/SLAM-Hive/slam_hive_results/mapping_results/3339/287_VINS-Fusion-stereo+MH_01_easy.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1731019579.665678316]: init begins[0m
[31m[ERROR] [1731019579.668100240]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731019579.668121198]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/1af07406-9d5a-11ef-8b13-0242ac110002/roslaunch-d058505d34b0-117.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://d058505d34b0:44581/[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 [154][0m
[0m[ INFO] [1731019580.724784274]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731019580.725000147]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1731019580.735854139]:  fix extrinsic param [0m
config_file: /slamhive/mappingtask.yaml
camera number 2
[0m[ INFO] [1731019580.738547427]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731019580.738588441]: ROW: 480 COL: 752 [0m
no imu, fix extrinsic param; no time offset calibration
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1731019580.738830382]: reading paramerter of camera /slamhive/cam0_mei.yaml[0m
[0m[ INFO] [1731019580.743537042]: reading paramerter of camera /slamhive/cam1_mei.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731019580.743830126]: waiting for image and imu...[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://d058505d34b0:11311/[0m
]2;roscore http://d058505d34b0:11311/
[1msetting /run_id to 1af07406-9d5a-11ef-8b13-0242ac110002[0m
loop start load vocabulary
[1mprocess[rosout-1]: started with pid [241][0m
started core service [/rosout]
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_mei.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1731019589.734977769]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 327383011.03 
[0m[ INFO] [1731019592.117167902]: Initialization finish![0m
time: 1403636580.813555, t: -0.151517 -0.010506 0.039819 q: 0.998380 -0.005544 -0.056156 -0.007287 
time: 1403636580.913555, t: -0.082491 -0.013814 0.024303 q: 0.998835 -0.014722 -0.044032 -0.013190 
time: 1403636581.013556, t: 0.092014 -0.020493 -0.027037 q: 0.999412 -0.022140 -0.014025 -0.022110 
time: 1403636581.113555, t: 0.051143 -0.029056 0.010597 q: 0.999607 -0.017227 -0.016215 -0.015040 
time: 1403636581.213556, t: 0.104035 -0.022727 -0.021249 q: 0.999786 -0.017597 -0.000153 -0.010901 
time: 1403636581.313555, t: 0.143781 -0.022835 -0.033841 q: 0.999675 -0.017092 0.016408 -0.009417 
time: 1403636581.413555, t: 0.151352 -0.021693 -0.039696 q: 0.999470 -0.019725 0.022957 -0.012020 
time: 1403636581.513556, t: 0.126239 -0.018494 -0.035047 q: 0.999477 -0.022416 0.015371 -0.017493 
time: 1403636581.613555, t: 0.077783 -0.014103 -0.021679 q: 0.999636 -0.022231 0.002766 -0.015064 
time: 1403636581.713556, t: 0.018810 -0.007046 -0.005072 q: 0.999657 -0.021069 -0.005718 -0.014495 
time: 1403636581.813555, t: -0.045404 -0.003665 0.010567 q: 0.999734 -0.016958 -0.008715 -0.012961 
time: 1403636581.913555, t: -0.111110 -0.000949 0.030165 q: 0.999729 -0.014243 -0.015388 -0.010076 
time: 1403636582.013556, t: -0.172548 0.001736 0.044407 q: 0.999366 -0.018392 -0.029626 -0.007209 
time: 1403636582.113555, t: -0.219873 0.003068 0.055086 q: 0.998675 -0.019895 -0.046766 -0.008092 
time: 1403636582.213556, t: -0.243454 0.001693 0.058724 q: 0.998045 -0.016573 -0.059760 -0.007825 
time: 1403636582.313555, t: -0.233733 -0.001883 0.057439 q: 0.997809 -0.014219 -0.064130 -0.007874 
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time: 1403636582.913555, t: 0.116692 -0.014513 -0.034350 q: 0.999357 -0.035484 -0.004551 -0.002592 
time: 1403636583.013556, t: 0.160970 -0.012412 -0.048725 q: 0.999173 -0.038657 0.012377 -0.002269 
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time: 1403636583.213556, t: 0.165639 -0.007638 -0.052546 q: 0.998908 -0.041804 0.018886 -0.008897 
time: 1403636583.313555, t: 0.127720 -0.005372 -0.039934 q: 0.999029 -0.040154 0.015219 -0.009849 
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time: 1403636584.913555, t: 0.188907 -0.006563 -0.049073 q: 0.998783 -0.042462 0.020867 -0.013940 
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time: 1403636589.413555, t: -0.074913 0.021810 -0.050180 q: 0.981949 -0.026246 -0.186124 0.021122 
time: 1403636589.513556, t: -0.078336 -0.026598 -0.052135 q: 0.982139 -0.024198 -0.185700 0.018263 
time: 1403636589.613555, t: -0.082967 -0.074562 -0.053581 q: 0.982747 -0.021329 -0.182984 0.016447 
time: 1403636589.713556, t: -0.087971 -0.121519 -0.055595 q: 0.983211 -0.018740 -0.180943 0.014305 
time: 1403636589.813555, t: -0.094510 -0.165795 -0.056387 q: 0.982923 -0.011759 -0.183174 0.013113 
time: 1403636589.913555, t: -0.102514 -0.203419 -0.056036 q: 0.981800 -0.003726 -0.189523 0.011657 
time: 1403636590.013556, t: -0.109072 -0.234502 -0.056352 q: 0.981530 0.005465 -0.190835 0.012326 
time: 1403636590.113555, t: -0.111328 -0.256863 -0.057283 q: 0.982678 0.011598 -0.184618 0.011193 
time: 1403636590.213556, t: -0.110890 -0.267891 -0.059154 q: 0.983671 0.015702 -0.178982 0.010537 
optimize pose graph 
time: 1403636590.313555, t: -0.109483 -0.265913 -0.062133 q: 0.983696 0.014925 -0.179025 0.008289 
time: 1403636590.413555, t: -0.107388 -0.251470 -0.066133 q: 0.983498 0.010122 -0.180492 0.007240 
time: 1403636590.513556, t: -0.103731 -0.225727 -0.070535 q: 0.983809 0.003062 -0.179095 0.005996 
time: 1403636590.613555, t: -0.099218 -0.191690 -0.075320 q: 0.984432 -0.003306 -0.175672 0.004770 
time: 1403636590.713556, t: -0.095598 -0.151923 -0.078153 q: 0.984564 -0.009486 -0.174684 0.005379 
time: 1403636590.813555, t: -0.093653 -0.108564 -0.078477 q: 0.983806 -0.013251 -0.178532 0.008769 
time: 1403636590.913555, t: -0.092866 -0.062133 -0.076381 q: 0.982736 -0.016002 -0.183907 0.012297 
time: 1403636591.013556, t: -0.092370 -0.014520 -0.073703 q: 0.982540 -0.017845 -0.184714 0.013356 
time: 1403636591.113555, t: -0.090676 0.030686 -0.070111 q: 0.982857 -0.016095 -0.183044 0.015073 
time: 1403636591.213556, t: -0.089129 0.072872 -0.066180 q: 0.982742 -0.016808 -0.183330 0.018048 
time: 1403636591.313555, t: -0.090055 0.109807 -0.061574 q: 0.982240 -0.019845 -0.185523 0.019820 
time: 1403636591.413555, t: -0.092852 0.138587 -0.056906 q: 0.981805 -0.024536 -0.187027 0.021840 
time: 1403636591.513556, t: -0.097495 0.159975 -0.050334 q: 0.981884 -0.028617 -0.185868 0.023192 
time: 1403636591.613555, t: -0.101443 0.177520 -0.042456 q: 0.983257 -0.042530 -0.175503 0.024394 
time: 1403636591.713556, t: -0.103261 0.188460 -0.034652 q: 0.986046 -0.054753 -0.155472 0.023301 
time: 1403636591.813555, t: -0.101491 0.195446 -0.028504 q: 0.988556 -0.066159 -0.133956 0.020876 
time: 1403636591.913555, t: -0.097614 0.201721 -0.023467 q: 0.989701 -0.075640 -0.119503 0.022123 
time: 1403636592.013556, t: -0.094303 0.210254 -0.015947 q: 0.988581 -0.083578 -0.121945 0.029200 
time: 1403636592.113555, t: -0.090103 0.223507 -0.002258 q: 0.986540 -0.093965 -0.128325 0.037978 
time: 1403636592.213556, t: -0.084859 0.238466 0.016474 q: 0.984336 -0.102041 -0.136646 0.044700 
optimize pose graph 
time: 1403636592.313555, t: -0.077487 0.250657 0.038595 q: 0.982825 -0.103798 -0.145066 0.047297 
time: 1403636592.413555, t: -0.068155 0.255474 0.065422 q: 0.982389 -0.097818 -0.150962 0.050532 
time: 1403636592.513556, t: -0.056186 0.251031 0.096034 q: 0.983998 -0.085525 -0.148973 0.047326 
time: 1403636592.613555, t: -0.044467 0.236976 0.128253 q: 0.986951 -0.069324 -0.140069 0.038756 
time: 1403636592.713556, t: -0.035089 0.214153 0.158998 q: 0.989133 -0.051993 -0.134607 0.028174 
time: 1403636592.813555, t: -0.028952 0.179856 0.185808 q: 0.990305 -0.027711 -0.134731 0.019377 
time: 1403636592.913555, t: -0.028136 0.133396 0.202517 q: 0.990081 0.001609 -0.139907 0.012735 
time: 1403636593.013556, t: -0.032630 0.077624 0.205542 q: 0.988741 0.030299 -0.146436 0.005422 
time: 1403636593.113555, t: -0.041500 0.016253 0.195511 q: 0.986856 0.056692 -0.151272 -0.004140 
time: 1403636593.313555, t: -0.067481 -0.101555 0.137305 q: 0.982649 0.100103 -0.156043 -0.005584 
time: 1403636593.413555, t: -0.084651 -0.140415 0.096114 q: 0.981179 0.107116 -0.160489 -0.007497 
time: 1403636593.513556, t: -0.104837 -0.159588 0.051593 q: 0.981047 0.103475 -0.163628 -0.008160 
time: 1403636593.613555, t: -0.127130 -0.162118 0.007629 q: 0.981206 0.093258 -0.168925 -0.001569 
time: 1403636593.713556, t: -0.148599 -0.147346 -0.033553 q: 0.981214 0.076122 -0.176999 0.009800 
time: 1403636593.913555, t: -0.179961 -0.075579 -0.103570 q: 0.984271 0.009895 -0.171817 0.039885 
time: 1403636594.013556, t: -0.186048 -0.026367 -0.130823 q: 0.985400 -0.030315 -0.158927 0.053013 
time: 1403636594.113555, t: -0.186847 0.027546 -0.145456 q: 0.984069 -0.068405 -0.150770 0.064786 
time: 1403636594.213556, t: -0.182739 0.083966 -0.147250 q: 0.980848 -0.099385 -0.149867 0.074832 
optimize pose graph 
time: 1403636594.313555, t: -0.175660 0.141710 -0.130643 q: 0.978137 -0.121074 -0.150169 0.077703 
time: 1403636594.413555, t: -0.162628 0.197173 -0.102086 q: 0.976971 -0.135741 -0.146774 0.074560 
time: 1403636594.513556, t: -0.145052 0.247322 -0.061841 q: 0.978002 -0.141299 -0.137547 0.068027 
time: 1403636594.613555, t: -0.126099 0.282819 -0.016192 q: 0.979549 -0.140800 -0.127039 0.067229 
time: 1403636594.713556, t: -0.108223 0.294253 0.027947 q: 0.980985 -0.136067 -0.121047 0.067099 
time: 1403636594.813555, t: -0.096613 0.278629 0.068984 q: 0.983892 -0.120152 -0.117501 0.060945 
time: 1403636594.913555, t: -0.088825 0.237128 0.106695 q: 0.987636 -0.095803 -0.114420 0.048018 
time: 1403636595.013556, t: -0.085995 0.172517 0.134699 q: 0.991278 -0.060368 -0.112636 0.032186 
time: 1403636595.113555, t: -0.090052 0.096277 0.149964 q: 0.992824 -0.020607 -0.116606 0.016696 
time: 1403636595.213556, t: -0.096637 0.019335 0.148186 q: 0.992170 0.016490 -0.123628 0.006498 
