/SLAM-Hive/slam_hive_results/mapping_results/3334/2070_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1731018640.058917117]: init begins[0m
[31m[ERROR] [1731018640.059830924]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731018640.060481381]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/eae95298-9d57-11ef-9c8a-0242ac110002/roslaunch-c19c5b7b8edc-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://c19c5b7b8edc:33653/[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] [1731018641.217382736]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731018641.218075442]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1731018641.244360596]:  fix extrinsic param [0m
[1mROS_MASTER_URI=http://c19c5b7b8edc:11311/[0m
]2;roscore http://c19c5b7b8edc:11311/
camera number 1
[0m[ INFO] [1731018641.246906898]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731018641.246944387]: 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
[1msetting /run_id to eae95298-9d57-11ef-9c8a-0242ac110002[0m
set g       0       0 9.81007
[0m[ INFO] [1731018641.247131118]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731018641.247444218]: 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_03_medium.bag  --clock 
[0m[ INFO] [1731018650.156299562]: 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: 327381519.96 
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
[0m[ INFO] [1731018651.705164368]: IMU excitation not enouth![0m
[0m[ INFO] [1731018651.908101508]: IMU excitation not enouth![0m
[0m[ INFO] [1731018651.908881078]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731018652.114413763]: IMU excitation not enouth![0m
[0m[ INFO] [1731018652.194854462]: IMU excitation not enouth![0m
[0m[ INFO] [1731018652.197567346]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731018652.407464219]: IMU excitation not enouth![0m
[0m[ INFO] [1731018652.408464639]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731018652.605156722]: IMU excitation not enouth![0m
[0m[ INFO] [1731018652.605825567]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731018652.703054800]: IMU excitation not enouth![0m
[0m[ INFO] [1731018652.703446892]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731018652.907122639]: IMU excitation not enouth![0m
[0m[ INFO] [1731018653.127885881]: IMU excitation not enouth![0m
[0m[ INFO] [1731018653.128318003]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731018653.196581570]: IMU excitation not enouth![0m
[0m[ INFO] [1731018653.197033379]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731018653.404998018]: IMU excitation not enouth![0m
[0m[ INFO] [1731018653.405322753]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731018653.612352733]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1731018654.187630585]: gyroscope bias initial calibration -0.00288417    0.020813   0.0772461[0m
[0m[ INFO] [1731018654.301138572]: Initialization finish![0m
time: 1403637133.788319, t: -0.008365 -0.017161 0.055082 q: -0.077686 0.803436 0.063760 0.586848 
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time: 1403637133.988319, t: -0.010008 -0.022247 0.148058 q: -0.064973 0.809574 0.051090 0.581169 
time: 1403637134.088319, t: -0.011397 -0.022309 0.212459 q: -0.056514 0.809180 0.049899 0.582705 
time: 1403637134.188319, t: -0.012256 -0.021987 0.277060 q: -0.042854 0.807100 0.049449 0.586777 
time: 1403637134.288319, t: -0.012867 -0.019905 0.337486 q: -0.034461 0.799002 0.047737 0.598439 
time: 1403637134.388319, t: -0.013916 -0.018937 0.382895 q: -0.034073 0.788440 0.046259 0.612422 
time: 1403637134.488319, t: -0.013155 -0.017660 0.401720 q: -0.037641 0.782308 0.038329 0.620571 
time: 1403637134.588319, t: -0.009656 -0.019266 0.388543 q: -0.038489 0.784472 0.033980 0.618036 
time: 1403637134.688319, t: -0.004182 -0.024518 0.343692 q: -0.034414 0.792566 0.036727 0.607705 
time: 1403637134.788319, t: -0.000303 -0.028627 0.273157 q: -0.036251 0.805611 0.041968 0.589844 
time: 1403637134.888319, t: -0.000147 -0.031393 0.197383 q: -0.042203 0.821021 0.043087 0.567703 
time: 1403637134.988319, t: -0.003506 -0.032867 0.130694 q: -0.049456 0.830693 0.039633 0.553112 
time: 1403637135.088319, t: -0.005262 -0.035528 0.083818 q: -0.053943 0.833842 0.038207 0.548032 
time: 1403637135.188319, t: -0.008937 -0.037184 0.059785 q: -0.052133 0.837857 0.041247 0.541827 
time: 1403637135.288319, t: -0.010388 -0.038676 0.071827 q: -0.048515 0.845590 0.043355 0.529854 
time: 1403637135.388319, t: -0.008450 -0.039805 0.123330 q: -0.044380 0.844316 0.042616 0.532301 
time: 1403637135.488319, t: -0.005180 -0.040841 0.200675 q: -0.036662 0.832534 0.044126 0.550996 
time: 1403637135.588319, t: -0.001987 -0.040823 0.287977 q: -0.029034 0.819107 0.044635 0.571164 
time: 1403637135.688319, t: 0.001015 -0.039411 0.371091 q: -0.023777 0.806685 0.039771 0.589163 
time: 1403637135.788319, t: 0.001924 -0.037205 0.436396 q: -0.028984 0.796503 0.033380 0.603016 
time: 1403637135.888319, t: 0.003226 -0.036794 0.469380 q: -0.033185 0.791656 0.028789 0.609385 
time: 1403637135.988319, t: 0.006551 -0.037518 0.461558 q: -0.034058 0.793169 0.027369 0.607432 
time: 1403637136.088319, t: 0.010838 -0.036873 0.416726 q: -0.032276 0.798553 0.030606 0.600279 
time: 1403637136.188319, t: 0.014752 -0.035205 0.341868 q: -0.027960 0.806945 0.032780 0.589053 
time: 1403637136.288319, t: 0.016162 -0.033472 0.257389 q: -0.027059 0.820071 0.033685 0.570628 
time: 1403637136.388319, t: 0.012679 -0.032799 0.178318 q: -0.028671 0.834721 0.033060 0.548931 
time: 1403637136.488319, t: 0.008394 -0.034099 0.115578 q: -0.036083 0.846908 0.032166 0.529537 
time: 1403637136.588319, t: 0.003659 -0.035555 0.085592 q: -0.041775 0.853286 0.030434 0.518876 
time: 1403637136.688319, t: 0.001927 -0.036601 0.097266 q: -0.039599 0.855518 0.033440 0.515172 
time: 1403637136.788319, t: 0.001562 -0.036817 0.153862 q: -0.040052 0.853690 0.033790 0.518139 
time: 1403637136.888319, t: 0.002132 -0.037583 0.240794 q: -0.038438 0.843932 0.035071 0.533920 
time: 1403637136.988319, t: 0.004036 -0.040370 0.339502 q: -0.031472 0.830698 0.030364 0.555003 
time: 1403637137.088319, t: 0.004919 -0.042677 0.428038 q: -0.026248 0.816858 0.020459 0.575878 
time: 1403637137.188319, t: 0.004114 -0.041684 0.486584 q: -0.033468 0.804183 0.011552 0.593327 
time: 1403637137.288319, t: 0.004969 -0.042696 0.503077 q: -0.035530 0.796925 0.012080 0.602912 
time: 1403637137.388319, t: 0.006931 -0.043514 0.478202 q: -0.034546 0.793741 0.014029 0.607111 
time: 1403637137.488319, t: 0.011233 -0.043173 0.418664 q: -0.034033 0.796728 0.017720 0.603119 
time: 1403637137.588319, t: 0.013348 -0.042056 0.336191 q: -0.026570 0.808092 0.024946 0.587928 
time: 1403637137.688319, t: 0.013336 -0.040788 0.246021 q: -0.018810 0.824822 0.027180 0.564426 
time: 1403637137.788319, t: 0.008448 -0.038362 0.163804 q: -0.023559 0.838183 0.027556 0.544183 
time: 1403637137.888319, t: -0.002115 -0.038392 0.103412 q: -0.030566 0.846733 0.030736 0.530249 
time: 1403637137.988319, t: -0.004816 -0.041425 0.078298 q: -0.030284 0.855684 0.034910 0.515430 
time: 1403637138.088319, t: -0.004468 -0.043181 0.102794 q: -0.032018 0.861550 0.034760 0.505468 
time: 1403637138.188319, t: 0.000044 -0.046463 0.171874 q: -0.033701 0.856353 0.041219 0.513638 
time: 1403637138.288319, t: 0.005042 -0.051886 0.267530 q: -0.020949 0.841242 0.047678 0.538144 
time: 1403637138.388319, t: 0.008168 -0.052138 0.364494 q: -0.015669 0.821472 0.041686 0.568508 
time: 1403637138.488319, t: 0.008138 -0.050904 0.442857 q: -0.009184 0.803805 0.033736 0.593864 
time: 1403637138.588319, t: 0.006985 -0.050183 0.483895 q: -0.007604 0.792994 0.028232 0.608527 
time: 1403637138.688319, t: 0.008262 -0.050913 0.481151 q: -0.010967 0.790132 0.027043 0.612241 
time: 1403637138.788319, t: 0.011876 -0.050764 0.437605 q: -0.015787 0.794442 0.024603 0.606637 
time: 1403637138.888319, t: 0.019886 -0.051267 0.363719 q: -0.015597 0.804084 0.022399 0.593889 
time: 1403637138.988319, t: 0.024620 -0.050258 0.275333 q: -0.023580 0.813176 0.024031 0.581044 
time: 1403637139.088319, t: 0.027828 -0.046839 0.189502 q: -0.038537 0.819363 0.024418 0.571456 
time: 1403637139.188319, t: 0.029393 -0.042782 0.116547 q: -0.048455 0.824073 0.025804 0.563817 
time: 1403637139.288319, t: 0.031223 -0.038617 0.064297 q: -0.052532 0.826322 0.029954 0.559942 
time: 1403637139.388319, t: 0.034998 -0.035606 0.035244 q: -0.052703 0.827008 0.036050 0.558552 
time: 1403637139.488319, t: 0.038990 -0.033049 0.022031 q: -0.058219 0.825324 0.044325 0.559898 
time: 1403637139.588319, t: 0.039939 -0.030521 0.014330 q: -0.063249 0.821742 0.047741 0.564323 
time: 1403637139.688319, t: 0.040627 -0.028282 0.007483 q: -0.064021 0.818088 0.052207 0.569129 
time: 1403637139.788319, t: 0.041700 -0.028055 -0.000769 q: -0.064717 0.816688 0.054108 0.570880 
time: 1403637139.888319, t: 0.041260 -0.030343 -0.003857 q: -0.066722 0.810840 0.051212 0.579192 
time: 1403637139.988319, t: 0.039666 -0.032795 -0.005575 q: -0.067226 0.806042 0.043667 0.586405 
wait for imu ... 
