/SLAM-Hive/slam_hive_results/mapping_results/3394/2100_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1731030640.930850807]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731030640.938261189]: init begins[0m
[31m[ERROR] [1731030640.939636530]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/dbf88a3a-9d73-11ef-8320-0242ac110002/roslaunch-ab707c651c08-118.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://ab707c651c08:36895/[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] [1731030641.995629929]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1731030642.000610221]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1731030642.000820360]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731030642.000852453]: 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] [1731030642.008210994]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731030642.013466934]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://ab707c651c08:11311/[0m
]2;roscore http://ab707c651c08:11311/
[1msetting /run_id to dbf88a3a-9d73-11ef-8320-0242ac110002[0m
[0m[ INFO] [1731030642.037552705]: Connected to master at [localhost:11311][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 [242][0m
started core service [/rosout]
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1731030651.630333303]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 327392524.55 
init first imu pose
averge acc 9.049359 -0.057205 -3.951263
init R0 
    0.400188    0.0132665     0.916337
-2.46519e-32    -0.999895    0.0144762
    0.916433  -0.00579322    -0.400146
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1731030653.011527013]: IMU excitation not enouth![0m
[0m[ INFO] [1731030653.012705759]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731030653.224145087]: IMU excitation not enouth![0m
[0m[ INFO] [1731030653.295746709]: IMU excitation not enouth![0m
[0m[ INFO] [1731030653.296358638]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1731030653.490953980]: IMU excitation not enouth![0m
[0m[ INFO] [1731030653.491188846]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731030653.705345732]: IMU excitation not enouth![0m
[0m[ INFO] [1731030653.706478472]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731030653.798369928]: IMU excitation not enouth![0m
[0m[ INFO] [1731030654.000965889]: IMU excitation not enouth![0m
[0m[ INFO] [1731030654.447515384]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1731030654.666678008]: gyroscope bias initial calibration -0.000859371    0.0337782    0.0783913[0m
[0m[ INFO] [1731030654.775967501]: Initialization finish![0m
time: 1403638129.895097, t: 0.006950 0.003317 0.083858 q: -0.021187 0.841457 0.007099 0.539861 
time: 1403638129.995097, t: 0.008317 0.006275 0.113586 q: -0.021516 0.840040 0.009941 0.542006 
time: 1403638130.095097, t: 0.009982 0.007900 0.151581 q: -0.030971 0.830644 0.001693 0.555939 
time: 1403638130.195097, t: 0.011783 0.010658 0.190600 q: -0.036227 0.828375 0.003907 0.558987 
time: 1403638130.295097, t: 0.013075 0.013022 0.231413 q: -0.041304 0.825851 0.006381 0.562337 
time: 1403638130.395097, t: 0.014423 0.014041 0.273826 q: -0.053554 0.819145 -0.002935 0.571073 
time: 1403638130.495097, t: 0.013848 0.016068 0.313398 q: -0.056818 0.819090 0.002394 0.570840 
time: 1403638130.595097, t: 0.013551 0.018325 0.352214 q: -0.050218 0.820811 0.011603 0.568870 
time: 1403638130.695097, t: 0.011222 0.018802 0.391099 q: -0.053761 0.814107 0.006453 0.578184 
time: 1403638130.795097, t: 0.009807 0.018675 0.426401 q: -0.071341 0.807215 -0.007270 0.585885 
time: 1403638130.895097, t: 0.007251 0.017476 0.452240 q: -0.077650 0.805372 -0.008315 0.587602 
time: 1403638130.995097, t: 0.003557 0.013258 0.463833 q: -0.075968 0.795517 -0.015191 0.600958 
time: 1403638131.095097, t: 0.000557 0.009883 0.457714 q: -0.073230 0.788901 -0.019106 0.609842 
time: 1403638131.195097, t: 0.001521 0.011365 0.434897 q: -0.064141 0.797236 -0.009402 0.600177 
time: 1403638131.295097, t: 0.003717 0.014252 0.405359 q: -0.052386 0.808454 0.004135 0.586209 
time: 1403638131.395097, t: 0.004138 0.013669 0.374635 q: -0.049516 0.810973 0.005203 0.582961 
time: 1403638131.495097, t: 0.003583 0.010321 0.341107 q: -0.043183 0.810779 0.006368 0.583723 
time: 1403638131.595097, t: 0.000242 0.007712 0.301917 q: -0.040349 0.814498 0.008039 0.578705 
time: 1403638131.695097, t: -0.001917 0.004054 0.261043 q: -0.036761 0.815818 0.011679 0.577020 
time: 1403638131.795097, t: -0.005935 -0.000991 0.216378 q: -0.029523 0.816207 0.016031 0.576783 
time: 1403638131.895097, t: -0.007030 -0.005754 0.174260 q: -0.020212 0.817880 0.019627 0.574698 
time: 1403638131.995097, t: -0.010642 -0.009100 0.140609 q: -0.013446 0.819729 0.025819 0.572011 
time: 1403638132.095097, t: -0.007837 -0.004976 0.126269 q: -0.003756 0.825592 0.041220 0.562747 
time: 1403638132.195097, t: -0.008761 -0.003479 0.138474 q: -0.003333 0.826230 0.047601 0.561309 
time: 1403638132.295097, t: -0.007710 -0.001888 0.180086 q: -0.015660 0.818121 0.039789 0.573454 
time: 1403638132.395097, t: -0.007518 0.001116 0.235462 q: -0.028217 0.813596 0.034320 0.579731 
time: 1403638132.495097, t: -0.006664 0.004333 0.293717 q: -0.047468 0.805154 0.023108 0.590712 
time: 1403638132.595097, t: -0.006551 0.007448 0.348915 q: -0.065820 0.790892 0.008720 0.608344 
time: 1403638132.695097, t: -0.005558 0.015600 0.389827 q: -0.072326 0.790885 0.004871 0.607656 
time: 1403638132.795097, t: -0.004231 0.026703 0.415247 q: -0.074303 0.796390 0.003155 0.600193 
time: 1403638132.895097, t: -0.006115 0.034681 0.426261 q: -0.079927 0.788818 -0.005362 0.609384 
time: 1403638132.995097, t: -0.006691 0.036039 0.421097 q: -0.086316 0.782194 -0.006106 0.616997 
time: 1403638133.095097, t: -0.005176 0.026789 0.403202 q: -0.076597 0.787139 0.008131 0.611946 
wait for imu ... 
