/SLAM-Hive/slam_hive_results/mapping_results/3301/2370_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/da95077a-9d48-11ef-bc69-0242ac110002/roslaunch-7dccdf9af2e8-118.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
[31m[ERROR] [1731012170.419096561]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731012170.421822124]: init begins[0m
[31m[ERROR] [1731012170.422945311]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://7dccdf9af2e8:42837/[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] [1731012171.380359011]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731012171.385842936]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://7dccdf9af2e8:11311/[0m
]2;roscore http://7dccdf9af2e8:11311/
[1msetting /run_id to da95077a-9d48-11ef-bc69-0242ac110002[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1731012171.418020362]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731012171.418322813]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731012171.418374987]: ROW: 480 COL: 752 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g       0       0 9.81007
[0m[ INFO] [1731012171.421178047]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
config_file: /slamhive/mappingtask.yaml
[0m[ INFO] [1731012171.422745533]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731012171.422980656]: waiting for image and imu...[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mprocess[rosout-1]: started with pid [248][0m
started core service [/rosout]
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1731012180.531105783]: 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: 327375050.21 
init first imu pose
averge acc 9.410943 -0.689906 -2.446931
init R0 
 0.260797  0.261977  0.929168
        0 -0.962476  0.271368
 0.965394 -0.070772 -0.251011
[33m[ WARN] [1731012181.985071393]: gyroscope bias initial calibration -0.00214086   0.0203059   0.0776988[0m
[0m[ INFO] [1731012182.066524052]: Initialization finish![0m
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time: 1403637131.788319, t: -0.000052 0.000014 -0.000071 q: -0.102250 0.787030 0.078399 0.603309 
time: 1403637131.888319, t: -0.000059 -0.000061 -0.000035 q: -0.101907 0.787055 0.078069 0.603378 
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time: 1403637150.188319, t: 0.040681 -0.092654 0.028085 q: -0.042867 0.837376 0.067638 0.540730 
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time: 1403637150.388319, t: 0.083343 -0.119879 0.082486 q: -0.037425 0.828048 0.060263 0.556151 
time: 1403637150.488319, t: 0.112152 -0.131945 0.111536 q: -0.037039 0.821973 0.056329 0.565522 
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time: 1403637150.688319, t: 0.174828 -0.154996 0.164202 q: -0.033666 0.818861 0.050632 0.570763 
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time: 1403637150.988319, t: 0.270791 -0.184271 0.229034 q: -0.028648 0.810742 0.049139 0.582634 
optimize pose graph 
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time: 1403637151.188319, t: 0.329222 -0.200341 0.258268 q: -0.029552 0.803246 0.051438 0.592686 
time: 1403637151.288319, t: 0.352970 -0.206340 0.272518 q: -0.032082 0.807104 0.051641 0.587271 
time: 1403637151.388319, t: 0.372825 -0.212237 0.295955 q: -0.041045 0.812237 0.047722 0.579922 
time: 1403637151.488319, t: 0.391672 -0.219091 0.328555 q: -0.044138 0.815117 0.047380 0.575665 
time: 1403637151.588319, t: 0.410696 -0.227543 0.360265 q: -0.042663 0.815686 0.049937 0.574754 
time: 1403637151.688319, t: 0.429919 -0.236857 0.386563 q: -0.040849 0.815349 0.053151 0.575075 
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time: 1403637152.188319, t: 0.526870 -0.292476 0.472457 q: -0.041491 0.817396 0.056071 0.571838 
time: 1403637152.288319, t: 0.546411 -0.303594 0.489037 q: -0.042301 0.818360 0.055074 0.570495 
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time: 1403637152.688319, t: 0.640693 -0.358556 0.498038 q: -0.040230 0.818552 0.053884 0.570482 
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time: 1403637152.888319, t: 0.693233 -0.389941 0.501284 q: -0.043309 0.813560 0.050763 0.577639 
time: 1403637152.988319, t: 0.716891 -0.407712 0.512430 q: -0.041973 0.812279 0.051945 0.579433 
optimize pose graph 
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time: 1403637153.388319, t: 0.808738 -0.483610 0.543590 q: -0.031988 0.814765 0.055288 0.576262 
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time: 1403637153.688319, t: 0.877104 -0.532340 0.575691 q: -0.029747 0.818187 0.055754 0.571469 
time: 1403637153.788319, t: 0.901810 -0.545776 0.597588 q: -0.029663 0.816081 0.055932 0.574459 
time: 1403637153.888319, t: 0.927196 -0.557681 0.613352 q: -0.030771 0.814673 0.055329 0.576454 
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time: 1403637154.288319, t: 1.026432 -0.603341 0.599600 q: -0.054782 0.826603 0.038390 0.558796 