time: 1403636595.313555, t: -0.107885 -0.043956 0.138402 q: 0.990348 0.048568 -0.129807 -0.001347 
time: 1403636595.413555, t: -0.120877 -0.087215 0.116862 q: 0.988708 0.067083 -0.133767 -0.007982 
time: 1403636595.513556, t: -0.133942 -0.103179 0.090222 q: 0.987631 0.074882 -0.137397 -0.009994 
time: 1403636595.613555, t: -0.146746 -0.092072 0.060150 q: 0.986855 0.075876 -0.142225 -0.011502 
time: 1403636595.713556, t: -0.159440 -0.058162 0.029741 q: 0.987188 0.064903 -0.145357 -0.010941 
time: 1403636595.913555, t: -0.185822 0.047289 -0.025942 q: 0.989592 0.008597 -0.143595 -0.003876 
time: 1403636596.013556, t: -0.199079 0.097831 -0.057053 q: 0.989049 -0.022618 -0.145756 0.005086 
time: 1403636596.113555, t: -0.211455 0.131616 -0.091136 q: 0.987384 -0.050036 -0.149375 0.015980 
time: 1403636596.213556, t: -0.222380 0.138790 -0.123071 q: 0.986331 -0.064973 -0.149432 0.024498 
optimize pose graph 
time: 1403636596.313555, t: -0.228930 0.119147 -0.156589 q: 0.986408 -0.068759 -0.145829 0.031693 
time: 1403636596.413555, t: -0.233081 0.083018 -0.194000 q: 0.987043 -0.070627 -0.140621 0.031371 
time: 1403636596.513556, t: -0.237071 0.043118 -0.231390 q: 0.988111 -0.068512 -0.135103 0.026275 
time: 1403636596.613555, t: -0.240774 0.007378 -0.260547 q: 0.988612 -0.066882 -0.133159 0.021018 
time: 1403636596.713556, t: -0.243949 -0.018693 -0.277247 q: 0.988359 -0.065703 -0.135836 0.019446 
time: 1403636596.813555, t: -0.244233 -0.029537 -0.275783 q: 0.988870 -0.064131 -0.133387 0.015178 
time: 1403636596.913555, t: -0.238081 -0.025801 -0.254012 q: 0.989615 -0.065012 -0.127874 0.009148 
time: 1403636597.013556, t: -0.225530 -0.012103 -0.214037 q: 0.989176 -0.067356 -0.130251 0.005369 
time: 1403636597.113555, t: -0.208750 0.006412 -0.161359 q: 0.987766 -0.065168 -0.141595 0.004752 
time: 1403636597.213556, t: -0.186190 0.025931 -0.101285 q: 0.987186 -0.054335 -0.150031 0.001253 
time: 1403636597.313555, t: -0.157603 0.043086 -0.040136 q: 0.987882 -0.040670 -0.149658 -0.006123 
time: 1403636597.413555, t: -0.128391 0.053737 0.021098 q: 0.988898 -0.025429 -0.145687 -0.014467 
time: 1403636597.513556, t: -0.105059 0.056697 0.076273 q: 0.989514 -0.007447 -0.142130 -0.024590 
time: 1403636597.613555, t: -0.090912 0.049237 0.115295 q: 0.990254 0.015877 -0.135250 -0.029200 
time: 1403636597.713556, t: -0.086999 0.030597 0.133305 q: 0.990637 0.039643 -0.126578 -0.032317 
time: 1403636597.913555, t: -0.103506 -0.014901 0.108067 q: 0.990318 0.065963 -0.113876 -0.044185 
time: 1403636598.013556, t: -0.120174 -0.030036 0.074692 q: 0.989342 0.070380 -0.116503 -0.051726 
time: 1403636598.113555, t: -0.141011 -0.037964 0.035506 q: 0.988060 0.071277 -0.126174 -0.052322 
time: 1403636598.213556, t: -0.164323 -0.038244 -0.000927 q: 0.986002 0.066832 -0.143357 -0.052742 
optimize pose graph 
time: 1403636598.313555, t: -0.187334 -0.032274 -0.025215 q: 0.983709 0.060276 -0.160209 -0.054925 
time: 1403636598.413555, t: -0.204625 -0.021865 -0.032754 q: 0.982942 0.051139 -0.166820 -0.058155 
time: 1403636598.513556, t: -0.215001 -0.009070 -0.021014 q: 0.983475 0.048029 -0.163689 -0.060635 
time: 1403636598.613555, t: -0.217664 0.003188 0.006643 q: 0.985195 0.054144 -0.150809 -0.060956 
time: 1403636598.713556, t: -0.217597 0.014273 0.042319 q: 0.987058 0.065305 -0.133120 -0.061081 
time: 1403636598.813555, t: -0.221682 0.023681 0.080578 q: 0.988939 0.078357 -0.110527 -0.060365 
time: 1403636599.013556, t: -0.242935 0.042107 0.149180 q: 0.992114 0.085761 -0.070592 -0.058069 
time: 1403636599.113555, t: -0.252741 0.047392 0.173062 q: 0.992878 0.092198 -0.051772 -0.054895 
time: 1403636599.213556, t: -0.257886 0.051167 0.190353 q: 0.993556 0.098187 -0.022841 -0.051808 
time: 1403636599.313555, t: -0.261029 0.053574 0.205325 q: 0.993905 0.099579 0.006961 -0.046774 
time: 1403636599.413555, t: -0.265842 0.055832 0.218451 q: 0.994041 0.095976 0.022937 -0.046323 
time: 1403636599.513556, t: -0.271813 0.057551 0.229598 q: 0.994750 0.087819 0.024487 -0.046488 
time: 1403636599.613555, t: -0.278440 0.059291 0.237374 q: 0.995551 0.081326 0.018930 -0.043665 
time: 1403636599.713556, t: -0.284953 0.061483 0.241835 q: 0.995783 0.078890 0.018300 -0.043104 
time: 1403636599.813555, t: -0.285079 0.063700 0.241439 q: 0.995181 0.080722 0.035750 -0.042680 
time: 1403636599.913555, t: -0.286384 0.065201 0.240643 q: 0.994812 0.082326 0.044481 -0.039924 
time: 1403636600.013556, t: -0.287201 0.066258 0.241049 q: 0.995106 0.080693 0.043299 -0.037130 
time: 1403636600.113555, t: -0.288246 0.068172 0.241110 q: 0.994956 0.082746 0.046596 -0.032313 
time: 1403636600.213556, t: -0.288378 0.068317 0.240998 q: 0.994923 0.082913 0.046930 -0.032432 
time: 1403636600.313555, t: -0.288518 0.068101 0.240972 q: 0.994893 0.083411 0.047099 -0.031825 
optimize pose graph 
time: 1403636600.413555, t: -0.288580 0.068026 0.240837 q: 0.994880 0.083677 0.047267 -0.031269 
time: 1403636600.513556, t: -0.288600 0.068037 0.240775 q: 0.994880 0.083699 0.047508 -0.030841 
time: 1403636600.613555, t: -0.288577 0.067958 0.240809 q: 0.994879 0.083852 0.047378 -0.030650 
time: 1403636600.713556, t: -0.288594 0.068013 0.240807 q: 0.994887 0.083736 0.047301 -0.030823 
time: 1403636600.813555, t: -0.288594 0.068046 0.240808 q: 0.994888 0.083664 0.047340 -0.030949 
time: 1403636600.913555, t: -0.288580 0.068031 0.240820 q: 0.994888 0.083647 0.047336 -0.030979 
time: 1403636601.013556, t: -0.288609 0.068058 0.240815 q: 0.994891 0.083637 0.047305 -0.030972 
time: 1403636601.113555, t: -0.288598 0.068046 0.240820 q: 0.994892 0.083660 0.047276 -0.030909 
time: 1403636601.213556, t: -0.288612 0.068044 0.240813 q: 0.994894 0.083646 0.047276 -0.030908 
time: 1403636601.313555, t: -0.288615 0.068040 0.240811 q: 0.994894 0.083647 0.047276 -0.030893 
time: 1403636601.413555, t: -0.288606 0.068020 0.240820 q: 0.994896 0.083654 0.047263 -0.030837 
time: 1403636601.513556, t: -0.288641 0.068033 0.240818 q: 0.994895 0.083672 0.047317 -0.030739 
time: 1403636601.613555, t: -0.288667 0.068008 0.240798 q: 0.994896 0.083708 0.047310 -0.030608 
time: 1403636601.713556, t: -0.288678 0.068002 0.240789 q: 0.994896 0.083697 0.047324 -0.030621 
time: 1403636601.813555, t: -0.288664 0.068000 0.240833 q: 0.994901 0.083690 0.047265 -0.030568 
time: 1403636601.913555, t: -0.288657 0.067997 0.240818 q: 0.994901 0.083682 0.047285 -0.030566 
time: 1403636602.013556, t: -0.288652 0.067990 0.240819 q: 0.994900 0.083685 0.047294 -0.030554 
time: 1403636602.113555, t: -0.288666 0.067978 0.240819 q: 0.994900 0.083693 0.047318 -0.030512 
time: 1403636602.213556, t: -0.288660 0.067966 0.240808 q: 0.994900 0.083707 0.047311 -0.030462 
time: 1403636602.313555, t: -0.288669 0.067978 0.240804 q: 0.994899 0.083692 0.047311 -0.030540 
time: 1403636602.413555, t: -0.288674 0.067991 0.240803 q: 0.994900 0.083672 0.047300 -0.030581 
time: 1403636602.513556, t: -0.288675 0.067997 0.240795 q: 0.994900 0.083653 0.047305 -0.030617 
time: 1403636602.613555, t: -0.288677 0.068004 0.240796 q: 0.994900 0.083656 0.047304 -0.030643 
time: 1403636602.713556, t: -0.288677 0.068002 0.240805 q: 0.994899 0.083668 0.047305 -0.030613 
time: 1403636602.813555, t: -0.288689 0.068014 0.240790 q: 0.994900 0.083658 0.047306 -0.030613 
time: 1403636603.013556, t: -0.288687 0.068021 0.240801 q: 0.994899 0.083644 0.047330 -0.030655 
time: 1403636603.113555, t: -0.288692 0.068017 0.240782 q: 0.994900 0.083644 0.047339 -0.030616 
time: 1403636603.213556, t: -0.288696 0.068018 0.240790 q: 0.994900 0.083653 0.047335 -0.030592 
time: 1403636603.313555, t: -0.288694 0.068008 0.240794 q: 0.994900 0.083643 0.047344 -0.030613 
time: 1403636603.413555, t: -0.288694 0.068008 0.240787 q: 0.994899 0.083652 0.047355 -0.030580 
time: 1403636603.513556, t: -0.288695 0.068007 0.240799 q: 0.994900 0.083661 0.047335 -0.030568 
time: 1403636603.613555, t: -0.288696 0.068001 0.240786 q: 0.994900 0.083649 0.047335 -0.030596 
time: 1403636603.713556, t: -0.288700 0.068002 0.240783 q: 0.994899 0.083657 0.047361 -0.030580 
time: 1403636603.813555, t: -0.288713 0.068012 0.240777 q: 0.994900 0.083654 0.047334 -0.030592 
time: 1403636603.913555, t: -0.288737 0.067994 0.240769 q: 0.994900 0.083688 0.047320 -0.030512 
time: 1403636604.013556, t: -0.288717 0.067986 0.240778 q: 0.994900 0.083694 0.047350 -0.030464 
time: 1403636604.113555, t: -0.288704 0.067986 0.240781 q: 0.994901 0.083654 0.047358 -0.030510 
time: 1403636604.213556, t: -0.288713 0.067995 0.240783 q: 0.994901 0.083645 0.047360 -0.030536 
time: 1403636604.313555, t: -0.288711 0.067999 0.240784 q: 0.994900 0.083642 0.047385 -0.030544 
time: 1403636604.413555, t: -0.288713 0.068003 0.240786 q: 0.994901 0.083675 0.047341 -0.030492 
time: 1403636604.513556, t: -0.288701 0.068003 0.240790 q: 0.994900 0.083644 0.047364 -0.030568 
time: 1403636604.613555, t: -0.288709 0.068006 0.240782 q: 0.994901 0.083638 0.047352 -0.030570 
time: 1403636604.713556, t: -0.288702 0.068007 0.240782 q: 0.994901 0.083633 0.047351 -0.030587 
time: 1403636604.813555, t: -0.288708 0.068017 0.240785 q: 0.994901 0.083651 0.047338 -0.030559 
time: 1403636604.913555, t: -0.288706 0.068008 0.240781 q: 0.994901 0.083638 0.047348 -0.030575 
time: 1403636605.013556, t: -0.288710 0.068019 0.240781 q: 0.994901 0.083650 0.047346 -0.030557 
time: 1403636605.113555, t: -0.288701 0.068017 0.240783 q: 0.994901 0.083625 0.047338 -0.030617 
time: 1403636605.213556, t: -0.288704 0.068012 0.240778 q: 0.994902 0.083627 0.047329 -0.030603 
time: 1403636605.313555, t: -0.288704 0.068019 0.240778 q: 0.994901 0.083616 0.047341 -0.030631 
time: 1403636605.413555, t: -0.288705 0.068014 0.240782 q: 0.994901 0.083630 0.047333 -0.030605 
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time: 1403636606.613555, t: -0.288688 0.067998 0.240778 q: 0.994903 0.083611 0.047305 -0.030651 
