/SLAM-Hive/slam_hive_results/mapping_results/3388/287_VINS-Fusion-stereo+MH_01_easy.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1731029338.427615405]: init begins[0m
[31m[ERROR] [1731029338.433257487]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731029338.433295287]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/d39eb83a-9d70-11ef-94dd-0242ac110002/roslaunch-a7f002d8902c-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://a7f002d8902c:41781/[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] [1731029339.641455640]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731029339.641691166]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://a7f002d8902c:11311/[0m
]2;roscore http://a7f002d8902c:11311/
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
[1msetting /run_id to d39eb83a-9d70-11ef-94dd-0242ac110002[0m
result path /home/output/vio.csv
[33m[ WARN] [1731029339.650562835]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731029339.652275667]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731029339.652315521]: ROW: 480 COL: 752 [0m
no imu, fix extrinsic param; no time offset calibration
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1731029339.652565776]: reading paramerter of camera /slamhive/cam0_mei.yaml[0m
[0m[ INFO] [1731029339.654354166]: reading paramerter of camera /slamhive/cam1_mei.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731029339.654557955]: 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
loop start load vocabulary
[1mprocess[rosout-1]: started with pid [235][0m
started core service [/rosout]
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_mei.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1731029348.290151549]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 327392769.58 
[0m[ INFO] [1731029350.672193668]: Initialization finish![0m
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time: 1403636580.913555, t: -0.082491 -0.013814 0.024303 q: 0.998835 -0.014722 -0.044032 -0.013190 
time: 1403636581.013556, t: 0.092014 -0.020493 -0.027037 q: 0.999412 -0.022140 -0.014025 -0.022110 
time: 1403636581.113555, t: 0.051143 -0.029056 0.010597 q: 0.999607 -0.017227 -0.016215 -0.015040 
time: 1403636581.213556, t: 0.104035 -0.022727 -0.021249 q: 0.999786 -0.017597 -0.000153 -0.010901 
time: 1403636581.313555, t: 0.143781 -0.022835 -0.033841 q: 0.999675 -0.017092 0.016408 -0.009417 
time: 1403636581.413555, t: 0.151352 -0.021693 -0.039696 q: 0.999470 -0.019725 0.022957 -0.012020 
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time: 1403636581.813555, t: -0.045404 -0.003665 0.010567 q: 0.999734 -0.016958 -0.008715 -0.012961 
time: 1403636581.913555, t: -0.111110 -0.000949 0.030165 q: 0.999729 -0.014243 -0.015388 -0.010076 
time: 1403636582.013556, t: -0.172548 0.001736 0.044407 q: 0.999366 -0.018392 -0.029626 -0.007209 
time: 1403636582.113555, t: -0.219873 0.003068 0.055086 q: 0.998675 -0.019895 -0.046766 -0.008092 
time: 1403636582.213556, t: -0.243454 0.001693 0.058724 q: 0.998045 -0.016573 -0.059760 -0.007825 
time: 1403636582.313555, t: -0.233733 -0.001883 0.057439 q: 0.997809 -0.014219 -0.064130 -0.007874 
time: 1403636582.413555, t: -0.192212 -0.007541 0.046951 q: 0.998375 -0.012849 -0.055051 -0.007251 
time: 1403636582.513556, t: -0.134621 -0.011774 0.032068 q: 0.999019 -0.014107 -0.041011 -0.008998 
time: 1403636582.613555, t: -0.070509 -0.014877 0.014532 q: 0.999209 -0.018736 -0.033022 -0.011817 
time: 1403636582.713556, t: -0.005792 -0.016151 -0.004068 q: 0.999277 -0.022577 -0.028347 -0.011509 
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time: 1403636583.413555, t: 0.073547 -0.000910 -0.021803 q: 0.999200 -0.037243 0.010862 -0.009736 
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time: 1403636589.413555, t: -0.077697 0.017979 -0.043479 q: 0.981952 -0.026321 -0.186041 0.021583 
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time: 1403636589.613555, t: -0.085664 -0.078401 -0.046850 q: 0.982753 -0.021406 -0.182901 0.016908 
time: 1403636589.713556, t: -0.090626 -0.125364 -0.048848 q: 0.983218 -0.018818 -0.180860 0.014765 
time: 1403636589.813555, t: -0.097127 -0.169647 -0.049624 q: 0.982931 -0.011836 -0.183089 0.013573 
time: 1403636589.913555, t: -0.105096 -0.207278 -0.049259 q: 0.981811 -0.003800 -0.189435 0.012117 
time: 1403636590.013556, t: -0.111626 -0.238370 -0.049565 q: 0.981542 0.005391 -0.190744 0.012785 
time: 1403636590.113555, t: -0.113861 -0.260731 -0.050487 q: 0.982691 0.011521 -0.184525 0.011651 
time: 1403636590.213556, t: -0.113414 -0.271760 -0.052354 q: 0.983684 0.015623 -0.178888 0.010994 
time: 1403636590.313555, t: -0.112007 -0.269782 -0.055335 q: 0.983711 0.014846 -0.178932 0.008747 
time: 1403636590.413555, t: -0.109926 -0.255338 -0.059340 q: 0.983512 0.010043 -0.180402 0.007698 
time: 1403636590.513556, t: -0.106292 -0.229594 -0.063751 q: 0.983822 0.002983 -0.179008 0.006455 
optimize pose graph 
time: 1403636590.613555, t: -0.101808 -0.195554 -0.068547 q: 0.984444 -0.003387 -0.175589 0.005229 
time: 1403636590.713556, t: -0.098223 -0.155785 -0.071393 q: 0.984575 -0.009567 -0.174605 0.005838 
time: 1403636590.813555, t: -0.096315 -0.112425 -0.071732 q: 0.983815 -0.013330 -0.178454 0.009230 
time: 1403636590.913555, t: -0.095567 -0.065993 -0.069650 q: 0.982744 -0.016078 -0.183830 0.012758 
time: 1403636591.013556, t: -0.095111 -0.018377 -0.066987 q: 0.982546 -0.017921 -0.184639 0.013817 
time: 1403636591.113555, t: -0.093455 0.026832 -0.063410 q: 0.982863 -0.016171 -0.182969 0.015534 
time: 1403636591.213556, t: -0.091943 0.069021 -0.059493 q: 0.982746 -0.016883 -0.183256 0.018509 
time: 1403636591.313555, t: -0.092899 0.105957 -0.054898 q: 0.982242 -0.019919 -0.185450 0.020281 
time: 1403636591.413555, t: -0.095721 0.134736 -0.050239 q: 0.981807 -0.024609 -0.186957 0.022302 
time: 1403636591.513556, t: -0.100380 0.156122 -0.043673 q: 0.981884 -0.028691 -0.185801 0.023655 
time: 1403636591.613555, t: -0.104342 0.173666 -0.035799 q: 0.983253 -0.042608 -0.175442 0.024857 
time: 1403636591.713556, t: -0.106167 0.184607 -0.027998 q: 0.986039 -0.054840 -0.155418 0.023763 
time: 1403636591.813555, t: -0.104401 0.191597 -0.021853 q: 0.988546 -0.066256 -0.133908 0.021336 
time: 1403636591.913555, t: -0.100528 0.197877 -0.016818 q: 0.989688 -0.075743 -0.119459 0.022583 
time: 1403636592.013556, t: -0.097222 0.206415 -0.009301 q: 0.988563 -0.083679 -0.121904 0.029659 
time: 1403636592.113555, t: -0.093031 0.219677 0.004383 q: 0.986518 -0.094063 -0.128288 0.038438 
time: 1403636592.213556, t: -0.087796 0.234646 0.023109 q: 0.984310 -0.102133 -0.136613 0.045161 
time: 1403636592.313555, t: -0.080431 0.246852 0.045226 q: 0.982798 -0.103886 -0.145035 0.047759 
time: 1403636592.413555, t: -0.071099 0.251685 0.072051 q: 0.982362 -0.097903 -0.150928 0.050995 
time: 1403636592.513556, t: -0.059121 0.247263 0.102663 q: 0.983974 -0.085612 -0.148935 0.047789 
optimize pose graph 
time: 1403636592.613555, t: -0.047385 0.233229 0.134884 q: 0.986933 -0.069416 -0.140026 0.039217 
time: 1403636592.713556, t: -0.037982 0.210424 0.165635 q: 0.989121 -0.052088 -0.134558 0.028635 
time: 1403636592.813555, t: -0.031810 0.176141 0.192455 q: 0.990301 -0.027806 -0.134674 0.019837 
time: 1403636592.913555, t: -0.030950 0.129687 0.209178 q: 0.990085 0.001516 -0.139838 0.013193 
time: 1403636593.013556, t: -0.035393 0.073913 0.212222 q: 0.988753 0.030209 -0.146357 0.005879 
time: 1403636593.113555, t: -0.044210 0.012531 0.202211 q: 0.986877 0.056603 -0.151184 -0.003684 
time: 1403636593.213556, t: -0.055900 -0.049488 0.177778 q: 0.984844 0.081086 -0.153219 -0.005604 
time: 1403636593.313555, t: -0.070092 -0.105317 0.144045 q: 0.982677 0.100018 -0.155937 -0.005131 
time: 1403636593.413555, t: -0.087233 -0.144205 0.102868 q: 0.981209 0.107034 -0.160382 -0.007045 
time: 1403636593.513556, t: -0.107405 -0.163409 0.058355 q: 0.981076 0.103394 -0.163523 -0.007707 
time: 1403636593.613555, t: -0.129700 -0.165973 0.014394 q: 0.981231 0.093180 -0.168824 -0.001114 
time: 1403636593.713556, t: -0.151186 -0.151232 -0.026791 q: 0.981232 0.076049 -0.176905 0.010258 
time: 1403636593.813555, t: -0.169792 -0.121374 -0.064841 q: 0.982283 0.046742 -0.179870 0.024119 
time: 1403636593.913555, t: -0.182616 -0.079512 -0.096827 q: 0.984265 0.009822 -0.171749 0.040348 
time: 1403636594.013556, t: -0.188749 -0.030314 -0.124094 q: 0.985381 -0.030393 -0.158876 0.053478 
time: 1403636594.113555, t: -0.189596 0.023594 -0.138744 q: 0.984038 -0.068486 -0.150734 0.065251 
time: 1403636594.213556, t: -0.185537 0.080017 -0.140556 q: 0.980808 -0.099465 -0.149844 0.075298 
time: 1403636594.313555, t: -0.178507 0.137774 -0.123967 q: 0.978092 -0.121153 -0.150157 0.078169 
time: 1403636594.413555, t: -0.165520 0.193258 -0.095428 q: 0.976925 -0.135821 -0.146771 0.075026 
time: 1403636594.513556, t: -0.147982 0.243436 -0.055201 q: 0.977957 -0.141383 -0.137548 0.068493 
time: 1403636594.613555, t: -0.129055 0.278966 -0.009564 q: 0.979504 -0.140888 -0.127042 0.067694 
optimize pose graph 
time: 1403636594.713556, t: -0.111183 0.290431 0.034570 q: 0.980940 -0.136157 -0.121050 0.067564 
time: 1403636594.813555, t: -0.099553 0.274830 0.075611 q: 0.983851 -0.120244 -0.117500 0.061412 
time: 1403636594.913555, t: -0.091724 0.233349 0.113335 q: 0.987605 -0.095897 -0.114412 0.048486 
time: 1403636595.013556, t: -0.088830 0.168750 0.141359 q: 0.991259 -0.060463 -0.112617 0.032654 
time: 1403636595.113555, t: -0.092809 0.092507 0.156631 q: 0.992818 -0.020701 -0.116574 0.017165 
time: 1403636595.213556, t: -0.099331 0.015565 0.154896 q: 0.992175 0.016401 -0.123581 0.006967 
time: 1403636595.313555, t: -0.110521 -0.047738 0.145131 q: 0.990361 0.048482 -0.129748 -0.000878 
time: 1403636595.413555, t: -0.123473 -0.091014 0.123603 q: 0.988726 0.066999 -0.133702 -0.007514 
time: 1403636595.513556, t: -0.136524 -0.106997 0.096968 q: 0.987651 0.074801 -0.137330 -0.009527 
time: 1403636595.613555, t: -0.149339 -0.095910 0.066893 q: 0.986876 0.075798 -0.142159 -0.011033 
time: 1403636595.713556, t: -0.162063 -0.062021 0.036474 q: 0.987207 0.064827 -0.145297 -0.010472 
time: 1403636595.813555, t: -0.175164 -0.012339 0.007851 q: 0.988599 0.039915 -0.144853 -0.009806 
time: 1403636595.913555, t: -0.188540 0.043391 -0.019239 q: 0.989599 0.008520 -0.143561 -0.003403 
time: 1403636596.013556, t: -0.201860 0.093899 -0.050297 q: 0.989049 -0.022698 -0.145729 0.005557 
time: 1403636596.213556, t: -0.225182 0.134830 -0.116401 q: 0.986314 -0.065045 -0.149431 0.024975 
