/SLAM-Hive/slam_hive_results/mapping_results/3351/2370_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1731022004.658052697]: init begins[0m
[31m[ERROR] [1731022004.669211007]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731022004.669262178]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/c049a940-9d5f-11ef-a93c-0242ac110002/roslaunch-55fd2418913f-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://55fd2418913f:44751/[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] [1731022005.826203047]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731022005.827048208]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://55fd2418913f:11311/[0m
]2;roscore http://55fd2418913f:11311/
[1msetting /run_id to c049a940-9d5f-11ef-a93c-0242ac110002[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1731022005.840757086]:  fix extrinsic param [0m
config_file: /slamhive/mappingtask.yaml
camera number 2
[0m[ INFO] [1731022005.842500791]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731022005.842534794]: ROW: 480 COL: 752 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g       0       0 9.81007
[0m[ INFO] [1731022005.844888772]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[0m[ INFO] [1731022005.890047906]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731022005.890233161]: waiting for image and imu...[0m
[1mprocess[rosout-1]: started with pid [191][0m
started core service [/rosout]
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1731022014.636719792]: 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: 327384884.33 
init first imu pose
averge acc 9.410943 -0.689906 -2.446931
init R0 
 0.260797  0.261977  0.929168
        0 -0.962476  0.271368
 0.965394 -0.070772 -0.251011
[33m[ WARN] [1731022016.100453484]: gyroscope bias initial calibration -0.00214086   0.0203059   0.0776988[0m
[0m[ INFO] [1731022016.161784455]: Initialization finish![0m
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time: 1403637131.888319, t: -0.000059 -0.000061 -0.000035 q: -0.101907 0.787055 0.078069 0.603378 
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time: 1403637140.788319, t: 0.030075 -0.047871 -0.002569 q: -0.065272 0.794219 0.025401 0.603582 
optimize pose graph 
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time: 1403637149.888319, t: 0.026940 -0.054164 -0.002199 q: -0.075553 0.812821 0.051652 0.575279 
time: 1403637149.988319, t: 0.028540 -0.063409 -0.000580 q: -0.067817 0.823888 0.057678 0.559716 
time: 1403637150.088319, t: 0.031021 -0.077089 0.009747 q: -0.053764 0.833745 0.065195 0.545645 
time: 1403637150.188319, t: 0.040668 -0.092660 0.028115 q: -0.042875 0.837369 0.067666 0.540737 
time: 1403637150.288319, t: 0.058258 -0.107260 0.053310 q: -0.037672 0.834792 0.065467 0.545360 
time: 1403637150.388319, t: 0.083324 -0.119879 0.082518 q: -0.037436 0.828040 0.060294 0.556158 
time: 1403637150.488319, t: 0.112137 -0.131944 0.111566 q: -0.037049 0.821965 0.056357 0.565531 
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time: 1403637150.788319, t: 0.207139 -0.165462 0.186868 q: -0.031319 0.818498 0.049787 0.571491 
optimize pose graph 
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time: 1403637150.988319, t: 0.270775 -0.184261 0.229066 q: -0.028660 0.810734 0.049168 0.582641 
time: 1403637151.088319, t: 0.301718 -0.192846 0.245370 q: -0.028953 0.806510 0.050003 0.588390 
time: 1403637151.188319, t: 0.329211 -0.200327 0.258302 q: -0.029568 0.803239 0.051469 0.592692 
time: 1403637151.288319, t: 0.352958 -0.206324 0.272553 q: -0.032098 0.807097 0.051671 0.587277 
time: 1403637151.388319, t: 0.372813 -0.212220 0.295991 q: -0.041058 0.812230 0.047752 0.579928 
time: 1403637151.488319, t: 0.391660 -0.219072 0.328591 q: -0.044153 0.815111 0.047411 0.575671 
time: 1403637151.588319, t: 0.410688 -0.227518 0.360303 q: -0.042676 0.815679 0.049966 0.574760 
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time: 1403637151.788319, t: 0.448730 -0.248089 0.406753 q: -0.040302 0.815772 0.055010 0.574340 
time: 1403637151.888319, t: 0.469580 -0.258971 0.422192 q: -0.039291 0.815572 0.056536 0.574544 
time: 1403637151.988319, t: 0.489532 -0.270001 0.433084 q: -0.039348 0.815725 0.057511 0.574228 
time: 1403637152.088319, t: 0.508237 -0.281568 0.451630 q: -0.040757 0.816238 0.057069 0.573443 
time: 1403637152.288319, t: 0.546400 -0.303564 0.489079 q: -0.042313 0.818353 0.055104 0.570502 
time: 1403637152.388319, t: 0.567401 -0.316588 0.500752 q: -0.042191 0.818930 0.054075 0.569780 
time: 1403637152.488319, t: 0.591607 -0.330371 0.504598 q: -0.041412 0.819324 0.054393 0.569240 
time: 1403637152.588319, t: 0.615133 -0.344352 0.502814 q: -0.040543 0.819453 0.054398 0.569117 
time: 1403637152.688319, t: 0.640689 -0.358518 0.498080 q: -0.040245 0.818546 0.053915 0.570488 
time: 1403637152.788319, t: 0.667949 -0.374081 0.496730 q: -0.042531 0.816185 0.051731 0.573896 
optimize pose graph 
time: 1403637152.888319, t: 0.693232 -0.389900 0.501327 q: -0.043324 0.813554 0.050794 0.577645 
time: 1403637152.988319, t: 0.716890 -0.407670 0.512474 q: -0.041988 0.812272 0.051975 0.579439 
time: 1403637153.188319, t: 0.761896 -0.445115 0.537848 q: -0.037953 0.813636 0.053255 0.577685 
time: 1403637153.288319, t: 0.784117 -0.464466 0.542391 q: -0.034905 0.814497 0.054554 0.576541 
time: 1403637153.388319, t: 0.808747 -0.483559 0.543635 q: -0.032006 0.814758 0.055321 0.576268 