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time: 1403636606.913555, t: -0.288689 0.067998 0.240782 q: 0.994903 0.083612 0.047301 -0.030647 
time: 1403636607.013556, t: -0.288686 0.067992 0.240777 q: 0.994903 0.083608 0.047307 -0.030653 
time: 1403636607.113555, t: -0.288687 0.067994 0.240779 q: 0.994903 0.083612 0.047299 -0.030647 
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time: 1403636609.113555, t: -0.288691 0.067999 0.240774 q: 0.994903 0.083612 0.047291 -0.030655 
time: 1403636609.213556, t: -0.288691 0.067998 0.240776 q: 0.994903 0.083614 0.047299 -0.030655 
time: 1403636609.313555, t: -0.288692 0.068003 0.240782 q: 0.994903 0.083609 0.047291 -0.030662 
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time: 1403636609.513556, t: -0.288693 0.067996 0.240773 q: 0.994904 0.083612 0.047291 -0.030653 
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optimize pose graph 
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time: 1403636626.813555, t: 0.054746 0.121217 0.145425 q: 0.994389 0.078136 0.035315 -0.061949 
time: 1403636626.913555, t: 0.044164 0.132356 0.143437 q: 0.994506 0.078719 0.027256 -0.063393 
time: 1403636627.013556, t: 0.030282 0.143845 0.140924 q: 0.994640 0.078183 0.018187 -0.065170 
time: 1403636627.113555, t: 0.018765 0.154901 0.136857 q: 0.994736 0.077680 0.009476 -0.066154 
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time: 1403636627.413555, t: 0.045151 0.179586 0.107250 q: 0.994472 0.080691 0.022368 -0.063357 
time: 1403636627.513556, t: 0.067441 0.187284 0.090803 q: 0.994808 0.079148 0.022507 -0.059877 
time: 1403636627.613555, t: 0.079773 0.197512 0.077876 q: 0.995618 0.072029 0.020372 -0.056047 
time: 1403636627.713556, t: 0.076573 0.209741 0.070530 q: 0.996433 0.063395 0.013178 -0.054125 
time: 1403636627.813555, t: 0.064145 0.224214 0.068071 q: 0.997355 0.051061 0.002642 -0.051655 
time: 1403636627.913555, t: 0.052063 0.239228 0.068800 q: 0.998034 0.038149 -0.006764 -0.049260 
time: 1403636628.013556, t: 0.050146 0.252303 0.071619 q: 0.998376 0.028689 -0.009680 -0.048256 
time: 1403636628.113555, t: 0.061043 0.262837 0.076176 q: 0.998673 0.023308 -0.000272 -0.045916 
time: 1403636628.213556, t: 0.082609 0.271836 0.081437 q: 0.998775 0.021503 0.017677 -0.040911 
time: 1403636628.313555, t: 0.109744 0.279983 0.085218 q: 0.998829 0.022650 0.028044 -0.032273 
optimize pose graph 
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time: 1403636628.513556, t: 0.160085 0.301998 0.090074 q: 0.998915 0.025309 0.030081 -0.024962 
time: 1403636628.613555, t: 0.176016 0.318548 0.093083 q: 0.998943 0.027630 0.028626 -0.023024 
time: 1403636628.713556, t: 0.185883 0.338095 0.098239 q: 0.998914 0.027061 0.028666 -0.024841 
time: 1403636628.813555, t: 0.189645 0.362931 0.105319 q: 0.999120 0.019060 0.022939 -0.029480 
time: 1403636628.913555, t: 0.193939 0.390299 0.106862 q: 0.999346 0.009775 0.014371 -0.031722 
time: 1403636629.013556, t: 0.203709 0.418175 0.112551 q: 0.999459 0.003216 0.008298 -0.031672 
time: 1403636629.113555, t: 0.220823 0.444021 0.119054 q: 0.999493 -0.002684 0.006795 -0.030977 
time: 1403636629.213556, t: 0.240402 0.470858 0.126736 q: 0.999520 -0.011972 0.007980 -0.027439 
time: 1403636629.313555, t: 0.254686 0.498090 0.140156 q: 0.999465 -0.020622 0.012887 -0.021878 
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time: 1403636629.513556, t: 0.270697 0.556052 0.174661 q: 0.999089 -0.033903 0.025760 -0.002924 
time: 1403636629.613555, t: 0.269633 0.590848 0.194695 q: 0.998556 -0.048267 0.023222 0.004215 
time: 1403636629.713556, t: 0.262561 0.629312 0.217011 q: 0.997583 -0.067443 0.014170 0.008832 
time: 1403636629.813555, t: 0.253527 0.671123 0.242200 q: 0.995863 -0.089463 0.007527 0.014053 
time: 1403636629.913555, t: 0.242671 0.715237 0.270804 q: 0.993619 -0.110653 0.004508 0.021383 
time: 1403636630.013556, t: 0.239252 0.758152 0.303293 q: 0.991522 -0.127150 0.004920 0.026329 
time: 1403636630.113555, t: 0.247386 0.801190 0.336402 q: 0.989859 -0.138542 0.011994 0.029009 
time: 1403636630.213556, t: 0.267012 0.844806 0.365551 q: 0.988405 -0.146633 0.026014 0.029637 
time: 1403636630.313555, t: 0.291168 0.888249 0.396565 q: 0.987348 -0.151549 0.035912 0.029785 
time: 1403636630.413555, t: 0.317113 0.930053 0.424697 q: 0.987068 -0.153802 0.034108 0.029625 
optimize pose graph 
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time: 1403636630.613555, t: 0.380547 1.009798 0.475575 q: 0.987414 -0.154351 0.026818 0.021699 
time: 1403636630.713556, t: 0.413970 1.046071 0.503691 q: 0.987792 -0.152825 0.024232 0.017986 
time: 1403636630.813555, t: 0.436781 1.084788 0.533382 q: 0.988333 -0.149123 0.023988 0.019629 
time: 1403636630.913555, t: 0.454784 1.127506 0.559572 q: 0.988870 -0.145010 0.024603 0.022427 
time: 1403636631.013556, t: 0.473813 1.162422 0.594618 q: 0.989117 -0.142912 0.025283 0.024190 
time: 1403636631.113555, t: 0.486272 1.200426 0.630070 q: 0.989256 -0.141369 0.028330 0.024172 
time: 1403636631.213556, t: 0.498694 1.238637 0.667302 q: 0.989319 -0.140266 0.031884 0.023586 
time: 1403636631.313555, t: 0.514260 1.274302 0.707001 q: 0.989376 -0.139622 0.033329 0.023009 
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time: 1403636631.513556, t: 0.524263 1.347826 0.784455 q: 0.989602 -0.138596 0.032745 0.020187 
time: 1403636631.613555, t: 0.525428 1.382458 0.826383 q: 0.989683 -0.138441 0.032619 0.017259 
time: 1403636631.713556, t: 0.531554 1.415876 0.864953 q: 0.989873 -0.137590 0.031312 0.015524 
time: 1403636631.813555, t: 0.541731 1.449518 0.900942 q: 0.990035 -0.136640 0.030916 0.014289 
time: 1403636631.913555, t: 0.556562 1.479672 0.936462 q: 0.990079 -0.136917 0.029121 0.012213 
time: 1403636632.013556, t: 0.572696 1.507212 0.970443 q: 0.990043 -0.137162 0.029315 0.011953 
time: 1403636632.113555, t: 0.591541 1.532446 1.004313 q: 0.989845 -0.138087 0.032223 0.009986 
time: 1403636632.213556, t: 0.609824 1.556297 1.037981 q: 0.989500 -0.140568 0.033074 0.006000 
time: 1403636632.313555, t: 0.623768 1.576480 1.069788 q: 0.989380 -0.141004 0.034319 0.008148 
time: 1403636632.413555, t: 0.631353 1.594339 1.107989 q: 0.989287 -0.141661 0.033920 0.009683 
optimize pose graph 
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time: 1403636632.613555, t: 0.633004 1.622948 1.190615 q: 0.991205 -0.128516 0.018588 0.025511 
time: 1403636632.713556, t: 0.630751 1.638923 1.233518 q: 0.993077 -0.113441 0.012678 0.027717 
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time: 1403636632.913555, t: 0.647880 1.673935 1.317900 q: 0.997025 -0.074905 0.018092 0.001800 
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time: 1403636633.913555, t: 0.807381 1.858046 1.830953 q: 0.999339 -0.032440 0.012510 -0.010661 
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time: 1403636634.213556, t: 0.890778 1.932065 2.011102 q: 0.999325 -0.033767 0.013921 -0.003955 
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time: 1403636710.113555, t: 2.427393 8.156920 7.485133 q: 0.892869 -0.429521 0.105288 0.084920 
time: 1403636710.213556, t: 2.460511 8.162236 7.549058 q: 0.893736 -0.427977 0.105753 0.082998 
time: 1403636710.313555, t: 2.483939 8.166931 7.619965 q: 0.895357 -0.422226 0.111234 0.087681 
time: 1403636710.413555, t: 2.502780 8.170900 7.695055 q: 0.898718 -0.410874 0.118191 0.097567 
time: 1403636710.513556, t: 2.519726 8.173501 7.770248 q: 0.903892 -0.396806 0.122054 0.103090 
time: 1403636710.613555, t: 2.532774 8.174355 7.845283 q: 0.909106 -0.384247 0.124100 0.102372 
time: 1403636710.713556, t: 2.540407 8.179615 7.917177 q: 0.915038 -0.371716 0.124125 0.095526 
optimize pose graph 
time: 1403636710.813555, t: 2.546957 8.184583 7.985858 q: 0.921443 -0.359741 0.122170 0.081260 
time: 1403636710.913555, t: 2.555683 8.188375 8.048679 q: 0.928247 -0.347602 0.116206 0.063448 
time: 1403636711.013556, t: 2.569204 8.189778 8.106839 q: 0.933527 -0.338208 0.109766 0.045762 
time: 1403636711.113555, t: 2.585762 8.191803 8.159408 q: 0.937093 -0.330340 0.107381 0.034670 
time: 1403636711.213556, t: 2.604628 8.188875 8.209955 q: 0.939018 -0.325453 0.107582 0.027431 
time: 1403636711.313555, t: 2.626049 8.180863 8.260346 q: 0.940275 -0.321124 0.109840 0.026390 
time: 1403636711.413555, t: 2.648555 8.167862 8.308221 q: 0.940369 -0.317784 0.117996 0.028227 
time: 1403636711.513556, t: 2.675408 8.149876 8.352905 q: 0.938716 -0.317055 0.132490 0.027120 
time: 1403636711.613555, t: 2.699793 8.126485 8.393450 q: 0.936596 -0.320694 0.139529 0.021782 
time: 1403636711.713556, t: 2.723471 8.096526 8.427274 q: 0.935368 -0.324827 0.138627 0.018884 
time: 1403636711.813555, t: 2.740898 8.059265 8.457598 q: 0.935235 -0.325972 0.136218 0.022853 
time: 1403636711.913555, t: 2.758473 8.016041 8.483892 q: 0.936517 -0.323112 0.131573 0.034975 
time: 1403636712.013556, t: 2.775760 7.968310 8.505106 q: 0.937718 -0.318917 0.128795 0.048867 
time: 1403636712.113555, t: 2.794488 7.921188 8.519379 q: 0.938288 -0.315250 0.129682 0.058437 
time: 1403636712.213556, t: 2.812775 7.873264 8.530240 q: 0.938897 -0.314104 0.129896 0.054205 
time: 1403636712.313555, t: 2.838018 7.822661 8.533543 q: 0.941449 -0.310029 0.126774 0.038518 
time: 1403636712.413555, t: 2.862246 7.769556 8.533463 q: 0.944696 -0.302397 0.124703 0.023553 
time: 1403636712.513556, t: 2.885853 7.711699 8.529630 q: 0.947626 -0.293525 0.125253 0.012614 
time: 1403636712.613555, t: 2.913053 7.650675 8.522039 q: 0.950268 -0.283641 0.128381 0.007548 
time: 1403636712.713556, t: 2.931898 7.587546 8.513341 q: 0.952209 -0.273751 0.135356 0.006085 
time: 1403636712.813555, t: 2.941933 7.523142 8.503416 q: 0.954065 -0.266690 0.136395 0.005723 
optimize pose graph 
time: 1403636712.913555, t: 2.945962 7.456522 8.493335 q: 0.955629 -0.263314 0.131902 0.006432 
time: 1403636713.013556, t: 2.941910 7.387260 8.482199 q: 0.956284 -0.263648 0.126437 0.004948 