time: 1403638133.195097, t: -0.002800 0.004992 0.380011 q: -0.065108 0.791472 0.009772 0.607650 
time: 1403638133.295097, t: -0.000739 -0.027291 0.356129 q: -0.049536 0.793057 -0.000278 0.607130 
time: 1403638133.395097, t: -0.002969 -0.067622 0.330642 q: -0.031730 0.799147 -0.007740 0.600248 
time: 1403638133.495097, t: -0.009445 -0.113659 0.309185 q: -0.012077 0.802330 -0.021937 0.596356 
time: 1403638133.595097, t: -0.021466 -0.161227 0.290519 q: -0.004315 0.803764 -0.044329 0.593279 
time: 1403638133.695097, t: -0.038609 -0.204151 0.271454 q: -0.002994 0.807099 -0.061974 0.587147 
time: 1403638133.795097, t: -0.054279 -0.240784 0.254101 q: 0.010987 0.808891 -0.075965 0.582927 
time: 1403638133.895097, t: -0.064109 -0.267890 0.237309 q: 0.027284 0.811236 -0.083914 0.578023 
time: 1403638133.995097, t: -0.060467 -0.278131 0.229198 q: 0.034232 0.810272 -0.089656 0.578143 
time: 1403638134.095097, t: -0.039079 -0.264493 0.227660 q: 0.037507 0.813258 -0.084725 0.574479 
time: 1403638134.195097, t: -0.004600 -0.244940 0.227256 q: 0.039734 0.814815 -0.077969 0.573078 
time: 1403638134.295097, t: 0.018797 -0.210320 0.235551 q: 0.035733 0.805420 -0.085588 0.585402 
time: 1403638134.395097, t: 0.056249 -0.170888 0.240263 q: 0.026445 0.806907 -0.090172 0.583155 
time: 1403638134.495097, t: 0.090288 -0.128181 0.242621 q: 0.018786 0.808119 -0.093740 0.581209 
time: 1403638134.595097, t: 0.117848 -0.085683 0.245833 q: 0.007856 0.806430 -0.098441 0.583026 
time: 1403638134.695097, t: 0.133213 -0.040553 0.248864 q: 0.002835 0.809939 -0.097197 0.578397 
time: 1403638134.795097, t: 0.148119 0.004213 0.252215 q: -0.000055 0.817199 -0.091233 0.569089 
time: 1403638134.895097, t: 0.154921 0.045869 0.263227 q: 0.002001 0.819360 -0.086668 0.566687 
time: 1403638134.995097, t: 0.162810 0.080643 0.269493 q: 0.000983 0.815393 -0.086875 0.572352 
time: 1403638135.095097, t: 0.161790 0.109666 0.269393 q: 0.003894 0.819326 -0.078755 0.567880 
time: 1403638135.195097, t: 0.159577 0.127268 0.263570 q: 0.005204 0.823698 -0.071182 0.562519 
time: 1403638135.295097, t: 0.156744 0.128694 0.253062 q: 0.007108 0.825512 -0.068018 0.560226 
time: 1403638135.395097, t: 0.146346 0.118689 0.242962 q: 0.009767 0.822961 -0.069810 0.563707 
time: 1403638135.495097, t: 0.134896 0.096994 0.232629 q: 0.018542 0.825374 -0.068726 0.560081 
time: 1403638135.595097, t: 0.127280 0.070785 0.226987 q: 0.026062 0.830175 -0.068715 0.552638 
time: 1403638135.695097, t: 0.119135 0.037151 0.225061 q: 0.030768 0.826061 -0.078385 0.557254 
time: 1403638135.795097, t: 0.103151 0.002705 0.221621 q: 0.027791 0.822893 -0.091302 0.560124 
time: 1403638135.895097, t: 0.081334 -0.028227 0.219819 q: 0.038006 0.828209 -0.087009 0.552318 
time: 1403638135.995097, t: 0.056738 -0.057011 0.226769 q: 0.049800 0.833580 -0.082882 0.543871 
time: 1403638136.095097, t: 0.034977 -0.094705 0.244821 q: 0.058839 0.826347 -0.088875 0.552982 
time: 1403638136.195097, t: 0.011904 -0.138265 0.259419 q: 0.056427 0.815946 -0.102619 0.566143 
time: 1403638136.295097, t: -0.013068 -0.181345 0.260865 q: 0.062675 0.813436 -0.107800 0.568130 
time: 1403638136.395097, t: -0.034484 -0.216643 0.252613 q: 0.072020 0.815339 -0.108794 0.564091 
time: 1403638136.495097, t: -0.049672 -0.237177 0.246347 q: 0.077763 0.817798 -0.111020 0.559316 
time: 1403638136.595097, t: -0.054881 -0.239173 0.250303 q: 0.071751 0.818292 -0.121644 0.557183 
time: 1403638136.795097, t: -0.042178 -0.188317 0.277464 q: 0.040894 0.816791 -0.119251 0.562991 
time: 1403638136.895097, t: -0.031132 -0.147349 0.287912 q: 0.015935 0.809495 -0.120772 0.574350 
time: 1403638136.995097, t: -0.019223 -0.104593 0.283500 q: -0.002930 0.799536 -0.123839 0.587706 
time: 1403638137.095097, t: -0.009203 -0.064249 0.260180 q: -0.010011 0.800022 -0.117994 0.588168 
time: 1403638137.195097, t: -0.002717 -0.029960 0.225524 q: -0.007302 0.808230 -0.104518 0.579471 
time: 1403638137.295097, t: 0.000386 -0.002748 0.185953 q: -0.003813 0.817174 -0.090472 0.569233 
time: 1403638137.395097, t: 0.001192 0.017414 0.145967 q: -0.001429 0.822669 -0.083237 0.562393 
time: 1403638137.495097, t: 0.003306 0.030595 0.107559 q: 0.008826 0.830734 -0.074705 0.551564 
time: 1403638137.595097, t: 0.004114 0.040120 0.075611 q: 0.023618 0.839458 -0.063591 0.539174 
time: 1403638137.695097, t: 0.005046 0.046429 0.050335 q: 0.031814 0.840185 -0.063670 0.537609 
time: 1403638137.795097, t: 0.002823 0.049812 0.031393 q: 0.034323 0.839365 -0.069074 0.538068 
time: 1403638137.895097, t: -0.000184 0.052198 0.017963 q: 0.040599 0.845045 -0.065510 0.529112 
time: 1403638137.995097, t: -0.000953 0.054423 0.008724 q: 0.046351 0.853696 -0.057807 0.515474 
time: 1403638138.095097, t: -0.000864 0.056036 0.003701 q: 0.047941 0.853984 -0.054244 0.515238 
optimize pose graph 
time: 1403638138.195097, t: -0.001510 0.055036 0.003209 q: 0.044445 0.846058 -0.062051 0.527599 
time: 1403638138.295097, t: -0.001956 0.054625 0.001844 q: 0.042122 0.842254 -0.064800 0.533511 
time: 1403638138.395097, t: -0.003260 0.055146 0.002126 q: 0.042293 0.837719 -0.065376 0.540521 
time: 1403638138.495097, t: -0.003670 0.054986 0.002069 q: 0.042937 0.837515 -0.064314 0.540914 
time: 1403638138.595097, t: -0.003641 0.055115 0.001978 q: 0.042221 0.837472 -0.064214 0.541050 
time: 1403638138.695097, t: -0.003583 0.055345 0.001927 q: 0.041084 0.837447 -0.064635 0.541125 
time: 1403638138.795097, t: -0.003611 0.055271 0.001968 q: 0.040915 0.837558 -0.064024 0.541039 
time: 1403638138.895097, t: -0.003411 0.055681 0.001917 q: 0.039208 0.837396 -0.064853 0.541318 
time: 1403638138.995097, t: -0.003468 0.055602 0.001965 q: 0.039115 0.837521 -0.064266 0.541201 
wait for imu ... 
time: 1403638139.095097, t: -0.003475 0.055524 0.001987 q: 0.038951 0.837605 -0.063716 0.541148 
time: 1403638139.195097, t: -0.003484 0.055482 0.002005 q: 0.038882 0.837585 -0.063346 0.541227 
wait for imu ... 
time: 1403638139.295097, t: -0.003490 0.055506 0.002026 q: 0.038534 0.837598 -0.063080 0.541264 
wait for imu ... 
time: 1403638139.395097, t: -0.003483 0.055556 0.002046 q: 0.038095 0.837615 -0.063069 0.541269 
wait for imu ... 
time: 1403638139.495097, t: -0.003489 0.055614 0.002065 q: 0.037509 0.837649 -0.062960 0.541271 
wait for imu ... 
time: 1403638139.595097, t: -0.003475 0.055658 0.002087 q: 0.037080 0.837652 -0.062796 0.541314 
time: 1403638139.695097, t: -0.003492 0.055696 0.002117 q: 0.036681 0.837680 -0.062593 0.541321 
wait for imu ... 
time: 1403638139.795097, t: -0.003480 0.055714 0.002159 q: 0.036232 0.837718 -0.062401 0.541315 
wait for imu ... 
time: 1403638139.895097, t: -0.003476 0.055728 0.002193 q: 0.036083 0.837722 -0.062219 0.541339 
time: 1403638139.995097, t: -0.003483 0.055724 0.002213 q: 0.035785 0.837769 -0.062048 0.541306 
wait for imu ... 
time: 1403638140.095097, t: -0.003465 0.055749 0.002258 q: 0.035432 0.837798 -0.061839 0.541309 
wait for imu ... 
time: 1403638140.195097, t: -0.003470 0.055767 0.002278 q: 0.035066 0.837807 -0.061669 0.541337 
wait for imu ... 
time: 1403638140.295097, t: -0.003472 0.055787 0.002290 q: 0.034767 0.837805 -0.061510 0.541378 
time: 1403638140.395097, t: -0.003461 0.055804 0.002308 q: 0.034558 0.837811 -0.061439 0.541391 
time: 1403638140.495097, t: -0.003470 0.055829 0.002321 q: 0.034259 0.837834 -0.061293 0.541390 
time: 1403638140.595097, t: -0.003471 0.055837 0.002357 q: 0.033978 0.837832 -0.061121 0.541430 
wait for imu ... 
time: 1403638140.695097, t: -0.003473 0.055850 0.002370 q: 0.033755 0.837833 -0.060933 0.541465 
wait for imu ... 
time: 1403638140.795097, t: -0.003469 0.055871 0.002394 q: 0.033507 0.837829 -0.060811 0.541500 
time: 1403638140.895097, t: -0.003466 0.055892 0.002425 q: 0.033283 0.837843 -0.060700 0.541504 
wait for imu ... 
time: 1403638140.995097, t: -0.003469 0.055906 0.002440 q: 0.033123 0.837853 -0.060590 0.541512 
wait for imu ... 
time: 1403638141.095097, t: -0.003464 0.055926 0.002457 q: 0.032931 0.837821 -0.060466 0.541586 
wait for imu ... 
time: 1403638141.195097, t: -0.003464 0.055930 0.002468 q: 0.032675 0.837821 -0.060350 0.541614 
time: 1403638141.295097, t: -0.003460 0.055941 0.002485 q: 0.032528 0.837830 -0.060225 0.541623 
time: 1403638141.395097, t: -0.003465 0.055950 0.002494 q: 0.032373 0.837812 -0.060152 0.541668 
wait for imu ... 