time: 1403637153.488319, t: 0.828170 -0.501774 0.548225 q: -0.030283 0.816381 0.056355 0.573960 
time: 1403637153.588319, t: 0.849537 -0.517756 0.558936 q: -0.030165 0.818671 0.055982 0.570731 
time: 1403637153.688319, t: 0.877116 -0.532281 0.575737 q: -0.029766 0.818180 0.055788 0.571474 
time: 1403637153.788319, t: 0.901822 -0.545715 0.597635 q: -0.029682 0.816074 0.055966 0.574465 
time: 1403637153.888319, t: 0.927209 -0.557618 0.613398 q: -0.030790 0.814666 0.055363 0.576460 
time: 1403637153.988319, t: 0.954387 -0.568774 0.621409 q: -0.031597 0.813230 0.055102 0.578465 
time: 1403637154.088319, t: 0.977674 -0.579216 0.621873 q: -0.033431 0.814811 0.054203 0.576219 
time: 1403637154.188319, t: 1.002681 -0.590821 0.612802 q: -0.043370 0.821393 0.047016 0.566765 
time: 1403637154.288319, t: 1.026451 -0.603271 0.599649 q: -0.054802 0.826597 0.038426 0.558800 
time: 1403637154.388319, t: 1.055896 -0.621676 0.584892 q: -0.054378 0.827236 0.037413 0.557963 
time: 1403637154.488319, t: 1.089341 -0.643992 0.569535 q: -0.047065 0.822000 0.041146 0.566046 
time: 1403637154.588319, t: 1.124442 -0.669443 0.552856 q: -0.039167 0.819487 0.045062 0.569979 
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time: 1403637154.788319, t: 1.200462 -0.722464 0.525453 q: -0.017231 0.826550 0.047446 0.560595 
optimize pose graph 
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time: 1403637155.088319, t: 1.333505 -0.795768 0.516810 q: -0.000122 0.830218 0.015542 0.557222 
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time: 1403637155.288319, t: 1.443027 -0.833018 0.549566 q: 0.009947 0.820710 -0.004918 0.571238 
time: 1403637155.388319, t: 1.500058 -0.849803 0.570008 q: 0.014038 0.816200 -0.012880 0.577455 
time: 1403637155.488319, t: 1.554005 -0.868641 0.584766 q: 0.021790 0.812613 -0.026567 0.581790 
time: 1403637155.588319, t: 1.606990 -0.887530 0.590403 q: 0.026336 0.810999 -0.041649 0.582968 
time: 1403637155.688319, t: 1.658949 -0.906132 0.588757 q: 0.026936 0.810757 -0.056142 0.582061 
time: 1403637155.788319, t: 1.707120 -0.927358 0.580664 q: 0.030316 0.809741 -0.071791 0.581590 
time: 1403637155.888319, t: 1.753885 -0.952434 0.566310 q: 0.038330 0.809531 -0.089975 0.578874 
time: 1403637155.988319, t: 1.798829 -0.982344 0.547999 q: 0.051298 0.809658 -0.108624 0.574477 
time: 1403637156.088319, t: 1.840301 -1.017125 0.531162 q: 0.062631 0.804748 -0.131001 0.575583 
time: 1403637156.188319, t: 1.878849 -1.055399 0.514889 q: 0.074198 0.799058 -0.154052 0.576428 
time: 1403637156.288319, t: 1.912471 -1.100940 0.501285 q: 0.087742 0.792983 -0.178280 0.575931 
time: 1403637156.388319, t: 1.941645 -1.150358 0.487706 q: 0.101108 0.787563 -0.202119 0.573297 
time: 1403637156.488319, t: 1.967021 -1.204472 0.472824 q: 0.115101 0.781882 -0.224494 0.570100 
time: 1403637156.588319, t: 1.988106 -1.262898 0.455491 q: 0.130063 0.775354 -0.244568 0.567535 
time: 1403637156.688319, t: 2.005351 -1.325551 0.433856 q: 0.146089 0.768960 -0.262987 0.564089 
time: 1403637156.788319, t: 2.018553 -1.392199 0.405341 q: 0.161507 0.765029 -0.277071 0.558461 
optimize pose graph 
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time: 1403637157.188319, t: 2.072393 -1.671641 0.248522 q: 0.176771 0.772831 -0.293693 0.534068 
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time: 1403637157.388319, t: 2.105677 -1.825258 0.191840 q: 0.165531 0.771454 -0.296962 0.537840 
time: 1403637157.488319, t: 2.120316 -1.907709 0.177045 q: 0.156751 0.770665 -0.299439 0.540223 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403637208.788319, t: 1.268060 -2.496357 0.277542 q: 0.163797 0.779169 -0.236072 0.557079 
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time: 1403637209.088319, t: 1.203424 -2.463778 0.243061 q: 0.185953 0.784169 -0.220567 0.549409 
optimize pose graph 
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time: 1403637209.288319, t: 1.172409 -2.417688 0.214945 q: 0.163078 0.791167 -0.210236 0.550692 
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time: 1403637209.788319, t: 1.165067 -2.287899 0.260889 q: 0.122083 0.831099 -0.188253 0.508852 
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time: 1403637211.088319, t: 2.613579 -2.522100 -0.012525 q: 0.092930 0.811026 -0.206591 0.539371 
optimize pose graph 
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time: 1403637211.888319, t: 3.998879 -3.073186 -0.366192 q: 0.099864 0.807350 -0.214135 0.540703 
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time: 1403637212.488319, t: 4.935579 -3.600260 -0.373651 q: 0.131191 0.786411 -0.200033 0.569503 
time: 1403637212.588319, t: 5.075609 -3.682569 -0.356275 q: 0.130899 0.791073 -0.202425 0.562222 
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time: 1403637212.788319, t: 5.349917 -3.845201 -0.312190 q: 0.132736 0.799669 -0.203439 0.549111 
time: 1403637212.888319, t: 5.488207 -3.928922 -0.287999 q: 0.135139 0.802128 -0.201833 0.545520 
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time: 1403637213.188319, t: 5.907655 -4.177981 -0.217456 q: 0.131142 0.803967 -0.198810 0.544898 
optimize pose graph 
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time: 1403637231.488319, t: -1.262645 -0.891386 0.001220 q: 0.275559 0.687984 -0.466345 0.482978 
time: 1403637231.588319, t: -1.275333 -0.924402 -0.064548 q: 0.292178 0.664072 -0.504045 0.468594 
time: 1403637231.688319, t: -1.293283 -0.962210 -0.135564 q: 0.314982 0.641345 -0.534971 0.450854 