time: 1403637154.388319, t: 1.055875 -0.621748 0.584844 q: -0.054359 0.827242 0.037378 0.557959 
time: 1403637154.488319, t: 1.089318 -0.644067 0.569486 q: -0.047046 0.822006 0.041111 0.566041 
time: 1403637154.588319, t: 1.124416 -0.669520 0.552806 q: -0.039147 0.819493 0.045027 0.569974 
time: 1403637154.688319, t: 1.161263 -0.696461 0.539062 q: -0.027627 0.822365 0.049882 0.566096 
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time: 1403637154.988319, t: 1.284531 -0.773661 0.511724 q: -0.006066 0.831658 0.027204 0.554588 
optimize pose graph 
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time: 1403637155.788319, t: 1.707067 -0.927480 0.580606 q: 0.030335 0.809742 -0.071822 0.581584 
time: 1403637155.888319, t: 1.753829 -0.952558 0.566253 q: 0.038349 0.809531 -0.090006 0.578867 
time: 1403637155.988319, t: 1.798771 -0.982471 0.547941 q: 0.051317 0.809657 -0.108656 0.574470 
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time: 1403637156.188319, t: 1.878784 -1.055533 0.514832 q: 0.074219 0.799054 -0.154084 0.576421 
time: 1403637156.288319, t: 1.912404 -1.101074 0.501227 q: 0.087763 0.792979 -0.178312 0.575923 
time: 1403637156.388319, t: 1.941575 -1.150493 0.487646 q: 0.101129 0.787559 -0.202150 0.573288 
time: 1403637156.488319, t: 1.966949 -1.204608 0.472763 q: 0.115120 0.781877 -0.224524 0.570092 
time: 1403637156.588319, t: 1.988027 -1.263035 0.455431 q: 0.130085 0.775348 -0.244599 0.567525 
time: 1403637156.688319, t: 2.005101 -1.325800 0.433870 q: 0.146162 0.768920 -0.263056 0.564093 
time: 1403637156.788319, t: 2.018444 -1.392356 0.405288 q: 0.161537 0.765017 -0.277108 0.558449 
time: 1403637156.888319, t: 2.031046 -1.461382 0.371477 q: 0.172997 0.766706 -0.284703 0.548796 
time: 1403637156.988319, t: 2.043151 -1.531195 0.332765 q: 0.180801 0.769861 -0.287714 0.540227 
optimize pose graph 
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time: 1403637202.688319, t: 2.637613 -2.640216 0.125840 q: 0.138036 0.787977 -0.248667 0.546080 
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time: 1403637203.088319, t: 2.412584 -2.808141 0.190137 q: 0.166108 0.786874 -0.229852 0.548093 
optimize pose graph 
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time: 1403637203.288319, t: 2.314446 -2.890946 0.193418 q: 0.168372 0.785787 -0.230114 0.548851 
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time: 1403637203.488319, t: 2.225734 -2.965057 0.181309 q: 0.169056 0.785508 -0.231095 0.548627 
time: 1403637203.588319, t: 2.183846 -2.995756 0.169737 q: 0.171662 0.784774 -0.229982 0.549337 
time: 1403637203.688319, t: 2.145288 -3.024847 0.154968 q: 0.173762 0.784680 -0.229509 0.549008 
time: 1403637203.788319, t: 2.112933 -3.051412 0.133524 q: 0.174046 0.783573 -0.230613 0.550035 
time: 1403637203.888319, t: 2.080396 -3.074295 0.110754 q: 0.174435 0.782919 -0.231064 0.550653 
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time: 1403637204.388319, t: 1.934346 -3.134190 0.028438 q: 0.172753 0.781267 -0.235561 0.551624 
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time: 1403637204.688319, t: 1.860991 -3.138634 0.069443 q: 0.174376 0.776890 -0.241704 0.554630 
time: 1403637204.788319, t: 1.835719 -3.136183 0.087841 q: 0.175033 0.777754 -0.243790 0.552293 
time: 1403637204.888319, t: 1.810155 -3.131279 0.099219 q: 0.175455 0.778698 -0.245518 0.550060 
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time: 1403637205.088319, t: 1.762530 -3.120384 0.102390 q: 0.173992 0.784645 -0.247783 0.540982 
optimize pose graph 
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time: 1403637205.688319, t: 1.687870 -3.063460 0.086103 q: 0.164242 0.786995 -0.219507 0.552702 
time: 1403637205.788319, t: 1.684008 -3.048670 0.079287 q: 0.162454 0.787631 -0.217820 0.552992 
time: 1403637205.888319, t: 1.678281 -3.032325 0.065314 q: 0.161350 0.787984 -0.216918 0.553167 
time: 1403637205.988319, t: 1.674436 -3.014352 0.050762 q: 0.161202 0.787759 -0.215967 0.553902 
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time: 1403637206.388319, t: 1.666477 -2.926525 0.063061 q: 0.146526 0.784215 -0.224742 0.559488 
time: 1403637206.488319, t: 1.662724 -2.906835 0.082095 q: 0.146988 0.784124 -0.224889 0.559437 
time: 1403637206.588319, t: 1.657099 -2.887212 0.099030 q: 0.148266 0.783783 -0.224834 0.559598 
time: 1403637206.688319, t: 1.649807 -2.867707 0.109915 q: 0.151108 0.783985 -0.223880 0.558939 
time: 1403637206.788319, t: 1.641376 -2.848174 0.115316 q: 0.153320 0.783121 -0.223198 0.559818 
time: 1403637206.888319, t: 1.631648 -2.827689 0.119689 q: 0.154784 0.782310 -0.223206 0.560547 
time: 1403637206.988319, t: 1.620731 -2.806081 0.128685 q: 0.155298 0.780966 -0.223569 0.562131 
time: 1403637207.088319, t: 1.609417 -2.785210 0.144199 q: 0.155603 0.780857 -0.224736 0.561733 