time: 1403638141.495097, t: -0.003457 0.055949 0.002509 q: 0.032184 0.837828 -0.060053 0.541666 
wait for imu ... 
time: 1403638141.595097, t: -0.003452 0.055960 0.002531 q: 0.032087 0.837820 -0.059959 0.541695 
wait for imu ... 
time: 1403638141.695097, t: -0.003450 0.055957 0.002540 q: 0.031947 0.837833 -0.059877 0.541691 
time: 1403638141.795097, t: -0.003449 0.055970 0.002559 q: 0.031834 0.837831 -0.059792 0.541710 
time: 1403638141.895097, t: -0.003446 0.055970 0.002560 q: 0.031750 0.837823 -0.059745 0.541734 
wait for imu ... 
time: 1403638141.995097, t: -0.003479 0.055984 0.002592 q: 0.031636 0.837814 -0.059640 0.541766 
wait for imu ... 
time: 1403638142.095097, t: -0.003459 0.056016 0.002614 q: 0.031544 0.837841 -0.059530 0.541742 
wait for imu ... 
time: 1403638142.195097, t: -0.003476 0.055991 0.002619 q: 0.031605 0.837801 -0.059719 0.541779 
time: 1403638142.295097, t: -0.003490 0.055894 0.002626 q: 0.031867 0.837813 -0.060029 0.541711 
wait for imu ... 
wait for imu ... 
time: 1403638142.395097, t: -0.003494 0.055973 0.002657 q: 0.031957 0.837863 -0.059935 0.541639 
wait for imu ... 
time: 1403638142.495097, t: -0.003478 0.056028 0.002662 q: 0.031618 0.837939 -0.059772 0.541558 
wait for imu ... 
time: 1403638142.595097, t: -0.003438 0.056097 0.002650 q: 0.031006 0.837969 -0.059246 0.541606 
wait for imu ... 
time: 1403638142.695097, t: -0.003465 0.056110 0.002678 q: 0.031229 0.838066 -0.059328 0.541434 
time: 1403638142.795097, t: -0.003478 0.056013 0.002705 q: 0.031705 0.838099 -0.059594 0.541326 
time: 1403638142.895097, t: -0.003470 0.056003 0.002720 q: 0.031677 0.838130 -0.059461 0.541294 
time: 1403638142.995097, t: -0.003460 0.056071 0.002722 q: 0.031565 0.838116 -0.059082 0.541363 
wait for imu ... 
time: 1403638143.095097, t: -0.003472 0.056046 0.002733 q: 0.031643 0.838179 -0.059121 0.541258 
wait for imu ... 
time: 1403638143.195097, t: -0.003493 0.056034 0.002736 q: 0.031576 0.838223 -0.059259 0.541178 
time: 1403638143.295097, t: -0.003480 0.056022 0.002712 q: 0.031544 0.838190 -0.059352 0.541220 
wait for imu ... 
time: 1403638143.395097, t: -0.003488 0.056038 0.002731 q: 0.031655 0.838183 -0.059384 0.541222 
time: 1403638143.495097, t: -0.003490 0.056037 0.002727 q: 0.031763 0.838184 -0.059407 0.541211 
time: 1403638143.595097, t: -0.003506 0.055993 0.002735 q: 0.031915 0.838188 -0.059590 0.541176 
time: 1403638143.695097, t: -0.003477 0.056007 0.002717 q: 0.031779 0.838175 -0.059581 0.541205 
time: 1403638143.795097, t: -0.003485 0.056007 0.002720 q: 0.031731 0.838177 -0.059538 0.541210 
time: 1403638143.895097, t: -0.003490 0.056018 0.002716 q: 0.031704 0.838171 -0.059626 0.541211 
time: 1403638143.995097, t: -0.003498 0.056008 0.002716 q: 0.031734 0.838151 -0.059638 0.541239 
wait for imu ... 
time: 1403638144.095097, t: -0.003503 0.056003 0.002718 q: 0.031699 0.838182 -0.059640 0.541192 
time: 1403638144.195097, t: -0.003513 0.055997 0.002713 q: 0.031755 0.838146 -0.059640 0.541246 
time: 1403638144.295097, t: -0.003501 0.055998 0.002704 q: 0.031695 0.838128 -0.059568 0.541285 
wait for imu ... 
time: 1403638144.395097, t: -0.003491 0.055995 0.002689 q: 0.031663 0.838108 -0.059578 0.541316 
wait for imu ... 
time: 1403638144.495097, t: -0.003497 0.055979 0.002691 q: 0.031706 0.838104 -0.059631 0.541314 
time: 1403638144.595097, t: -0.003494 0.055989 0.002685 q: 0.031663 0.838111 -0.059670 0.541301 
wait for imu ... 
time: 1403638144.695097, t: -0.003482 0.055992 0.002707 q: 0.031591 0.838061 -0.059540 0.541397 
wait for imu ... 
time: 1403638144.795097, t: -0.003499 0.056002 0.002704 q: 0.031565 0.838067 -0.059582 0.541384 
wait for imu ... 
time: 1403638144.895097, t: -0.003496 0.056003 0.002704 q: 0.031595 0.838089 -0.059589 0.541348 
time: 1403638144.995097, t: -0.003487 0.055986 0.002719 q: 0.031640 0.838058 -0.059552 0.541398 
wait for imu ... 
time: 1403638145.095097, t: -0.003494 0.055982 0.002712 q: 0.031603 0.838065 -0.059577 0.541386 
time: 1403638145.195097, t: -0.003488 0.055995 0.002730 q: 0.031651 0.838057 -0.059563 0.541397 
time: 1403638145.295097, t: -0.003489 0.055984 0.002729 q: 0.031616 0.838072 -0.059556 0.541377 
wait for imu ... 
time: 1403638145.395097, t: -0.003522 0.055971 0.002743 q: 0.031712 0.838057 -0.059570 0.541393 
time: 1403638145.495097, t: -0.003513 0.055985 0.002771 q: 0.031692 0.838046 -0.059553 0.541413 
time: 1403638145.595097, t: -0.003483 0.055963 0.002776 q: 0.031626 0.838060 -0.059493 0.541402 
wait for imu ... 
wait for imu ... 
time: 1403638145.695097, t: -0.003474 0.055961 0.002791 q: 0.031614 0.838031 -0.059494 0.541448 
time: 1403638145.795097, t: -0.003478 0.055963 0.002790 q: 0.031660 0.838067 -0.059432 0.541395 
wait for imu ... 
wait for imu ... 
time: 1403638145.895097, t: -0.003485 0.055969 0.002792 q: 0.031653 0.838028 -0.059448 0.541455 
time: 1403638145.995097, t: -0.003467 0.055976 0.002798 q: 0.031613 0.838023 -0.059460 0.541463 
wait for imu ... 
time: 1403638146.095097, t: -0.003452 0.055975 0.002822 q: 0.031565 0.838064 -0.059377 0.541411 
wait for imu ... 
wait for imu ... 
time: 1403638146.195097, t: -0.003460 0.055976 0.002818 q: 0.031602 0.838004 -0.059406 0.541500 
wait for imu ... 
time: 1403638146.295097, t: -0.003435 0.055984 0.002853 q: 0.031666 0.838017 -0.059404 0.541476 
time: 1403638146.395097, t: -0.003430 0.055975 0.002869 q: 0.031704 0.838036 -0.059356 0.541450 
wait for imu ... 
time: 1403638146.495097, t: -0.003437 0.055970 0.002877 q: 0.031722 0.838065 -0.059429 0.541395 
time: 1403638146.595097, t: -0.003429 0.055986 0.002874 q: 0.031796 0.838022 -0.059412 0.541459 
time: 1403638146.695097, t: -0.003407 0.055970 0.002908 q: 0.031843 0.838069 -0.059411 0.541385 
wait for imu ... 
wait for imu ... 
time: 1403638146.795097, t: -0.003426 0.055988 0.002876 q: 0.031827 0.837981 -0.059380 0.541524 
time: 1403638146.895097, t: -0.003373 0.055981 0.002940 q: 0.031918 0.838059 -0.059281 0.541410 
time: 1403638146.995097, t: -0.003392 0.055989 0.002940 q: 0.031998 0.838175 -0.059349 0.541218 
time: 1403638147.095097, t: -0.003374 0.056107 0.002881 q: 0.031886 0.838243 -0.059261 0.541128 
time: 1403638147.195097, t: -0.003350 0.056128 0.002858 q: 0.031961 0.838341 -0.059145 0.540985 
wait for imu ... 
wait for imu ... 
