/SLAM-Hive/slam_hive_results/mapping_results/3383/2070_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1731028388.709142264]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731028388.711598423]: init begins[0m
[31m[ERROR] [1731028388.715240008]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/9d79cbfc-9d6e-11ef-aa00-0242ac110002/roslaunch-57da79dc76e0-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://57da79dc76e0:35395/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[0m[ INFO] [1731028390.023593056]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
[1mROS_MASTER_URI=http://57da79dc76e0:11311/[0m
]2;roscore http://57da79dc76e0:11311/
[1msetting /run_id to 9d79cbfc-9d6e-11ef-aa00-0242ac110002[0m
result path /home/output/vio.csv
[33m[ WARN] [1731028390.057581482]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1731028390.066393788]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731028390.066430452]: ROW: 480 COL: 752 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
set g       0       0 9.81007
[0m[ INFO] [1731028390.071235969]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731028390.072181120]: Connected to master at [localhost:11311][0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731028390.072390915]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mprocess[rosout-1]: started with pid [198][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] [1731028398.387288889]: 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: 327391268.26 
init first imu pose
averge acc 9.410943 -0.689906 -2.446931
init R0 
 0.260797  0.261977  0.929168
        0 -0.962476  0.271368
 0.965394 -0.070772 -0.251011
[0m[ INFO] [1731028399.989930414]: IMU excitation not enouth![0m
[0m[ INFO] [1731028399.990358806]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731028400.184053440]: IMU excitation not enouth![0m
[0m[ INFO] [1731028400.408090198]: IMU excitation not enouth![0m
[0m[ INFO] [1731028400.409217222]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731028400.498433171]: IMU excitation not enouth![0m
[0m[ INFO] [1731028400.499371816]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731028400.697150342]: IMU excitation not enouth![0m
[0m[ INFO] [1731028400.698326168]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731028400.892674561]: IMU excitation not enouth![0m
[0m[ INFO] [1731028400.893379284]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731028401.020757378]: IMU excitation not enouth![0m
[0m[ INFO] [1731028401.200502647]: IMU excitation not enouth![0m
[0m[ INFO] [1731028401.515948540]: IMU excitation not enouth![0m
[0m[ INFO] [1731028401.516409462]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731028401.612406799]: IMU excitation not enouth![0m
[0m[ INFO] [1731028401.612811227]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731028401.695633841]: IMU excitation not enouth![0m
[0m[ INFO] [1731028401.695994752]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1731028402.601181098]: gyroscope bias initial calibration -0.00288417    0.020813   0.0772461[0m
[0m[ INFO] [1731028402.719914972]: Initialization finish![0m
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time: 1403637136.888319, t: 0.002142 -0.037579 0.240789 q: -0.038534 0.843972 0.035135 0.533847 
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time: 1403637137.188319, t: 0.004164 -0.041697 0.486597 q: -0.033551 0.804228 0.011597 0.593260 
time: 1403637137.288319, t: 0.005023 -0.042710 0.503092 q: -0.035616 0.796968 0.012125 0.602849 
time: 1403637137.388319, t: 0.006982 -0.043527 0.478214 q: -0.034628 0.793783 0.014071 0.607052 
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time: 1403637137.688319, t: 0.013349 -0.040784 0.246017 q: -0.018878 0.824853 0.027219 0.564376 
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time: 1403637138.088319, t: -0.004478 -0.043173 0.102785 q: -0.032098 0.861582 0.034809 0.505406 
time: 1403637138.188319, t: 0.000045 -0.046462 0.171864 q: -0.033777 0.856383 0.041263 0.513580 
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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: 1403637200.588319, t: 3.113899 -4.524769 0.132852 q: 0.102501 0.784529 -0.140430 0.595220 
time: 1403637200.688319, t: 3.180032 -4.357532 0.099816 q: 0.092763 0.787692 -0.142963 0.592029 
time: 1403637200.788319, t: 3.237404 -4.192208 0.073517 q: 0.086068 0.787398 -0.149533 0.591808 
time: 1403637200.888319, t: 3.288226 -4.032916 0.056315 q: 0.084396 0.783041 -0.160708 0.594893 
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time: 1403637201.088319, t: 3.363641 -3.727025 0.039299 q: 0.096527 0.780529 -0.175512 0.592159 
time: 1403637201.188319, t: 3.390714 -3.581664 0.042705 q: 0.102079 0.779886 -0.182644 0.589914 
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time: 1403637201.388319, t: 3.418788 -3.302118 0.058360 q: 0.087518 0.776102 -0.217844 0.585278 
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time: 1403637201.588319, t: 3.411551 -3.064615 0.053178 q: 0.072064 0.772090 -0.264204 0.573481 
time: 1403637201.688319, t: 3.396492 -2.968871 0.045263 q: 0.070745 0.767820 -0.278188 0.572765 
time: 1403637201.788319, t: 3.371987 -2.892709 0.035171 q: 0.084421 0.763925 -0.278200 0.576104 
time: 1403637201.888319, t: 3.335708 -2.833757 0.027889 q: 0.094204 0.761682 -0.276865 0.578197 
time: 1403637201.988319, t: 3.289839 -2.787056 0.024817 q: 0.095274 0.762621 -0.277678 0.576392 
time: 1403637202.088319, t: 3.234525 -2.756637 0.027745 q: 0.085595 0.767384 -0.282456 0.569223 
time: 1403637202.188319, t: 3.168904 -2.741390 0.035811 q: 0.082526 0.777333 -0.281543 0.556486 
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time: 1403637202.388319, t: 3.026743 -2.759617 0.051164 q: 0.114578 0.798872 -0.254986 0.532595 
optimize pose graph 
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time: 1403637202.588319, t: 2.898414 -2.816759 0.057994 q: 0.127253 0.795863 -0.244287 0.539196 
time: 1403637202.688319, t: 2.837811 -2.855245 0.070268 q: 0.132396 0.790601 -0.239897 0.547604 
time: 1403637202.788319, t: 2.779874 -2.898246 0.090818 q: 0.139969 0.787995 -0.233758 0.552114 
time: 1403637202.888319, t: 2.723088 -2.943578 0.110742 q: 0.150062 0.788303 -0.226978 0.551852 
time: 1403637202.988319, t: 2.667728 -2.988196 0.124289 q: 0.157766 0.789132 -0.222030 0.550529 
time: 1403637203.088319, t: 2.615614 -3.031622 0.132177 q: 0.160273 0.789094 -0.220968 0.550287 
time: 1403637203.188319, t: 2.564279 -3.073416 0.136057 q: 0.160806 0.788866 -0.221196 0.550368 
time: 1403637203.288319, t: 2.518653 -3.114394 0.135077 q: 0.162660 0.788019 -0.221113 0.551068 
time: 1403637203.388319, t: 2.471692 -3.151630 0.131450 q: 0.162262 0.787468 -0.221937 0.551643 