time: 1403637231.788319, t: -1.314922 -1.008421 -0.199464 q: 0.336026 0.616811 -0.561705 0.437171 
time: 1403637231.888319, t: -1.340918 -1.062781 -0.255485 q: 0.351793 0.596283 -0.585741 0.421420 
time: 1403637231.988319, t: -1.371094 -1.120816 -0.300511 q: -0.364116 -0.575595 0.607312 -0.409000 
time: 1403637232.088319, t: -1.408590 -1.187609 -0.331997 q: -0.383231 -0.547536 0.621677 -0.408481 
time: 1403637232.188319, t: -1.453045 -1.255426 -0.356608 q: -0.401099 -0.520107 0.634532 -0.407402 
time: 1403637232.288319, t: -1.505970 -1.319311 -0.375219 q: -0.417043 -0.500629 0.646116 -0.397467 
time: 1403637232.388319, t: -1.565795 -1.380393 -0.385886 q: -0.436374 -0.483599 0.654308 -0.384176 
time: 1403637232.488319, t: -1.633181 -1.435584 -0.390056 q: -0.449537 -0.464453 0.666034 -0.372289 
time: 1403637232.588319, t: -1.702859 -1.487516 -0.391808 q: -0.446866 -0.442555 0.688461 -0.361217 
time: 1403637232.688319, t: -1.780112 -1.532592 -0.387920 q: -0.443615 -0.420040 0.710962 -0.348288 
time: 1403637232.788319, t: -1.868177 -1.571933 -0.379519 q: -0.439744 -0.399507 0.731789 -0.333922 
time: 1403637232.888319, t: -1.969747 -1.610495 -0.364578 q: -0.437805 -0.389061 0.746622 -0.315458 
time: 1403637232.988319, t: -2.083931 -1.650674 -0.344614 q: -0.437171 -0.385414 0.755980 -0.298046 
time: 1403637233.088319, t: -2.208606 -1.695394 -0.318688 q: -0.437287 -0.386336 0.761190 -0.283045 
time: 1403637233.188319, t: -2.343558 -1.746888 -0.292068 q: -0.434179 -0.390318 0.765271 -0.271111 
optimize pose graph 
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time: 1403637233.488319, t: -2.800470 -1.957481 -0.248865 q: -0.424577 -0.409161 0.768231 -0.249282 
time: 1403637233.588319, t: -2.970074 -2.048047 -0.255232 q: -0.448396 -0.427445 0.749366 -0.233842 
time: 1403637233.688319, t: -3.141731 -2.152251 -0.273202 q: -0.483537 -0.444429 0.721343 -0.219862 
time: 1403637233.788319, t: -3.303657 -2.270705 -0.299867 q: 0.512732 0.456145 -0.696622 0.209176 
time: 1403637233.888319, t: -3.451224 -2.401733 -0.333493 q: 0.529901 0.462275 -0.681513 0.202601 
time: 1403637233.988319, t: -3.577169 -2.544902 -0.372284 q: 0.537958 0.466481 -0.674035 0.196653 
time: 1403637234.088319, t: -3.680782 -2.699512 -0.413527 q: 0.548150 0.470590 -0.664544 0.190941 
time: 1403637234.188319, t: -3.760120 -2.864236 -0.457526 q: 0.559473 0.474054 -0.654545 0.183937 
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time: 1403637234.588319, t: -3.806079 -3.604091 -0.665777 q: 0.551877 0.451450 -0.656245 0.246917 
time: 1403637234.688319, t: -3.759545 -3.794101 -0.725527 q: 0.544478 0.451970 -0.652748 0.270529 
time: 1403637234.788319, t: -3.696729 -3.981836 -0.790957 q: 0.532192 0.454681 -0.650162 0.295508 
time: 1403637234.888319, t: -3.620006 -4.162363 -0.857589 q: 0.516795 0.458817 -0.647816 0.320538 
time: 1403637234.988319, t: -3.534495 -4.335448 -0.919068 q: 0.502804 0.466732 -0.642007 0.342311 
time: 1403637235.088319, t: -3.443572 -4.497408 -0.970596 q: -0.494893 -0.481316 0.630787 -0.354294 
time: 1403637235.188319, t: -3.346950 -4.650609 -1.014547 q: -0.487146 -0.497777 0.617978 -0.364705 
time: 1403637235.288319, t: -3.245496 -4.791476 -1.049531 q: -0.478272 -0.512979 0.608452 -0.371341 
time: 1403637235.388319, t: -3.140248 -4.922041 -1.080889 q: -0.464441 -0.527993 0.607660 -0.369144 
optimize pose graph 
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time: 1403637235.688319, t: -2.799875 -5.286598 -1.135696 q: -0.427201 -0.564963 0.601236 -0.369907 
time: 1403637235.788319, t: -2.679472 -5.407086 -1.134554 q: -0.432563 -0.574395 0.583038 -0.378188 
time: 1403637235.888319, t: -2.553866 -5.524632 -1.124472 q: 0.445420 0.586191 -0.556880 0.384533 
time: 1403637235.988319, t: -2.417373 -5.637512 -1.110643 q: 0.451045 0.601643 -0.534261 0.386199 
time: 1403637236.088319, t: -2.267359 -5.744220 -1.091956 q: 0.449852 0.616524 -0.515351 0.389800 
time: 1403637236.188319, t: -2.103616 -5.840305 -1.066779 q: 0.443750 0.631259 -0.499236 0.394159 
time: 1403637236.288319, t: -1.925185 -5.925607 -1.033744 q: 0.435664 0.643310 -0.483938 0.402682 
time: 1403637236.488319, t: -1.526011 -6.067813 -0.945932 q: 0.409353 0.659857 -0.461835 0.428635 
time: 1403637236.588319, t: -1.309866 -6.131172 -0.897649 q: 0.399188 0.662845 -0.455442 0.440292 
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time: 1403637236.788319, t: -0.854688 -6.229603 -0.815205 q: 0.394638 0.661230 -0.436878 0.464944 
time: 1403637236.888319, t: -0.615824 -6.260005 -0.772415 q: 0.388971 0.658440 -0.424182 0.485003 
time: 1403637236.988319, t: -0.374422 -6.276173 -0.721856 q: 0.385721 0.652546 -0.408803 0.508216 
time: 1403637237.088319, t: -0.133815 -6.274441 -0.665654 q: 0.383842 0.643276 -0.394943 0.531865 
time: 1403637237.188319, t: 0.102393 -6.248953 -0.603371 q: 0.375099 0.636789 -0.383802 0.553622 
time: 1403637237.288319, t: 0.329574 -6.199356 -0.535385 q: 0.359333 0.640452 -0.375552 0.565386 
time: 1403637237.388319, t: 0.544372 -6.125589 -0.461477 q: 0.345761 0.647606 -0.368847 0.570094 
time: 1403637237.488319, t: 0.744162 -6.027739 -0.381466 q: 0.334813 0.652648 -0.363778 0.574123 
time: 1403637237.588319, t: 0.931471 -5.910984 -0.294575 q: 0.324274 0.655944 -0.361875 0.577608 
optimize pose graph 
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time: 1403637237.788319, t: 1.255523 -5.616863 -0.112440 q: 0.301877 0.654878 -0.367346 0.587419 