time: 1403636596.413555, t: -0.235832 0.079029 -0.187313 q: 0.987022 -0.070702 -0.140623 0.031847 
time: 1403636596.513556, t: -0.239786 0.039116 -0.224692 q: 0.988092 -0.068589 -0.135106 0.026751 
time: 1403636596.613555, t: -0.243456 0.003365 -0.253837 q: 0.988596 -0.066961 -0.133163 0.021494 
optimize pose graph 
time: 1403636596.713556, t: -0.246605 -0.022713 -0.270531 q: 0.988344 -0.065781 -0.135841 0.019923 
time: 1403636596.813555, t: -0.246878 -0.033556 -0.269064 q: 0.988857 -0.064209 -0.133393 0.015656 
time: 1403636596.913555, t: -0.240726 -0.029809 -0.247296 q: 0.989604 -0.065093 -0.127882 0.009625 
time: 1403636597.013556, t: -0.228184 -0.016086 -0.207325 q: 0.989166 -0.067435 -0.130263 0.005847 
time: 1403636597.113555, t: -0.211418 0.002459 -0.154654 q: 0.987757 -0.065241 -0.141607 0.005231 
time: 1403636597.213556, t: -0.188872 0.022016 -0.094586 q: 0.987181 -0.054404 -0.150039 0.001733 
time: 1403636597.313555, t: -0.160298 0.039215 -0.033443 q: 0.987881 -0.040739 -0.149662 -0.005643 
time: 1403636597.413555, t: -0.131093 0.049911 0.027788 q: 0.988903 -0.025500 -0.145687 -0.013986 
time: 1403636597.513556, t: -0.107761 0.052908 0.082962 q: 0.989527 -0.007519 -0.142124 -0.024110 
time: 1403636597.613555, t: -0.093605 0.045472 0.121986 q: 0.990271 0.015802 -0.135235 -0.028720 
time: 1403636597.713556, t: -0.089673 0.026841 0.140001 q: 0.990659 0.039564 -0.126554 -0.031838 
time: 1403636597.813555, t: -0.094399 0.002657 0.136198 q: 0.990710 0.056227 -0.118491 -0.035944 
time: 1403636597.913555, t: -0.106137 -0.018679 0.114777 q: 0.990348 0.065879 -0.113843 -0.043707 
time: 1403636598.013556, t: -0.122790 -0.033839 0.081406 q: 0.989377 0.070297 -0.116471 -0.051248 
time: 1403636598.113555, t: -0.143620 -0.041797 0.042223 q: 0.988095 0.071199 -0.126142 -0.051843 
time: 1403636598.213556, t: -0.166930 -0.042109 0.005790 q: 0.986037 0.066762 -0.143328 -0.052262 
time: 1403636598.313555, t: -0.189947 -0.036167 -0.018499 q: 0.983743 0.060215 -0.160184 -0.054444 
time: 1403636598.413555, t: -0.207246 -0.025776 -0.026041 q: 0.982976 0.051081 -0.166801 -0.057673 
time: 1403636598.513556, t: -0.217632 -0.012988 -0.014305 q: 0.983510 0.047970 -0.163673 -0.060152 
time: 1403636598.613555, t: -0.220305 -0.000723 0.013348 q: 0.985231 0.054078 -0.150791 -0.060474 
optimize pose graph 
time: 1403636598.713556, t: -0.220247 0.010371 0.049021 q: 0.987095 0.065231 -0.133098 -0.060600 
time: 1403636598.813555, t: -0.224340 0.019786 0.087277 q: 0.988978 0.078272 -0.110499 -0.059886 
time: 1403636598.913555, t: -0.233453 0.029332 0.123763 q: 0.990950 0.084213 -0.087765 -0.056783 
time: 1403636599.013556, t: -0.245608 0.038211 0.155874 q: 0.992153 0.085657 -0.070563 -0.057593 
time: 1403636599.113555, t: -0.255419 0.043494 0.179755 q: 0.992916 0.092086 -0.051740 -0.054420 
time: 1403636599.213556, t: -0.260567 0.047269 0.197044 q: 0.993594 0.098062 -0.022807 -0.051337 
time: 1403636599.313555, t: -0.263711 0.049677 0.212015 q: 0.993941 0.099440 0.006994 -0.046306 
time: 1403636599.413555, t: -0.268526 0.051934 0.225140 q: 0.994076 0.095829 0.022966 -0.045856 
time: 1403636599.513556, t: -0.274498 0.053650 0.236286 q: 0.994784 0.087672 0.024511 -0.046020 
time: 1403636599.613555, t: -0.281125 0.055386 0.244061 q: 0.995583 0.081181 0.018950 -0.043196 
time: 1403636599.713556, t: -0.287640 0.057574 0.248521 q: 0.995814 0.078745 0.018316 -0.042633 
time: 1403636599.913555, t: -0.289072 0.061290 0.247326 q: 0.994843 0.082169 0.044495 -0.039455 
time: 1403636600.013556, t: -0.289890 0.062346 0.247732 q: 0.995135 0.080537 0.043311 -0.036660 
time: 1403636600.113555, t: -0.290937 0.064259 0.247793 q: 0.994984 0.082588 0.046610 -0.031844 
time: 1403636600.213556, t: -0.291069 0.064403 0.247681 q: 0.994950 0.082755 0.046944 -0.031962 
time: 1403636600.313555, t: -0.291208 0.064187 0.247654 q: 0.994920 0.083253 0.047112 -0.031354 
time: 1403636600.413555, t: -0.291271 0.064112 0.247520 q: 0.994907 0.083519 0.047280 -0.030798 
time: 1403636600.513556, t: -0.291290 0.064123 0.247457 q: 0.994907 0.083540 0.047521 -0.030370 
time: 1403636600.613555, t: -0.291267 0.064045 0.247492 q: 0.994906 0.083694 0.047391 -0.030179 
optimize pose graph 
time: 1403636600.713556, t: -0.291284 0.064099 0.247489 q: 0.994915 0.083577 0.047314 -0.030352 
time: 1403636600.813555, t: -0.291284 0.064133 0.247490 q: 0.994915 0.083506 0.047353 -0.030478 
time: 1403636600.913555, t: -0.291270 0.064117 0.247503 q: 0.994916 0.083489 0.047349 -0.030508 
time: 1403636601.013556, t: -0.291300 0.064144 0.247498 q: 0.994918 0.083479 0.047318 -0.030501 
time: 1403636601.113555, t: -0.291288 0.064132 0.247502 q: 0.994919 0.083501 0.047290 -0.030438 
time: 1403636601.213556, t: -0.291302 0.064131 0.247496 q: 0.994921 0.083488 0.047289 -0.030437 
time: 1403636601.313555, t: -0.291306 0.064127 0.247494 q: 0.994921 0.083489 0.047289 -0.030422 
time: 1403636601.413555, t: -0.291296 0.064106 0.247503 q: 0.994923 0.083496 0.047276 -0.030366 
time: 1403636601.513556, t: -0.291331 0.064119 0.247500 q: 0.994922 0.083514 0.047330 -0.030268 
time: 1403636601.613555, t: -0.291357 0.064095 0.247481 q: 0.994923 0.083550 0.047323 -0.030137 
time: 1403636601.713556, t: -0.291368 0.064089 0.247472 q: 0.994923 0.083539 0.047337 -0.030150 
time: 1403636601.813555, t: -0.291354 0.064087 0.247515 q: 0.994928 0.083531 0.047278 -0.030097 
time: 1403636601.913555, t: -0.291347 0.064083 0.247500 q: 0.994928 0.083524 0.047298 -0.030095 
time: 1403636602.013556, t: -0.291342 0.064076 0.247501 q: 0.994927 0.083527 0.047307 -0.030083 
time: 1403636602.113555, t: -0.291356 0.064064 0.247501 q: 0.994927 0.083535 0.047331 -0.030041 
time: 1403636602.213556, t: -0.291350 0.064053 0.247491 q: 0.994927 0.083549 0.047325 -0.029992 
time: 1403636602.313555, t: -0.291360 0.064064 0.247486 q: 0.994926 0.083533 0.047324 -0.030069 
time: 1403636602.413555, t: -0.291364 0.064077 0.247486 q: 0.994927 0.083514 0.047313 -0.030110 
time: 1403636602.513556, t: -0.291366 0.064083 0.247478 q: 0.994928 0.083495 0.047319 -0.030146 
time: 1403636602.613555, t: -0.291367 0.064091 0.247478 q: 0.994927 0.083498 0.047317 -0.030172 
time: 1403636602.713556, t: -0.291368 0.064089 0.247487 q: 0.994926 0.083510 0.047318 -0.030142 
time: 1403636602.813555, t: -0.291379 0.064101 0.247472 q: 0.994927 0.083499 0.047319 -0.030143 
time: 1403636602.913555, t: -0.291371 0.064105 0.247471 q: 0.994927 0.083503 0.047317 -0.030154 
time: 1403636603.013556, t: -0.291378 0.064107 0.247483 q: 0.994926 0.083486 0.047343 -0.030184 
time: 1403636603.113555, t: -0.291382 0.064103 0.247465 q: 0.994927 0.083486 0.047352 -0.030146 
time: 1403636603.213556, t: -0.291386 0.064104 0.247472 q: 0.994927 0.083495 0.047348 -0.030121 
time: 1403636603.313555, t: -0.291384 0.064095 0.247476 q: 0.994927 0.083484 0.047357 -0.030142 
time: 1403636603.413555, t: -0.291384 0.064095 0.247469 q: 0.994926 0.083494 0.047368 -0.030109 
time: 1403636603.513556, t: -0.291385 0.064094 0.247481 q: 0.994927 0.083502 0.047348 -0.030098 
time: 1403636603.613555, t: -0.291386 0.064088 0.247468 q: 0.994927 0.083491 0.047348 -0.030125 
time: 1403636603.713556, t: -0.291391 0.064089 0.247465 q: 0.994926 0.083499 0.047374 -0.030109 
time: 1403636603.813555, t: -0.291403 0.064098 0.247459 q: 0.994927 0.083496 0.047348 -0.030122 
time: 1403636603.913555, t: -0.291427 0.064080 0.247451 q: 0.994927 0.083530 0.047333 -0.030041 
time: 1403636604.013556, t: -0.291407 0.064073 0.247460 q: 0.994927 0.083535 0.047363 -0.029993 
time: 1403636604.113555, t: -0.291394 0.064073 0.247463 q: 0.994928 0.083496 0.047371 -0.030039 
time: 1403636604.213556, t: -0.291403 0.064081 0.247465 q: 0.994928 0.083487 0.047373 -0.030065 
time: 1403636604.313555, t: -0.291401 0.064086 0.247466 q: 0.994927 0.083484 0.047398 -0.030073 
time: 1403636604.413555, t: -0.291403 0.064089 0.247468 q: 0.994928 0.083517 0.047355 -0.030021 
time: 1403636604.513556, t: -0.291391 0.064090 0.247473 q: 0.994927 0.083486 0.047377 -0.030097 
time: 1403636604.613555, t: -0.291399 0.064092 0.247465 q: 0.994928 0.083479 0.047365 -0.030099 
time: 1403636604.713556, t: -0.291392 0.064093 0.247465 q: 0.994928 0.083474 0.047364 -0.030117 
time: 1403636604.813555, t: -0.291398 0.064104 0.247468 q: 0.994928 0.083493 0.047351 -0.030088 
time: 1403636604.913555, t: -0.291397 0.064095 0.247463 q: 0.994928 0.083480 0.047361 -0.030104 
time: 1403636605.013556, t: -0.291400 0.064105 0.247463 q: 0.994928 0.083491 0.047359 -0.030087 
time: 1403636605.113555, t: -0.291391 0.064103 0.247465 q: 0.994928 0.083467 0.047351 -0.030146 
time: 1403636605.213556, t: -0.291394 0.064098 0.247461 q: 0.994929 0.083469 0.047342 -0.030132 
time: 1403636605.313555, t: -0.291395 0.064106 0.247461 q: 0.994928 0.083458 0.047355 -0.030160 
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time: 1403636605.513556, t: -0.291396 0.064106 0.247463 q: 0.994929 0.083485 0.047337 -0.030097 
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time: 1403636606.513556, t: -0.291375 0.064079 0.247452 q: 0.994930 0.083449 0.047314 -0.030182 
time: 1403636606.613555, t: -0.291378 0.064085 0.247461 q: 0.994930 0.083453 0.047318 -0.030180 
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time: 1403636606.813555, t: -0.291378 0.064080 0.247457 q: 0.994931 0.083449 0.047310 -0.030178 
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time: 1403636607.113555, t: -0.291377 0.064080 0.247461 q: 0.994930 0.083454 0.047312 -0.030176 
time: 1403636607.213556, t: -0.291379 0.064080 0.247462 q: 0.994930 0.083458 0.047304 -0.030176 
time: 1403636607.313555, t: -0.291381 0.064080 0.247463 q: 0.994930 0.083458 0.047314 -0.030168 
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time: 1403636607.513556, t: -0.291378 0.064080 0.247455 q: 0.994930 0.083458 0.047309 -0.030171 
time: 1403636607.613555, t: -0.291378 0.064080 0.247461 q: 0.994930 0.083461 0.047315 -0.030162 
time: 1403636607.713556, t: -0.291379 0.064083 0.247462 q: 0.994931 0.083452 0.047305 -0.030178 
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time: 1403636607.913555, t: -0.291381 0.064082 0.247456 q: 0.994931 0.083454 0.047307 -0.030176 
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time: 1403636608.613555, t: -0.291380 0.064085 0.247460 q: 0.994930 0.083454 0.047304 -0.030191 
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time: 1403636609.313555, t: -0.291382 0.064089 0.247464 q: 0.994931 0.083450 0.047305 -0.030191 