time: 1403636713.113555, t: 2.937131 7.316508 8.465127 q: 0.956825 -0.261024 0.127685 0.006998 
time: 1403636713.213556, t: 2.935342 7.244444 8.442326 q: 0.957678 -0.258930 0.125358 0.009619 
time: 1403636713.313555, t: 2.936201 7.169067 8.412476 q: 0.958170 -0.258673 0.121991 0.010793 
time: 1403636713.413555, t: 2.942184 7.092560 8.376084 q: 0.958592 -0.257848 0.120123 0.013659 
time: 1403636713.513556, t: 2.952229 7.015663 8.335085 q: 0.958890 -0.256826 0.119378 0.017854 
time: 1403636713.613555, t: 2.962218 6.938466 8.293068 q: 0.959183 -0.255431 0.118810 0.024639 
time: 1403636713.713556, t: 2.963750 6.865469 8.250544 q: 0.959496 -0.254121 0.117455 0.031549 
time: 1403636713.813555, t: 2.959599 6.794903 8.209743 q: 0.959486 -0.253707 0.116799 0.037115 
time: 1403636713.913555, t: 2.950480 6.730712 8.167151 q: 0.958970 -0.256234 0.115693 0.036549 
time: 1403636714.013556, t: 2.938083 6.670164 8.124210 q: 0.958372 -0.259869 0.113262 0.034092 
time: 1403636714.113555, t: 2.921169 6.613839 8.082646 q: 0.957332 -0.264762 0.112018 0.029456 
time: 1403636714.213556, t: 2.898844 6.559068 8.043355 q: 0.956372 -0.267599 0.113687 0.028615 
time: 1403636714.313555, t: 2.872705 6.507819 8.004117 q: 0.956001 -0.267237 0.116329 0.033392 
time: 1403636714.413555, t: 2.847280 6.457107 7.963297 q: 0.956074 -0.268555 0.111886 0.035795 
time: 1403636714.513556, t: 2.810434 6.412324 7.928417 q: 0.957808 -0.265783 0.103025 0.036727 
time: 1403636714.613555, t: 2.774030 6.369619 7.891590 q: 0.961213 -0.256406 0.095211 0.035515 
time: 1403636714.713556, t: 2.740204 6.327575 7.858603 q: 0.965422 -0.243186 0.089679 0.027893 
time: 1403636714.813555, t: 2.714468 6.286619 7.825752 q: 0.970229 -0.226134 0.085562 0.014080 
time: 1403636714.913555, t: 2.699501 6.247964 7.787422 q: 0.975008 -0.206290 0.082430 -0.002860 
time: 1403636715.013556, t: 2.694263 6.209795 7.748948 q: 0.979344 -0.185710 0.078357 -0.016070 
optimize pose graph 
time: 1403636715.113555, t: 2.694345 6.175115 7.713762 q: 0.982252 -0.169893 0.074545 -0.027561 
time: 1403636715.213556, t: 2.700900 6.139088 7.679635 q: 0.984103 -0.158444 0.072585 -0.034189 
time: 1403636715.313555, t: 2.704759 6.107128 7.652137 q: 0.985180 -0.149697 0.075485 -0.036235 
time: 1403636715.413555, t: 2.704311 6.077962 7.630340 q: 0.985692 -0.143371 0.081433 -0.035001 
time: 1403636715.513556, t: 2.701410 6.050788 7.613909 q: 0.986101 -0.137248 0.089456 -0.027670 
time: 1403636715.613555, t: 2.691346 6.030472 7.601529 q: 0.986618 -0.131943 0.094117 -0.017853 
time: 1403636715.713556, t: 2.678802 6.015401 7.589263 q: 0.985072 -0.134903 0.104232 -0.023859 
time: 1403636715.813555, t: 2.665496 6.003672 7.575797 q: 0.982981 -0.140625 0.113437 -0.033243 
time: 1403636715.913555, t: 2.655424 5.991397 7.556354 q: 0.981163 -0.144946 0.121331 -0.039849 
time: 1403636716.013556, t: 2.645949 5.978683 7.530988 q: 0.980211 -0.147546 0.125451 -0.040960 
time: 1403636716.113555, t: 2.636769 5.964219 7.498456 q: 0.980242 -0.149155 0.124264 -0.037901 
time: 1403636716.213556, t: 2.628601 5.947707 7.459937 q: 0.981486 -0.150860 0.113706 -0.031598 
time: 1403636716.313555, t: 2.616316 5.932131 7.420703 q: 0.981899 -0.154075 0.106518 -0.028076 
time: 1403636716.413555, t: 2.600907 5.918861 7.380441 q: 0.981826 -0.156795 0.103785 -0.025736 
time: 1403636716.513556, t: 2.579217 5.907360 7.343733 q: 0.981469 -0.159448 0.103268 -0.025110 
time: 1403636716.613555, t: 2.552982 5.894724 7.311344 q: 0.981319 -0.159534 0.103503 -0.029147 
time: 1403636716.713556, t: 2.522645 5.883241 7.279457 q: 0.982248 -0.152953 0.103246 -0.033685 
time: 1403636716.813555, t: 2.485988 5.874463 7.251801 q: 0.983863 -0.141183 0.102882 -0.038668 
time: 1403636716.913555, t: 2.451620 5.862045 7.217955 q: 0.986047 -0.124536 0.100778 -0.045230 
time: 1403636717.013556, t: 2.423814 5.843510 7.185056 q: 0.988150 -0.104651 0.097586 -0.055538 
time: 1403636717.113555, t: 2.399420 5.826054 7.146641 q: 0.989750 -0.084202 0.094307 -0.066417 
time: 1403636717.213556, t: 2.378438 5.808932 7.105463 q: 0.990389 -0.069378 0.092056 -0.076438 
time: 1403636717.313555, t: 2.359098 5.793801 7.063247 q: 0.990030 -0.061611 0.089833 -0.089300 
time: 1403636717.413555, t: 2.340296 5.777025 7.021415 q: 0.988720 -0.059533 0.089557 -0.104246 
time: 1403636717.513556, t: 2.317956 5.757919 6.981126 q: 0.988272 -0.057216 0.089143 -0.109991 
time: 1403636717.613555, t: 2.290792 5.737232 6.942640 q: 0.989016 -0.052689 0.089229 -0.105397 
time: 1403636717.713556, t: 2.257293 5.713178 6.909011 q: 0.989244 -0.051126 0.091016 -0.102459 
time: 1403636717.813555, t: 2.220021 5.685960 6.875886 q: 0.988906 -0.050301 0.089292 -0.107529 
time: 1403636717.913555, t: 2.183080 5.651713 6.843190 q: 0.988572 -0.043766 0.087592 -0.114617 
time: 1403636718.013556, t: 2.150722 5.611104 6.807830 q: 0.988195 -0.031865 0.086470 -0.122382 
time: 1403636718.113555, t: 2.122817 5.562834 6.772486 q: 0.988319 -0.013373 0.084849 -0.125887 
time: 1403636718.213556, t: 2.093653 5.510713 6.732858 q: 0.988515 0.006968 0.082267 -0.126579 
time: 1403636718.313555, t: 2.058753 5.459815 6.698372 q: 0.988467 0.023360 0.079457 -0.126784 
time: 1403636718.413555, t: 2.017700 5.409121 6.668720 q: 0.987915 0.039124 0.076501 -0.129002 
time: 1403636718.513556, t: 1.971969 5.357088 6.641481 q: 0.987008 0.056409 0.074485 -0.130710 
time: 1403636718.613555, t: 1.923581 5.307190 6.616625 q: 0.986308 0.071893 0.071907 -0.129834 
time: 1403636718.713556, t: 1.874010 5.259741 6.595426 q: 0.986051 0.085713 0.068126 -0.125363 
time: 1403636718.813555, t: 1.823688 5.217509 6.577065 q: 0.984880 0.092421 0.067268 -0.130176 
time: 1403636718.913555, t: 1.774888 5.178298 6.560895 q: 0.983062 0.092845 0.068615 -0.142343 
time: 1403636719.013556, t: 1.733753 5.139226 6.539376 q: 0.981601 0.092414 0.070930 -0.151289 
time: 1403636719.113555, t: 1.699848 5.099462 6.518260 q: 0.980618 0.092980 0.075905 -0.154860 
time: 1403636719.213556, t: 1.672363 5.060076 6.491485 q: 0.980060 0.094285 0.082547 -0.154206 
optimize pose graph 
time: 1403636719.313555, t: 1.643206 5.021348 6.465551 q: 0.980016 0.095427 0.088280 -0.150564 
time: 1403636719.413555, t: 1.606674 4.986109 6.439908 q: 0.980007 0.095597 0.092409 -0.148012 
time: 1403636719.513556, t: 1.565074 4.952975 6.414590 q: 0.980432 0.095135 0.093440 -0.144815 
time: 1403636719.613555, t: 1.521478 4.922717 6.386029 q: 0.981509 0.093561 0.087905 -0.141980 
time: 1403636719.713556, t: 1.480726 4.892338 6.353388 q: 0.982521 0.089973 0.081330 -0.141216 
time: 1403636719.813555, t: 1.447716 4.863198 6.315956 q: 0.983426 0.086643 0.077141 -0.139343 
time: 1403636720.013556, t: 1.392996 4.806354 6.237044 q: 0.984437 0.081335 0.074637 -0.136742 
time: 1403636720.113555, t: 1.361427 4.779431 6.204443 q: 0.984630 0.079829 0.074188 -0.136484 
time: 1403636720.213556, t: 1.327737 4.757828 6.173752 q: 0.984867 0.079640 0.072860 -0.135597 
time: 1403636720.313555, t: 1.292974 4.736382 6.144838 q: 0.984932 0.080015 0.073128 -0.134755 
time: 1403636720.413555, t: 1.255364 4.718311 6.118401 q: 0.984844 0.080913 0.072904 -0.134985 
time: 1403636720.513556, t: 1.217460 4.703632 6.091652 q: 0.984870 0.082500 0.071869 -0.134388 
time: 1403636720.613555, t: 1.186785 4.688531 6.064357 q: 0.984716 0.083519 0.070887 -0.135401 
time: 1403636720.713556, t: 1.164587 4.672643 6.034795 q: 0.984559 0.084515 0.072364 -0.135149 
time: 1403636720.813555, t: 1.147951 4.659953 6.005337 q: 0.985206 0.080336 0.072366 -0.132962 
time: 1403636720.913555, t: 1.134129 4.648768 5.976024 q: 0.986339 0.069534 0.073536 -0.129975 
time: 1403636721.013556, t: 1.115401 4.641413 5.952529 q: 0.987624 0.058547 0.077461 -0.123171 
time: 1403636721.113555, t: 1.092164 4.637691 5.930505 q: 0.988828 0.046247 0.082289 -0.115362 
time: 1403636721.213556, t: 1.068541 4.637315 5.909921 q: 0.989759 0.030700 0.087974 -0.108141 
time: 1403636721.313555, t: 1.048772 4.636148 5.887039 q: 0.990353 0.017900 0.092634 -0.101483 
time: 1403636721.413555, t: 1.034167 4.637820 5.861309 q: 0.990575 0.006908 0.095338 -0.098106 
optimize pose graph 
time: 1403636721.513556, t: 1.022582 4.640167 5.832274 q: 0.990789 -0.002688 0.095671 -0.095796 
time: 1403636721.613555, t: 1.010934 4.643095 5.802973 q: 0.990969 -0.014360 0.095202 -0.093335 
time: 1403636721.713556, t: 0.994765 4.647806 5.775569 q: 0.990875 -0.023178 0.095754 -0.091980 
time: 1403636721.813555, t: 0.974432 4.651254 5.749847 q: 0.990683 -0.028970 0.096081 -0.092067 
time: 1403636721.913555, t: 0.949428 4.657218 5.727118 q: 0.990598 -0.030660 0.097389 -0.091056 
time: 1403636722.013556, t: 0.923007 4.662850 5.704462 q: 0.989917 -0.033344 0.097594 -0.097102 
time: 1403636722.113555, t: 0.901661 4.664468 5.677011 q: 0.989560 -0.033862 0.097136 -0.100937 
time: 1403636722.213556, t: 0.885707 4.663846 5.646993 q: 0.989919 -0.031208 0.096318 -0.099039 
time: 1403636722.313555, t: 0.873231 4.660606 5.613858 q: 0.990316 -0.027894 0.095820 -0.096516 
time: 1403636722.413555, t: 0.857465 4.656449 5.582656 q: 0.990431 -0.028898 0.095315 -0.095535 
time: 1403636722.513556, t: 0.836891 4.654953 5.553987 q: 0.990388 -0.033114 0.096605 -0.093283 
time: 1403636722.613555, t: 0.812449 4.653206 5.526945 q: 0.990263 -0.037529 0.096630 -0.092918 
time: 1403636722.713556, t: 0.786120 4.651540 5.499879 q: 0.990089 -0.040918 0.096933 -0.093020 
time: 1403636722.813555, t: 0.759917 4.645730 5.473707 q: 0.989939 -0.043986 0.096014 -0.094165 
time: 1403636722.913555, t: 0.739226 4.639853 5.444741 q: 0.989929 -0.044974 0.095904 -0.093916 
time: 1403636723.013556, t: 0.726555 4.629461 5.413579 q: 0.990238 -0.043669 0.096188 -0.090931 
time: 1403636723.113555, t: 0.717632 4.617632 5.377870 q: 0.990494 -0.042009 0.097155 -0.087852 
time: 1403636723.213556, t: 0.706895 4.606060 5.343976 q: 0.990545 -0.042089 0.097280 -0.087094 
time: 1403636723.313555, t: 0.692011 4.595511 5.313181 q: 0.990235 -0.044295 0.096681 -0.090140 