time: 1403637140.088319, t: 0.036716 -0.035384 -0.005675 q: -0.065997 0.800179 0.036629 0.594993 
time: 1403637140.188319, t: 0.033667 -0.037411 -0.004709 q: -0.063718 0.794924 0.031818 0.602514 
time: 1403637140.288319, t: 0.033070 -0.039807 -0.005829 q: -0.061715 0.795947 0.029269 0.601500 
time: 1403637140.388319, t: 0.032911 -0.040383 -0.006454 q: -0.064843 0.795610 0.026577 0.601742 
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time: 1403637140.688319, t: 0.032841 -0.040018 -0.006432 q: -0.066351 0.795634 0.025782 0.601580 
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time: 1403637140.888319, t: 0.032805 -0.040030 -0.006360 q: -0.066351 0.795728 0.025690 0.601461 
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time: 1403637145.688319, t: 0.032599 -0.040275 -0.006297 q: -0.064451 0.796663 0.023921 0.600501 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403637199.888319, t: 2.118465 -5.668857 0.516027 q: 0.230103 0.710921 -0.298794 0.593605 
time: 1403637199.988319, t: 2.337425 -5.511241 0.466933 q: 0.196292 0.708218 -0.276686 0.619146 
time: 1403637200.088319, t: 2.535512 -5.349625 0.412383 q: 0.166580 0.706969 -0.247982 0.641055 
time: 1403637200.188319, t: 2.704100 -5.185522 0.354285 q: 0.144177 0.712976 -0.214243 0.651904 
time: 1403637200.288319, t: 2.842277 -5.021196 0.291796 q: 0.131637 0.729910 -0.180951 0.645879 
time: 1403637200.388319, t: 2.952206 -4.856840 0.229272 q: 0.126543 0.754546 -0.154793 0.625049 
time: 1403637200.488319, t: 3.040076 -4.691262 0.175248 q: 0.119185 0.776031 -0.140722 0.603132 
time: 1403637200.588319, t: 3.113688 -4.522555 0.132208 q: 0.102500 0.784527 -0.140433 0.595222 
time: 1403637200.688319, t: 3.179831 -4.355313 0.099170 q: 0.092763 0.787690 -0.142967 0.592031 
time: 1403637200.788319, t: 3.237212 -4.189985 0.072870 q: 0.086068 0.787396 -0.149538 0.591809 
time: 1403637200.888319, t: 3.288041 -4.030687 0.055668 q: 0.084397 0.783039 -0.160713 0.594894 
time: 1403637200.988319, t: 3.330038 -3.875232 0.043600 q: 0.089547 0.781668 -0.168747 0.593718 
time: 1403637201.088319, t: 3.363469 -3.724788 0.038651 q: 0.096529 0.780527 -0.175518 0.592160 
time: 1403637201.188319, t: 3.390543 -3.579423 0.042058 q: 0.102082 0.779884 -0.182650 0.589915 
time: 1403637201.288319, t: 3.408180 -3.437497 0.049789 q: 0.099040 0.778932 -0.194804 0.587798 
time: 1403637201.388319, t: 3.418626 -3.299870 0.057713 q: 0.087520 0.776100 -0.217852 0.585278 
time: 1403637201.488319, t: 3.418452 -3.174207 0.057929 q: 0.078014 0.774761 -0.242953 0.578475 
time: 1403637201.588319, t: 3.411400 -3.062366 0.052533 q: 0.072067 0.772087 -0.264211 0.573481 
time: 1403637201.688319, t: 3.396341 -2.966615 0.044621 q: 0.070747 0.767817 -0.278194 0.572765 
time: 1403637201.788319, t: 3.371839 -2.890462 0.034530 q: 0.084423 0.763923 -0.278208 0.576104 
optimize pose graph 
time: 1403637201.888319, t: 3.335556 -2.831505 0.027248 q: 0.094206 0.761680 -0.276872 0.578196 
time: 1403637201.988319, t: 3.289687 -2.784803 0.024177 q: 0.095276 0.762619 -0.277685 0.576391 
time: 1403637202.088319, t: 3.234369 -2.754383 0.027105 q: 0.085597 0.767381 -0.282463 0.569222 
time: 1403637202.188319, t: 3.168745 -2.739136 0.035172 q: 0.082528 0.777330 -0.281550 0.556486 
time: 1403637202.388319, t: 3.026582 -2.757369 0.050524 q: 0.114579 0.798870 -0.254993 0.532594 
time: 1403637202.488319, t: 2.959899 -2.782119 0.052036 q: 0.123394 0.800102 -0.247768 0.532186 
time: 1403637202.588319, t: 2.898251 -2.814517 0.057355 q: 0.127254 0.795862 -0.244294 0.539195 
time: 1403637202.688319, t: 2.837644 -2.853002 0.069629 q: 0.132396 0.790600 -0.239903 0.547603 
time: 1403637202.788319, t: 2.779708 -2.896009 0.090178 q: 0.139969 0.787994 -0.233765 0.552113 
time: 1403637202.888319, t: 2.722921 -2.941345 0.110103 q: 0.150063 0.788302 -0.226984 0.551851 
time: 1403637202.988319, t: 2.667560 -2.985966 0.123649 q: 0.157766 0.789131 -0.222037 0.550528 
time: 1403637203.088319, t: 2.615447 -3.029394 0.131537 q: 0.160273 0.789093 -0.220975 0.550285 
time: 1403637203.188319, t: 2.564109 -3.071188 0.135417 q: 0.160806 0.788865 -0.221203 0.550366 
time: 1403637203.288319, t: 2.518486 -3.112166 0.134436 q: 0.162660 0.788018 -0.221119 0.551067 
time: 1403637203.388319, t: 2.471522 -3.149402 0.130809 q: 0.162262 0.787467 -0.221943 0.551642 
time: 1403637203.488319, t: 2.430968 -3.186412 0.121740 q: 0.163450 0.787749 -0.222030 0.550853 
time: 1403637203.588319, t: 2.388862 -3.218182 0.110522 q: 0.165952 0.786990 -0.220976 0.551612 
time: 1403637203.688319, t: 2.350801 -3.247370 0.095680 q: 0.168062 0.786881 -0.220547 0.551301 
time: 1403637203.788319, t: 2.319943 -3.274095 0.075369 q: 0.168309 0.785838 -0.221715 0.552244 
time: 1403637203.888319, t: 2.286944 -3.297382 0.053000 q: 0.168633 0.785210 -0.222123 0.552875 
optimize pose graph 
time: 1403637203.988319, t: 2.255462 -3.317054 0.027535 q: 0.169381 0.785101 -0.222212 0.552765 
time: 1403637204.088319, t: 2.227257 -3.334047 0.001881 q: 0.169626 0.784942 -0.222884 0.552645 
time: 1403637204.188319, t: 2.199378 -3.346152 -0.015810 q: 0.169801 0.785109 -0.223318 0.552177 
time: 1403637204.288319, t: 2.172502 -3.354823 -0.025776 q: 0.169766 0.785593 -0.224132 0.551170 
time: 1403637204.388319, t: 2.145509 -3.361036 -0.028452 q: 0.166896 0.783711 -0.226832 0.553615 
time: 1403637204.488319, t: 2.121244 -3.364973 -0.022243 q: 0.165881 0.779464 -0.229380 0.558842 
time: 1403637204.588319, t: 2.096666 -3.366723 -0.008530 q: 0.166283 0.778072 -0.231574 0.559756 
time: 1403637204.688319, t: 2.070092 -3.367096 0.011004 q: 0.168475 0.779347 -0.232974 0.556738 
time: 1403637204.788319, t: 2.046945 -3.364948 0.029551 q: 0.169244 0.780238 -0.235115 0.554352 
time: 1403637204.888319, t: 2.021147 -3.360566 0.040638 q: 0.169681 0.781171 -0.236840 0.552166 
time: 1403637204.988319, t: 1.995829 -3.356727 0.044109 q: 0.169067 0.784070 -0.238216 0.547634 
time: 1403637205.088319, t: 1.973110 -3.350927 0.042823 q: 0.168290 0.787099 -0.239049 0.543147 