time: 1403637237.888319, t: 1.393503 -5.449742 -0.030142 q: 0.292121 0.655754 -0.378974 0.583979 
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time: 1403637238.188319, t: 1.709062 -4.897546 0.169764 q: 0.269214 0.643399 -0.454584 0.554000 
time: 1403637238.288319, t: 1.777199 -4.710076 0.227304 q: 0.265101 0.627624 -0.488839 0.544836 
time: 1403637238.388319, t: 1.824138 -4.525371 0.278893 q: 0.265874 0.606594 -0.523635 0.535874 
time: 1403637238.488319, t: 1.843507 -4.344012 0.325209 q: 0.272669 0.582132 -0.555938 0.526979 
time: 1403637238.688319, t: 1.800826 -3.996297 0.404106 q: -0.277859 -0.547703 0.615290 -0.494201 
time: 1403637238.788319, t: 1.740205 -3.835193 0.437698 q: -0.264935 -0.545121 0.642715 -0.468583 
time: 1403637238.888319, t: 1.650426 -3.688912 0.468008 q: -0.248618 -0.547062 0.666023 -0.441957 
time: 1403637238.988319, t: 1.528902 -3.564583 0.499025 q: -0.234767 -0.552641 0.682757 -0.416312 
time: 1403637239.088319, t: 1.375621 -3.468654 0.533827 q: -0.240297 -0.561320 0.685871 -0.395927 
time: 1403637239.188319, t: 1.194007 -3.406147 0.574911 q: -0.269350 -0.566781 0.676476 -0.385475 
time: 1403637239.288319, t: 0.995026 -3.367473 0.616950 q: -0.301286 -0.562808 0.667549 -0.383213 
time: 1403637239.388319, t: 0.784451 -3.347229 0.653275 q: -0.321920 -0.551849 0.668669 -0.380411 
time: 1403637239.488319, t: 0.562385 -3.343379 0.676448 q: -0.337372 -0.535763 0.677203 -0.374881 
time: 1403637239.588319, t: 0.330076 -3.349778 0.682440 q: -0.355333 -0.516307 0.687105 -0.367495 
time: 1403637239.688319, t: 0.090873 -3.367717 0.669181 q: -0.374692 -0.495172 0.697373 -0.357884 
optimize pose graph 
time: 1403637239.788319, t: -0.156404 -3.393612 0.642801 q: -0.405235 -0.472177 0.700225 -0.350028 
time: 1403637239.888319, t: -0.408608 -3.425565 0.601752 q: -0.440772 -0.449543 0.698946 -0.339272 
time: 1403637239.988319, t: -0.662547 -3.454608 0.552489 q: -0.468721 -0.425644 0.701588 -0.326959 
time: 1403637240.088319, t: -0.915991 -3.482544 0.497584 q: -0.489081 -0.401664 0.708412 -0.312440 
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time: 1403637240.288319, t: -1.411030 -3.526126 0.374114 q: 0.504887 0.358527 -0.735124 0.275936 
time: 1403637240.388319, t: -1.651734 -3.547500 0.308675 q: 0.500023 0.349096 -0.750805 0.253773 
time: 1403637240.488319, t: -1.889762 -3.568370 0.250404 q: -0.494328 -0.347318 0.762552 -0.231354 
time: 1403637240.588319, t: -2.126007 -3.598606 0.200266 q: -0.492500 -0.345139 0.768205 -0.219507 
time: 1403637240.688319, t: -2.360684 -3.635089 0.159704 q: -0.495233 -0.345004 0.768256 -0.213307 
time: 1403637240.788319, t: -2.595259 -3.683505 0.126067 q: 0.500905 0.344208 -0.765075 0.212778 
time: 1403637240.888319, t: -2.827116 -3.736256 0.103446 q: 0.519331 0.344502 -0.751784 0.215488 
time: 1403637240.988319, t: -3.053917 -3.795807 0.084036 q: 0.532088 0.345322 -0.741477 0.218741 
time: 1403637241.088319, t: -3.273564 -3.856664 0.057129 q: 0.530179 0.345871 -0.741457 0.222543 
time: 1403637241.188319, t: -3.484715 -3.919446 0.021347 q: 0.526716 0.349024 -0.742070 0.223795 
time: 1403637241.288319, t: -3.688412 -3.984615 -0.017433 q: 0.528612 0.355818 -0.738690 0.219773 
time: 1403637241.388319, t: -3.883549 -4.052209 -0.060142 q: 0.532788 0.362274 -0.733746 0.215663 
time: 1403637241.488319, t: -4.068100 -4.122562 -0.102342 q: 0.537561 0.368982 -0.728456 0.210314 
time: 1403637241.588319, t: -4.240689 -4.197797 -0.138806 q: 0.545639 0.374654 -0.720651 0.206335 
time: 1403637241.688319, t: -4.397934 -4.278213 -0.167983 q: 0.553604 0.375508 -0.713312 0.209052 
time: 1403637241.788319, t: -4.538184 -4.361844 -0.190761 q: 0.562756 0.374574 -0.705308 0.213402 
time: 1403637241.888319, t: -4.659519 -4.447368 -0.205719 q: 0.567816 0.368013 -0.701076 0.225041 
time: 1403637241.988319, t: -4.764455 -4.531463 -0.214932 q: 0.569957 0.355933 -0.698922 0.244885 
time: 1403637242.088319, t: -4.855207 -4.609859 -0.218583 q: 0.572627 0.351624 -0.697229 0.249659 
time: 1403637242.188319, t: -4.929387 -4.681513 -0.216172 q: 0.572330 0.355963 -0.698416 0.240717 
time: 1403637242.288319, t: -4.987282 -4.749632 -0.207761 q: 0.573359 0.360588 -0.698358 0.231370 
time: 1403637242.388319, t: -5.029221 -4.815032 -0.201010 q: 0.579418 0.365909 -0.694157 0.220299 
time: 1403637242.488319, t: -5.056159 -4.880695 -0.201542 q: 0.587136 0.369334 -0.688324 0.212307 
time: 1403637242.588319, t: -5.060572 -4.944329 -0.204953 q: 0.590474 0.371588 -0.683697 0.214058 
time: 1403637242.688319, t: -5.044648 -5.009920 -0.206825 q: 0.585678 0.377665 -0.681006 0.224903 
time: 1403637242.788319, t: -5.007034 -5.074445 -0.201235 q: 0.576201 0.384106 -0.678733 0.244493 
time: 1403637242.888319, t: -4.952057 -5.134714 -0.188159 q: 0.570231 0.387947 -0.674278 0.263973 
time: 1403637242.988319, t: -4.882669 -5.187174 -0.170400 q: 0.569900 0.393377 -0.667076 0.274735 
time: 1403637243.088319, t: -4.800837 -5.234135 -0.152734 q: 0.567856 0.402356 -0.663812 0.273866 
time: 1403637243.188319, t: -4.705438 -5.272765 -0.142791 q: 0.561693 0.409959 -0.665708 0.270679 
time: 1403637243.288319, t: -4.597452 -5.305525 -0.140151 q: 0.550642 0.412655 -0.672645 0.272136 
time: 1403637243.388319, t: -4.478450 -5.333079 -0.144715 q: 0.542914 0.412787 -0.677863 0.274507 
time: 1403637243.488319, t: -4.350188 -5.358474 -0.152299 q: 0.539594 0.411248 -0.680554 0.276694 
time: 1403637243.588319, t: -4.211924 -5.381716 -0.156159 q: 0.532075 0.409266 -0.686694 0.279015 