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time: 1403637203.588319, t: 2.389036 -3.220408 0.111163 q: 0.165952 0.786991 -0.220970 0.551614 
time: 1403637203.688319, t: 2.350979 -3.249596 0.096321 q: 0.168062 0.786881 -0.220540 0.551303 
time: 1403637203.788319, t: 2.320121 -3.276319 0.076011 q: 0.168309 0.785839 -0.221708 0.552246 
time: 1403637203.888319, t: 2.287124 -3.299606 0.053643 q: 0.168633 0.785210 -0.222117 0.552876 
time: 1403637203.988319, t: 2.255644 -3.319279 0.028178 q: 0.169381 0.785101 -0.222205 0.552766 
time: 1403637204.088319, t: 2.227437 -3.336271 0.002526 q: 0.169626 0.784942 -0.222877 0.552647 
time: 1403637204.188319, t: 2.199560 -3.348376 -0.015165 q: 0.169801 0.785110 -0.223312 0.552179 
time: 1403637204.288319, t: 2.172694 -3.357059 -0.025129 q: 0.169765 0.785594 -0.224126 0.551171 
time: 1403637204.388319, t: 2.145690 -3.363264 -0.027805 q: 0.166896 0.783712 -0.226826 0.553617 
optimize pose graph 
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time: 1403637204.688319, t: 2.070272 -3.369323 0.011651 q: 0.168475 0.779348 -0.232967 0.556740 
time: 1403637204.788319, t: 2.047124 -3.367176 0.030197 q: 0.169244 0.780239 -0.235108 0.554354 
time: 1403637204.888319, t: 2.021326 -3.362795 0.041283 q: 0.169680 0.781172 -0.236833 0.552168 
time: 1403637204.988319, t: 1.996008 -3.358955 0.044755 q: 0.169066 0.784071 -0.238210 0.547636 
time: 1403637205.088319, t: 1.973291 -3.353156 0.043468 q: 0.168289 0.787100 -0.239043 0.543149 
time: 1403637205.188319, t: 1.952520 -3.346670 0.038000 q: 0.168643 0.787399 -0.238548 0.542824 
time: 1403637205.288319, t: 1.933811 -3.340082 0.027866 q: 0.165950 0.789376 -0.235077 0.542297 
time: 1403637205.388319, t: 1.919899 -3.331900 0.020632 q: 0.162953 0.790722 -0.227926 0.544293 
time: 1403637205.488319, t: 1.908519 -3.322792 0.021069 q: 0.161096 0.790464 -0.220680 0.548193 
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time: 1403637205.788319, t: 1.884860 -3.287927 0.018209 q: 0.155983 0.789725 -0.208794 0.555345 
time: 1403637205.888319, t: 1.878822 -3.271532 0.003910 q: 0.154838 0.790042 -0.207933 0.555538 
time: 1403637205.988319, t: 1.874239 -3.253845 -0.011042 q: 0.154651 0.789783 -0.206974 0.556316 
time: 1403637206.088319, t: 1.870906 -3.232418 -0.018425 q: 0.152363 0.789385 -0.207836 0.557190 
time: 1403637206.188319, t: 1.867231 -3.210857 -0.020829 q: 0.144963 0.788268 -0.212049 0.559154 
time: 1403637206.288319, t: 1.865029 -3.189391 -0.013659 q: 0.141094 0.787248 -0.214416 0.560677 
time: 1403637206.388319, t: 1.865067 -3.167981 0.002070 q: 0.139841 0.786511 -0.215545 0.561592 
time: 1403637206.488319, t: 1.859977 -3.148416 0.021320 q: 0.140295 0.786421 -0.215676 0.561555 
time: 1403637206.588319, t: 1.854528 -3.128979 0.038074 q: 0.141623 0.786066 -0.215638 0.561733 
optimize pose graph 
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time: 1403637206.788319, t: 1.838833 -3.090279 0.053919 q: 0.146735 0.785367 -0.214057 0.562002 
time: 1403637206.888319, t: 1.829151 -3.070215 0.058409 q: 0.148197 0.784557 -0.214105 0.562731 
time: 1403637206.988319, t: 1.817816 -3.049031 0.067044 q: 0.148687 0.783224 -0.214471 0.564317 
time: 1403637207.088319, t: 1.806930 -3.027343 0.082519 q: 0.149039 0.783161 -0.215626 0.563873 
time: 1403637207.188319, t: 1.793734 -3.005192 0.092791 q: 0.149912 0.781917 -0.217068 0.564814 
time: 1403637207.288319, t: 1.778406 -2.981261 0.095018 q: 0.150400 0.780786 -0.218311 0.565768 
time: 1403637207.388319, t: 1.760876 -2.957104 0.089746 q: 0.151038 0.780823 -0.219073 0.565252 
time: 1403637207.488319, t: 1.741057 -2.932672 0.079206 q: 0.151431 0.780681 -0.220200 0.564905 
time: 1403637207.588319, t: 1.719361 -2.907403 0.063296 q: 0.147159 0.783143 -0.224446 0.560941 
time: 1403637207.688319, t: 1.696864 -2.882234 0.048229 q: 0.137713 0.788230 -0.231692 0.553215 
time: 1403637207.788319, t: 1.673455 -2.861068 0.043644 q: 0.137971 0.789815 -0.232014 0.550750 
time: 1403637207.888319, t: 1.647550 -2.842049 0.051076 q: 0.143732 0.789047 -0.228979 0.551647 
time: 1403637207.988319, t: 1.626905 -2.828336 0.067661 q: 0.148769 0.787633 -0.226055 0.553535 
time: 1403637208.088319, t: 1.604953 -2.815486 0.092826 q: 0.152714 0.787448 -0.223900 0.553600 
time: 1403637208.188319, t: 1.584418 -2.802910 0.123666 q: 0.155848 0.786973 -0.222403 0.554006 
time: 1403637208.288319, t: 1.565834 -2.793124 0.156981 q: 0.152075 0.786748 -0.226170 0.553849 
time: 1403637208.388319, t: 1.546795 -2.780991 0.179896 q: 0.146070 0.784218 -0.231640 0.556785 
time: 1403637208.488319, t: 1.527557 -2.771117 0.196022 q: 0.146928 0.783149 -0.232468 0.557716 
time: 1403637208.588319, t: 1.507851 -2.762922 0.206308 q: 0.151124 0.782685 -0.230700 0.557981 
time: 1403637208.688319, t: 1.488019 -2.756754 0.213556 q: 0.155253 0.782838 -0.228229 0.557650 
optimize pose graph 
time: 1403637208.788319, t: 1.465328 -2.747718 0.213278 q: 0.157369 0.781624 -0.226867 0.559313 
time: 1403637208.888319, t: 1.442010 -2.738239 0.207232 q: 0.160018 0.782156 -0.225327 0.558439 
time: 1403637208.988319, t: 1.418587 -2.727331 0.195316 q: 0.169885 0.784104 -0.218819 0.555372 
time: 1403637209.088319, t: 1.399294 -2.716975 0.178173 q: 0.179659 0.786386 -0.211232 0.551997 
time: 1403637209.188319, t: 1.379533 -2.695759 0.161291 q: 0.175484 0.788587 -0.204906 0.552585 
time: 1403637209.288319, t: 1.366640 -2.672259 0.150280 q: 0.156678 0.793290 -0.200741 0.553034 
time: 1403637209.388319, t: 1.350418 -2.642526 0.146318 q: 0.142301 0.799604 -0.194119 0.550184 
time: 1403637209.488319, t: 1.340581 -2.615480 0.149332 q: 0.132903 0.807928 -0.187881 0.542484 
time: 1403637209.588319, t: 1.333895 -2.588100 0.156751 q: 0.125917 0.819571 -0.182517 0.528333 
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optimize pose graph 
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time: 1403637211.288319, t: 3.167090 -2.862458 -0.164512 q: 0.103604 0.804380 -0.189753 0.553384 
time: 1403637211.388319, t: 3.347518 -2.927103 -0.211668 q: 0.111698 0.798299 -0.187708 0.561255 
time: 1403637211.488319, t: 3.525105 -2.992467 -0.263061 q: 0.114945 0.795830 -0.187744 0.564087 
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time: 1403637212.888319, t: 5.692920 -4.081241 -0.350598 q: 0.128017 0.804283 -0.191718 0.547709 
optimize pose graph 
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time: 1403637213.488319, t: 6.532627 -4.544832 -0.255285 q: 0.123624 0.802086 -0.186529 0.553698 
time: 1403637213.588319, t: 6.670670 -4.619773 -0.254974 q: 0.131326 0.800885 -0.180832 0.555551 
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time: 1403637214.888319, t: 8.423606 -5.048904 -0.174063 q: 0.100679 0.793094 -0.013189 0.600576 
optimize pose graph 
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time: 1403637218.488319, t: 6.030482 -2.529110 0.164271 q: -0.145639 0.762799 0.205937 0.595413 
wait for imu ... 
