150831 q: 0.921490 -0.381695 -0.021242 0.068656 
time: 1403637248.588319, t: 0.342115 5.859900 -1.047634 q: 0.922254 -0.380828 -0.014647 0.064822 
time: 1403637248.688319, t: 0.332466 5.762651 -0.943440 q: 0.921432 -0.382877 -0.016185 0.064088 
time: 1403637248.788319, t: 0.337038 5.665699 -0.847978 q: 0.920023 -0.385282 -0.025147 0.066958 
time: 1403637248.888319, t: 0.343955 5.563732 -0.754289 q: 0.918418 -0.388043 -0.029395 0.071177 
time: 1403637248.988319, t: 0.371763 5.464398 -0.668205 q: 0.917270 -0.389685 -0.031083 0.076128 
time: 1403637249.088319, t: 0.399888 5.359239 -0.577077 q: 0.915851 -0.392971 -0.031034 0.076332 
time: 1403637249.188319, t: 0.446891 5.255025 -0.487738 q: 0.914813 -0.395164 -0.031429 0.077302 
time: 1403637249.288319, t: 0.495470 5.149559 -0.400467 q: 0.914180 -0.396485 -0.029505 0.078765 
time: 1403637249.388319, t: 0.543825 5.039980 -0.310977 q: 0.913473 -0.398264 -0.028231 0.078457 
time: 1403637249.488319, t: 0.581959 4.930190 -0.219033 q: 0.913274 -0.398452 -0.027993 0.079891 
time: 1403637249.588319, t: 0.605613 4.821605 -0.121577 q: 0.913445 -0.397694 -0.028458 0.081537 
time: 1403637249.688319, t: 0.607987 4.708681 -0.017391 q: 0.913676 -0.397566 -0.026172 0.080325 
time: 1403637249.788319, t: 0.608666 4.593897 0.083133 q: 0.914853 -0.396182 -0.017506 0.076011 
time: 1403637249.888319, t: 0.614159 4.475689 0.183854 q: 0.917666 -0.390548 -0.011798 0.072269 
time: 1403637249.988319, t: 0.626275 4.350059 0.282127 q: 0.922533 -0.378743 -0.013557 0.072818 
time: 1403637250.088319, t: 0.639200 4.216086 0.378449 q: 0.927408 -0.364773 -0.016383 0.081154 
time: 1403637250.188319, t: 0.661444 4.086686 0.467006 q: 0.932296 -0.350978 -0.020710 0.084917 
time: 1403637250.288319, t: 0.678262 3.957402 0.553484 q: 0.937191 -0.336642 -0.020308 0.089065 
time: 1403637250.388319, t: 0.688934 3.828442 0.642958 q: 0.940587 -0.325926 -0.018971 0.093318 
time: 1403637250.488319, t: 0.690812 3.709506 0.723405 q: 0.942970 -0.316841 -0.019189 0.100255 
time: 1403637250.688319, t: 0.700992 3.476925 0.875522 q: 0.945854 -0.306363 -0.027576 0.103641 
time: 1403637250.788319, t: 0.714375 3.369294 0.941477 q: 0.947149 -0.303225 -0.030511 0.100163 
time: 1403637250.888319, t: 0.736082 3.267906 1.004271 q: 0.948000 -0.301229 -0.028057 0.098847 
optimize pose graph 
time: 1403637250.988319, t: 0.765200 3.179685 1.060641 q: 0.948458 -0.298959 -0.027219 0.101540 
time: 1403637251.188319, t: 0.834780 3.017006 1.158185 q: 0.951811 -0.284974 -0.030140 0.109261 
time: 1403637251.288319, t: 0.879957 2.950583 1.194712 q: 0.953893 -0.277269 -0.031244 0.110603 
time: 1403637251.388319, t: 0.933707 2.890317 1.229788 q: 0.956794 -0.272499 -0.029557 0.097030 
time: 1403637251.488319, t: 0.986249 2.842163 1.259162 q: 0.960571 -0.263525 -0.027327 0.084330 