time: 1403637243.688319, t: -4.068217 -5.405233 -0.152964 q: 0.520721 0.407463 -0.695815 0.280473 
time: 1403637243.788319, t: -3.922074 -5.427355 -0.140616 q: 0.509140 0.402400 -0.705335 0.285227 
time: 1403637243.888319, t: -3.776347 -5.445951 -0.119939 q: -0.495314 -0.395697 0.716172 -0.291867 
optimize pose graph 
time: 1403637243.988319, t: -3.634123 -5.459242 -0.089087 q: -0.488606 -0.391102 0.721811 -0.295453 
time: 1403637244.088319, t: -3.498466 -5.471687 -0.047514 q: -0.488494 -0.388949 0.723285 -0.294874 
time: 1403637244.188319, t: -3.369305 -5.482446 0.001054 q: -0.491297 -0.388061 0.722803 -0.292560 
time: 1403637244.288319, t: -3.246283 -5.493459 0.055855 q: -0.491692 -0.386402 0.723739 -0.291778 
time: 1403637244.388319, t: -3.128510 -5.501452 0.114638 q: -0.487749 -0.386590 0.726801 -0.290533 
time: 1403637244.488319, t: -3.017026 -5.509094 0.178300 q: -0.483978 -0.393526 0.726341 -0.288672 
time: 1403637244.588319, t: -2.911751 -5.520612 0.244291 q: -0.484155 -0.408765 0.719791 -0.283559 
time: 1403637244.688319, t: -2.809839 -5.535742 0.304315 q: -0.482283 -0.426245 0.712110 -0.280388 
time: 1403637244.788319, t: -2.710226 -5.556434 0.358446 q: -0.478662 -0.440284 0.705415 -0.281820 
time: 1403637244.888319, t: -2.611981 -5.582944 0.406954 q: -0.475047 -0.450030 0.700486 -0.284821 
time: 1403637244.988319, t: -2.514553 -5.615637 0.449345 q: -0.468156 -0.455389 0.699809 -0.289342 
time: 1403637245.088319, t: -2.419878 -5.653284 0.484175 q: -0.452628 -0.453916 0.707557 -0.297409 
time: 1403637245.188319, t: -2.330699 -5.695898 0.512450 q: -0.436914 -0.452392 0.716429 -0.301956 
time: 1403637245.288319, t: -2.250781 -5.745360 0.539439 q: -0.442177 -0.456124 0.712112 -0.298876 
time: 1403637245.388319, t: -2.177752 -5.801415 0.562812 q: -0.452646 -0.460274 0.704782 -0.294180 
time: 1403637245.488319, t: -2.107108 -5.862104 0.580665 q: -0.457863 -0.465665 0.698373 -0.292902 
time: 1403637245.588319, t: -2.037409 -5.930102 0.592371 q: -0.457275 -0.473705 0.692221 -0.295522 
time: 1403637245.688319, t: -1.968342 -6.004154 0.600065 q: -0.451991 -0.484420 0.685833 -0.301121 
time: 1403637245.788319, t: -1.898883 -6.085418 0.604009 q: -0.449964 -0.495032 0.672999 -0.315512 
time: 1403637245.888319, t: -1.828346 -6.172078 0.603379 q: -0.451903 -0.507930 0.651803 -0.336069 
time: 1403637245.988319, t: -1.756249 -6.259352 0.596342 q: -0.447055 -0.525738 0.629510 -0.357013 
optimize pose graph 
time: 1403637246.188319, t: -1.604670 -6.429832 0.567833 q: -0.421992 -0.573675 0.577402 -0.399283 
time: 1403637246.288319, t: -1.525933 -6.511550 0.544950 q: 0.403271 0.600309 -0.547984 0.420376 
time: 1403637246.388319, t: -1.445318 -6.588695 0.518982 q: 0.385864 0.628021 -0.513249 0.439629 
time: 1403637246.488319, t: -1.361620 -6.661309 0.489997 q: 0.372207 0.654739 -0.474499 0.455664 
time: 1403637246.588319, t: -1.273822 -6.726447 0.457813 q: 0.359231 0.674489 -0.436764 0.474611 
time: 1403637246.688319, t: -1.183562 -6.781695 0.423114 q: 0.344519 0.688739 -0.401569 0.495669 
time: 1403637246.788319, t: -1.090594 -6.824356 0.388281 q: 0.328069 0.702723 -0.368916 0.512301 
time: 1403637246.888319, t: -0.996586 -6.854693 0.359669 q: 0.309061 0.717213 -0.339807 0.524040 
time: 1403637246.988319, t: -0.901140 -6.876591 0.336374 q: 0.286190 0.734824 -0.319902 0.525159 
time: 1403637247.088319, t: -0.804865 -6.883991 0.318439 q: 0.265868 0.749138 -0.309397 0.521901 
time: 1403637247.188319, t: -0.707079 -6.886923 0.299187 q: 0.249329 0.758812 -0.306218 0.517947 
time: 1403637247.288319, t: -0.605199 -6.884004 0.275204 q: 0.239247 0.761946 -0.305922 0.518277 
time: 1403637247.388319, t: -0.500887 -6.877344 0.251657 q: 0.242269 0.752170 -0.300975 0.533816 
time: 1403637247.488319, t: -0.396335 -6.865276 0.224847 q: 0.248202 0.739453 -0.296693 0.550979 
time: 1403637247.588319, t: -0.294723 -6.844906 0.190191 q: 0.249180 0.738959 -0.293533 0.552889 
time: 1403637247.688319, t: -0.196981 -6.814070 0.153152 q: 0.251023 0.742164 -0.283407 0.553047 
time: 1403637247.788319, t: -0.104445 -6.771499 0.117613 q: 0.254078 0.747643 -0.267486 0.552201 
time: 1403637247.888319, t: -0.013469 -6.715693 0.089091 q: 0.249839 0.751456 -0.253073 0.555741 
time: 1403637247.988319, t: 0.076467 -6.646879 0.070268 q: 0.234143 0.751399 -0.243511 0.566815 
time: 1403637248.088319, t: 0.162133 -6.565112 0.055815 q: 0.215512 0.760219 -0.235592 0.565790 
time: 1403637248.188319, t: 0.242299 -6.474762 0.044784 q: 0.197988 0.771653 -0.227470 0.560008 
optimize pose graph 
time: 1403637248.288319, t: 0.322803 -6.379438 0.030433 q: 0.184910 0.780099 -0.221890 0.554994 
time: 1403637248.388319, t: 0.402256 -6.279939 0.009869 q: 0.178197 0.783576 -0.216981 0.554233 
time: 1403637248.488319, t: 0.480525 -6.177453 -0.014496 q: 0.174631 0.782325 -0.214395 0.558127 
time: 1403637248.588319, t: 0.558013 -6.071553 -0.037300 q: 0.176026 0.777017 -0.211464 0.566165 
time: 1403637248.688319, t: 0.631843 -5.960950 -0.055296 q: 0.177525 0.778488 -0.211775 0.563554 
time: 1403637248.788319, t: 0.703008 -5.845174 -0.064873 q: 0.178572 0.783484 -0.214855 0.555069 
time: 1403637248.888319, t: 0.772131 -5.724863 -0.065908 q: 0.178604 0.785929 -0.219801 0.549640 
time: 1403637248.988319, t: 0.841885 -5.602395 -0.059306 q: 0.177792 0.786142 -0.225138 0.547434 
time: 1403637249.088319, t: 0.913013 -5.480872 -0.045744 q: 0.180114 0.785590 -0.227426 0.546520 