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time: 1403637231.288319, t: -1.137616 -1.221843 -0.001891 q: 0.224529 0.740346 -0.384206 0.503845 
time: 1403637231.388319, t: -1.142895 -1.246103 -0.034515 q: 0.247387 0.719362 -0.417985 0.496594 
time: 1403637231.488319, t: -1.152998 -1.274267 -0.082804 q: 0.267683 0.696003 -0.453957 0.487698 
time: 1403637231.588319, t: -1.164976 -1.307348 -0.147043 q: 0.284618 0.672775 -0.492077 0.473525 
time: 1403637231.688319, t: -1.182700 -1.345182 -0.217950 q: 0.307659 0.650655 -0.523374 0.456150 
time: 1403637231.788319, t: -1.202908 -1.390886 -0.282217 q: 0.329006 0.626600 -0.550531 0.442767 
time: 1403637231.888319, t: -1.226029 -1.444700 -0.338383 q: 0.345173 0.606433 -0.574974 0.427200 
time: 1403637231.988319, t: -1.253764 -1.503553 -0.384195 q: -0.357673 -0.586165 0.596813 -0.415083 
time: 1403637232.088319, t: -1.288008 -1.570877 -0.416132 q: -0.376818 -0.558316 0.611592 -0.415026 
time: 1403637232.188319, t: -1.329417 -1.639441 -0.440784 q: -0.394769 -0.531062 0.624826 -0.414395 
time: 1403637232.288319, t: -1.378803 -1.706580 -0.459258 q: -0.410900 -0.511809 0.636657 -0.404821 
time: 1403637232.388319, t: -1.435706 -1.771574 -0.470580 q: -0.430395 -0.494967 0.645086 -0.391959 
time: 1403637232.488319, t: -1.499082 -1.832411 -0.476797 q: -0.443741 -0.476087 0.657104 -0.380328 
time: 1403637232.588319, t: -1.567228 -1.887953 -0.479951 q: -0.441205 -0.454688 0.679865 -0.369298 
time: 1403637232.688319, t: -1.642775 -1.937939 -0.477172 q: -0.438093 -0.432789 0.702688 -0.356367 
time: 1403637232.788319, t: -1.728377 -1.980801 -0.468362 q: -0.434450 -0.412823 0.723862 -0.341838 
time: 1403637232.888319, t: -1.826901 -2.023816 -0.453866 q: -0.432861 -0.402754 0.738899 -0.323185 
time: 1403637232.988319, t: -1.938587 -2.067763 -0.431628 q: -0.432482 -0.399414 0.748350 -0.305616 
optimize pose graph 
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time: 1403637233.188319, t: -2.191623 -2.171523 -0.374292 q: -0.429914 -0.404832 0.757434 -0.278529 
time: 1403637233.288319, t: -2.331167 -2.235625 -0.350194 q: -0.425524 -0.409423 0.760353 -0.270491 
time: 1403637233.388319, t: -2.478142 -2.307788 -0.332137 q: -0.419211 -0.414508 0.762968 -0.265189 
time: 1403637233.488319, t: -2.634833 -2.391341 -0.325842 q: -0.420581 -0.423969 0.759915 -0.256694 
time: 1403637233.588319, t: -2.799255 -2.486367 -0.330434 q: -0.444584 -0.441782 0.740767 -0.241737 
time: 1403637233.688319, t: -2.965433 -2.595629 -0.346745 q: -0.479895 -0.458113 0.712491 -0.228451 
time: 1403637233.788319, t: -3.121715 -2.718678 -0.373121 q: 0.509112 0.469232 -0.687666 0.218500 
time: 1403637233.888319, t: -3.261554 -2.853311 -0.405864 q: 0.526353 0.474922 -0.672572 0.212246 
time: 1403637233.988319, t: -3.377568 -2.997472 -0.443244 q: 0.534530 0.478920 -0.665066 0.206399 
time: 1403637234.088319, t: -3.473025 -3.154065 -0.483038 q: 0.544749 0.482896 -0.655534 0.200837 
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time: 1403637234.288319, t: -3.587011 -3.493960 -0.574981 q: 0.561359 0.483010 -0.642556 0.196723 
time: 1403637234.388319, t: -3.604813 -3.679369 -0.626744 q: 0.560561 0.474932 -0.645089 0.209932 
time: 1403637234.488319, t: -3.596809 -3.872040 -0.680537 q: 0.554771 0.467889 -0.647908 0.231351 
time: 1403637234.588319, t: -3.564809 -4.066929 -0.737598 q: 0.547512 0.463544 -0.647567 0.256933 
time: 1403637234.688319, t: -3.512345 -4.260095 -0.799486 q: 0.539642 0.464212 -0.643956 0.280383 
time: 1403637234.788319, t: -3.442988 -4.449651 -0.866301 q: 0.526856 0.467043 -0.641231 0.305149 
time: 1403637234.888319, t: -3.359845 -4.631229 -0.934662 q: 0.510930 0.471395 -0.638653 0.329938 
time: 1403637234.988319, t: -3.267037 -4.804731 -0.997425 q: -0.496439 -0.479363 0.632688 -0.351376 
time: 1403637235.088319, t: -3.168310 -4.966382 -1.051092 q: -0.488225 -0.493897 0.621173 -0.363107 
optimize pose graph 
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time: 1403637235.288319, t: -2.955463 -5.258984 -1.131150 q: -0.471129 -0.525130 0.598520 -0.379539 
time: 1403637235.388319, t: -2.843066 -5.387892 -1.162105 q: -0.457398 -0.540009 0.597509 -0.377042 
time: 1403637235.488319, t: -2.726411 -5.508188 -1.189189 q: -0.439808 -0.553803 0.600356 -0.373423 
time: 1403637235.588319, t: -2.606464 -5.625164 -1.208436 q: -0.426870 -0.566661 0.598478 -0.372158 
time: 1403637235.688319, t: -2.482551 -5.741163 -1.219377 q: -0.420557 -0.576555 0.590294 -0.377186 
time: 1403637235.788319, t: -2.355152 -5.857339 -1.219566 q: 0.425853 0.585701 -0.571800 0.385549 
time: 1403637235.888319, t: -2.222272 -5.969928 -1.210423 q: 0.438702 0.597085 -0.545264 0.392068 
time: 1403637236.088319, t: -1.923564 -6.177440 -1.178136 q: 0.442935 0.626949 -0.502767 0.397453 
time: 1403637236.188319, t: -1.753712 -6.267283 -1.153089 q: 0.436707 0.641493 -0.486238 0.401680 
time: 1403637236.288319, t: -1.569845 -6.345986 -1.120022 q: 0.428427 0.653307 -0.470738 0.409934 
time: 1403637236.388319, t: -1.372072 -6.412961 -1.079553 q: 0.416172 0.663232 -0.457411 0.421545 
time: 1403637236.488319, t: -1.161550 -6.472040 -1.033547 q: 0.401481 0.669459 -0.448387 0.435416 
time: 1403637236.588319, t: -0.939865 -6.526109 -0.986504 q: 0.391131 0.672277 -0.441971 0.446903 
time: 1403637236.688319, t: -0.710875 -6.572741 -0.944157 q: 0.388060 0.672171 -0.434413 0.457035 
time: 1403637236.788319, t: -0.474873 -6.606753 -0.904521 q: 0.386065 0.670296 -0.423560 0.471438 
time: 1403637236.888319, t: -0.232425 -6.627802 -0.861539 q: 0.379935 0.667270 -0.410972 0.491429 
