/SLAM-Hive/slam_hive_results/mapping_results/3319/2040_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/9896821a-9d50-11ef-9586-0242ac110002/roslaunch-46ac32a66f81-118.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] [1731015495.546930953]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731015495.550535594]: init begins[0m
[31m[ERROR] [1731015495.551636235]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://46ac32a66f81:37921/[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] [1731015496.603216401]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731015496.606658316]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
[1mROS_MASTER_URI=http://46ac32a66f81:11311/[0m
]2;roscore http://46ac32a66f81:11311/
[1msetting /run_id to 9896821a-9d50-11ef-9586-0242ac110002[0m
result path /home/output/vio.csv
[33m[ WARN] [1731015496.627637891]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1731015496.630051500]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731015496.630085646]: 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
set g       0       0 9.81007
[0m[ INFO] [1731015496.630260441]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731015496.630544701]: waiting for image and imu...[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1731015505.554060781]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 327378648.93 
init first imu pose
averge acc 9.439445 -0.460368 -3.138128
init R0 
  0.318508   0.137589   0.937882
         0   -0.98941   0.145148
   0.94792 -0.0462307  -0.315135
wait for imu ... 
[33m[ WARN] [1731015509.216552070]: gyroscope bias initial calibration 0.00132595  0.0080178  0.0885517[0m
[0m[ INFO] [1731015509.286938247]: Initialization finish![0m
time: 1403636859.701667, t: 0.010694 -0.066735 0.228004 q: -0.034346 0.812546 0.043890 0.580226 
time: 1403636859.801666, t: 0.014216 -0.068584 0.277785 q: -0.025490 0.805992 0.043507 0.589775 
time: 1403636859.901666, t: 0.014907 -0.069392 0.323274 q: -0.018283 0.802117 0.044408 0.595233 
time: 1403636860.001667, t: 0.013836 -0.070242 0.358400 q: -0.015820 0.801160 0.043009 0.596693 
time: 1403636860.101666, t: 0.015103 -0.074213 0.368920 q: -0.014423 0.803684 0.039460 0.593572 
time: 1403636860.201667, t: 0.016765 -0.080103 0.346766 q: -0.016564 0.808535 0.037679 0.587007 
time: 1403636860.301666, t: 0.016667 -0.083927 0.297796 q: -0.022747 0.816980 0.035522 0.575121 
time: 1403636860.401666, t: 0.013862 -0.087864 0.239806 q: -0.025455 0.829763 0.031997 0.556616 
time: 1403636860.501667, t: 0.009235 -0.091284 0.183885 q: -0.028996 0.842988 0.028477 0.536394 
time: 1403636860.601666, t: 0.004886 -0.093229 0.138705 q: -0.034036 0.852876 0.026993 0.520304 
time: 1403636860.701667, t: -0.000229 -0.094977 0.108730 q: -0.038356 0.856584 0.029844 0.513715 
time: 1403636860.801666, t: -0.003576 -0.096272 0.100676 q: -0.034794 0.856307 0.036337 0.514011 
time: 1403636860.901666, t: -0.004845 -0.097060 0.120478 q: -0.032184 0.855604 0.042557 0.514873 
wait for imu ... 
time: 1403636861.001667, t: -0.003577 -0.097644 0.164556 q: -0.031837 0.853376 0.046853 0.518210 
time: 1403636861.101666, t: -0.000091 -0.098401 0.222847 q: -0.032036 0.846014 0.046797 0.530136 
time: 1403636861.201667, t: 0.004798 -0.099509 0.285780 q: -0.031616 0.833943 0.046319 0.548994 
time: 1403636861.301666, t: 0.008528 -0.101429 0.348063 q: -0.032956 0.820214 0.045594 0.569284 
time: 1403636861.401666, t: 0.010916 -0.104332 0.398995 q: -0.034349 0.808974 0.041971 0.585337 
time: 1403636861.501667, t: 0.012727 -0.107361 0.423331 q: -0.033813 0.801936 0.039332 0.595154 
time: 1403636861.601666, t: 0.013588 -0.110135 0.414518 q: -0.031968 0.802743 0.038346 0.594232 
time: 1403636861.701667, t: 0.014870 -0.111063 0.376855 q: -0.033463 0.809216 0.039170 0.585248 
time: 1403636861.801666, t: 0.014222 -0.110588 0.323929 q: -0.032725 0.816135 0.041674 0.575427 
time: 1403636861.901666, t: 0.010789 -0.108315 0.266570 q: -0.036160 0.823967 0.043517 0.563806 
time: 1403636862.001667, t: 0.006707 -0.104446 0.208342 q: -0.040105 0.835563 0.043042 0.546236 
time: 1403636862.101666, t: 0.002627 -0.099689 0.155488 q: -0.043535 0.844751 0.040835 0.531821 
time: 1403636862.201667, t: -0.000228 -0.096367 0.116828 q: -0.046461 0.849436 0.041810 0.523977 
time: 1403636862.301666, t: -0.002606 -0.096053 0.103977 q: -0.041040 0.853078 0.047296 0.518012 
time: 1403636862.401666, t: -0.002451 -0.096395 0.124247 q: -0.039566 0.856121 0.050509 0.512777 
time: 1403636862.501667, t: -0.000662 -0.097242 0.171697 q: -0.038459 0.854036 0.050971 0.516280 
time: 1403636862.601666, t: 0.005137 -0.100172 0.233606 q: -0.027560 0.848072 0.049242 0.526868 
time: 1403636862.701667, t: 0.010981 -0.101825 0.301447 q: -0.019586 0.840258 0.046832 0.539806 
wait for imu ... 
time: 1403636862.801666, t: 0.015488 -0.101703 0.370027 q: -0.021359 0.835430 0.039862 0.547733 
time: 1403636862.901666, t: 0.017569 -0.101653 0.434268 q: -0.024484 0.832285 0.031264 0.552923 
time: 1403636863.001667, t: 0.016133 -0.101779 0.478209 q: -0.029248 0.826703 0.027696 0.561195 
time: 1403636863.101666, t: 0.015064 -0.103821 0.487328 q: -0.023336 0.820654 0.032215 0.570039 
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time: 1403636863.301666, t: 0.013800 -0.104624 0.410534 q: -0.009495 0.819516 0.041336 0.571484 
time: 1403636863.401666, t: 0.013510 -0.104564 0.346941 q: -0.003608 0.821749 0.040883 0.568369 
time: 1403636863.501667, t: 0.011591 -0.104368 0.278023 q: -0.004082 0.826539 0.036312 0.561692 
wait for imu ... 
time: 1403636863.601666, t: 0.006467 -0.103774 0.210167 q: -0.016155 0.834498 0.033534 0.549753 
time: 1403636863.701667, t: 0.000994 -0.103986 0.151462 q: -0.026123 0.842996 0.030982 0.536391 
time: 1403636863.801666, t: -0.001991 -0.105016 0.113232 q: -0.030349 0.850869 0.027907 0.523758 
time: 1403636863.901666, t: -0.004465 -0.106524 0.108121 q: -0.030984 0.856458 0.029270 0.514455 
time: 1403636864.001667, t: -0.005221 -0.107900 0.139760 q: -0.033546 0.857447 0.032269 0.512462 
time: 1403636864.101666, t: -0.004438 -0.108592 0.198997 q: -0.031849 0.853830 0.037295 0.518237 
time: 1403636864.201667, t: -0.001298 -0.109213 0.271897 q: -0.023666 0.849206 0.039305 0.526066 
time: 1403636864.301666, t: 0.002325 -0.107376 0.342298 q: -0.022569 0.846173 0.039205 0.530985 
time: 1403636864.401666, t: 0.005077 -0.104531 0.403919 q: -0.024592 0.842292 0.036725 0.537207 
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time: 1403636864.601666, t: 0.010382 -0.099868 0.483748 q: -0.031008 0.820875 0.023328 0.569789 
time: 1403636864.701667, t: 0.010802 -0.099730 0.480197 q: -0.025434 0.815445 0.026459 0.577669 
time: 1403636864.801666, t: 0.010728 -0.100208 0.445693 q: -0.019733 0.818134 0.031685 0.573815 
time: 1403636864.901666, t: 0.011020 -0.099479 0.391066 q: -0.018026 0.823482 0.032390 0.566130 
time: 1403636865.001667, t: 0.010874 -0.100351 0.330254 q: -0.011406 0.829751 0.031730 0.557114 
time: 1403636865.101666, t: 0.011277 -0.100819 0.268556 q: -0.010801 0.836923 0.031139 0.546327 
time: 1403636865.201667, t: 0.011436 -0.099919 0.213015 q: -0.026018 0.842373 0.022550 0.537793 
time: 1403636865.301666, t: 0.010508 -0.099261 0.170196 q: -0.039693 0.844753 0.016859 0.533416 
time: 1403636865.401666, t: 0.010531 -0.099255 0.143323 q: -0.038945 0.845810 0.016585 0.531802 
time: 1403636865.501667, t: 0.010807 -0.099065 0.137567 q: -0.031628 0.850384 0.022833 0.524714 
wait for imu ... 
time: 1403636865.601666, t: 0.011737 -0.097492 0.160520 q: -0.028631 0.855859 0.028836 0.515610 
time: 1403636865.701667, t: 0.011690 -0.093154 0.207797 q: -0.032909 0.855273 0.031896 0.516146 
time: 1403636865.801666, t: 0.013127 -0.089112 0.269383 q: -0.035927 0.848583 0.031374 0.526908 
time: 1403636865.901666, t: 0.015818 -0.087131 0.337462 q: -0.038903 0.838711 0.028815 0.542421 
time: 1403636866.001667, t: 0.017397 -0.085815 0.406037 q: -0.042693 0.824795 0.025433 0.563244 
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time: 1403636867.301666, t: -0.029048 -0.102515 0.222413 q: -0.054453 0.857427 0.042905 0.509914 
time: 1403636867.401666, t: -0.036666 -0.102999 0.226678 q: -0.054727 0.860843 0.045481 0.503870 
time: 1403636867.501667, t: -0.044594 -0.102873 0.232749 q: -0.050548 0.867614 0.046356 0.492485 
time: 1403636867.601666, t: -0.053683 -0.103527 0.234486 q: -0.044631 0.882766 0.050244 0.464982 
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time: 1403636867.801666, t: -0.074577 -0.106930 0.224826 q: -0.039072 0.930506 0.049092 0.360863 
wait for imu ... 