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time: 1403636609.513556, t: -0.291383 0.064082 0.247455 q: 0.994931 0.083453 0.047304 -0.030182 
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optimize pose graph 
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time: 1403636626.013556, t: -0.097603 0.111864 0.146871 q: 0.995427 0.069364 0.021976 -0.061886 
time: 1403636626.113555, t: -0.049854 0.099842 0.142655 q: 0.995622 0.073360 0.023320 -0.053021 
time: 1403636626.213556, t: -0.006842 0.091289 0.137909 q: 0.995772 0.077162 0.023918 -0.043729 
time: 1403636626.313555, t: 0.024728 0.086565 0.137135 q: 0.995774 0.078992 0.024306 -0.040043 
time: 1403636626.413555, t: 0.043054 0.086833 0.140182 q: 0.995707 0.078680 0.025229 -0.041724 
time: 1403636626.513556, t: 0.052253 0.090983 0.145764 q: 0.995398 0.077196 0.030294 -0.048009 
time: 1403636626.613555, t: 0.057259 0.098198 0.150355 q: 0.994839 0.076291 0.037681 -0.055266 
time: 1403636626.713556, t: 0.057747 0.107455 0.152201 q: 0.994453 0.076511 0.040285 -0.059890 
optimize pose graph 
time: 1403636626.813555, t: 0.052013 0.117617 0.152115 q: 0.994431 0.077989 0.035311 -0.061464 
time: 1403636626.913555, t: 0.041421 0.128745 0.150123 q: 0.994548 0.078576 0.027252 -0.062908 
time: 1403636627.013556, t: 0.027528 0.140219 0.147607 q: 0.994683 0.078045 0.018182 -0.064684 
time: 1403636627.113555, t: 0.016001 0.151263 0.143537 q: 0.994779 0.077547 0.009471 -0.065666 
time: 1403636627.213556, t: 0.015632 0.160909 0.136853 q: 0.994673 0.078164 0.013385 -0.065857 
time: 1403636627.313555, t: 0.025142 0.168967 0.126981 q: 0.994508 0.079482 0.020898 -0.064809 
time: 1403636627.413555, t: 0.042366 0.175967 0.113925 q: 0.994514 0.080552 0.022363 -0.062870 
time: 1403636627.613555, t: 0.076974 0.193920 0.084549 q: 0.995656 0.071890 0.020363 -0.055559 
time: 1403636627.713556, t: 0.073763 0.206145 0.077199 q: 0.996468 0.063259 0.013165 -0.053636 
time: 1403636627.813555, t: 0.061326 0.220601 0.074732 q: 0.997387 0.050928 0.002623 -0.051169 
time: 1403636627.913555, t: 0.049225 0.235608 0.075459 q: 0.998063 0.038023 -0.006789 -0.048768 
time: 1403636628.013556, t: 0.047296 0.248683 0.078274 q: 0.998403 0.028565 -0.009710 -0.047763 
time: 1403636628.113555, t: 0.058182 0.259230 0.082829 q: 0.998699 0.023179 -0.000305 -0.045424 
time: 1403636628.213556, t: 0.079740 0.268252 0.088089 q: 0.998798 0.021366 0.017644 -0.040421 
time: 1403636628.313555, t: 0.106868 0.276428 0.091870 q: 0.998849 0.022508 0.028011 -0.031783 
time: 1403636628.413555, t: 0.134446 0.286169 0.094051 q: 0.998902 0.023696 0.030188 -0.026871 
time: 1403636628.513556, t: 0.157188 0.298496 0.096724 q: 0.998932 0.025165 0.030050 -0.024472 
time: 1403636628.613555, t: 0.173102 0.315062 0.099730 q: 0.998959 0.027487 0.028597 -0.022534 
time: 1403636628.713556, t: 0.182951 0.334621 0.104882 q: 0.998931 0.026918 0.028635 -0.024351 
time: 1403636628.813555, t: 0.186687 0.359463 0.111956 q: 0.999138 0.018920 0.022904 -0.028989 
optimize pose graph 
time: 1403636628.913555, t: 0.190954 0.386835 0.113492 q: 0.999363 0.009640 0.014332 -0.031230 
time: 1403636629.013556, t: 0.200697 0.414722 0.119174 q: 0.999475 0.003083 0.008254 -0.031179 
time: 1403636629.113555, t: 0.217785 0.440589 0.125672 q: 0.999509 -0.002815 0.006748 -0.030484 
time: 1403636629.213556, t: 0.237337 0.467448 0.133349 q: 0.999532 -0.012104 0.007929 -0.026946 
time: 1403636629.313555, t: 0.251594 0.494698 0.146763 q: 0.999473 -0.020756 0.012831 -0.021385 
time: 1403636629.413555, t: 0.262024 0.522959 0.161966 q: 0.999395 -0.025889 0.019014 -0.013298 
time: 1403636629.513556, t: 0.267546 0.552687 0.181254 q: 0.999087 -0.034044 0.025699 -0.002433 
time: 1403636629.613555, t: 0.266463 0.587498 0.201269 q: 0.998548 -0.048406 0.023154 0.004705 
time: 1403636629.713556, t: 0.259338 0.625951 0.223581 q: 0.997571 -0.067578 0.014093 0.009322 
time: 1403636629.813555, t: 0.250264 0.667761 0.248754 q: 0.995844 -0.089595 0.007439 0.014542 
time: 1403636629.913555, t: 0.239366 0.711873 0.277341 q: 0.993594 -0.110784 0.004409 0.021871 
time: 1403636630.013556, t: 0.235906 0.754794 0.309814 q: 0.991493 -0.127280 0.004813 0.026815 
time: 1403636630.113555, t: 0.243997 0.797851 0.342910 q: 0.989827 -0.138676 0.011881 0.029492 
time: 1403636630.213556, t: 0.263581 0.841495 0.372045 q: 0.988372 -0.146773 0.025897 0.030118 
time: 1403636630.313555, t: 0.287695 0.884973 0.403046 q: 0.987316 -0.151694 0.035792 0.030264 
time: 1403636630.413555, t: 0.313600 0.926811 0.431166 q: 0.987036 -0.153946 0.033986 0.030104 
time: 1403636630.513556, t: 0.343830 0.968874 0.456615 q: 0.987167 -0.154450 0.029502 0.027848 
time: 1403636630.613555, t: 0.376953 1.006635 0.482028 q: 0.987384 -0.154491 0.026693 0.022179 
time: 1403636630.713556, t: 0.410341 1.042950 0.510134 q: 0.987765 -0.152964 0.024107 0.018467 
time: 1403636630.813555, t: 0.433111 1.081697 0.539818 q: 0.988305 -0.149262 0.023865 0.020110 
optimize pose graph 
time: 1403636630.913555, t: 0.451068 1.124439 0.565999 q: 0.988842 -0.145148 0.024482 0.022908 
time: 1403636631.013556, t: 0.470063 1.159384 0.601033 q: 0.989088 -0.143051 0.025163 0.024672 
time: 1403636631.113555, t: 0.482480 1.197410 0.636477 q: 0.989228 -0.141510 0.028211 0.024653 
time: 1403636631.213556, t: 0.494861 1.235643 0.673700 q: 0.989291 -0.140408 0.031764 0.024067 
time: 1403636631.313555, t: 0.510391 1.271333 0.713387 q: 0.989349 -0.139766 0.033209 0.023489 
time: 1403636631.413555, t: 0.517344 1.307468 0.752416 q: 0.989455 -0.139109 0.033235 0.022867 
time: 1403636631.513556, t: 0.520312 1.344887 0.790823 q: 0.989576 -0.138739 0.032625 0.020667 
time: 1403636631.613555, t: 0.521443 1.379532 0.832736 q: 0.989659 -0.138583 0.032498 0.017739 
time: 1403636631.713556, t: 0.527532 1.412966 0.871298 q: 0.989849 -0.137731 0.031192 0.016004 
time: 1403636631.813555, t: 0.537671 1.446627 0.907279 q: 0.990012 -0.136781 0.030796 0.014770 
time: 1403636631.913555, t: 0.552469 1.476804 0.942794 q: 0.990057 -0.137057 0.029000 0.012694 
time: 1403636632.013556, t: 0.568577 1.504369 0.976764 q: 0.990021 -0.137302 0.029193 0.012434 
time: 1403636632.113555, t: 0.587393 1.529631 1.010629 q: 0.989825 -0.138228 0.032100 0.010466 
time: 1403636632.313555, t: 0.619576 1.573714 1.076090 q: 0.989360 -0.141146 0.034193 0.008628 
time: 1403636632.413555, t: 0.627139 1.591590 1.114288 q: 0.989266 -0.141803 0.033794 0.010162 
time: 1403636632.513556, t: 0.629470 1.608852 1.153648 q: 0.989842 -0.138296 0.028026 0.017351 
time: 1403636632.613555, t: 0.628758 1.620224 1.196901 q: 0.991177 -0.128651 0.018470 0.025994 
time: 1403636632.713556, t: 0.626483 1.636207 1.239799 q: 0.993050 -0.113574 0.012567 0.028202 
time: 1403636632.813555, t: 0.630945 1.653393 1.281837 q: 0.995253 -0.094389 0.011609 0.020698 
optimize pose graph 
time: 1403636632.913555, t: 0.643586 1.671258 1.324163 q: 0.997016 -0.075039 0.017994 0.002288 
time: 1403636633.013556, t: 0.662201 1.690649 1.367050 q: 0.997888 -0.059312 0.022499 -0.013944 
time: 1403636633.113555, t: 0.683962 1.710645 1.409539 q: 0.998364 -0.046284 0.023719 -0.023741 
time: 1403636633.213556, t: 0.704692 1.728086 1.454491 q: 0.998606 -0.037104 0.023577 -0.029224 
time: 1403636633.313555, t: 0.719090 1.745804 1.501805 q: 0.998896 -0.030437 0.020926 -0.029041 
time: 1403636633.413555, t: 0.728854 1.764693 1.550956 q: 0.999211 -0.025882 0.017040 -0.024833 
time: 1403636633.513556, t: 0.736588 1.782333 1.604878 q: 0.999370 -0.024581 0.013820 -0.021529 
time: 1403636633.613555, t: 0.742173 1.801475 1.660750 q: 0.999437 -0.025689 0.009998 -0.019102 
time: 1403636633.713556, t: 0.754715 1.818723 1.720806 q: 0.999374 -0.028949 0.009104 -0.018206 
time: 1403636633.813555, t: 0.774452 1.838885 1.776969 q: 0.999332 -0.031328 0.009953 -0.015980 
time: 1403636633.913555, t: 0.802928 1.855649 1.837172 q: 0.999341 -0.032571 0.012419 -0.010170 
time: 1403636634.013556, t: 0.830075 1.877878 1.895486 q: 0.999334 -0.032487 0.016484 -0.001873 
time: 1403636634.113555, t: 0.857087 1.901304 1.957828 q: 0.999310 -0.033252 0.016534 0.000663 
time: 1403636634.213556, t: 0.886237 1.929795 2.017314 q: 0.999324 -0.033900 0.013828 -0.003465 
time: 1403636634.313555, t: 0.925651 1.960237 2.076817 q: 0.999164 -0.035336 0.016995 -0.011603 
time: 1403636634.413555, t: 0.965516 1.991599 2.136931 q: 0.998865 -0.035563 0.025893 -0.018279 
time: 1403636634.513556, t: 0.999024 2.023359 2.199680 q: 0.998610 -0.034958 0.032467 -0.022416 
time: 1403636634.613555, t: 1.028782 2.054367 2.264133 q: 0.998469 -0.033028 0.035887 -0.026111 
time: 1403636634.713556, t: 1.051586 2.084681 2.328501 q: 0.998458 -0.026703 0.036927 -0.031688 
time: 1403636634.813555, t: 1.075580 2.112227 2.390629 q: 0.998661 -0.019875 0.032765 -0.034744 
time: 1403636634.913555, t: 1.103340 2.138872 2.447936 q: 0.998818 -0.013226 0.029203 -0.036523 
time: 1403636635.013556, t: 1.136741 2.163389 2.502688 q: 0.998828 -0.008023 0.025865 -0.040127 
time: 1403636635.113555, t: 1.170580 2.186103 2.557441 q: 0.998801 -0.004296 0.022903 -0.043054 
time: 1403636635.213556, t: 1.198665 2.206165 2.615839 q: 0.998841 -0.001310 0.020131 -0.043706 
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time: 1403636635.613555, t: 1.309007 2.285465 2.861568 q: 0.999426 0.007723 0.015543 -0.029078 
time: 1403636635.713556, t: 1.351261 2.306366 2.921394 q: 0.999426 0.007147 0.018216 -0.027642 
time: 1403636635.813555, t: 1.401318 2.329714 2.979856 q: 0.999401 0.008759 0.025753 -0.021396 
time: 1403636635.913555, t: 1.459480 2.355147 3.034523 q: 0.999481 0.010258 0.027003 -0.014225 
time: 1403636636.013556, t: 1.519196 2.384980 3.089086 q: 0.999686 0.008396 0.018159 -0.015102 
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time: 1403636636.713556, t: 1.917614 2.600966 3.475240 q: 0.996511 -0.009513 0.056588 -0.060610 
time: 1403636636.813555, t: 1.947005 2.623904 3.527860 q: 0.995925 -0.013145 0.055721 -0.069689 
time: 1403636636.913555, t: 1.965952 2.643488 3.576834 q: 0.996037 -0.013270 0.051300 -0.071435 
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optimize pose graph 
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optimize pose graph 
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time: 1403636709.113555, t: 2.126351 7.907905 6.981904 q: 0.890029 -0.431697 0.122166 0.081006 
time: 1403636709.213556, t: 2.159003 7.951668 7.023184 q: 0.889011 -0.434288 0.118519 0.083706 
optimize pose graph 
time: 1403636709.313555, t: 2.190095 7.989622 7.062180 q: 0.889101 -0.435280 0.111706 0.086900 