time: 1403637249.188319, t: 0.986453 -5.358014 -0.023831 q: 0.181721 0.784926 -0.229473 0.546088 
time: 1403637249.288319, t: 1.060320 -5.233539 0.003815 q: 0.182191 0.783277 -0.231736 0.547340 
time: 1403637249.388319, t: 1.135075 -5.106316 0.031139 q: 0.184139 0.781873 -0.232794 0.548246 
time: 1403637249.488319, t: 1.210138 -4.975934 0.044672 q: 0.184055 0.781116 -0.234144 0.548778 
time: 1403637249.588319, t: 1.285857 -4.844550 0.040441 q: 0.183198 0.780950 -0.234907 0.548975 
time: 1403637249.688319, t: 1.360058 -4.710690 0.022006 q: 0.183750 0.779462 -0.234117 0.551238 
time: 1403637249.788319, t: 1.434017 -4.574503 0.004508 q: 0.184699 0.774583 -0.230890 0.559104 
time: 1403637249.888319, t: 1.506412 -4.435756 -0.008258 q: 0.181881 0.772390 -0.225079 0.565396 
time: 1403637249.988319, t: 1.574836 -4.291834 -0.015627 q: 0.171848 0.776069 -0.217782 0.566353 
time: 1403637250.088319, t: 1.638627 -4.145403 -0.016569 q: 0.155169 0.780986 -0.215118 0.565427 
time: 1403637250.188319, t: 1.698556 -3.998874 -0.012228 q: 0.142101 0.786260 -0.208969 0.563857 
time: 1403637250.288319, t: 1.753676 -3.853186 -0.011780 q: 0.127987 0.788788 -0.203058 0.565863 
optimize pose graph 
time: 1403637250.388319, t: 1.807182 -3.710422 -0.017508 q: 0.116318 0.789924 -0.199633 0.568011 
time: 1403637250.488319, t: 1.855370 -3.572153 -0.029471 q: 0.104944 0.791418 -0.199604 0.568157 
time: 1403637250.588319, t: 1.900028 -3.440613 -0.042329 q: 0.097964 0.794395 -0.199674 0.565216 
time: 1403637250.688319, t: 1.940879 -3.316118 -0.048904 q: 0.094934 0.797758 -0.194436 0.562818 
time: 1403637250.788319, t: 1.980243 -3.199210 -0.046612 q: 0.094487 0.800129 -0.189258 0.561291 
time: 1403637250.888319, t: 2.020141 -3.090243 -0.035720 q: 0.093181 0.798999 -0.187189 0.563806 
time: 1403637250.988319, t: 2.059945 -2.989829 -0.019492 q: 0.089786 0.798719 -0.188073 0.564460 
time: 1403637251.088319, t: 2.098329 -2.896447 0.004476 q: 0.083893 0.799864 -0.186747 0.564185 
time: 1403637251.188319, t: 2.134936 -2.810808 0.033603 q: 0.074118 0.802489 -0.185042 0.562386 
time: 1403637251.288319, t: 2.166481 -2.735768 0.070675 q: 0.067293 0.804125 -0.181297 0.562126 
time: 1403637251.388319, t: 2.196755 -2.669797 0.117316 q: 0.071272 0.803899 -0.167637 0.566185 
time: 1403637251.488319, t: 2.227464 -2.612185 0.166241 q: 0.071552 0.803883 -0.152460 0.570446 
time: 1403637251.588319, t: 2.256464 -2.559673 0.208739 q: 0.067217 0.804707 -0.137193 0.573678 
time: 1403637251.688319, t: 2.282899 -2.511979 0.243633 q: 0.060550 0.805586 -0.125533 0.575852 
time: 1403637251.788319, t: 2.306187 -2.468379 0.271670 q: 0.054072 0.806137 -0.117349 0.577451 
time: 1403637251.888319, t: 2.326904 -2.429849 0.296352 q: 0.053443 0.805074 -0.109714 0.580485 
time: 1403637251.988319, t: 2.344748 -2.395302 0.318303 q: 0.060376 0.801676 -0.099117 0.586384 
time: 1403637252.088319, t: 2.358117 -2.361143 0.335898 q: 0.064490 0.797966 -0.092777 0.592017 
time: 1403637252.188319, t: 2.365422 -2.326021 0.349064 q: 0.062372 0.794115 -0.091872 0.597537 
time: 1403637252.288319, t: 2.366386 -2.290135 0.355566 q: 0.057784 0.793877 -0.093833 0.598010 
time: 1403637252.388319, t: 2.363212 -2.255313 0.353964 q: 0.053837 0.796976 -0.096307 0.593849 
time: 1403637252.488319, t: 2.351137 -2.219913 0.345704 q: 0.050961 0.801988 -0.098828 0.586899 
optimize pose graph 
time: 1403637252.588319, t: 2.337463 -2.186591 0.332011 q: 0.049594 0.805097 -0.100574 0.582447 
time: 1403637252.688319, t: 2.319535 -2.154878 0.313334 q: 0.045615 0.809446 -0.103904 0.576125 
time: 1403637252.788319, t: 2.302892 -2.127879 0.293860 q: 0.038249 0.815322 -0.109725 0.567228 
time: 1403637252.888319, t: 2.285468 -2.104654 0.281215 q: 0.041314 0.816677 -0.108564 0.565283 
time: 1403637252.988319, t: 2.270292 -2.088084 0.278863 q: 0.049742 0.812205 -0.103844 0.571897 
time: 1403637253.088319, t: 2.253775 -2.075414 0.284132 q: 0.054810 0.808990 -0.101185 0.576448 
time: 1403637253.188319, t: 2.237065 -2.064496 0.292903 q: 0.057412 0.807286 -0.100294 0.578734 
time: 1403637253.288319, t: 2.220336 -2.053711 0.297436 q: 0.058674 0.806468 -0.100601 0.579694 
time: 1403637253.388319, t: 2.201121 -2.044930 0.295739 q: 0.058938 0.806372 -0.101135 0.579709 
time: 1403637253.488319, t: 2.180384 -2.037355 0.287593 q: 0.058109 0.805541 -0.102328 0.580737 
time: 1403637253.588319, t: 2.157846 -2.030630 0.274823 q: 0.059305 0.806533 -0.102058 0.579286 
time: 1403637253.688319, t: 2.133843 -2.024334 0.266456 q: 0.063233 0.806275 -0.099372 0.579696 
time: 1403637253.788319, t: 2.107884 -2.018475 0.265512 q: 0.067881 0.805071 -0.096144 0.581386 
time: 1403637253.888319, t: 2.080854 -2.011170 0.270807 q: 0.069649 0.804675 -0.095108 0.581895 
time: 1403637253.988319, t: 2.052561 -2.003420 0.281977 q: 0.070235 0.804573 -0.095122 0.581964 
time: 1403637254.088319, t: 2.020203 -1.991447 0.299317 q: 0.071486 0.803718 -0.093644 0.583230 
time: 1403637254.188319, t: 1.986088 -1.977043 0.321380 q: 0.068383 0.803911 -0.088925 0.584075 
time: 1403637254.288319, t: 1.950383 -1.959629 0.348734 q: 0.064090 0.807598 -0.080315 0.580713 
time: 1403637254.388319, t: 1.913181 -1.939580 0.378882 q: 0.058771 0.812260 -0.072285 0.575808 
time: 1403637254.488319, t: 1.877119 -1.918477 0.404352 q: 0.054477 0.815607 -0.066151 0.572225 
optimize pose graph 
time: 1403637254.588319, t: 1.842213 -1.896326 0.425360 q: 0.050620 0.816790 -0.061386 0.571422 