optimize pose graph 
time: 1403636867.901666, t: -0.080148 -0.108987 0.222849 q: -0.035853 0.943215 0.043623 0.327348 
time: 1403636868.001667, t: -0.080158 -0.108068 0.226754 q: -0.036124 0.943912 0.039036 0.325887 
time: 1403636868.101666, t: -0.080172 -0.106681 0.232544 q: -0.037173 0.938751 0.038078 0.340461 
time: 1403636868.201667, t: -0.083254 -0.105540 0.235914 q: -0.039787 0.934973 0.038321 0.350392 
time: 1403636868.301666, t: -0.089278 -0.103561 0.237071 q: -0.042011 0.934989 0.036883 0.350244 
time: 1403636868.401666, t: -0.097160 -0.099018 0.237227 q: -0.043747 0.936301 0.033610 0.346840 
time: 1403636868.501667, t: -0.105115 -0.092543 0.239025 q: -0.041896 0.934011 0.031087 0.353414 
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time: 1403636868.701667, t: -0.119815 -0.082554 0.248735 q: -0.036624 0.930800 0.023924 0.362902 
time: 1403636868.801666, t: -0.128346 -0.078476 0.249955 q: -0.036326 0.933533 0.028965 0.355469 
time: 1403636868.901666, t: -0.133400 -0.074880 0.250726 q: -0.032503 0.934351 0.033649 0.353270 
time: 1403636869.001667, t: -0.135078 -0.070084 0.252085 q: -0.034791 0.932032 0.035621 0.358939 
time: 1403636869.101666, t: -0.135565 -0.066362 0.253315 q: -0.040861 0.930109 0.037031 0.363120 
time: 1403636869.201667, t: -0.136075 -0.063329 0.252273 q: -0.044079 0.929608 0.039430 0.363773 
time: 1403636869.301666, t: -0.135191 -0.062039 0.250602 q: -0.044213 0.929692 0.041463 0.363316 
time: 1403636869.401666, t: -0.133545 -0.061411 0.249442 q: -0.045704 0.929499 0.042363 0.363521 
time: 1403636869.501667, t: -0.131763 -0.063218 0.248623 q: -0.046139 0.929433 0.042335 0.363638 
time: 1403636869.601666, t: -0.128701 -0.071761 0.247744 q: -0.045688 0.929594 0.041578 0.363372 
time: 1403636869.701667, t: -0.123220 -0.090154 0.246756 q: -0.043947 0.931142 0.040537 0.359723 
time: 1403636869.801666, t: -0.114288 -0.117657 0.246487 q: -0.041572 0.932272 0.036992 0.357452 
optimize pose graph 
time: 1403636869.901666, t: -0.100575 -0.153049 0.247366 q: -0.038175 0.930822 0.030069 0.362228 
time: 1403636870.001667, t: -0.084316 -0.194720 0.247586 q: -0.035113 0.929023 0.022345 0.367673 
time: 1403636870.101666, t: -0.067101 -0.241241 0.246846 q: -0.031250 0.929985 0.013703 0.366009 
time: 1403636870.201667, t: -0.048923 -0.290983 0.247225 q: -0.024231 0.932377 0.009095 0.360560 
time: 1403636870.301666, t: -0.030072 -0.340535 0.248356 q: -0.021645 0.932075 0.004970 0.361585 
time: 1403636870.401666, t: -0.011985 -0.389993 0.248625 q: -0.016939 0.929314 0.000411 0.368902 
time: 1403636870.501667, t: 0.002952 -0.434191 0.245461 q: -0.014329 0.928808 -0.004902 0.370253 
time: 1403636870.601666, t: 0.013610 -0.470384 0.240562 q: -0.011327 0.931650 -0.011690 0.362991 
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time: 1403636875.501667, t: -0.056335 0.002564 0.175210 q: -0.044322 0.916795 -0.077001 0.389350 
time: 1403636875.601666, t: -0.089435 0.001146 0.173858 q: -0.047652 0.918005 -0.091465 0.382924 
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time: 1403636875.901666, t: -0.201028 -0.068672 0.172013 q: -0.020793 0.914899 -0.137320 0.379039 
optimize pose graph 
time: 1403636876.001667, t: -0.233343 -0.106757 0.173700 q: -0.005927 0.912405 -0.159644 0.376824 
time: 1403636876.101666, t: -0.255801 -0.152938 0.178533 q: 0.015029 0.906593 -0.181851 0.380517 
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time: 1403636876.301666, t: -0.260552 -0.253556 0.183754 q: 0.043827 0.896492 -0.218323 0.383035 
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time: 1403636876.601666, t: -0.160858 -0.412028 0.183518 q: 0.073990 0.891677 -0.229733 0.382963 
time: 1403636876.701667, t: -0.103867 -0.449730 0.186557 q: 0.076031 0.889937 -0.216420 0.394200 
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time: 1403636876.901666, t: 0.014911 -0.468005 0.193401 q: 0.064034 0.893646 -0.169250 0.410672 
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time: 1403636877.901666, t: 0.012117 0.024332 0.174879 q: -0.098833 0.917702 0.063003 0.379587 
time: 1403636878.001667, t: -0.040531 0.025998 0.170109 q: -0.089921 0.922752 0.048932 0.371549 
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time: 1403636880.001667, t: 0.088026 -0.162021 0.234594 q: -0.062523 0.908062 0.014319 0.413895 
time: 1403636880.101666, t: 0.046980 -0.137900 0.235630 q: -0.064898 0.910715 0.018612 0.407481 
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time: 1403636880.701667, t: -0.229604 -0.207210 0.267068 q: 0.014536 0.907193 -0.074247 0.413856 
time: 1403636880.801666, t: -0.268095 -0.186296 0.271714 q: 0.013425 0.910306 -0.079132 0.406079 
time: 1403636880.901666, t: -0.294707 -0.154659 0.274506 q: 0.004831 0.911353 -0.074765 0.404750 
time: 1403636881.001667, t: -0.306229 -0.117826 0.276336 q: -0.003903 0.908656 -0.063830 0.412619 
time: 1403636881.101666, t: -0.303063 -0.079615 0.278670 q: -0.011920 0.903989 -0.047037 0.424794 
time: 1403636881.201667, t: -0.287906 -0.041946 0.280191 q: -0.027265 0.900354 -0.026163 0.433515 
time: 1403636881.301666, t: -0.262003 -0.011453 0.282931 q: -0.043954 0.898064 -0.003103 0.437652 
time: 1403636881.401666, t: -0.224861 0.006011 0.285824 q: -0.052452 0.896502 0.016795 0.439604 
time: 1403636881.501667, t: -0.177824 0.008416 0.287758 q: -0.052650 0.893989 0.032146 0.443822 
time: 1403636881.601666, t: -0.125349 -0.004281 0.288428 q: -0.049183 0.890518 0.044783 0.450060 
time: 1403636881.701667, t: -0.071327 -0.031425 0.286378 q: -0.045358 0.888467 0.056158 0.453227 
time: 1403636881.801666, t: -0.018900 -0.069563 0.280911 q: -0.039439 0.889271 0.060120 0.451694 
optimize pose graph 
time: 1403636881.901666, t: 0.025991 -0.113982 0.273425 q: -0.034662 0.891166 0.052298 0.449317 
time: 1403636882.001667, t: 0.059073 -0.162818 0.264509 q: -0.031781 0.892824 0.039966 0.447502 
time: 1403636882.101666, t: 0.077689 -0.212218 0.253707 q: -0.028116 0.892726 0.027732 0.448866 
time: 1403636882.201667, t: 0.080128 -0.255876 0.240159 q: -0.022056 0.891480 0.017668 0.452179 
time: 1403636882.301666, t: 0.068951 -0.287010 0.225580 q: -0.015734 0.888907 0.010727 0.457691 
time: 1403636882.401666, t: 0.049025 -0.300854 0.210148 q: -0.017685 0.886639 0.010337 0.462009 
time: 1403636882.501667, t: 0.029298 -0.297267 0.194411 q: -0.027128 0.884919 0.013508 0.464758 
time: 1403636882.601666, t: 0.019547 -0.282390 0.181515 q: -0.038197 0.881373 0.020292 0.470437 
time: 1403636882.701667, t: 0.024401 -0.261940 0.170905 q: -0.050728 0.871014 0.029804 0.487723 
time: 1403636882.801666, t: 0.040394 -0.239678 0.157421 q: -0.069146 0.854267 0.046453 0.513116 
time: 1403636882.901666, t: 0.060678 -0.218579 0.137980 q: -0.086664 0.838485 0.065700 0.533962 
time: 1403636883.001667, t: 0.080059 -0.198560 0.113971 q: -0.104676 0.831102 0.084881 0.539544 
time: 1403636883.101666, t: 0.098398 -0.180735 0.089210 q: -0.116805 0.828394 0.103308 0.538004 
time: 1403636883.201667, t: 0.115314 -0.165449 0.066049 q: -0.119469 0.822589 0.118251 0.543223 
time: 1403636883.301666, t: 0.128613 -0.152141 0.045036 q: -0.123391 0.816014 0.128031 0.550003 
time: 1403636883.401666, t: 0.138469 -0.142649 0.028562 q: -0.128836 0.812191 0.132565 0.553329 
time: 1403636883.501667, t: 0.145576 -0.137184 0.018109 q: -0.134497 0.806802 0.137573 0.558619 
time: 1403636883.601666, t: 0.150776 -0.133354 0.011865 q: -0.140065 0.799290 0.144072 0.566357 
time: 1403636883.701667, t: 0.154970 -0.130573 0.006693 q: -0.143309 0.795528 0.152218 0.568706 
wait for imu ... 
time: 1403636883.801666, t: 0.157835 -0.129185 0.003082 q: -0.145822 0.794536 0.156133 0.568394 
time: 1403636883.901666, t: 0.159919 -0.128323 -0.001269 q: -0.153675 0.793223 0.157057 0.567903 
optimize pose graph 
time: 1403636884.001667, t: 0.161747 -0.127962 -0.003506 q: -0.155299 0.790367 0.160178 0.570566 
time: 1403636884.201667, t: 0.162279 -0.129717 -0.004704 q: -0.159006 0.782227 0.163665 0.579700 
time: 1403636884.301666, t: 0.161012 -0.129441 -0.004295 q: -0.158386 0.779829 0.162960 0.583288 
wait for imu ... 
wait for imu ... 