time: 1403636709.413555, t: 2.223729 8.021942 7.107625 q: 0.889056 -0.436441 0.106652 0.087885 
time: 1403636709.513556, t: 2.252397 8.050372 7.153713 q: 0.889199 -0.436585 0.104550 0.088248 
time: 1403636709.613555, t: 2.278061 8.076723 7.204648 q: 0.889586 -0.436124 0.102045 0.089553 
time: 1403636709.713556, t: 2.299013 8.101612 7.257432 q: 0.890239 -0.435292 0.100264 0.089124 
time: 1403636709.813555, t: 2.320861 8.122281 7.314360 q: 0.891067 -0.433745 0.100120 0.088552 
time: 1403636710.013556, t: 2.381574 8.150889 7.432352 q: 0.892306 -0.430990 0.102154 0.087193 
time: 1403636710.113555, t: 2.418724 8.158225 7.491578 q: 0.892955 -0.429660 0.103408 0.085622 
time: 1403636710.213556, t: 2.451449 8.163677 7.555502 q: 0.893827 -0.428107 0.103885 0.083699 
time: 1403636710.313555, t: 2.474864 8.168371 7.626545 q: 0.895447 -0.422375 0.109358 0.088399 
time: 1403636710.413555, t: 2.493488 8.172371 7.701688 q: 0.898802 -0.411047 0.116326 0.098307 
time: 1403636710.513556, t: 2.510253 8.174991 7.776923 q: 0.903971 -0.396992 0.120195 0.103861 
time: 1403636710.613555, t: 2.523120 8.175857 7.851989 q: 0.909187 -0.384434 0.122249 0.103171 
time: 1403636710.713556, t: 2.530565 8.181114 7.923897 q: 0.915128 -0.371892 0.122281 0.096353 
time: 1403636710.813555, t: 2.536935 8.186077 7.992591 q: 0.921550 -0.359893 0.120333 0.082114 
time: 1403636710.913555, t: 2.545505 8.189871 8.055429 q: 0.928370 -0.347720 0.114376 0.064331 
time: 1403636711.013556, t: 2.558885 8.191291 8.113622 q: 0.933665 -0.338291 0.107941 0.046667 
time: 1403636711.113555, t: 2.575320 8.193342 8.166228 q: 0.937243 -0.330403 0.105560 0.035593 
time: 1403636711.213556, t: 2.594079 8.190449 8.216820 q: 0.939178 -0.325505 0.105763 0.028365 
time: 1403636711.313555, t: 2.615412 8.182478 8.267261 q: 0.940441 -0.321178 0.108022 0.027335 
time: 1403636711.413555, t: 2.637850 8.169527 8.315186 q: 0.940543 -0.317852 0.116178 0.029179 
optimize pose graph 
time: 1403636711.513556, t: 2.664662 8.151598 8.359930 q: 0.938913 -0.317143 0.130672 0.028075 
time: 1403636711.613555, t: 2.689036 8.128258 8.400527 q: 0.936812 -0.320786 0.137705 0.022732 
time: 1403636711.713556, t: 2.712743 8.098350 8.434400 q: 0.935588 -0.324913 0.136794 0.019828 
time: 1403636711.813555, t: 2.730226 8.061126 8.464751 q: 0.935447 -0.326060 0.134379 0.023797 
time: 1403636711.913555, t: 2.747854 8.017946 8.491082 q: 0.936703 -0.323212 0.129734 0.035924 
time: 1403636712.013556, t: 2.765221 7.970259 8.512332 q: 0.937879 -0.319032 0.126959 0.049822 
time: 1403636712.113555, t: 2.784087 7.923181 8.526632 q: 0.938436 -0.315381 0.127844 0.059400 
time: 1403636712.213556, t: 2.802524 7.875303 8.537518 q: 0.939052 -0.314229 0.128054 0.055173 
time: 1403636712.313555, t: 2.827910 7.824772 8.540879 q: 0.941622 -0.310126 0.124937 0.039495 
time: 1403636712.413555, t: 2.852337 7.771736 8.540839 q: 0.944888 -0.302469 0.122870 0.024548 
time: 1403636712.513556, t: 2.876174 7.713948 8.537039 q: 0.947835 -0.293580 0.123425 0.013628 
time: 1403636712.613555, t: 2.903626 7.653005 8.529490 q: 0.950488 -0.283693 0.126559 0.008582 
time: 1403636712.713556, t: 2.922738 7.589930 8.520811 q: 0.952441 -0.273811 0.133540 0.007140 
time: 1403636712.813555, t: 2.933052 7.525554 8.510878 q: 0.954299 -0.266751 0.134581 0.006794 
time: 1403636712.913555, t: 2.937373 7.458941 8.500769 q: 0.955855 -0.263369 0.130084 0.007512 
time: 1403636713.013556, t: 2.933624 7.389670 8.489578 q: 0.956505 -0.263692 0.124611 0.006030 
time: 1403636713.113555, t: 2.929179 7.318898 8.472449 q: 0.957046 -0.261073 0.125854 0.008087 
time: 1403636713.213556, t: 2.927678 7.246838 8.449622 q: 0.957891 -0.258980 0.123529 0.010712 
time: 1403636713.313555, t: 2.928903 7.171470 8.419738 q: 0.958377 -0.258718 0.120156 0.011888 
time: 1403636713.413555, t: 2.935279 7.094992 8.383319 q: 0.958792 -0.257895 0.118282 0.014758 
time: 1403636713.513556, t: 2.945683 7.018140 8.342327 q: 0.959083 -0.256877 0.117537 0.018954 
time: 1403636713.613555, t: 2.956089 6.940988 8.300296 q: 0.959365 -0.255491 0.116964 0.025743 
optimize pose graph 
time: 1403636713.713556, t: 2.957974 6.868012 8.257754 q: 0.959664 -0.254190 0.115609 0.032655 
time: 1403636713.813555, t: 2.954220 6.797445 8.216900 q: 0.959646 -0.253783 0.114947 0.038223 
time: 1403636713.913555, t: 2.945428 6.733242 8.174261 q: 0.959130 -0.256307 0.113837 0.037652 
time: 1403636714.113555, t: 2.916787 6.616311 8.089611 q: 0.957500 -0.264819 0.110147 0.030544 
time: 1403636714.213556, t: 2.894800 6.561482 8.050214 q: 0.956544 -0.267657 0.111808 0.029698 
time: 1403636714.313555, t: 2.868942 6.510167 8.010882 q: 0.956169 -0.267306 0.114450 0.034476 
time: 1403636714.413555, t: 2.843841 6.459391 7.969947 q: 0.956234 -0.268621 0.109999 0.036876 
time: 1403636714.513556, t: 2.807241 6.414507 7.934941 q: 0.957952 -0.265836 0.101140 0.037814 
time: 1403636714.613555, t: 2.771120 6.371703 7.897969 q: 0.961345 -0.256444 0.093330 0.036620 
time: 1403636714.713556, t: 2.737568 6.329560 7.864847 q: 0.965556 -0.243204 0.087808 0.029025 
time: 1403636714.813555, t: 2.712100 6.288535 7.831886 q: 0.970376 -0.226122 0.083708 0.015246 
time: 1403636714.913555, t: 2.697415 6.249849 7.793473 q: 0.975174 -0.206246 0.080597 -0.001657 
time: 1403636715.013556, t: 2.692467 6.211678 7.754940 q: 0.979520 -0.185637 0.076546 -0.014828 
time: 1403636715.113555, t: 2.692819 6.177014 7.719702 q: 0.982439 -0.169793 0.072749 -0.026290 
time: 1403636715.213556, t: 2.699651 6.141021 7.685548 q: 0.984295 -0.158330 0.070798 -0.032896 
time: 1403636715.313555, t: 2.703756 6.109080 7.658013 q: 0.985380 -0.149581 0.073704 -0.034924 
time: 1403636715.413555, t: 2.703512 6.079923 7.636176 q: 0.985898 -0.143265 0.079656 -0.033677 
time: 1403636715.513556, t: 2.700791 6.052745 7.619693 q: 0.986309 -0.137165 0.087680 -0.026334 
time: 1403636715.613555, t: 2.690866 6.032400 7.607249 q: 0.986817 -0.131882 0.092343 -0.016505 
time: 1403636715.713556, t: 2.678441 6.017295 7.594907 q: 0.985298 -0.134847 0.102452 -0.022516 
time: 1403636715.813555, t: 2.665215 6.005529 7.581395 q: 0.983237 -0.140570 0.111653 -0.031911 
optimize pose graph 
time: 1403636715.913555, t: 2.655273 5.993228 7.561895 q: 0.981444 -0.144892 0.119540 -0.038524 
time: 1403636716.013556, t: 2.645950 5.980493 7.536472 q: 0.980502 -0.147496 0.123654 -0.039639 
time: 1403636716.113555, t: 2.636920 5.966012 7.503905 q: 0.980526 -0.149108 0.122464 -0.036583 
time: 1403636716.213556, t: 2.628957 5.949489 7.465334 q: 0.981743 -0.150805 0.111896 -0.030282 
time: 1403636716.313555, t: 2.616846 5.933891 7.426055 q: 0.982141 -0.154015 0.104701 -0.026767 
time: 1403636716.413555, t: 2.601634 5.920591 7.385719 q: 0.982060 -0.156733 0.101960 -0.024431 
time: 1403636716.513556, t: 2.580097 5.909036 7.348937 q: 0.981702 -0.159386 0.101440 -0.023810 
time: 1403636716.613555, t: 2.554035 5.896331 7.316439 q: 0.981559 -0.159466 0.101672 -0.027847 
time: 1403636716.713556, t: 2.523838 5.884764 7.284451 q: 0.982494 -0.152877 0.101425 -0.032373 
time: 1403636716.813555, t: 2.487298 5.875882 7.256674 q: 0.984114 -0.141098 0.101078 -0.037334 
time: 1403636716.913555, t: 2.453110 5.863368 7.222693 q: 0.986302 -0.124436 0.098994 -0.043865 
time: 1403636717.013556, t: 2.425499 5.844756 7.189679 q: 0.988413 -0.104529 0.095828 -0.054138 
time: 1403636717.113555, t: 2.401314 5.827236 7.151160 q: 0.990021 -0.084056 0.092577 -0.064981 
time: 1403636717.213556, t: 2.380551 5.810062 7.109891 q: 0.990669 -0.069212 0.090347 -0.074976 
time: 1403636717.413555, t: 2.342847 5.778063 7.025663 q: 0.989040 -0.059316 0.087864 -0.102769 
time: 1403636717.513556, t: 2.320736 5.758899 6.985267 q: 0.988600 -0.056989 0.087451 -0.108510 
time: 1403636717.613555, t: 2.293765 5.738142 6.946684 q: 0.989336 -0.052470 0.087542 -0.103907 
time: 1403636717.713556, t: 2.260497 5.713988 6.912903 q: 0.989563 -0.050914 0.089325 -0.100965 
time: 1403636717.813555, t: 2.223423 5.686666 6.879644 q: 0.989229 -0.050078 0.087604 -0.106034 
time: 1403636717.913555, t: 2.186721 5.652313 6.846805 q: 0.988903 -0.043528 0.085914 -0.113111 
time: 1403636718.013556, t: 2.154609 5.611614 6.811323 q: 0.988535 -0.031612 0.084813 -0.120857 
optimize pose graph 
time: 1403636718.113555, t: 2.126999 5.563269 6.775850 q: 0.988658 -0.013111 0.083218 -0.124331 
time: 1403636718.213556, t: 2.098157 5.511068 6.736092 q: 0.988847 0.007235 0.080666 -0.124987 
time: 1403636718.313555, t: 2.063555 5.460071 6.701457 q: 0.988792 0.023632 0.077879 -0.125165 
time: 1403636718.413555, t: 2.022782 5.409257 6.671639 q: 0.988236 0.039405 0.074947 -0.127356 
time: 1403636718.513556, t: 1.977331 5.357089 6.644213 q: 0.987326 0.056697 0.072957 -0.129037 
time: 1403636718.613555, t: 1.929210 5.307044 6.619163 q: 0.986618 0.072183 0.070402 -0.128135 
time: 1403636718.713556, t: 1.879885 5.259444 6.597767 q: 0.986345 0.086002 0.066640 -0.123640 
time: 1403636718.813555, t: 1.829783 5.217055 6.579209 q: 0.985179 0.092720 0.065793 -0.128442 
time: 1403636718.913555, t: 1.781185 5.177692 6.562848 q: 0.983383 0.093162 0.067144 -0.140609 
time: 1403636719.013556, t: 1.740275 5.138496 6.541161 q: 0.981940 0.092743 0.069459 -0.149557 
time: 1403636719.113555, t: 1.706595 5.098633 6.519901 q: 0.980972 0.093308 0.074435 -0.153125 
time: 1403636719.213556, t: 1.679327 5.059171 6.493018 q: 0.980423 0.094601 0.081079 -0.152468 
time: 1403636719.313555, t: 1.650411 5.020362 6.466955 q: 0.980384 0.095728 0.086811 -0.148821 
time: 1403636719.413555, t: 1.614080 4.985018 6.441176 q: 0.980378 0.095888 0.090939 -0.146268 
time: 1403636719.513556, t: 1.572699 4.951762 6.415693 q: 0.980800 0.095419 0.091965 -0.143070 
time: 1403636719.613555, t: 1.529297 4.921377 6.386972 q: 0.981864 0.093850 0.086426 -0.140236 
time: 1403636719.713556, t: 1.488780 4.890881 6.354168 q: 0.982865 0.090272 0.079840 -0.139476 
time: 1403636719.813555, t: 1.456016 4.861650 6.316604 q: 0.983760 0.086946 0.075641 -0.137606 
time: 1403636719.913555, t: 1.428195 4.831135 6.275762 q: 0.984314 0.084205 0.074943 -0.135716 
time: 1403636720.013556, t: 1.401774 4.804664 6.237470 q: 0.984764 0.081638 0.073123 -0.135012 
time: 1403636720.113555, t: 1.370425 4.777654 6.204742 q: 0.984957 0.080133 0.072669 -0.134753 
time: 1403636720.213556, t: 1.336910 4.755955 6.173927 q: 0.985190 0.079946 0.071340 -0.133866 
optimize pose graph 
time: 1403636720.313555, t: 1.302339 4.734411 6.144873 q: 0.985255 0.080320 0.071606 -0.133022 
time: 1403636720.413555, t: 1.264877 4.716231 6.118301 q: 0.985166 0.081218 0.071384 -0.133250 
