/SLAM-Hive/slam_hive_results/mapping_results/3343/2220_vins-fusion-stereo+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/15481782-9d5c-11ef-98ea-0242ac110002/roslaunch-4becae1c7efd-116.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[0m[ INFO] [1731020429.434369340]: init begins[0m
[31m[ERROR] [1731020429.440201037]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731020429.440373398]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://4becae1c7efd:36231/[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 [153][0m
[1mROS_MASTER_URI=http://4becae1c7efd:11311/[0m
]2;roscore http://4becae1c7efd:11311/
[1msetting /run_id to 15481782-9d5c-11ef-98ea-0242ac110002[0m
[0m[ INFO] [1731020430.646348234]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731020430.646947986]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1731020430.682151000]:  fix extrinsic param [0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
camera number 2
[0m[ INFO] [1731020430.694622607]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731020430.694659676]: 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] [1731020430.694871981]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731020430.705386291]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731020430.705534756]: waiting for image and imu...[0m
loop start load vocabulary
[1mprocess[rosout-1]: started with pid [190][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_pinhole.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1731020439.142744303]: 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: 327383308.85 
[0m[ INFO] [1731020440.693470838]: Initialization finish![0m
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time: 1403637146.288319, t: 0.013283 0.048532 0.013668 q: 0.997940 -0.061361 -0.002724 0.018535 
time: 1403637146.388319, t: 0.013290 0.048546 0.013670 q: 0.997938 -0.061390 -0.002764 0.018508 
time: 1403637146.488319, t: 0.013277 0.048547 0.013654 q: 0.997936 -0.061420 -0.002818 0.018517 
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time: 1403637147.788319, t: 0.013271 0.048593 0.013653 q: 0.997938 -0.061459 -0.002816 0.018285 
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time: 1403637148.288319, t: 0.013327 0.048607 0.013636 q: 0.997945 -0.061375 -0.002757 0.018175 
time: 1403637148.388319, t: 0.013322 0.048585 0.013643 q: 0.997952 -0.061272 -0.002828 0.018164 
time: 1403637148.488319, t: 0.013304 0.048573 0.013613 q: 0.997965 -0.061072 -0.002946 0.018071 
time: 1403637148.588319, t: 0.013326 0.048563 0.013611 q: 0.997983 -0.060796 -0.003032 0.018002 
time: 1403637148.688319, t: 0.013299 0.048497 0.013525 q: 0.998035 -0.059949 -0.003418 0.017877 
time: 1403637148.788319, t: 0.013259 0.048461 0.013465 q: 0.998066 -0.059451 -0.003752 0.017743 
time: 1403637148.888319, t: 0.013243 0.048473 0.013352 q: 0.998113 -0.058717 -0.004190 0.017485 
time: 1403637148.988319, t: 0.013245 0.048460 0.013287 q: 0.998151 -0.058084 -0.004394 0.017377 
time: 1403637149.088319, t: 0.013214 0.048442 0.013202 q: 0.998186 -0.057535 -0.004688 0.017105 
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time: 1403637149.288319, t: 0.013220 0.048559 0.012970 q: 0.998254 -0.056409 -0.005150 0.016742 
time: 1403637149.388319, t: 0.013236 0.048619 0.012901 q: 0.998304 -0.055570 -0.005557 0.016453 
time: 1403637149.488319, t: 0.013200 0.048691 0.012667 q: 0.998387 -0.054194 -0.006195 0.015770 
time: 1403637149.588319, t: 0.013152 0.048889 0.012594 q: 0.998521 -0.051827 -0.009007 0.013716 
time: 1403637149.688319, t: 0.012680 0.049072 0.012009 q: 0.998891 -0.042793 -0.017816 0.008225 
time: 1403637149.788319, t: 0.012371 0.050503 0.011339 q: 0.998973 -0.038124 -0.023430 0.007047 
time: 1403637149.888319, t: 0.012721 0.053964 0.010333 q: 0.998623 -0.036103 -0.037215 0.008043 
time: 1403637149.988319, t: 0.015292 0.062263 0.007621 q: 0.997607 -0.038803 -0.057205 0.001142 
time: 1403637150.088319, t: 0.025890 0.075125 0.004238 q: 0.996002 -0.045578 -0.076033 -0.011040 
time: 1403637150.188319, t: 0.045789 0.091156 0.004730 q: 0.994970 -0.052468 -0.083256 -0.018708 
optimize pose graph 
time: 1403637150.288319, t: 0.074054 0.107364 0.010787 q: 0.994996 -0.058253 -0.078396 -0.021046 
time: 1403637150.388319, t: 0.107490 0.123649 0.023986 q: 0.995798 -0.061689 -0.065130 -0.018387 
time: 1403637150.488319, t: 0.140654 0.139088 0.040188 q: 0.996294 -0.065044 -0.053685 -0.016905 
time: 1403637150.588319, t: 0.174123 0.154719 0.056855 q: 0.996293 -0.068539 -0.049419 -0.016160 
time: 1403637150.688319, t: 0.206536 0.171543 0.078874 q: 0.996250 -0.070915 -0.047135 -0.015321 
time: 1403637150.788319, t: 0.236866 0.188108 0.100320 q: 0.996123 -0.072958 -0.046413 -0.016199 
time: 1403637150.888319, t: 0.266900 0.202811 0.120081 q: 0.996198 -0.074627 -0.041143 -0.018124 
time: 1403637150.988319, t: 0.294239 0.218695 0.143121 q: 0.996474 -0.074671 -0.033096 -0.019212 
time: 1403637151.088319, t: 0.318320 0.233232 0.166116 q: 0.996714 -0.073849 -0.026145 -0.020598 
time: 1403637151.188319, t: 0.338494 0.246020 0.186288 q: 0.996897 -0.072552 -0.021064 -0.022090 
time: 1403637151.288319, t: 0.358149 0.256653 0.204437 q: 0.996939 -0.070515 -0.027287 -0.019875 
time: 1403637151.388319, t: 0.385863 0.265958 0.216308 q: 0.997140 -0.066115 -0.035109 -0.010366 
time: 1403637151.488319, t: 0.421290 0.275419 0.222937 q: 0.997098 -0.064437 -0.039823 -0.007537 
time: 1403637151.588319, t: 0.453659 0.285747 0.232511 q: 0.997036 -0.064443 -0.040804 -0.010059 
time: 1403637151.688319, t: 0.482239 0.298930 0.239339 q: 0.996998 -0.064493 -0.040620 -0.013661 
time: 1403637151.788319, t: 0.505415 0.313266 0.251522 q: 0.996942 -0.064407 -0.041497 -0.015345 
time: 1403637151.888319, t: 0.524791 0.326767 0.262120 q: 0.996910 -0.064486 -0.041410 -0.017247 
time: 1403637151.988319, t: 0.544000 0.340117 0.274408 q: 0.996875 -0.064451 -0.041973 -0.017997 
time: 1403637152.088319, t: 0.567453 0.355569 0.284115 q: 0.996930 -0.063378 -0.042802 -0.016781 
time: 1403637152.188319, t: 0.593489 0.368423 0.293772 q: 0.996899 -0.062992 -0.044614 -0.015298 
time: 1403637152.288319, t: 0.617204 0.383571 0.306164 q: 0.996882 -0.062484 -0.046217 -0.013666 