time: 1403637207.188319, t: 1.595729 -2.762941 0.154072 q: 0.156421 0.779592 -0.226125 0.562705 
optimize pose graph 
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time: 1403637207.388319, t: 1.562793 -2.714702 0.151816 q: 0.157465 0.778513 -0.228146 0.563091 
time: 1403637207.488319, t: 1.542967 -2.689804 0.141756 q: 0.157836 0.778369 -0.229275 0.562728 
time: 1403637207.588319, t: 1.521493 -2.663889 0.126267 q: 0.153527 0.780785 -0.233545 0.558804 
time: 1403637207.688319, t: 1.499638 -2.637500 0.111409 q: 0.144043 0.785786 -0.240876 0.551154 
time: 1403637207.788319, t: 1.477129 -2.615611 0.106771 q: 0.144312 0.787338 -0.241248 0.548701 
time: 1403637207.888319, t: 1.451442 -2.596527 0.115093 q: 0.150095 0.786542 -0.238328 0.549566 
time: 1403637207.988319, t: 1.430550 -2.582564 0.132191 q: 0.155139 0.785165 -0.235372 0.551405 
time: 1403637208.088319, t: 1.408507 -2.569005 0.157716 q: 0.159084 0.784987 -0.233229 0.551446 
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time: 1403637208.888319, t: 1.245892 -2.486801 0.271984 q: 0.166510 0.779698 -0.234712 0.556107 
time: 1403637208.988319, t: 1.223165 -2.475726 0.260322 q: 0.176301 0.781760 -0.228255 0.552874 
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time: 1403637209.288319, t: 1.172516 -2.417395 0.215309 q: 0.163173 0.791134 -0.210374 0.550658 
optimize pose graph 
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time: 1403637209.488319, t: 1.149092 -2.358632 0.214512 q: 0.139353 0.805901 -0.197762 0.540365 
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time: 1403637209.688319, t: 1.148833 -2.306507 0.237419 q: 0.125885 0.826521 -0.189871 0.514747 
time: 1403637209.788319, t: 1.165220 -2.287602 0.261255 q: 0.122170 0.831070 -0.188399 0.508824 
time: 1403637209.888319, t: 1.193095 -2.271892 0.282203 q: 0.119205 0.833995 -0.189068 0.504477 
time: 1403637209.988319, t: 1.230226 -2.260484 0.291720 q: 0.117123 0.838647 -0.190055 0.496823 
time: 1403637210.088319, t: 1.278207 -2.251076 0.284915 q: 0.115876 0.844797 -0.191531 0.486011 
time: 1403637210.188319, t: 1.338311 -2.247435 0.262944 q: 0.112824 0.850537 -0.193999 0.475628 
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time: 1403637210.988319, t: 2.432510 -2.468814 0.028513 q: 0.096277 0.820262 -0.203117 0.525970 
time: 1403637211.088319, t: 2.613640 -2.522309 -0.012179 q: 0.093023 0.810994 -0.206734 0.539348 
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time: 1403637211.388319, t: 3.156064 -2.715280 -0.149614 q: 0.118831 0.796046 -0.197881 0.559494 
optimize pose graph 
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time: 1403637211.888319, t: 3.998734 -3.073878 -0.365869 q: 0.099957 0.807316 -0.214277 0.540680 
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time: 1403637212.088319, t: 4.321857 -3.247025 -0.396630 q: 0.114435 0.801683 -0.206104 0.549299 
time: 1403637212.188319, t: 4.481983 -3.337148 -0.398205 q: 0.122473 0.793286 -0.201578 0.561306 
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time: 1403637212.788319, t: 5.349505 -3.846373 -0.311897 q: 0.132832 0.799637 -0.203580 0.549082 
time: 1403637212.888319, t: 5.487765 -3.930142 -0.287707 q: 0.135234 0.802096 -0.201975 0.545490 
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time: 1403637213.088319, t: 5.766517 -4.097377 -0.236464 q: 0.135994 0.803405 -0.198113 0.544791 
time: 1403637213.188319, t: 5.907125 -4.179349 -0.217172 q: 0.131236 0.803936 -0.198952 0.544868 
time: 1403637213.288319, t: 6.048411 -4.262457 -0.204687 q: 0.128706 0.803748 -0.199104 0.545693 
time: 1403637213.388319, t: 6.187347 -4.345325 -0.195403 q: 0.129246 0.802303 -0.198066 0.548065 
time: 1403637213.488319, t: 6.326455 -4.426428 -0.190215 q: 0.130780 0.799994 -0.196911 0.551481 
optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403637239.888319, t: -0.409238 -3.424512 0.602013 q: -0.440859 -0.449357 0.699073 -0.339144 
time: 1403637239.988319, t: -0.663191 -3.453416 0.552750 q: -0.468805 -0.425457 0.701709 -0.326823 
time: 1403637240.088319, t: -0.916649 -3.481211 0.497845 q: -0.489161 -0.401475 0.708526 -0.312299 
time: 1403637240.188319, t: -1.166575 -3.504903 0.438452 q: 0.501780 0.377689 -0.719908 0.295466 
time: 1403637240.288319, t: -1.411710 -3.524522 0.374373 q: 0.504958 0.358331 -0.735225 0.275789 
time: 1403637240.388319, t: -1.652427 -3.545766 0.308933 q: 0.500088 0.348896 -0.750904 0.253628 
time: 1403637240.488319, t: -1.890457 -3.566502 0.250659 q: -0.494386 -0.347115 0.762650 -0.231211 
time: 1403637240.588319, t: -2.126716 -3.596611 0.200521 q: -0.492555 -0.344935 0.768303 -0.219364 
time: 1403637240.688319, t: -2.361411 -3.632966 0.159957 q: -0.495286 -0.344800 0.768353 -0.213163 
time: 1403637240.788319, t: -2.596004 -3.681271 0.126308 q: 0.500958 0.344005 -0.765173 0.212632 
time: 1403637240.888319, t: -2.827896 -3.733882 0.103696 q: 0.519385 0.344302 -0.751881 0.215339 