time: 1403637254.688319, t: 1.808507 -1.872885 0.440240 q: 0.048585 0.815703 -0.058062 0.573496 
time: 1403637254.788319, t: 1.773085 -1.848783 0.450463 q: 0.046713 0.812838 -0.056124 0.577894 
time: 1403637254.988319, t: 1.704266 -1.796519 0.451592 q: 0.042646 0.807964 -0.056054 0.585008 
time: 1403637255.088319, t: 1.670182 -1.768303 0.445366 q: 0.040881 0.807475 -0.053689 0.586029 
time: 1403637255.188319, t: 1.630859 -1.737687 0.441281 q: 0.035262 0.808154 -0.047310 0.586008 
time: 1403637255.288319, t: 1.589902 -1.705888 0.444249 q: 0.028242 0.808022 -0.040227 0.587099 
time: 1403637255.388319, t: 1.547857 -1.673401 0.453378 q: 0.020439 0.808476 -0.033779 0.587203 
time: 1403637255.488319, t: 1.503039 -1.640414 0.458860 q: 0.013605 0.809760 -0.023590 0.586129 
time: 1403637255.588319, t: 1.455980 -1.605738 0.457879 q: 0.007521 0.810608 -0.009399 0.585466 
time: 1403637255.688319, t: 1.408992 -1.571163 0.452858 q: -0.000243 0.811470 0.006899 0.584353 
time: 1403637255.788319, t: 1.359846 -1.536262 0.447687 q: -0.009464 0.813611 0.025512 0.580772 
time: 1403637255.888319, t: 1.309919 -1.499993 0.449516 q: -0.021107 0.815924 0.044140 0.576086 
time: 1403637255.988319, t: 1.258569 -1.463170 0.461471 q: -0.032889 0.816123 0.060347 0.573777 
time: 1403637256.088319, t: 1.206903 -1.426078 0.482294 q: -0.039671 0.815900 0.073385 0.572144 
time: 1403637256.188319, t: 1.154698 -1.388290 0.504656 q: -0.044186 0.813377 0.081367 0.574321 
time: 1403637256.288319, t: 1.102999 -1.349170 0.521792 q: -0.047829 0.809439 0.085341 0.578997 
time: 1403637256.388319, t: 1.051306 -1.307978 0.531039 q: -0.048482 0.807223 0.087591 0.581695 
time: 1403637256.488319, t: 0.997181 -1.265136 0.534226 q: -0.046622 0.806130 0.088589 0.583209 
time: 1403637256.588319, t: 0.942611 -1.220633 0.532551 q: -0.046940 0.805670 0.086800 0.584087 
time: 1403637256.688319, t: 0.885529 -1.174399 0.522956 q: -0.050574 0.810806 0.081271 0.577435 
optimize pose graph 
time: 1403637256.788319, t: 0.828204 -1.125825 0.510047 q: -0.059355 0.818027 0.071840 0.567581 
time: 1403637256.888319, t: 0.772659 -1.079744 0.496334 q: -0.065033 0.819672 0.066208 0.565265 
time: 1403637256.988319, t: 0.719047 -1.034945 0.484536 q: -0.064718 0.816163 0.071575 0.569708 
time: 1403637257.088319, t: 0.666068 -0.990941 0.478296 q: -0.064839 0.812208 0.082424 0.573864 
time: 1403637257.188319, t: 0.613762 -0.946085 0.480757 q: -0.065802 0.810204 0.091367 0.575232 
time: 1403637257.288319, t: 0.564822 -0.901239 0.488801 q: -0.067624 0.810569 0.098545 0.573319 
time: 1403637257.388319, t: 0.513675 -0.858883 0.502971 q: -0.068174 0.811240 0.105646 0.571034 
time: 1403637257.488319, t: 0.466081 -0.813545 0.517189 q: -0.068968 0.811418 0.110167 0.569831 
time: 1403637257.588319, t: 0.418717 -0.768663 0.525095 q: -0.068469 0.812537 0.113993 0.567539 
time: 1403637257.688319, t: 0.370275 -0.723759 0.525139 q: -0.071304 0.816483 0.114251 0.561443 
time: 1403637257.788319, t: 0.325359 -0.675503 0.521124 q: -0.075227 0.819557 0.116556 0.555951 
time: 1403637257.888319, t: 0.287447 -0.624046 0.513414 q: -0.080546 0.821971 0.121878 0.550474 
time: 1403637257.988319, t: 0.252671 -0.570677 0.502051 q: -0.088838 0.822157 0.129801 0.547100 
time: 1403637258.088319, t: 0.221245 -0.516558 0.489821 q: -0.100566 0.820474 0.141324 0.544735 
time: 1403637258.188319, t: 0.195521 -0.462615 0.484750 q: -0.111844 0.813451 0.158397 0.548361 
time: 1403637258.288319, t: 0.173080 -0.407973 0.485513 q: -0.119321 0.804490 0.174917 0.554944 
time: 1403637258.388319, t: 0.151509 -0.352483 0.482702 q: -0.127304 0.798148 0.186115 0.558673 
time: 1403637258.488319, t: 0.129056 -0.297443 0.472478 q: -0.138872 0.797259 0.190021 0.555865 
time: 1403637258.588319, t: 0.109848 -0.242443 0.455498 q: -0.148172 0.798824 0.190758 0.550942 
time: 1403637258.688319, t: 0.091239 -0.190097 0.435626 q: -0.150938 0.795603 0.192270 0.554315 
time: 1403637258.788319, t: 0.075657 -0.140242 0.415394 q: -0.152021 0.793091 0.192975 0.557367 
optimize pose graph 
time: 1403637258.888319, t: 0.059690 -0.092989 0.394736 q: -0.153637 0.791166 0.191986 0.559994 
time: 1403637258.988319, t: 0.044849 -0.048518 0.380451 q: -0.155249 0.791541 0.189815 0.559760 
time: 1403637259.088319, t: 0.031483 -0.007293 0.376196 q: -0.155053 0.792208 0.188081 0.559456 
time: 1403637259.188319, t: 0.019058 0.030855 0.384106 q: -0.155641 0.791978 0.186762 0.560060 
time: 1403637259.288319, t: 0.005211 0.064036 0.400117 q: -0.156126 0.791445 0.184989 0.561265 
time: 1403637259.388319, t: -0.008850 0.093564 0.415609 q: -0.156741 0.792170 0.182946 0.560740 
time: 1403637259.488319, t: -0.020954 0.119220 0.426396 q: -0.164074 0.792159 0.176548 0.560709 
time: 1403637259.588319, t: -0.032541 0.139353 0.434385 q: -0.167898 0.792353 0.173125 0.560371 
time: 1403637259.688319, t: -0.042410 0.153795 0.439394 q: -0.164408 0.792273 0.174684 0.561034 
time: 1403637259.788319, t: -0.051413 0.163662 0.439449 q: -0.157353 0.795145 0.179141 0.557577 
time: 1403637259.888319, t: -0.059197 0.169587 0.437307 q: -0.156041 0.795384 0.179831 0.557384 
time: 1403637259.988319, t: -0.065849 0.172540 0.430798 q: -0.159871 0.793453 0.177113 0.559915 
time: 1403637260.088319, t: -0.071442 0.171247 0.419799 q: -0.156238 0.791273 0.179963 0.563108 
time: 1403637260.188319, t: -0.077088 0.166794 0.404565 q: -0.150201 0.791552 0.184548 0.562873 
time: 1403637260.288319, t: -0.083068 0.160352 0.386624 q: -0.142736 0.791690 0.190509 0.562636 