optimize pose graph 
time: 1403637152.388319, t: 0.632970 0.400170 0.318982 q: 0.996891 -0.061928 -0.047020 -0.012726 
time: 1403637152.488319, t: 0.642998 0.419255 0.338298 q: 0.996860 -0.061853 -0.047596 -0.013411 
time: 1403637152.588319, t: 0.647200 0.438013 0.357204 q: 0.996842 -0.061926 -0.047741 -0.013886 
time: 1403637152.688319, t: 0.651539 0.457875 0.377987 q: 0.996918 -0.061908 -0.046139 -0.013917 
time: 1403637152.788319, t: 0.657769 0.478556 0.397689 q: 0.997217 -0.060644 -0.041809 -0.011539 
time: 1403637152.888319, t: 0.669121 0.499217 0.417481 q: 0.997457 -0.059927 -0.037039 -0.010802 
time: 1403637152.988319, t: 0.689083 0.521657 0.434886 q: 0.997494 -0.059976 -0.035179 -0.013113 
time: 1403637153.088319, t: 0.707670 0.543358 0.451574 q: 0.997411 -0.060729 -0.035420 -0.015131 
time: 1403637153.188319, t: 0.722427 0.566230 0.467841 q: 0.997265 -0.061361 -0.037851 -0.016260 
time: 1403637153.288319, t: 0.732077 0.589453 0.483590 q: 0.997079 -0.062528 -0.039573 -0.018935 
time: 1403637153.388319, t: 0.737794 0.612026 0.499758 q: 0.996944 -0.063558 -0.040262 -0.021039 
time: 1403637153.488319, t: 0.746944 0.633190 0.517325 q: 0.996737 -0.064401 -0.043117 -0.022566 
time: 1403637153.588319, t: 0.762152 0.654271 0.532248 q: 0.996580 -0.064449 -0.046908 -0.021787 
time: 1403637153.688319, t: 0.784911 0.673473 0.546357 q: 0.996625 -0.064234 -0.046143 -0.022008 
time: 1403637153.788319, t: 0.812558 0.691552 0.561489 q: 0.996759 -0.064511 -0.042448 -0.022555 
time: 1403637153.888319, t: 0.834445 0.708397 0.576855 q: 0.996898 -0.064341 -0.039841 -0.021637 
time: 1403637153.988319, t: 0.850141 0.725675 0.595016 q: 0.997014 -0.064175 -0.037369 -0.021152 
time: 1403637154.088319, t: 0.856455 0.741946 0.613021 q: 0.996999 -0.063593 -0.039877 -0.018949 
time: 1403637154.188319, t: 0.853891 0.756849 0.633406 q: 0.996923 -0.060188 -0.049860 -0.005979 
time: 1403637154.288319, t: 0.848076 0.775441 0.656482 q: 0.996701 -0.056469 -0.057615 0.008878 
optimize pose graph 
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time: 1403637154.688319, t: 0.824277 0.903762 0.771820 q: 0.995999 -0.070262 -0.052365 -0.017517 
time: 1403637154.788319, t: 0.824948 0.939493 0.803609 q: 0.994784 -0.079879 -0.059907 -0.020885 
time: 1403637154.888319, t: 0.825735 0.973518 0.837802 q: 0.993607 -0.091574 -0.064046 -0.016054 
time: 1403637154.988319, t: 0.834943 1.006826 0.875449 q: 0.992587 -0.101246 -0.066354 -0.010835 
time: 1403637155.088319, t: 0.851059 1.038146 0.916584 q: 0.991594 -0.113165 -0.062484 -0.005608 
time: 1403637155.188319, t: 0.877321 1.069444 0.961849 q: 0.990717 -0.125583 -0.052043 0.000384 
time: 1403637155.288319, t: 0.910008 1.098872 1.003574 q: 0.990095 -0.133269 -0.044105 0.002234 
time: 1403637155.388319, t: 0.944405 1.128526 1.044331 q: 0.989335 -0.141056 -0.035971 0.005122 
time: 1403637155.488319, t: 0.971851 1.155730 1.088431 q: 0.987450 -0.154780 -0.029500 0.010722 
time: 1403637155.588319, t: 0.991635 1.184155 1.135538 q: 0.985385 -0.167108 -0.026615 0.019585 
time: 1403637155.688319, t: 1.001907 1.213427 1.182948 q: 0.983577 -0.175953 -0.025607 0.031005 
time: 1403637155.788319, t: 1.008555 1.245543 1.225830 q: 0.981015 -0.187931 -0.024336 0.041227 
time: 1403637155.888319, t: 1.007742 1.281301 1.267829 q: 0.976994 -0.205570 -0.025040 0.050966 
time: 1403637156.088319, t: 1.001134 1.367261 1.332090 q: 0.965875 -0.248711 -0.022278 0.068795 
time: 1403637156.188319, t: 0.995139 1.413879 1.371172 q: 0.958899 -0.271884 -0.016622 0.079470 
time: 1403637156.288319, t: 0.989192 1.470876 1.390870 q: 0.950847 -0.295935 -0.012261 0.090347 
optimize pose graph 
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time: 1403637156.488319, t: 0.972873 1.595050 1.419813 q: 0.931657 -0.346158 -0.007567 0.110149 
time: 1403637156.588319, t: 0.958076 1.660907 1.430881 q: 0.921133 -0.371447 -0.004438 0.116283 
time: 1403637156.688319, t: 0.938250 1.731035 1.435758 q: 0.909989 -0.396648 -0.001942 0.120771 
time: 1403637156.788319, t: 0.914888 1.803823 1.433002 q: 0.899792 -0.418692 -0.003332 0.122721 
time: 1403637156.888319, t: 0.889580 1.880023 1.428225 q: 0.892275 -0.434310 -0.011595 0.122827 
time: 1403637156.988319, t: 0.860641 1.951205 1.422608 q: 0.887431 -0.444230 -0.020157 0.121328 
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time: 1403637157.388319, t: 0.749115 2.263556 1.417089 q: 0.886661 -0.441236 -0.019011 0.137044 
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time: 1403637157.588319, t: 0.742890 2.435589 1.392868 q: 0.890127 -0.430982 -0.013427 0.147469 
time: 1403637157.688319, t: 0.746666 2.527947 1.371254 q: 0.891623 -0.427855 -0.013585 0.147524 
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time: 1403637158.088319, t: 0.769177 2.945669 1.239622 q: 0.893884 -0.432635 -0.006189 0.117302 
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time: 1403637158.288319, t: 0.783331 3.153156 1.155318 q: 0.892745 -0.436012 -0.005807 0.113427 
time: 1403637158.388319, t: 0.789998 3.249090 1.109670 q: 0.888225 -0.444260 -0.003741 0.116943 
time: 1403637158.488319, t: 0.792537 3.353647 1.059826 q: 0.881151 -0.456443 0.000170 0.123420 
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time: 1403637161.088319, t: 0.175197 6.014058 -0.857820 q: 0.657034 -0.719671 -0.003474 0.224426 
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optimize pose graph 
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optimize pose graph 
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time: 1403637201.688319, t: 1.051503 3.281063 2.123913 q: 0.914865 -0.358842 0.014351 0.184523 
time: 1403637201.788319, t: 1.038476 3.205232 2.125732 q: 0.912375 -0.369274 0.017877 0.175755 
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time: 1403637201.988319, t: 1.011479 3.084854 2.082254 q: 0.910463 -0.377221 0.017773 0.168659 
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time: 1403637202.188319, t: 0.992480 3.003007 1.982475 q: 0.910968 -0.369536 -0.005058 0.183181 
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optimize pose graph 