time: 1403637236.988319, t: 0.012736 -6.634128 -0.810952 q: 0.376231 0.661112 -0.395759 0.514544 
time: 1403637237.088319, t: 0.255381 -6.621703 -0.754194 q: 0.373792 0.651642 -0.382030 0.538233 
time: 1403637237.188319, t: 0.493229 -6.586760 -0.690876 q: 0.364544 0.645081 -0.370976 0.559782 
time: 1403637237.288319, t: 0.720919 -6.527885 -0.621586 q: 0.348347 0.648651 -0.362627 0.571321 
optimize pose graph 
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time: 1403637237.588319, t: 1.318566 -6.213935 -0.377605 q: 0.312950 0.663800 -0.348496 0.583080 
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time: 1403637237.788319, t: 1.629779 -5.905534 -0.193088 q: 0.289898 0.662915 -0.353683 0.592800 
time: 1403637237.888319, t: 1.761059 -5.732792 -0.110042 q: 0.279933 0.664088 -0.365092 0.589350 
time: 1403637237.988319, t: 1.870569 -5.547651 -0.036895 q: 0.273298 0.664323 -0.382845 0.580872 
time: 1403637238.088319, t: 1.967342 -5.358067 0.027270 q: 0.264248 0.661852 -0.409249 0.569773 
time: 1403637238.188319, t: 2.046279 -5.167088 0.087042 q: 0.257363 0.653578 -0.440466 0.559098 
time: 1403637238.288319, t: 2.104911 -4.976318 0.143158 q: 0.253549 0.638497 -0.475019 0.549901 
time: 1403637238.388319, t: 2.143294 -4.789955 0.193671 q: 0.254656 0.618107 -0.510326 0.540982 
time: 1403637238.488319, t: 2.157314 -4.607877 0.239754 q: 0.261928 0.594195 -0.543320 0.532099 
time: 1403637238.588319, t: 2.143095 -4.431290 0.280881 q: -0.271666 -0.573008 0.573022 -0.519139 
time: 1403637238.688319, t: 2.101443 -4.262214 0.317251 q: -0.267907 -0.560979 0.603441 -0.499387 
time: 1403637238.788319, t: 2.033109 -4.104818 0.350456 q: -0.255468 -0.559195 0.630703 -0.473551 
time: 1403637238.888319, t: 1.936505 -3.964570 0.382852 q: -0.239798 -0.562008 0.653693 -0.446462 
time: 1403637238.988319, t: 1.810763 -3.848073 0.414277 q: -0.226597 -0.567976 0.670264 -0.420479 
time: 1403637239.088319, t: 1.656991 -3.761529 0.450262 q: -0.232768 -0.576663 0.673222 -0.400064 
time: 1403637239.188319, t: 1.477704 -3.709728 0.491809 q: -0.262185 -0.581799 0.663777 -0.390088 
time: 1403637239.288319, t: 1.279437 -3.681237 0.533927 q: -0.294220 -0.577592 0.654861 -0.388560 
time: 1403637239.388319, t: 1.069031 -3.670391 0.570157 q: -0.314853 -0.566626 0.656162 -0.386333 
optimize pose graph 
time: 1403637239.488319, t: 0.849011 -3.676151 0.593824 q: -0.330410 -0.550796 0.664935 -0.381201 
time: 1403637239.588319, t: 0.619176 -3.692923 0.600238 q: -0.348480 -0.531638 0.675177 -0.374245 
time: 1403637239.688319, t: 0.381741 -3.721460 0.587123 q: -0.367954 -0.510811 0.685842 -0.365107 
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time: 1403637239.888319, t: -0.113242 -3.801366 0.522901 q: -0.434321 -0.465269 0.688328 -0.347988 
time: 1403637239.988319, t: -0.364616 -3.842184 0.476094 q: -0.462456 -0.441431 0.691509 -0.336285 
time: 1403637240.088319, t: -0.615923 -3.881751 0.423150 q: -0.483052 -0.417572 0.698916 -0.322196 
time: 1403637240.188319, t: -0.863574 -3.917385 0.365337 q: -0.495983 -0.393975 0.710882 -0.305666 
time: 1403637240.288319, t: -1.106087 -3.948244 0.302692 q: -0.499680 -0.374859 0.726602 -0.286094 
time: 1403637240.388319, t: -1.343693 -3.978764 0.239257 q: -0.495336 -0.365666 0.742502 -0.263860 
time: 1403637240.488319, t: -1.578605 -4.010230 0.182587 q: -0.490116 -0.364005 0.754365 -0.241287 
time: 1403637240.588319, t: -1.811251 -4.050325 0.133779 q: -0.488501 -0.361911 0.760088 -0.229462 
time: 1403637240.688319, t: -2.042061 -4.095618 0.094321 q: -0.491402 -0.361822 0.760075 -0.223373 
time: 1403637240.788319, t: -2.271244 -4.151575 0.063183 q: -0.497126 -0.360925 0.756891 -0.222968 
time: 1403637240.888319, t: -2.498831 -4.215635 0.041713 q: 0.515346 0.361165 -0.743523 0.226169 
time: 1403637240.988319, t: -2.721555 -4.285335 0.023652 q: 0.527949 0.361869 -0.733136 0.229854 
time: 1403637241.088319, t: -2.938373 -4.357426 -0.002293 q: 0.525771 0.362683 -0.733051 0.233800 
time: 1403637241.188319, t: -3.147738 -4.430888 -0.037132 q: 0.522081 0.366071 -0.733564 0.235175 
time: 1403637241.288319, t: -3.351273 -4.507617 -0.075966 q: 0.523785 0.372925 -0.730142 0.231234 
time: 1403637241.388319, t: -3.545351 -4.586203 -0.118404 q: 0.527817 0.379395 -0.725139 0.227250 
time: 1403637241.488319, t: -3.726695 -4.666266 -0.160262 q: 0.532538 0.386061 -0.719773 0.222009 
time: 1403637241.588319, t: -3.894859 -4.751442 -0.196757 q: 0.540607 0.391593 -0.711896 0.218179 
time: 1403637241.688319, t: -4.048618 -4.841191 -0.226495 q: 0.548371 0.392320 -0.704620 0.221100 
time: 1403637241.788319, t: -4.186069 -4.933740 -0.250478 q: 0.557246 0.391284 -0.696749 0.225643 
time: 1403637241.888319, t: -4.305707 -5.027242 -0.266543 q: 0.561893 0.384757 -0.692726 0.237423 
time: 1403637241.988319, t: -4.408375 -5.117982 -0.276050 q: 0.563481 0.372798 -0.690861 0.257335 
time: 1403637242.088319, t: -4.496409 -5.202060 -0.279630 q: 0.565976 0.368595 -0.689243 0.262207 
time: 1403637242.188319, t: -4.567702 -5.278178 -0.277207 q: 0.565853 0.373038 -0.690296 0.253269 
time: 1403637242.288319, t: -4.621396 -5.348886 -0.268470 q: 0.567145 0.377661 -0.690076 0.243953 
time: 1403637242.388319, t: -4.657690 -5.415009 -0.260983 q: 0.573587 0.382763 -0.685681 0.233091 
time: 1403637242.488319, t: -4.680475 -5.482432 -0.261766 q: 0.581516 0.386025 -0.679759 0.225279 
time: 1403637242.588319, t: -4.677843 -5.542788 -0.265384 q: 0.584964 0.388173 -0.674946 0.227125 
time: 1403637242.688319, t: -4.658491 -5.607522 -0.267706 q: 0.579949 0.394261 -0.672035 0.237880 
time: 1403637242.788319, t: -4.615417 -5.666831 -0.262257 q: 0.570088 0.400702 -0.669478 0.257365 