time: 1403637260.388319, t: -0.090381 0.153105 0.367930 q: -0.133711 0.789896 0.197443 0.564979 
time: 1403637260.488319, t: -0.098661 0.147967 0.347089 q: -0.128583 0.790083 0.201771 0.564379 
time: 1403637260.588319, t: -0.108296 0.146097 0.324173 q: -0.127680 0.796718 0.202614 0.554875 
time: 1403637260.688319, t: -0.118286 0.148054 0.301424 q: -0.128955 0.801254 0.201438 0.548439 
time: 1403637260.788319, t: -0.127103 0.153504 0.279415 q: -0.132266 0.798837 0.199539 0.551861 
time: 1403637260.888319, t: -0.134938 0.161365 0.257281 q: -0.136203 0.794050 0.197913 0.558358 
optimize pose graph 
time: 1403637260.988319, t: -0.142574 0.170858 0.235271 q: -0.138051 0.789519 0.197254 0.564528 
time: 1403637261.088319, t: -0.151886 0.180385 0.212214 q: -0.138859 0.791279 0.196927 0.561975 
time: 1403637261.188319, t: -0.162189 0.191080 0.189433 q: -0.136410 0.798221 0.198310 0.552186 
time: 1403637261.288319, t: -0.171650 0.203278 0.170346 q: -0.133997 0.803699 0.199728 0.544262 
time: 1403637261.388319, t: -0.178205 0.217656 0.158793 q: -0.135865 0.800210 0.198193 0.549475 
time: 1403637261.488319, t: -0.183311 0.233462 0.151771 q: -0.142773 0.796186 0.193345 0.555266 
time: 1403637261.588319, t: -0.187076 0.248573 0.145330 q: -0.141891 0.801226 0.193566 0.548120 
time: 1403637261.688319, t: -0.188379 0.263886 0.143215 q: -0.137719 0.806936 0.196070 0.539855 
time: 1403637261.788319, t: -0.185008 0.280869 0.148280 q: -0.136514 0.804649 0.196611 0.543368 
time: 1403637261.888319, t: -0.178793 0.299286 0.156182 q: -0.138508 0.797556 0.194777 0.553879 
time: 1403637261.988319, t: -0.172700 0.316772 0.157254 q: -0.139681 0.792951 0.192913 0.560805 
time: 1403637262.088319, t: -0.166398 0.334363 0.148419 q: -0.143089 0.790343 0.189125 0.564903 
time: 1403637262.188319, t: -0.161277 0.350627 0.130644 q: -0.146837 0.790516 0.185256 0.564980 
time: 1403637262.288319, t: -0.156979 0.363931 0.105742 q: -0.149624 0.790955 0.181860 0.564738 
time: 1403637262.388319, t: -0.160994 0.357548 0.103877 q: -0.152028 0.777567 0.180319 0.582892 
time: 1403637262.488319, t: -0.162732 0.348467 0.095950 q: -0.140760 0.794223 0.150095 0.571724 
time: 1403637262.588319, t: -0.168010 0.343915 0.101812 q: -0.151405 0.777243 0.139830 0.594489 
time: 1403637262.688319, t: -0.166201 0.343811 0.100677 q: -0.147026 0.787502 0.141682 0.581507 
time: 1403637262.788319, t: -0.168640 0.342766 0.101556 q: -0.148154 0.785637 0.139055 0.584370 
time: 1403637262.888319, t: -0.168143 0.344398 0.101545 q: -0.148745 0.786695 0.139824 0.582611 
time: 1403637262.988319, t: -0.168351 0.343906 0.101632 q: -0.148507 0.786317 0.139648 0.583224 
time: 1403637263.088319, t: -0.168348 0.343746 0.101612 q: -0.147925 0.786309 0.139896 0.583323 
optimize pose graph 
time: 1403637263.188319, t: -0.168452 0.343492 0.101683 q: -0.147516 0.786186 0.139993 0.583569 
time: 1403637263.288319, t: -0.168497 0.343577 0.101634 q: -0.147748 0.786369 0.139861 0.583295 
time: 1403637263.388319, t: -0.168497 0.343644 0.101641 q: -0.148017 0.786359 0.139786 0.583258 
time: 1403637263.488319, t: -0.168540 0.343527 0.101620 q: -0.147674 0.786366 0.139900 0.583309 
time: 1403637263.588319, t: -0.168530 0.343552 0.101618 q: -0.147855 0.786393 0.139795 0.583251 
time: 1403637263.688319, t: -0.168550 0.343561 0.101613 q: -0.147889 0.786442 0.139792 0.583178 
time: 1403637263.788319, t: -0.168576 0.343666 0.101609 q: -0.148221 0.786436 0.139526 0.583165 
time: 1403637263.888319, t: -0.168599 0.343634 0.101619 q: -0.148233 0.786445 0.139545 0.583146 
time: 1403637263.988319, t: -0.168573 0.343519 0.101613 q: -0.147897 0.786463 0.139713 0.583166 
time: 1403637264.088319, t: -0.168568 0.343535 0.101592 q: -0.147839 0.786489 0.139790 0.583128 
time: 1403637264.188319, t: -0.168543 0.343481 0.101582 q: -0.147772 0.786441 0.139775 0.583212 
time: 1403637264.288319, t: -0.168531 0.343550 0.101574 q: -0.147944 0.786466 0.139692 0.583155 
time: 1403637264.388319, t: -0.168565 0.343537 0.101558 q: -0.147906 0.786496 0.139750 0.583110 
time: 1403637264.488319, t: -0.168480 0.343546 0.101531 q: -0.147797 0.786459 0.139745 0.583190 
time: 1403637264.588319, t: -0.168491 0.343579 0.101532 q: -0.147843 0.786483 0.139719 0.583152 
time: 1403637264.688319, t: -0.168537 0.343557 0.101562 q: -0.147858 0.786489 0.139699 0.583144 
time: 1403637264.788319, t: -0.168504 0.343567 0.101574 q: -0.147924 0.786510 0.139674 0.583105 
time: 1403637264.888319, t: -0.168493 0.343568 0.101588 q: -0.147864 0.786511 0.139692 0.583114 
time: 1403637264.988319, t: -0.168453 0.343555 0.101596 q: -0.147704 0.786527 0.139774 0.583115 
time: 1403637265.088319, t: -0.168466 0.343575 0.101611 q: -0.147719 0.786567 0.139807 0.583049 
time: 1403637265.188319, t: -0.168499 0.343557 0.101612 q: -0.147677 0.786532 0.139782 0.583112 
time: 1403637265.288319, t: -0.168505 0.343543 0.101599 q: -0.147697 0.786560 0.139801 0.583065 
time: 1403637265.388319, t: -0.168413 0.343564 0.101627 q: -0.147675 0.786565 0.139818 0.583060 
time: 1403637265.488319, t: -0.168338 0.343533 0.101645 q: -0.147702 0.786559 0.139795 0.583066 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731022151.433093503]: Shutdown request received.[0m
[33m[ WARN] [1731022151.433134879]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731022151.433988341]: Shutdown request received.[0m
[33m[ WARN] [1731022151.434014705]: Reason given for shutdown: [user request][0m
killed