time: 1403636720.513556, t: 1.227131 4.701447 6.091407 q: 0.985190 0.082807 0.070349 -0.132648 
time: 1403636720.613555, t: 1.196599 4.686259 6.064000 q: 0.985036 0.083829 0.069369 -0.133660 
time: 1403636720.713556, t: 1.174577 4.670315 6.034344 q: 0.984880 0.084824 0.070844 -0.133405 
time: 1403636720.813555, t: 1.158083 4.657582 6.004825 q: 0.985525 0.080640 0.070838 -0.131224 
time: 1403636720.913555, t: 1.144425 4.646370 5.975447 q: 0.986658 0.069834 0.071985 -0.128251 
time: 1403636721.013556, t: 1.125801 4.638964 5.951884 q: 0.987941 0.058828 0.075890 -0.121463 
time: 1403636721.113555, t: 1.102673 4.635182 5.929766 q: 0.989144 0.046509 0.080691 -0.113669 
time: 1403636721.313555, t: 1.059481 4.633527 5.886119 q: 0.990671 0.018123 0.090979 -0.099831 
time: 1403636721.413555, t: 1.044985 4.635167 5.860325 q: 0.990894 0.007123 0.093660 -0.096471 
time: 1403636721.513556, t: 1.033517 4.637494 5.831237 q: 0.991107 -0.002477 0.093974 -0.094174 
time: 1403636721.613555, t: 1.021983 4.640402 5.801884 q: 0.991285 -0.014152 0.093482 -0.091731 
time: 1403636721.713556, t: 1.005914 4.645077 5.774415 q: 0.991193 -0.022972 0.094016 -0.090389 
time: 1403636721.813555, t: 0.985678 4.648474 5.748615 q: 0.991003 -0.028764 0.094332 -0.090485 
time: 1403636721.913555, t: 0.960752 4.654370 5.725793 q: 0.990919 -0.030457 0.095634 -0.089474 
time: 1403636722.013556, t: 0.934735 4.660118 5.702982 q: 0.990266 -0.033086 0.095760 -0.095442 
time: 1403636722.113555, t: 0.913156 4.661483 5.675505 q: 0.989898 -0.033642 0.095376 -0.099361 
time: 1403636722.213556, t: 0.897306 4.660819 5.645430 q: 0.990252 -0.030990 0.094563 -0.097459 
time: 1403636722.313555, t: 0.884956 4.657553 5.612250 q: 0.990643 -0.027679 0.094068 -0.094930 
time: 1403636722.413555, t: 0.869329 4.653358 5.580985 q: 0.990756 -0.028684 0.093559 -0.093948 
optimize pose graph 
time: 1403636722.513556, t: 0.848861 4.651806 5.552243 q: 0.990713 -0.032906 0.094841 -0.091704 
time: 1403636722.613555, t: 0.824518 4.649990 5.525116 q: 0.990588 -0.037321 0.094860 -0.091347 
time: 1403636722.713556, t: 0.798288 4.648247 5.497956 q: 0.990416 -0.040711 0.095158 -0.091456 
time: 1403636722.813555, t: 0.772217 4.642368 5.471683 q: 0.990267 -0.043775 0.094231 -0.092603 
time: 1403636722.913555, t: 0.751646 4.636437 5.442643 q: 0.990257 -0.044763 0.094119 -0.092356 
time: 1403636723.013556, t: 0.739137 4.626017 5.411422 q: 0.990562 -0.043463 0.094402 -0.089367 
time: 1403636723.113555, t: 0.730377 4.614173 5.375678 q: 0.990813 -0.041810 0.095371 -0.086284 
time: 1403636723.213556, t: 0.719797 4.602580 5.341742 q: 0.990864 -0.041892 0.095495 -0.085526 
time: 1403636723.313555, t: 0.705056 4.591996 5.310892 q: 0.990558 -0.044092 0.094894 -0.088576 
time: 1403636723.413555, t: 0.687249 4.582152 5.282455 q: 0.990058 -0.050349 0.096089 -0.089538 
time: 1403636723.513556, t: 0.667728 4.572706 5.254375 q: 0.988890 -0.060677 0.103169 -0.088154 
time: 1403636723.613555, t: 0.651496 4.560606 5.222300 q: 0.987584 -0.067453 0.116973 -0.080286 
time: 1403636723.713556, t: 0.636353 4.544603 5.186422 q: 0.987599 -0.075055 0.115726 -0.074979 
time: 1403636723.813555, t: 0.620385 4.527256 5.147028 q: 0.988419 -0.081628 0.107584 -0.069212 
time: 1403636723.913555, t: 0.602282 4.511743 5.107357 q: 0.989058 -0.086029 0.101136 -0.064299 
time: 1403636724.013556, t: 0.579096 4.496752 5.071152 q: 0.989612 -0.091302 0.093368 -0.060116 
time: 1403636724.113555, t: 0.552426 4.484505 5.038186 q: 0.989498 -0.101361 0.087233 -0.054864 
time: 1403636724.213556, t: 0.522798 4.472770 5.011371 q: 0.988281 -0.115262 0.087518 -0.048547 
time: 1403636724.313555, t: 0.491394 4.464547 4.989499 q: 0.986105 -0.132472 0.090941 -0.042161 
time: 1403636724.413555, t: 0.463799 4.455695 4.967401 q: 0.983154 -0.150206 0.097922 -0.035477 
time: 1403636724.513556, t: 0.442909 4.444293 4.944381 q: 0.980387 -0.164352 0.104355 -0.030643 
time: 1403636724.613555, t: 0.430274 4.429966 4.919952 q: 0.978342 -0.174336 0.108217 -0.027266 
time: 1403636724.713556, t: 0.424085 4.411563 4.891317 q: 0.977158 -0.180389 0.109581 -0.024774 
time: 1403636724.813555, t: 0.424133 4.392039 4.859757 q: 0.976748 -0.183451 0.108607 -0.022652 
time: 1403636724.913555, t: 0.428833 4.371291 4.826951 q: 0.977108 -0.182670 0.107271 -0.019592 
time: 1403636725.013556, t: 0.439825 4.347038 4.791336 q: 0.977848 -0.179178 0.107160 -0.015008 
time: 1403636725.113555, t: 0.458082 4.323076 4.751405 q: 0.978462 -0.175735 0.107670 -0.011683 
time: 1403636725.213556, t: 0.478413 4.300702 4.711809 q: 0.978860 -0.174072 0.106811 -0.011103 
time: 1403636725.313555, t: 0.498030 4.278469 4.674056 q: 0.978932 -0.174298 0.105554 -0.013049 
time: 1403636725.413555, t: 0.512723 4.261007 4.639511 q: 0.978746 -0.175255 0.105292 -0.015971 
time: 1403636725.513556, t: 0.523011 4.246028 4.609537 q: 0.978560 -0.176258 0.104971 -0.018295 
time: 1403636725.613555, t: 0.528816 4.232842 4.582898 q: 0.978341 -0.177700 0.104222 -0.020212 
time: 1403636725.713556, t: 0.532010 4.220270 4.559352 q: 0.978075 -0.177877 0.106425 -0.020076 
time: 1403636725.813555, t: 0.529712 4.209451 4.541269 q: 0.978074 -0.177890 0.106347 -0.020406 
time: 1403636725.913555, t: 0.523566 4.200864 4.525221 q: 0.978563 -0.176119 0.105248 -0.017887 
time: 1403636726.013556, t: 0.514186 4.192517 4.513355 q: 0.978792 -0.174691 0.105637 -0.017055 
time: 1403636726.113555, t: 0.500765 4.185378 4.504888 q: 0.978693 -0.174752 0.106036 -0.019435 
time: 1403636726.213556, t: 0.485772 4.179946 4.498059 q: 0.978501 -0.174120 0.108428 -0.021468 
time: 1403636726.313555, t: 0.469532 4.175258 4.492133 q: 0.978571 -0.173230 0.108889 -0.023094 
time: 1403636726.413555, t: 0.458743 4.169072 4.483395 q: 0.978535 -0.172214 0.110422 -0.024876 
time: 1403636726.513556, t: 0.454270 4.159655 4.470570 q: 0.978872 -0.169466 0.112095 -0.022916 
time: 1403636726.613555, t: 0.455141 4.150892 4.455027 q: 0.980005 -0.161045 0.116458 -0.009584 
time: 1403636726.713556, t: 0.461251 4.143743 4.433665 q: 0.980396 -0.156328 0.119906 -0.002603 
time: 1403636726.813555, t: 0.470168 4.139350 4.408316 q: 0.979739 -0.159856 0.120082 -0.011753 
optimize pose graph 
time: 1403636726.913555, t: 0.486375 4.134925 4.376151 q: 0.979564 -0.160805 0.118601 -0.023018 
time: 1403636727.013556, t: 0.505871 4.130102 4.339231 q: 0.979723 -0.159495 0.117821 -0.028670 
time: 1403636727.113555, t: 0.526626 4.124397 4.302588 q: 0.979700 -0.159377 0.116825 -0.033746 
time: 1403636727.213556, t: 0.541107 4.119248 4.266501 q: 0.979566 -0.160559 0.114524 -0.039454 
time: 1403636727.313555, t: 0.551199 4.113830 4.231512 q: 0.979295 -0.162348 0.112403 -0.044611 
time: 1403636727.413555, t: 0.557262 4.106194 4.199030 q: 0.979370 -0.163000 0.110068 -0.046371 
time: 1403636727.513556, t: 0.561470 4.095449 4.168871 q: 0.979266 -0.162503 0.111918 -0.045888 
time: 1403636727.613555, t: 0.567221 4.081185 4.137036 q: 0.979427 -0.160207 0.115354 -0.041838 
time: 1403636727.713556, t: 0.576944 4.063864 4.101491 q: 0.979735 -0.159528 0.114358 -0.039911 
time: 1403636727.813555, t: 0.591075 4.043270 4.063611 q: 0.979651 -0.160607 0.112753 -0.042153 
time: 1403636727.913555, t: 0.608164 4.019056 4.022370 q: 0.978666 -0.165426 0.110787 -0.050721 
time: 1403636728.013556, t: 0.625374 3.991478 3.985455 q: 0.978696 -0.165736 0.110114 -0.050605 
time: 1403636728.113555, t: 0.634198 3.964292 3.949689 q: 0.979136 -0.163270 0.112071 -0.045554 
time: 1403636728.213556, t: 0.638157 3.932630 3.917693 q: 0.979209 -0.161946 0.114585 -0.042354 
time: 1403636728.313555, t: 0.636357 3.901180 3.888829 q: 0.979415 -0.160953 0.115173 -0.039705 
time: 1403636728.413555, t: 0.627241 3.868529 3.863812 q: 0.979840 -0.159508 0.114754 -0.036084 
time: 1403636728.513556, t: 0.610708 3.838122 3.839767 q: 0.980910 -0.153678 0.116852 -0.023327 
time: 1403636728.613555, t: 0.591742 3.809962 3.816530 q: 0.981692 -0.148873 0.117313 -0.018860 
time: 1403636728.713556, t: 0.572755 3.781530 3.795641 q: 0.982093 -0.145854 0.115291 -0.030475 
time: 1403636728.813555, t: 0.557277 3.753463 3.768245 q: 0.983133 -0.137168 0.112367 -0.044821 
time: 1403636728.913555, t: 0.547793 3.720158 3.736331 q: 0.983995 -0.126580 0.112040 -0.056381 
time: 1403636729.013556, t: 0.536015 3.685757 3.706167 q: 0.984649 -0.116907 0.113215 -0.063093 
optimize pose graph 
time: 1403636729.113555, t: 0.519110 3.653402 3.676122 q: 0.984959 -0.109292 0.115001 -0.068449 
time: 1403636729.213556, t: 0.496392 3.622212 3.648352 q: 0.985632 -0.104415 0.112279 -0.070850 
time: 1403636729.313555, t: 0.469387 3.591208 3.622323 q: 0.986217 -0.100376 0.110998 -0.070567 
time: 1403636729.413555, t: 0.440261 3.560172 3.594014 q: 0.986326 -0.098356 0.111668 -0.070840 
time: 1403636729.513556, t: 0.412781 3.529125 3.562100 q: 0.986372 -0.097207 0.112096 -0.071106 
time: 1403636729.613555, t: 0.389574 3.494355 3.527262 q: 0.986617 -0.096540 0.110831 -0.070599 
time: 1403636729.713556, t: 0.371731 3.457921 3.487534 q: 0.986826 -0.095756 0.110636 -0.069035 
time: 1403636729.813555, t: 0.354196 3.417317 3.446989 q: 0.987145 -0.096967 0.107009 -0.068496 
time: 1403636729.913555, t: 0.332671 3.379984 3.408143 q: 0.987707 -0.097312 0.102748 -0.066398 
time: 1403636730.013556, t: 0.307756 3.344970 3.370302 q: 0.988010 -0.097865 0.099504 -0.066006 
time: 1403636730.113555, t: 0.279587 3.309313 3.336710 q: 0.988202 -0.097311 0.098172 -0.065955 
time: 1403636730.213556, t: 0.249986 3.275793 3.305002 q: 0.988351 -0.097045 0.097112 -0.065687 
time: 1403636730.313555, t: 0.218152 3.243913 3.275705 q: 0.988504 -0.095607 0.097861 -0.064365 
time: 1403636730.413555, t: 0.184575 3.212430 3.249498 q: 0.988684 -0.095303 0.095952 -0.064916 
time: 1403636730.513556, t: 0.154452 3.179465 3.223962 q: 0.989332 -0.095740 0.088412 -0.065106 
time: 1403636730.613555, t: 0.130934 3.146608 3.197299 q: 0.990091 -0.095193 0.081670 -0.063146 
time: 1403636730.713556, t: 0.116039 3.112298 3.172255 q: 0.990371 -0.094742 0.079460 -0.062256 
time: 1403636730.813555, t: 0.110943 3.076738 3.147681 q: 0.990386 -0.095093 0.078253 -0.063001 
time: 1403636730.913555, t: 0.112557 3.041783 3.126228 q: 0.990995 -0.093107 0.077272 -0.057346 
time: 1403636731.013556, t: 0.115190 3.010205 3.108672 q: 0.991613 -0.088916 0.080779 -0.047676 
time: 1403636731.113555, t: 0.117747 2.982235 3.093853 q: 0.991291 -0.084189 0.093657 -0.038517 
time: 1403636731.213556, t: 0.116714 2.961683 3.084334 q: 0.990358 -0.084296 0.102818 -0.038904 
optimize pose graph 