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time: 1403637202.788319, t: 0.944112 3.033345 1.570393 q: 0.914949 -0.386812 -0.025710 0.112182 
time: 1403637202.888319, t: 0.948066 3.060143 1.499157 q: 0.914599 -0.390549 -0.027820 0.101025 
time: 1403637202.988319, t: 0.943666 3.086710 1.432491 q: 0.914119 -0.393552 -0.030482 0.092600 
time: 1403637203.088319, t: 0.934579 3.114377 1.371751 q: 0.913789 -0.394844 -0.030854 0.090196 
time: 1403637203.188319, t: 0.923398 3.140221 1.314457 q: 0.913530 -0.395521 -0.030537 0.089971 
time: 1403637203.288319, t: 0.912813 3.171449 1.257094 q: 0.913270 -0.396409 -0.029786 0.088940 
time: 1403637203.388319, t: 0.896610 3.192840 1.206717 q: 0.913055 -0.396803 -0.028953 0.089665 
time: 1403637203.488319, t: 0.880229 3.220150 1.156796 q: 0.912828 -0.397322 -0.029773 0.089406 
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time: 1403637203.788319, t: 0.804151 3.277160 1.038904 q: 0.911741 -0.400735 -0.028110 0.085726 
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time: 1403637204.188319, t: 0.683267 3.318710 0.927341 q: 0.910808 -0.402792 -0.027658 0.086153 
time: 1403637204.288319, t: 0.665872 3.320829 0.901228 q: 0.910528 -0.403168 -0.028611 0.087040 
time: 1403637204.388319, t: 0.658371 3.319119 0.876170 q: 0.910562 -0.402634 -0.025099 0.090178 
time: 1403637204.488319, t: 0.660322 3.314027 0.852033 q: 0.910168 -0.403523 -0.018201 0.091834 
time: 1403637204.588319, t: 0.666653 3.307269 0.824963 q: 0.909372 -0.405084 -0.016464 0.093161 
optimize pose graph 
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time: 1403637204.888319, t: 0.694834 3.278864 0.740918 q: 0.906496 -0.410338 -0.024255 0.096435 
time: 1403637204.988319, t: 0.691166 3.267932 0.719537 q: 0.905958 -0.410686 -0.029375 0.098559 
time: 1403637205.088319, t: 0.682570 3.255303 0.700882 q: 0.905620 -0.410627 -0.034432 0.100266 
time: 1403637205.188319, t: 0.673040 3.244170 0.685257 q: 0.905676 -0.410573 -0.035057 0.099760 
time: 1403637205.288319, t: 0.658874 3.232741 0.675634 q: 0.907431 -0.406749 -0.036815 0.098842 
time: 1403637205.388319, t: 0.647832 3.219969 0.670027 q: 0.910539 -0.400730 -0.036594 0.094846 
time: 1403637205.488319, t: 0.647434 3.206421 0.663883 q: 0.913457 -0.395424 -0.034041 0.089872 
time: 1403637205.588319, t: 0.650968 3.195619 0.659546 q: 0.916011 -0.390840 -0.030436 0.085098 
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time: 1403637205.788319, t: 0.641953 3.169869 0.657801 q: 0.918746 -0.385021 -0.028945 0.082621 
time: 1403637205.888319, t: 0.627218 3.153647 0.659909 q: 0.919324 -0.383635 -0.029074 0.082594 
time: 1403637205.988319, t: 0.612343 3.135775 0.664638 q: 0.919684 -0.382975 -0.028437 0.081866 
time: 1403637206.088319, t: 0.602813 3.113037 0.669979 q: 0.920038 -0.381824 -0.026926 0.083762 
time: 1403637206.188319, t: 0.600674 3.091796 0.674133 q: 0.920753 -0.378609 -0.023487 0.091204 
time: 1403637206.288319, t: 0.607573 3.071239 0.675129 q: 0.921124 -0.376841 -0.021130 0.095263 
time: 1403637206.388319, t: 0.622958 3.046390 0.674338 q: 0.921124 -0.376501 -0.019734 0.096892 
time: 1403637206.488319, t: 0.640001 3.024109 0.669571 q: 0.920987 -0.376874 -0.019781 0.096734 
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time: 1403637206.688319, t: 0.664566 2.982018 0.659389 q: 0.920290 -0.379321 -0.020702 0.093565 
optimize pose graph 
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time: 1403637206.988319, t: 0.677102 2.915552 0.643284 q: 0.919470 -0.382288 -0.016876 0.090253 
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time: 1403637207.288319, t: 0.692711 2.837033 0.611547 q: 0.918009 -0.385461 -0.014021 0.092100 
time: 1403637207.388319, t: 0.684734 2.809128 0.602021 q: 0.917587 -0.386354 -0.014500 0.092485 
time: 1403637207.488319, t: 0.671108 2.780976 0.592451 q: 0.917125 -0.387272 -0.014705 0.093195 
time: 1403637207.588319, t: 0.651496 2.750626 0.583657 q: 0.916718 -0.386437 -0.018502 0.099757 
time: 1403637207.688319, t: 0.631490 2.718655 0.574170 q: 0.916373 -0.383324 -0.026029 0.112458 
time: 1403637207.788319, t: 0.622794 2.692830 0.559737 q: 0.916063 -0.383697 -0.028899 0.113006 
time: 1403637207.888319, t: 0.626846 2.671438 0.541604 q: 0.915675 -0.386341 -0.028628 0.107055 
time: 1403637207.988319, t: 0.639371 2.652363 0.519593 q: 0.915455 -0.388472 -0.027179 0.101450 
time: 1403637208.088319, t: 0.658569 2.632672 0.496530 q: 0.915113 -0.390289 -0.027528 0.097386 
time: 1403637208.188319, t: 0.683342 2.612792 0.472756 q: 0.914789 -0.391821 -0.027460 0.094254 
time: 1403637208.288319, t: 0.707278 2.594862 0.450344 q: 0.914586 -0.391092 -0.026520 0.099379 
time: 1403637208.388319, t: 0.724888 2.577433 0.430147 q: 0.914489 -0.389690 -0.021586 0.106702 
time: 1403637208.588319, t: 0.738945 2.547731 0.390997 q: 0.913605 -0.392907 -0.020124 0.102687 
time: 1403637208.688319, t: 0.737810 2.535801 0.373013 q: 0.913315 -0.394694 -0.020953 0.098151 
time: 1403637208.788319, t: 0.732104 2.522590 0.354994 q: 0.913249 -0.395539 -0.019371 0.095659 
time: 1403637208.888319, t: 0.720545 2.508343 0.338396 q: 0.912996 -0.396670 -0.020771 0.093059 
optimize pose graph 
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optimize pose graph 
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time: 1403637231.588319, t: -0.183846 0.473455 -1.572136 q: 0.738377 -0.635025 -0.006215 0.226947 
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time: 1403637231.788319, t: -0.321415 0.557509 -1.589813 q: 0.673134 -0.697719 -0.000489 0.245107 
time: 1403637231.888319, t: -0.388529 0.608898 -1.616161 q: 0.644064 -0.721498 0.000929 0.254208 
time: 1403637231.988319, t: -0.434630 0.657652 -1.650585 q: 0.617319 -0.741119 0.004704 0.263890 
time: 1403637232.088319, t: -0.473343 0.710365 -1.698307 q: 0.592130 -0.761901 0.020811 0.261643 
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time: 1403637232.388319, t: -0.571604 0.859287 -1.873077 q: 0.519303 -0.815588 0.039696 0.252120 
time: 1403637232.488319, t: -0.597000 0.894334 -1.950518 q: -0.495026 0.830147 -0.042386 -0.253001 
time: 1403637232.588319, t: -0.615459 0.929956 -2.021576 q: -0.469211 0.838896 -0.049259 -0.271418 