time: 1403637242.888319, t: -4.557538 -5.723122 -0.249478 q: 0.563700 0.404489 -0.664802 0.276893 
time: 1403637242.988319, t: -4.485979 -5.772019 -0.232159 q: 0.563145 0.409727 -0.657436 0.287696 
time: 1403637243.088319, t: -4.402321 -5.815268 -0.214989 q: 0.561085 0.418609 -0.653981 0.286806 
time: 1403637243.188319, t: -4.305223 -5.850827 -0.204897 q: 0.555001 0.426162 -0.655797 0.283356 
time: 1403637243.288319, t: -4.195163 -5.879662 -0.202045 q: 0.543983 0.428910 -0.662749 0.284399 
time: 1403637243.388319, t: -4.074969 -5.904506 -0.206147 q: 0.536197 0.429207 -0.667992 0.286462 
time: 1403637243.488319, t: -3.945443 -5.924292 -0.213774 q: 0.532808 0.427808 -0.670669 0.288616 
time: 1403637243.588319, t: -3.806327 -5.942310 -0.217801 q: 0.525197 0.426002 -0.676846 0.290808 
time: 1403637243.688319, t: -3.660795 -5.959025 -0.215071 q: 0.513840 0.424405 -0.686012 0.291953 
optimize pose graph 
time: 1403637243.788319, t: -3.512588 -5.973813 -0.202770 q: 0.502170 0.419530 -0.695668 0.296421 
time: 1403637243.888319, t: -3.365173 -5.985780 -0.181887 q: -0.488182 -0.413081 0.706704 -0.302674 
time: 1403637243.988319, t: -3.221780 -5.993032 -0.150507 q: -0.481368 -0.408618 0.712498 -0.306044 
time: 1403637244.088319, t: -3.086034 -5.998459 -0.108825 q: -0.481230 -0.406607 0.713990 -0.305461 
time: 1403637244.188319, t: -2.957752 -6.002376 -0.059496 q: -0.484029 -0.405827 0.713489 -0.303239 
time: 1403637244.288319, t: -2.835887 -6.006635 -0.004065 q: -0.484368 -0.404389 0.714384 -0.302511 
time: 1403637244.388319, t: -2.720140 -6.008224 0.055411 q: -0.480366 -0.404773 0.717407 -0.301221 
time: 1403637244.488319, t: -2.610614 -6.009542 0.119447 q: -0.476494 -0.411838 0.716743 -0.299369 
time: 1403637244.588319, t: -2.508617 -6.014037 0.185537 q: -0.476568 -0.427137 0.709711 -0.294528 
time: 1403637244.688319, t: -2.409881 -6.022521 0.245526 q: -0.474587 -0.444556 0.701532 -0.291531 
time: 1403637244.788319, t: -2.313717 -6.037246 0.298709 q: -0.470742 -0.458472 0.694497 -0.293050 
time: 1403637244.888319, t: -2.217922 -6.057948 0.346050 q: -0.466983 -0.468019 0.689338 -0.296139 
time: 1403637244.988319, t: -2.122408 -6.084509 0.387099 q: -0.459908 -0.473372 0.688488 -0.300647 
time: 1403637245.088319, t: -2.029013 -6.116300 0.420606 q: -0.444130 -0.472031 0.696256 -0.308484 
time: 1403637245.188319, t: -1.940139 -6.154070 0.447936 q: -0.428311 -0.470718 0.705132 -0.312670 
time: 1403637245.288319, t: -1.859736 -6.199624 0.474780 q: -0.433683 -0.474231 0.700774 -0.309743 
time: 1403637245.388319, t: -1.784405 -6.252320 0.498433 q: -0.444361 -0.478183 0.693318 -0.305278 
time: 1403637245.488319, t: -1.710297 -6.309941 0.516660 q: -0.449690 -0.483339 0.686781 -0.304128 
time: 1403637245.588319, t: -1.636021 -6.373869 0.528651 q: -0.449146 -0.491115 0.680412 -0.306780 
time: 1403637245.688319, t: -1.563298 -6.443296 0.535523 q: -0.443725 -0.501659 0.673722 -0.312322 
time: 1403637245.788319, t: -1.489405 -6.520013 0.538528 q: -0.441417 -0.511874 0.660605 -0.326705 
optimize pose graph 
time: 1403637245.888319, t: -1.414828 -6.601902 0.537528 q: -0.442809 -0.524228 0.639077 -0.347398 
time: 1403637245.988319, t: -1.340074 -6.684249 0.528877 q: -0.437471 -0.541481 0.616267 -0.368282 
time: 1403637246.088319, t: -1.262643 -6.766341 0.516015 q: -0.426600 -0.563306 0.591105 -0.388964 
time: 1403637246.188319, t: -1.181764 -6.845380 0.498227 q: 0.411372 0.588154 -0.562897 0.409872 
time: 1403637246.288319, t: -1.099727 -6.922115 0.474910 q: 0.392190 0.614131 -0.532661 0.430468 
time: 1403637246.388319, t: -1.015758 -6.995225 0.449465 q: 0.374289 0.641039 -0.497226 0.449159 
time: 1403637246.488319, t: -0.929039 -7.063626 0.421978 q: 0.360201 0.666818 -0.457778 0.464810 
time: 1403637246.588319, t: -0.839931 -7.125029 0.390280 q: 0.346701 0.685722 -0.419397 0.483414 
time: 1403637246.688319, t: -0.748009 -7.176705 0.354938 q: 0.331414 0.699122 -0.383755 0.504109 
time: 1403637246.788319, t: -0.653445 -7.216060 0.321161 q: 0.314429 0.712262 -0.350814 0.520333 
time: 1403637246.888319, t: -0.558939 -7.241710 0.292745 q: 0.295050 0.725995 -0.321231 0.531683 
time: 1403637246.988319, t: -0.462806 -7.257690 0.268668 q: 0.272185 0.743027 -0.300702 0.532357 
time: 1403637247.088319, t: -0.368313 -7.259073 0.249904 q: 0.251901 0.756982 -0.289729 0.528754 
time: 1403637247.188319, t: -0.271073 -7.256429 0.228826 q: 0.235572 0.766457 -0.286149 0.524565 
time: 1403637247.288319, t: -0.171911 -7.248307 0.202048 q: 0.225455 0.769497 -0.285562 0.524879 
time: 1403637247.388319, t: -0.069809 -7.237054 0.175709 q: 0.228010 0.759504 -0.280742 0.540693 
time: 1403637247.488319, t: 0.032540 -7.221055 0.147458 q: 0.233345 0.746587 -0.276741 0.558186 
time: 1403637247.588319, t: 0.132905 -7.196397 0.111367 q: 0.234346 0.745879 -0.273664 0.560227 
time: 1403637247.688319, t: 0.229168 -7.161480 0.072780 q: 0.236218 0.748743 -0.263456 0.560513 
time: 1403637247.788319, t: 0.322238 -7.115583 0.035475 q: 0.239357 0.753779 -0.247509 0.559701 
time: 1403637247.888319, t: 0.413243 -7.055563 0.006008 q: 0.235146 0.757171 -0.233206 0.563040 
optimize pose graph 
time: 1403637247.988319, t: 0.502212 -6.981460 -0.014470 q: 0.219387 0.756770 -0.223791 0.573661 
time: 1403637248.088319, t: 0.585568 -6.894632 -0.030281 q: 0.200926 0.765385 -0.215695 0.572093 
time: 1403637248.188319, t: 0.662515 -6.799566 -0.040923 q: 0.183680 0.776714 -0.207310 0.565685 
time: 1403637248.288319, t: 0.738144 -6.699747 -0.055601 q: 0.170845 0.785051 -0.201408 0.560306 