time: 1403637205.188319, t: 1.952339 -3.344441 0.037355 q: 0.168643 0.787398 -0.238554 0.542822 
time: 1403637205.288319, t: 1.933628 -3.337853 0.027219 q: 0.165950 0.789375 -0.235083 0.542295 
time: 1403637205.388319, t: 1.919714 -3.329671 0.019985 q: 0.162953 0.790722 -0.227932 0.544291 
time: 1403637205.488319, t: 1.908332 -3.320563 0.020423 q: 0.161096 0.790463 -0.220687 0.548191 
time: 1403637205.588319, t: 1.899171 -3.310726 0.025131 q: 0.159718 0.789359 -0.214303 0.552700 
time: 1403637205.688319, t: 1.891031 -3.299304 0.024639 q: 0.157885 0.789093 -0.210528 0.555051 
time: 1403637205.788319, t: 1.884674 -3.285696 0.017562 q: 0.155984 0.789725 -0.208801 0.555343 
time: 1403637205.888319, t: 1.878635 -3.269300 0.003263 q: 0.154838 0.790042 -0.207939 0.555536 
optimize pose graph 
time: 1403637205.988319, t: 1.874052 -3.251613 -0.011689 q: 0.154651 0.789782 -0.206980 0.556315 
time: 1403637206.088319, t: 1.870720 -3.230185 -0.019073 q: 0.152363 0.789385 -0.207843 0.557188 
time: 1403637206.188319, t: 1.867046 -3.208622 -0.021476 q: 0.144963 0.788268 -0.212056 0.559153 
time: 1403637206.288319, t: 1.864845 -3.187156 -0.014307 q: 0.141094 0.787247 -0.214422 0.560675 
time: 1403637206.388319, t: 1.864887 -3.165746 0.001423 q: 0.139842 0.786510 -0.215552 0.561590 
time: 1403637206.488319, t: 1.859796 -3.146180 0.020674 q: 0.140295 0.786420 -0.215682 0.561553 
time: 1403637206.588319, t: 1.854346 -3.126742 0.037428 q: 0.141624 0.786065 -0.215645 0.561731 
time: 1403637206.688319, t: 1.847042 -3.107283 0.047935 q: 0.144527 0.786230 -0.214711 0.561117 
time: 1403637206.788319, t: 1.838650 -3.088041 0.053274 q: 0.146736 0.785367 -0.214063 0.562000 
time: 1403637206.888319, t: 1.828968 -3.067976 0.057765 q: 0.148197 0.784557 -0.214111 0.562729 
time: 1403637206.988319, t: 1.817632 -3.046793 0.066398 q: 0.148688 0.783224 -0.214478 0.564315 
time: 1403637207.088319, t: 1.806750 -3.025104 0.081876 q: 0.149040 0.783160 -0.215633 0.563871 
time: 1403637207.188319, t: 1.793554 -3.002954 0.092149 q: 0.149912 0.781916 -0.217075 0.564812 
time: 1403637207.288319, t: 1.778225 -2.979022 0.094376 q: 0.150400 0.780785 -0.218318 0.565766 
time: 1403637207.388319, t: 1.760694 -2.954864 0.089104 q: 0.151038 0.780823 -0.219079 0.565250 
time: 1403637207.488319, t: 1.740873 -2.930429 0.078565 q: 0.151431 0.780681 -0.220207 0.564903 
time: 1403637207.588319, t: 1.719175 -2.905159 0.062654 q: 0.147159 0.783143 -0.224452 0.560939 
time: 1403637207.688319, t: 1.696677 -2.879987 0.047588 q: 0.137713 0.788230 -0.231698 0.553213 
time: 1403637207.788319, t: 1.673265 -2.858819 0.043001 q: 0.137972 0.789814 -0.232021 0.550748 
time: 1403637207.888319, t: 1.647363 -2.839800 0.050434 q: 0.143733 0.789046 -0.228986 0.551645 
time: 1403637207.988319, t: 1.626718 -2.826088 0.067020 q: 0.148769 0.787633 -0.226062 0.553532 
optimize pose graph 
time: 1403637208.088319, t: 1.604764 -2.813238 0.092186 q: 0.152715 0.787448 -0.223907 0.553597 
time: 1403637208.188319, t: 1.584228 -2.800662 0.123027 q: 0.155848 0.786972 -0.222410 0.554003 
time: 1403637208.288319, t: 1.565647 -2.790879 0.156342 q: 0.152076 0.786747 -0.226177 0.553847 
time: 1403637208.388319, t: 1.546609 -2.778747 0.179258 q: 0.146071 0.784217 -0.231647 0.556782 
time: 1403637208.488319, t: 1.527370 -2.768874 0.195384 q: 0.146929 0.783149 -0.232475 0.557714 
time: 1403637208.588319, t: 1.507661 -2.760676 0.205670 q: 0.151125 0.782684 -0.230707 0.557979 
time: 1403637208.688319, t: 1.487826 -2.754500 0.212922 q: 0.155254 0.782837 -0.228236 0.557648 
time: 1403637208.788319, t: 1.465133 -2.745464 0.212645 q: 0.157370 0.781623 -0.226874 0.559311 
time: 1403637208.888319, t: 1.441814 -2.735984 0.206600 q: 0.160018 0.782155 -0.225334 0.558437 
time: 1403637208.988319, t: 1.418388 -2.725074 0.194683 q: 0.169886 0.784104 -0.218826 0.555370 
time: 1403637209.088319, t: 1.399097 -2.714719 0.177540 q: 0.179660 0.786386 -0.211239 0.551995 
time: 1403637209.188319, t: 1.379333 -2.693500 0.160658 q: 0.175484 0.788586 -0.204913 0.552583 
time: 1403637209.288319, t: 1.366444 -2.670003 0.149648 q: 0.156679 0.793289 -0.200748 0.553032 
time: 1403637209.388319, t: 1.350221 -2.640268 0.145684 q: 0.142301 0.799603 -0.194126 0.550182 
time: 1403637209.488319, t: 1.340382 -2.613220 0.148698 q: 0.132904 0.807928 -0.187889 0.542482 
time: 1403637209.588319, t: 1.333701 -2.585845 0.156116 q: 0.125918 0.819571 -0.182525 0.528331 
time: 1403637209.688319, t: 1.337167 -2.563116 0.171596 q: 0.119565 0.828559 -0.179523 0.516687 
time: 1403637209.788319, t: 1.354625 -2.545865 0.194583 q: 0.115954 0.833090 -0.177945 0.510736 
time: 1403637209.888319, t: 1.381675 -2.530081 0.215210 q: 0.113027 0.836050 -0.178510 0.506339 
time: 1403637210.088319, t: 1.466115 -2.507908 0.217596 q: 0.110011 0.846930 -0.180770 0.487780 
optimize pose graph 
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optimize pose graph 
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time: 1403637232.388319, t: -1.436715 -1.769121 -0.471263 q: -0.430398 -0.494963 0.645091 -0.391954 
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time: 1403637232.688319, t: -1.643786 -1.935481 -0.477853 q: -0.438095 -0.432785 0.702691 -0.356363 
time: 1403637232.788319, t: -1.729387 -1.978344 -0.469046 q: -0.434452 -0.412819 0.723866 -0.341834 
time: 1403637232.888319, t: -1.827910 -2.021352 -0.454548 q: -0.432863 -0.402750 0.738902 -0.323181 
time: 1403637232.988319, t: -1.939595 -2.065297 -0.432311 q: -0.432484 -0.399409 0.748353 -0.305612 
time: 1403637233.088319, t: -2.061614 -2.114495 -0.403904 q: -0.432811 -0.400684 0.753456 -0.290571 
time: 1403637233.188319, t: -2.192625 -2.169049 -0.374975 q: -0.429915 -0.404828 0.757437 -0.278525 
time: 1403637233.288319, t: -2.332164 -2.233145 -0.350877 q: -0.425525 -0.409418 0.760356 -0.270487 
time: 1403637233.388319, t: -2.479139 -2.305308 -0.332821 q: -0.419212 -0.414503 0.762971 -0.265185 
time: 1403637233.488319, t: -2.635829 -2.388859 -0.326527 q: -0.420582 -0.423965 0.759918 -0.256691 