time: 1403636731.313555, t: 0.112380 2.946021 3.075371 q: 0.989034 -0.089020 0.107683 -0.047878 
time: 1403636731.413555, t: 0.105094 2.935193 3.067560 q: 0.988256 -0.093762 0.106795 -0.056157 
time: 1403636731.513556, t: 0.093306 2.925754 3.061131 q: 0.988199 -0.094129 0.106857 -0.056427 
time: 1403636731.613555, t: 0.080256 2.919917 3.055274 q: 0.988865 -0.090710 0.107020 -0.049644 
time: 1403636731.713556, t: 0.064123 2.917025 3.050481 q: 0.989037 -0.089869 0.106975 -0.047811 
time: 1403636731.813555, t: 0.044939 2.917533 3.046539 q: 0.988675 -0.092113 0.106187 -0.052546 
time: 1403636731.913555, t: 0.023390 2.920593 3.043837 q: 0.988341 -0.093310 0.106079 -0.056771 
time: 1403636732.113555, t: -0.029640 2.932681 3.041982 q: 0.988046 -0.092521 0.108467 -0.058658 
time: 1403636732.213556, t: -0.062249 2.938880 3.042563 q: 0.987719 -0.092501 0.110318 -0.060703 
time: 1403636732.313555, t: -0.088378 2.945946 3.039086 q: 0.987507 -0.091989 0.111930 -0.061961 
time: 1403636732.413555, t: -0.109848 2.951331 3.032239 q: 0.986709 -0.095002 0.112515 -0.068708 
time: 1403636732.513556, t: -0.125619 2.953442 3.019227 q: 0.984391 -0.101411 0.116684 -0.084114 
time: 1403636732.613555, t: -0.137457 2.950944 2.999947 q: 0.982315 -0.105394 0.121848 -0.095405 
time: 1403636732.713556, t: -0.147892 2.939776 2.974679 q: 0.982378 -0.102238 0.126508 -0.092068 
time: 1403636732.813555, t: -0.157805 2.922767 2.946571 q: 0.983461 -0.096931 0.128382 -0.083230 
time: 1403636732.913555, t: -0.171575 2.900398 2.917462 q: 0.983901 -0.095329 0.127993 -0.080431 
time: 1403636733.013556, t: -0.191445 2.877858 2.886024 q: 0.984770 -0.094399 0.122966 -0.078716 
time: 1403636733.113555, t: -0.214613 2.853304 2.852693 q: 0.985630 -0.094330 0.116386 -0.078031 
time: 1403636733.213556, t: -0.234507 2.825870 2.814099 q: 0.985514 -0.095321 0.114668 -0.080791 
time: 1403636733.313555, t: -0.249763 2.792425 2.773351 q: 0.985788 -0.094308 0.113485 -0.080306 
time: 1403636733.413555, t: -0.261789 2.756682 2.727214 q: 0.986772 -0.092081 0.109100 -0.076805 
time: 1403636733.513556, t: -0.268497 2.720164 2.678086 q: 0.987536 -0.090819 0.105369 -0.073632 
time: 1403636733.613555, t: -0.276648 2.681645 2.629416 q: 0.987861 -0.090600 0.102496 -0.073603 
time: 1403636733.713556, t: -0.290147 2.644853 2.584023 q: 0.988282 -0.089839 0.100186 -0.072040 
time: 1403636733.813555, t: -0.307224 2.607162 2.541901 q: 0.988493 -0.089905 0.097863 -0.072265 
time: 1403636733.913555, t: -0.329606 2.571295 2.504942 q: 0.988323 -0.090414 0.097962 -0.073800 
time: 1403636734.013556, t: -0.354372 2.537348 2.470985 q: 0.987290 -0.092023 0.103140 -0.078432 
time: 1403636734.113555, t: -0.380636 2.501339 2.437181 q: 0.986861 -0.092045 0.107925 -0.077371 
time: 1403636734.213556, t: -0.405670 2.464797 2.402889 q: 0.986965 -0.091150 0.109059 -0.075478 
time: 1403636734.313555, t: -0.425541 2.423734 2.365330 q: 0.987349 -0.088991 0.109114 -0.072909 
time: 1403636734.413555, t: -0.437963 2.382343 2.323182 q: 0.988020 -0.087188 0.106087 -0.070435 
time: 1403636734.513556, t: -0.449230 2.340791 2.280850 q: 0.988529 -0.086108 0.102655 -0.069691 
time: 1403636734.713556, t: -0.479639 2.262800 2.209156 q: 0.989253 -0.085199 0.095546 -0.070643 
time: 1403636734.813555, t: -0.501457 2.226721 2.178724 q: 0.989291 -0.084513 0.094722 -0.072036 
time: 1403636734.913555, t: -0.526264 2.191599 2.151774 q: 0.989477 -0.083064 0.094141 -0.071919 
time: 1403636735.013556, t: -0.554298 2.157407 2.130072 q: 0.989458 -0.082838 0.094143 -0.072442 
time: 1403636735.113555, t: -0.583988 2.126835 2.110271 q: 0.989516 -0.082065 0.095275 -0.071030 
time: 1403636735.213556, t: -0.609361 2.095539 2.090014 q: 0.989799 -0.081586 0.094433 -0.068734 
time: 1403636735.313555, t: -0.627458 2.063385 2.068340 q: 0.990230 -0.081700 0.092162 -0.065391 
time: 1403636735.413555, t: -0.634838 2.032225 2.044367 q: 0.990124 -0.083251 0.093038 -0.063786 
time: 1403636735.513556, t: -0.634228 2.000798 2.017747 q: 0.989729 -0.086022 0.095694 -0.062281 
time: 1403636735.613555, t: -0.627051 1.969846 1.991157 q: 0.989137 -0.089382 0.098671 -0.062313 
time: 1403636735.713556, t: -0.618481 1.939347 1.967269 q: 0.988945 -0.092387 0.098574 -0.061123 
time: 1403636735.813555, t: -0.612029 1.912191 1.945813 q: 0.988771 -0.094581 0.098640 -0.060468 
time: 1403636735.913555, t: -0.610524 1.886415 1.929929 q: 0.988580 -0.095342 0.099831 -0.060434 
time: 1403636736.013556, t: -0.611200 1.862010 1.916655 q: 0.988401 -0.094784 0.100745 -0.062686 
time: 1403636736.113555, t: -0.607471 1.837294 1.901532 q: 0.988626 -0.087392 0.102878 -0.066311 
time: 1403636736.213556, t: -0.597065 1.809690 1.884470 q: 0.988938 -0.075652 0.105371 -0.071936 
time: 1403636736.313555, t: -0.587085 1.782568 1.865818 q: 0.989167 -0.065324 0.105704 -0.078157 
time: 1403636736.413555, t: -0.577649 1.755774 1.848612 q: 0.989238 -0.057943 0.104968 -0.083855 
time: 1403636736.513556, t: -0.573354 1.729524 1.836466 q: 0.988381 -0.055785 0.105213 -0.094452 
time: 1403636736.613555, t: -0.573940 1.703595 1.826820 q: 0.987494 -0.055107 0.105606 -0.103280 
time: 1403636736.713556, t: -0.580888 1.678419 1.816892 q: 0.987105 -0.053534 0.106759 -0.106586 
time: 1403636736.813555, t: -0.591351 1.648625 1.810063 q: 0.986900 -0.052599 0.106810 -0.108872 
time: 1403636736.913555, t: -0.605748 1.619246 1.802186 q: 0.987085 -0.050564 0.106066 -0.108885 
time: 1403636737.013556, t: -0.623101 1.586935 1.795169 q: 0.987856 -0.045984 0.105690 -0.104190 
time: 1403636737.113555, t: -0.640863 1.551809 1.787541 q: 0.988616 -0.040120 0.106564 -0.098349 
time: 1403636737.213556, t: -0.664514 1.518684 1.781676 q: 0.988973 -0.036472 0.105787 -0.097014 
time: 1403636737.313555, t: -0.688206 1.482254 1.777311 q: 0.989486 -0.033894 0.102515 -0.096230 
time: 1403636737.413555, t: -0.711480 1.449558 1.769758 q: 0.990020 -0.031546 0.098111 -0.096120 
time: 1403636737.513556, t: -0.725096 1.412662 1.759107 q: 0.990341 -0.030735 0.093556 -0.097608 
optimize pose graph 
time: 1403636737.613555, t: -0.735078 1.378709 1.744823 q: 0.990944 -0.028050 0.091420 -0.094264 
time: 1403636737.713556, t: -0.739490 1.343080 1.729766 q: 0.991858 -0.024810 0.088824 -0.087816 
time: 1403636737.813555, t: -0.737331 1.310193 1.712944 q: 0.992430 -0.022798 0.087623 -0.082974 
time: 1403636737.913555, t: -0.727307 1.280013 1.694141 q: 0.992609 -0.022328 0.087629 -0.080928 
time: 1403636738.013556, t: -0.709720 1.251624 1.674437 q: 0.992558 -0.023243 0.088594 -0.080240 
time: 1403636738.113555, t: -0.687011 1.226727 1.654355 q: 0.992110 -0.026292 0.089735 -0.083512 
time: 1403636738.213556, t: -0.665152 1.204442 1.638664 q: 0.991628 -0.028991 0.092135 -0.085697 
time: 1403636738.313555, t: -0.649076 1.187003 1.625300 q: 0.991494 -0.030856 0.092764 -0.085916 
time: 1403636738.413555, t: -0.636759 1.172721 1.615080 q: 0.991557 -0.032586 0.092411 -0.084928 
time: 1403636738.513556, t: -0.627271 1.161789 1.609027 q: 0.991662 -0.037700 0.091471 -0.082578 
time: 1403636738.613555, t: -0.620734 1.153114 1.606042 q: 0.991926 -0.047908 0.089468 -0.076047 
time: 1403636738.713556, t: -0.619515 1.151115 1.609774 q: 0.991554 -0.062767 0.092025 -0.066433 
time: 1403636738.913555, t: -0.623273 1.155678 1.623776 q: 0.988239 -0.100561 0.108150 -0.039681 
time: 1403636739.013556, t: -0.631973 1.168035 1.633821 q: 0.985710 -0.121408 0.114732 -0.021731 
time: 1403636739.113555, t: -0.643316 1.185173 1.644049 q: 0.982015 -0.146481 0.118899 -0.007277 
time: 1403636739.213556, t: -0.657320 1.206688 1.656019 q: 0.976870 -0.176220 0.121122 -0.000619 
time: 1403636739.313555, t: -0.673778 1.232705 1.664741 q: 0.970545 -0.207266 0.122772 0.003339 
time: 1403636739.413555, t: -0.692500 1.263563 1.670919 q: 0.963690 -0.236529 0.123722 0.007028 
time: 1403636739.513556, t: -0.706303 1.293036 1.676724 q: 0.956996 -0.261183 0.125250 0.015960 
time: 1403636739.613555, t: -0.711324 1.316445 1.678752 q: 0.951519 -0.277694 0.129168 0.028531 
optimize pose graph 
time: 1403636739.713556, t: -0.711796 1.337828 1.677784 q: 0.947597 -0.289641 0.130112 0.035190 
time: 1403636739.813555, t: -0.713751 1.358255 1.677852 q: 0.945490 -0.294469 0.132239 0.043001 
time: 1403636739.913555, t: -0.719808 1.379578 1.680622 q: 0.944361 -0.297627 0.132366 0.045604 
time: 1403636740.013556, t: -0.731263 1.402338 1.685334 q: 0.943986 -0.299283 0.131634 0.044641 
time: 1403636740.113555, t: -0.745287 1.426361 1.691743 q: 0.943969 -0.300505 0.130466 0.039968 
time: 1403636740.213556, t: -0.762448 1.450380 1.698974 q: 0.943879 -0.302464 0.128926 0.031411 
time: 1403636740.313555, t: -0.782216 1.473594 1.708647 q: 0.944184 -0.301540 0.129728 0.027570 
time: 1403636740.413555, t: -0.805171 1.495316 1.720396 q: 0.945230 -0.296628 0.132596 0.031168 
time: 1403636740.513556, t: -0.831472 1.517145 1.734085 q: 0.946139 -0.292187 0.135208 0.034169 
time: 1403636740.613555, t: -0.855891 1.537970 1.745124 q: 0.946728 -0.289920 0.136174 0.033291 
time: 1403636740.713556, t: -0.876289 1.557806 1.751292 q: 0.947934 -0.286896 0.133474 0.036010 
time: 1403636740.813555, t: -0.893762 1.575942 1.755467 q: 0.948790 -0.285424 0.130573 0.035796 
time: 1403636740.913555, t: -0.913981 1.595225 1.760189 q: 0.948737 -0.285448 0.131867 0.032074 
time: 1403636741.013556, t: -0.939053 1.616027 1.767522 q: 0.947616 -0.290129 0.132065 0.020173 
time: 1403636741.113555, t: -0.971187 1.634991 1.778841 q: 0.945485 -0.296838 0.133372 0.012531 
time: 1403636741.213556, t: -1.009437 1.653695 1.792726 q: 0.943077 -0.301877 0.138247 0.019102 
time: 1403636741.313555, t: -1.051730 1.669850 1.808235 q: 0.941947 -0.302951 0.141253 0.031706 
time: 1403636741.413555, t: -1.096972 1.682815 1.823790 q: 0.941784 -0.304558 0.135764 0.043066 
time: 1403636741.513556, t: -1.138899 1.693538 1.835370 q: 0.942007 -0.307189 0.125538 0.049970 
time: 1403636741.613555, t: -1.172470 1.705684 1.844198 q: 0.942228 -0.308415 0.118746 0.054639 
time: 1403636741.713556, t: -1.198246 1.717272 1.851251 q: 0.941968 -0.309785 0.117489 0.054097 
time: 1403636741.813555, t: -1.216522 1.731416 1.855339 q: 0.941389 -0.310873 0.121402 0.049062 
time: 1403636741.913555, t: -1.235821 1.746430 1.861418 q: 0.941027 -0.312114 0.123947 0.041122 
optimize pose graph 
time: 1403636742.013556, t: -1.260781 1.762689 1.872637 q: 0.941126 -0.313874 0.121553 0.031470 
time: 1403636742.113555, t: -1.287146 1.777525 1.887888 q: 0.943036 -0.310954 0.113925 0.031809 
time: 1403636742.213556, t: -1.306245 1.792256 1.901195 q: 0.944972 -0.305764 0.110420 0.036658 