time: 1403638147.295097, t: -0.003355 0.056161 0.002877 q: 0.031874 0.838302 -0.059262 0.541038 
time: 1403638147.395097, t: -0.003334 0.056165 0.002921 q: 0.031928 0.838180 -0.059206 0.541230 
time: 1403638147.595097, t: -0.003381 0.056054 0.003259 q: 0.031296 0.837288 -0.059187 0.542647 
wait for imu ... 
time: 1403638147.695097, t: -0.002939 0.056043 0.003134 q: 0.030895 0.837442 -0.058379 0.542520 
time: 1403638147.795097, t: -0.001053 0.055614 0.004210 q: 0.031498 0.835225 -0.058974 0.545828 
time: 1403638147.895097, t: 0.003729 0.054313 0.008301 q: 0.034158 0.828110 -0.061963 0.556082 
time: 1403638147.995097, t: 0.012214 0.052833 0.018440 q: 0.034844 0.821386 -0.064112 0.565686 
time: 1403638148.095097, t: 0.021935 0.051088 0.036486 q: 0.035599 0.816264 -0.063422 0.573082 
time: 1403638148.195097, t: 0.032403 0.049081 0.063559 q: 0.036247 0.813432 -0.060317 0.577388 
wait for imu ... 
time: 1403638148.295097, t: 0.041129 0.047381 0.105306 q: 0.034576 0.813138 -0.057496 0.578192 
time: 1403638148.395097, t: 0.049156 0.046461 0.155580 q: 0.032957 0.812882 -0.054466 0.578939 
time: 1403638148.495097, t: 0.055932 0.046118 0.190026 q: 0.032848 0.816754 -0.051342 0.573757 
time: 1403638148.595097, t: 0.065529 0.045427 0.200508 q: 0.032838 0.820835 -0.048883 0.568121 
time: 1403638148.695097, t: 0.072667 0.046966 0.193562 q: 0.032102 0.824497 -0.046735 0.563018 
time: 1403638148.795097, t: 0.085153 0.046407 0.185404 q: 0.030026 0.826980 -0.045512 0.559582 
time: 1403638148.895097, t: 0.094782 0.051569 0.184599 q: 0.028617 0.827660 -0.044095 0.558763 
time: 1403638148.995097, t: 0.116282 0.054693 0.206403 q: 0.027547 0.825856 -0.042952 0.561567 
time: 1403638149.095097, t: 0.130563 0.057535 0.228000 q: 0.027214 0.822086 -0.041395 0.567204 
time: 1403638149.195097, t: 0.149858 0.061950 0.258123 q: 0.026881 0.819798 -0.040798 0.570564 
time: 1403638149.295097, t: 0.173364 0.066551 0.289176 q: 0.024906 0.818551 -0.042137 0.572345 
time: 1403638149.395097, t: 0.195434 0.072952 0.314120 q: 0.024190 0.817241 -0.042280 0.574234 
time: 1403638149.495097, t: 0.217768 0.075855 0.338144 q: 0.024656 0.816473 -0.041758 0.575343 
time: 1403638149.595097, t: 0.237634 0.081254 0.352921 q: 0.025481 0.816365 -0.040270 0.575567 
time: 1403638149.695097, t: 0.258519 0.088446 0.361969 q: 0.022849 0.816573 -0.035642 0.575688 
time: 1403638149.795097, t: 0.282337 0.094594 0.374029 q: 0.019799 0.816851 -0.030464 0.575704 
time: 1403638149.895097, t: 0.303310 0.102659 0.379060 q: 0.017157 0.816859 -0.026800 0.575959 
time: 1403638149.995097, t: 0.328523 0.112097 0.385411 q: 0.017096 0.817357 -0.023151 0.575412 
optimize pose graph 
time: 1403638150.095097, t: 0.351757 0.123935 0.384362 q: 0.023282 0.817461 -0.016740 0.575270 
time: 1403638150.195097, t: 0.377213 0.139133 0.380208 q: 0.030894 0.817608 -0.010841 0.574844 
time: 1403638150.295097, t: 0.403077 0.159205 0.370001 q: 0.034796 0.818618 -0.008698 0.573217 
time: 1403638150.395097, t: 0.428311 0.184344 0.355043 q: 0.032120 0.822766 -0.009790 0.567387 
time: 1403638150.495097, t: 0.456073 0.216677 0.346217 q: 0.021275 0.828404 -0.010393 0.559630 
time: 1403638150.595097, t: 0.484656 0.250188 0.341576 q: 0.013611 0.832044 -0.006442 0.554505 
time: 1403638150.695097, t: 0.517507 0.286925 0.349467 q: 0.007764 0.832223 -0.002652 0.554380 
time: 1403638150.795097, t: 0.553048 0.323140 0.362906 q: 0.004262 0.831031 0.003928 0.556195 
time: 1403638150.895097, t: 0.593813 0.361394 0.378884 q: 0.000133 0.828429 0.013298 0.559937 
time: 1403638150.995097, t: 0.636734 0.400492 0.390778 q: -0.003966 0.824115 0.021611 0.565997 
wait for imu ... 
wait for imu ... 
time: 1403638151.095097, t: 0.684136 0.446157 0.397424 q: -0.009706 0.821891 0.033930 0.568550 
time: 1403638151.195097, t: 0.726813 0.492045 0.398916 q: -0.019071 0.819504 0.051354 0.570449 
time: 1403638151.295097, t: 0.770779 0.540802 0.392562 q: -0.033314 0.819131 0.070308 0.568306 
time: 1403638151.395097, t: 0.814247 0.592704 0.386207 q: -0.048748 0.817757 0.090622 0.566290 
time: 1403638151.595097, t: 0.893034 0.699023 0.387714 q: -0.077580 0.813092 0.126811 0.562833 
time: 1403638151.695097, t: 0.930009 0.754893 0.398821 q: -0.086613 0.810588 0.139318 0.562170 
time: 1403638151.795097, t: 0.968629 0.811887 0.416929 q: -0.091796 0.809811 0.148033 0.560237 
time: 1403638151.895097, t: 1.011286 0.879960 0.434862 q: -0.094590 0.809294 0.152692 0.559268 
time: 1403638151.995097, t: 1.047581 0.933594 0.472529 q: -0.094908 0.809395 0.156753 0.557944 
time: 1403638152.095097, t: 1.087100 0.997714 0.498706 q: -0.094950 0.809781 0.157632 0.557128 
optimize pose graph 
time: 1403638152.195097, t: 1.124944 1.061448 0.519867 q: -0.094484 0.809728 0.158092 0.557154 
time: 1403638152.295097, t: 1.162064 1.128278 0.532767 q: -0.091883 0.809316 0.159463 0.557796 
time: 1403638152.395097, t: 1.200486 1.197742 0.540342 q: -0.088205 0.809198 0.160523 0.558258 
wait for imu ... 