time: 1403636884.501667, t: 0.160505 -0.129416 -0.004182 q: -0.158605 0.779353 0.162854 0.583893 
time: 1403636884.601666, t: 0.160413 -0.129270 -0.004048 q: -0.158942 0.779333 0.162566 0.583909 
time: 1403636884.701667, t: 0.160581 -0.129317 -0.004139 q: -0.158868 0.779586 0.162507 0.583608 
time: 1403636884.801666, t: 0.160647 -0.129400 -0.004125 q: -0.158627 0.779641 0.162501 0.583602 
time: 1403636884.901666, t: 0.160665 -0.129414 -0.004118 q: -0.158632 0.779681 0.162421 0.583568 
wait for imu ... 
time: 1403636885.001667, t: 0.160655 -0.129412 -0.004093 q: -0.158740 0.779775 0.162303 0.583446 
time: 1403636885.101666, t: 0.160614 -0.129395 -0.004078 q: -0.158798 0.779804 0.162123 0.583443 
time: 1403636885.201667, t: 0.160613 -0.129391 -0.004060 q: -0.158814 0.779878 0.162023 0.583367 
time: 1403636885.301666, t: 0.160626 -0.129424 -0.004050 q: -0.158730 0.779899 0.162032 0.583360 
time: 1403636885.401666, t: 0.160626 -0.129435 -0.004058 q: -0.158608 0.779907 0.161963 0.583401 
time: 1403636885.501667, t: 0.160638 -0.129440 -0.004060 q: -0.158563 0.779922 0.161939 0.583400 
time: 1403636885.601666, t: 0.160600 -0.129459 -0.004035 q: -0.158489 0.779935 0.161911 0.583410 
time: 1403636885.701667, t: 0.160670 -0.129439 -0.004058 q: -0.158548 0.780060 0.161833 0.583249 
time: 1403636885.801666, t: 0.160687 -0.129444 -0.004050 q: -0.158462 0.780061 0.161830 0.583272 
time: 1403636885.901666, t: 0.160666 -0.129421 -0.004057 q: -0.158510 0.780135 0.161770 0.583176 
time: 1403636886.001667, t: 0.160662 -0.129415 -0.004052 q: -0.158555 0.780116 0.161734 0.583200 
time: 1403636886.101666, t: 0.160650 -0.129447 -0.004053 q: -0.158374 0.780132 0.161778 0.583214 
wait for imu ... 
time: 1403636886.201667, t: 0.160658 -0.129463 -0.004056 q: -0.158249 0.780151 0.161826 0.583210 
time: 1403636886.301666, t: 0.160658 -0.129467 -0.004048 q: -0.158200 0.780142 0.161857 0.583226 
wait for imu ... 
time: 1403636886.401666, t: 0.160652 -0.129447 -0.004054 q: -0.158314 0.780153 0.161794 0.583199 
wait for imu ... 
time: 1403636886.501667, t: 0.160637 -0.129446 -0.004057 q: -0.158316 0.780147 0.161789 0.583208 
wait for imu ... 
time: 1403636886.601666, t: 0.160647 -0.129451 -0.004071 q: -0.158280 0.780160 0.161793 0.583199 
time: 1403636886.701667, t: 0.160652 -0.129459 -0.004069 q: -0.158250 0.780171 0.161799 0.583191 
wait for imu ... 
time: 1403636886.801666, t: 0.160649 -0.129467 -0.004071 q: -0.158243 0.780159 0.161815 0.583205 
time: 1403636886.901666, t: 0.160664 -0.129460 -0.004074 q: -0.158293 0.780197 0.161794 0.583146 
time: 1403636887.001667, t: 0.160654 -0.129455 -0.004074 q: -0.158162 0.780187 0.161843 0.583180 
time: 1403636887.101666, t: 0.160667 -0.129470 -0.004086 q: -0.158203 0.780197 0.161828 0.583161 
time: 1403636887.201667, t: 0.160658 -0.129474 -0.004091 q: -0.158223 0.780223 0.161791 0.583131 
time: 1403636887.301666, t: 0.160659 -0.129483 -0.004104 q: -0.158210 0.780235 0.161744 0.583132 
time: 1403636887.401666, t: 0.160676 -0.129476 -0.004092 q: -0.158101 0.780258 0.161805 0.583112 
wait for imu ... 
time: 1403636887.501667, t: 0.160677 -0.129481 -0.004103 q: -0.158081 0.780277 0.161823 0.583087 
time: 1403636887.601666, t: 0.160661 -0.129462 -0.004097 q: -0.158148 0.780256 0.161767 0.583114 
time: 1403636887.701667, t: 0.160655 -0.129447 -0.004114 q: -0.158190 0.780271 0.161755 0.583086 
time: 1403636887.801666, t: 0.160656 -0.129449 -0.004105 q: -0.158205 0.780301 0.161753 0.583042 
wait for imu ... 
time: 1403636887.901666, t: 0.160654 -0.129446 -0.004094 q: -0.158155 0.780333 0.161747 0.583014 
wait for imu ... 
time: 1403636888.001667, t: 0.160669 -0.129456 -0.004103 q: -0.158112 0.780381 0.161738 0.582964 
time: 1403636888.101666, t: 0.160669 -0.129468 -0.004104 q: -0.158134 0.780360 0.161741 0.582985 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636888.301666, t: 0.160679 -0.129484 -0.004133 q: -0.158163 0.780355 0.161730 0.582988 
time: 1403636888.401666, t: 0.160684 -0.129499 -0.004137 q: -0.158085 0.780392 0.161757 0.582952 
wait for imu ... 
time: 1403636888.501667, t: 0.160685 -0.129503 -0.004128 q: -0.158067 0.780416 0.161727 0.582932 
time: 1403636888.601666, t: 0.160657 -0.129490 -0.004089 q: -0.158065 0.780381 0.161646 0.583002 
time: 1403636888.701667, t: 0.160616 -0.129419 -0.004048 q: -0.158108 0.780229 0.161757 0.583163 
time: 1403636888.801666, t: 0.160585 -0.129321 -0.004049 q: -0.158144 0.780182 0.161997 0.583150 
time: 1403636888.901666, t: 0.160523 -0.129309 -0.004109 q: -0.158147 0.780383 0.161723 0.582957 
time: 1403636889.001667, t: 0.160579 -0.129301 -0.004039 q: -0.158453 0.780231 0.161872 0.583035 
time: 1403636889.101666, t: 0.160608 -0.129365 -0.004050 q: -0.158145 0.780338 0.161601 0.583050 
time: 1403636889.201667, t: 0.160646 -0.129396 -0.004055 q: -0.158172 0.780394 0.161523 0.582990 
time: 1403636889.301666, t: 0.160718 -0.129423 -0.004131 q: -0.158143 0.780408 0.161391 0.583016 
time: 1403636889.401666, t: 0.160790 -0.129427 -0.004126 q: -0.158301 0.780324 0.161709 0.582997 
time: 1403636889.501667, t: 0.160741 -0.129449 -0.004110 q: -0.157959 0.780363 0.161631 0.583059 
time: 1403636889.601666, t: 0.160689 -0.129540 -0.004080 q: -0.157751 0.780341 0.161491 0.583183 
time: 1403636889.701667, t: 0.160684 -0.129528 -0.004025 q: -0.157810 0.780198 0.161662 0.583312 
time: 1403636889.801666, t: 0.160641 -0.129499 -0.004031 q: -0.157893 0.780175 0.161772 0.583290 
time: 1403636889.901666, t: 0.160650 -0.129524 -0.004026 q: -0.157786 0.780303 0.161423 0.583244 
time: 1403636890.001667, t: 0.160659 -0.129521 -0.004055 q: -0.157885 0.780335 0.161661 0.583108 
wait for imu ... 
time: 1403636890.101666, t: 0.160678 -0.129653 -0.004002 q: -0.157620 0.780395 0.160937 0.583300 
time: 1403636890.201667, t: 0.160620 -0.129514 -0.003900 q: -0.158016 0.780001 0.161459 0.583575 
time: 1403636890.301666, t: 0.160575 -0.129439 -0.003971 q: -0.158036 0.780311 0.161878 0.583039 
time: 1403636890.401666, t: 0.160554 -0.129543 -0.004010 q: -0.157551 0.780532 0.161266 0.583044 
time: 1403636890.501667, t: 0.160594 -0.129567 -0.003942 q: -0.157579 0.780103 0.161060 0.583667 
time: 1403636890.601666, t: 0.160582 -0.129455 -0.003919 q: -0.157978 0.779969 0.161904 0.583505 
time: 1403636890.701667, t: 0.160554 -0.129469 -0.004029 q: -0.157921 0.780420 0.161895 0.582920 
time: 1403636890.801666, t: 0.160602 -0.129607 -0.003982 q: -0.157638 0.780417 0.161122 0.583215 
time: 1403636890.901666, t: 0.160612 -0.129588 -0.003867 q: -0.157746 0.780204 0.161221 0.583444 
time: 1403636891.001667, t: 0.160571 -0.129566 -0.003941 q: -0.157891 0.780251 0.161269 0.583327 
time: 1403636891.101666, t: 0.160578 -0.129548 -0.003953 q: -0.157730 0.780276 0.161304 0.583328 
wait for imu ... 
time: 1403636891.201667, t: 0.160588 -0.129535 -0.003956 q: -0.157694 0.780242 0.161374 0.583365 
time: 1403636891.301666, t: 0.160601 -0.129541 -0.003976 q: -0.157718 0.780262 0.161432 0.583315 
time: 1403636891.401666, t: 0.160597 -0.129536 -0.003975 q: -0.157687 0.780215 0.161407 0.583393 
time: 1403636891.501667, t: 0.160611 -0.129534 -0.003978 q: -0.157745 0.780235 0.161432 0.583343 
time: 1403636891.601666, t: 0.160594 -0.129545 -0.003956 q: -0.157721 0.780290 0.161423 0.583278 
time: 1403636891.701667, t: 0.160580 -0.129556 -0.003964 q: -0.157673 0.780274 0.161355 0.583332 
time: 1403636891.801666, t: 0.160588 -0.129530 -0.003979 q: -0.157711 0.780273 0.161371 0.583319 
time: 1403636891.901666, t: 0.160585 -0.129545 -0.003980 q: -0.157750 0.780267 0.161395 0.583309 
wait for imu ... 