time: 1403637251.588319, t: 1.033673 2.796536 1.286064 q: 0.964738 -0.251044 -0.026196 0.074638 
time: 1403637251.688319, t: 1.072836 2.758626 1.311410 q: 0.968294 -0.238673 -0.025529 0.069208 
time: 1403637251.788319, t: 1.104542 2.722427 1.334784 q: 0.970890 -0.228784 -0.024848 0.066440 
time: 1403637251.888319, t: 1.132542 2.687348 1.355355 q: 0.972502 -0.223881 -0.022360 0.060151 
time: 1403637251.988319, t: 1.158646 2.659302 1.371447 q: 0.973550 -0.222937 -0.017095 0.046972 
time: 1403637252.088319, t: 1.179336 2.628540 1.385042 q: 0.974110 -0.222443 -0.011344 0.038731 
time: 1403637252.188319, t: 1.194853 2.595477 1.394976 q: 0.974628 -0.220425 -0.004734 0.038600 
time: 1403637252.288319, t: 1.203736 2.560527 1.401118 q: 0.974971 -0.218091 -0.003929 0.043052 
time: 1403637252.388319, t: 1.201503 2.525722 1.405802 q: 0.975073 -0.216450 -0.008537 0.048045 
time: 1403637252.488319, t: 1.191236 2.484633 1.409733 q: 0.974787 -0.216176 -0.016746 0.052698 
time: 1403637252.588319, t: 1.175254 2.447890 1.408253 q: 0.974517 -0.216207 -0.022007 0.055555 
time: 1403637252.788319, t: 1.131655 2.382749 1.402782 q: 0.973652 -0.212965 -0.038751 0.071743 
time: 1403637252.888319, t: 1.116396 2.355712 1.399029 q: 0.973330 -0.214752 -0.041479 0.069210 
time: 1403637252.988319, t: 1.110363 2.336367 1.388986 q: 0.973426 -0.218448 -0.034615 0.059369 
time: 1403637253.088319, t: 1.113461 2.321789 1.375117 q: 0.973424 -0.220640 -0.029821 0.053621 
optimize pose graph 
time: 1403637253.188319, t: 1.118411 2.308055 1.359786 q: 0.973318 -0.222068 -0.027211 0.050959 
time: 1403637253.288319, t: 1.117900 2.293836 1.345161 q: 0.973135 -0.223177 -0.025972 0.050263 
time: 1403637253.388319, t: 1.110983 2.281250 1.329763 q: 0.973016 -0.223644 -0.025854 0.050550 
time: 1403637253.488319, t: 1.097111 2.269592 1.314149 q: 0.972983 -0.223676 -0.024318 0.051795 
time: 1403637253.588319, t: 1.077997 2.257875 1.298300 q: 0.972799 -0.224459 -0.026056 0.051000 
time: 1403637253.688319, t: 1.063094 2.246837 1.279071 q: 0.972706 -0.225840 -0.026091 0.046466 
time: 1403637253.788319, t: 1.055562 2.235459 1.256270 q: 0.972611 -0.227477 -0.024698 0.040880 
time: 1403637253.888319, t: 1.052347 2.221776 1.231387 q: 0.972539 -0.228185 -0.024224 0.038902 
time: 1403637253.988319, t: 1.054349 2.207173 1.202738 q: 0.972490 -0.228481 -0.024050 0.038492 
time: 1403637254.088319, t: 1.062349 2.187146 1.171530 q: 0.972572 -0.228605 -0.022708 0.036432 
time: 1403637254.188319, t: 1.075258 2.164303 1.138214 q: 0.973862 -0.223387 -0.022425 0.034473 
time: 1403637254.288319, t: 1.093483 2.137931 1.101878 q: 0.975766 -0.214834 -0.027771 0.030907 
time: 1403637254.388319, t: 1.113272 2.108716 1.063965 q: 0.977561 -0.205790 -0.034762 0.028578 