time: 1403638152.495097, t: 1.237252 1.270745 0.539592 q: -0.084582 0.809687 0.161207 0.557912 
time: 1403638152.595097, t: 1.272507 1.346982 0.533647 q: -0.084713 0.809745 0.160641 0.557970 
time: 1403638152.695097, t: 1.309056 1.428714 0.525963 q: -0.090212 0.811538 0.158972 0.554973 
time: 1403638152.795097, t: 1.347444 1.513651 0.524781 q: -0.097901 0.809992 0.162220 0.554989 
time: 1403638152.895097, t: 1.385065 1.599483 0.532232 q: -0.109346 0.805934 0.168457 0.556898 
time: 1403638152.995097, t: 1.423292 1.687325 0.547170 q: -0.120121 0.801906 0.179832 0.556936 
time: 1403638153.095097, t: 1.459375 1.773399 0.567562 q: -0.128805 0.802214 0.192116 0.550412 
time: 1403638153.195097, t: 1.495218 1.858897 0.588206 q: -0.134300 0.802725 0.202022 0.544778 
time: 1403638153.295097, t: 1.536529 1.945492 0.605491 q: -0.137789 0.801890 0.210744 0.541824 
time: 1403638153.395097, t: 1.577840 2.031985 0.617657 q: -0.144041 0.800066 0.221245 0.538699 
time: 1403638153.495097, t: 1.621518 2.122305 0.629699 q: -0.146316 0.796434 0.237817 0.536402 
time: 1403638153.595097, t: 1.664828 2.214137 0.647095 q: -0.149193 0.792076 0.256569 0.533412 
time: 1403638153.695097, t: 1.705409 2.308776 0.669437 q: -0.158003 0.786232 0.273611 0.531048 
time: 1403638153.895097, t: 1.784424 2.511367 0.706605 q: -0.182048 0.773530 0.296155 0.529908 
time: 1403638153.995097, t: 1.821677 2.616483 0.716745 q: -0.191897 0.768325 0.300508 0.531552 
time: 1403638154.095097, t: 1.859445 2.724387 0.721272 q: -0.197689 0.764471 0.303208 0.533449 
time: 1403638154.195097, t: 1.898201 2.834984 0.721302 q: -0.200116 0.759430 0.304855 0.538778 
time: 1403638154.295097, t: 1.934909 2.945842 0.716936 q: -0.200408 0.755410 0.305799 0.543764 
time: 1403638154.395097, t: 1.970760 3.060906 0.710860 q: -0.203024 0.750271 0.303201 0.551311 
time: 1403638154.495097, t: 2.000193 3.171166 0.699033 q: -0.205217 0.746978 0.300230 0.556571 
time: 1403638154.595097, t: 2.025918 3.283855 0.691263 q: -0.206854 0.748229 0.299756 0.554537 
time: 1403638154.695097, t: 2.040258 3.386788 0.687266 q: -0.209717 0.750780 0.304217 0.547540 
time: 1403638154.795097, t: 2.052651 3.492613 0.692905 q: -0.209085 0.751815 0.314003 0.540796 
time: 1403638154.895097, t: 2.059369 3.594450 0.704153 q: -0.208301 0.750393 0.323236 0.537624 
time: 1403638154.995097, t: 2.064109 3.700076 0.723342 q: -0.209804 0.746857 0.332643 0.536223 
time: 1403638155.095097, t: 2.067131 3.814242 0.745957 q: -0.215785 0.741564 0.342563 0.534948 
time: 1403638155.195097, t: 2.054916 3.911307 0.772963 q: -0.224234 0.736194 0.349949 0.534111 
time: 1403638155.295097, t: 2.043658 4.016549 0.790589 q: -0.231399 0.729938 0.354933 0.536347 
time: 1403638155.395097, t: 2.027181 4.121257 0.801540 q: -0.236877 0.722826 0.361956 0.538888 
time: 1403638155.495097, t: 2.004220 4.225201 0.805447 q: -0.241704 0.716141 0.371653 0.539070 
time: 1403638155.595097, t: 1.974856 4.330266 0.803024 q: -0.255731 0.710785 0.378585 0.534845 
time: 1403638155.695097, t: 1.938763 4.432215 0.797444 q: -0.274117 0.702237 0.386659 0.531241 
time: 1403638155.795097, t: 1.898579 4.531681 0.787379 q: -0.288987 0.694205 0.399477 0.524390 
time: 1403638155.895097, t: 1.854582 4.626936 0.773135 q: -0.302179 0.687910 0.415680 0.512521 
wait for imu ... 
time: 1403638155.995097, t: 1.806541 4.716585 0.760394 q: -0.312139 0.683668 0.436813 0.494330 
time: 1403638156.095097, t: 1.756473 4.799408 0.755715 q: -0.321125 0.678267 0.459229 0.475334 
time: 1403638156.195097, t: 1.706850 4.880749 0.759925 q: -0.333036 0.670730 0.475302 0.461840 
time: 1403638156.295097, t: 1.658556 4.961378 0.770398 q: -0.341048 0.663764 0.491465 0.448961 
time: 1403638156.395097, t: 1.613235 5.040029 0.780529 q: -0.347403 0.658898 0.503277 0.438037 
time: 1403638156.495097, t: 1.570944 5.121411 0.783902 q: -0.351249 0.655996 0.510989 0.430329 
time: 1403638156.595097, t: 1.532456 5.204762 0.781246 q: -0.354304 0.653133 0.515072 0.427301 
time: 1403638156.695097, t: 1.497120 5.289985 0.772258 q: -0.355033 0.652318 0.517081 0.425512 
time: 1403638156.795097, t: 1.464477 5.379369 0.758431 q: -0.354921 0.651707 0.517862 0.425591 
time: 1403638156.895097, t: 1.432831 5.472423 0.742513 q: -0.353809 0.652259 0.517590 0.426001 
time: 1403638156.995097, t: 1.402682 5.567029 0.729299 q: -0.352099 0.653670 0.516420 0.426677 
time: 1403638157.095097, t: 1.376999 5.669362 0.723569 q: -0.349645 0.656619 0.515547 0.425219 
time: 1403638157.195097, t: 1.352538 5.773717 0.724675 q: -0.345444 0.659947 0.515614 0.423416 
time: 1403638157.295097, t: 1.332475 5.881677 0.730535 q: -0.346651 0.659921 0.514666 0.423622 
time: 1403638157.395097, t: 1.315934 5.993037 0.742144 q: -0.345801 0.655903 0.517598 0.426973 
time: 1403638157.495097, t: 1.300459 6.107306 0.750844 q: -0.347424 0.650087 0.520381 0.431146 
time: 1403638157.595097, t: 1.282384 6.226866 0.754776 q: -0.353642 0.641248 0.525179 0.433504 
time: 1403638157.695097, t: 1.266469 6.346654 0.755670 q: -0.361042 0.627706 0.534085 0.436333 
time: 1403638157.795097, t: 1.244828 6.466165 0.760894 q: -0.369108 0.613396 0.546905 0.434050 
time: 1403638157.895097, t: 1.220410 6.587885 0.774650 q: -0.381701 0.600334 0.559171 0.425713 
time: 1403638157.995097, t: 1.195540 6.705168 0.795147 q: -0.391971 0.588753 0.570810 0.417018 
time: 1403638158.095097, t: 1.170201 6.824157 0.811741 q: -0.401360 0.583642 0.578888 0.403931 
time: 1403638158.195097, t: 1.146155 6.940270 0.822556 q: -0.410150 0.580162 0.582830 0.394332 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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optimize pose graph 
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time: 1403638206.695097, t: 7.496354 9.923964 3.016257 q: -0.244892 0.723681 0.338520 0.549289 
time: 1403638206.795097, t: 7.398827 10.032538 3.030897 q: -0.251108 0.721280 0.345473 0.545297 
time: 1403638206.895097, t: 7.299242 10.134082 3.039124 q: -0.255637 0.717930 0.351091 0.544023 
time: 1403638206.995097, t: 7.196518 10.234069 3.042807 q: -0.261882 0.714358 0.352559 0.544805 
time: 1403638207.095097, t: 7.091371 10.325882 3.039797 q: -0.264857 0.710924 0.353986 0.546930 
time: 1403638207.195097, t: 6.982364 10.416977 3.029226 q: -0.268745 0.709586 0.354306 0.546562 
time: 1403638207.295097, t: 6.869188 10.499385 3.011267 q: -0.273038 0.705521 0.359692 0.546180 
time: 1403638207.495097, t: 6.622943 10.641334 2.966574 q: -0.293043 0.689417 0.381186 0.541781 
time: 1403638207.595097, t: 6.493074 10.697569 2.950641 q: -0.301198 0.684671 0.397064 0.531832 
time: 1403638207.695097, t: 6.362442 10.741517 2.939015 q: -0.308008 0.686393 0.409512 0.516039 
time: 1403638207.795097, t: 6.231732 10.777136 2.936304 q: -0.313709 0.687658 0.417365 0.504500 
time: 1403638207.895097, t: 6.103156 10.808284 2.940115 q: -0.315029 0.691643 0.423466 0.493015 