time: 1403636892.001667, t: 0.160582 -0.129544 -0.003982 q: -0.157665 0.780271 0.161386 0.583330 
time: 1403636892.101666, t: 0.160618 -0.129553 -0.004002 q: -0.157689 0.780274 0.161414 0.583312 
time: 1403636892.201667, t: 0.160601 -0.129553 -0.003994 q: -0.157640 0.780280 0.161421 0.583315 
time: 1403636892.301666, t: 0.160688 -0.129632 -0.004005 q: -0.157329 0.780297 0.161543 0.583343 
time: 1403636892.401666, t: 0.160656 -0.129600 -0.003984 q: -0.157501 0.780300 0.161239 0.583376 
time: 1403636892.501667, t: 0.160611 -0.129575 -0.003966 q: -0.157531 0.780234 0.161318 0.583434 
wait for imu ... 
time: 1403636892.601666, t: 0.160588 -0.129568 -0.003964 q: -0.157556 0.780238 0.161358 0.583411 
wait for imu ... 
time: 1403636892.701667, t: 0.160598 -0.129565 -0.003974 q: -0.157540 0.780226 0.161396 0.583421 
wait for imu ... 
time: 1403636892.801666, t: 0.160609 -0.129561 -0.003955 q: -0.157529 0.780206 0.161507 0.583420 
time: 1403636892.901666, t: 0.160621 -0.129574 -0.003980 q: -0.157506 0.780322 0.161445 0.583288 
wait for imu ... 
time: 1403636893.001667, t: 0.160636 -0.129586 -0.003985 q: -0.157452 0.780236 0.161482 0.583408 
time: 1403636893.101666, t: 0.160626 -0.129571 -0.003994 q: -0.157464 0.780222 0.161460 0.583430 
wait for imu ... 
time: 1403636893.201667, t: 0.160610 -0.129559 -0.004002 q: -0.157508 0.780246 0.161423 0.583395 
time: 1403636893.301666, t: 0.160615 -0.129561 -0.004014 q: -0.157541 0.780246 0.161418 0.583388 
time: 1403636893.401666, t: 0.160623 -0.129570 -0.004002 q: -0.157524 0.780280 0.161427 0.583344 
wait for imu ... 
time: 1403636893.501667, t: 0.160635 -0.129578 -0.004008 q: -0.157494 0.780278 0.161417 0.583358 
time: 1403636893.601666, t: 0.160631 -0.129576 -0.004006 q: -0.157442 0.780279 0.161409 0.583372 
time: 1403636893.701667, t: 0.160642 -0.129574 -0.004002 q: -0.157455 0.780263 0.161492 0.583368 
wait for imu ... 
time: 1403636893.801666, t: 0.160630 -0.129559 -0.003999 q: -0.157473 0.780312 0.161435 0.583314 
wait for imu ... 
time: 1403636893.901666, t: 0.160624 -0.129569 -0.004007 q: -0.157509 0.780320 0.161395 0.583303 
wait for imu ... 
time: 1403636894.101666, t: 0.160584 -0.129565 -0.003998 q: -0.157463 0.780357 0.161330 0.583285 
time: 1403636894.201667, t: 0.160611 -0.129592 -0.004029 q: -0.157492 0.780319 0.161346 0.583323 
wait for imu ... 
time: 1403636894.401666, t: 0.160615 -0.129580 -0.004022 q: -0.157469 0.780343 0.161352 0.583296 
time: 1403636894.501667, t: 0.160625 -0.129577 -0.004029 q: -0.157526 0.780316 0.161372 0.583311 
time: 1403636894.601666, t: 0.160331 -0.129279 -0.004196 q: -0.158456 0.779281 0.162351 0.584171 
time: 1403636894.701667, t: 0.160331 -0.129244 -0.004178 q: -0.158811 0.779099 0.162542 0.584264 
time: 1403636894.801666, t: 0.160339 -0.129238 -0.004180 q: -0.158815 0.779126 0.162569 0.584220 
time: 1403636894.901666, t: 0.160387 -0.129270 -0.004159 q: -0.158656 0.779106 0.162537 0.584298 
wait for imu ... 
time: 1403636895.001667, t: 0.160399 -0.129270 -0.004166 q: -0.158738 0.779107 0.162607 0.584255 
time: 1403636895.101666, t: 0.160397 -0.129257 -0.004153 q: -0.158790 0.779122 0.162607 0.584220 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636895.201667, t: 0.160388 -0.129255 -0.004157 q: -0.158778 0.779081 0.162524 0.584301 
wait for imu ... 
time: 1403636895.301666, t: 0.160371 -0.129230 -0.004148 q: -0.158815 0.779068 0.162532 0.584306 
time: 1403636895.401666, t: 0.160358 -0.129222 -0.004144 q: -0.158767 0.779092 0.162571 0.584276 
time: 1403636895.501667, t: 0.160372 -0.129239 -0.004149 q: -0.158798 0.779043 0.162617 0.584321 
wait for imu ... 
time: 1403636895.601666, t: 0.160371 -0.129238 -0.004119 q: -0.158790 0.779103 0.162597 0.584248 
wait for imu ... 
time: 1403636895.701667, t: 0.160390 -0.129251 -0.004141 q: -0.158768 0.779038 0.162642 0.584329 
time: 1403636895.801666, t: 0.160390 -0.129246 -0.004107 q: -0.158667 0.778982 0.162687 0.584419 
time: 1403636895.901666, t: 0.160412 -0.129251 -0.004102 q: -0.158724 0.779002 0.162794 0.584346 
time: 1403636896.001667, t: 0.160389 -0.129240 -0.004076 q: -0.158702 0.779030 0.162842 0.584301 
wait for imu ... 
time: 1403636896.101666, t: 0.160591 -0.129284 -0.004157 q: -0.158809 0.779470 0.162881 0.583675 
time: 1403636896.201667, t: 0.160861 -0.129348 -0.004348 q: -0.158908 0.780143 0.162856 0.582754 
wait for imu ... 
time: 1403636896.301666, t: 0.160829 -0.129380 -0.004304 q: -0.158820 0.780022 0.163047 0.582887 
time: 1403636896.401666, t: 0.160668 -0.129343 -0.004200 q: -0.158768 0.779643 0.163113 0.583389 
wait for imu ... 
time: 1403636896.501667, t: 0.160601 -0.129330 -0.004138 q: -0.158775 0.779457 0.163127 0.583633 
time: 1403636896.601666, t: 0.160608 -0.129338 -0.004139 q: -0.158700 0.779472 0.163138 0.583629 
wait for imu ... 
time: 1403636896.701667, t: 0.160756 -0.129395 -0.004160 q: -0.158748 0.779749 0.163269 0.583210 
time: 1403636896.801666, t: 0.160823 -0.129416 -0.004243 q: -0.158877 0.779978 0.163421 0.582826 
time: 1403636896.901666, t: 0.160836 -0.129472 -0.004145 q: -0.158708 0.779980 0.163661 0.582802 
time: 1403636897.001667, t: 0.160599 -0.129403 -0.003994 q: -0.158981 0.779445 0.163666 0.583442 
time: 1403636897.101666, t: 0.160048 -0.129588 -0.003673 q: -0.159858 0.778812 0.165776 0.583451 
time: 1403636897.201667, t: 0.158848 -0.130042 -0.003906 q: -0.161576 0.778610 0.168559 0.582450 
time: 1403636897.301666, t: 0.156858 -0.133139 -0.004496 q: -0.160748 0.779595 0.167494 0.581668 
time: 1403636897.401666, t: 0.152202 -0.141212 -0.004961 q: -0.155499 0.783251 0.164947 0.578904 
wait for imu ... 
time: 1403636897.501667, t: 0.144202 -0.153191 -0.005363 q: -0.147243 0.788690 0.163330 0.574117 
time: 1403636897.601666, t: 0.134342 -0.167578 -0.005307 q: -0.137661 0.796806 0.162841 0.565360 
time: 1403636897.701667, t: 0.122679 -0.184015 -0.000506 q: -0.124558 0.806873 0.166650 0.552874 
time: 1403636897.801666, t: 0.111554 -0.200325 0.011412 q: -0.115710 0.814584 0.171520 0.541891 
time: 1403636898.001667, t: 0.101667 -0.224537 0.052468 q: -0.113653 0.814219 0.176258 0.541354 
time: 1403636898.201667, t: 0.106479 -0.235844 0.079412 q: -0.121988 0.804882 0.177773 0.552884 
time: 1403636898.301666, t: 0.111423 -0.238684 0.093958 q: -0.123782 0.803841 0.180156 0.553228 
time: 1403636898.401666, t: 0.117824 -0.239373 0.111880 q: -0.126053 0.803260 0.183095 0.552594 
time: 1403636898.501667, t: 0.124888 -0.238442 0.132076 q: -0.129453 0.803282 0.185689 0.550908 
time: 1403636898.601666, t: 0.133227 -0.236476 0.153268 q: -0.130928 0.802982 0.188331 0.550100 
time: 1403636898.701667, t: 0.142610 -0.233258 0.173184 q: -0.131263 0.802943 0.190826 0.549215 
time: 1403636898.801666, t: 0.154117 -0.228222 0.191211 q: -0.133706 0.802763 0.191565 0.548632 
time: 1403636898.901666, t: 0.167269 -0.221510 0.206928 q: -0.137015 0.803798 0.190680 0.546605 
time: 1403636899.001667, t: 0.183114 -0.214003 0.220094 q: -0.142950 0.805141 0.186589 0.544516 
time: 1403636899.101666, t: 0.202687 -0.207860 0.231379 q: -0.143852 0.805568 0.178106 0.546485 
time: 1403636899.201667, t: 0.225640 -0.204558 0.242218 q: -0.135978 0.804333 0.167505 0.553625 
time: 1403636899.301666, t: 0.250021 -0.204214 0.252954 q: -0.126231 0.801222 0.150456 0.565219 
time: 1403636899.401666, t: 0.274341 -0.206971 0.261984 q: -0.110485 0.799802 0.130532 0.575388 
time: 1403636899.501667, t: 0.295612 -0.212247 0.269155 q: -0.099972 0.803830 0.108912 0.576196 
time: 1403636899.601666, t: 0.314837 -0.218987 0.273653 q: -0.093721 0.811177 0.092200 0.569831 
time: 1403636899.701667, t: 0.334550 -0.228915 0.279158 q: -0.088748 0.815440 0.080737 0.566272 
time: 1403636899.801666, t: 0.355856 -0.242011 0.284217 q: -0.081803 0.818497 0.074598 0.563744 
time: 1403636899.901666, t: 0.378965 -0.257958 0.287241 q: -0.072376 0.818642 0.074302 0.564859 
optimize pose graph 
time: 1403636900.001667, t: 0.403689 -0.275095 0.288004 q: -0.065965 0.815109 0.074914 0.570643 
time: 1403636900.101666, t: 0.429013 -0.292357 0.288239 q: -0.064169 0.809990 0.074853 0.578096 
time: 1403636900.201667, t: 0.452107 -0.310681 0.295280 q: -0.063251 0.806133 0.075936 0.583424 
time: 1403636900.301666, t: 0.471814 -0.329184 0.311141 q: -0.062370 0.806724 0.078135 0.582410 
time: 1403636900.401666, t: 0.488517 -0.347749 0.334997 q: -0.064034 0.811372 0.080262 0.575441 
time: 1403636900.501667, t: 0.505124 -0.366101 0.360025 q: -0.064990 0.814994 0.083813 0.569682 
time: 1403636900.601666, t: 0.521097 -0.384423 0.381623 q: -0.066934 0.816835 0.085820 0.566511 
time: 1403636900.701667, t: 0.539092 -0.401390 0.394906 q: -0.068557 0.821476 0.087268 0.559341 
time: 1403636900.801666, t: 0.559820 -0.418631 0.403557 q: -0.072051 0.825387 0.087694 0.553041 
time: 1403636900.901666, t: 0.582555 -0.436758 0.407645 q: -0.080255 0.823914 0.083721 0.554721 
time: 1403636901.001667, t: 0.607993 -0.457431 0.409598 q: -0.085440 0.821067 0.080550 0.558624 
time: 1403636901.101666, t: 0.636819 -0.481868 0.407131 q: -0.089546 0.819691 0.078050 0.560354 
time: 1403636901.201667, t: 0.669885 -0.509051 0.400953 q: -0.090568 0.818806 0.076976 0.561630 
time: 1403636901.301666, t: 0.705193 -0.541188 0.399099 q: -0.086713 0.817970 0.079572 0.563093 
time: 1403636901.401666, t: 0.741772 -0.575973 0.402616 q: -0.082899 0.817481 0.081800 0.564058 
time: 1403636901.501667, t: 0.784197 -0.611504 0.412730 q: -0.077570 0.816665 0.085099 0.565508 
time: 1403636901.601666, t: 0.826153 -0.649882 0.422186 q: -0.074146 0.815919 0.087206 0.566722 
time: 1403636901.701667, t: 0.870104 -0.685148 0.423490 q: -0.073660 0.814069 0.087224 0.569437 
time: 1403636901.801666, t: 0.909881 -0.724807 0.419950 q: -0.074860 0.813551 0.086487 0.570133 
time: 1403636901.901666, t: 0.952026 -0.762775 0.410893 q: -0.074341 0.813481 0.087309 0.570175 
optimize pose graph 
time: 1403636902.001667, t: 0.992143 -0.801167 0.397112 q: -0.073065 0.813133 0.088689 0.570623 
wait for imu ... 