time: 1403636723.413555, t: 0.674052 4.585715 5.284821 q: 0.989730 -0.050553 0.097888 -0.091091 
time: 1403636723.513556, t: 0.654402 4.576322 5.256813 q: 0.988549 -0.060866 0.104984 -0.089689 
time: 1403636723.613555, t: 0.638019 4.564261 5.224801 q: 0.987230 -0.067606 0.118798 -0.081810 
time: 1403636723.713556, t: 0.622675 4.548297 5.188996 q: 0.987255 -0.075200 0.117567 -0.076491 
time: 1403636723.813555, t: 0.606490 4.530990 5.149677 q: 0.988096 -0.081777 0.109441 -0.070714 
time: 1403636723.913555, t: 0.588198 4.515520 5.110075 q: 0.988754 -0.086180 0.103003 -0.065792 
time: 1403636724.013556, t: 0.564814 4.500593 5.073970 q: 0.989327 -0.091458 0.095248 -0.061601 
time: 1403636724.113555, t: 0.537987 4.488420 5.041104 q: 0.989230 -0.101518 0.089131 -0.056330 
time: 1403636724.213556, t: 0.508204 4.476775 5.014412 q: 0.988020 -0.115407 0.089441 -0.049987 
time: 1403636724.313555, t: 0.476671 4.468651 4.992667 q: 0.985845 -0.132600 0.092893 -0.043570 
time: 1403636724.413555, t: 0.448950 4.459881 4.970680 q: 0.982888 -0.150311 0.099902 -0.036852 
time: 1403636724.513556, t: 0.427919 4.448543 4.947751 q: 0.980115 -0.164436 0.106357 -0.031991 
time: 1403636724.613555, t: 0.415127 4.434253 4.923385 q: 0.978066 -0.174408 0.110236 -0.028595 
time: 1403636724.713556, t: 0.408753 4.415862 4.894791 q: 0.976882 -0.180453 0.111612 -0.026091 
time: 1403636724.813555, t: 0.408600 4.396330 4.863252 q: 0.976476 -0.183513 0.110645 -0.023963 
time: 1403636724.913555, t: 0.413114 4.375553 4.830438 q: 0.976844 -0.182729 0.109310 -0.020905 
time: 1403636725.013556, t: 0.423877 4.351252 4.794806 q: 0.977592 -0.179228 0.109197 -0.016330 
time: 1403636725.113555, t: 0.441914 4.327214 4.754819 q: 0.978211 -0.175779 0.109704 -0.013011 
time: 1403636725.213556, t: 0.462030 4.304756 4.715160 q: 0.978612 -0.174117 0.108842 -0.012435 
time: 1403636725.313555, t: 0.481411 4.282449 4.677360 q: 0.978683 -0.174348 0.107589 -0.014381 
time: 1403636725.413555, t: 0.495925 4.264923 4.642770 q: 0.978493 -0.175311 0.107328 -0.017301 
time: 1403636725.513556, t: 0.506056 4.249899 4.612765 q: 0.978303 -0.176318 0.107007 -0.019623 
time: 1403636725.613555, t: 0.511723 4.236682 4.586111 q: 0.978082 -0.177765 0.106260 -0.021537 
time: 1403636725.713556, t: 0.514754 4.224098 4.562574 q: 0.977812 -0.177937 0.108467 -0.021401 
time: 1403636725.813555, t: 0.512356 4.213280 4.544502 q: 0.977810 -0.177951 0.108389 -0.021731 
time: 1403636725.913555, t: 0.506125 4.204706 4.528480 q: 0.978305 -0.176177 0.107288 -0.019216 
time: 1403636726.013556, t: 0.496675 4.196385 4.516651 q: 0.978535 -0.174747 0.107675 -0.018387 
time: 1403636726.113555, t: 0.483199 4.189288 4.508235 q: 0.978432 -0.174812 0.108074 -0.020767 
time: 1403636726.213556, t: 0.468163 4.183903 4.501462 q: 0.978233 -0.174180 0.110464 -0.022801 
time: 1403636726.313555, t: 0.451887 4.179268 4.495597 q: 0.978299 -0.173291 0.110923 -0.024428 
time: 1403636726.413555, t: 0.441045 4.173113 4.486900 q: 0.978257 -0.172276 0.112455 -0.026213 
time: 1403636726.513556, t: 0.436461 4.163713 4.474111 q: 0.978595 -0.169522 0.114128 -0.024259 
time: 1403636726.613555, t: 0.437248 4.154940 4.458568 q: 0.979744 -0.161070 0.118482 -0.010945 
time: 1403636726.713556, t: 0.443258 4.147761 4.437188 q: 0.980142 -0.156335 0.121924 -0.003974 
time: 1403636726.913555, t: 0.468106 4.138842 4.379602 q: 0.979277 -0.160850 0.120625 -0.024380 
time: 1403636727.013556, t: 0.487454 4.133939 4.342614 q: 0.979428 -0.159552 0.119842 -0.030035 
time: 1403636727.113555, t: 0.508015 4.128155 4.305917 q: 0.979397 -0.159444 0.118850 -0.035112 
time: 1403636727.213556, t: 0.522348 4.122942 4.269779 q: 0.979257 -0.160640 0.116549 -0.040817 
time: 1403636727.313555, t: 0.532295 4.117477 4.234757 q: 0.978982 -0.162442 0.114430 -0.045970 
time: 1403636727.413555, t: 0.538215 4.109807 4.202256 q: 0.979058 -0.163102 0.112095 -0.047728 
time: 1403636727.513556, t: 0.542234 4.099041 4.172104 q: 0.978951 -0.162600 0.113949 -0.047247 
time: 1403636727.613555, t: 0.547821 4.084744 4.140254 q: 0.979113 -0.160291 0.117383 -0.043202 
time: 1403636727.713556, t: 0.557356 4.067375 4.104681 q: 0.979426 -0.159611 0.116387 -0.041277 
time: 1403636727.813555, t: 0.571280 4.046718 4.066758 q: 0.979340 -0.160697 0.114783 -0.043517 
optimize pose graph 
time: 1403636727.913555, t: 0.588138 4.022432 4.025465 q: 0.978344 -0.165534 0.112822 -0.052074 
time: 1403636728.013556, t: 0.605075 3.994789 3.988517 q: 0.978375 -0.165845 0.112154 -0.051958 
time: 1403636728.113555, t: 0.613678 3.967559 3.952729 q: 0.978821 -0.163366 0.114109 -0.046913 
time: 1403636728.213556, t: 0.617415 3.935871 3.920731 q: 0.978894 -0.162033 0.116621 -0.043716 
time: 1403636728.313555, t: 0.615405 3.904416 3.891886 q: 0.979104 -0.161033 0.117209 -0.041069 
time: 1403636728.413555, t: 0.606040 3.871794 3.866936 q: 0.979536 -0.159583 0.116794 -0.037452 
time: 1403636728.513556, t: 0.589318 3.841431 3.842963 q: 0.980624 -0.153726 0.118886 -0.024708 
time: 1403636728.613555, t: 0.570174 3.813325 3.819805 q: 0.981414 -0.148912 0.119342 -0.020251 
time: 1403636728.713556, t: 0.550974 3.784961 3.799021 q: 0.981799 -0.145917 0.117317 -0.031872 
time: 1403636728.813555, t: 0.535302 3.756934 3.771692 q: 0.982822 -0.137263 0.114378 -0.046235 
time: 1403636728.913555, t: 0.525551 3.723661 3.739852 q: 0.983667 -0.126696 0.114035 -0.057817 
time: 1403636729.013556, t: 0.513486 3.689295 3.709774 q: 0.984310 -0.117034 0.115199 -0.064549 
time: 1403636729.113555, t: 0.496297 3.656993 3.679834 q: 0.984608 -0.109426 0.116979 -0.069921 
time: 1403636729.213556, t: 0.473309 3.625878 3.652193 q: 0.985282 -0.104559 0.114254 -0.072333 
time: 1403636729.313555, t: 0.446045 3.594969 3.626307 q: 0.985870 -0.100521 0.112974 -0.072059 
time: 1403636729.413555, t: 0.416710 3.564019 3.598120 q: 0.985977 -0.098501 0.113640 -0.072336 
time: 1403636729.513556, t: 0.388952 3.533057 3.566355 q: 0.986022 -0.097352 0.114071 -0.072606 
time: 1403636729.613555, t: 0.365499 3.498352 3.531619 q: 0.986270 -0.096686 0.112805 -0.072100 
time: 1403636729.713556, t: 0.347387 3.461963 3.491971 q: 0.986482 -0.095899 0.112610 -0.070538 
time: 1403636729.813555, t: 0.329512 3.421401 3.451527 q: 0.986808 -0.097115 0.108990 -0.069997 
time: 1403636729.913555, t: 0.307717 3.384125 3.412776 q: 0.987381 -0.097464 0.104731 -0.067898 
time: 1403636730.013556, t: 0.282545 3.349179 3.375042 q: 0.987692 -0.098022 0.101488 -0.067505 
time: 1403636730.113555, t: 0.254079 3.313608 3.341591 q: 0.987885 -0.097470 0.100161 -0.067457 
optimize pose graph 
time: 1403636730.213556, t: 0.224249 3.280176 3.310006 q: 0.988036 -0.097205 0.099100 -0.067189 
time: 1403636730.313555, t: 0.192151 3.248398 3.280863 q: 0.988190 -0.095764 0.099851 -0.065870 
time: 1403636730.413555, t: 0.158371 3.217017 3.254794 q: 0.988374 -0.095463 0.097942 -0.066422 
time: 1403636730.513556, t: 0.128041 3.184143 3.229384 q: 0.989035 -0.095914 0.090404 -0.066611 
time: 1403636730.613555, t: 0.104270 3.151359 3.202845 q: 0.989810 -0.095375 0.083667 -0.064653 
time: 1403636730.713556, t: 0.089128 3.117096 3.177887 q: 0.990095 -0.094926 0.081460 -0.063764 
time: 1403636730.813555, t: 0.083781 3.081547 3.153366 q: 0.990111 -0.095280 0.080257 -0.064508 
time: 1403636730.913555, t: 0.085198 3.046578 3.131921 q: 0.990732 -0.093286 0.079275 -0.058858 
time: 1403636731.013556, t: 0.087658 3.014983 3.114367 q: 0.991360 -0.089071 0.082778 -0.049197 
time: 1403636731.113555, t: 0.090027 2.987004 3.099569 q: 0.991029 -0.084305 0.095653 -0.040050 
time: 1403636731.213556, t: 0.088889 2.966452 3.090062 q: 0.990079 -0.084397 0.104812 -0.040437 
time: 1403636731.313555, t: 0.084436 2.950803 3.081139 q: 0.988729 -0.089130 0.109684 -0.049401 
time: 1403636731.413555, t: 0.077083 2.939996 3.073360 q: 0.987938 -0.093888 0.108801 -0.057670 
time: 1403636731.513556, t: 0.065203 2.930598 3.066998 q: 0.987880 -0.094256 0.108866 -0.057939 
time: 1403636731.613555, t: 0.052112 2.924802 3.061192 q: 0.988558 -0.090824 0.109026 -0.051164 
time: 1403636731.713556, t: 0.035952 2.921963 3.056461 q: 0.988733 -0.089979 0.108981 -0.049333 
time: 1403636731.813555, t: 0.016754 2.922534 3.052592 q: 0.988364 -0.092234 0.108195 -0.054063 
time: 1403636731.913555, t: -0.004794 2.925666 3.049971 q: 0.988023 -0.093438 0.108088 -0.058285 
time: 1403636732.013556, t: -0.029472 2.930337 3.049095 q: 0.987870 -0.093228 0.108993 -0.059518 
time: 1403636732.113555, t: -0.057789 2.937933 3.048310 q: 0.987720 -0.092649 0.110473 -0.060174 
time: 1403636732.213556, t: -0.090410 2.944246 3.049022 q: 0.987386 -0.092630 0.112326 -0.062219 
time: 1403636732.313555, t: -0.116528 2.951400 3.045641 q: 0.987169 -0.092118 0.113937 -0.063477 
time: 1403636732.413555, t: -0.138007 2.956854 3.038874 q: 0.986358 -0.095142 0.114524 -0.070217 
time: 1403636732.513556, t: -0.153819 2.959013 3.025920 q: 0.984005 -0.101573 0.118696 -0.085609 
time: 1403636732.613555, t: -0.165739 2.956548 3.006686 q: 0.981899 -0.105568 0.123861 -0.096890 
time: 1403636732.713556, t: -0.176343 2.945408 2.981480 q: 0.981959 -0.102398 0.128520 -0.093559 
time: 1403636732.813555, t: -0.186419 2.928422 2.953416 q: 0.983055 -0.097071 0.130389 -0.084733 
time: 1403636732.913555, t: -0.200408 2.906092 2.924384 q: 0.983500 -0.095464 0.130002 -0.081938 
time: 1403636733.013556, t: -0.220472 2.883606 2.893030 q: 0.984382 -0.094539 0.124975 -0.080226 
time: 1403636733.113555, t: -0.243886 2.859121 2.859813 q: 0.985255 -0.094481 0.118401 -0.079540 
time: 1403636733.213556, t: -0.264020 2.831739 2.821306 q: 0.985137 -0.095480 0.116684 -0.082299 
time: 1403636733.313555, t: -0.279581 2.798334 2.780644 q: 0.985414 -0.094468 0.115503 -0.081815 
time: 1403636733.413555, t: -0.291902 2.762614 2.734567 q: 0.986413 -0.092242 0.111116 -0.078319 