time: 1403638207.995097, t: 5.978570 10.831735 2.950897 q: -0.314466 0.693220 0.427198 0.487914 
time: 1403638208.095097, t: 5.854138 10.853899 2.960152 q: -0.315298 0.692047 0.427406 0.488859 
time: 1403638208.195097, t: 5.733263 10.873980 2.965106 q: -0.319937 0.689170 0.423404 0.493370 
optimize pose graph 
time: 1403638208.295097, t: 5.615879 10.890187 2.961860 q: -0.319173 0.688112 0.421772 0.496729 
time: 1403638208.395097, t: 5.500723 10.900547 2.951069 q: -0.315476 0.691321 0.422719 0.493821 
time: 1403638208.495097, t: 5.387682 10.907878 2.937641 q: -0.314027 0.692658 0.425716 0.490284 
time: 1403638208.595097, t: 5.276515 10.911944 2.929522 q: -0.316811 0.690265 0.433519 0.485001 
time: 1403638208.695097, t: 5.166557 10.913406 2.928910 q: -0.323695 0.684893 0.441285 0.481051 
time: 1403638208.795097, t: 5.058793 10.912344 2.935189 q: -0.330615 0.680451 0.447376 0.477006 
time: 1403638208.895097, t: 4.956563 10.907539 2.942413 q: -0.334517 0.675173 0.453191 0.476295 
time: 1403638208.995097, t: 4.856053 10.900991 2.944437 q: -0.337211 0.671244 0.457484 0.475846 
time: 1403638209.095097, t: 4.759882 10.890789 2.939633 q: -0.340102 0.669548 0.459807 0.473934 
time: 1403638209.195097, t: 4.666462 10.877644 2.927635 q: -0.340627 0.668655 0.461771 0.472906 
time: 1403638209.295097, t: 4.574934 10.862356 2.909037 q: -0.342605 0.668734 0.461604 0.471529 
time: 1403638209.395097, t: 4.483987 10.845069 2.885118 q: -0.343798 0.669236 0.461245 0.470296 
time: 1403638209.495097, t: 4.396839 10.826723 2.855034 q: -0.345562 0.668622 0.460064 0.471034 
time: 1403638209.595097, t: 4.313652 10.806483 2.812002 q: -0.347121 0.667189 0.458466 0.473471 
time: 1403638209.695097, t: 4.229855 10.783313 2.750843 q: -0.346624 0.668867 0.457514 0.472387 
time: 1403638209.795097, t: 4.148780 10.757149 2.671572 q: -0.343560 0.667759 0.458910 0.474833 
time: 1403638209.895097, t: 4.064937 10.725967 2.578188 q: -0.341827 0.665670 0.459371 0.478556 
time: 1403638209.995097, t: 3.989048 10.695945 2.478045 q: -0.343253 0.661790 0.457851 0.484337 
time: 1403638210.095097, t: 3.908022 10.657442 2.378211 q: -0.346663 0.657518 0.454899 0.490471 
time: 1403638210.195097, t: 3.833231 10.616480 2.285549 q: -0.350378 0.653981 0.452107 0.495120 
optimize pose graph 
time: 1403638210.295097, t: 3.751427 10.561643 2.197276 q: -0.351199 0.654318 0.451356 0.494778 
time: 1403638210.395097, t: 3.674947 10.502589 2.113018 q: -0.350360 0.655035 0.451713 0.494097 
time: 1403638210.495097, t: 3.594413 10.434161 2.024945 q: -0.351307 0.655283 0.450707 0.494016 
time: 1403638210.595097, t: 3.513081 10.358798 1.931356 q: -0.351152 0.654883 0.450111 0.495197 
time: 1403638210.695097, t: 3.434545 10.279188 1.833650 q: -0.353583 0.655200 0.447819 0.495126 
time: 1403638210.795097, t: 3.356732 10.189952 1.738959 q: -0.353598 0.655250 0.447465 0.495370 
time: 1403638210.895097, t: 3.276559 10.093618 1.651420 q: -0.353281 0.658405 0.447871 0.491027 
time: 1403638210.995097, t: 3.198823 9.990976 1.570573 q: -0.350948 0.662004 0.449812 0.486061 
time: 1403638211.095097, t: 3.121688 9.881495 1.498967 q: -0.349467 0.664978 0.451244 0.481722 
time: 1403638211.195097, t: 3.047639 9.772136 1.437529 q: -0.349105 0.667984 0.451905 0.477184 
time: 1403638211.395097, t: 2.910194 9.553010 1.333374 q: -0.344027 0.672425 0.448163 0.478163 
time: 1403638211.495097, t: 2.844659 9.438373 1.278100 q: -0.338062 0.679003 0.439554 0.481105 
time: 1403638211.595097, t: 2.783398 9.320535 1.217731 q: -0.331843 0.687617 0.426153 0.485239 
time: 1403638211.695097, t: 2.727013 9.197391 1.152032 q: -0.324591 0.697318 0.407973 0.491880 
time: 1403638211.795097, t: 2.674941 9.068684 1.083126 q: -0.314018 0.710494 0.386803 0.496965 
time: 1403638211.895097, t: 2.627549 8.937316 1.015945 q: -0.303845 0.724065 0.363151 0.501528 
time: 1403638211.995097, t: 2.585776 8.801692 0.955527 q: -0.290126 0.735581 0.341270 0.508214 
time: 1403638212.095097, t: 2.549019 8.662336 0.902441 q: -0.275127 0.744990 0.321141 0.515911 
time: 1403638212.195097, t: 2.515929 8.519991 0.858402 q: -0.257511 0.752360 0.303035 0.525178 
time: 1403638212.295097, t: 2.484419 8.373266 0.824304 q: -0.241557 0.760118 0.283277 0.532564 
optimize pose graph 
time: 1403638212.395097, t: 2.454805 8.223261 0.796350 q: -0.224271 0.766852 0.264742 0.539956 
time: 1403638212.495097, t: 2.425282 8.068013 0.775047 q: -0.209783 0.773226 0.244008 0.546417 
time: 1403638212.595097, t: 2.395894 7.908154 0.759858 q: -0.195377 0.780332 0.223076 0.550588 
time: 1403638212.695097, t: 2.366679 7.743204 0.750031 q: -0.181378 0.787105 0.201189 0.554158 
time: 1403638212.795097, t: 2.339009 7.576763 0.749988 q: -0.164264 0.792698 0.180087 0.558763 
time: 1403638212.895097, t: 2.310944 7.404688 0.752032 q: -0.149156 0.798828 0.155904 0.561533 
time: 1403638212.995097, t: 2.285549 7.232527 0.761441 q: -0.131099 0.804457 0.131771 0.564180 
time: 1403638213.095097, t: 2.262678 7.059362 0.776879 q: -0.114211 0.809076 0.105364 0.566789 
time: 1403638213.195097, t: 2.241874 6.884924 0.790135 q: -0.099850 0.815835 0.076793 0.564399 
time: 1403638213.295097, t: 2.223929 6.708876 0.797201 q: -0.088439 0.824623 0.046131 0.556820 
time: 1403638213.395097, t: 2.211311 6.528317 0.797480 q: -0.078564 0.832279 0.014441 0.548572 
time: 1403638213.495097, t: 2.206714 6.344764 0.795305 q: -0.069580 0.835982 -0.016953 0.544063 
time: 1403638213.595097, t: 2.208314 6.153559 0.791188 q: -0.052030 0.833393 -0.037442 0.548951 
time: 1403638213.695097, t: 2.217583 5.956398 0.790475 q: -0.028372 0.824631 -0.043745 0.563263 
time: 1403638213.795097, t: 2.227318 5.756388 0.793347 q: -0.008551 0.817717 -0.044432 0.573840 
time: 1403638213.895097, t: 2.240027 5.556612 0.801145 q: 0.002288 0.814763 -0.044862 0.578052 
time: 1403638213.995097, t: 2.251898 5.358130 0.813990 q: 0.006876 0.815407 -0.044656 0.577121 
time: 1403638214.095097, t: 2.261610 5.159861 0.830366 q: 0.009368 0.821311 -0.042601 0.568811 
time: 1403638214.195097, t: 2.270837 4.961180 0.851576 q: 0.008343 0.828241 -0.040165 0.558869 
time: 1403638214.295097, t: 2.283556 4.764678 0.870783 q: 0.006281 0.833529 -0.037206 0.551186 
time: 1403638214.395097, t: 2.300022 4.566978 0.883873 q: 0.004651 0.836986 -0.033242 0.546193 
time: 1403638214.495097, t: 2.322693 4.372304 0.890786 q: 0.003301 0.834978 -0.028650 0.549527 
time: 1403638214.595097, t: 2.348900 4.175476 0.892748 q: 0.002359 0.828770 -0.024543 0.559046 
time: 1403638214.695097, t: 2.377458 3.983319 0.889610 q: 0.000885 0.822217 -0.020950 0.568788 
time: 1403638214.795097, t: 2.405853 3.792037 0.881808 q: -0.000889 0.816999 -0.017657 0.576368 
time: 1403638214.895097, t: 2.431908 3.604306 0.868164 q: -0.001947 0.813937 -0.014714 0.580763 
time: 1403638214.995097, t: 2.456704 3.421842 0.848821 q: -0.002783 0.812137 -0.012948 0.583316 