time: 1403636902.101666, t: 1.033930 -0.838473 0.386315 q: -0.072932 0.812389 0.089865 0.571515 
time: 1403636902.201667, t: 1.071007 -0.879155 0.382036 q: -0.072552 0.812442 0.091087 0.571295 
time: 1403636902.301666, t: 1.109271 -0.919578 0.381256 q: -0.074872 0.812795 0.088707 0.570867 
time: 1403636902.401666, t: 1.145015 -0.961387 0.368631 q: -0.075494 0.813496 0.086784 0.570082 
time: 1403636902.501667, t: 1.178310 -1.001910 0.345361 q: -0.072415 0.814290 0.086411 0.569404 
time: 1403636902.601666, t: 1.213825 -1.040250 0.316682 q: -0.065810 0.814255 0.087533 0.570084 
time: 1403636902.701667, t: 1.247171 -1.079380 0.293982 q: -0.060718 0.813232 0.087853 0.572057 
time: 1403636902.801666, t: 1.279099 -1.115366 0.279881 q: -0.060185 0.812814 0.086008 0.572987 
time: 1403636902.901666, t: 1.309561 -1.148498 0.274222 q: -0.062234 0.810607 0.085701 0.575933 
time: 1403636903.001667, t: 1.341879 -1.183207 0.272946 q: -0.063873 0.810560 0.086578 0.575688 
time: 1403636903.101666, t: 1.371976 -1.216604 0.279669 q: -0.066120 0.810958 0.087653 0.574711 
time: 1403636903.201667, t: 1.405209 -1.250137 0.296677 q: -0.068110 0.811687 0.088928 0.573251 
time: 1403636903.301666, t: 1.433910 -1.283701 0.318622 q: -0.068277 0.813022 0.091551 0.570921 
time: 1403636903.401666, t: 1.464100 -1.315775 0.339884 q: -0.066511 0.813623 0.094669 0.569764 
time: 1403636903.501667, t: 1.490284 -1.348505 0.353373 q: -0.066103 0.813836 0.096358 0.569225 
time: 1403636903.601666, t: 1.516233 -1.377000 0.362568 q: -0.066688 0.814184 0.097169 0.568520 
time: 1403636903.701667, t: 1.542940 -1.405197 0.362841 q: -0.070122 0.817274 0.095571 0.563925 
time: 1403636903.801666, t: 1.571428 -1.432301 0.360384 q: -0.074136 0.819968 0.093299 0.559868 
time: 1403636903.901666, t: 1.603655 -1.458717 0.363183 q: -0.078367 0.820407 0.090477 0.559110 
optimize pose graph 
time: 1403636904.101666, t: 1.673288 -1.516442 0.390535 q: -0.084787 0.816819 0.085996 0.564112 
time: 1403636904.201667, t: 1.710025 -1.547480 0.414473 q: -0.087568 0.816434 0.083751 0.564582 
time: 1403636904.301666, t: 1.746962 -1.580859 0.439513 q: -0.087267 0.815669 0.082781 0.565876 
time: 1403636904.401666, t: 1.785952 -1.616402 0.462628 q: -0.085197 0.814543 0.082682 0.567824 
time: 1403636904.501667, t: 1.822675 -1.653481 0.479906 q: -0.082089 0.814128 0.083568 0.568747 
time: 1403636904.601666, t: 1.861875 -1.693389 0.493806 q: -0.077904 0.813973 0.084872 0.569364 
time: 1403636904.701667, t: 1.900443 -1.734166 0.505489 q: -0.073481 0.814238 0.085723 0.569446 
time: 1403636904.801666, t: 1.941268 -1.777581 0.515331 q: -0.069782 0.814077 0.086297 0.570055 
time: 1403636904.901666, t: 1.982339 -1.820173 0.523480 q: -0.065439 0.814478 0.087227 0.569855 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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time: 1403636984.601666, t: 7.604053 -6.802290 -1.496840 q: 0.199503 0.773296 -0.271997 0.536870 
time: 1403636984.701667, t: 7.692983 -6.841634 -1.504196 q: 0.199873 0.773054 -0.271190 0.537489 
time: 1403636984.801666, t: 7.782468 -6.878574 -1.506340 q: 0.196902 0.771792 -0.272377 0.539795 
time: 1403636984.901666, t: 7.877246 -6.918076 -1.505706 q: 0.191496 0.770907 -0.275553 0.541390 
time: 1403636985.001667, t: 7.964241 -6.950737 -1.497242 q: 0.189989 0.770258 -0.276474 0.542373 
time: 1403636985.101666, t: 8.054321 -6.987043 -1.487709 q: 0.191155 0.770858 -0.275924 0.541390 
time: 1403636985.201667, t: 8.138338 -7.015620 -1.485994 q: 0.193899 0.772040 -0.274614 0.539392 
time: 1403636985.301666, t: 8.231392 -7.049266 -1.495727 q: 0.196210 0.771952 -0.273710 0.539143 
time: 1403636985.401666, t: 8.315136 -7.074946 -1.511167 q: 0.195782 0.773404 -0.270073 0.539052 
time: 1403636985.501667, t: 8.409535 -7.102848 -1.519879 q: 0.193271 0.777401 -0.260683 0.538830 
time: 1403636985.601666, t: 8.496336 -7.123916 -1.522191 q: 0.190596 0.779616 -0.251394 0.540993 
time: 1403636985.701667, t: 8.592895 -7.145878 -1.514728 q: 0.190723 0.781007 -0.242658 0.542927 
time: 1403636985.801666, t: 8.688098 -7.162841 -1.502685 q: 0.190244 0.780092 -0.236088 0.547290 
time: 1403636985.901666, t: 8.783269 -7.174828 -1.488598 q: 0.191718 0.770799 -0.229408 0.562570 
time: 1403636986.001667, t: 8.874264 -7.179761 -1.481090 q: 0.194218 0.759956 -0.223384 0.578659 
optimize pose graph 
time: 1403636986.101666, t: 8.953997 -7.175290 -1.483645 q: 0.194527 0.759526 -0.221176 0.579966 
time: 1403636986.201667, t: 9.031748 -7.163550 -1.495904 q: 0.189826 0.767711 -0.224121 0.569523 
time: 1403636986.301666, t: 9.102605 -7.144417 -1.511587 q: 0.185909 0.777154 -0.227118 0.556675 
time: 1403636986.401666, t: 9.175743 -7.120919 -1.529890 q: 0.181817 0.781931 -0.229971 0.550127 
time: 1403636986.501667, t: 9.246446 -7.092151 -1.547243 q: 0.174346 0.782946 -0.235017 0.548969 
time: 1403636986.601666, t: 9.318623 -7.060935 -1.557195 q: 0.167504 0.782045 -0.239308 0.550527 
time: 1403636986.701667, t: 9.387988 -7.029231 -1.558451 q: 0.162506 0.781451 -0.242546 0.551451 
time: 1403636986.801666, t: 9.456059 -6.999547 -1.549583 q: 0.156987 0.780384 -0.246062 0.553001 
time: 1403636986.901666, t: 9.521410 -6.971563 -1.531430 q: 0.155974 0.779168 -0.247154 0.554513 
time: 1403636987.001667, t: 9.582976 -6.945886 -1.504680 q: 0.158680 0.778623 -0.245926 0.555057 
time: 1403636987.101666, t: 9.639521 -6.920212 -1.471750 q: 0.164357 0.778282 -0.243656 0.554883 
time: 1403636987.201667, t: 9.693136 -6.894197 -1.442201 q: 0.167332 0.777189 -0.243499 0.555595 
time: 1403636987.301666, t: 9.745958 -6.868756 -1.420523 q: 0.168746 0.775464 -0.244450 0.557158 
time: 1403636987.401666, t: 9.797226 -6.841213 -1.404295 q: 0.168534 0.774181 -0.243809 0.559283 
time: 1403636987.501667, t: 9.844946 -6.813772 -1.393161 q: 0.169690 0.772369 -0.238303 0.563793 
time: 1403636987.601666, t: 9.891002 -6.782716 -1.385199 q: 0.172377 0.770217 -0.232407 0.568365 
time: 1403636987.701667, t: 9.932645 -6.747743 -1.382172 q: 0.172431 0.769414 -0.229050 0.570794 
time: 1403636987.801666, t: 9.970198 -6.709524 -1.376175 q: 0.169722 0.769613 -0.227400 0.571996 
time: 1403636987.901666, t: 10.002330 -6.668626 -1.363446 q: 0.164574 0.770453 -0.228299 0.572012 
wait for imu ... 