time: 1403637232.688319, t: -0.628288 0.954928 -2.102352 q: -0.442238 0.846690 -0.054913 -0.290733 
time: 1403637232.788319, t: -0.645659 0.972759 -2.202836 q: -0.416484 0.852848 -0.058700 -0.309428 
time: 1403637232.888319, t: -0.657626 0.987884 -2.312484 q: -0.396094 0.857892 -0.051892 -0.323167 
time: 1403637232.988319, t: -0.668696 0.999945 -2.432829 q: -0.382002 0.861398 -0.041240 -0.332216 
time: 1403637233.088319, t: -0.676198 1.016289 -2.559034 q: -0.372783 0.863833 -0.029377 -0.337583 
time: 1403637233.188319, t: -0.682812 1.033760 -2.704140 q: -0.368748 0.863316 -0.017996 -0.344072 
optimize pose graph 
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time: 1403637233.388319, t: -0.716353 1.086637 -3.021137 q: -0.368933 0.858144 -0.002896 -0.357028 
time: 1403637233.488319, t: -0.756471 1.124594 -3.188963 q: -0.371247 0.857798 0.009826 -0.355334 
time: 1403637233.588319, t: -0.814936 1.167856 -3.371423 q: -0.375736 0.865709 0.036387 -0.328704 
time: 1403637233.688319, t: -0.883803 1.221213 -3.555419 q: -0.379709 0.877004 0.063001 -0.287602 
time: 1403637233.788319, t: -0.946975 1.303924 -3.728989 q: -0.381382 0.885241 0.083500 -0.252833 
time: 1403637233.888319, t: -1.015912 1.396180 -3.895703 q: -0.382046 0.889526 0.095363 -0.231710 
time: 1403637233.988319, t: -1.084017 1.504760 -4.036632 q: -0.381483 0.891282 0.103928 -0.222004 
time: 1403637234.088319, t: -1.150061 1.630904 -4.164865 q: -0.381080 0.893478 0.112487 -0.209338 
time: 1403637234.188319, t: -1.210132 1.774647 -4.275117 q: -0.379457 0.895930 0.122068 -0.196014 
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time: 1403637234.888319, t: -1.578018 3.072417 -4.368459 q: -0.455381 0.866977 0.001897 -0.202422 
time: 1403637234.988319, t: -1.614242 3.266567 -4.315256 q: -0.476509 0.854937 -0.010812 -0.204709 
time: 1403637235.088319, t: -1.639536 3.443572 -4.254602 q: -0.496885 0.844263 -0.010973 -0.200511 
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optimize pose graph 
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time: 1403637235.588319, t: -1.636601 4.228239 -3.882530 q: 0.568518 -0.790195 -0.024021 0.227601 
time: 1403637235.688319, t: -1.620352 4.374073 -3.799380 q: 0.581142 -0.781611 -0.026189 0.225104 
time: 1403637235.788319, t: -1.595005 4.519049 -3.712392 q: 0.594657 -0.776461 -0.026867 0.206807 
time: 1403637235.888319, t: -1.557757 4.659279 -3.627999 q: 0.609216 -0.771982 -0.031809 0.178571 
time: 1403637235.988319, t: -1.506647 4.800801 -3.524135 q: 0.623328 -0.764547 -0.042784 0.158428 
time: 1403637236.088319, t: -1.451182 4.939223 -3.417784 q: 0.639254 -0.753464 -0.050135 0.145373 
time: 1403637236.188319, t: -1.381964 5.068689 -3.291032 q: 0.655251 -0.740698 -0.056690 0.137108 
time: 1403637236.288319, t: -1.300307 5.191427 -3.154859 q: 0.672100 -0.726573 -0.058387 0.130244 
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time: 1403637236.488319, t: -1.103550 5.421494 -2.848373 q: 0.705805 -0.695039 -0.048312 0.128162 
time: 1403637236.588319, t: -0.999664 5.532590 -2.673309 q: 0.716555 -0.684365 -0.040601 0.128627 
time: 1403637236.888319, t: -0.707671 5.812038 -2.091835 q: 0.744259 -0.659626 -0.004506 0.104648 
time: 1403637236.988319, t: -0.598240 5.881995 -1.889099 q: 0.755499 -0.648470 0.016651 0.091820 
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time: 1403637237.188319, t: -0.374552 5.952435 -1.471721 q: 0.773496 -0.626576 0.061929 0.072596 
time: 1403637237.288319, t: -0.238434 5.947989 -1.234489 q: 0.783892 -0.612618 0.068320 0.074471 
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time: 1403637237.488319, t: 0.026932 5.866630 -0.852596 q: 0.802427 -0.587430 0.067313 0.080656 
time: 1403637237.588319, t: 0.165631 5.792246 -0.659501 q: 0.807572 -0.579441 0.068629 0.085817 
optimize pose graph 
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time: 1403637238.188319, t: 0.817128 4.958239 0.190212 q: 0.782586 -0.586920 0.072948 0.194326 
time: 1403637238.288319, t: 0.908246 4.792596 0.264451 q: 0.763568 -0.600807 0.076265 0.224007 
time: 1403637238.388319, t: 0.971790 4.620405 0.332091 q: 0.739202 -0.619490 0.084791 0.250248 
time: 1403637238.488319, t: 1.007526 4.442349 0.380832 q: 0.711376 -0.641484 0.096799 0.270319 
time: 1403637238.588319, t: 1.041198 4.264798 0.398853 q: 0.683396 -0.663463 0.102055 0.287005 
time: 1403637238.688319, t: 1.093437 4.097924 0.389403 q: 0.659731 -0.675962 0.094447 0.314500 
time: 1403637238.788319, t: 1.099070 3.918793 0.354818 q: 0.641801 -0.679650 0.080338 0.345996 
time: 1403637238.888319, t: 1.111652 3.756167 0.295774 q: 0.626907 -0.679025 0.060955 0.377091 
time: 1403637238.988319, t: 1.105723 3.602465 0.205390 q: 0.615798 -0.676826 0.040395 0.401332 
time: 1403637239.088319, t: 1.096300 3.471841 0.083710 q: 0.609125 -0.683003 0.019374 0.402615 
time: 1403637239.188319, t: 1.091792 3.366723 -0.075495 q: 0.604572 -0.700482 0.004787 0.379203 
time: 1403637239.288319, t: 1.083061 3.285003 -0.261278 q: 0.597724 -0.719858 0.001717 0.352886 
time: 1403637239.388319, t: 1.065416 3.217852 -0.460267 q: 0.585599 -0.735515 0.004385 0.340695 
time: 1403637239.488319, t: 1.020244 3.167986 -0.671370 q: 0.567706 -0.750920 0.009993 0.337237 
time: 1403637239.588319, t: 0.954395 3.124926 -0.885140 q: 0.545683 -0.768774 0.016246 0.333096 
time: 1403637239.688319, t: 0.865896 3.095472 -1.112108 q: 0.521388 -0.787170 0.021619 0.328711 
time: 1403637239.788319, t: 0.763199 3.065399 -1.324077 q: -0.495620 0.810679 -0.027531 -0.310487 
optimize pose graph 
time: 1403637239.888319, t: 0.664258 3.054838 -1.555094 q: -0.467696 0.835056 -0.029616 -0.288208 
time: 1403637239.988319, t: 0.554748 3.031620 -1.774557 q: -0.438181 0.855856 -0.032308 -0.272882 
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time: 1403637240.388319, t: 0.070591 2.919206 -2.651903 q: -0.327314 0.897583 -0.022392 -0.294462 
time: 1403637240.488319, t: -0.059431 2.885956 -2.860209 q: -0.312382 0.898459 -0.008057 -0.308421 
time: 1403637240.588319, t: -0.168415 2.867477 -3.076088 q: -0.303521 0.899263 -0.000650 -0.314961 
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time: 1403637240.788319, t: -0.368629 2.839054 -3.521465 q: -0.299238 0.903131 0.004403 -0.307882 