time: 1403637254.488319, t: 1.128157 2.077525 1.028901 q: 0.978867 -0.198768 -0.039810 0.026932 
time: 1403637254.588319, t: 1.138110 2.047309 0.996120 q: 0.980032 -0.192832 -0.041169 0.025655 
time: 1403637254.688319, t: 1.142697 2.017809 0.964815 q: 0.980893 -0.189081 -0.038959 0.024051 
time: 1403637254.788319, t: 1.143666 1.986024 0.933819 q: 0.981595 -0.186534 -0.033904 0.022932 
time: 1403637254.888319, t: 1.137825 1.954239 0.907623 q: 0.982154 -0.184244 -0.029016 0.024199 
time: 1403637254.988319, t: 1.126623 1.919615 0.880676 q: 0.982414 -0.183417 -0.025103 0.024304 
time: 1403637255.088319, t: 1.111405 1.884098 0.856122 q: 0.982978 -0.180641 -0.024022 0.023358 
time: 1403637255.188319, t: 1.098661 1.843730 0.827364 q: 0.984455 -0.172532 -0.024659 0.021735 
optimize pose graph 
time: 1403637255.288319, t: 1.091743 1.802463 0.794332 q: 0.986163 -0.162779 -0.023940 0.020314 
time: 1403637255.388319, t: 1.089820 1.761894 0.757070 q: 0.987782 -0.152661 -0.024102 0.020016 
time: 1403637255.488319, t: 1.084346 1.720121 0.720013 q: 0.989518 -0.141053 -0.026230 0.016419 
time: 1403637255.588319, t: 1.071222 1.676756 0.680907 q: 0.991391 -0.127560 -0.028086 0.009119 
time: 1403637255.688319, t: 1.054351 1.632772 0.649777 q: 0.993288 -0.111597 -0.030381 0.001087 
time: 1403637255.788319, t: 1.036782 1.589427 0.609536 q: 0.995004 -0.092994 -0.035542 -0.007471 
time: 1403637255.888319, t: 1.026601 1.543156 0.571187 q: 0.996406 -0.072423 -0.041484 -0.014464 
time: 1403637255.988319, t: 1.023295 1.496788 0.523470 q: 0.997428 -0.053144 -0.043872 -0.019712 
time: 1403637256.088319, t: 1.029042 1.447960 0.482147 q: 0.997833 -0.039703 -0.045677 -0.025805 
time: 1403637256.188319, t: 1.034316 1.401530 0.436489 q: 0.998175 -0.031053 -0.042572 -0.029486 
time: 1403637256.288319, t: 1.039968 1.349926 0.394523 q: 0.998500 -0.025873 -0.036757 -0.031274 
time: 1403637256.388319, t: 1.037367 1.297054 0.353724 q: 0.998601 -0.024038 -0.033461 -0.033131 
time: 1403637256.488319, t: 1.029177 1.244115 0.312134 q: 0.998552 -0.024830 -0.032095 -0.035319 
time: 1403637256.588319, t: 1.014289 1.190120 0.269510 q: 0.998619 -0.025584 -0.030993 -0.033849 
time: 1403637256.688319, t: 0.992254 1.130400 0.230889 q: 0.998554 -0.026143 -0.038787 -0.026494 
time: 1403637256.788319, t: 0.967783 1.070827 0.192421 q: 0.998390 -0.024816 -0.049485 -0.012328 
time: 1403637256.888319, t: 0.940766 1.012988 0.156839 q: 0.998385 -0.023749 -0.051440 -0.004055 
time: 1403637257.088319, t: 0.900196 0.902376 0.082691 q: 0.998847 -0.013947 -0.042038 -0.018535 
time: 1403637257.188319, t: 0.888714 0.847749 0.043194 q: 0.998843 -0.007564 -0.040284 -0.025149 
time: 1403637257.288319, t: 0.882418 0.793334 0.007006 q: 0.998668 -0.001666 -0.042341 -0.029444 
time: 1403637257.388319, t: 0.879623 0.743090 -0.038131 q: 0.998397 0.003316 -0.044872 -0.034350 