time: 1403637233.588319, t: -2.800249 -2.483882 -0.331120 q: -0.444585 -0.441778 0.740770 -0.241734 
time: 1403637233.688319, t: -2.966423 -2.593140 -0.347432 q: -0.479896 -0.458110 0.712494 -0.228448 
time: 1403637233.788319, t: -3.122709 -2.716189 -0.373808 q: 0.509112 0.469228 -0.687669 0.218497 
time: 1403637233.888319, t: -3.262548 -2.850820 -0.406553 q: 0.526354 0.474919 -0.672575 0.212243 
time: 1403637233.988319, t: -3.378567 -2.994981 -0.443934 q: 0.534530 0.478917 -0.665069 0.206396 
time: 1403637234.188319, t: -3.544136 -3.316597 -0.527299 q: 0.556213 0.486144 -0.645473 0.194049 
optimize pose graph 
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time: 1403637234.388319, t: -3.605848 -3.676893 -0.627439 q: 0.560561 0.474929 -0.645092 0.209930 
time: 1403637234.488319, t: -3.597848 -3.869567 -0.681233 q: 0.554771 0.467886 -0.647911 0.231348 
time: 1403637234.588319, t: -3.565851 -4.064459 -0.738295 q: 0.547512 0.463541 -0.647570 0.256930 
time: 1403637234.688319, t: -3.513388 -4.257626 -0.800185 q: 0.539642 0.464209 -0.643959 0.280381 
time: 1403637234.788319, t: -3.444033 -4.447184 -0.867000 q: 0.526856 0.467040 -0.641234 0.305146 
time: 1403637234.888319, t: -3.360891 -4.628765 -0.935362 q: 0.510931 0.471392 -0.638656 0.329936 
time: 1403637234.988319, t: -3.268084 -4.802270 -0.998126 q: -0.496439 -0.479360 0.632692 -0.351374 
time: 1403637235.088319, t: -3.169358 -4.963925 -1.051794 q: -0.488225 -0.493894 0.621176 -0.363104 
time: 1403637235.188319, t: -3.065454 -5.117023 -1.096356 q: -0.480142 -0.510186 0.608180 -0.373217 
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time: 1403637236.088319, t: -1.924613 -6.175012 -1.178842 q: 0.442935 0.626947 -0.502770 0.397452 
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time: 1403637236.388319, t: -1.373130 -6.410528 -1.080255 q: 0.416172 0.663230 -0.457414 0.421544 
optimize pose graph 
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time: 1403637236.588319, t: -0.940930 -6.523672 -0.987205 q: 0.391132 0.672275 -0.441974 0.446902 
time: 1403637236.688319, t: -0.711944 -6.570303 -0.944858 q: 0.388061 0.672169 -0.434416 0.457035 
time: 1403637236.788319, t: -0.475945 -6.604316 -0.905222 q: 0.386065 0.670295 -0.423563 0.471437 
time: 1403637236.888319, t: -0.233503 -6.625363 -0.862241 q: 0.379935 0.667268 -0.410975 0.491428 
time: 1403637236.988319, t: 0.011652 -6.631688 -0.811654 q: 0.376232 0.661110 -0.395762 0.514544 
time: 1403637237.088319, t: 0.254292 -6.619263 -0.754897 q: 0.373792 0.651641 -0.382033 0.538233 
time: 1403637237.188319, t: 0.492136 -6.584319 -0.691579 q: 0.364544 0.645079 -0.370978 0.559782 
time: 1403637237.288319, t: 0.719820 -6.525445 -0.622290 q: 0.348347 0.648649 -0.362630 0.571321 
time: 1403637237.388319, t: 0.935394 -6.443698 -0.546858 q: 0.334591 0.655685 -0.355757 0.575815 
time: 1403637237.488319, t: 1.133779 -6.337833 -0.465426 q: 0.323479 0.660600 -0.350598 0.579698 
time: 1403637237.588319, t: 1.317456 -6.211499 -0.378310 q: 0.312950 0.663799 -0.348498 0.583080 
time: 1403637237.688319, t: 1.480511 -6.064499 -0.285894 q: 0.301872 0.663138 -0.349028 0.589323 
time: 1403637237.788319, t: 1.628661 -5.903102 -0.193795 q: 0.289898 0.662914 -0.353685 0.592800 
time: 1403637237.888319, t: 1.759939 -5.730362 -0.110749 q: 0.279933 0.664087 -0.365094 0.589350 
time: 1403637237.988319, t: 1.869448 -5.545224 -0.037602 q: 0.273298 0.664322 -0.382848 0.580872 
time: 1403637238.088319, t: 1.966222 -5.355643 0.026562 q: 0.264248 0.661851 -0.409251 0.569772 
time: 1403637238.188319, t: 2.045159 -5.164666 0.086335 q: 0.257363 0.653577 -0.440468 0.559097 
time: 1403637238.288319, t: 2.103791 -4.973899 0.142451 q: 0.253549 0.638496 -0.475022 0.549900 
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time: 1403637238.488319, t: 2.156196 -4.605460 0.239047 q: 0.261929 0.594193 -0.543323 0.532098 
optimize pose graph 
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time: 1403637238.688319, t: 2.100331 -4.259799 0.316546 q: -0.267908 -0.560977 0.603444 -0.499386 
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time: 1403637238.888319, t: 1.935396 -3.962153 0.382149 q: -0.239798 -0.562006 0.653696 -0.446461 
time: 1403637238.988319, t: 1.809655 -3.845655 0.413574 q: -0.226598 -0.567973 0.670267 -0.420478 
time: 1403637239.088319, t: 1.655883 -3.759109 0.449560 q: -0.232768 -0.576661 0.673224 -0.400063 
time: 1403637239.188319, t: 1.476597 -3.707306 0.491108 q: -0.262185 -0.581797 0.663780 -0.390087 
time: 1403637239.288319, t: 1.278330 -3.678814 0.533225 q: -0.294220 -0.577590 0.654864 -0.388559 
time: 1403637239.388319, t: 1.067924 -3.667966 0.569456 q: -0.314853 -0.566624 0.656165 -0.386332 
time: 1403637239.488319, t: 0.847903 -3.673725 0.593122 q: -0.330410 -0.550794 0.664938 -0.381200 
time: 1403637239.588319, t: 0.618069 -3.690495 0.599535 q: -0.348480 -0.531636 0.675179 -0.374244 
time: 1403637239.788319, t: 0.135182 -3.756297 0.561069 q: -0.398565 -0.487932 0.689157 -0.357953 
time: 1403637239.988319, t: -0.365721 -3.839750 0.475388 q: -0.462456 -0.441429 0.691512 -0.336283 
time: 1403637240.088319, t: -0.617028 -3.879314 0.422444 q: -0.483051 -0.417570 0.698919 -0.322194 
time: 1403637240.188319, t: -0.864679 -3.914945 0.364630 q: -0.495983 -0.393973 0.710884 -0.305664 
time: 1403637240.288319, t: -1.107193 -3.945803 0.301983 q: -0.499679 -0.374857 0.726604 -0.286093 
time: 1403637240.388319, t: -1.344802 -3.976322 0.238545 q: -0.495335 -0.365664 0.742504 -0.263858 
time: 1403637240.488319, t: -1.579720 -4.007787 0.181874 q: -0.490115 -0.364003 0.754367 -0.241285 
time: 1403637240.588319, t: -1.812372 -4.047883 0.133064 q: -0.488500 -0.361909 0.760090 -0.229461 
optimize pose graph 
time: 1403637240.688319, t: -2.043190 -4.093176 0.093602 q: -0.491401 -0.361820 0.760076 -0.223372 
time: 1403637240.788319, t: -2.272379 -4.149134 0.062462 q: -0.497125 -0.360924 0.756893 -0.222967 
time: 1403637240.888319, t: -2.499974 -4.213197 0.040987 q: 0.515345 0.361164 -0.743524 0.226169 