time: 1403637240.888319, t: -0.460138 2.836862 -3.742255 q: -0.300707 0.909857 0.004497 -0.285858 
time: 1403637240.988319, t: -0.538479 2.843431 -3.961651 q: -0.303196 0.913926 0.004198 -0.269803 
time: 1403637241.088319, t: -0.626357 2.852945 -4.171113 q: -0.306262 0.912789 0.001357 -0.270218 
time: 1403637241.188319, t: -0.707108 2.868784 -4.368711 q: -0.309443 0.910845 0.002558 -0.273130 
time: 1403637241.288319, t: -0.797012 2.883672 -4.571604 q: -0.313053 0.910355 0.010141 -0.270462 
time: 1403637241.388319, t: -0.887707 2.906420 -4.756093 q: -0.315643 0.910989 0.018201 -0.264835 
time: 1403637241.488319, t: -0.979561 2.930709 -4.935117 q: -0.318000 0.911740 0.026973 -0.258609 
time: 1403637241.588319, t: -1.061566 2.965152 -5.108685 q: -0.320183 0.913499 0.035042 -0.248546 
time: 1403637241.688319, t: -1.129550 3.011985 -5.266500 q: -0.322169 0.915617 0.034729 -0.238006 
time: 1403637241.788319, t: -1.191299 3.066181 -5.413130 q: -0.323712 0.918257 0.031836 -0.225834 
optimize pose graph 
time: 1403637241.988319, t: -1.273437 3.190017 -5.663528 q: -0.327506 0.920553 -0.002913 -0.212871 
time: 1403637242.088319, t: -1.303456 3.248674 -5.763753 q: -0.326753 0.921637 -0.008944 -0.209137 
time: 1403637242.188319, t: -1.320431 3.300784 -5.850617 q: -0.324930 0.921774 0.000666 -0.211547 
time: 1403637242.288319, t: -1.327840 3.355630 -5.923366 q: -0.322927 0.922239 0.011040 -0.212303 
time: 1403637242.388319, t: -1.330919 3.413403 -5.982031 q: -0.320428 0.924061 0.024055 -0.207025 
time: 1403637242.488319, t: -1.341122 3.468689 -6.022655 q: -0.318396 0.926339 0.033319 -0.198522 
time: 1403637242.588319, t: -1.347662 3.535770 -6.041796 q: -0.321220 0.926520 0.033792 -0.192967 
time: 1403637242.688319, t: -1.344882 3.607344 -6.041877 q: -0.333047 0.922474 0.028626 -0.193139 
time: 1403637242.788319, t: -1.331880 3.682267 -6.023221 q: -0.350882 0.915635 0.016570 -0.195500 
time: 1403637242.888319, t: -1.305633 3.755208 -5.989139 q: -0.366396 0.910005 0.003513 -0.193990 
time: 1403637242.988319, t: -1.270059 3.816697 -5.940244 q: -0.377861 0.906611 -0.001154 -0.187820 
time: 1403637243.088319, t: -1.231872 3.875646 -5.877161 q: -0.384830 0.903849 0.005026 -0.186916 
time: 1403637243.188319, t: -1.199343 3.929812 -5.799331 q: -0.389264 0.900627 0.011477 -0.192906 
time: 1403637243.288319, t: -1.168094 3.983662 -5.707583 q: -0.392819 0.896361 0.010367 -0.205241 
time: 1403637243.388319, t: -1.140399 4.036891 -5.600387 q: -0.394696 0.893547 0.007447 -0.213854 
time: 1403637243.488319, t: -1.114657 4.092248 -5.484669 q: -0.394913 0.892612 0.004369 -0.217414 
time: 1403637243.588319, t: -1.079530 4.145700 -5.360486 q: -0.395014 0.890310 0.000511 -0.226521 
time: 1403637243.688319, t: -1.036822 4.199304 -5.234895 q: -0.394973 0.886695 -0.003453 -0.240325 
time: 1403637243.788319, t: -0.987018 4.251488 -5.106898 q: -0.394193 0.883167 -0.012075 -0.253934 
time: 1403637243.888319, t: -0.927773 4.298712 -4.978960 q: -0.393226 0.878647 -0.023440 -0.269820 
time: 1403637243.988319, t: -0.861049 4.341723 -4.856007 q: -0.391771 0.876641 -0.030120 -0.277686 
time: 1403637244.088319, t: -0.786154 4.379688 -4.743059 q: -0.389816 0.877144 -0.031171 -0.278729 
optimize pose graph 
time: 1403637244.188319, t: -0.706817 4.414073 -4.638165 q: -0.387661 0.878815 -0.029698 -0.276626 
time: 1403637244.288319, t: -0.620677 4.447759 -4.539117 q: -0.385830 0.879452 -0.030266 -0.277099 
time: 1403637244.388319, t: -0.531435 4.479252 -4.446430 q: -0.385402 0.878099 -0.029577 -0.282016 
time: 1403637244.488319, t: -0.435495 4.511823 -4.358499 q: -0.389796 0.875416 -0.023795 -0.284849 
time: 1403637244.588319, t: -0.337518 4.548036 -4.276668 q: -0.398802 0.872730 -0.009491 -0.281442 
time: 1403637244.688319, t: -0.246473 4.584933 -4.202002 q: -0.411456 0.867840 0.004357 -0.278459 
time: 1403637244.788319, t: -0.167463 4.627658 -4.125751 q: -0.424051 0.862459 0.012171 -0.276037 
time: 1403637244.888319, t: -0.093693 4.670260 -4.054137 q: -0.434505 0.857573 0.016000 -0.274806 
time: 1403637245.088319, t: 0.030420 4.773761 -3.906557 q: -0.446750 0.845453 0.006024 -0.292552 
time: 1403637245.188319, t: 0.077531 4.828909 -3.841832 q: -0.449305 0.838479 -0.000960 -0.308345 
time: 1403637245.288319, t: 0.121025 4.889865 -3.783371 q: -0.450307 0.840225 0.004269 -0.302039 
time: 1403637245.388319, t: 0.157416 4.954486 -3.734069 q: -0.450581 0.844127 0.011479 -0.290334 
time: 1403637245.488319, t: 0.193378 5.026901 -3.688171 q: -0.454019 0.844754 0.016773 -0.282802 
time: 1403637245.588319, t: 0.225502 5.108797 -3.642603 q: -0.462345 0.841480 0.020344 -0.278811 
time: 1403637245.688319, t: 0.246799 5.197018 -3.591020 q: -0.474863 0.835223 0.022662 -0.276394 
time: 1403637245.788319, t: 0.270112 5.288803 -3.550014 q: -0.493214 0.827650 0.018597 -0.267187 
time: 1403637245.888319, t: 0.288485 5.394658 -3.495285 q: 0.516317 -0.819551 -0.012385 0.248193 
time: 1403637245.988319, t: 0.300330 5.501917 -3.445040 q: 0.544797 -0.805519 -0.008245 0.232953 
time: 1403637246.088319, t: 0.311578 5.610016 -3.384080 q: 0.577098 -0.786668 -0.007123 0.219230 
time: 1403637246.188319, t: 0.321648 5.704585 -3.336279 q: 0.613690 -0.761821 -0.006760 0.207289 
time: 1403637246.288319, t: 0.322049 5.806330 -3.277703 q: 0.651394 -0.733114 -0.007463 0.195382 
optimize pose graph 
time: 1403637246.388319, t: 0.320299 5.893908 -3.216496 q: 0.689132 -0.702170 -0.010710 0.178720 
time: 1403637246.588319, t: 0.321575 6.071250 -3.061363 q: 0.754059 -0.642454 -0.016505 0.135558 
time: 1403637246.688319, t: 0.313202 6.148231 -2.983935 q: 0.782081 -0.612245 -0.010680 0.115724 
time: 1403637246.788319, t: 0.299238 6.214836 -2.900577 q: 0.807423 -0.581608 -0.007824 0.098691 
time: 1403637246.888319, t: 0.311296 6.262731 -2.791320 q: 0.828748 -0.552676 -0.009627 0.087372 
time: 1403637246.988319, t: 0.294696 6.314745 -2.720806 q: 0.847926 -0.522830 -0.018148 0.085674 
time: 1403637247.088319, t: 0.304400 6.341464 -2.613203 q: 0.859181 -0.502682 -0.029098 0.090951 
time: 1403637247.188319, t: 0.318516 6.368717 -2.513304 q: 0.865931 -0.488669 -0.037654 0.099747 