time: 1403636988.001667, t: 10.030433 -6.625693 -1.345491 q: 0.155493 0.772635 -0.232640 0.569856 
time: 1403636988.101666, t: 10.055364 -6.581859 -1.330156 q: 0.146561 0.775162 -0.238559 0.566333 
optimize pose graph 
time: 1403636988.201667, t: 10.074697 -6.540267 -1.319965 q: 0.140748 0.776007 -0.243119 0.564710 
time: 1403636988.301666, t: 10.088652 -6.503252 -1.312868 q: 0.137849 0.772250 -0.246000 0.569309 
time: 1403636988.401666, t: 10.096689 -6.471077 -1.303596 q: 0.138874 0.765751 -0.245983 0.577782 
time: 1403636988.501667, t: 10.096736 -6.439773 -1.286407 q: 0.142273 0.761506 -0.243699 0.583505 
time: 1403636988.601666, t: 10.088654 -6.409078 -1.262729 q: 0.142891 0.759213 -0.243082 0.586591 
time: 1403636988.701667, t: 10.071942 -6.378621 -1.239149 q: 0.142680 0.758148 -0.243287 0.587933 
time: 1403636988.801666, t: 10.045724 -6.349923 -1.220430 q: 0.144004 0.756451 -0.242249 0.590220 
time: 1403636988.901666, t: 10.012622 -6.321139 -1.207967 q: 0.143609 0.753874 -0.242480 0.593510 
time: 1403636989.001667, t: 9.967302 -6.294604 -1.200730 q: 0.142889 0.751237 -0.243244 0.596706 
time: 1403636989.101666, t: 9.912392 -6.267141 -1.198273 q: 0.142517 0.749422 -0.244270 0.598655 
time: 1403636989.201667, t: 9.844500 -6.242423 -1.198202 q: 0.142635 0.749396 -0.245152 0.598299 
time: 1403636989.301666, t: 9.766571 -6.218270 -1.195780 q: 0.148517 0.755670 -0.242999 0.589794 
time: 1403636989.401666, t: 9.682096 -6.193645 -1.186385 q: 0.155205 0.765541 -0.240474 0.576221 
time: 1403636989.501667, t: 9.592458 -6.171643 -1.170145 q: 0.157020 0.773241 -0.240617 0.565285 
time: 1403636989.601666, t: 9.500128 -6.149881 -1.148398 q: 0.159970 0.777024 -0.239523 0.559707 
time: 1403636989.701667, t: 9.405947 -6.128088 -1.128646 q: 0.164463 0.780076 -0.236680 0.555352 
time: 1403636989.801666, t: 9.312542 -6.104617 -1.115136 q: 0.166314 0.781435 -0.235568 0.553359 
time: 1403636989.901666, t: 9.222456 -6.081233 -1.104725 q: 0.165827 0.779908 -0.235684 0.555606 
time: 1403636990.001667, t: 9.128908 -6.055063 -1.099766 q: 0.165715 0.775106 -0.235491 0.562400 
time: 1403636990.101666, t: 9.038161 -6.029346 -1.091464 q: 0.166848 0.771113 -0.234476 0.567951 
time: 1403636990.201667, t: 8.940953 -6.000524 -1.078241 q: 0.168107 0.770858 -0.233137 0.568476 
time: 1403636990.301666, t: 8.845982 -5.970819 -1.058376 q: 0.168387 0.774348 -0.231855 0.564157 
time: 1403636990.401666, t: 8.744726 -5.937276 -1.033601 q: 0.168303 0.777748 -0.230342 0.560112 
time: 1403636990.501667, t: 8.647990 -5.902864 -1.011603 q: 0.164967 0.780642 -0.230544 0.556986 
time: 1403636990.601666, t: 8.549868 -5.866836 -0.996089 q: 0.163413 0.782373 -0.229694 0.555364 
wait for imu ... 
wait for imu ... 
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time: 1403636990.801666, t: 8.360166 -5.793134 -0.984888 q: 0.162579 0.785931 -0.226882 0.551729 
time: 1403636990.901666, t: 8.268959 -5.755183 -0.988235 q: 0.161645 0.786300 -0.226399 0.551677 
time: 1403636991.001667, t: 8.176038 -5.717511 -0.996561 q: 0.162124 0.786373 -0.225546 0.551781 
time: 1403636991.101666, t: 8.086994 -5.679428 -1.007866 q: 0.162961 0.785930 -0.225168 0.552319 
wait for imu ... 
time: 1403636991.201667, t: 8.000193 -5.641986 -1.021129 q: 0.164089 0.785986 -0.225253 0.551871 
time: 1403636991.301666, t: 7.913151 -5.601602 -1.028941 q: 0.163896 0.786343 -0.226029 0.551101 
time: 1403636991.401666, t: 7.828497 -5.560863 -1.028500 q: 0.163920 0.786816 -0.227356 0.549873 
time: 1403636991.501667, t: 7.746408 -5.517756 -1.017391 q: 0.165218 0.787014 -0.228311 0.548804 
time: 1403636991.601666, t: 7.670040 -5.478759 -0.998171 q: 0.163238 0.786186 -0.231720 0.549155 
time: 1403636991.701667, t: 7.590308 -5.436360 -0.973850 q: 0.157255 0.784585 -0.238670 0.550213 
time: 1403636991.801666, t: 7.514397 -5.395980 -0.946114 q: 0.152581 0.782974 -0.245143 0.550977 
time: 1403636991.901666, t: 7.430813 -5.357228 -0.917528 q: 0.149933 0.782098 -0.250049 0.550743 
time: 1403636992.001667, t: 7.352399 -5.322900 -0.897548 q: 0.152631 0.781836 -0.251146 0.549874 
time: 1403636992.101666, t: 7.273780 -5.292061 -0.880415 q: 0.162062 0.780354 -0.247237 0.551051 
time: 1403636992.201667, t: 7.194348 -5.262632 -0.875382 q: 0.168855 0.777365 -0.244496 0.554449 
time: 1403636992.301666, t: 7.120537 -5.235867 -0.870108 q: 0.172363 0.776259 -0.243884 0.555188 
time: 1403636992.401666, t: 7.048586 -5.210050 -0.873501 q: 0.174002 0.778308 -0.244999 0.551303 
time: 1403636992.501667, t: 6.977078 -5.181349 -0.872195 q: 0.174591 0.781163 -0.247073 0.546130 
time: 1403636992.601666, t: 6.907839 -5.150748 -0.866720 q: 0.176530 0.782753 -0.248237 0.542691 
time: 1403636992.701667, t: 6.837632 -5.118984 -0.851690 q: 0.177983 0.783184 -0.249495 0.541015 
time: 1403636992.801666, t: 6.771789 -5.088099 -0.835043 q: 0.179833 0.783795 -0.250353 0.539118 
time: 1403636992.901666, t: 6.705722 -5.054759 -0.826502 q: 0.182917 0.783444 -0.250325 0.538604 
time: 1403636993.001667, t: 6.649375 -5.023513 -0.822020 q: 0.184769 0.781622 -0.250780 0.540405 
time: 1403636993.101666, t: 6.592728 -4.989125 -0.824028 q: 0.182162 0.777688 -0.252724 0.546031 
time: 1403636993.301666, t: 6.488235 -4.918481 -0.812774 q: 0.166411 0.777200 -0.241665 0.556655 
time: 1403636993.401666, t: 6.436842 -4.881208 -0.796984 q: 0.156333 0.780054 -0.228543 0.561109 
time: 1403636993.501667, t: 6.384090 -4.842377 -0.773696 q: 0.144497 0.784172 -0.212704 0.564758 
time: 1403636993.601666, t: 6.331152 -4.804647 -0.745089 q: 0.132995 0.788885 -0.195574 0.567207 
time: 1403636993.701667, t: 6.279152 -4.767741 -0.717168 q: 0.122757 0.793795 -0.182293 0.567088 
time: 1403636993.801666, t: 6.226231 -4.731116 -0.694050 q: 0.116206 0.797358 -0.172464 0.566545 
time: 1403636993.901666, t: 6.172979 -4.693728 -0.677912 q: 0.113656 0.799459 -0.163897 0.566644 
time: 1403636994.001667, t: 6.119096 -4.656820 -0.666205 q: 0.111556 0.797471 -0.158598 0.571351 
time: 1403636994.101666, t: 6.063698 -4.618479 -0.659592 q: 0.113554 0.792783 -0.153557 0.578810 
time: 1403636994.201667, t: 6.006342 -4.578315 -0.655797 q: 0.114825 0.787803 -0.150300 0.586167 
optimize pose graph 
time: 1403636994.301666, t: 5.945969 -4.536502 -0.658018 q: 0.115451 0.783241 -0.149082 0.592435 
time: 1403636994.401666, t: 5.883814 -4.492298 -0.663380 q: 0.116677 0.780656 -0.148206 0.595817 
time: 1403636994.601666, t: 5.743331 -4.392008 -0.673297 q: 0.112592 0.784456 -0.152409 0.590528 
time: 1403636994.701667, t: 5.664909 -4.336316 -0.669520 q: 0.105709 0.789825 -0.158387 0.583023 
time: 1403636994.801666, t: 5.588075 -4.282455 -0.660458 q: 0.096144 0.795211 -0.166301 0.575099 
time: 1403636994.901666, t: 5.508538 -4.229541 -0.648764 q: 0.089037 0.797107 -0.172348 0.571830 
time: 1403636995.001667, t: 5.427530 -4.180780 -0.640866 q: 0.089063 0.795452 -0.173152 0.573883 
time: 1403636995.101666, t: 5.345110 -4.135938 -0.637589 q: 0.096168 0.792427 -0.167856 0.578477 
time: 1403636995.201667, t: 5.258610 -4.090396 -0.633522 q: 0.102304 0.789790 -0.162623 0.582511 
time: 1403636995.301666, t: 5.172338 -4.048389 -0.623036 q: 0.105636 0.788403 -0.158876 0.584826 
time: 1403636995.401666, t: 5.079726 -4.002533 -0.605385 q: 0.107442 0.790825 -0.155702 0.582072 
time: 1403636995.501667, t: 4.987887 -3.959044 -0.581808 q: 0.106410 0.795524 -0.155126 0.575982 
time: 1403636995.601666, t: 4.889711 -3.910707 -0.551908 q: 0.105516 0.797286 -0.154914 0.573762 