time: 1403637240.988319, t: -2.722708 -4.282898 0.022924 q: 0.527948 0.361868 -0.733137 0.229853 
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time: 1403637241.188319, t: -3.148909 -4.428455 -0.037867 q: 0.522079 0.366070 -0.733566 0.235175 
time: 1403637241.288319, t: -3.352454 -4.505186 -0.076705 q: 0.523784 0.372924 -0.730143 0.231233 
time: 1403637241.388319, t: -3.546542 -4.583775 -0.119144 q: 0.527815 0.379394 -0.725140 0.227250 
time: 1403637241.488319, t: -3.727896 -4.663841 -0.161005 q: 0.532536 0.386060 -0.719775 0.222008 
time: 1403637241.588319, t: -3.896069 -4.749021 -0.197503 q: 0.540605 0.391592 -0.711898 0.218179 
time: 1403637241.688319, t: -4.049836 -4.838772 -0.227243 q: 0.548370 0.392319 -0.704621 0.221100 
time: 1403637241.788319, t: -4.187294 -4.931323 -0.251228 q: 0.557244 0.391283 -0.696751 0.225643 
time: 1403637241.988319, t: -4.409616 -5.115573 -0.276803 q: 0.563479 0.372797 -0.690863 0.257335 
time: 1403637242.088319, t: -4.497655 -5.199653 -0.280385 q: 0.565974 0.368594 -0.689245 0.262207 
time: 1403637242.188319, t: -4.568952 -5.275775 -0.277962 q: 0.565851 0.373037 -0.690298 0.253268 
time: 1403637242.288319, t: -4.622649 -5.346485 -0.269225 q: 0.567144 0.377661 -0.690078 0.243953 
time: 1403637242.388319, t: -4.658946 -5.412611 -0.261738 q: 0.573586 0.382762 -0.685683 0.233090 
time: 1403637242.488319, t: -4.681732 -5.480036 -0.262522 q: 0.581515 0.386024 -0.679761 0.225278 
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time: 1403637242.688319, t: -4.659755 -5.605077 -0.268498 q: 0.579948 0.394261 -0.672035 0.237881 
time: 1403637242.788319, t: -4.616661 -5.664420 -0.263017 q: 0.570087 0.400701 -0.669480 0.257365 
time: 1403637242.888319, t: -4.558775 -5.720710 -0.250234 q: 0.563699 0.404487 -0.664804 0.276892 
time: 1403637242.988319, t: -4.487212 -5.769606 -0.232913 q: 0.563144 0.409725 -0.657438 0.287695 
time: 1403637243.088319, t: -4.403552 -5.812855 -0.215742 q: 0.561085 0.418608 -0.653983 0.286805 
time: 1403637243.188319, t: -4.306453 -5.848415 -0.205649 q: 0.555000 0.426160 -0.655799 0.283355 
time: 1403637243.288319, t: -4.196392 -5.877250 -0.202797 q: 0.543982 0.428909 -0.662751 0.284398 
time: 1403637243.388319, t: -4.076198 -5.902095 -0.206899 q: 0.536197 0.429206 -0.667994 0.286461 
time: 1403637243.488319, t: -3.946671 -5.921881 -0.214525 q: 0.532807 0.427806 -0.670671 0.288615 
time: 1403637243.588319, t: -3.807553 -5.939900 -0.218552 q: 0.525196 0.426001 -0.676848 0.290808 
time: 1403637243.688319, t: -3.662020 -5.956615 -0.215822 q: 0.513839 0.424404 -0.686013 0.291952 
time: 1403637243.788319, t: -3.513811 -5.971404 -0.203521 q: 0.502169 0.419529 -0.695670 0.296420 
time: 1403637243.888319, t: -3.366395 -5.983371 -0.182638 q: -0.488181 -0.413080 0.706705 -0.302674 
time: 1403637243.988319, t: -3.223002 -5.990624 -0.151257 q: -0.481367 -0.408617 0.712499 -0.306044 
time: 1403637244.088319, t: -3.087255 -5.996051 -0.109574 q: -0.481229 -0.406606 0.713991 -0.305461 
time: 1403637244.188319, t: -2.958976 -5.999967 -0.060245 q: -0.484028 -0.405826 0.713490 -0.303238 
time: 1403637244.288319, t: -2.837113 -6.004226 -0.004814 q: -0.484367 -0.404388 0.714385 -0.302511 
time: 1403637244.388319, t: -2.721367 -6.005814 0.054661 q: -0.480365 -0.404772 0.717408 -0.301221 
time: 1403637244.488319, t: -2.611847 -6.007132 0.118698 q: -0.476493 -0.411837 0.716745 -0.299370 
time: 1403637244.588319, t: -2.509851 -6.011627 0.184787 q: -0.476567 -0.427137 0.709712 -0.294528 
time: 1403637244.688319, t: -2.411124 -6.020113 0.244776 q: -0.474585 -0.444555 0.701533 -0.291531 
optimize pose graph 
time: 1403637244.788319, t: -2.314960 -6.034835 0.297956 q: -0.470741 -0.458472 0.694498 -0.293051 
time: 1403637244.888319, t: -2.219168 -6.055537 0.345295 q: -0.466982 -0.468018 0.689339 -0.296140 
time: 1403637244.988319, t: -2.123654 -6.082099 0.386340 q: -0.459906 -0.473371 0.688489 -0.300647 
time: 1403637245.088319, t: -2.030264 -6.113889 0.419845 q: -0.444129 -0.472030 0.696257 -0.308485 
time: 1403637245.188319, t: -1.941394 -6.151659 0.447175 q: -0.428310 -0.470718 0.705133 -0.312671 
time: 1403637245.288319, t: -1.860994 -6.197213 0.474018 q: -0.433681 -0.474230 0.700775 -0.309743 
time: 1403637245.388319, t: -1.785665 -6.249907 0.497670 q: -0.444359 -0.478183 0.693319 -0.305279 
time: 1403637245.488319, t: -1.711557 -6.307528 0.515898 q: -0.449689 -0.483338 0.686782 -0.304129 
time: 1403637245.588319, t: -1.637281 -6.371454 0.527893 q: -0.449145 -0.491115 0.680412 -0.306781 
time: 1403637245.688319, t: -1.564563 -6.440879 0.534760 q: -0.443724 -0.501659 0.673723 -0.312323 
time: 1403637245.788319, t: -1.490672 -6.517594 0.537764 q: -0.441416 -0.511874 0.660606 -0.326706 
time: 1403637245.888319, t: -1.416097 -6.599482 0.536763 q: -0.442808 -0.524228 0.639078 -0.347399 
time: 1403637245.988319, t: -1.341347 -6.681827 0.528111 q: -0.437470 -0.541480 0.616268 -0.368283 
time: 1403637246.088319, t: -1.263919 -6.763916 0.515249 q: -0.426599 -0.563305 0.591106 -0.388965 
time: 1403637246.188319, t: -1.183043 -6.842951 0.497460 q: 0.411371 0.588153 -0.562897 0.409873 
time: 1403637246.288319, t: -1.100998 -6.919678 0.474149 q: 0.392189 0.614130 -0.532662 0.430469 
time: 1403637246.388319, t: -1.017045 -6.992787 0.448700 q: 0.374288 0.641038 -0.497226 0.449160 
time: 1403637246.488319, t: -0.930329 -7.061184 0.421214 q: 0.360200 0.666817 -0.457779 0.464811 
time: 1403637246.588319, t: -0.841226 -7.122584 0.389517 q: 0.346700 0.685721 -0.419398 0.483416 
time: 1403637246.688319, t: -0.749306 -7.174259 0.354177 q: 0.331413 0.699121 -0.383755 0.504110 
time: 1403637246.788319, t: -0.654745 -7.213613 0.320401 q: 0.314429 0.712262 -0.350814 0.520334 
time: 1403637246.888319, t: -0.560242 -7.239263 0.291987 q: 0.295050 0.725994 -0.321232 0.531684 
optimize pose graph 
time: 1403637246.988319, t: -0.464113 -7.255242 0.267911 q: 0.272184 0.743026 -0.300702 0.532359 
time: 1403637247.088319, t: -0.369623 -7.256625 0.249148 q: 0.251901 0.756981 -0.289730 0.528755 