time: 1403637247.288319, t: 0.343869 6.385522 -2.388280 q: 0.868774 -0.482024 -0.040435 0.106069 
time: 1403637247.388319, t: 0.354436 6.402119 -2.276953 q: 0.870324 -0.482045 -0.023061 0.098163 
time: 1403637247.488319, t: 0.362037 6.408396 -2.161626 q: 0.869996 -0.485027 -0.003288 0.088574 
time: 1403637247.588319, t: 0.350265 6.411347 -2.057890 q: 0.871020 -0.483838 -0.001294 0.084988 
time: 1403637247.688319, t: 0.342683 6.402468 -1.952341 q: 0.874266 -0.479423 -0.004095 0.076126 
time: 1403637247.788319, t: 0.331768 6.388000 -1.854991 q: 0.879261 -0.472156 -0.009747 0.062244 
time: 1403637247.888319, t: 0.318274 6.352590 -1.754860 q: 0.885938 -0.460667 -0.009468 0.053003 
time: 1403637247.988319, t: 0.327990 6.310233 -1.658756 q: 0.894954 -0.442884 -0.000975 0.053950 
time: 1403637248.088319, t: 0.336336 6.251485 -1.561060 q: 0.903673 -0.423991 -0.006315 0.059720 
time: 1403637248.188319, t: 0.308159 6.170866 -1.461802 q: 0.911111 -0.406915 -0.013043 0.064237 
time: 1403637248.288319, t: 0.330854 6.105029 -1.365081 q: 0.916707 -0.392827 -0.023355 0.069207 
time: 1403637248.388319, t: 0.332755 6.021578 -1.254065 q: 0.919511 -0.385986 -0.025952 0.069571 
time: 1403637248.488319, t: 0.319898 5.938602 -1.149378 q: 0.921359 -0.382017 -0.020987 0.068700 
optimize pose graph 
time: 1403637248.588319, t: 0.339847 5.856915 -1.046145 q: 0.922123 -0.381152 -0.014369 0.064856 
time: 1403637248.688319, t: 0.330445 5.759780 -0.941878 q: 0.921300 -0.383198 -0.015932 0.064131 
time: 1403637248.788319, t: 0.335048 5.662896 -0.846348 q: 0.919892 -0.385602 -0.024893 0.067005 
time: 1403637248.888319, t: 0.341995 5.560996 -0.752587 q: 0.918288 -0.388362 -0.029139 0.071225 
time: 1403637248.988319, t: 0.369827 5.461721 -0.666442 q: 0.917139 -0.390003 -0.030825 0.076177 
time: 1403637249.088319, t: 0.397980 5.356625 -0.575251 q: 0.915720 -0.393289 -0.030776 0.076382 
time: 1403637249.188319, t: 0.445009 5.252470 -0.485859 q: 0.914680 -0.395481 -0.031171 0.077352 
time: 1403637249.288319, t: 0.493613 5.147061 -0.398533 q: 0.914047 -0.396801 -0.029246 0.078815 
time: 1403637249.388319, t: 0.541995 5.037541 -0.308985 q: 0.913339 -0.398580 -0.027972 0.078507 
time: 1403637249.488319, t: 0.580156 4.927813 -0.216978 q: 0.913140 -0.398767 -0.027733 0.079941 
time: 1403637249.588319, t: 0.603839 4.819295 -0.119454 q: 0.913311 -0.398009 -0.028197 0.081587 
time: 1403637249.688319, t: 0.606246 4.706447 -0.015187 q: 0.913542 -0.397881 -0.025911 0.080373 
time: 1403637249.788319, t: 0.606956 4.591736 0.085420 q: 0.914717 -0.396498 -0.017246 0.076057 
time: 1403637249.888319, t: 0.612480 4.473601 0.186225 q: 0.917530 -0.390866 -0.011540 0.072310 
time: 1403637249.988319, t: 0.624625 4.348040 0.284584 q: 0.922403 -0.379063 -0.013298 0.072857 
time: 1403637250.088319, t: 0.637578 4.214136 0.380998 q: 0.927284 -0.365093 -0.016120 0.081191 
time: 1403637250.188319, t: 0.659846 4.084797 0.469639 q: 0.932177 -0.351299 -0.020446 0.084951 
time: 1403637250.288319, t: 0.676688 3.955575 0.556204 q: 0.937078 -0.336964 -0.020041 0.089096 
time: 1403637250.388319, t: 0.687384 3.826678 0.645767 q: 0.940478 -0.326248 -0.018703 0.093346 
time: 1403637250.488319, t: 0.689288 3.707817 0.726295 q: 0.942865 -0.317162 -0.018919 0.100281 
time: 1403637250.588319, t: 0.693899 3.590178 0.806133 q: 0.944005 -0.311857 -0.022863 0.105249 
time: 1403637250.688319, t: 0.699506 3.475331 0.878579 q: 0.945755 -0.306685 -0.027304 0.103667 
optimize pose graph 
time: 1403637250.788319, t: 0.712906 3.367747 0.944606 q: 0.947051 -0.303548 -0.030239 0.100189 
time: 1403637250.888319, t: 0.734692 3.266483 1.007415 q: 0.947904 -0.301546 -0.027789 0.098878 
time: 1403637250.988319, t: 0.763762 3.178235 1.063879 q: 0.948361 -0.299282 -0.026947 0.101564 
time: 1403637251.088319, t: 0.797013 3.092867 1.114814 q: 0.949715 -0.293942 -0.027508 0.104323 
time: 1403637251.188319, t: 0.833364 3.015602 1.161515 q: 0.951720 -0.285297 -0.029865 0.109282 
time: 1403637251.288319, t: 0.878544 2.949206 1.198062 q: 0.953806 -0.277592 -0.030968 0.110622 
time: 1403637251.388319, t: 0.932304 2.888952 1.233166 q: 0.956708 -0.272827 -0.029286 0.097048 
time: 1403637251.488319, t: 0.984851 2.840821 1.262542 q: 0.960486 -0.263856 -0.027060 0.084345 
time: 1403637251.588319, t: 1.032283 2.795200 1.289464 q: 0.964657 -0.251380 -0.025933 0.074649 
time: 1403637251.688319, t: 1.071453 2.757303 1.314820 q: 0.968217 -0.239011 -0.025267 0.069215 
time: 1403637251.788319, t: 1.103165 2.721118 1.338206 q: 0.970816 -0.229123 -0.024588 0.066444 
time: 1403637251.888319, t: 1.131169 2.686051 1.358790 q: 0.972429 -0.224222 -0.022102 0.060153 
time: 1403637251.988319, t: 1.157277 2.658013 1.374890 q: 0.973476 -0.223281 -0.016841 0.046972 
time: 1403637252.088319, t: 1.177969 2.627258 1.388499 q: 0.974034 -0.222789 -0.011092 0.038729 
time: 1403637252.188319, t: 1.193485 2.594200 1.398450 q: 0.974551 -0.220771 -0.004483 0.038594 
time: 1403637252.288319, t: 1.202367 2.559253 1.404613 q: 0.974894 -0.218436 -0.003677 0.043046 
time: 1403637252.388319, t: 1.200131 2.524452 1.409323 q: 0.974999 -0.216795 -0.008283 0.048040 
time: 1403637252.488319, t: 1.189861 2.483367 1.413290 q: 0.974716 -0.216520 -0.016490 0.052696 
time: 1403637252.588319, t: 1.173874 2.446625 1.411843 q: 0.974447 -0.216551 -0.021750 0.055555 
time: 1403637252.688319, t: 1.152626 2.411382 1.410140 q: 0.974108 -0.215660 -0.028918 0.061390 
time: 1403637252.788319, t: 1.130264 2.381485 1.406440 q: 0.973587 -0.213305 -0.038488 0.071749 
time: 1403637252.888319, t: 1.115000 2.354447 1.402714 q: 0.973265 -0.215093 -0.041217 0.069217 
optimize pose graph 
time: 1403637252.988319, t: 1.108960 2.335096 1.392688 q: 0.973358 -0.218791 -0.034357 0.059374 
time: 1403637253.088319, t: 1.112050 2.320507 1.378828 q: 0.973353 -0.220984 -0.029564 0.053625 
time: 1403637253.188319, t: 1.116991 2.306761 1.363505 q: 0.973247 -0.222412 -0.026956 0.050962 
time: 1403637253.288319, t: 1.116471 2.292531 1.348890 q: 0.973062 -0.223522 -0.025717 0.050266 
time: 1403637253.388319, t: 1.109546 2.279935 1.333505 q: 0.972943 -0.223988 -0.025599 0.050553 