time: 1403637248.388319, t: 0.812808 -6.595985 -0.076838 q: 0.164135 0.788448 -0.196285 0.559358 
time: 1403637248.488319, t: 0.886386 -6.489484 -0.100782 q: 0.160437 0.787209 -0.193676 0.563074 
time: 1403637248.588319, t: 0.957807 -6.380407 -0.122638 q: 0.161468 0.781879 -0.190768 0.571140 
time: 1403637248.688319, t: 1.024762 -6.267068 -0.139355 q: 0.162889 0.783460 -0.190955 0.568501 
time: 1403637248.788319, t: 1.088387 -6.149244 -0.148207 q: 0.163993 0.788625 -0.193758 0.560032 
time: 1403637248.888319, t: 1.149579 -6.027463 -0.147803 q: 0.164010 0.791296 -0.198499 0.554572 
time: 1403637248.988319, t: 1.212127 -5.903595 -0.139964 q: 0.163153 0.791739 -0.203752 0.552282 
time: 1403637249.088319, t: 1.276237 -5.778244 -0.126197 q: 0.165604 0.791217 -0.206159 0.551407 
time: 1403637249.188319, t: 1.340691 -5.653546 -0.104316 q: 0.167131 0.790625 -0.208101 0.551065 
time: 1403637249.288319, t: 1.405996 -5.528442 -0.076100 q: 0.167439 0.789117 -0.210323 0.552289 
time: 1403637249.388319, t: 1.471505 -5.401189 -0.048799 q: 0.169129 0.787806 -0.211291 0.553275 
time: 1403637249.488319, t: 1.536629 -5.271237 -0.035745 q: 0.168767 0.787112 -0.212469 0.553921 
time: 1403637249.588319, t: 1.602329 -5.141003 -0.040820 q: 0.167646 0.787011 -0.212981 0.554209 
time: 1403637249.788319, t: 1.731310 -4.872098 -0.078880 q: 0.168538 0.780519 -0.208810 0.564609 
time: 1403637249.888319, t: 1.793823 -4.733720 -0.092650 q: 0.165433 0.778139 -0.202917 0.570925 
time: 1403637249.988319, t: 1.852117 -4.590093 -0.100652 q: 0.155311 0.781607 -0.195433 0.571642 
time: 1403637250.088319, t: 1.905804 -4.445739 -0.101987 q: 0.138587 0.786445 -0.192562 0.570279 
time: 1403637250.188319, t: 1.955390 -4.300789 -0.098056 q: 0.125600 0.791518 -0.186244 0.568363 
time: 1403637250.288319, t: 2.001501 -4.157082 -0.097430 q: 0.111500 0.793903 -0.180351 0.569877 
time: 1403637250.388319, t: 2.044860 -4.016803 -0.102612 q: 0.099710 0.795014 -0.176852 0.571607 
time: 1403637250.488319, t: 2.084723 -3.880546 -0.113568 q: 0.088417 0.796539 -0.176890 0.571329 
time: 1403637250.688319, t: 2.153628 -3.627468 -0.132139 q: 0.078695 0.802694 -0.171656 0.565707 
time: 1403637250.788319, t: 2.185271 -3.511513 -0.130155 q: 0.078376 0.804889 -0.166428 0.564192 
time: 1403637250.888319, t: 2.216914 -3.404050 -0.119582 q: 0.076969 0.803673 -0.164344 0.566724 
time: 1403637250.988319, t: 2.249619 -3.304356 -0.104249 q: 0.073568 0.803383 -0.165152 0.567352 
time: 1403637251.088319, t: 2.280319 -3.212238 -0.081387 q: 0.067735 0.804457 -0.163709 0.566974 
time: 1403637251.188319, t: 2.310572 -3.126175 -0.053064 q: 0.058065 0.807021 -0.161856 0.564932 
time: 1403637251.288319, t: 2.337763 -3.049112 -0.016574 q: 0.051429 0.808525 -0.158070 0.564496 
time: 1403637251.388319, t: 2.363615 -2.980679 0.029430 q: 0.055383 0.807879 -0.144321 0.568714 
time: 1403637251.488319, t: 2.389711 -2.920908 0.078021 q: 0.055578 0.807418 -0.129130 0.572986 
time: 1403637251.588319, t: 2.415289 -2.865202 0.120064 q: 0.051264 0.807795 -0.113931 0.576073 
time: 1403637251.688319, t: 2.439064 -2.815119 0.155271 q: 0.044643 0.808353 -0.102370 0.578007 
time: 1403637251.788319, t: 2.459904 -2.768511 0.183799 q: 0.038289 0.808643 -0.094440 0.579406 
time: 1403637251.888319, t: 2.478130 -2.728074 0.208843 q: 0.037614 0.807395 -0.086967 0.582353 
time: 1403637251.988319, t: 2.494867 -2.691479 0.230543 q: 0.044508 0.803741 -0.076599 0.588347 
optimize pose graph 
time: 1403637252.088319, t: 2.507750 -2.656705 0.248057 q: 0.048480 0.799917 -0.070465 0.593984 
time: 1403637252.188319, t: 2.514415 -2.622133 0.261018 q: 0.046235 0.796073 -0.069819 0.599379 
time: 1403637252.288319, t: 2.514200 -2.587749 0.266872 q: 0.041659 0.795882 -0.071830 0.599730 
time: 1403637252.388319, t: 2.508445 -2.553346 0.265526 q: 0.037907 0.799035 -0.074199 0.595483 
time: 1403637252.488319, t: 2.494767 -2.521537 0.256684 q: 0.035187 0.804136 -0.076647 0.588432 
time: 1403637252.588319, t: 2.480093 -2.490203 0.243043 q: 0.033937 0.807283 -0.078307 0.583961 
time: 1403637252.688319, t: 2.460259 -2.461589 0.223261 q: 0.030127 0.811708 -0.081528 0.577560 
time: 1403637252.788319, t: 2.442766 -2.437018 0.203064 q: 0.022967 0.817710 -0.087134 0.568534 
time: 1403637252.888319, t: 2.423056 -2.416697 0.190542 q: 0.025971 0.819041 -0.085808 0.566687 
time: 1403637252.988319, t: 2.405761 -2.401996 0.188942 q: 0.034183 0.814431 -0.081200 0.573533 
time: 1403637253.088319, t: 2.388408 -2.389092 0.193751 q: 0.039238 0.811118 -0.078706 0.578233 
time: 1403637253.188319, t: 2.370795 -2.377408 0.202007 q: 0.041871 0.809390 -0.077923 0.580571 
time: 1403637253.288319, t: 2.353284 -2.365962 0.206851 q: 0.043144 0.808589 -0.078300 0.581543 
time: 1403637253.388319, t: 2.333155 -2.357855 0.204908 q: 0.043460 0.808502 -0.078838 0.581567 
time: 1403637253.588319, t: 2.289010 -2.345010 0.184245 q: 0.043833 0.808714 -0.079777 0.581116 
time: 1403637253.688319, t: 2.264794 -2.340068 0.176030 q: 0.047717 0.808395 -0.077102 0.581615 
time: 1403637253.788319, t: 2.238620 -2.335452 0.175492 q: 0.052297 0.807084 -0.073934 0.583450 
time: 1403637253.888319, t: 2.211115 -2.329264 0.180226 q: 0.054061 0.806613 -0.072931 0.584067 
time: 1403637253.988319, t: 2.183687 -2.321267 0.191865 q: 0.054802 0.806489 -0.073037 0.584156 
time: 1403637254.088319, t: 2.150300 -2.311239 0.209041 q: 0.055928 0.805597 -0.071607 0.585456 
time: 1403637254.188319, t: 2.115111 -2.298316 0.230924 q: 0.052790 0.805641 -0.066877 0.586245 
optimize pose graph 
time: 1403637254.288319, t: 2.077949 -2.282364 0.257757 q: 0.048592 0.809071 -0.058163 0.582803 