time: 1403637257.488319, t: 0.878594 0.686816 -0.074798 q: 0.998229 0.006737 -0.045980 -0.037143 
optimize pose graph 
time: 1403637257.588319, t: 0.873749 0.632002 -0.111810 q: 0.997968 0.008770 -0.048767 -0.040057 
time: 1403637257.688319, t: 0.863156 0.579626 -0.149452 q: 0.997657 0.011307 -0.055890 -0.037806 
time: 1403637257.788319, t: 0.845841 0.525746 -0.183298 q: 0.997299 0.016174 -0.061754 -0.036315 
time: 1403637257.888319, t: 0.834863 0.462901 -0.199812 q: 0.996723 0.023626 -0.068009 -0.036870 
time: 1403637257.988319, t: 0.817768 0.403188 -0.217509 q: 0.996133 0.035251 -0.071009 -0.037863 
time: 1403637258.088319, t: 0.798290 0.346454 -0.237473 q: 0.995272 0.051845 -0.071950 -0.039601 
time: 1403637258.188319, t: 0.784614 0.287394 -0.244279 q: 0.994199 0.071356 -0.065437 -0.046857 
time: 1403637258.288319, t: 0.782529 0.229307 -0.256101 q: 0.992940 0.087514 -0.056245 -0.056995 
time: 1403637258.388319, t: 0.776286 0.174017 -0.266877 q: 0.991703 0.101163 -0.049853 -0.061700 
time: 1403637258.488319, t: 0.760926 0.111691 -0.269587 q: 0.990649 0.112508 -0.051226 -0.057733 
time: 1403637258.588319, t: 0.738257 0.052541 -0.266622 q: 0.989820 0.120319 -0.055269 -0.052203 
time: 1403637258.688319, t: 0.717182 0.000691 -0.266758 q: 0.989656 0.123507 -0.050843 -0.052360 
time: 1403637258.788319, t: 0.694073 -0.050472 -0.264457 q: 0.989673 0.124767 -0.046881 -0.052758 
time: 1403637258.888319, t: 0.668725 -0.096897 -0.266526 q: 0.989792 0.125643 -0.043463 -0.051345 
time: 1403637258.988319, t: 0.651636 -0.143377 -0.265281 q: 0.989939 0.125532 -0.043605 -0.048600 
time: 1403637259.088319, t: 0.645218 -0.185494 -0.269396 q: 0.990142 0.124232 -0.044164 -0.047267 
time: 1403637259.188319, t: 0.650935 -0.224398 -0.276719 q: 0.990286 0.123714 -0.043672 -0.046060 
time: 1403637259.288319, t: 0.664222 -0.259586 -0.286920 q: 0.990497 0.122987 -0.042461 -0.044584 
time: 1403637259.388319, t: 0.676135 -0.292548 -0.296531 q: 0.990662 0.122136 -0.043202 -0.042479 
time: 1403637259.488319, t: 0.684347 -0.320603 -0.304771 q: 0.990844 0.123860 -0.042290 -0.033146 
time: 1403637259.588319, t: 0.689219 -0.343685 -0.313260 q: 0.990886 0.124833 -0.042147 -0.028008 
time: 1403637259.688319, t: 0.691027 -0.359840 -0.320752 q: 0.991009 0.123134 -0.041842 -0.031438 
optimize pose graph 
time: 1403637259.788319, t: 0.688336 -0.371253 -0.326876 q: 0.990854 0.120355 -0.047236 -0.038623 
time: 1403637259.888319, t: 0.683875 -0.378479 -0.332455 q: 0.990856 0.119736 -0.047689 -0.039927 
time: 1403637259.988319, t: 0.675907 -0.382434 -0.336235 q: 0.991018 0.121091 -0.043969 -0.035865 
time: 1403637260.088319, t: 0.664017 -0.381900 -0.338905 q: 0.991106 0.119983 -0.040727 -0.040666 