time: 1403637240.988319, t: -3.054726 -3.793310 0.084281 q: 0.532142 0.345126 -0.741574 0.218589 
time: 1403637241.088319, t: -3.274408 -3.854054 0.057384 q: 0.530234 0.345676 -0.741554 0.222391 
time: 1403637241.188319, t: -3.485593 -3.916722 0.021588 q: 0.526771 0.348829 -0.742168 0.223645 
time: 1403637241.288319, t: -3.689327 -3.981782 -0.017197 q: 0.528666 0.355624 -0.738790 0.219623 
time: 1403637241.388319, t: -3.884501 -4.049266 -0.059907 q: 0.532841 0.362082 -0.733847 0.215513 
time: 1403637241.488319, t: -4.069091 -4.119524 -0.102113 q: 0.537612 0.368791 -0.728559 0.210163 
time: 1403637241.588319, t: -4.241719 -4.194660 -0.138583 q: 0.545689 0.374465 -0.720755 0.206183 
time: 1403637241.688319, t: -4.399007 -4.275000 -0.167761 q: 0.553654 0.375322 -0.713416 0.208897 
time: 1403637241.788319, t: -4.539302 -4.358558 -0.190542 q: 0.562807 0.374391 -0.705412 0.213245 
time: 1403637241.888319, t: -4.660685 -4.444019 -0.205504 q: 0.567870 0.367831 -0.701178 0.224884 
optimize pose graph 
time: 1403637241.988319, t: -4.765665 -4.528059 -0.214719 q: 0.570017 0.355751 -0.699022 0.244727 
time: 1403637242.088319, t: -4.856463 -4.606408 -0.218374 q: 0.572688 0.351443 -0.697328 0.249501 
time: 1403637242.188319, t: -4.930682 -4.678023 -0.215966 q: 0.572388 0.355782 -0.698515 0.240559 
time: 1403637242.288319, t: -4.988616 -4.746114 -0.207558 q: 0.573414 0.360407 -0.698458 0.231213 
time: 1403637242.388319, t: -5.030590 -4.811491 -0.200809 q: 0.579470 0.365730 -0.694258 0.220140 
time: 1403637242.488319, t: -5.057564 -4.877142 -0.201343 q: 0.587186 0.369157 -0.688426 0.212146 
time: 1403637242.588319, t: -5.062011 -4.940774 -0.204755 q: 0.590524 0.371412 -0.683800 0.213896 
time: 1403637242.688319, t: -5.046122 -5.006376 -0.206629 q: 0.585731 0.377490 -0.681111 0.224743 
time: 1403637242.788319, t: -5.008543 -5.070920 -0.201039 q: 0.576259 0.383931 -0.678839 0.244336 
time: 1403637242.888319, t: -4.953598 -5.131218 -0.187965 q: 0.570295 0.387773 -0.674386 0.263818 
time: 1403637242.988319, t: -4.884238 -5.183713 -0.170207 q: 0.569966 0.393205 -0.667184 0.274580 
time: 1403637243.088319, t: -4.802430 -5.230718 -0.152539 q: 0.567922 0.402185 -0.663923 0.273712 
time: 1403637243.188319, t: -4.707051 -5.269399 -0.142597 q: 0.561758 0.409787 -0.665821 0.270526 
time: 1403637243.288319, t: -4.599083 -5.302217 -0.139956 q: 0.550707 0.412481 -0.672759 0.271986 
time: 1403637243.388319, t: -4.480095 -5.329834 -0.144520 q: 0.542979 0.412612 -0.677976 0.274360 
time: 1403637243.488319, t: -4.351846 -5.355295 -0.152103 q: 0.539660 0.411072 -0.680667 0.276548 
time: 1403637243.588319, t: -4.213594 -5.378609 -0.155962 q: 0.532142 0.409089 -0.686807 0.278870 
time: 1403637243.688319, t: -4.069899 -5.402202 -0.152765 q: 0.520788 0.407283 -0.695927 0.280331 
time: 1403637243.788319, t: -3.923768 -5.424401 -0.140417 q: 0.509208 0.402217 -0.705446 0.285088 
time: 1403637243.888319, t: -3.778052 -5.443136 -0.119748 q: -0.495384 -0.395508 0.716282 -0.291732 
time: 1403637243.988319, t: -3.635830 -5.456445 -0.088889 q: -0.488678 -0.390914 0.721919 -0.295319 
optimize pose graph 
time: 1403637244.088319, t: -3.500180 -5.468962 -0.047314 q: -0.488565 -0.388761 0.723393 -0.294740 
time: 1403637244.188319, t: -3.371027 -5.479786 0.001257 q: -0.491367 -0.387874 0.722910 -0.292425 
time: 1403637244.288319, t: -3.248011 -5.490866 0.056059 q: -0.491762 -0.386215 0.723846 -0.291643 
time: 1403637244.388319, t: -3.130241 -5.498920 0.114843 q: -0.487819 -0.386402 0.726908 -0.290400 
time: 1403637244.488319, t: -3.018765 -5.506623 0.178507 q: -0.484047 -0.393338 0.726449 -0.288540 
time: 1403637244.588319, t: -2.913495 -5.518197 0.244499 q: -0.484222 -0.408579 0.719904 -0.283426 
time: 1403637244.688319, t: -2.811594 -5.533380 0.304524 q: -0.482350 -0.426061 0.712227 -0.280257 
time: 1403637244.788319, t: -2.711999 -5.554146 0.358663 q: -0.478729 -0.440101 0.705536 -0.281689 
time: 1403637244.888319, t: -2.613761 -5.580692 0.407165 q: -0.475114 -0.449848 0.700610 -0.284691 
time: 1403637244.988319, t: -2.516351 -5.613437 0.449557 q: -0.468224 -0.455207 0.699934 -0.289214 
time: 1403637245.088319, t: -2.421695 -5.651134 0.484388 q: -0.452698 -0.453732 0.707681 -0.297285 
time: 1403637245.188319, t: -2.332538 -5.693796 0.512664 q: -0.436986 -0.452206 0.716553 -0.301836 
time: 1403637245.288319, t: -2.252647 -5.743300 0.539653 q: -0.442248 -0.455939 0.712237 -0.298755 
time: 1403637245.388319, t: -2.179647 -5.799395 0.563026 q: -0.452716 -0.460091 0.704908 -0.294056 
time: 1403637245.488319, t: -2.109036 -5.860121 0.580880 q: -0.457932 -0.465484 0.698501 -0.292777 
time: 1403637245.588319, t: -2.039378 -5.928158 0.592578 q: -0.457345 -0.473525 0.692351 -0.295397 
time: 1403637245.688319, t: -1.970348 -6.002244 0.600276 q: -0.452063 -0.484242 0.685966 -0.300997 