time: 1403638215.095097, t: 2.479227 3.244100 0.824048 q: -0.002445 0.811991 -0.011095 0.583560 
time: 1403638215.195097, t: 2.499725 3.071136 0.795315 q: -0.002103 0.813230 -0.010241 0.581848 
time: 1403638215.295097, t: 2.519556 2.899807 0.764286 q: 0.001444 0.815241 -0.007889 0.579066 
time: 1403638215.395097, t: 2.538460 2.731380 0.733743 q: 0.005726 0.815911 -0.005434 0.578124 
time: 1403638215.495097, t: 2.558074 2.567768 0.709925 q: 0.009623 0.815592 -0.002626 0.578542 
time: 1403638215.595097, t: 2.576865 2.409358 0.694405 q: 0.011107 0.814389 -0.001772 0.580210 
time: 1403638215.695097, t: 2.594502 2.256433 0.685645 q: 0.007920 0.813681 -0.003812 0.581245 
time: 1403638215.795097, t: 2.609873 2.106835 0.678754 q: 0.005061 0.813181 -0.007631 0.581939 
time: 1403638215.895097, t: 2.620572 1.964238 0.665784 q: 0.006180 0.813215 -0.013441 0.581775 
time: 1403638215.995097, t: 2.627907 1.821173 0.648102 q: 0.007571 0.812942 -0.018156 0.582013 
time: 1403638216.095097, t: 2.631450 1.682563 0.626321 q: 0.011082 0.812699 -0.020370 0.582222 
time: 1403638216.195097, t: 2.633337 1.550215 0.609009 q: 0.013574 0.812672 -0.021938 0.582150 
time: 1403638216.295097, t: 2.632259 1.421613 0.598487 q: 0.016098 0.811510 -0.023029 0.583663 
time: 1403638216.395097, t: 2.629396 1.297682 0.594367 q: 0.018071 0.810057 -0.023544 0.585600 
time: 1403638216.495097, t: 2.623499 1.178773 0.595511 q: 0.018738 0.809543 -0.024151 0.586265 
time: 1403638216.595097, t: 2.615588 1.063957 0.592815 q: 0.020904 0.810289 -0.023662 0.585179 
time: 1403638216.695097, t: 2.606110 0.954296 0.582552 q: 0.023851 0.812139 -0.022165 0.582554 
time: 1403638216.795097, t: 2.596350 0.847407 0.566632 q: 0.027286 0.811299 -0.020709 0.583627 
time: 1403638216.895097, t: 2.586636 0.744963 0.545660 q: 0.031476 0.807489 -0.025242 0.588501 
time: 1403638216.995097, t: 2.571271 0.648426 0.521620 q: 0.035019 0.806369 -0.035769 0.589290 
time: 1403638217.095097, t: 2.553895 0.555809 0.494875 q: 0.039149 0.807987 -0.050793 0.585700 
time: 1403638217.195097, t: 2.531922 0.467644 0.466140 q: 0.045298 0.809610 -0.065549 0.581536 
time: 1403638217.295097, t: 2.509957 0.383571 0.438779 q: 0.052034 0.810825 -0.074997 0.578127 
time: 1403638217.395097, t: 2.486686 0.304352 0.419368 q: 0.057580 0.811850 -0.081499 0.575275 
time: 1403638217.495097, t: 2.461361 0.230166 0.408510 q: 0.062713 0.812264 -0.084744 0.573683 
time: 1403638217.595097, t: 2.436253 0.159514 0.406259 q: 0.069644 0.813246 -0.084253 0.571561 
time: 1403638217.695097, t: 2.410737 0.092647 0.410942 q: 0.078193 0.813657 -0.080343 0.570433 
time: 1403638217.795097, t: 2.385087 0.031926 0.422437 q: 0.084440 0.815171 -0.075897 0.567984 
time: 1403638217.895097, t: 2.361294 -0.020096 0.439103 q: 0.086868 0.815702 -0.073489 0.567171 
time: 1403638217.995097, t: 2.339754 -0.064758 0.455270 q: 0.087960 0.813510 -0.070720 0.570494 
time: 1403638218.095097, t: 2.320909 -0.102199 0.462637 q: 0.088266 0.812114 -0.068721 0.572676 
time: 1403638218.195097, t: 2.302004 -0.131468 0.465367 q: 0.085943 0.810392 -0.068331 0.575508 
time: 1403638218.295097, t: 2.283069 -0.154598 0.463361 q: 0.083764 0.806763 -0.066982 0.581060 
time: 1403638218.395097, t: 2.266380 -0.170868 0.459332 q: 0.077151 0.804581 -0.068949 0.584759 
optimize pose graph 
time: 1403638218.495097, t: 2.242191 -0.177934 0.465816 q: 0.071769 0.804790 -0.070670 0.584951 
time: 1403638218.595097, t: 2.219256 -0.180722 0.476727 q: 0.069516 0.805906 -0.071018 0.583644 
time: 1403638218.695097, t: 2.190368 -0.177606 0.493206 q: 0.067021 0.809713 -0.072966 0.578402 
time: 1403638218.795097, t: 2.161252 -0.170419 0.506157 q: 0.070074 0.814013 -0.078578 0.571225 
time: 1403638218.895097, t: 2.135751 -0.160186 0.511366 q: 0.073801 0.815807 -0.086488 0.567038 
time: 1403638218.995097, t: 2.112260 -0.145961 0.510952 q: 0.064442 0.814859 -0.101495 0.567055 
time: 1403638219.095097, t: 2.086418 -0.132013 0.508583 q: 0.057102 0.812055 -0.113462 0.569590 
time: 1403638219.195097, t: 2.065560 -0.118685 0.502340 q: 0.060948 0.809515 -0.115717 0.572347 
time: 1403638219.295097, t: 2.039311 -0.108786 0.495448 q: 0.070125 0.803928 -0.112666 0.579731 
time: 1403638219.395097, t: 2.012516 -0.099150 0.487234 q: 0.076656 0.796457 -0.109742 0.589692 
time: 1403638219.495097, t: 1.987084 -0.088124 0.481064 q: 0.080752 0.791339 -0.107314 0.596444 
time: 1403638219.595097, t: 1.955020 -0.075142 0.480011 q: 0.078435 0.792007 -0.108869 0.595584 
time: 1403638219.695097, t: 1.913608 -0.058695 0.484087 q: 0.072665 0.794428 -0.112451 0.592418 
time: 1403638219.795097, t: 1.867094 -0.041241 0.485159 q: 0.065289 0.797705 -0.117225 0.587931 
time: 1403638219.895097, t: 1.816490 -0.025431 0.480521 q: 0.056595 0.800514 -0.123007 0.583818 
time: 1403638219.995097, t: 1.763717 -0.013828 0.470819 q: 0.049295 0.802793 -0.128032 0.580260 
time: 1403638220.095097, t: 1.708798 -0.006990 0.455865 q: 0.047103 0.805044 -0.129565 0.576974 
time: 1403638220.195097, t: 1.652813 -0.007075 0.446099 q: 0.055255 0.807404 -0.124275 0.574109 
time: 1403638220.395097, t: 1.538977 -0.016072 0.447133 q: 0.079221 0.810661 -0.108291 0.569936 
time: 1403638220.495097, t: 1.478281 -0.017599 0.458747 q: 0.082669 0.810940 -0.106150 0.569451 
optimize pose graph 
time: 1403638220.595097, t: 1.421849 -0.017261 0.472155 q: 0.083569 0.810334 -0.106619 0.570094 
time: 1403638220.695097, t: 1.362602 -0.016482 0.482741 q: 0.084471 0.809853 -0.107455 0.570488 
time: 1403638220.795097, t: 1.307456 -0.012799 0.485521 q: 0.083807 0.809977 -0.109433 0.570034 
time: 1403638220.895097, t: 1.251811 -0.006958 0.481180 q: 0.084056 0.809819 -0.110720 0.569973 
time: 1403638220.995097, t: 1.196623 0.000733 0.469232 q: 0.083164 0.810570 -0.112600 0.568667 
time: 1403638221.095097, t: 1.142673 0.009649 0.453756 q: 0.083392 0.810954 -0.113560 0.567894 
time: 1403638221.195097, t: 1.085552 0.019177 0.439549 q: 0.083406 0.812225 -0.114248 0.565934 
time: 1403638221.295097, t: 1.034928 0.030882 0.434327 q: 0.081902 0.813611 -0.115864 0.563831 
time: 1403638221.395097, t: 0.984593 0.042708 0.434620 q: 0.079706 0.814673 -0.118223 0.562120 
time: 1403638221.495097, t: 0.935067 0.053717 0.436629 q: 0.077444 0.814890 -0.120295 0.561681 
time: 1403638221.595097, t: 0.889782 0.065087 0.431345 q: 0.075977 0.814078 -0.122293 0.562627 
time: 1403638221.695097, t: 0.847046 0.074197 0.422274 q: 0.075314 0.812373 -0.122820 0.565060 
time: 1403638221.795097, t: 0.806463 0.081742 0.414084 q: 0.073162 0.810252 -0.124050 0.568112 
time: 1403638221.895097, t: 0.767304 0.088501 0.412454 q: 0.075218 0.809184 -0.122095 0.569787 
time: 1403638221.995097, t: 0.733308 0.092294 0.421828 q: 0.079096 0.808652 -0.118799 0.570712 
time: 1403638222.095097, t: 0.692257 0.098798 0.433012 q: 0.082448 0.810387 -0.116404 0.568265 