time: 1403637260.188319, t: 0.647952 -0.378144 -0.341341 q: 0.990968 0.118014 -0.041893 -0.047959 
time: 1403637260.288319, t: 0.629176 -0.372071 -0.343833 q: 0.990691 0.115742 -0.043227 -0.057162 
time: 1403637260.388319, t: 0.609244 -0.365819 -0.347353 q: 0.990378 0.112860 -0.041682 -0.068383 
time: 1403637260.488319, t: 0.587079 -0.361631 -0.351639 q: 0.990008 0.111602 -0.043037 -0.074683 
time: 1403637260.588319, t: 0.562227 -0.360792 -0.356194 q: 0.989452 0.111416 -0.054681 -0.074708 
time: 1403637260.688319, t: 0.537393 -0.363856 -0.359606 q: 0.989156 0.111756 -0.062222 -0.072173 
time: 1403637260.788319, t: 0.513896 -0.369500 -0.360942 q: 0.989474 0.113251 -0.057769 -0.069118 
time: 1403637260.888319, t: 0.490689 -0.377611 -0.360686 q: 0.989867 0.115400 -0.049409 -0.066374 
time: 1403637260.988319, t: 0.467736 -0.387521 -0.360044 q: 0.990138 0.116471 -0.041778 -0.065688 
time: 1403637261.088319, t: 0.443439 -0.397598 -0.361421 q: 0.990028 0.116955 -0.044685 -0.064575 
time: 1403637261.188319, t: 0.418360 -0.409229 -0.362643 q: 0.989441 0.116098 -0.056766 -0.065613 
time: 1403637261.288319, t: 0.397581 -0.422037 -0.364021 q: 0.988835 0.115281 -0.066502 -0.067038 
time: 1403637261.388319, t: 0.384814 -0.436522 -0.364179 q: 0.989288 0.115876 -0.060035 -0.065411 
time: 1403637261.488319, t: 0.376885 -0.452479 -0.363511 q: 0.989888 0.118403 -0.052121 -0.058181 
time: 1403637261.588319, t: 0.369707 -0.467927 -0.361767 q: 0.989475 0.117878 -0.060804 -0.057859 
time: 1403637261.688319, t: 0.367361 -0.482942 -0.359245 q: 0.988780 0.116133 -0.071197 -0.061299 
time: 1403637261.788319, t: 0.373206 -0.498794 -0.353866 q: 0.989025 0.115533 -0.067264 -0.062915 
time: 1403637261.888319, t: 0.382415 -0.515206 -0.346346 q: 0.989839 0.116006 -0.054504 -0.061570 
time: 1403637261.988319, t: 0.385081 -0.531184 -0.335923 q: 0.990374 0.115738 -0.046080 -0.060345 
optimize pose graph 
time: 1403637262.088319, t: 0.378409 -0.546689 -0.323774 q: 0.990842 0.116107 -0.040596 -0.055708 
time: 1403637262.188319, t: 0.362441 -0.560566 -0.310628 q: 0.991087 0.116704 -0.039993 -0.050269 
time: 1403637262.288319, t: 0.339963 -0.571324 -0.297787 q: 0.991282 0.116387 -0.039767 -0.047248 
time: 1403637262.388319, t: 0.340684 -0.566851 -0.303831 q: 0.991886 0.117498 -0.016992 -0.045462 
time: 1403637262.488319, t: 0.336466 -0.557484 -0.307848 q: 0.994992 0.090251 -0.034049 -0.026217 
time: 1403637262.688319, t: 0.333798 -0.553652 -0.312386 q: 0.995570 0.089959 -0.021257 -0.017217 
time: 1403637262.788319, t: 0.334549 -0.553214 -0.313037 q: 0.995726 0.089406 -0.017972 -0.014591 
time: 1403637262.888319, t: 0.334612 -0.554515 -0.312357 q: 0.995608 0.090234 -0.019990 -0.014916 
time: 1403637262.988319, t: 0.334618 -0.554146 -0.312629 q: 0.995645 0.089953 -0.019287 -0.015079 