time: 1403637247.188319, t: -0.272386 -7.253982 0.228071 q: 0.235571 0.766456 -0.286150 0.524566 
time: 1403637247.288319, t: -0.173226 -7.245860 0.201293 q: 0.225454 0.769496 -0.285563 0.524880 
time: 1403637247.388319, t: -0.071128 -7.234608 0.174956 q: 0.228010 0.759503 -0.280743 0.540694 
time: 1403637247.488319, t: 0.031217 -7.218614 0.146708 q: 0.233345 0.746587 -0.276742 0.558187 
time: 1403637247.588319, t: 0.131584 -7.193956 0.110615 q: 0.234346 0.745878 -0.273665 0.560228 
time: 1403637247.688319, t: 0.227845 -7.159040 0.072028 q: 0.236218 0.748743 -0.263457 0.560514 
time: 1403637247.788319, t: 0.320914 -7.113145 0.034724 q: 0.239356 0.753779 -0.247510 0.559701 
time: 1403637247.888319, t: 0.411920 -7.053135 0.005262 q: 0.235144 0.757171 -0.233206 0.563040 
time: 1403637247.988319, t: 0.500889 -6.979030 -0.015218 q: 0.219386 0.756769 -0.223791 0.573662 
time: 1403637248.088319, t: 0.584245 -6.892203 -0.031028 q: 0.200924 0.765384 -0.215696 0.572094 
time: 1403637248.188319, t: 0.661188 -6.797138 -0.041670 q: 0.183679 0.776714 -0.207310 0.565686 
time: 1403637248.288319, t: 0.736816 -6.697320 -0.056348 q: 0.170843 0.785050 -0.201408 0.560306 
time: 1403637248.388319, t: 0.811481 -6.593558 -0.077584 q: 0.164134 0.788448 -0.196285 0.559358 
time: 1403637248.488319, t: 0.885058 -6.487059 -0.101528 q: 0.160436 0.787209 -0.193676 0.563074 
time: 1403637248.588319, t: 0.956477 -6.377983 -0.123383 q: 0.161467 0.781879 -0.190768 0.571140 
time: 1403637248.688319, t: 1.023432 -6.264644 -0.140100 q: 0.162888 0.783460 -0.190955 0.568502 
time: 1403637248.788319, t: 1.087058 -6.146821 -0.148952 q: 0.163992 0.788625 -0.193758 0.560032 
time: 1403637248.888319, t: 1.148249 -6.025040 -0.148548 q: 0.164009 0.791296 -0.198500 0.554572 
time: 1403637248.988319, t: 1.210797 -5.901173 -0.140709 q: 0.163152 0.791739 -0.203753 0.552282 
time: 1403637249.088319, t: 1.274908 -5.775823 -0.126942 q: 0.165603 0.791217 -0.206160 0.551407 
optimize pose graph 
time: 1403637249.188319, t: 1.339362 -5.651127 -0.105061 q: 0.167130 0.790625 -0.208102 0.551065 
time: 1403637249.288319, t: 1.404666 -5.526024 -0.076845 q: 0.167438 0.789117 -0.210323 0.552289 
time: 1403637249.388319, t: 1.470174 -5.398773 -0.049544 q: 0.169128 0.787806 -0.211291 0.553275 
time: 1403637249.488319, t: 1.535297 -5.268824 -0.036490 q: 0.168766 0.787113 -0.212469 0.553921 
time: 1403637249.588319, t: 1.600996 -5.138593 -0.041565 q: 0.167645 0.787011 -0.212982 0.554209 
time: 1403637249.688319, t: 1.666014 -5.004706 -0.060681 q: 0.167919 0.785531 -0.212024 0.556588 
time: 1403637249.788319, t: 1.729974 -4.869693 -0.079625 q: 0.168537 0.780520 -0.208810 0.564609 
time: 1403637249.888319, t: 1.792485 -4.731317 -0.093394 q: 0.165432 0.778139 -0.202918 0.570925 
time: 1403637249.988319, t: 1.850777 -4.587693 -0.101396 q: 0.155310 0.781607 -0.195433 0.571642 
time: 1403637250.088319, t: 1.904462 -4.443344 -0.102731 q: 0.138586 0.786445 -0.192563 0.570279 
time: 1403637250.188319, t: 1.954046 -4.298397 -0.098799 q: 0.125599 0.791518 -0.186244 0.568363 
time: 1403637250.288319, t: 2.000154 -4.154693 -0.098173 q: 0.111499 0.793903 -0.180352 0.569877 
time: 1403637250.388319, t: 2.043513 -4.014416 -0.103355 q: 0.099709 0.795014 -0.176853 0.571607 
time: 1403637250.488319, t: 2.083378 -3.878160 -0.114310 q: 0.088416 0.796540 -0.176891 0.571329 
time: 1403637250.588319, t: 2.119285 -3.748625 -0.126742 q: 0.081529 0.799534 -0.176910 0.568156 
time: 1403637250.688319, t: 2.152283 -3.625083 -0.132881 q: 0.078694 0.802694 -0.171657 0.565706 
time: 1403637250.788319, t: 2.183926 -3.509127 -0.130897 q: 0.078375 0.804889 -0.166429 0.564192 
time: 1403637250.888319, t: 2.215570 -3.401664 -0.120324 q: 0.076968 0.803673 -0.164345 0.566724 
time: 1403637250.988319, t: 2.248276 -3.301969 -0.104991 q: 0.073568 0.803383 -0.165153 0.567351 
time: 1403637251.088319, t: 2.278977 -3.209851 -0.082130 q: 0.067734 0.804458 -0.163710 0.566974 
time: 1403637251.188319, t: 2.309230 -3.123791 -0.053807 q: 0.058065 0.807021 -0.161857 0.564931 
optimize pose graph 
time: 1403637251.288319, t: 2.336421 -3.046729 -0.017316 q: 0.051429 0.808525 -0.158071 0.564496 
time: 1403637251.388319, t: 2.362272 -2.978301 0.028683 q: 0.055382 0.807879 -0.144322 0.568714 
time: 1403637251.488319, t: 2.388369 -2.918528 0.077277 q: 0.055578 0.807418 -0.129131 0.572986 
time: 1403637251.588319, t: 2.413947 -2.862822 0.119320 q: 0.051264 0.807795 -0.113932 0.576072 
time: 1403637251.688319, t: 2.437724 -2.812739 0.154527 q: 0.044643 0.808353 -0.102371 0.578007 
time: 1403637251.788319, t: 2.458562 -2.766136 0.183056 q: 0.038289 0.808644 -0.094441 0.579405 
time: 1403637251.888319, t: 2.476788 -2.725700 0.208099 q: 0.037613 0.807395 -0.086968 0.582353 
time: 1403637251.988319, t: 2.493524 -2.689109 0.229798 q: 0.044508 0.803741 -0.076600 0.588347 
time: 1403637252.188319, t: 2.513070 -2.619766 0.260271 q: 0.046235 0.796073 -0.069820 0.599379 
time: 1403637252.288319, t: 2.512854 -2.585383 0.266125 q: 0.041658 0.795882 -0.071831 0.599730 
time: 1403637252.388319, t: 2.507100 -2.550980 0.264779 q: 0.037907 0.799036 -0.074201 0.595483 
time: 1403637252.588319, t: 2.478747 -2.487838 0.242296 q: 0.033936 0.807283 -0.078308 0.583961 
time: 1403637252.688319, t: 2.458914 -2.459223 0.222516 q: 0.030127 0.811709 -0.081529 0.577559 
time: 1403637252.788319, t: 2.441420 -2.434652 0.202319 q: 0.022967 0.817710 -0.087135 0.568533 
time: 1403637252.888319, t: 2.421711 -2.414331 0.189798 q: 0.025971 0.819042 -0.085809 0.566686 
time: 1403637252.988319, t: 2.404417 -2.399629 0.188199 q: 0.034183 0.814432 -0.081201 0.573532 
time: 1403637253.088319, t: 2.387064 -2.386725 0.193007 q: 0.039237 0.811118 -0.078707 0.578232 
time: 1403637253.188319, t: 2.369451 -2.375040 0.201264 q: 0.041870 0.809390 -0.077924 0.580570 
time: 1403637253.288319, t: 2.351942 -2.363594 0.206108 q: 0.043143 0.808589 -0.078301 0.581542 
time: 1403637253.388319, t: 2.331812 -2.355485 0.204165 q: 0.043459 0.808503 -0.078839 0.581566 