time: 1403636733.513556, t: -0.298920 2.726099 2.685478 q: 0.987190 -0.090980 0.107386 -0.075150 
time: 1403636733.613555, t: -0.307426 2.687590 2.636865 q: 0.987519 -0.090766 0.104516 -0.075121 
time: 1403636733.713556, t: -0.321221 2.650824 2.591537 q: 0.987948 -0.090006 0.102206 -0.073559 
time: 1403636733.913555, t: -0.361272 2.577373 2.512650 q: 0.987990 -0.090587 0.099987 -0.075318 
time: 1403636734.013556, t: -0.386283 2.543495 2.478802 q: 0.986939 -0.092196 0.105165 -0.079947 
time: 1403636734.113555, t: -0.412837 2.507568 2.445134 q: 0.986502 -0.092208 0.109953 -0.078885 
time: 1403636734.213556, t: -0.438127 2.471096 2.410953 q: 0.986608 -0.091308 0.111086 -0.076995 
time: 1403636734.313555, t: -0.458322 2.430096 2.373506 q: 0.986996 -0.089144 0.111143 -0.074430 
time: 1403636734.413555, t: -0.471045 2.388730 2.331422 q: 0.987676 -0.087341 0.108114 -0.071960 
time: 1403636734.513556, t: -0.482614 2.347198 2.289150 q: 0.988194 -0.086265 0.104681 -0.071218 
time: 1403636734.613555, t: -0.495148 2.308378 2.251426 q: 0.988766 -0.085308 0.100465 -0.070507 
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time: 1403636734.813555, t: -0.535709 2.233285 2.187304 q: 0.988966 -0.084688 0.096756 -0.073567 
time: 1403636734.913555, t: -0.560738 2.198235 2.160464 q: 0.989155 -0.083240 0.096172 -0.073452 
time: 1403636735.013556, t: -0.588970 2.164129 2.138883 q: 0.989134 -0.083015 0.096174 -0.073976 
time: 1403636735.213556, t: -0.644439 2.102437 2.099079 q: 0.989481 -0.081754 0.096467 -0.070271 
time: 1403636735.313555, t: -0.662728 2.070336 2.077487 q: 0.989922 -0.081866 0.094197 -0.066927 
time: 1403636735.413555, t: -0.670347 2.039203 2.053568 q: 0.989816 -0.083412 0.095080 -0.065320 
time: 1403636735.513556, t: -0.669945 2.007763 2.026958 q: 0.989419 -0.086175 0.097741 -0.063809 
time: 1403636735.613555, t: -0.662974 1.976776 2.000350 q: 0.988820 -0.089530 0.100722 -0.063834 
time: 1403636735.713556, t: -0.654601 1.946238 1.976440 q: 0.988629 -0.092534 0.100630 -0.062639 
time: 1403636735.813555, t: -0.648370 1.919060 1.954989 q: 0.988456 -0.094726 0.100704 -0.061978 
time: 1403636735.913555, t: -0.647013 1.893273 1.939110 q: 0.988263 -0.095484 0.101895 -0.061943 
time: 1403636736.013556, t: -0.647824 1.868866 1.925847 q: 0.988078 -0.094929 0.102808 -0.064195 
time: 1403636736.113555, t: -0.644237 1.844131 1.910719 q: 0.988294 -0.087541 0.104928 -0.067836 
time: 1403636736.213556, t: -0.633991 1.816484 1.893628 q: 0.988594 -0.075807 0.107401 -0.073484 
time: 1403636736.313555, t: -0.624220 1.789328 1.874964 q: 0.988813 -0.065490 0.107719 -0.079727 
time: 1403636736.413555, t: -0.614988 1.762508 1.857746 q: 0.988878 -0.058122 0.106974 -0.085438 
time: 1403636736.513556, t: -0.610876 1.736253 1.845607 q: 0.988002 -0.055982 0.107216 -0.096038 
time: 1403636736.613555, t: -0.611632 1.710337 1.835986 q: 0.987098 -0.055320 0.107608 -0.104867 
time: 1403636736.713556, t: -0.618705 1.685180 1.826094 q: 0.986702 -0.053752 0.108757 -0.108175 
time: 1403636736.813555, t: -0.629343 1.655436 1.819330 q: 0.986493 -0.052820 0.108810 -0.110463 
time: 1403636736.913555, t: -0.643870 1.626103 1.811520 q: 0.986680 -0.050786 0.108063 -0.110480 
time: 1403636737.013556, t: -0.661361 1.593849 1.804583 q: 0.987460 -0.046198 0.107682 -0.105794 
time: 1403636737.113555, t: -0.679323 1.558800 1.797056 q: 0.988229 -0.040320 0.108553 -0.099966 
time: 1403636737.213556, t: -0.703109 1.525754 1.791297 q: 0.988590 -0.036670 0.107770 -0.098639 
time: 1403636737.313555, t: -0.726987 1.489431 1.787050 q: 0.989111 -0.034095 0.104500 -0.097861 
time: 1403636737.413555, t: -0.750400 1.456814 1.779601 q: 0.989655 -0.031754 0.100093 -0.097756 
time: 1403636737.513556, t: -0.764228 1.419981 1.769029 q: 0.989982 -0.030953 0.095542 -0.099245 
time: 1403636737.613555, t: -0.774382 1.386060 1.754797 q: 0.990595 -0.028264 0.093403 -0.095907 
time: 1403636737.713556, t: -0.779014 1.350444 1.739781 q: 0.991526 -0.025016 0.090808 -0.089466 
time: 1403636737.813555, t: -0.777034 1.317546 1.722963 q: 0.992109 -0.022997 0.089606 -0.084629 
time: 1403636737.913555, t: -0.767234 1.287336 1.704141 q: 0.992291 -0.022522 0.089616 -0.082585 
time: 1403636738.013556, t: -0.749823 1.258881 1.684379 q: 0.992239 -0.023434 0.090583 -0.081895 
time: 1403636738.113555, t: -0.727278 1.233900 1.664215 q: 0.991782 -0.026488 0.091727 -0.085160 
time: 1403636738.213556, t: -0.705557 1.211535 1.648445 q: 0.991292 -0.029186 0.094131 -0.087340 
time: 1403636738.313555, t: -0.689635 1.194048 1.635032 q: 0.991156 -0.031051 0.094767 -0.087554 
optimize pose graph 
time: 1403636738.413555, t: -0.677407 1.179721 1.624768 q: 0.991220 -0.032779 0.094417 -0.086563 
time: 1403636738.513556, t: -0.667981 1.168755 1.618681 q: 0.991330 -0.037890 0.093486 -0.084203 
time: 1403636738.613555, t: -0.661530 1.160073 1.615681 q: 0.991607 -0.048088 0.091507 -0.077651 
time: 1403636738.713556, t: -0.660301 1.158070 1.619409 q: 0.991243 -0.062923 0.094090 -0.068008 
time: 1403636738.813555, t: -0.660431 1.158536 1.624459 q: 0.989902 -0.080757 0.102250 -0.055834 
time: 1403636738.913555, t: -0.664063 1.162684 1.633438 q: 0.987935 -0.100633 0.110284 -0.041178 
time: 1403636739.013556, t: -0.672718 1.175093 1.643521 q: 0.985419 -0.121431 0.116903 -0.023183 
time: 1403636739.113555, t: -0.684003 1.192295 1.653797 q: 0.981735 -0.146466 0.121113 -0.008673 
time: 1403636739.213556, t: -0.697929 1.213882 1.665824 q: 0.976592 -0.176185 0.123382 -0.001947 
time: 1403636739.313555, t: -0.714307 1.239973 1.674612 q: 0.970264 -0.207218 0.125076 0.002085 
time: 1403636739.413555, t: -0.732924 1.270897 1.680866 q: 0.963408 -0.236471 0.126065 0.005845 
time: 1403636739.513556, t: -0.746650 1.300450 1.686724 q: 0.956722 -0.261100 0.127629 0.014838 
time: 1403636739.613555, t: -0.751627 1.323900 1.688771 q: 0.951256 -0.277576 0.131569 0.027452 
time: 1403636739.713556, t: -0.752067 1.345300 1.687804 q: 0.947342 -0.289506 0.132530 0.034142 
time: 1403636739.813555, t: -0.753988 1.365754 1.687878 q: 0.945243 -0.294312 0.134666 0.041967 
time: 1403636739.913555, t: -0.759998 1.387117 1.690669 q: 0.944117 -0.297463 0.134800 0.044580 
time: 1403636740.013556, t: -0.771357 1.409917 1.695421 q: 0.943742 -0.299122 0.134070 0.043620 
time: 1403636740.113555, t: -0.785311 1.434010 1.701884 q: 0.943719 -0.300354 0.132907 0.038951 
time: 1403636740.213556, t: -0.802362 1.458091 1.709176 q: 0.943617 -0.302332 0.131369 0.030398 
time: 1403636740.313555, t: -0.822013 1.481377 1.718922 q: 0.943915 -0.301415 0.132169 0.026555 
time: 1403636740.413555, t: -0.844883 1.503197 1.730765 q: 0.944961 -0.296489 0.135035 0.030142 
time: 1403636740.513556, t: -0.871055 1.525120 1.744554 q: 0.945870 -0.292038 0.137642 0.033131 
optimize pose graph 
time: 1403636740.613555, t: -0.895359 1.546033 1.755686 q: 0.946457 -0.289771 0.138606 0.032248 
time: 1403636740.713556, t: -0.915665 1.565941 1.761930 q: 0.947673 -0.286747 0.135904 0.034959 
time: 1403636740.813555, t: -0.933093 1.584152 1.766178 q: 0.948535 -0.285279 0.133005 0.034741 
time: 1403636740.913555, t: -0.953227 1.603507 1.770976 q: 0.948473 -0.285308 0.134298 0.031019 
time: 1403636741.013556, t: -0.978233 1.624412 1.778413 q: 0.947331 -0.290012 0.134504 0.019130 
time: 1403636741.113555, t: -1.010259 1.643490 1.789857 q: 0.945183 -0.296733 0.135817 0.011505 
time: 1403636741.213556, t: -1.048389 1.662329 1.803894 q: 0.942775 -0.301750 0.140696 0.018090 
time: 1403636741.313555, t: -1.090597 1.678644 1.819581 q: 0.941660 -0.302792 0.143707 0.030697 
time: 1403636741.413555, t: -1.135733 1.691771 1.835316 q: 0.941528 -0.304386 0.138223 0.042062 
time: 1403636741.513556, t: -1.177612 1.702652 1.847079 q: 0.941783 -0.307019 0.128007 0.048972 
time: 1403636741.613555, t: -1.211144 1.714928 1.856055 q: 0.942026 -0.308246 0.121222 0.053644 
time: 1403636741.713556, t: -1.236894 1.726618 1.863225 q: 0.941766 -0.309618 0.119971 0.053105 
time: 1403636741.813555, t: -1.255147 1.740838 1.867401 q: 0.941170 -0.310709 0.123888 0.048072 
time: 1403636741.913555, t: -1.274371 1.755921 1.873555 q: 0.940789 -0.311962 0.126433 0.040135 
time: 1403636742.013556, t: -1.299229 1.772270 1.884872 q: 0.940876 -0.313746 0.124041 0.030486 
time: 1403636742.113555, t: -1.325481 1.787201 1.900228 q: 0.942803 -0.310839 0.116411 0.030818 
time: 1403636742.213556, t: -1.344508 1.802005 1.913630 q: 0.944755 -0.305645 0.112905 0.035652 
time: 1403636742.313555, t: -1.353767 1.814523 1.925853 q: 0.946034 -0.300113 0.115897 0.038987 
time: 1403636742.413555, t: -1.355920 1.825619 1.938001 q: 0.945982 -0.297091 0.124195 0.037812 
time: 1403636742.513556, t: -1.352310 1.836173 1.948341 q: 0.945980 -0.295283 0.128943 0.036113 
time: 1403636742.613555, t: -1.347427 1.847947 1.956996 q: 0.946086 -0.293918 0.131767 0.034224 
time: 1403636742.713556, t: -1.344207 1.858959 1.966619 q: 0.945806 -0.292707 0.136869 0.032248 
optimize pose graph 
time: 1403636742.813555, t: -1.348387 1.872135 1.980719 q: 0.945751 -0.291562 0.140013 0.030715 
time: 1403636742.913555, t: -1.360057 1.886531 1.997429 q: 0.946033 -0.289583 0.142104 0.031137 
time: 1403636743.013556, t: -1.378005 1.902099 2.016551 q: 0.945430 -0.292069 0.140500 0.033418 
time: 1403636743.113555, t: -1.404254 1.920677 2.036621 q: 0.945465 -0.296557 0.127760 0.042756 
time: 1403636743.213556, t: -1.429330 1.940492 2.057910 q: 0.945952 -0.300656 0.109738 0.052326 
time: 1403636743.313555, t: -1.443580 1.960655 2.077288 q: 0.945695 -0.304414 0.098247 0.057804 
time: 1403636743.413555, t: -1.445320 1.982580 2.098977 q: 0.945068 -0.305806 0.097406 0.061977 
time: 1403636743.513556, t: -1.439585 2.011214 2.121963 q: 0.943799 -0.307668 0.104638 0.060284 
time: 1403636743.613555, t: -1.435704 2.044725 2.150231 q: 0.942326 -0.310035 0.113688 0.054540 
time: 1403636743.713556, t: -1.434095 2.081992 2.183251 q: 0.940930 -0.312554 0.120997 0.048170 