time: 1403637263.088319, t: 0.334637 -0.553930 -0.312749 q: 0.995665 0.089629 -0.019297 -0.015665 
time: 1403637263.188319, t: 0.334617 -0.553747 -0.312805 q: 0.995691 0.089346 -0.018997 -0.015993 
time: 1403637263.288319, t: 0.334594 -0.553830 -0.312799 q: 0.995678 0.089461 -0.019291 -0.015805 
time: 1403637263.388319, t: 0.334605 -0.553902 -0.312811 q: 0.995670 0.089578 -0.019295 -0.015631 
time: 1403637263.488319, t: 0.334552 -0.553821 -0.312810 q: 0.995681 0.089424 -0.019259 -0.015883 
time: 1403637263.588319, t: 0.334595 -0.553854 -0.312824 q: 0.995676 0.089479 -0.019325 -0.015784 
time: 1403637263.688319, t: 0.334550 -0.553882 -0.312829 q: 0.995671 0.089532 -0.019400 -0.015704 
time: 1403637263.788319, t: 0.334537 -0.553972 -0.312841 q: 0.995665 0.089672 -0.019387 -0.015311 
time: 1403637263.888319, t: 0.334546 -0.553971 -0.312851 q: 0.995663 0.089685 -0.019387 -0.015356 
time: 1403637263.988319, t: 0.334536 -0.553875 -0.312851 q: 0.995673 0.089522 -0.019387 -0.015685 
time: 1403637264.088319, t: 0.334541 -0.553882 -0.312836 q: 0.995668 0.089540 -0.019458 -0.015799 
time: 1403637264.188319, t: 0.334506 -0.553841 -0.312792 q: 0.995675 0.089483 -0.019355 -0.015817 
time: 1403637264.288319, t: 0.334531 -0.553894 -0.312846 q: 0.995669 0.089561 -0.019393 -0.015657 
time: 1403637264.388319, t: 0.334500 -0.553885 -0.312862 q: 0.995666 0.089588 -0.019439 -0.015660 
time: 1403637264.488319, t: 0.334502 -0.553861 -0.312838 q: 0.995671 0.089533 -0.019405 -0.015732 
time: 1403637264.588319, t: 0.334501 -0.553895 -0.312841 q: 0.995668 0.089561 -0.019450 -0.015704 
time: 1403637264.688319, t: 0.334488 -0.553895 -0.312854 q: 0.995668 0.089568 -0.019441 -0.015662 
time: 1403637264.788319, t: 0.334475 -0.553892 -0.312840 q: 0.995664 0.089620 -0.019457 -0.015592 
time: 1403637264.888319, t: 0.334497 -0.553894 -0.312879 q: 0.995667 0.089575 -0.019455 -0.015663 
time: 1403637264.988319, t: 0.334502 -0.553868 -0.312807 q: 0.995669 0.089522 -0.019488 -0.015795 
time: 1403637265.088319, t: 0.334508 -0.553891 -0.312814 q: 0.995664 0.089563 -0.019544 -0.015793 
time: 1403637265.188319, t: 0.334501 -0.553866 -0.312828 q: 0.995667 0.089552 -0.019469 -0.015761 
time: 1403637265.288319, t: 0.334476 -0.553863 -0.312821 q: 0.995665 0.089560 -0.019515 -0.015781 
time: 1403637265.388319, t: 0.334520 -0.553874 -0.312731 q: 0.995665 0.089550 -0.019519 -0.015832 
time: 1403637265.488319, t: 0.334497 -0.553808 -0.312675 q: 0.995663 0.089598 -0.019492 -0.015742 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731010749.692036626]: Shutdown request received.[0m
[33m[ WARN] [1731010749.692080502]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731010749.692946730]: Shutdown request received.[0m
[33m[ WARN] [1731010749.692974066]: Reason given for shutdown: [user request][0m
killed