time: 1403637253.488319, t: 2.310642 -2.348471 0.195942 q: 0.042626 0.807706 -0.080065 0.582567 
time: 1403637253.588319, t: 2.287666 -2.342641 0.183502 q: 0.043832 0.808715 -0.079778 0.581115 
time: 1403637253.688319, t: 2.263450 -2.337699 0.175287 q: 0.047716 0.808395 -0.077103 0.581614 
time: 1403637253.788319, t: 2.237276 -2.333082 0.174749 q: 0.052296 0.807085 -0.073935 0.583449 
time: 1403637253.888319, t: 2.209771 -2.326895 0.179481 q: 0.054061 0.806613 -0.072932 0.584066 
time: 1403637253.988319, t: 2.182343 -2.318899 0.191121 q: 0.054801 0.806489 -0.073038 0.584155 
time: 1403637254.088319, t: 2.148955 -2.308870 0.208298 q: 0.055927 0.805597 -0.071608 0.585455 
time: 1403637254.188319, t: 2.113766 -2.295948 0.230182 q: 0.052789 0.805642 -0.066877 0.586244 
time: 1403637254.288319, t: 2.076601 -2.279996 0.257016 q: 0.048591 0.809072 -0.058164 0.582803 
time: 1403637254.388319, t: 2.037698 -2.261460 0.286896 q: 0.043420 0.813512 -0.049994 0.577766 
time: 1403637254.488319, t: 2.000720 -2.241594 0.312261 q: 0.039218 0.816714 -0.043792 0.574040 
time: 1403637254.588319, t: 1.964002 -2.220460 0.333585 q: 0.035343 0.817797 -0.038967 0.573098 
time: 1403637254.688319, t: 1.926760 -2.198232 0.349303 q: 0.033170 0.816626 -0.035549 0.575115 
time: 1403637254.788319, t: 1.889507 -2.175290 0.358969 q: 0.031198 0.813655 -0.033760 0.579527 
time: 1403637254.888319, t: 1.852452 -2.151446 0.363036 q: 0.027985 0.810979 -0.033846 0.583424 
time: 1403637254.988319, t: 1.814333 -2.126337 0.360419 q: 0.026808 0.808687 -0.033813 0.586655 
time: 1403637255.088319, t: 1.776937 -2.100332 0.354743 q: 0.024878 0.808133 -0.031418 0.587636 
time: 1403637255.188319, t: 1.735168 -2.072139 0.350662 q: 0.019198 0.808632 -0.025043 0.587468 
time: 1403637255.288319, t: 1.691796 -2.043450 0.353484 q: 0.012081 0.808301 -0.017956 0.588371 
time: 1403637255.388319, t: 1.648312 -2.014866 0.362763 q: 0.004170 0.808638 -0.011445 0.588180 
time: 1403637255.488319, t: 1.600577 -1.983827 0.368802 q: -0.002608 0.809669 -0.001209 0.586880 
optimize pose graph 
time: 1403637255.588319, t: 1.550970 -1.951672 0.368145 q: -0.008703 0.810146 0.013065 0.586018 
time: 1403637255.688319, t: 1.501563 -1.919171 0.362936 q: -0.016411 0.810550 0.029371 0.584702 
time: 1403637255.788319, t: 1.449772 -1.886098 0.357450 q: -0.025549 0.812171 0.048073 0.580873 
time: 1403637255.888319, t: 1.397395 -1.852332 0.358806 q: -0.037093 0.813975 0.066810 0.575852 
time: 1403637255.988319, t: 1.345726 -1.818888 0.369981 q: -0.048791 0.813753 0.083047 0.573174 
time: 1403637256.088319, t: 1.291309 -1.784287 0.390915 q: -0.055523 0.813174 0.096065 0.571347 
time: 1403637256.188319, t: 1.237360 -1.748391 0.413510 q: -0.059997 0.810454 0.103881 0.573387 
time: 1403637256.288319, t: 1.183387 -1.711052 0.431211 q: -0.063696 0.806442 0.107688 0.577925 
time: 1403637256.388319, t: 1.128852 -1.671844 0.441018 q: -0.064402 0.804237 0.109876 0.580502 
time: 1403637256.488319, t: 1.072386 -1.630566 0.444641 q: -0.062522 0.803172 0.110819 0.582000 
time: 1403637256.588319, t: 1.014762 -1.587730 0.442704 q: -0.062768 0.802765 0.108943 0.582890 
time: 1403637256.688319, t: 0.954061 -1.542892 0.433413 q: -0.066222 0.808042 0.103524 0.576164 
time: 1403637256.788319, t: 0.891918 -1.497306 0.419965 q: -0.074720 0.815521 0.094236 0.566094 
time: 1403637256.888319, t: 0.830841 -1.451634 0.405532 q: -0.080273 0.817285 0.088633 0.563689 
time: 1403637256.988319, t: 0.772937 -1.408335 0.392950 q: -0.080077 0.813581 0.093910 0.568203 
time: 1403637257.088319, t: 0.714248 -1.367275 0.386162 q: -0.080326 0.809292 0.104646 0.572401 
time: 1403637257.188319, t: 0.656371 -1.324993 0.387283 q: -0.081412 0.806995 0.113619 0.573779 
time: 1403637257.388319, t: 0.548387 -1.241292 0.408340 q: -0.083756 0.807616 0.128065 0.569509 
time: 1403637257.488319, t: 0.497286 -1.200138 0.422677 q: -0.084666 0.807651 0.132673 0.568268 
time: 1403637257.588319, t: 0.445057 -1.158241 0.431141 q: -0.084232 0.808643 0.136650 0.565975 
optimize pose graph 
time: 1403637257.688319, t: 0.391885 -1.115200 0.430821 q: -0.086926 0.812578 0.136976 0.559821 
time: 1403637257.788319, t: 0.342514 -1.070818 0.427752 q: -0.090836 0.815592 0.139525 0.554158 
time: 1403637257.888319, t: 0.300530 -1.022227 0.420652 q: -0.096048 0.817841 0.144977 0.548538 
time: 1403637257.988319, t: 0.260180 -0.971073 0.409268 q: -0.104198 0.817831 0.152956 0.544885 
time: 1403637258.088319, t: 0.222763 -0.917411 0.398046 q: -0.115746 0.815886 0.164419 0.542125 
time: 1403637258.188319, t: 0.191549 -0.861338 0.394757 q: -0.126916 0.808478 0.181291 0.545334 
time: 1403637258.288319, t: 0.162499 -0.804512 0.396424 q: -0.134475 0.799067 0.197524 0.551718 
time: 1403637258.388319, t: 0.134855 -0.747360 0.394871 q: -0.142449 0.792468 0.208584 0.555153 
time: 1403637258.488319, t: 0.107693 -0.689550 0.385507 q: -0.153843 0.791536 0.212351 0.552006 
time: 1403637258.588319, t: 0.083703 -0.633243 0.369332 q: -0.163039 0.793114 0.213076 0.546798 
time: 1403637258.688319, t: 0.060220 -0.580081 0.349189 q: -0.165924 0.789864 0.214539 0.550052 
time: 1403637258.788319, t: 0.041948 -0.529301 0.327505 q: -0.167149 0.787365 0.215134 0.553024 
time: 1403637258.888319, t: 0.022979 -0.480232 0.305396 q: -0.168837 0.785485 0.214044 0.555602 
time: 1403637258.988319, t: 0.005096 -0.433440 0.288988 q: -0.170438 0.785935 0.211848 0.555318 
time: 1403637259.088319, t: -0.009853 -0.391645 0.283807 q: -0.170203 0.786695 0.210104 0.554976 
time: 1403637259.188319, t: -0.022598 -0.354321 0.291837 q: -0.170852 0.786519 0.208790 0.555521 
time: 1403637259.288319, t: -0.036731 -0.322093 0.308410 q: -0.171369 0.786038 0.207000 0.556711 
time: 1403637259.388319, t: -0.050189 -0.292848 0.322891 q: -0.172039 0.786779 0.204923 0.556227 
time: 1403637259.488319, t: -0.063562 -0.270625 0.334716 q: -0.179497 0.786871 0.198534 0.556057 
time: 1403637259.588319, t: -0.075792 -0.253130 0.342602 q: -0.183439 0.787043 0.195189 0.555711 