time: 1403636995.701667, t: 4.797287 -3.866354 -0.522969 q: 0.103144 0.797345 -0.156557 0.573666 
time: 1403636995.801666, t: 4.701524 -3.818545 -0.498492 q: 0.098474 0.797359 -0.160244 0.573449 
time: 1403636995.901666, t: 4.607468 -3.775721 -0.483178 q: 0.091054 0.798475 -0.165908 0.571509 
time: 1403636996.001667, t: 4.509735 -3.732611 -0.472151 q: 0.087484 0.799532 -0.169173 0.569627 
time: 1403636996.101666, t: 4.414493 -3.695492 -0.466058 q: 0.092581 0.801439 -0.166107 0.567039 
time: 1403636996.201667, t: 4.317414 -3.659709 -0.459268 q: 0.097949 0.802623 -0.162538 0.565494 
time: 1403636996.301666, t: 4.225342 -3.628103 -0.447126 q: 0.101743 0.803358 -0.159076 0.564764 
time: 1403636996.401666, t: 4.132338 -3.596383 -0.425523 q: 0.099399 0.804451 -0.154420 0.564918 
optimize pose graph 
time: 1403636996.501667, t: 4.044876 -3.565135 -0.395955 q: 0.095043 0.806269 -0.145137 0.565537 
time: 1403636996.601666, t: 3.957844 -3.533359 -0.361334 q: 0.088071 0.809008 -0.132210 0.565923 
time: 1403636996.701667, t: 3.876015 -3.502748 -0.329813 q: 0.077988 0.812305 -0.116066 0.566221 
time: 1403636996.801666, t: 3.791114 -3.469160 -0.313083 q: 0.065373 0.815594 -0.098183 0.566474 
time: 1403636996.901666, t: 3.708047 -3.435766 -0.308795 q: 0.049803 0.818364 -0.079931 0.566931 
time: 1403636997.001667, t: 3.627236 -3.402660 -0.310764 q: 0.034531 0.820600 -0.060301 0.567263 
time: 1403636997.101666, t: 3.548073 -3.370019 -0.317558 q: 0.021075 0.822469 -0.042281 0.566845 
time: 1403636997.201667, t: 3.471993 -3.339308 -0.329059 q: 0.010995 0.823823 -0.029265 0.565985 
time: 1403636997.301666, t: 3.399405 -3.310503 -0.343423 q: 0.005159 0.824549 -0.019385 0.565435 
time: 1403636997.401666, t: 3.328732 -3.283201 -0.352413 q: 0.002312 0.825244 -0.013194 0.564617 
time: 1403636997.501667, t: 3.266698 -3.258702 -0.353840 q: 0.001242 0.824922 -0.010256 0.565152 
time: 1403636997.601666, t: 3.207177 -3.232945 -0.347818 q: 0.001088 0.825675 -0.010015 0.564057 
time: 1403636997.701667, t: 3.153234 -3.209337 -0.333140 q: 0.002801 0.826085 -0.010263 0.563446 
time: 1403636997.801666, t: 3.104930 -3.185869 -0.311362 q: 0.005750 0.827177 -0.011094 0.561802 
time: 1403636997.901666, t: 3.065065 -3.161823 -0.282271 q: 0.007981 0.827437 -0.012719 0.561358 
time: 1403636998.001667, t: 3.028658 -3.140544 -0.245861 q: 0.009003 0.827395 -0.014900 0.561350 
time: 1403636998.101666, t: 2.999769 -3.120291 -0.204436 q: 0.009862 0.827627 -0.017090 0.560932 
time: 1403636998.201667, t: 2.982639 -3.102798 -0.164388 q: 0.008948 0.826394 -0.020227 0.562658 
time: 1403636998.301666, t: 2.961116 -3.083490 -0.131433 q: 0.009996 0.826913 -0.021665 0.561824 
time: 1403636998.401666, t: 2.942437 -3.064914 -0.104761 q: 0.009742 0.826565 -0.023236 0.562277 
time: 1403636998.501667, t: 2.928931 -3.046815 -0.079150 q: 0.009224 0.826327 -0.025173 0.562552 
optimize pose graph 
time: 1403636998.601666, t: 2.916694 -3.029804 -0.049165 q: 0.010799 0.823120 -0.024980 0.567216 
time: 1403636998.701667, t: 2.906329 -3.014139 -0.011823 q: 0.014094 0.814950 -0.023429 0.578886 
time: 1403636998.801666, t: 2.895209 -2.999416 0.030258 q: 0.017188 0.809802 -0.022354 0.586025 
time: 1403636998.901666, t: 2.883115 -2.983744 0.069753 q: 0.022761 0.808260 -0.018952 0.588080 
time: 1403636999.001667, t: 2.867102 -2.964995 0.102254 q: 0.026582 0.808639 -0.017179 0.587454 
time: 1403636999.101666, t: 2.846559 -2.943591 0.128245 q: 0.029461 0.808849 -0.015675 0.587069 
time: 1403636999.201667, t: 2.825125 -2.918871 0.148804 q: 0.031057 0.810533 -0.015348 0.584667 
time: 1403636999.301666, t: 2.805135 -2.890910 0.164075 q: 0.029875 0.812236 -0.016713 0.582323 
time: 1403636999.501667, t: 2.753816 -2.828075 0.177594 q: 0.022256 0.812429 -0.022686 0.582193 
time: 1403636999.601666, t: 2.729218 -2.795313 0.178215 q: 0.020637 0.810245 -0.024317 0.585223 
time: 1403636999.701667, t: 2.700781 -2.761984 0.175577 q: 0.020116 0.808332 -0.025307 0.587838 
time: 1403636999.801666, t: 2.670374 -2.728717 0.169432 q: 0.020128 0.807924 -0.026172 0.588360 
time: 1403636999.901666, t: 2.637240 -2.696069 0.161154 q: 0.021743 0.808125 -0.025491 0.588057 
time: 1403637000.001667, t: 2.600265 -2.660240 0.155422 q: 0.025927 0.808053 -0.022977 0.588090 
time: 1403637000.101666, t: 2.559900 -2.622652 0.155185 q: 0.028154 0.809060 -0.021216 0.586668 
time: 1403637000.201667, t: 2.516689 -2.583372 0.162028 q: 0.027226 0.810733 -0.021363 0.584393 
time: 1403637000.301666, t: 2.477990 -2.544820 0.172908 q: 0.025946 0.812273 -0.022269 0.582274 
time: 1403637000.401666, t: 2.434125 -2.503065 0.179928 q: 0.023732 0.811682 -0.023686 0.583137 
time: 1403637000.501667, t: 2.392801 -2.460001 0.182770 q: 0.025859 0.811717 -0.022454 0.583046 
time: 1403637000.601666, t: 2.346092 -2.415290 0.184150 q: 0.026546 0.811870 -0.022034 0.582819 
time: 1403637000.701667, t: 2.298981 -2.368592 0.191569 q: 0.024447 0.810985 -0.023657 0.584077 
time: 1403637000.801666, t: 2.256171 -2.321779 0.207764 q: 0.024469 0.810409 -0.024364 0.584846 
time: 1403637000.901666, t: 2.207655 -2.274119 0.223309 q: 0.023886 0.810453 -0.025349 0.584768 
time: 1403637001.001667, t: 2.159162 -2.224319 0.234606 q: 0.024200 0.810140 -0.026263 0.585148 
time: 1403637001.101666, t: 2.105546 -2.176231 0.238609 q: 0.023793 0.809943 -0.026971 0.585404 
time: 1403637001.201667, t: 2.050678 -2.127701 0.240429 q: 0.022793 0.809252 -0.028147 0.586344 
time: 1403637001.301666, t: 1.990756 -2.077087 0.248089 q: 0.022008 0.809379 -0.029091 0.586153 
time: 1403637001.401666, t: 1.930392 -2.028524 0.262694 q: 0.019595 0.810680 -0.031093 0.584335 
time: 1403637001.501667, t: 1.866059 -1.979750 0.284689 q: 0.019699 0.813700 -0.032226 0.580057 
time: 1403637001.601666, t: 1.804317 -1.932658 0.305039 q: 0.020047 0.815183 -0.033230 0.577901 
time: 1403637001.701667, t: 1.738948 -1.887268 0.323401 q: 0.020412 0.815320 -0.033823 0.577662 
time: 1403637001.801666, t: 1.677408 -1.842224 0.333179 q: 0.019792 0.814404 -0.035175 0.578893 
time: 1403637001.901666, t: 1.615219 -1.798628 0.335728 q: 0.020769 0.815919 -0.035089 0.576726 
time: 1403637002.001667, t: 1.555575 -1.756808 0.334212 q: 0.021322 0.816790 -0.035037 0.575475 
time: 1403637002.101666, t: 1.495779 -1.714864 0.328744 q: 0.021730 0.817399 -0.035209 0.574584 
time: 1403637002.201667, t: 1.440055 -1.675213 0.317338 q: 0.021495 0.817573 -0.035344 0.574337 
time: 1403637002.301666, t: 1.383269 -1.635677 0.303974 q: 0.022839 0.817573 -0.034495 0.574338 
time: 1403637002.401666, t: 1.325502 -1.596112 0.294205 q: 0.024826 0.818070 -0.032789 0.573647 
time: 1403637002.501667, t: 1.270924 -1.556997 0.292355 q: 0.026332 0.817532 -0.031519 0.574417 
time: 1403637002.601666, t: 1.215402 -1.516401 0.300321 q: 0.028942 0.817159 -0.029525 0.574927 
optimize pose graph 
time: 1403637002.701667, t: 1.156959 -1.473941 0.315391 q: 0.030233 0.817469 -0.029459 0.574423 
time: 1403637002.801666, t: 1.100880 -1.429320 0.329033 q: 0.030409 0.817222 -0.030385 0.574717 
time: 1403637002.901666, t: 1.045380 -1.385114 0.336819 q: 0.027302 0.816682 -0.033798 0.575450 
time: 1403637003.001667, t: 0.990453 -1.340562 0.336217 q: 0.027055 0.816934 -0.035386 0.575008 
time: 1403637003.101666, t: 0.938677 -1.295013 0.331167 q: 0.026971 0.817267 -0.037175 0.574427 
time: 1403637003.201667, t: 0.887425 -1.251117 0.321845 q: 0.027744 0.816823 -0.038294 0.574946 