time: 1403637245.788319, t: -1.900932 -6.083546 0.604221 q: -0.450039 -0.494858 0.673135 -0.315389 
time: 1403637245.888319, t: -1.830440 -6.170244 0.603589 q: -0.451984 -0.507761 0.651943 -0.335946 
time: 1403637245.988319, t: -1.758389 -6.257555 0.596552 q: -0.447141 -0.525575 0.629654 -0.356892 
time: 1403637246.088319, t: -1.683414 -6.345219 0.584855 q: -0.436861 -0.547971 0.605133 -0.377750 
optimize pose graph 
time: 1403637246.188319, t: -1.606894 -6.428114 0.568022 q: -0.422089 -0.573525 0.577560 -0.399168 
time: 1403637246.288319, t: -1.528177 -6.509857 0.545183 q: 0.403375 0.600166 -0.548149 0.420265 
time: 1403637246.388319, t: -1.447629 -6.587060 0.519189 q: 0.385972 0.627887 -0.513422 0.439525 
time: 1403637246.488319, t: -1.363973 -6.659723 0.490204 q: 0.372318 0.654615 -0.474679 0.455563 
time: 1403637246.588319, t: -1.276214 -6.724902 0.458017 q: 0.359347 0.674375 -0.436948 0.474514 
time: 1403637246.688319, t: -1.185984 -6.780200 0.423316 q: 0.344642 0.688634 -0.401758 0.495576 
time: 1403637246.788319, t: -1.093044 -6.822908 0.388483 q: 0.328196 0.702626 -0.369109 0.512213 
time: 1403637246.888319, t: -0.999056 -6.853294 0.359871 q: 0.309191 0.717124 -0.340004 0.523958 
time: 1403637246.988319, t: -0.903627 -6.875242 0.336577 q: 0.286320 0.734740 -0.320103 0.525083 
time: 1403637247.088319, t: -0.807362 -6.882693 0.318642 q: 0.265998 0.749056 -0.309602 0.521830 
time: 1403637247.188319, t: -0.709596 -6.885652 0.299385 q: 0.249460 0.758732 -0.306423 0.517881 
time: 1403637247.288319, t: -0.607709 -6.882814 0.275407 q: 0.239376 0.761865 -0.306131 0.518213 
time: 1403637247.388319, t: -0.503427 -6.876194 0.251874 q: 0.242402 0.752090 -0.301180 0.533753 
time: 1403637247.488319, t: -0.398843 -6.864201 0.225054 q: 0.248341 0.739375 -0.296896 0.550912 
time: 1403637247.588319, t: -0.297221 -6.843888 0.190400 q: 0.249321 0.738881 -0.293737 0.552822 
time: 1403637247.688319, t: -0.199467 -6.813111 0.153359 q: 0.251163 0.742088 -0.283613 0.552979 
time: 1403637247.788319, t: -0.106902 -6.770589 0.117823 q: 0.254219 0.747572 -0.267694 0.552131 
time: 1403637247.888319, t: -0.015893 -6.714832 0.089299 q: 0.249983 0.751389 -0.253282 0.555672 
time: 1403637247.988319, t: 0.074080 -6.646072 0.070480 q: 0.234291 0.751334 -0.243721 0.566749 
time: 1403637248.088319, t: 0.159793 -6.564355 0.056028 q: 0.215660 0.760156 -0.235805 0.565729 
time: 1403637248.188319, t: 0.240009 -6.474052 0.044999 q: 0.198134 0.771593 -0.227687 0.559952 
time: 1403637248.288319, t: 0.320568 -6.378773 0.030648 q: 0.185056 0.780040 -0.222110 0.554941 
time: 1403637248.388319, t: 0.400077 -6.279321 0.010087 q: 0.178343 0.783518 -0.217202 0.554182 
time: 1403637248.488319, t: 0.478405 -6.176886 -0.014276 q: 0.174778 0.782268 -0.214615 0.558077 
time: 1403637248.588319, t: 0.555950 -6.071031 -0.037077 q: 0.176176 0.776960 -0.211684 0.566114 
time: 1403637248.688319, t: 0.629842 -5.960471 -0.055071 q: 0.177674 0.778431 -0.211996 0.563502 
time: 1403637248.788319, t: 0.701075 -5.844737 -0.064645 q: 0.178720 0.783427 -0.215077 0.555016 
time: 1403637248.888319, t: 0.770267 -5.724469 -0.065678 q: 0.178751 0.785870 -0.220024 0.549587 
time: 1403637248.988319, t: 0.840092 -5.602042 -0.059075 q: 0.177939 0.786082 -0.225362 0.547380 
time: 1403637249.088319, t: 0.911291 -5.480563 -0.045511 q: 0.180261 0.785530 -0.227650 0.546465 
time: 1403637249.188319, t: 0.984803 -5.357749 -0.023597 q: 0.181868 0.784864 -0.229698 0.546032 
time: 1403637249.288319, t: 1.058743 -5.233317 0.004050 q: 0.182339 0.783216 -0.231960 0.547284 
time: 1403637249.388319, t: 1.133572 -5.106139 0.031375 q: 0.184288 0.781811 -0.233018 0.548189 
time: 1403637249.488319, t: 1.208710 -4.975801 0.044909 q: 0.184205 0.781054 -0.234368 0.548721 
time: 1403637249.588319, t: 1.284504 -4.844461 0.040679 q: 0.183347 0.780888 -0.235131 0.548918 
time: 1403637249.688319, t: 1.358783 -4.710645 0.022245 q: 0.183901 0.779400 -0.234342 0.551181 
time: 1403637249.788319, t: 1.432820 -4.574502 0.004748 q: 0.184853 0.774521 -0.231114 0.559046 
time: 1403637249.888319, t: 1.505295 -4.435796 -0.008017 q: 0.182037 0.772330 -0.225302 0.565339 
time: 1403637249.988319, t: 1.573808 -4.291922 -0.015383 q: 0.172003 0.776012 -0.218007 0.566298 
time: 1403637250.088319, t: 1.637676 -4.145523 -0.016325 q: 0.155325 0.780929 -0.215344 0.565377 
time: 1403637250.188319, t: 1.697689 -3.999030 -0.011983 q: 0.142257 0.786204 -0.209197 0.563811 
time: 1403637250.288319, t: 1.752865 -3.853368 -0.011542 q: 0.128144 0.788733 -0.203285 0.565822 
optimize pose graph 
time: 1403637250.388319, t: 1.806475 -3.710640 -0.017261 q: 0.116475 0.789871 -0.199862 0.567972 
time: 1403637250.488319, t: 1.854743 -3.572403 -0.029221 q: 0.105101 0.791365 -0.199833 0.568121 
time: 1403637250.588319, t: 1.899477 -3.440893 -0.042078 q: 0.098121 0.794342 -0.199905 0.565183 