time: 1403637259.688319, t: -0.086949 -0.239876 0.348055 q: -0.179977 0.786886 0.196753 0.556514 
time: 1403637259.788319, t: -0.096928 -0.229680 0.348166 q: -0.172826 0.789637 0.201259 0.553263 
optimize pose graph 
time: 1403637259.888319, t: -0.105524 -0.224018 0.346371 q: -0.171488 0.789813 0.201951 0.553176 
time: 1403637259.988319, t: -0.112194 -0.221398 0.339616 q: -0.175426 0.787961 0.199151 0.555591 
time: 1403637260.188319, t: -0.123334 -0.227955 0.313293 q: -0.165839 0.785829 0.206612 0.558822 
time: 1403637260.288319, t: -0.129303 -0.234830 0.295229 q: -0.158382 0.785813 0.212576 0.558770 
time: 1403637260.388319, t: -0.136401 -0.242615 0.276338 q: -0.149494 0.783782 0.219589 0.561354 
time: 1403637260.488319, t: -0.144907 -0.248352 0.255014 q: -0.144406 0.783798 0.224064 0.560894 
time: 1403637260.688319, t: -0.164440 -0.249848 0.208607 q: -0.144334 0.794981 0.224027 0.544962 
time: 1403637260.788319, t: -0.174159 -0.245028 0.186395 q: -0.147713 0.792603 0.222090 0.548304 
time: 1403637260.888319, t: -0.182905 -0.237501 0.163938 q: -0.151822 0.787833 0.220403 0.554699 
time: 1403637260.988319, t: -0.191346 -0.228573 0.141468 q: -0.153865 0.783261 0.219633 0.560882 
time: 1403637261.088319, t: -0.201213 -0.219256 0.118087 q: -0.154599 0.784998 0.219397 0.558339 
time: 1403637261.188319, t: -0.211788 -0.208768 0.094874 q: -0.151897 0.791892 0.220959 0.548645 
time: 1403637261.288319, t: -0.222022 -0.196836 0.075280 q: -0.149258 0.797341 0.222518 0.540791 
time: 1403637261.388319, t: -0.229500 -0.182467 0.063697 q: -0.151236 0.793921 0.220858 0.545929 
time: 1403637261.488319, t: -0.235502 -0.166738 0.056904 q: -0.158285 0.790054 0.215871 0.551508 
time: 1403637261.588319, t: -0.240120 -0.151591 0.050430 q: -0.157184 0.795109 0.216122 0.544414 
time: 1403637261.688319, t: -0.242368 -0.136005 0.048178 q: -0.152775 0.800785 0.218747 0.536239 
time: 1403637261.788319, t: -0.240047 -0.118347 0.053031 q: -0.151637 0.798495 0.219215 0.539774 
time: 1403637261.888319, t: -0.235012 -0.098350 0.060555 q: -0.153839 0.791442 0.217125 0.550282 
time: 1403637261.988319, t: -0.229793 -0.079646 0.061638 q: -0.155146 0.786859 0.215091 0.557242 
optimize pose graph 
time: 1403637262.088319, t: -0.224428 -0.061651 0.052781 q: -0.158668 0.784344 0.211277 0.561241 
time: 1403637262.188319, t: -0.220206 -0.045492 0.034926 q: -0.162376 0.784618 0.207414 0.561238 
time: 1403637262.288319, t: -0.216557 -0.032085 0.009685 q: -0.165197 0.785236 0.203939 0.560824 
time: 1403637262.388319, t: -0.220336 -0.038700 0.007334 q: -0.168109 0.771973 0.202010 0.578782 
time: 1403637262.488319, t: -0.221719 -0.048564 -0.001506 q: -0.156568 0.789572 0.172247 0.567797 
time: 1403637262.588319, t: -0.227594 -0.055756 0.002425 q: -0.167887 0.772912 0.161631 0.590166 
time: 1403637262.688319, t: -0.224813 -0.058782 0.002450 q: -0.163233 0.783082 0.163909 0.577297 
time: 1403637262.788319, t: -0.227620 -0.057662 0.005226 q: -0.164045 0.781236 0.161143 0.580338 
time: 1403637262.888319, t: -0.227384 -0.056242 0.005330 q: -0.164624 0.782195 0.162129 0.578606 
time: 1403637262.988319, t: -0.227527 -0.056737 0.005410 q: -0.164457 0.781807 0.161952 0.579227 
time: 1403637263.088319, t: -0.227517 -0.056905 0.005400 q: -0.163895 0.781773 0.162220 0.579357 
time: 1403637263.188319, t: -0.227639 -0.057201 0.005484 q: -0.163515 0.781643 0.162348 0.579603 
wait for imu ... 
time: 1403637263.288319, t: -0.227705 -0.057140 0.005451 q: -0.163754 0.781844 0.162236 0.579297 
time: 1403637263.388319, t: -0.227687 -0.057062 0.005462 q: -0.164053 0.781843 0.162151 0.579237 
time: 1403637263.488319, t: -0.227728 -0.057212 0.005440 q: -0.163746 0.781851 0.162255 0.579284 
time: 1403637263.588319, t: -0.227716 -0.057195 0.005429 q: -0.163957 0.781888 0.162135 0.579207 
time: 1403637263.688319, t: -0.227724 -0.057204 0.005415 q: -0.164030 0.781939 0.162098 0.579129 
time: 1403637263.788319, t: -0.227748 -0.057086 0.005398 q: -0.164372 0.781942 0.161801 0.579110 
time: 1403637263.888319, t: -0.227783 -0.057145 0.005409 q: -0.164409 0.781959 0.161779 0.579083 
time: 1403637263.988319, t: -0.227739 -0.057284 0.005395 q: -0.164110 0.781992 0.161910 0.579086 
time: 1403637264.088319, t: -0.227721 -0.057275 0.005370 q: -0.164077 0.782031 0.161958 0.579030 
time: 1403637264.188319, t: -0.227719 -0.057338 0.005348 q: -0.164028 0.781992 0.161921 0.579107 
time: 1403637264.288319, t: -0.227674 -0.057257 0.005340 q: -0.164210 0.782038 0.161826 0.579020 
time: 1403637264.388319, t: -0.227676 -0.057293 0.005332 q: -0.164188 0.782081 0.161878 0.578954 
time: 1403637264.488319, t: -0.227555 -0.057262 0.005296 q: -0.164081 0.782045 0.161855 0.579038 
time: 1403637264.588319, t: -0.227562 -0.057229 0.005297 q: -0.164133 0.782075 0.161805 0.578997 
time: 1403637264.688319, t: -0.227605 -0.057291 0.005320 q: -0.164168 0.782091 0.161759 0.578980 
time: 1403637264.788319, t: -0.227559 -0.057293 0.005330 q: -0.164241 0.782121 0.161720 0.578928 
time: 1403637264.888319, t: -0.227524 -0.057306 0.005347 q: -0.164206 0.782127 0.161713 0.578933 
time: 1403637264.988319, t: -0.227499 -0.057323 0.005341 q: -0.164052 0.782146 0.161782 0.578931 
time: 1403637265.088319, t: -0.227494 -0.057303 0.005364 q: -0.164070 0.782194 0.161810 0.578853 
time: 1403637265.188319, t: -0.227510 -0.057323 0.005377 q: -0.164020 0.782171 0.161775 0.578909 
time: 1403637265.288319, t: -0.227520 -0.057342 0.005369 q: -0.164039 0.782205 0.161793 0.578852 
time: 1403637265.388319, t: -0.227445 -0.057323 0.005389 q: -0.164020 0.782217 0.161808 0.578837 
time: 1403637265.488319, t: -0.227339 -0.057349 0.005384 q: -0.164046 0.782216 0.161796 0.578834 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731018787.229665362]: Shutdown request received.[0m
[33m[ WARN] [1731018787.229760203]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731018787.232892447]: Shutdown request received.[0m
[33m[ WARN] [1731018787.232993575]: Reason given for shutdown: [user request][0m
killed