time: 1403638222.195097, t: 0.652557 0.105245 0.440975 q: 0.082724 0.814239 -0.116461 0.562679 
time: 1403638222.295097, t: 0.614016 0.112298 0.443902 q: 0.081734 0.817662 -0.117646 0.557591 
time: 1403638222.395097, t: 0.585628 0.119053 0.439972 q: 0.080905 0.820558 -0.118617 0.553234 
time: 1403638222.495097, t: 0.553520 0.126318 0.432890 q: 0.080577 0.822843 -0.118660 0.549869 
time: 1403638222.595097, t: 0.531838 0.132088 0.421572 q: 0.080843 0.819112 -0.118331 0.555444 
time: 1403638222.695097, t: 0.508434 0.138646 0.408206 q: 0.079989 0.813755 -0.118880 0.563270 
optimize pose graph 
time: 1403638222.795097, t: 0.487645 0.144924 0.392230 q: 0.080930 0.811392 -0.118322 0.566651 
time: 1403638222.895097, t: 0.467475 0.151576 0.375585 q: 0.082501 0.805824 -0.116931 0.574603 
time: 1403638222.995097, t: 0.446931 0.157319 0.357652 q: 0.081631 0.801172 -0.116914 0.581198 
time: 1403638223.095097, t: 0.423140 0.165920 0.343859 q: 0.081765 0.803918 -0.116643 0.577430 
time: 1403638223.195097, t: 0.392921 0.175628 0.335594 q: 0.079164 0.812919 -0.118947 0.564577 
time: 1403638223.295097, t: 0.367165 0.185736 0.329114 q: 0.073322 0.820434 -0.123388 0.553432 
time: 1403638223.395097, t: 0.341636 0.193321 0.325589 q: 0.070421 0.818550 -0.125797 0.556050 
time: 1403638223.495097, t: 0.318108 0.199502 0.319941 q: 0.060311 0.813438 -0.132793 0.563069 
time: 1403638223.595097, t: 0.298102 0.199811 0.310217 q: 0.059286 0.810948 -0.133606 0.566567 
time: 1403638223.695097, t: 0.275493 0.195674 0.301774 q: 0.070082 0.810904 -0.126407 0.567050 
time: 1403638223.795097, t: 0.253126 0.190421 0.288840 q: 0.080785 0.812074 -0.119277 0.565494 
time: 1403638223.895097, t: 0.231000 0.185357 0.275734 q: 0.086120 0.812756 -0.115279 0.564555 
time: 1403638223.995097, t: 0.218509 0.177809 0.263228 q: 0.089696 0.813245 -0.112518 0.563850 
time: 1403638224.095097, t: 0.198078 0.177466 0.244914 q: 0.088879 0.817224 -0.112901 0.558121 
time: 1403638224.195097, t: 0.184730 0.178229 0.226431 q: 0.086482 0.823532 -0.114594 0.548803 
time: 1403638224.295097, t: 0.179089 0.180098 0.212974 q: 0.085933 0.822954 -0.114844 0.549702 
time: 1403638224.395097, t: 0.173103 0.184590 0.202222 q: 0.083605 0.816749 -0.117129 0.558760 
time: 1403638224.495097, t: 0.172342 0.189668 0.189915 q: 0.078845 0.809112 -0.120330 0.569773 
time: 1403638224.595097, t: 0.168676 0.194431 0.177837 q: 0.080705 0.805851 -0.118715 0.574454 
time: 1403638224.695097, t: 0.164485 0.199994 0.164051 q: 0.081137 0.813386 -0.118509 0.563715 
time: 1403638224.795097, t: 0.161009 0.206640 0.151668 q: 0.080512 0.822064 -0.119274 0.550910 
optimize pose graph 
time: 1403638224.895097, t: 0.162797 0.212881 0.148812 q: 0.076466 0.818297 -0.121675 0.556541 
time: 1403638224.995097, t: 0.168373 0.218127 0.151598 q: 0.068697 0.810239 -0.126171 0.568221 
time: 1403638225.095097, t: 0.173324 0.221097 0.154182 q: 0.067991 0.806437 -0.125740 0.573782 
time: 1403638225.195097, t: 0.176313 0.221696 0.158261 q: 0.073483 0.809922 -0.121027 0.569192 
time: 1403638225.295097, t: 0.178412 0.221669 0.162973 q: 0.076643 0.817339 -0.118035 0.558704 
time: 1403638225.395097, t: 0.182355 0.220977 0.169053 q: 0.079030 0.816589 -0.115841 0.559927 
time: 1403638225.495097, t: 0.188636 0.220109 0.169403 q: 0.081427 0.808533 -0.114022 0.571527 
time: 1403638225.595097, t: 0.193830 0.219702 0.162493 q: 0.084504 0.797767 -0.112143 0.586388 
time: 1403638225.695097, t: 0.194619 0.220948 0.148321 q: 0.085784 0.792631 -0.110986 0.593346 
time: 1403638225.795097, t: 0.190011 0.225423 0.121844 q: 0.084854 0.799796 -0.111666 0.583658 
time: 1403638225.895097, t: 0.182964 0.231916 0.087424 q: 0.083987 0.812297 -0.112377 0.566120 
time: 1403638225.995097, t: 0.176948 0.239909 0.049693 q: 0.079703 0.820536 -0.115305 0.554142 
time: 1403638226.095097, t: 0.182175 0.251115 0.049144 q: 0.060136 0.823732 -0.125388 0.549660 
time: 1403638226.195097, t: 0.192306 0.257969 0.051738 q: 0.060406 0.828998 -0.122810 0.542247 
time: 1403638226.295097, t: 0.194655 0.264590 0.045730 q: 0.073337 0.820790 -0.121487 0.553323 
time: 1403638226.395097, t: 0.193180 0.270055 0.035557 q: 0.079436 0.825543 -0.110623 0.547660 
time: 1403638226.495097, t: 0.196294 0.272856 0.031272 q: 0.079270 0.825343 -0.112903 0.547521 
time: 1403638226.595097, t: 0.193733 0.271459 0.032257 q: 0.079902 0.824920 -0.112473 0.548154 
wait for imu ... 
time: 1403638226.695097, t: 0.197460 0.259395 0.066471 q: 0.079240 0.825478 -0.111905 0.547525 
time: 1403638226.795097, t: 0.191225 0.251075 0.065671 q: 0.079011 0.825337 -0.111582 0.547838 
time: 1403638226.895097, t: 0.189988 0.248977 0.072573 q: 0.078742 0.825481 -0.111773 0.547620 
time: 1403638226.995097, t: 0.190122 0.250897 0.065855 q: 0.078009 0.825643 -0.112679 0.547295 
optimize pose graph 
wait for imu ... 
time: 1403638227.095097, t: 0.191340 0.251696 0.072882 q: 0.078006 0.825561 -0.112919 0.547370 
wait for imu ... 
time: 1403638227.195097, t: 0.191308 0.250494 0.076023 q: 0.078209 0.825594 -0.112742 0.547327 
time: 1403638227.295097, t: 0.189845 0.247264 0.077263 q: 0.078397 0.825666 -0.112418 0.547258 
time: 1403638227.395097, t: 0.186839 0.244852 0.077518 q: 0.078523 0.825697 -0.112211 0.547236 
time: 1403638227.495097, t: 0.185739 0.244151 0.078289 q: 0.078389 0.825749 -0.112325 0.547153 
time: 1403638227.595097, t: 0.185784 0.244981 0.079612 q: 0.078229 0.825734 -0.112450 0.547174 
wait for imu ... 
time: 1403638227.795097, t: 0.188965 0.245733 0.081165 q: 0.078114 0.825835 -0.112650 0.546997 
time: 1403638227.895097, t: 0.188859 0.246120 0.078803 q: 0.078195 0.825881 -0.112577 0.546930 
time: 1403638227.995097, t: 0.188885 0.247191 0.074415 q: 0.078233 0.825872 -0.112608 0.546932 
time: 1403638228.095097, t: 0.188740 0.250194 0.066543 q: 0.078360 0.825874 -0.112581 0.546917 
time: 1403638228.195097, t: 0.190450 0.252920 0.059821 q: 0.078388 0.825851 -0.112662 0.546931 
time: 1403638228.295097, t: 0.193390 0.254381 0.055490 q: 0.078333 0.825841 -0.112760 0.546933 
wait for imu ... 
time: 1403638228.395097, t: 0.195659 0.255497 0.051941 q: 0.078251 0.825873 -0.112862 0.546875 
time: 1403638228.495097, t: 0.197515 0.255978 0.049835 q: 0.078241 0.825870 -0.112852 0.546884 
time: 1403638228.595097, t: 0.198090 0.255790 0.049238 q: 0.078167 0.825934 -0.112810 0.546806 
time: 1403638228.695097, t: 0.199381 0.256193 0.048222 q: 0.078204 0.825945 -0.112848 0.546777 
wait for imu ... 
time: 1403638228.795097, t: 0.199628 0.256068 0.048284 q: 0.078171 0.825993 -0.112847 0.546709 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731030755.085169202]: Shutdown request received.[0m
[33m[ WARN] [1731030755.085227698]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731030755.086153128]: Shutdown request received.[0m
[33m[ WARN] [1731030755.086202602]: Reason given for shutdown: [user request][0m
killed