time: 1403637250.688319, t: 1.940400 -3.316424 -0.048651 q: 0.095090 0.797706 -0.194668 0.562786 
time: 1403637250.788319, t: 1.979832 -3.199541 -0.046358 q: 0.094643 0.800078 -0.189491 0.561258 
time: 1403637250.888319, t: 2.019793 -3.090605 -0.035463 q: 0.093337 0.798950 -0.187421 0.563774 
time: 1403637250.988319, t: 2.059660 -2.990209 -0.019238 q: 0.089943 0.798669 -0.188306 0.564428 
time: 1403637251.088319, t: 2.098096 -2.896840 0.004738 q: 0.084051 0.799814 -0.186980 0.564155 
time: 1403637251.188319, t: 2.134756 -2.811236 0.033860 q: 0.074275 0.802439 -0.185276 0.562358 
time: 1403637251.288319, t: 2.166350 -2.736212 0.070935 q: 0.067451 0.804077 -0.181532 0.562100 
time: 1403637251.388319, t: 2.196660 -2.670261 0.117574 q: 0.071430 0.803854 -0.167872 0.566158 
time: 1403637251.488319, t: 2.227403 -2.612669 0.166498 q: 0.071712 0.803843 -0.152696 0.570420 
time: 1403637251.588319, t: 2.256435 -2.560173 0.208995 q: 0.067379 0.804671 -0.137429 0.573653 
time: 1403637251.688319, t: 2.282899 -2.512494 0.243888 q: 0.060712 0.805554 -0.125770 0.575829 
time: 1403637251.788319, t: 2.306217 -2.468910 0.271922 q: 0.054235 0.806107 -0.117586 0.577429 
time: 1403637251.888319, t: 2.326948 -2.430371 0.296597 q: 0.053608 0.805046 -0.109952 0.580464 
time: 1403637251.988319, t: 2.344818 -2.395850 0.318555 q: 0.060542 0.801651 -0.099354 0.586361 
time: 1403637252.088319, t: 2.358208 -2.361698 0.336151 q: 0.064658 0.797943 -0.093013 0.591992 
time: 1403637252.188319, t: 2.365535 -2.326581 0.349317 q: 0.062542 0.794092 -0.092107 0.597513 
time: 1403637252.288319, t: 2.366519 -2.290694 0.355821 q: 0.057955 0.793853 -0.094068 0.597988 
time: 1403637252.388319, t: 2.363366 -2.255872 0.354217 q: 0.054007 0.796952 -0.096543 0.593827 
time: 1403637252.488319, t: 2.351314 -2.220464 0.345959 q: 0.051129 0.801964 -0.099065 0.586878 
optimize pose graph 
time: 1403637252.588319, t: 2.337659 -2.187135 0.332266 q: 0.049760 0.805072 -0.100812 0.582426 
time: 1403637252.688319, t: 2.319752 -2.155409 0.313590 q: 0.045780 0.809420 -0.104144 0.576105 
time: 1403637252.788319, t: 2.303124 -2.128401 0.294117 q: 0.038412 0.815293 -0.109967 0.567211 
time: 1403637252.888319, t: 2.285716 -2.105163 0.281473 q: 0.041477 0.816649 -0.108807 0.565265 
time: 1403637252.988319, t: 2.270550 -2.088583 0.279121 q: 0.049907 0.812178 -0.104086 0.571876 
time: 1403637253.088319, t: 2.254040 -2.075903 0.284391 q: 0.054977 0.808965 -0.101425 0.576426 
time: 1403637253.188319, t: 2.237337 -2.064976 0.293163 q: 0.057579 0.807261 -0.100534 0.578712 
time: 1403637253.288319, t: 2.220616 -2.054178 0.297696 q: 0.058841 0.806443 -0.100841 0.579671 
time: 1403637253.388319, t: 2.201406 -2.045386 0.296000 q: 0.059106 0.806346 -0.101375 0.579686 
time: 1403637253.488319, t: 2.180673 -2.037799 0.287854 q: 0.058278 0.805515 -0.102568 0.580714 
time: 1403637253.588319, t: 2.158140 -2.031060 0.275085 q: 0.059473 0.806507 -0.102299 0.579262 
time: 1403637253.688319, t: 2.134141 -2.024749 0.266718 q: 0.063401 0.806250 -0.099613 0.579671 
time: 1403637253.788319, t: 2.108185 -2.018874 0.265775 q: 0.068050 0.805047 -0.096384 0.581359 
time: 1403637253.888319, t: 2.081159 -2.011550 0.271068 q: 0.069819 0.804651 -0.095348 0.581868 
time: 1403637253.988319, t: 2.052872 -2.003789 0.282246 q: 0.070404 0.804549 -0.095363 0.581937 
time: 1403637254.088319, t: 2.020522 -1.991793 0.299582 q: 0.071656 0.803695 -0.093884 0.583203 
time: 1403637254.188319, t: 1.986415 -1.977367 0.321645 q: 0.068553 0.803889 -0.089165 0.584049 
time: 1403637254.288319, t: 1.950721 -1.959932 0.348999 q: 0.064260 0.807578 -0.080556 0.580688 
time: 1403637254.388319, t: 1.913532 -1.939860 0.379148 q: 0.058939 0.812243 -0.072528 0.575784 
time: 1403637254.488319, t: 1.877490 -1.918729 0.404614 q: 0.054645 0.815591 -0.066396 0.572203 
time: 1403637254.588319, t: 1.842594 -1.896564 0.425626 q: 0.050787 0.816776 -0.061631 0.571401 
optimize pose graph 
time: 1403637254.688319, t: 1.808900 -1.873103 0.440506 q: 0.048753 0.815690 -0.058306 0.573475 
time: 1403637254.988319, t: 1.704704 -1.796676 0.451861 q: 0.042818 0.807951 -0.056296 0.584989 
time: 1403637255.088319, t: 1.670638 -1.768438 0.445634 q: 0.041053 0.807464 -0.053932 0.586010 
time: 1403637255.188319, t: 1.631332 -1.737800 0.441552 q: 0.035434 0.808144 -0.047553 0.585991 
time: 1403637255.288319, t: 1.590393 -1.705972 0.444522 q: 0.028414 0.808014 -0.040470 0.587084 
time: 1403637255.388319, t: 1.548370 -1.673461 0.453648 q: 0.020611 0.808470 -0.034023 0.587191 
time: 1403637255.488319, t: 1.503567 -1.640453 0.459137 q: 0.013777 0.809757 -0.023834 0.586119 
time: 1403637255.588319, t: 1.456537 -1.605738 0.458152 q: 0.007694 0.810609 -0.009644 0.585458 
time: 1403637255.688319, t: 1.409567 -1.571141 0.453132 q: -0.000071 0.811477 0.006654 0.584347 
time: 1403637255.788319, t: 1.360441 -1.536211 0.447962 q: -0.009293 0.813623 0.025266 0.580769 