time: 1403637253.488319, t: 1.095666 2.268267 1.317905 q: 0.972910 -0.224019 -0.024063 0.051797 
time: 1403637253.588319, t: 1.076543 2.256541 1.302073 q: 0.972726 -0.224803 -0.025801 0.051004 
time: 1403637253.688319, t: 1.061630 2.245491 1.282860 q: 0.972632 -0.226185 -0.025837 0.046470 
time: 1403637253.788319, t: 1.054086 2.234097 1.260071 q: 0.972537 -0.227823 -0.024446 0.040884 
time: 1403637253.888319, t: 1.050858 2.220398 1.235199 q: 0.972463 -0.228531 -0.023972 0.038906 
time: 1403637253.988319, t: 1.052845 2.205773 1.206560 q: 0.972414 -0.228828 -0.023799 0.038495 
time: 1403637254.088319, t: 1.060828 2.185723 1.175363 q: 0.972496 -0.228952 -0.022458 0.036435 
time: 1403637254.188319, t: 1.073719 2.162853 1.142057 q: 0.973788 -0.223735 -0.022175 0.034475 
time: 1403637254.288319, t: 1.091925 2.136453 1.105732 q: 0.975696 -0.215184 -0.027523 0.030908 
time: 1403637254.388319, t: 1.111692 2.107208 1.067831 q: 0.977496 -0.206141 -0.034515 0.028579 
time: 1403637254.488319, t: 1.126557 2.075996 1.032787 q: 0.978806 -0.199120 -0.039563 0.026933 
time: 1403637254.588319, t: 1.136492 2.045749 1.000020 q: 0.979973 -0.193185 -0.040923 0.025656 
time: 1403637254.688319, t: 1.141060 2.016225 0.968734 q: 0.980835 -0.189435 -0.038713 0.024050 
time: 1403637254.788319, t: 1.142011 1.984417 0.937760 q: 0.981537 -0.186888 -0.033659 0.022929 
time: 1403637254.888319, t: 1.136155 1.952613 0.911591 q: 0.982095 -0.184598 -0.028770 0.024193 
time: 1403637254.988319, t: 1.124935 1.917971 0.884674 q: 0.982354 -0.183771 -0.024858 0.024297 
time: 1403637255.088319, t: 1.109702 1.882439 0.860149 q: 0.982919 -0.180995 -0.023777 0.023350 
optimize pose graph 
time: 1403637255.188319, t: 1.096940 1.842051 0.831430 q: 0.984399 -0.172887 -0.024415 0.021725 
time: 1403637255.288319, t: 1.090002 1.800771 0.798427 q: 0.986110 -0.163135 -0.023696 0.020301 
time: 1403637255.388319, t: 1.088048 1.760147 0.761229 q: 0.987733 -0.153019 -0.023857 0.020001 
time: 1403637255.488319, t: 1.082560 1.718362 0.724175 q: 0.989474 -0.141411 -0.025988 0.016402 
time: 1403637255.588319, t: 1.069411 1.674971 0.685107 q: 0.991352 -0.127921 -0.027847 0.009100 
time: 1403637255.688319, t: 1.052521 1.630966 0.654017 q: 0.993255 -0.111960 -0.030146 0.001064 
time: 1403637255.788319, t: 1.034927 1.587594 0.613816 q: 0.994978 -0.093361 -0.035310 -0.007496 
time: 1403637255.888319, t: 1.024722 1.541295 0.575507 q: 0.996388 -0.072792 -0.041255 -0.014492 
time: 1403637255.988319, t: 1.021388 1.494894 0.527824 q: 0.997417 -0.053514 -0.043647 -0.019743 
time: 1403637256.188319, t: 1.032358 1.399572 0.440907 q: 0.998172 -0.031426 -0.042351 -0.029523 
time: 1403637256.288319, t: 1.037984 1.347936 0.398976 q: 0.998497 -0.026246 -0.036537 -0.031315 
time: 1403637256.388319, t: 1.035358 1.295035 0.358217 q: 0.998598 -0.024412 -0.033242 -0.033173 
time: 1403637256.488319, t: 1.027142 1.242067 0.316669 q: 0.998548 -0.025203 -0.031877 -0.035362 
time: 1403637256.588319, t: 1.012228 1.188043 0.274092 q: 0.998614 -0.025958 -0.030774 -0.033891 
time: 1403637256.688319, t: 0.990167 1.128298 0.235524 q: 0.998552 -0.026515 -0.038565 -0.026533 
time: 1403637256.788319, t: 0.965671 1.068700 0.197111 q: 0.998392 -0.025185 -0.049258 -0.012364 
time: 1403637256.888319, t: 0.938631 1.010838 0.161583 q: 0.998388 -0.024117 -0.051210 -0.004091 
time: 1403637256.988319, t: 0.915318 0.956044 0.122580 q: 0.998661 -0.021017 -0.046339 -0.009357 
time: 1403637257.088319, t: 0.898014 0.900181 0.087531 q: 0.998850 -0.014317 -0.041814 -0.018576 
time: 1403637257.188319, t: 0.886507 0.845524 0.048083 q: 0.998848 -0.007936 -0.040062 -0.025193 
time: 1403637257.288319, t: 0.880187 0.791083 0.011937 q: 0.998675 -0.002039 -0.042122 -0.029488 
optimize pose graph 
time: 1403637257.388319, t: 0.877365 0.740806 -0.033163 q: 0.998406 0.002942 -0.044654 -0.034395 
time: 1403637257.488319, t: 0.876302 0.684537 -0.069795 q: 0.998240 0.006364 -0.045763 -0.037187 
time: 1403637257.588319, t: 0.871444 0.629665 -0.106757 q: 0.997980 0.008395 -0.048552 -0.040101 
time: 1403637257.688319, t: 0.860827 0.577262 -0.144357 q: 0.997671 0.010932 -0.055675 -0.037848 
time: 1403637257.788319, t: 0.843491 0.523359 -0.178155 q: 0.997317 0.015799 -0.061538 -0.036356 
time: 1403637257.888319, t: 0.832423 0.460609 -0.194680 q: 0.996745 0.023256 -0.067791 -0.036911 
time: 1403637257.988319, t: 0.815388 0.400782 -0.212257 q: 0.996160 0.034875 -0.070795 -0.037905 
time: 1403637258.088319, t: 0.795893 0.344038 -0.232172 q: 0.995305 0.051469 -0.071739 -0.039647 
time: 1403637258.188319, t: 0.782197 0.284941 -0.239040 q: 0.994236 0.070978 -0.065231 -0.046913 
time: 1403637258.288319, t: 0.780112 0.226877 -0.250713 q: 0.992981 0.087136 -0.056043 -0.057054 
time: 1403637258.388319, t: 0.773857 0.171579 -0.261445 q: 0.991747 0.100784 -0.049653 -0.061765 
time: 1403637258.488319, t: 0.758487 0.109252 -0.264102 q: 0.990698 0.112131 -0.051025 -0.057800 
time: 1403637258.588319, t: 0.735812 0.050106 -0.261083 q: 0.989873 0.119943 -0.055067 -0.052270 
time: 1403637258.688319, t: 0.714732 -0.001740 -0.261172 q: 0.989710 0.123132 -0.050642 -0.052429 
time: 1403637258.788319, t: 0.691617 -0.052899 -0.258823 q: 0.989726 0.124392 -0.046680 -0.052829 
time: 1403637258.888319, t: 0.666262 -0.099322 -0.260845 q: 0.989845 0.125269 -0.043262 -0.051417 
time: 1403637258.988319, t: 0.649169 -0.145799 -0.259560 q: 0.989991 0.125157 -0.043402 -0.048673 
time: 1403637259.088319, t: 0.642743 -0.187918 -0.263642 q: 0.990195 0.123858 -0.043961 -0.047339 
time: 1403637259.188319, t: 0.648453 -0.226828 -0.270939 q: 0.990338 0.123340 -0.043468 -0.046133 
time: 1403637259.288319, t: 0.661732 -0.262026 -0.281124 q: 0.990548 0.122614 -0.042257 -0.044657 
time: 1403637259.388319, t: 0.673635 -0.294995 -0.290713 q: 0.990714 0.121763 -0.042997 -0.042551 
time: 1403637259.488319, t: 0.681845 -0.323043 -0.298940 q: 0.990896 0.123491 -0.042083 -0.033214 
time: 1403637259.588319, t: 0.686705 -0.346146 -0.307411 q: 0.990940 0.124463 -0.041936 -0.028082 
optimize pose graph 
time: 1403637259.688319, t: 0.688508 -0.362306 -0.314892 q: 0.991062 0.122763 -0.041633 -0.031512 