time: 1403636743.813555, t: -1.433813 2.120694 2.221237 q: 0.938143 -0.317941 0.129100 0.046207 
time: 1403636743.913555, t: -1.440227 2.161552 2.262756 q: 0.935263 -0.323079 0.136295 0.048239 
time: 1403636744.013556, t: -1.451747 2.201604 2.307273 q: 0.933010 -0.327551 0.140932 0.048376 
time: 1403636744.113555, t: -1.466646 2.242765 2.353085 q: 0.929877 -0.335302 0.143183 0.048984 
time: 1403636744.213556, t: -1.487049 2.284502 2.401178 q: 0.926904 -0.341268 0.146700 0.053530 
time: 1403636744.313555, t: -1.511208 2.324525 2.450452 q: 0.924796 -0.344289 0.150836 0.058876 
time: 1403636744.413555, t: -1.541927 2.364130 2.502328 q: 0.923926 -0.344018 0.153793 0.066031 
time: 1403636744.513556, t: -1.579260 2.404488 2.554186 q: 0.924061 -0.340122 0.157625 0.074724 
time: 1403636744.613555, t: -1.620520 2.445320 2.605302 q: 0.923986 -0.337478 0.162354 0.077463 
time: 1403636744.713556, t: -1.665131 2.488596 2.652967 q: 0.923617 -0.337877 0.165028 0.074409 
time: 1403636744.813555, t: -1.712565 2.531261 2.697259 q: 0.923131 -0.342323 0.162092 0.066111 
time: 1403636744.913555, t: -1.756759 2.572229 2.734282 q: 0.923710 -0.345251 0.154249 0.061393 
time: 1403636745.013556, t: -1.796289 2.609240 2.765898 q: 0.925359 -0.344176 0.146468 0.061653 
time: 1403636745.113555, t: -1.831646 2.643989 2.792942 q: 0.927620 -0.341359 0.138180 0.062458 
time: 1403636745.213556, t: -1.859021 2.675983 2.820383 q: 0.929343 -0.337560 0.136116 0.062023 
time: 1403636745.313555, t: -1.881300 2.706946 2.843954 q: 0.930842 -0.334385 0.135336 0.058349 
time: 1403636745.413555, t: -1.894120 2.738510 2.863447 q: 0.930894 -0.332195 0.143030 0.051246 
time: 1403636745.613555, t: -1.902160 2.794797 2.893099 q: 0.928881 -0.334265 0.152226 0.047692 
time: 1403636745.713556, t: -1.900134 2.818081 2.902844 q: 0.926828 -0.339115 0.153808 0.048319 
time: 1403636745.813555, t: -1.893570 2.836401 2.905236 q: 0.924651 -0.345827 0.151885 0.048531 
time: 1403636745.913555, t: -1.882338 2.849277 2.904311 q: 0.921781 -0.353888 0.150973 0.047862 
time: 1403636746.013556, t: -1.866711 2.857761 2.900494 q: 0.918946 -0.362492 0.148443 0.045845 
time: 1403636746.113555, t: -1.846688 2.861064 2.896761 q: 0.916621 -0.369861 0.145068 0.044304 
time: 1403636746.213556, t: -1.820437 2.857176 2.889189 q: 0.914639 -0.374019 0.147175 0.043414 
time: 1403636746.313555, t: -1.792134 2.845937 2.883210 q: 0.911677 -0.376543 0.159566 0.039997 
time: 1403636746.413555, t: -1.769229 2.829401 2.881556 q: 0.909956 -0.376814 0.168706 0.039104 
time: 1403636746.513556, t: -1.755970 2.808735 2.884743 q: 0.911979 -0.373442 0.163341 0.046431 
time: 1403636746.613555, t: -1.752661 2.785017 2.891332 q: 0.916619 -0.367313 0.146451 0.058679 
time: 1403636746.713556, t: -1.754699 2.761995 2.902524 q: 0.921763 -0.358111 0.128795 0.074308 
time: 1403636746.813555, t: -1.755945 2.739812 2.916160 q: 0.924697 -0.349605 0.123961 0.085703 
time: 1403636746.913555, t: -1.753355 2.723217 2.931366 q: 0.925899 -0.344310 0.126791 0.089926 
time: 1403636747.013556, t: -1.744587 2.711908 2.945477 q: 0.926185 -0.342962 0.130212 0.087195 
time: 1403636747.113555, t: -1.728689 2.704399 2.954770 q: 0.924935 -0.347840 0.134318 0.073896 
time: 1403636747.213556, t: -1.702539 2.696996 2.962334 q: 0.923136 -0.352850 0.138998 0.063212 
time: 1403636747.313555, t: -1.671759 2.689085 2.965916 q: 0.921768 -0.356834 0.140699 0.056709 
time: 1403636747.413555, t: -1.637115 2.678935 2.969432 q: 0.920746 -0.359239 0.141831 0.055301 
time: 1403636747.513556, t: -1.607672 2.669467 2.976090 q: 0.919948 -0.361289 0.141090 0.057092 
time: 1403636747.613555, t: -1.579857 2.657894 2.988680 q: 0.919451 -0.362575 0.139731 0.060197 
time: 1403636747.713556, t: -1.549890 2.646293 2.999643 q: 0.918656 -0.364532 0.139012 0.062152 
time: 1403636747.813555, t: -1.513132 2.632252 3.008637 q: 0.917834 -0.366549 0.138265 0.064073 
time: 1403636747.913555, t: -1.469892 2.616561 3.014788 q: 0.917259 -0.364718 0.142817 0.072247 
time: 1403636748.013556, t: -1.422816 2.600408 3.021691 q: 0.916604 -0.359504 0.152211 0.086171 
time: 1403636748.113555, t: -1.379032 2.587581 3.029561 q: 0.915992 -0.357875 0.155156 0.093868 
time: 1403636748.213556, t: -1.344317 2.580018 3.038355 q: 0.915557 -0.358608 0.154406 0.096515 
time: 1403636748.313555, t: -1.316599 2.576032 3.046581 q: 0.914976 -0.365429 0.148084 0.085741 
time: 1403636748.413555, t: -1.291137 2.574664 3.056757 q: 0.914251 -0.372372 0.142291 0.072374 
time: 1403636748.513556, t: -1.263243 2.573499 3.065011 q: 0.913752 -0.374854 0.141952 0.066267 
time: 1403636748.613555, t: -1.230760 2.571397 3.071930 q: 0.913706 -0.373360 0.144929 0.068846 
time: 1403636748.713556, t: -1.195251 2.566219 3.077545 q: 0.913699 -0.369870 0.150039 0.076416 
time: 1403636748.813555, t: -1.161263 2.561900 3.082887 q: 0.913556 -0.367084 0.153589 0.084114 
time: 1403636748.913555, t: -1.132301 2.560069 3.087539 q: 0.912612 -0.366971 0.156848 0.088720 
time: 1403636749.013556, t: -1.108409 2.562955 3.091733 q: 0.911298 -0.368788 0.158539 0.091634 
time: 1403636749.113555, t: -1.087152 2.567461 3.095842 q: 0.910311 -0.367584 0.162798 0.098557 
time: 1403636749.213556, t: -1.068549 2.575201 3.095206 q: 0.909302 -0.369496 0.163626 0.099341 
time: 1403636749.313555, t: -1.047786 2.585138 3.087934 q: 0.907760 -0.377152 0.160455 0.089344 
time: 1403636749.413555, t: -1.023321 2.593495 3.077362 q: 0.906769 -0.382928 0.156669 0.081187 
time: 1403636749.513556, t: -0.994350 2.600807 3.059192 q: 0.906179 -0.387386 0.152832 0.073580 
time: 1403636749.613555, t: -0.966715 2.606128 3.043218 q: 0.905711 -0.391312 0.149405 0.065113 
time: 1403636749.713556, t: -0.942839 2.610912 3.029722 q: 0.906056 -0.390555 0.149964 0.063564 
time: 1403636749.813555, t: -0.924171 2.613640 3.020660 q: 0.905884 -0.388219 0.157495 0.062089 
time: 1403636749.913555, t: -0.910472 2.614677 3.014578 q: 0.905828 -0.385193 0.165553 0.060777 
time: 1403636750.013556, t: -0.902860 2.612885 3.009258 q: 0.906502 -0.381898 0.170126 0.058860 
time: 1403636750.113555, t: -0.901531 2.607810 3.005065 q: 0.907970 -0.378623 0.169582 0.058968 
time: 1403636750.213556, t: -0.898644 2.598513 2.997882 q: 0.909813 -0.375570 0.166014 0.060220 
time: 1403636750.313555, t: -0.892184 2.584005 2.985908 q: 0.911903 -0.372739 0.160389 0.061426 
time: 1403636750.413555, t: -0.879872 2.565835 2.968563 q: 0.913822 -0.369609 0.156233 0.062527 
time: 1403636750.513556, t: -0.861415 2.543793 2.945949 q: 0.915375 -0.366788 0.154570 0.060533 
time: 1403636750.613555, t: -0.837719 2.518509 2.919885 q: 0.916921 -0.363815 0.152967 0.059134 
time: 1403636750.713556, t: -0.809144 2.491162 2.889735 q: 0.917986 -0.362320 0.151060 0.056623 
time: 1403636750.813555, t: -0.775399 2.460913 2.855852 q: 0.919013 -0.360877 0.148612 0.055650 
time: 1403636750.913555, t: -0.738194 2.428333 2.819781 q: 0.919710 -0.360634 0.145364 0.054268 
optimize pose graph 
time: 1403636751.013556, t: -0.699868 2.393857 2.784760 q: 0.919876 -0.361823 0.142000 0.052421 
time: 1403636751.113555, t: -0.665733 2.358535 2.755719 q: 0.919704 -0.362310 0.141702 0.052884 
time: 1403636751.213556, t: -0.636371 2.326441 2.728730 q: 0.920282 -0.362885 0.135020 0.056262 
time: 1403636751.313555, t: -0.606897 2.292532 2.705157 q: 0.921057 -0.361924 0.129401 0.062607 
time: 1403636751.513556, t: -0.544948 2.234643 2.664921 q: 0.920400 -0.355525 0.143672 0.076320 
time: 1403636751.613555, t: -0.515793 2.209513 2.646509 q: 0.921733 -0.348942 0.150097 0.078215 
time: 1403636751.713556, t: -0.487879 2.186449 2.627400 q: 0.924393 -0.342355 0.147895 0.080107 
time: 1403636751.813555, t: -0.463176 2.167809 2.608119 q: 0.927429 -0.337011 0.139562 0.082592 
time: 1403636751.913555, t: -0.440395 2.154766 2.589114 q: 0.929278 -0.337278 0.129608 0.076723 
time: 1403636752.013556, t: -0.414497 2.144664 2.570379 q: 0.929894 -0.339615 0.123760 0.068135 
time: 1403636752.113555, t: -0.388824 2.140443 2.553658 q: 0.929730 -0.340523 0.125247 0.062932 
time: 1403636752.213556, t: -0.360904 2.136365 2.540633 q: 0.929853 -0.338157 0.133798 0.055864 
time: 1403636752.313555, t: -0.331335 2.136594 2.526151 q: 0.931954 -0.329735 0.142819 0.048359 
time: 1403636752.413555, t: -0.297947 2.132054 2.511771 q: 0.935803 -0.317123 0.148805 0.039538 
time: 1403636752.513556, t: -0.262704 2.125817 2.493683 q: 0.941634 -0.300957 0.147792 0.030124 
time: 1403636752.613555, t: -0.228927 2.118599 2.476680 q: 0.948093 -0.283291 0.143065 0.019926 
time: 1403636752.713556, t: -0.201302 2.111566 2.462307 q: 0.954405 -0.264360 0.138287 0.010085 
time: 1403636752.813555, t: -0.177003 2.106886 2.448863 q: 0.960170 -0.245097 0.134155 -0.001801 
time: 1403636752.913555, t: -0.159227 2.104185 2.438728 q: 0.965197 -0.225975 0.130624 -0.016366 
time: 1403636753.013556, t: -0.145968 2.100979 2.433552 q: 0.969607 -0.206925 0.126324 -0.032952 
time: 1403636753.113555, t: -0.137837 2.094665 2.433273 q: 0.973671 -0.186286 0.122156 -0.048371 
time: 1403636753.213556, t: -0.135583 2.087594 2.434782 q: 0.977293 -0.163958 0.118654 -0.062742 
optimize pose graph 
time: 1403636753.313555, t: -0.140069 2.079781 2.439886 q: 0.979625 -0.143206 0.115486 -0.080559 
time: 1403636753.413555, t: -0.148971 2.070568 2.446201 q: 0.981493 -0.122762 0.116217 -0.089970 
time: 1403636753.513556, t: -0.153828 2.054996 2.453648 q: 0.983371 -0.105969 0.116833 -0.090014 
time: 1403636753.613555, t: -0.152900 2.035151 2.457248 q: 0.984407 -0.094933 0.118563 -0.088736 
time: 1403636753.713556, t: -0.150006 2.013331 2.457087 q: 0.984964 -0.089798 0.119150 -0.087095 
time: 1403636753.813555, t: -0.150479 1.991182 2.458730 q: 0.984644 -0.089352 0.120993 -0.088618 
time: 1403636753.913555, t: -0.155666 1.969180 2.462846 q: 0.984601 -0.090340 0.121516 -0.087374 
time: 1403636754.013556, t: -0.165197 1.947258 2.468744 q: 0.984141 -0.092982 0.123051 -0.087629 