time: 1403636742.313555, t: -1.315575 1.804742 1.913362 q: 0.946251 -0.300243 0.113415 0.040007 
time: 1403636742.413555, t: -1.317814 1.815825 1.925506 q: 0.946218 -0.297232 0.121719 0.038840 
time: 1403636742.513556, t: -1.314243 1.826384 1.935842 q: 0.946228 -0.295429 0.126466 0.037146 
time: 1403636742.613555, t: -1.309435 1.838171 1.944521 q: 0.946343 -0.294066 0.129293 0.035261 
time: 1403636742.713556, t: -1.306256 1.849190 1.954138 q: 0.946078 -0.292859 0.134393 0.033289 
time: 1403636742.813555, t: -1.310539 1.862346 1.968224 q: 0.946032 -0.291716 0.137539 0.031759 
time: 1403636742.913555, t: -1.322328 1.876696 1.984889 q: 0.946317 -0.289742 0.139633 0.032186 
time: 1403636743.013556, t: -1.340375 1.892193 2.003920 q: 0.945708 -0.292229 0.138023 0.034461 
time: 1403636743.113555, t: -1.366770 1.910673 2.023888 q: 0.945701 -0.296715 0.125273 0.043788 
time: 1403636743.213556, t: -1.392002 1.930394 2.045077 q: 0.946135 -0.300802 0.107242 0.053347 
time: 1403636743.313555, t: -1.406363 1.950500 2.064379 q: 0.945845 -0.304552 0.095740 0.058816 
time: 1403636743.413555, t: -1.408231 1.972407 2.086046 q: 0.945210 -0.305951 0.094893 0.062987 
time: 1403636743.513556, t: -1.402651 2.001048 2.109043 q: 0.943960 -0.307822 0.102121 0.061290 
time: 1403636743.613555, t: -1.399002 2.034561 2.137337 q: 0.942516 -0.310193 0.111170 0.055541 
time: 1403636743.713556, t: -1.397660 2.071822 2.170376 q: 0.941147 -0.312712 0.118479 0.049163 
time: 1403636743.813555, t: -1.397643 2.110513 2.208358 q: 0.938381 -0.318109 0.126576 0.047186 
time: 1403636743.913555, t: -1.404371 2.151333 2.249863 q: 0.935514 -0.323264 0.133768 0.049204 
time: 1403636744.013556, t: -1.416180 2.191329 2.294323 q: 0.933272 -0.327745 0.138397 0.049330 
time: 1403636744.113555, t: -1.431380 2.232419 2.340068 q: 0.930144 -0.335501 0.140637 0.049917 
optimize pose graph 
time: 1403636744.213556, t: -1.452128 2.274067 2.388088 q: 0.927171 -0.341483 0.144149 0.054446 
time: 1403636744.313555, t: -1.476592 2.313981 2.437253 q: 0.925064 -0.344524 0.148278 0.059785 
time: 1403636744.413555, t: -1.507624 2.353453 2.488993 q: 0.924188 -0.344274 0.151231 0.066941 
time: 1403636744.513556, t: -1.545312 2.393661 2.540705 q: 0.924315 -0.340402 0.155068 0.075642 
time: 1403636744.613555, t: -1.586905 2.434332 2.591642 q: 0.924245 -0.337772 0.159798 0.078389 
time: 1403636744.713556, t: -1.631863 2.477435 2.639130 q: 0.923888 -0.338169 0.162472 0.075334 
time: 1403636744.813555, t: -1.679631 2.519919 2.683234 q: 0.923411 -0.342593 0.159531 0.067025 
time: 1403636744.913555, t: -1.724096 2.560715 2.720065 q: 0.923983 -0.345497 0.151678 0.062301 
time: 1403636745.013556, t: -1.763883 2.597575 2.751526 q: 0.925614 -0.344410 0.143895 0.062566 
time: 1403636745.113555, t: -1.799441 2.632179 2.778415 q: 0.927856 -0.341581 0.135603 0.063379 
time: 1403636745.213556, t: -1.827009 2.664057 2.805731 q: 0.929576 -0.337777 0.133538 0.062957 
time: 1403636745.313555, t: -1.849463 2.694927 2.829195 q: 0.931079 -0.334593 0.132755 0.059293 
time: 1403636745.413555, t: -1.862475 2.726438 2.848643 q: 0.931159 -0.332401 0.140455 0.052196 
time: 1403636745.513556, t: -1.868730 2.755952 2.866129 q: 0.930348 -0.332458 0.146963 0.048240 
time: 1403636745.613555, t: -1.870804 2.782679 2.878256 q: 0.929173 -0.334481 0.149647 0.048637 
time: 1403636745.713556, t: -1.868873 2.805963 2.887995 q: 0.927124 -0.339334 0.151221 0.049251 
time: 1403636745.813555, t: -1.862383 2.824304 2.890421 q: 0.924944 -0.346044 0.149291 0.049444 
time: 1403636745.913555, t: -1.851157 2.837215 2.889522 q: 0.922075 -0.354103 0.148366 0.048754 
time: 1403636746.013556, t: -1.835543 2.845755 2.885775 q: 0.919240 -0.362699 0.145826 0.046713 
time: 1403636746.113555, t: -1.815484 2.849127 2.882106 q: 0.916913 -0.370058 0.142440 0.045152 
time: 1403636746.313555, t: -1.760791 2.834196 2.868763 q: 0.912009 -0.376757 0.156934 0.040825 
time: 1403636746.413555, t: -1.737784 2.817734 2.867188 q: 0.910310 -0.377043 0.166073 0.039931 
time: 1403636746.513556, t: -1.724431 2.797104 2.870411 q: 0.912308 -0.373677 0.160703 0.047269 
time: 1403636746.613555, t: -1.721029 2.773387 2.876990 q: 0.916889 -0.367544 0.143807 0.059537 
time: 1403636746.713556, t: -1.723037 2.750354 2.888166 q: 0.921966 -0.358344 0.126155 0.075193 
time: 1403636746.813555, t: -1.724233 2.728158 2.901776 q: 0.924868 -0.349854 0.121323 0.086610 
time: 1403636746.913555, t: -1.721611 2.711563 2.916969 q: 0.926068 -0.344573 0.124154 0.090849 
time: 1403636747.013556, t: -1.712823 2.700275 2.931095 q: 0.926367 -0.343226 0.127573 0.088123 
time: 1403636747.113555, t: -1.696938 2.692816 2.940457 q: 0.925151 -0.348082 0.131675 0.074812 
time: 1403636747.213556, t: -1.670757 2.685501 2.948110 q: 0.923382 -0.353078 0.136347 0.064116 
time: 1403636747.313555, t: -1.639959 2.677696 2.951825 q: 0.922030 -0.357051 0.138045 0.057602 
time: 1403636747.413555, t: -1.605261 2.667670 2.955467 q: 0.921014 -0.359454 0.139170 0.056188 
time: 1403636747.513556, t: -1.575808 2.658302 2.962253 q: 0.920212 -0.361508 0.138426 0.057974 
time: 1403636747.613555, t: -1.547989 2.646833 2.974937 q: 0.919708 -0.362796 0.137063 0.061075 
time: 1403636747.713556, t: -1.518026 2.635335 2.986028 q: 0.918908 -0.364757 0.136342 0.063025 
time: 1403636747.813555, t: -1.481255 2.621420 2.995180 q: 0.918081 -0.366777 0.135592 0.064940 
time: 1403636747.913555, t: -1.437983 2.605879 3.001515 q: 0.917501 -0.364972 0.140147 0.073117 
time: 1403636748.013556, t: -1.390876 2.589890 3.008620 q: 0.916841 -0.359806 0.149548 0.087053 
time: 1403636748.113555, t: -1.347065 2.577229 3.016651 q: 0.916221 -0.358198 0.152494 0.094754 
time: 1403636748.213556, t: -1.312337 2.569792 3.025573 q: 0.915781 -0.358934 0.151739 0.097399 
time: 1403636748.313555, t: -1.284640 2.565902 3.033920 q: 0.915207 -0.365721 0.145408 0.086608 
time: 1403636748.413555, t: -1.259219 2.564621 3.044207 q: 0.914494 -0.372623 0.139607 0.073224 
time: 1403636748.513556, t: -1.231357 2.563553 3.052582 q: 0.914006 -0.375091 0.139266 0.067110 
time: 1403636748.613555, t: -1.198871 2.561566 3.059628 q: 0.913962 -0.373609 0.142241 0.069694 
time: 1403636748.713556, t: -1.163368 2.556514 3.065397 q: 0.913952 -0.370144 0.147356 0.077273 
time: 1403636748.813555, t: -1.129389 2.552316 3.070887 q: 0.913803 -0.367381 0.150910 0.084977 
time: 1403636748.913555, t: -1.100402 2.550583 3.075654 q: 0.912858 -0.367285 0.154166 0.089583 
time: 1403636749.013556, t: -1.076540 2.553554 3.079954 q: 0.911543 -0.369112 0.155856 0.092491 
time: 1403636749.113555, t: -1.055280 2.558132 3.084147 q: 0.910553 -0.367931 0.160113 0.099417 
time: 1403636749.213556, t: -1.036702 2.565940 3.083595 q: 0.909546 -0.369846 0.160939 0.100195 
time: 1403636749.313555, t: -1.015944 2.575954 3.076418 q: 0.908016 -0.377475 0.157760 0.090177 
time: 1403636749.413555, t: -0.991418 2.584402 3.065945 q: 0.907032 -0.383227 0.153962 0.082007 
time: 1403636749.513556, t: -0.962394 2.591825 3.047905 q: 0.906449 -0.387661 0.150119 0.074388 
time: 1403636749.613555, t: -0.934672 2.597251 3.032042 q: 0.905991 -0.391562 0.146683 0.065912 
time: 1403636749.713556, t: -0.910753 2.602127 3.018653 q: 0.906339 -0.390803 0.147243 0.064365 
time: 1403636749.813555, t: -0.892023 2.604926 3.009663 q: 0.906187 -0.388477 0.154774 0.062898 
time: 1403636749.913555, t: -0.878300 2.606014 3.003641 q: 0.906150 -0.385463 0.162838 0.061594 
time: 1403636750.013556, t: -0.870630 2.604254 2.998342 q: 0.906838 -0.382171 0.167413 0.059687 
time: 1403636750.113555, t: -0.869224 2.599185 2.994141 q: 0.908305 -0.378895 0.166866 0.059806 
time: 1403636750.213556, t: -0.866271 2.589901 2.986967 q: 0.910138 -0.375838 0.163299 0.061067 
time: 1403636750.313555, t: -0.859705 2.575421 2.975017 q: 0.912212 -0.372999 0.157675 0.062282 
time: 1403636750.413555, t: -0.847219 2.557303 2.957707 q: 0.914120 -0.369863 0.153515 0.063393 
optimize pose graph 
time: 1403636750.513556, t: -0.828580 2.535336 2.935167 q: 0.915672 -0.367035 0.151854 0.061409 
time: 1403636750.613555, t: -0.804641 2.510143 2.909189 q: 0.917217 -0.364055 0.150249 0.060019 
time: 1403636750.713556, t: -0.775837 2.482922 2.879149 q: 0.918283 -0.362551 0.148343 0.057514 
time: 1403636750.813555, t: -0.741799 2.452815 2.845387 q: 0.919307 -0.361100 0.145891 0.056547 
time: 1403636750.913555, t: -0.704313 2.420385 2.809472 q: 0.919999 -0.360848 0.142642 0.055165 
time: 1403636751.013556, t: -0.665702 2.386063 2.774608 q: 0.920161 -0.362026 0.139277 0.053316 
time: 1403636751.113555, t: -0.631282 2.350880 2.745692 q: 0.919988 -0.362513 0.138975 0.053778 
time: 1403636751.213556, t: -0.601677 2.318906 2.718821 q: 0.920545 -0.363084 0.132289 0.057155 
time: 1403636751.313555, t: -0.571973 2.285113 2.695367 q: 0.921296 -0.362126 0.126668 0.063503 
time: 1403636751.413555, t: -0.541166 2.254542 2.673960 q: 0.921076 -0.359630 0.131440 0.070772 
time: 1403636751.513556, t: -0.509605 2.227469 2.655371 q: 0.920645 -0.355784 0.140947 0.077232 
time: 1403636751.613555, t: -0.480271 2.202453 2.637081 q: 0.921988 -0.349217 0.147380 0.079146 
time: 1403636751.713556, t: -0.452170 2.179500 2.618077 q: 0.924639 -0.342629 0.145182 0.081058 
time: 1403636751.813555, t: -0.427290 2.160961 2.598887 q: 0.927651 -0.337274 0.136849 0.083560 
time: 1403636752.013556, t: -0.378323 2.138012 2.561340 q: 0.930108 -0.339815 0.121036 0.069100 
time: 1403636752.113555, t: -0.352560 2.133892 2.544732 q: 0.929957 -0.340714 0.122522 0.063896 
time: 1403636752.213556, t: -0.324533 2.129924 2.531814 q: 0.930113 -0.338348 0.131075 0.056836 
time: 1403636752.313555, t: -0.294899 2.130268 2.517465 q: 0.932246 -0.329925 0.140108 0.049356 
time: 1403636752.413555, t: -0.261395 2.125860 2.503216 q: 0.936123 -0.317303 0.146107 0.040573 
time: 1403636752.513556, t: -0.226015 2.119764 2.485267 q: 0.941967 -0.301112 0.145109 0.031207 
time: 1403636752.613555, t: -0.192107 2.112681 2.468396 q: 0.948431 -0.283413 0.140399 0.021062 
optimize pose graph 
time: 1403636752.713556, t: -0.164361 2.105762 2.454126 q: 0.954747 -0.264448 0.135641 0.011276 
time: 1403636752.813555, t: -0.139942 2.101188 2.440766 q: 0.960522 -0.245148 0.131530 -0.000554 
time: 1403636752.913555, t: -0.122064 2.098570 2.430683 q: 0.965564 -0.225984 0.128022 -0.015064 
time: 1403636753.013556, t: -0.108729 2.095428 2.425543 q: 0.969993 -0.206886 0.123748 -0.031597 
time: 1403636753.113555, t: -0.100535 2.089156 2.425275 q: 0.974073 -0.186201 0.119608 -0.046960 