time: 1403637259.788319, t: 0.685813 -0.373723 -0.321006 q: 0.990906 0.119983 -0.047029 -0.038694 
time: 1403637259.888319, t: 0.681348 -0.380953 -0.326578 q: 0.990908 0.119363 -0.047483 -0.039998 
time: 1403637259.988319, t: 0.673378 -0.384910 -0.330351 q: 0.991070 0.120719 -0.043762 -0.035938 
time: 1403637260.088319, t: 0.661486 -0.384377 -0.333016 q: 0.991157 0.119610 -0.040521 -0.040740 
time: 1403637260.188319, t: 0.645421 -0.380620 -0.335448 q: 0.991018 0.117639 -0.041690 -0.048032 
time: 1403637260.288319, t: 0.626644 -0.374547 -0.337936 q: 0.990739 0.115365 -0.043027 -0.057234 
time: 1403637260.388319, t: 0.606712 -0.368294 -0.341451 q: 0.990425 0.112481 -0.041485 -0.068455 
time: 1403637260.488319, t: 0.584545 -0.364107 -0.345730 q: 0.990054 0.111222 -0.042843 -0.074754 
time: 1403637260.588319, t: 0.559691 -0.363269 -0.350274 q: 0.989500 0.111035 -0.054487 -0.074774 
time: 1403637260.688319, t: 0.534856 -0.366332 -0.353672 q: 0.989207 0.111376 -0.062027 -0.072237 
time: 1403637260.788319, t: 0.511357 -0.371974 -0.354993 q: 0.989525 0.112871 -0.057573 -0.069184 
time: 1403637260.888319, t: 0.488149 -0.380083 -0.354721 q: 0.989916 0.115021 -0.049212 -0.066443 
time: 1403637260.988319, t: 0.465196 -0.389989 -0.354061 q: 0.990186 0.116093 -0.041581 -0.065761 
time: 1403637261.088319, t: 0.440897 -0.400064 -0.355419 q: 0.990076 0.116577 -0.044488 -0.064646 
time: 1403637261.188319, t: 0.415815 -0.411693 -0.356621 q: 0.989492 0.115719 -0.056570 -0.065680 
time: 1403637261.288319, t: 0.395035 -0.424499 -0.357980 q: 0.988888 0.114901 -0.066305 -0.067101 
time: 1403637261.388319, t: 0.382265 -0.438983 -0.358121 q: 0.989340 0.115497 -0.059838 -0.065477 
time: 1403637261.488319, t: 0.374334 -0.454938 -0.357439 q: 0.989940 0.118026 -0.051921 -0.058250 
time: 1403637261.588319, t: 0.367156 -0.470384 -0.355680 q: 0.989528 0.117500 -0.060605 -0.057925 
time: 1403637261.688319, t: 0.364809 -0.485397 -0.353146 q: 0.988835 0.115754 -0.070998 -0.061361 
time: 1403637261.788319, t: 0.370655 -0.501245 -0.347758 q: 0.989078 0.115154 -0.067066 -0.062978 
optimize pose graph 
time: 1403637261.888319, t: 0.379865 -0.517653 -0.340231 q: 0.989890 0.115628 -0.054306 -0.061639 
time: 1403637261.988319, t: 0.382534 -0.533625 -0.329797 q: 0.990423 0.115361 -0.045881 -0.060416 
time: 1403637262.088319, t: 0.375865 -0.549119 -0.317634 q: 0.990890 0.115731 -0.040395 -0.055782 
time: 1403637262.188319, t: 0.359902 -0.562985 -0.304470 q: 0.991136 0.116329 -0.039790 -0.050343 
time: 1403637262.288319, t: 0.337428 -0.573731 -0.291611 q: 0.991331 0.116012 -0.039563 -0.047323 
time: 1403637262.388319, t: 0.338147 -0.569263 -0.297659 q: 0.991930 0.117125 -0.016787 -0.045545 
time: 1403637262.488319, t: 0.333928 -0.559897 -0.301680 q: 0.995031 0.089880 -0.033835 -0.026288 
time: 1403637262.588319, t: 0.336401 -0.556563 -0.310494 q: 0.995665 0.091638 -0.004238 -0.015361 
time: 1403637262.688319, t: 0.331259 -0.556068 -0.306220 q: 0.995606 0.089591 -0.021040 -0.017292 
time: 1403637262.788319, t: 0.332009 -0.555631 -0.306871 q: 0.995762 0.089039 -0.017753 -0.014667 
time: 1403637262.888319, t: 0.332073 -0.556931 -0.306191 q: 0.995645 0.089867 -0.019772 -0.014992 
time: 1403637262.988319, t: 0.332079 -0.556563 -0.306463 q: 0.995681 0.089585 -0.019069 -0.015155 
time: 1403637263.088319, t: 0.332097 -0.556347 -0.306583 q: 0.995701 0.089261 -0.019078 -0.015741 
time: 1403637263.188319, t: 0.332078 -0.556164 -0.306640 q: 0.995727 0.088979 -0.018778 -0.016069 
time: 1403637263.288319, t: 0.332054 -0.556247 -0.306634 q: 0.995714 0.089093 -0.019073 -0.015881 
time: 1403637263.388319, t: 0.332065 -0.556319 -0.306646 q: 0.995706 0.089211 -0.019077 -0.015707 
time: 1403637263.488319, t: 0.332013 -0.556239 -0.306644 q: 0.995717 0.089056 -0.019041 -0.015959 
time: 1403637263.588319, t: 0.332055 -0.556271 -0.306659 q: 0.995712 0.089111 -0.019107 -0.015860 
time: 1403637263.688319, t: 0.332010 -0.556300 -0.306664 q: 0.995707 0.089165 -0.019182 -0.015780 
time: 1403637263.788319, t: 0.331997 -0.556389 -0.306676 q: 0.995701 0.089305 -0.019168 -0.015387 
time: 1403637263.888319, t: 0.332006 -0.556388 -0.306685 q: 0.995699 0.089317 -0.019168 -0.015432 
time: 1403637263.988319, t: 0.331996 -0.556292 -0.306686 q: 0.995709 0.089154 -0.019169 -0.015761 
time: 1403637264.088319, t: 0.332001 -0.556299 -0.306671 q: 0.995704 0.089172 -0.019240 -0.015875 
time: 1403637264.188319, t: 0.331967 -0.556258 -0.306626 q: 0.995711 0.089116 -0.019137 -0.015893 
time: 1403637264.288319, t: 0.331992 -0.556312 -0.306680 q: 0.995705 0.089193 -0.019175 -0.015732 
time: 1403637264.388319, t: 0.331960 -0.556302 -0.306696 q: 0.995702 0.089220 -0.019221 -0.015736 
time: 1403637264.488319, t: 0.331962 -0.556278 -0.306672 q: 0.995707 0.089166 -0.019186 -0.015808 
time: 1403637264.588319, t: 0.331961 -0.556312 -0.306675 q: 0.995704 0.089193 -0.019232 -0.015780 
time: 1403637264.688319, t: 0.331949 -0.556312 -0.306688 q: 0.995704 0.089201 -0.019222 -0.015738 
time: 1403637264.788319, t: 0.331936 -0.556309 -0.306674 q: 0.995700 0.089252 -0.019239 -0.015668 
time: 1403637264.888319, t: 0.331957 -0.556311 -0.306714 q: 0.995703 0.089207 -0.019236 -0.015738 
time: 1403637264.988319, t: 0.331962 -0.556285 -0.306642 q: 0.995705 0.089155 -0.019270 -0.015871 
time: 1403637265.088319, t: 0.331969 -0.556308 -0.306649 q: 0.995700 0.089196 -0.019326 -0.015868 
time: 1403637265.188319, t: 0.331962 -0.556283 -0.306663 q: 0.995703 0.089184 -0.019251 -0.015837 
time: 1403637265.288319, t: 0.331937 -0.556280 -0.306655 q: 0.995701 0.089192 -0.019297 -0.015857 
time: 1403637265.388319, t: 0.331981 -0.556291 -0.306565 q: 0.995701 0.089182 -0.019300 -0.015908 
time: 1403637265.488319, t: 0.331957 -0.556225 -0.306509 q: 0.995699 0.089230 -0.019274 -0.015818 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731020576.004092496]: Shutdown request received.[0m
[33m[ WARN] [1731020576.004148767]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731020576.005534718]: Shutdown request received.[0m
[33m[ WARN] [1731020576.005570008]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/15481782-9d5c-11ef-98ea-0242ac110002/rosout-1*.log[0m
[rosout-1] restarting process