time: 1403636754.113555, t: -0.169860 1.922076 2.470131 q: 0.983185 -0.094639 0.130027 -0.086508 
time: 1403636754.213556, t: -0.171763 1.894253 2.466103 q: 0.982059 -0.097994 0.135171 -0.087670 
time: 1403636754.313555, t: -0.171180 1.863849 2.455531 q: 0.981462 -0.101458 0.136345 -0.088590 
time: 1403636754.413555, t: -0.167701 1.826425 2.442185 q: 0.981272 -0.102314 0.136242 -0.089861 
time: 1403636754.513556, t: -0.167349 1.787573 2.424656 q: 0.981758 -0.098216 0.134365 -0.091930 
time: 1403636754.613555, t: -0.173990 1.746947 2.407079 q: 0.982535 -0.090711 0.129495 -0.098117 
time: 1403636754.713556, t: -0.187317 1.702338 2.391886 q: 0.983445 -0.077485 0.126756 -0.103749 
time: 1403636754.813555, t: -0.206177 1.657012 2.377143 q: 0.983949 -0.062170 0.125179 -0.110951 
time: 1403636754.913555, t: -0.228811 1.611353 2.362057 q: 0.984165 -0.049438 0.124190 -0.116414 
time: 1403636755.013556, t: -0.259893 1.568013 2.344086 q: 0.984164 -0.040033 0.122667 -0.121537 
time: 1403636755.113555, t: -0.288480 1.518824 2.328717 q: 0.984257 -0.033433 0.121725 -0.123706 
time: 1403636755.213556, t: -0.315380 1.468667 2.307432 q: 0.984540 -0.028581 0.120507 -0.123865 
time: 1403636755.313555, t: -0.340250 1.416664 2.281379 q: 0.985504 -0.027129 0.112960 -0.123634 
time: 1403636755.413555, t: -0.359670 1.359930 2.253054 q: 0.986766 -0.027802 0.101761 -0.123142 
optimize pose graph 
time: 1403636755.513556, t: -0.374705 1.300620 2.224544 q: 0.987161 -0.029208 0.097660 -0.122977 
time: 1403636755.613555, t: -0.391186 1.241781 2.199872 q: 0.986655 -0.031520 0.099447 -0.125013 
time: 1403636755.713556, t: -0.412455 1.184120 2.180095 q: 0.986692 -0.031740 0.101949 -0.122633 
time: 1403636755.813555, t: -0.436627 1.126805 2.163103 q: 0.986505 -0.031299 0.106772 -0.120116 
time: 1403636755.913555, t: -0.462772 1.067708 2.150670 q: 0.986115 -0.031004 0.111419 -0.119170 
time: 1403636756.013556, t: -0.489818 1.008031 2.137582 q: 0.986102 -0.030156 0.113808 -0.117221 
time: 1403636756.113555, t: -0.511474 0.946402 2.121558 q: 0.985781 -0.030418 0.115771 -0.117935 
time: 1403636756.213556, t: -0.529888 0.883462 2.102028 q: 0.985462 -0.030070 0.118279 -0.118196 
time: 1403636756.313555, t: -0.546875 0.820131 2.078881 q: 0.985470 -0.029164 0.118761 -0.117872 
time: 1403636756.413555, t: -0.567621 0.756522 2.057462 q: 0.985169 -0.028969 0.119729 -0.119451 
time: 1403636756.513556, t: -0.592397 0.696309 2.037880 q: 0.985182 -0.027508 0.120032 -0.119386 
time: 1403636756.613555, t: -0.624299 0.636559 2.018422 q: 0.985087 -0.026633 0.120627 -0.119764 
time: 1403636756.713556, t: -0.656018 0.575920 1.999541 q: 0.984907 -0.025193 0.122289 -0.119874 
time: 1403636756.813555, t: -0.684618 0.513374 1.975792 q: 0.984802 -0.023692 0.123557 -0.119739 
time: 1403636756.913555, t: -0.708507 0.451514 1.948842 q: 0.984819 -0.022823 0.123365 -0.119962 
time: 1403636757.013556, t: -0.730621 0.387281 1.915712 q: 0.984879 -0.021766 0.123106 -0.119936 
time: 1403636757.113555, t: -0.753164 0.322901 1.883568 q: 0.985080 -0.020452 0.123070 -0.118545 
time: 1403636757.213556, t: -0.784719 0.263063 1.851981 q: 0.985165 -0.020026 0.122804 -0.118190 
time: 1403636757.413555, t: -0.859144 0.143085 1.792119 q: 0.985093 -0.021678 0.118734 -0.122571 
time: 1403636757.513556, t: -0.905419 0.089330 1.761459 q: 0.985079 -0.021709 0.114254 -0.126864 
time: 1403636757.613555, t: -0.940501 0.024174 1.734277 q: 0.985900 -0.017519 0.103449 -0.130354 
time: 1403636757.713556, t: -0.972061 -0.042366 1.702951 q: 0.986921 -0.012243 0.090319 -0.132962 
optimize pose graph 
time: 1403636757.813555, t: -0.994977 -0.117586 1.670650 q: 0.987629 -0.006757 0.080637 -0.134317 
time: 1403636757.913555, t: -1.008550 -0.191958 1.639438 q: 0.987878 -0.001155 0.077651 -0.134411 
time: 1403636758.013556, t: -1.014984 -0.265701 1.611821 q: 0.986972 0.004725 0.088292 -0.134417 
time: 1403636758.113555, t: -1.024653 -0.335088 1.588988 q: 0.985696 0.010253 0.102388 -0.133473 
time: 1403636758.213556, t: -1.028329 -0.409936 1.569109 q: 0.984638 0.013303 0.112057 -0.133249 
time: 1403636758.313555, t: -1.049445 -0.476773 1.551193 q: 0.984380 0.015855 0.116744 -0.130823 
time: 1403636758.413555, t: -1.077860 -0.546783 1.529765 q: 0.985762 0.016568 0.109182 -0.126796 
time: 1403636758.513556, t: -1.107928 -0.611423 1.518346 q: 0.988953 0.018348 0.089311 -0.116869 
time: 1403636758.613555, t: -1.140583 -0.674430 1.514126 q: 0.991840 0.021239 0.070572 -0.104025 
time: 1403636758.713556, t: -1.162125 -0.729772 1.510221 q: 0.991599 0.020790 0.075280 -0.103114 
time: 1403636758.813555, t: -1.177163 -0.780277 1.510242 q: 0.989689 0.019081 0.092222 -0.107921 
time: 1403636758.913555, t: -1.194767 -0.826915 1.519530 q: 0.987294 0.015622 0.106570 -0.116831 
time: 1403636759.013556, t: -1.212914 -0.868502 1.528265 q: 0.985988 0.013757 0.113445 -0.121527 
time: 1403636759.113555, t: -1.234261 -0.905065 1.538113 q: 0.986475 0.018674 0.117357 -0.112897 
time: 1403636759.213556, t: -1.256676 -0.938304 1.548663 q: 0.988209 0.029032 0.117974 -0.093181 
time: 1403636759.413555, t: -1.307220 -0.972378 1.568632 q: 0.987651 0.028065 0.119549 -0.097294 
time: 1403636759.513556, t: -1.334613 -0.976449 1.579736 q: 0.986021 0.021318 0.121158 -0.112380 
time: 1403636759.613555, t: -1.363061 -0.976151 1.589369 q: 0.984596 0.017209 0.122385 -0.123677 
time: 1403636759.713556, t: -1.385261 -0.975645 1.592273 q: 0.983971 0.015519 0.121902 -0.129229 
time: 1403636759.813555, t: -1.399185 -0.977288 1.586825 q: 0.983570 0.015834 0.123607 -0.130618 
time: 1403636759.913555, t: -1.411939 -0.979480 1.578167 q: 0.984395 0.015388 0.117596 -0.130003 
optimize pose graph 
time: 1403636760.013556, t: -1.427614 -0.980410 1.569544 q: 0.985627 0.013969 0.107568 -0.129515 
time: 1403636760.113555, t: -1.443827 -0.981066 1.563354 q: 0.986705 0.012854 0.099049 -0.128209 
time: 1403636760.213556, t: -1.458932 -0.981254 1.559602 q: 0.986715 0.013022 0.099811 -0.127524 
time: 1403636760.313555, t: -1.472760 -0.981184 1.557832 q: 0.985267 0.015301 0.114398 -0.126207 
time: 1403636760.413555, t: -1.489236 -0.979175 1.558959 q: 0.983890 0.014840 0.122381 -0.129470 
time: 1403636760.513556, t: -1.508095 -0.976198 1.558717 q: 0.983510 0.013077 0.122095 -0.132774 
time: 1403636760.613555, t: -1.530125 -0.973120 1.558276 q: 0.984549 0.011273 0.111586 -0.134478 
time: 1403636760.713556, t: -1.550327 -0.971096 1.556652 q: 0.984839 0.008924 0.104367 -0.138277 
time: 1403636760.813555, t: -1.567604 -0.971499 1.554422 q: 0.984051 0.008214 0.107334 -0.141620 
time: 1403636760.913555, t: -1.584686 -0.974346 1.552648 q: 0.982760 0.008193 0.114257 -0.145124 
time: 1403636761.013556, t: -1.603373 -0.979395 1.551401 q: 0.983426 0.008830 0.110267 -0.143653 
time: 1403636761.113555, t: -1.623541 -0.986628 1.551533 q: 0.985222 0.009882 0.099288 -0.139220 
time: 1403636761.213556, t: -1.642834 -0.995658 1.554078 q: 0.986630 0.008743 0.085004 -0.138776 
time: 1403636761.313555, t: -1.656486 -1.006657 1.558057 q: 0.987205 0.008324 0.079265 -0.138111 
time: 1403636761.413555, t: -1.662533 -1.020504 1.564797 q: 0.986340 0.009888 0.089281 -0.138073 
time: 1403636761.513556, t: -1.663208 -1.036515 1.574261 q: 0.984732 0.011301 0.104934 -0.138437 
time: 1403636761.613555, t: -1.661689 -1.053466 1.582585 q: 0.983599 0.012339 0.116277 -0.137332 
time: 1403636761.713556, t: -1.659470 -1.070796 1.589436 q: 0.984415 0.016867 0.120407 -0.127062 
time: 1403636761.813555, t: -1.656380 -1.086567 1.593732 q: 0.985544 0.021431 0.121076 -0.116552 
time: 1403636761.913555, t: -1.651730 -1.098694 1.595362 q: 0.985846 0.021556 0.120284 -0.114785 
time: 1403636762.013556, t: -1.645421 -1.106640 1.594601 q: 0.984470 0.014994 0.120853 -0.126445 
time: 1403636762.113555, t: -1.637750 -1.112981 1.591980 q: 0.981703 0.004332 0.122166 -0.146000 
time: 1403636762.213556, t: -1.632061 -1.122102 1.588056 q: 0.980841 -0.002719 0.116137 -0.156381 
optimize pose graph 
time: 1403636762.313555, t: -1.631255 -1.134938 1.586400 q: 0.983229 -0.003507 0.100763 -0.151970 
time: 1403636762.413555, t: -1.636303 -1.150197 1.591865 q: 0.985459 -0.001634 0.090051 -0.144078 
time: 1403636762.513556, t: -1.645941 -1.167041 1.604405 q: 0.987976 0.009065 0.093044 -0.123144 
time: 1403636762.613555, t: -1.659069 -1.180971 1.625242 q: 0.989294 0.022549 0.104851 -0.098971 
time: 1403636762.713556, t: -1.676291 -1.187515 1.651058 q: 0.988225 0.025650 0.116189 -0.096191 
time: 1403636762.813555, t: -1.697451 -1.185158 1.680406 q: 0.986193 0.019024 0.120801 -0.111667 
time: 1403636762.913555, t: -1.698484 -1.178017 1.675622 q: 0.979843 0.023256 0.163523 -0.112367 
time: 1403636763.013556, t: -1.711363 -1.161676 1.662908 q: 0.985378 0.000570 0.128397 -0.112000 
time: 1403636763.113555, t: -1.719153 -1.148523 1.659428 q: 0.985714 -0.010192 0.141489 -0.090801 
time: 1403636763.213556, t: -1.719554 -1.145478 1.656423 q: 0.985206 -0.016213 0.149371 -0.082431 
time: 1403636763.313555, t: -1.718580 -1.143942 1.660865 q: 0.986153 -0.015960 0.144225 -0.080291 
time: 1403636763.413555, t: -1.718904 -1.144280 1.660232 q: 0.986391 -0.015656 0.143032 -0.079562 
time: 1403636763.513556, t: -1.719009 -1.144254 1.660115 q: 0.986335 -0.015792 0.143292 -0.079763 
time: 1403636763.613555, t: -1.719054 -1.144190 1.660130 q: 0.986330 -0.015902 0.143295 -0.079794 
time: 1403636763.713556, t: -1.719013 -1.144213 1.660223 q: 0.986333 -0.015803 0.143359 -0.079660 
time: 1403636763.813555, t: -1.719029 -1.144225 1.660194 q: 0.986339 -0.015723 0.143410 -0.079515 
optimize pose graph 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731019778.302335244]: Shutdown request received.[0m
[33m[ WARN] [1731019778.302389849]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731019778.303330111]: Shutdown request received.[0m
[33m[ WARN] [1731019778.303359640]: Reason given for shutdown: [user request][0m
killed