time: 1403636753.213556, t: -0.098224 2.082104 2.426768 q: 0.977710 -0.163832 0.116139 -0.061272 
time: 1403636753.313555, t: -0.102663 2.074283 2.431823 q: 0.980064 -0.143031 0.113005 -0.079036 
time: 1403636753.413555, t: -0.111521 2.065043 2.438071 q: 0.981948 -0.122565 0.113769 -0.088394 
time: 1403636753.513556, t: -0.116319 2.049457 2.445469 q: 0.983824 -0.105771 0.114409 -0.088394 
time: 1403636753.613555, t: -0.115301 2.029616 2.449047 q: 0.984860 -0.094741 0.116154 -0.087087 
time: 1403636753.713556, t: -0.112293 2.007808 2.448876 q: 0.985415 -0.089609 0.116746 -0.085431 
time: 1403636753.813555, t: -0.112664 1.985655 2.450495 q: 0.985102 -0.089163 0.118589 -0.086952 
time: 1403636753.913555, t: -0.117788 1.963631 2.454577 q: 0.985058 -0.090155 0.119110 -0.085710 
time: 1403636754.013556, t: -0.127235 1.941669 2.460413 q: 0.984603 -0.092799 0.120639 -0.085971 
time: 1403636754.113555, t: -0.131811 1.916469 2.461767 q: 0.983661 -0.094472 0.127614 -0.084853 
time: 1403636754.213556, t: -0.133591 1.888641 2.457718 q: 0.982550 -0.097835 0.132754 -0.086024 
time: 1403636754.313555, t: -0.132845 1.858244 2.447135 q: 0.981958 -0.101298 0.133923 -0.086953 
time: 1403636754.413555, t: -0.129137 1.820836 2.433781 q: 0.981771 -0.102151 0.133816 -0.088225 
time: 1403636754.613555, t: -0.134966 1.741352 2.398612 q: 0.983032 -0.090516 0.127090 -0.096454 
time: 1403636754.713556, t: -0.148024 1.696691 2.383333 q: 0.983944 -0.077273 0.124372 -0.102055 
time: 1403636754.813555, t: -0.166613 1.651288 2.368477 q: 0.984454 -0.061939 0.122821 -0.109220 
optimize pose graph 
time: 1403636754.913555, t: -0.188974 1.605536 2.353263 q: 0.984676 -0.049193 0.121853 -0.114653 
time: 1403636755.013556, t: -0.219776 1.562069 2.335127 q: 0.984680 -0.039775 0.120346 -0.119754 
time: 1403636755.113555, t: -0.248071 1.512765 2.319600 q: 0.984774 -0.033169 0.119412 -0.121908 
time: 1403636755.213556, t: -0.274650 1.462502 2.298166 q: 0.985053 -0.028315 0.118200 -0.122056 
time: 1403636755.313555, t: -0.299169 1.410405 2.271972 q: 0.986000 -0.026850 0.110649 -0.121821 
time: 1403636755.413555, t: -0.318215 1.353594 2.243533 q: 0.987235 -0.027504 0.099443 -0.121329 
time: 1403636755.513556, t: -0.332861 1.294235 2.214925 q: 0.987620 -0.028903 0.095335 -0.121168 
time: 1403636755.613555, t: -0.348973 1.235334 2.190148 q: 0.987124 -0.031214 0.097117 -0.123210 
time: 1403636755.713556, t: -0.369933 1.177602 2.170250 q: 0.987161 -0.031444 0.099617 -0.120830 
time: 1403636755.813555, t: -0.393809 1.120205 2.153124 q: 0.986981 -0.031018 0.104442 -0.118312 
time: 1403636755.913555, t: -0.419642 1.061004 2.140540 q: 0.986601 -0.030734 0.109086 -0.117364 
time: 1403636756.013556, t: -0.446401 1.001232 2.127302 q: 0.986590 -0.029895 0.111476 -0.115414 
time: 1403636756.113555, t: -0.467717 0.939513 2.111149 q: 0.986274 -0.030160 0.113436 -0.116128 
time: 1403636756.213556, t: -0.485802 0.876512 2.091510 q: 0.985962 -0.029817 0.115946 -0.116388 
time: 1403636756.313555, t: -0.502411 0.813112 2.068256 q: 0.985971 -0.028914 0.116426 -0.116062 
time: 1403636756.413555, t: -0.522817 0.749435 2.046715 q: 0.985675 -0.028717 0.117395 -0.117640 
time: 1403636756.513556, t: -0.547244 0.689121 2.026991 q: 0.985688 -0.027257 0.117699 -0.117572 
time: 1403636756.613555, t: -0.578829 0.629261 2.007360 q: 0.985596 -0.026383 0.118295 -0.117948 
time: 1403636756.713556, t: -0.610198 0.568495 1.988301 q: 0.985419 -0.024946 0.119957 -0.118054 
time: 1403636756.813555, t: -0.638451 0.505852 1.964394 q: 0.985317 -0.023448 0.121228 -0.117916 
time: 1403636756.913555, t: -0.661947 0.443897 1.937305 q: 0.985335 -0.022580 0.121035 -0.118137 
time: 1403636757.013556, t: -0.683662 0.379595 1.904048 q: 0.985393 -0.021522 0.120777 -0.118107 
time: 1403636757.113555, t: -0.705777 0.315132 1.871766 q: 0.985592 -0.020211 0.120739 -0.116713 
time: 1403636757.213556, t: -0.736958 0.255190 1.840008 q: 0.985675 -0.019786 0.120474 -0.116357 
time: 1403636757.313555, t: -0.769376 0.193531 1.809542 q: 0.985410 -0.021133 0.119244 -0.119585 
time: 1403636757.413555, t: -0.810617 0.134948 1.779744 q: 0.985603 -0.021421 0.116399 -0.120743 
time: 1403636757.513556, t: -0.856512 0.081020 1.748839 q: 0.985587 -0.021433 0.111916 -0.125037 
time: 1403636757.613555, t: -0.891222 0.015747 1.721468 q: 0.986388 -0.017215 0.101118 -0.128517 
time: 1403636757.713556, t: -0.922351 -0.050911 1.689958 q: 0.987383 -0.011908 0.087993 -0.131113 
time: 1403636757.813555, t: -0.944799 -0.126216 1.657513 q: 0.988069 -0.006401 0.078317 -0.132455 
time: 1403636757.913555, t: -0.957913 -0.200635 1.626202 q: 0.988311 -0.000793 0.075338 -0.132536 
time: 1403636758.013556, t: -0.963908 -0.274400 1.598517 q: 0.987429 0.005066 0.085989 -0.132527 
time: 1403636758.113555, t: -0.973181 -0.343826 1.575606 q: 0.986184 0.010564 0.100095 -0.131569 
time: 1403636758.213556, t: -0.976454 -0.418684 1.555664 q: 0.985148 0.013595 0.109769 -0.131337 
time: 1403636758.313555, t: -0.997197 -0.485605 1.537614 q: 0.984897 0.016132 0.114458 -0.128904 
time: 1403636758.413555, t: -1.025205 -0.555730 1.516012 q: 0.986254 0.016849 0.106889 -0.124874 
time: 1403636758.513556, t: -1.054948 -0.620488 1.504394 q: 0.989379 0.018643 0.087009 -0.114940 
time: 1403636758.613555, t: -1.087328 -0.683627 1.499981 q: 0.992197 0.021539 0.068263 -0.102085 
time: 1403636758.713556, t: -1.108623 -0.739052 1.495929 q: 0.991965 0.021078 0.072968 -0.101174 
time: 1403636758.913555, t: -1.140897 -0.836328 1.505006 q: 0.987763 0.015883 0.104255 -0.114904 
time: 1403636759.013556, t: -1.158903 -0.877992 1.513617 q: 0.986483 0.014017 0.111127 -0.119604 
time: 1403636759.113555, t: -1.180139 -0.914636 1.523324 q: 0.986963 0.018906 0.115041 -0.110960 
time: 1403636759.213556, t: -1.202460 -0.947965 1.533736 q: 0.988659 0.029216 0.115668 -0.091214 
time: 1403636759.313555, t: -1.226975 -0.971264 1.544144 q: 0.989335 0.034691 0.115946 -0.081051 
time: 1403636759.413555, t: -1.252939 -0.982232 1.553404 q: 0.988114 0.028258 0.117237 -0.095327 
optimize pose graph 
time: 1403636759.513556, t: -1.280356 -0.986412 1.564357 q: 0.986519 0.021543 0.118837 -0.110430 
time: 1403636759.613555, t: -1.308847 -0.986223 1.573846 q: 0.985120 0.017460 0.120061 -0.121738 
time: 1403636759.713556, t: -1.331057 -0.985801 1.576636 q: 0.984504 0.015785 0.119576 -0.127293 
time: 1403636759.813555, t: -1.344945 -0.987493 1.571119 q: 0.984110 0.016101 0.121281 -0.128680 
time: 1403636759.913555, t: -1.357645 -0.989728 1.562395 q: 0.984920 0.015666 0.115266 -0.128063 
time: 1403636760.013556, t: -1.373274 -0.990715 1.553696 q: 0.986127 0.014266 0.105233 -0.127578 
time: 1403636760.113555, t: -1.389451 -0.991429 1.547425 q: 0.987183 0.013165 0.096708 -0.126272 
time: 1403636760.213556, t: -1.404534 -0.991671 1.543598 q: 0.987194 0.013330 0.097468 -0.125583 
time: 1403636760.313555, t: -1.418352 -0.991652 1.541758 q: 0.985779 0.015579 0.112062 -0.124258 
time: 1403636760.413555, t: -1.434840 -0.989707 1.542807 q: 0.984428 0.015111 0.120048 -0.127522 
time: 1403636760.513556, t: -1.453706 -0.986800 1.542471 q: 0.984054 0.013357 0.119759 -0.130829 
time: 1403636760.613555, t: -1.475746 -0.983807 1.541925 q: 0.985071 0.011578 0.109245 -0.132537 
time: 1403636760.713556, t: -1.495944 -0.981859 1.540201 q: 0.985352 0.009253 0.102020 -0.136341 
time: 1403636760.813555, t: -1.513208 -0.982326 1.537885 q: 0.984578 0.008546 0.104987 -0.139684 
time: 1403636760.913555, t: -1.530269 -0.985238 1.536026 q: 0.983311 0.008520 0.111913 -0.143187 
time: 1403636761.013556, t: -1.548929 -0.990358 1.534687 q: 0.983964 0.009162 0.107923 -0.141714 
time: 1403636761.113555, t: -1.569069 -0.997668 1.534717 q: 0.985725 0.010225 0.096940 -0.137274 
time: 1403636761.213556, t: -1.588338 -1.006772 1.537163 q: 0.987098 0.009114 0.082649 -0.136831 
time: 1403636761.313555, t: -1.601965 -1.017824 1.541070 q: 0.987658 0.008705 0.076907 -0.136164 
time: 1403636761.413555, t: -1.607990 -1.031696 1.547773 q: 0.986818 0.010251 0.086927 -0.136120 
time: 1403636761.513556, t: -1.608647 -1.047713 1.557226 q: 0.985249 0.011636 0.102585 -0.136477 
time: 1403636761.613555, t: -1.607103 -1.064660 1.565550 q: 0.984142 0.012650 0.113932 -0.135367 
optimize pose graph 
time: 1403636761.813555, t: -1.601716 -1.097744 1.576708 q: 0.986057 0.021684 0.118738 -0.114554 
time: 1403636761.913555, t: -1.597026 -1.109853 1.578355 q: 0.986354 0.021808 0.117944 -0.112785 
time: 1403636762.013556, t: -1.590682 -1.117773 1.577621 q: 0.985004 0.015273 0.118505 -0.124460 
time: 1403636762.113555, t: -1.582973 -1.124083 1.575035 q: 0.982280 0.004656 0.119809 -0.144046 
time: 1403636762.213556, t: -1.577228 -1.133179 1.571134 q: 0.981426 -0.002357 0.113769 -0.154445 
time: 1403636762.313555, t: -1.576363 -1.146011 1.569476 q: 0.983769 -0.003125 0.098387 -0.150031 
time: 1403636762.413555, t: -1.581378 -1.161291 1.574910 q: 0.985957 -0.001249 0.087671 -0.142133 
time: 1403636762.513556, t: -1.591010 -1.178179 1.587395 q: 0.988438 0.009394 0.090674 -0.121164 
time: 1403636762.613555, t: -1.604183 -1.192169 1.608161 q: 0.989735 0.022798 0.102497 -0.096950 
time: 1403636762.813555, t: -1.642817 -1.196531 1.663132 q: 0.986699 0.019272 0.118449 -0.109652 
time: 1403636762.913555, t: -1.643853 -1.189391 1.658345 q: 0.980455 0.023422 0.161194 -0.110342 
time: 1403636763.013556, t: -1.656733 -1.173096 1.645576 q: 0.985908 0.000807 0.126009 -0.110025 
time: 1403636763.113555, t: -1.664556 -1.159969 1.642060 q: 0.986238 -0.010032 0.139073 -0.088846 
time: 1403636763.213556, t: -1.664953 -1.156926 1.639056 q: 0.985734 -0.016087 0.146940 -0.080486 
time: 1403636763.313555, t: -1.664006 -1.155388 1.643503 q: 0.986665 -0.015829 0.141790 -0.078341 
time: 1403636763.413555, t: -1.664324 -1.155727 1.642867 q: 0.986898 -0.015523 0.140596 -0.077609 
time: 1403636763.513556, t: -1.664430 -1.155700 1.642750 q: 0.986844 -0.015658 0.140856 -0.077809 
time: 1403636763.613555, t: -1.664474 -1.155637 1.642764 q: 0.986839 -0.015769 0.140858 -0.077841 
time: 1403636763.713556, t: -1.664434 -1.155659 1.642858 q: 0.986842 -0.015669 0.140923 -0.077706 
time: 1403636763.813555, t: -1.664450 -1.155672 1.642829 q: 0.986847 -0.015590 0.140974 -0.077561 
optimize pose graph 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731029537.016794707]: Shutdown request received.[0m
[33m[ WARN] [1731029537.016838984]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731029537.017685887]: Shutdown request received.[0m
[33m[ WARN] [1731029537.017711056]: Reason given for shutdown: [user request][0m
killed