time: 1403637254.388319, t: 2.039045 -2.263828 0.287638 q: 0.043421 0.813511 -0.049994 0.577767 
time: 1403637254.488319, t: 2.002066 -2.243963 0.313003 q: 0.039219 0.816714 -0.043791 0.574041 
time: 1403637254.588319, t: 1.965349 -2.222829 0.334327 q: 0.035345 0.817796 -0.038966 0.573099 
time: 1403637254.688319, t: 1.928105 -2.200600 0.350045 q: 0.033171 0.816626 -0.035548 0.575116 
time: 1403637254.788319, t: 1.890853 -2.177658 0.359711 q: 0.031199 0.813655 -0.033759 0.579528 
time: 1403637254.888319, t: 1.853795 -2.153812 0.363778 q: 0.027986 0.810979 -0.033846 0.583425 
time: 1403637254.988319, t: 1.815676 -2.128703 0.361160 q: 0.026809 0.808686 -0.033812 0.586656 
time: 1403637255.088319, t: 1.778283 -2.102699 0.355483 q: 0.024879 0.808132 -0.031418 0.587636 
time: 1403637255.188319, t: 1.736514 -2.074506 0.351402 q: 0.019200 0.808632 -0.025042 0.587469 
time: 1403637255.288319, t: 1.693145 -2.045821 0.354224 q: 0.012082 0.808301 -0.017955 0.588372 
time: 1403637255.388319, t: 1.649667 -2.017238 0.363501 q: 0.004171 0.808638 -0.011444 0.588181 
time: 1403637255.488319, t: 1.601927 -1.986199 0.369541 q: -0.002607 0.809669 -0.001208 0.586880 
time: 1403637255.588319, t: 1.552324 -1.954046 0.368883 q: -0.008702 0.810145 0.013066 0.586019 
time: 1403637255.788319, t: 1.451132 -1.888475 0.358187 q: -0.025548 0.812171 0.048075 0.580874 
time: 1403637255.888319, t: 1.398757 -1.854711 0.359543 q: -0.037092 0.813974 0.066812 0.575852 
time: 1403637255.988319, t: 1.347091 -1.821268 0.370718 q: -0.048791 0.813753 0.083048 0.573175 
time: 1403637256.088319, t: 1.292679 -1.786671 0.391652 q: -0.055523 0.813173 0.096066 0.571348 
time: 1403637256.188319, t: 1.238735 -1.750777 0.414246 q: -0.059997 0.810454 0.103882 0.573387 
time: 1403637256.288319, t: 1.184765 -1.713439 0.431945 q: -0.063696 0.806442 0.107690 0.577925 
optimize pose graph 
time: 1403637256.388319, t: 1.130232 -1.674233 0.441752 q: -0.064402 0.804237 0.109878 0.580502 
time: 1403637256.488319, t: 1.073771 -1.632958 0.445374 q: -0.062522 0.803172 0.110821 0.582000 
time: 1403637256.588319, t: 1.016151 -1.590125 0.443437 q: -0.062768 0.802764 0.108945 0.582890 
time: 1403637256.688319, t: 0.955455 -1.545289 0.434144 q: -0.066222 0.808042 0.103526 0.576165 
time: 1403637256.788319, t: 0.893315 -1.499702 0.420697 q: -0.074719 0.815520 0.094238 0.566094 
time: 1403637256.888319, t: 0.832239 -1.454037 0.406262 q: -0.080273 0.817285 0.088635 0.563689 
time: 1403637256.988319, t: 0.774344 -1.410745 0.393680 q: -0.080077 0.813580 0.093912 0.568204 
time: 1403637257.088319, t: 0.715655 -1.369680 0.386893 q: -0.080326 0.809292 0.104648 0.572402 
time: 1403637257.188319, t: 0.657785 -1.327401 0.388011 q: -0.081412 0.806994 0.113621 0.573779 
time: 1403637257.288319, t: 0.603470 -1.284711 0.395397 q: -0.083293 0.807126 0.120857 0.571842 
time: 1403637257.388319, t: 0.549817 -1.243712 0.409072 q: -0.083756 0.807616 0.128067 0.569509 
time: 1403637257.488319, t: 0.498726 -1.202563 0.423408 q: -0.084666 0.807651 0.132674 0.568269 
time: 1403637257.588319, t: 0.446502 -1.160670 0.431872 q: -0.084232 0.808643 0.136652 0.565975 
time: 1403637257.688319, t: 0.393334 -1.117630 0.431551 q: -0.086925 0.812577 0.136977 0.559821 
time: 1403637257.788319, t: 0.343964 -1.073249 0.428482 q: -0.090836 0.815592 0.139526 0.554158 
time: 1403637257.888319, t: 0.301993 -1.024665 0.421381 q: -0.096047 0.817840 0.144979 0.548538 
time: 1403637257.988319, t: 0.262593 -0.972838 0.410509 q: -0.104153 0.817855 0.152927 0.544865 
time: 1403637258.088319, t: 0.224862 -0.918972 0.399196 q: -0.115701 0.815908 0.164390 0.542110 
time: 1403637258.188319, t: 0.193431 -0.862924 0.395786 q: -0.126881 0.808496 0.181269 0.545323 
time: 1403637258.288319, t: 0.164198 -0.806041 0.397427 q: -0.134443 0.799083 0.197505 0.551709 
time: 1403637258.388319, t: 0.136405 -0.748828 0.395807 q: -0.142420 0.792483 0.208567 0.555147 
time: 1403637258.488319, t: 0.109152 -0.690973 0.386421 q: -0.153817 0.791549 0.212336 0.552000 
optimize pose graph 
time: 1403637258.588319, t: 0.085130 -0.634604 0.370233 q: -0.163014 0.793126 0.213061 0.546792 
time: 1403637258.688319, t: 0.061629 -0.581404 0.350058 q: -0.165900 0.789876 0.214525 0.550047 
time: 1403637258.788319, t: 0.043306 -0.530603 0.328351 q: -0.167128 0.787375 0.215121 0.553020 
time: 1403637258.888319, t: 0.024304 -0.481518 0.306228 q: -0.168817 0.785495 0.214033 0.555598 
time: 1403637258.988319, t: 0.006416 -0.434707 0.289807 q: -0.170420 0.785944 0.211837 0.555314 
time: 1403637259.088319, t: -0.008497 -0.392983 0.284672 q: -0.170188 0.786704 0.210095 0.554971 
time: 1403637259.188319, t: -0.021228 -0.355662 0.292706 q: -0.170837 0.786528 0.208781 0.555516 
time: 1403637259.288319, t: -0.035344 -0.323451 0.309291 q: -0.171356 0.786047 0.206993 0.556706 
time: 1403637259.388319, t: -0.048800 -0.294204 0.323781 q: -0.172027 0.786787 0.204916 0.556222 
time: 1403637259.488319, t: -0.062167 -0.272002 0.335620 q: -0.179487 0.786878 0.198529 0.556052 
time: 1403637259.588319, t: -0.074393 -0.254529 0.343516 q: -0.183430 0.787050 0.195184 0.555706 
time: 1403637259.688319, t: -0.085547 -0.241294 0.348973 q: -0.179970 0.786891 0.196749 0.556509 
time: 1403637259.788319, t: -0.095523 -0.231105 0.349081 q: -0.172820 0.789642 0.201256 0.553258 
time: 1403637259.888319, t: -0.104120 -0.225452 0.347289 q: -0.171483 0.789817 0.201948 0.553172 
time: 1403637259.988319, t: -0.110787 -0.222833 0.340529 q: -0.175421 0.787966 0.199148 0.555587 
time: 1403637260.088319, t: -0.116634 -0.224836 0.329918 q: -0.171876 0.785683 0.202018 0.558882 