time: 1403637003.301666, t: 0.839809 -1.209030 0.309206 q: 0.027732 0.815730 -0.039841 0.576393 
time: 1403637003.401666, t: 0.787391 -1.164251 0.301921 q: 0.027543 0.814402 -0.040900 0.578203 
time: 1403637003.501667, t: 0.737764 -1.120622 0.303019 q: 0.026994 0.813155 -0.042510 0.579865 
time: 1403637003.601666, t: 0.687192 -1.077479 0.310019 q: 0.026438 0.813401 -0.043738 0.579454 
time: 1403637003.701667, t: 0.635448 -1.034161 0.323413 q: 0.026288 0.813592 -0.044528 0.579133 
time: 1403637003.801666, t: 0.577883 -0.990703 0.332622 q: 0.024708 0.814050 -0.044881 0.578531 
time: 1403637003.901666, t: 0.528047 -0.950012 0.338197 q: 0.026053 0.815884 -0.042693 0.576049 
time: 1403637004.001667, t: 0.476859 -0.910223 0.335773 q: 0.026605 0.818510 -0.039990 0.572480 
time: 1403637004.201667, t: 0.378187 -0.836867 0.314810 q: 0.027451 0.821748 -0.035714 0.568068 
time: 1403637004.301666, t: 0.329646 -0.798701 0.307780 q: 0.025174 0.821876 -0.035262 0.568016 
time: 1403637004.401666, t: 0.288031 -0.758793 0.310944 q: 0.022849 0.820750 -0.037005 0.569630 
time: 1403637004.501667, t: 0.246473 -0.721127 0.324604 q: 0.022814 0.816441 -0.038433 0.575696 
time: 1403637004.701667, t: 0.160956 -0.647294 0.375955 q: 0.014150 0.813467 -0.050403 0.579251 
time: 1403637004.801666, t: 0.123680 -0.615022 0.395766 q: 0.007597 0.813026 -0.058317 0.579250 
optimize pose graph 
time: 1403637005.001667, t: 0.042524 -0.558622 0.391258 q: 0.009864 0.820016 -0.062038 0.568882 
time: 1403637005.101666, t: 0.003499 -0.536720 0.375053 q: 0.018154 0.819956 -0.058040 0.569187 
time: 1403637005.201667, t: -0.031149 -0.519676 0.356590 q: 0.025331 0.818827 -0.054205 0.570914 
time: 1403637005.301666, t: -0.064659 -0.503582 0.334789 q: 0.028990 0.820755 -0.051859 0.568182 
time: 1403637005.401666, t: -0.099064 -0.487273 0.310990 q: 0.029932 0.821748 -0.050049 0.566860 
time: 1403637005.501667, t: -0.133183 -0.471063 0.288981 q: 0.031427 0.818748 -0.046179 0.571429 
time: 1403637005.601666, t: -0.160762 -0.455031 0.271818 q: 0.029399 0.817904 -0.044978 0.572840 
time: 1403637005.701667, t: -0.192687 -0.439254 0.265726 q: 0.022765 0.822063 -0.047234 0.566978 
time: 1403637005.801666, t: -0.217035 -0.424916 0.272001 q: 0.019587 0.823736 -0.048161 0.564585 
time: 1403637005.901666, t: -0.238534 -0.410821 0.283995 q: 0.022872 0.822095 -0.044919 0.567115 
time: 1403637006.001667, t: -0.256980 -0.398784 0.293391 q: 0.025368 0.819637 -0.042900 0.570712 
time: 1403637006.101666, t: -0.275220 -0.384666 0.299380 q: 0.023606 0.817702 -0.044264 0.573452 
time: 1403637006.201667, t: -0.293859 -0.371218 0.303189 q: 0.022685 0.817711 -0.044593 0.573450 
time: 1403637006.301666, t: -0.313247 -0.356721 0.304846 q: 0.020152 0.821947 -0.046564 0.567299 
time: 1403637006.401666, t: -0.328998 -0.344894 0.303721 q: 0.017846 0.828435 -0.048002 0.557739 
time: 1403637006.501667, t: -0.343116 -0.332838 0.302088 q: 0.011858 0.831087 -0.052114 0.553568 
time: 1403637006.601666, t: -0.351709 -0.324313 0.300993 q: 0.008214 0.826622 -0.049974 0.560474 
time: 1403637006.701667, t: -0.356034 -0.318841 0.298099 q: 0.006403 0.821811 -0.039567 0.568349 
time: 1403637006.801666, t: -0.358612 -0.315291 0.292164 q: 0.000568 0.817749 -0.025494 0.575010 
time: 1403637006.901666, t: -0.359790 -0.313662 0.283248 q: -0.011186 0.817827 -0.009466 0.575277 
optimize pose graph 
time: 1403637007.001667, t: -0.361379 -0.312846 0.274267 q: -0.021062 0.819059 0.012701 0.573182 
time: 1403637007.101666, t: -0.362852 -0.313383 0.265315 q: -0.029026 0.817631 0.031759 0.574133 
time: 1403637007.201667, t: -0.364531 -0.314389 0.255664 q: -0.035617 0.815364 0.046076 0.576013 
time: 1403637007.301666, t: -0.366786 -0.315613 0.246723 q: -0.036975 0.810126 0.057799 0.582227 
time: 1403637007.401666, t: -0.371992 -0.315825 0.237331 q: -0.037887 0.806686 0.064565 0.586220 
time: 1403637007.501667, t: -0.380725 -0.314620 0.226265 q: -0.039754 0.808043 0.067255 0.583920 
time: 1403637007.601666, t: -0.391320 -0.312288 0.213879 q: -0.040949 0.812596 0.067773 0.577424 
time: 1403637007.701667, t: -0.403844 -0.308210 0.199498 q: -0.040523 0.820794 0.067183 0.565811 
time: 1403637007.801666, t: -0.414614 -0.302625 0.186972 q: -0.038435 0.824382 0.066880 0.560753 
time: 1403637007.901666, t: -0.422787 -0.294898 0.177214 q: -0.042015 0.819548 0.062325 0.568059 
time: 1403637008.001667, t: -0.429816 -0.286244 0.168620 q: -0.048078 0.813112 0.055450 0.577462 
time: 1403637008.101666, t: -0.438405 -0.278725 0.160539 q: -0.044577 0.814867 0.054541 0.575353 
time: 1403637008.201667, t: -0.447937 -0.271736 0.152220 q: -0.039814 0.824008 0.054446 0.562549 
time: 1403637008.301666, t: -0.454656 -0.263982 0.147386 q: -0.034534 0.830180 0.055110 0.553689 
time: 1403637008.401666, t: -0.457461 -0.254815 0.147337 q: -0.031790 0.830361 0.054350 0.553657 
time: 1403637008.501667, t: -0.455795 -0.243496 0.152296 q: -0.034950 0.823005 0.049856 0.564762 
time: 1403637008.601666, t: -0.451633 -0.231970 0.157949 q: -0.037764 0.816912 0.045453 0.573727 
time: 1403637008.701667, t: -0.447669 -0.220961 0.159493 q: -0.042589 0.814902 0.039993 0.576647 
time: 1403637008.801666, t: -0.443652 -0.212275 0.156133 q: -0.054827 0.818618 0.029874 0.570934 
time: 1403637008.901666, t: -0.437567 -0.209124 0.148288 q: -0.062763 0.822862 0.023541 0.564274 
time: 1403637009.001667, t: -0.429838 -0.211560 0.136772 q: -0.059367 0.823293 0.024390 0.563977 
optimize pose graph 
time: 1403637009.101666, t: -0.420047 -0.218576 0.122510 q: -0.047179 0.822047 0.031338 0.566596 
time: 1403637009.201667, t: -0.409278 -0.229036 0.106845 q: -0.035313 0.820943 0.038652 0.568605 
time: 1403637009.301666, t: -0.396264 -0.240179 0.088852 q: -0.019078 0.820832 0.049209 0.568726 
time: 1403637009.401666, t: -0.383599 -0.248547 0.074614 q: -0.033035 0.816749 0.050503 0.573828 
wait for imu ... 
time: 1403637009.501667, t: -0.380822 -0.257155 0.070960 q: -0.046884 0.807101 0.064559 0.584997 
time: 1403637009.601666, t: -0.380661 -0.261861 0.063918 q: -0.089393 0.785083 0.053584 0.610559 
time: 1403637009.701667, t: -0.389926 -0.268176 0.062280 q: -0.078296 0.790847 0.040490 0.605632 
time: 1403637009.801666, t: -0.391426 -0.267302 0.062181 q: -0.077995 0.790168 0.037269 0.606764 
time: 1403637009.901666, t: -0.393437 -0.267669 0.061904 q: -0.078534 0.789917 0.038169 0.606965 
time: 1403637010.001667, t: -0.392268 -0.266125 0.061017 q: -0.078719 0.789816 0.038109 0.607076 
time: 1403637010.101666, t: -0.393203 -0.266728 0.060579 q: -0.079710 0.789985 0.037827 0.606745 
time: 1403637010.201667, t: -0.394625 -0.268082 0.060505 q: -0.080016 0.789922 0.037796 0.606788 
time: 1403637010.301666, t: -0.394478 -0.268325 0.060540 q: -0.080393 0.790156 0.037681 0.606441 
wait for imu ... 
time: 1403637010.401666, t: -0.394370 -0.268544 0.060688 q: -0.080364 0.790138 0.037661 0.606470 
time: 1403637010.501667, t: -0.394301 -0.268684 0.060715 q: -0.080375 0.790247 0.037588 0.606330 

Done.
time: 1403637010.601666, t: -0.394379 -0.268808 0.060766 q: -0.080486 0.790300 0.037500 0.606252 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731015660.239893023]: Shutdown request received.[0m
[33m[ WARN] [1731015660.239956195]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731015660.241278309]: Shutdown request received.[0m
[33m[ WARN] [1731015660.241312351]: Reason given for shutdown: [user request][0m
killed
optimize pose graph 