time: 1403637255.888319, t: 1.310537 -1.499913 0.449791 q: -0.020938 0.815941 0.043893 0.576086 
time: 1403637255.988319, t: 1.259207 -1.463062 0.461748 q: -0.032721 0.816145 0.060101 0.573781 
time: 1403637256.088319, t: 1.207559 -1.425937 0.482577 q: -0.039502 0.815926 0.073137 0.572150 
time: 1403637256.188319, t: 1.155381 -1.388117 0.504936 q: -0.044017 0.813405 0.081121 0.574329 
time: 1403637256.288319, t: 1.103706 -1.348967 0.522072 q: -0.047658 0.809469 0.085096 0.579005 
time: 1403637256.388319, t: 1.052039 -1.307744 0.531321 q: -0.048310 0.807253 0.087347 0.581704 
time: 1403637256.488319, t: 0.997941 -1.264869 0.534508 q: -0.046450 0.806161 0.088344 0.583217 
time: 1403637256.588319, t: 0.943397 -1.220336 0.532835 q: -0.046767 0.805701 0.086556 0.584096 
time: 1403637256.688319, t: 0.886344 -1.174069 0.523238 q: -0.050403 0.810834 0.081025 0.577445 
optimize pose graph 
time: 1403637256.788319, t: 0.829047 -1.125461 0.510333 q: -0.059187 0.818052 0.071592 0.567593 
time: 1403637256.888319, t: 0.773519 -1.079350 0.496621 q: -0.064866 0.819696 0.065959 0.565279 
time: 1403637256.988319, t: 0.719939 -1.034517 0.484824 q: -0.064549 0.816188 0.071327 0.569722 
time: 1403637257.088319, t: 0.666990 -0.990481 0.478587 q: -0.064668 0.812238 0.082178 0.573877 
time: 1403637257.188319, t: 0.614714 -0.945590 0.481049 q: -0.065631 0.810236 0.091121 0.575246 
time: 1403637257.288319, t: 0.565819 -0.900705 0.489092 q: -0.067453 0.810603 0.098298 0.573333 
time: 1403637257.388319, t: 0.514680 -0.858330 0.503262 q: -0.068004 0.811276 0.105400 0.571049 
time: 1403637257.488319, t: 0.467121 -0.812956 0.517483 q: -0.068798 0.811456 0.109920 0.569846 
time: 1403637257.588319, t: 0.419784 -0.768045 0.525389 q: -0.068299 0.812576 0.113745 0.567554 
time: 1403637257.688319, t: 0.371369 -0.723115 0.525435 q: -0.071137 0.816522 0.114002 0.561458 
time: 1403637257.788319, t: 0.326479 -0.674837 0.521420 q: -0.075061 0.819597 0.116307 0.555967 
time: 1403637257.888319, t: 0.288601 -0.623351 0.513712 q: -0.080382 0.822012 0.121628 0.550492 
time: 1403637258.088319, t: 0.222465 -0.515820 0.490123 q: -0.100403 0.820521 0.141074 0.544759 
time: 1403637258.188319, t: 0.196776 -0.461859 0.485053 q: -0.111679 0.813503 0.158148 0.548388 
time: 1403637258.288319, t: 0.174370 -0.407203 0.485817 q: -0.119155 0.804547 0.174670 0.554974 
time: 1403637258.388319, t: 0.152832 -0.351699 0.483007 q: -0.127135 0.798209 0.185871 0.558705 
time: 1403637258.488319, t: 0.130413 -0.296648 0.472783 q: -0.138705 0.797321 0.189776 0.555900 
time: 1403637258.588319, t: 0.111238 -0.241637 0.455804 q: -0.148006 0.798886 0.190513 0.550980 
time: 1403637258.688319, t: 0.092660 -0.189273 0.435933 q: -0.150771 0.795667 0.192025 0.554355 
time: 1403637258.788319, t: 0.077108 -0.139406 0.415701 q: -0.151852 0.793154 0.192731 0.557407 
optimize pose graph 
time: 1403637258.888319, t: 0.061176 -0.092141 0.395040 q: -0.153467 0.791229 0.191743 0.560035 
time: 1403637258.988319, t: 0.046361 -0.047660 0.380754 q: -0.155079 0.791604 0.189571 0.559801 
time: 1403637259.088319, t: 0.033018 -0.006427 0.376500 q: -0.154882 0.792270 0.187837 0.559497 
time: 1403637259.188319, t: 0.020617 0.031729 0.384410 q: -0.155470 0.792039 0.186518 0.560101 
time: 1403637259.288319, t: 0.006792 0.064919 0.400421 q: -0.155954 0.791506 0.184745 0.561307 
time: 1403637259.388319, t: -0.007236 0.094470 0.415899 q: -0.156569 0.792231 0.182700 0.560782 
time: 1403637259.488319, t: -0.019329 0.120136 0.426691 q: -0.163901 0.792217 0.176304 0.560754 
time: 1403637259.588319, t: -0.030914 0.140261 0.434688 q: -0.167725 0.792411 0.172880 0.560416 
time: 1403637259.688319, t: -0.040774 0.154709 0.439697 q: -0.164236 0.792331 0.174438 0.561078 
time: 1403637259.788319, t: -0.049771 0.164583 0.439752 q: -0.157182 0.795205 0.178895 0.557619 
time: 1403637259.888319, t: -0.057551 0.170513 0.437610 q: -0.155869 0.795444 0.179584 0.557426 
time: 1403637259.988319, t: -0.064201 0.173470 0.431101 q: -0.159699 0.793512 0.176867 0.559958 
time: 1403637260.088319, t: -0.069793 0.172186 0.420098 q: -0.156064 0.791333 0.179717 0.563150 
time: 1403637260.188319, t: -0.075444 0.167731 0.404869 q: -0.150027 0.791614 0.184303 0.562913 
time: 1403637260.288319, t: -0.081429 0.161293 0.386927 q: -0.142562 0.791754 0.190264 0.562673 
time: 1403637260.388319, t: -0.088747 0.154050 0.368234 q: -0.133536 0.789962 0.197198 0.565014 
time: 1403637260.488319, t: -0.097054 0.148871 0.347449 q: -0.128409 0.790148 0.201534 0.564412 
time: 1403637260.588319, t: -0.106667 0.147052 0.324478 q: -0.127508 0.796786 0.202367 0.554907 
time: 1403637260.688319, t: -0.116656 0.149015 0.301729 q: -0.128784 0.801321 0.201189 0.548472 
time: 1403637260.788319, t: -0.125470 0.154471 0.279719 q: -0.132095 0.798903 0.199290 0.551895 
time: 1403637260.888319, t: -0.133300 0.162337 0.257585 q: -0.136030 0.794116 0.197666 0.558394 