time: 1403637260.188319, t: -0.121931 -0.229403 0.314205 q: -0.165836 0.785833 0.206609 0.558818 
time: 1403637260.288319, t: -0.127902 -0.236282 0.296139 q: -0.158379 0.785817 0.212573 0.558766 
time: 1403637260.388319, t: -0.134999 -0.244073 0.277247 q: -0.149491 0.783786 0.219587 0.561350 
time: 1403637260.488319, t: -0.143507 -0.249811 0.255921 q: -0.144404 0.783802 0.224062 0.560890 
time: 1403637260.588319, t: -0.152957 -0.252779 0.232752 q: -0.143241 0.790396 0.225106 0.551438 
optimize pose graph 
time: 1403637260.688319, t: -0.163040 -0.251313 0.209511 q: -0.144331 0.794985 0.224025 0.544959 
time: 1403637260.788319, t: -0.172761 -0.246494 0.187298 q: -0.147710 0.792607 0.222087 0.548301 
time: 1403637260.888319, t: -0.181507 -0.238967 0.164839 q: -0.151819 0.787837 0.220401 0.554696 
time: 1403637260.988319, t: -0.189950 -0.230037 0.142366 q: -0.153862 0.783265 0.219631 0.560879 
time: 1403637261.088319, t: -0.199818 -0.220718 0.118982 q: -0.154596 0.785001 0.219395 0.558336 
time: 1403637261.188319, t: -0.210394 -0.210230 0.095766 q: -0.151894 0.791896 0.220957 0.548642 
time: 1403637261.288319, t: -0.220630 -0.198296 0.076171 q: -0.149255 0.797344 0.222515 0.540788 
time: 1403637261.388319, t: -0.228108 -0.183927 0.064587 q: -0.151233 0.793924 0.220856 0.545926 
time: 1403637261.488319, t: -0.234110 -0.168197 0.057795 q: -0.158282 0.790057 0.215869 0.551505 
time: 1403637261.588319, t: -0.238730 -0.153050 0.051323 q: -0.157181 0.795112 0.216119 0.544411 
time: 1403637261.688319, t: -0.240976 -0.137462 0.049071 q: -0.152773 0.800788 0.218744 0.536237 
time: 1403637261.788319, t: -0.238656 -0.119802 0.053924 q: -0.151634 0.798498 0.219212 0.539772 
time: 1403637261.888319, t: -0.233620 -0.099802 0.061447 q: -0.153837 0.791445 0.217122 0.550280 
time: 1403637261.988319, t: -0.228401 -0.081095 0.062531 q: -0.155143 0.786862 0.215088 0.557240 
time: 1403637262.088319, t: -0.223035 -0.063098 0.053673 q: -0.158666 0.784346 0.211274 0.561239 
time: 1403637262.188319, t: -0.218812 -0.046940 0.035818 q: -0.162374 0.784620 0.207412 0.561236 
time: 1403637262.288319, t: -0.215159 -0.033533 0.010573 q: -0.165195 0.785239 0.203936 0.560822 
time: 1403637262.388319, t: -0.218940 -0.040146 0.008223 q: -0.168106 0.771976 0.202007 0.578781 
time: 1403637262.488319, t: -0.220321 -0.050009 -0.000618 q: -0.156566 0.789574 0.172245 0.567795 
time: 1403637262.588319, t: -0.226194 -0.057201 0.003312 q: -0.167884 0.772915 0.161629 0.590164 
time: 1403637262.688319, t: -0.223411 -0.060229 0.003338 q: -0.163231 0.783084 0.163906 0.577295 
time: 1403637262.788319, t: -0.226225 -0.059112 0.006117 q: -0.164043 0.781238 0.161140 0.580336 
optimize pose graph 
time: 1403637262.888319, t: -0.225991 -0.057694 0.006222 q: -0.164622 0.782197 0.162126 0.578605 
time: 1403637262.988319, t: -0.226134 -0.058189 0.006302 q: -0.164454 0.781808 0.161949 0.579226 
time: 1403637263.088319, t: -0.226123 -0.058357 0.006291 q: -0.163893 0.781775 0.162217 0.579356 
time: 1403637263.188319, t: -0.226245 -0.058653 0.006375 q: -0.163512 0.781645 0.162345 0.579603 
time: 1403637263.288319, t: -0.226311 -0.058592 0.006343 q: -0.163751 0.781845 0.162233 0.579296 
time: 1403637263.388319, t: -0.226293 -0.058514 0.006354 q: -0.164050 0.781844 0.162148 0.579237 
time: 1403637263.488319, t: -0.226335 -0.058664 0.006331 q: -0.163743 0.781852 0.162252 0.579283 
time: 1403637263.588319, t: -0.226323 -0.058647 0.006320 q: -0.163954 0.781890 0.162131 0.579207 
time: 1403637263.688319, t: -0.226331 -0.058656 0.006306 q: -0.164027 0.781940 0.162095 0.579128 
time: 1403637263.788319, t: -0.226354 -0.058538 0.006289 q: -0.164369 0.781944 0.161798 0.579110 
time: 1403637263.888319, t: -0.226389 -0.058597 0.006300 q: -0.164407 0.781961 0.161775 0.579083 
time: 1403637263.988319, t: -0.226346 -0.058736 0.006287 q: -0.164108 0.781994 0.161907 0.579086 
time: 1403637264.088319, t: -0.226328 -0.058727 0.006262 q: -0.164074 0.782033 0.161954 0.579030 
time: 1403637264.188319, t: -0.226325 -0.058790 0.006239 q: -0.164025 0.781994 0.161917 0.579106 
time: 1403637264.288319, t: -0.226280 -0.058708 0.006231 q: -0.164208 0.782039 0.161823 0.579020 
time: 1403637264.388319, t: -0.226282 -0.058745 0.006224 q: -0.164185 0.782082 0.161874 0.578954 
time: 1403637264.488319, t: -0.226162 -0.058713 0.006187 q: -0.164079 0.782047 0.161852 0.579038 
time: 1403637264.588319, t: -0.226169 -0.058681 0.006188 q: -0.164130 0.782077 0.161801 0.578997 
time: 1403637264.688319, t: -0.226211 -0.058742 0.006212 q: -0.164165 0.782092 0.161755 0.578980 
time: 1403637264.888319, t: -0.226131 -0.058758 0.006238 q: -0.164204 0.782128 0.161709 0.578933 
time: 1403637264.988319, t: -0.226106 -0.058775 0.006233 q: -0.164050 0.782147 0.161779 0.578931 
time: 1403637265.088319, t: -0.226101 -0.058755 0.006255 q: -0.164067 0.782195 0.161807 0.578853 
time: 1403637265.188319, t: -0.226117 -0.058775 0.006269 q: -0.164017 0.782172 0.161771 0.578909 
time: 1403637265.288319, t: -0.226127 -0.058794 0.006260 q: -0.164036 0.782206 0.161790 0.578853 
time: 1403637265.388319, t: -0.226052 -0.058774 0.006280 q: -0.164018 0.782218 0.161804 0.578837 
time: 1403637265.488319, t: -0.225946 -0.058801 0.006275 q: -0.164043 0.782217 0.161792 0.578834 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731028535.422303855]: Shutdown request received.[0m
[33m[ WARN] [1731028535.422346719]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731028535.428033453]: Shutdown request received.[0m
[33m[ WARN] [1731028535.428073467]: Reason given for shutdown: [user request][0m
killed