optimize pose graph 
time: 1403637260.988319, t: -0.140930 0.171835 0.235576 q: -0.137875 0.789586 0.197008 0.564564 
time: 1403637261.088319, t: -0.150237 0.181368 0.212518 q: -0.138684 0.791345 0.196681 0.562011 
time: 1403637261.188319, t: -0.160530 0.192070 0.189735 q: -0.136238 0.798287 0.198062 0.552221 
time: 1403637261.288319, t: -0.169987 0.204274 0.170650 q: -0.133827 0.803766 0.199477 0.544297 
time: 1403637261.388319, t: -0.176532 0.218656 0.159098 q: -0.135694 0.800277 0.197944 0.549511 
time: 1403637261.488319, t: -0.181629 0.234464 0.152075 q: -0.142600 0.796251 0.193097 0.555304 
time: 1403637261.588319, t: -0.185385 0.249578 0.145635 q: -0.141720 0.801291 0.193317 0.548157 
time: 1403637261.688319, t: -0.186678 0.264892 0.143519 q: -0.137550 0.807002 0.195819 0.539891 
time: 1403637261.788319, t: -0.183296 0.281873 0.148584 q: -0.136344 0.804715 0.196360 0.543404 
time: 1403637261.888319, t: -0.177067 0.300288 0.156486 q: -0.138335 0.797621 0.194528 0.553915 
time: 1403637261.988319, t: -0.170966 0.317769 0.157557 q: -0.139506 0.793016 0.192665 0.560842 
time: 1403637262.088319, t: -0.164652 0.335355 0.148723 q: -0.142912 0.790407 0.188878 0.564941 
time: 1403637262.188319, t: -0.159522 0.351616 0.130947 q: -0.146660 0.790579 0.185009 0.565020 
time: 1403637262.288319, t: -0.155223 0.364915 0.106047 q: -0.149448 0.791017 0.181614 0.564778 
time: 1403637262.388319, t: -0.159235 0.358536 0.104180 q: -0.151845 0.777628 0.180076 0.582933 
time: 1403637262.488319, t: -0.160979 0.349455 0.096253 q: -0.140581 0.794274 0.149847 0.571762 
time: 1403637262.588319, t: -0.166260 0.344907 0.102115 q: -0.151218 0.777292 0.139587 0.594530 
time: 1403637262.688319, t: -0.164459 0.344803 0.100991 q: -0.146842 0.787551 0.141435 0.581547 
time: 1403637262.788319, t: -0.166891 0.343759 0.101860 q: -0.147970 0.785686 0.138810 0.584410 
time: 1403637262.888319, t: -0.166392 0.345391 0.101849 q: -0.148561 0.786744 0.139578 0.582650 
time: 1403637262.988319, t: -0.166601 0.344899 0.101937 q: -0.148323 0.786365 0.139402 0.583264 
time: 1403637263.088319, t: -0.166598 0.344739 0.101916 q: -0.147741 0.786358 0.139651 0.583362 
optimize pose graph 
time: 1403637263.188319, t: -0.166702 0.344485 0.101987 q: -0.147332 0.786235 0.139747 0.583608 
time: 1403637263.288319, t: -0.166747 0.344570 0.101938 q: -0.147564 0.786418 0.139615 0.583335 
time: 1403637263.388319, t: -0.166747 0.344637 0.101945 q: -0.147833 0.786408 0.139541 0.583298 
time: 1403637263.488319, t: -0.166790 0.344520 0.101924 q: -0.147490 0.786415 0.139654 0.583349 
time: 1403637263.588319, t: -0.166780 0.344545 0.101923 q: -0.147670 0.786442 0.139549 0.583291 
time: 1403637263.688319, t: -0.166801 0.344554 0.101917 q: -0.147705 0.786491 0.139546 0.583217 
time: 1403637263.788319, t: -0.166824 0.344662 0.101907 q: -0.148037 0.786484 0.139279 0.583206 
time: 1403637263.888319, t: -0.166849 0.344627 0.101923 q: -0.148048 0.786493 0.139299 0.583186 
time: 1403637263.988319, t: -0.166823 0.344512 0.101917 q: -0.147712 0.786512 0.139467 0.583206 
time: 1403637264.088319, t: -0.166818 0.344528 0.101897 q: -0.147655 0.786537 0.139544 0.583168 
time: 1403637264.188319, t: -0.166794 0.344474 0.101886 q: -0.147588 0.786490 0.139529 0.583252 
time: 1403637264.288319, t: -0.166781 0.344543 0.101879 q: -0.147760 0.786515 0.139446 0.583195 
time: 1403637264.388319, t: -0.166815 0.344530 0.101863 q: -0.147722 0.786545 0.139504 0.583150 
time: 1403637264.488319, t: -0.166730 0.344539 0.101836 q: -0.147613 0.786508 0.139499 0.583229 
time: 1403637264.588319, t: -0.166741 0.344572 0.101836 q: -0.147659 0.786531 0.139473 0.583192 
time: 1403637264.688319, t: -0.166788 0.344550 0.101866 q: -0.147674 0.786538 0.139453 0.583184 
time: 1403637264.788319, t: -0.166754 0.344560 0.101878 q: -0.147739 0.786559 0.139428 0.583144 
time: 1403637264.888319, t: -0.166743 0.344561 0.101893 q: -0.147680 0.786560 0.139446 0.583154 
time: 1403637264.988319, t: -0.166703 0.344548 0.101901 q: -0.147519 0.786575 0.139528 0.583154 
time: 1403637265.088319, t: -0.166716 0.344568 0.101915 q: -0.147535 0.786616 0.139562 0.583088 
time: 1403637265.188319, t: -0.166749 0.344550 0.101916 q: -0.147493 0.786581 0.139536 0.583152 
time: 1403637265.288319, t: -0.166755 0.344536 0.101903 q: -0.147513 0.786608 0.139556 0.583105 
time: 1403637265.388319, t: -0.166664 0.344557 0.101931 q: -0.147491 0.786614 0.139572 0.583099 
time: 1403637265.488319, t: -0.166588 0.344526 0.101950 q: -0.147518 0.786608 0.139550 0.583106 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731012317.351106015]: Shutdown request received.[0m
[33m[ WARN] [1731012317.351150090]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731012317.352047454]: Shutdown request received.[0m
[33m[ WARN] [1731012317.352076514]: Reason given for shutdown: [user request][0m
killed
