/SLAM-Hive/slam_hive_results/mapping_results/3400/2370_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/96b47cd8-9d76-11ef-a5bf-0242ac110002/roslaunch-dd1c4891eca9-118.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
[31m[ERROR] [1731031813.398129137]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731031813.415740751]: init begins[0m
[31m[ERROR] [1731031813.419901789]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://dd1c4891eca9:46301/[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] [1731031814.627252726]: 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] [1731031814.650982594]:  fix extrinsic param [0m
[0m[ INFO] [1731031814.657022653]: Connected to master at [localhost:11311][0m
camera number 2
[0m[ INFO] [1731031814.662016083]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731031814.662129403]: ROW: 480 COL: 752 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g       0       0 9.81007
[0m[ INFO] [1731031814.662979617]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731031814.663772277]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731031814.664384849]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://dd1c4891eca9:11311/[0m
]2;roscore http://dd1c4891eca9:11311/
[1msetting /run_id to 96b47cd8-9d76-11ef-a5bf-0242ac110002[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mprocess[rosout-1]: started with pid [248][0m
started core service [/rosout]
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1731031823.286641663]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 327394692.97 
init first imu pose
averge acc 9.410943 -0.689906 -2.446931
init R0 
 0.260797  0.261977  0.929168
        0 -0.962476  0.271368
 0.965394 -0.070772 -0.251011
[33m[ WARN] [1731031824.732616590]: gyroscope bias initial calibration -0.00214086   0.0203059   0.0776988[0m
[0m[ INFO] [1731031824.828226198]: Initialization finish![0m
time: 1403637131.588319, t: -0.000081 0.000006 -0.000081 q: -0.102359 0.787012 0.078093 0.603354 
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time: 1403637131.788319, t: -0.000052 0.000014 -0.000071 q: -0.102253 0.787029 0.078402 0.603309 
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time: 1403637131.988319, t: -0.000106 -0.000057 -0.000073 q: -0.101753 0.787109 0.078232 0.603312 
time: 1403637132.088319, t: 0.000001 -0.000211 -0.000043 q: -0.101191 0.787039 0.078343 0.603483 
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time: 1403637142.088319, t: 0.029604 -0.047914 -0.002494 q: -0.063964 0.794879 0.024484 0.602890 
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time: 1403637142.388319, t: 0.029581 -0.047933 -0.002503 q: -0.063708 0.794962 0.024338 0.602814 
optimize pose graph 
time: 1403637142.488319, t: 0.029591 -0.047922 -0.002515 q: -0.063735 0.794990 0.024271 0.602777 
time: 1403637142.588319, t: 0.029582 -0.047931 -0.002516 q: -0.063665 0.795001 0.024230 0.602771 
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time: 1403637149.488319, t: 0.028640 -0.048380 -0.002583 q: -0.067589 0.796554 0.030953 0.599979 
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time: 1403637149.888319, t: 0.026649 -0.054145 -0.002217 q: -0.075647 0.812823 0.051794 0.575252 
time: 1403637150.088319, t: 0.030738 -0.077064 0.009734 q: -0.053856 0.833741 0.065344 0.545624 
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time: 1403637150.388319, t: 0.083065 -0.119838 0.082502 q: -0.037531 0.828038 0.060441 0.556140 
optimize pose graph 
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time: 1403637150.588319, t: 0.142351 -0.143846 0.138737 q: -0.035539 0.819833 0.053317 0.569007 
time: 1403637150.788319, t: 0.206893 -0.165374 0.186853 q: -0.031420 0.818497 0.049937 0.571474 
time: 1403637150.888319, t: 0.238987 -0.174813 0.208946 q: -0.029283 0.815351 0.049719 0.576084 
time: 1403637150.988319, t: 0.270537 -0.184149 0.229050 q: -0.028761 0.810733 0.049315 0.582626 
time: 1403637151.088319, t: 0.301477 -0.192722 0.245349 q: -0.029054 0.806508 0.050149 0.588376 
time: 1403637151.188319, t: 0.328978 -0.200194 0.258284 q: -0.029670 0.803237 0.051614 0.592677 
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time: 1403637151.788319, t: 0.448518 -0.247911 0.406733 q: -0.040402 0.815769 0.055158 0.574322 
time: 1403637151.888319, t: 0.469372 -0.258786 0.422172 q: -0.039391 0.815570 0.056685 0.574527 
time: 1403637151.988319, t: 0.489329 -0.269808 0.433062 q: -0.039449 0.815722 0.057661 0.574210 
time: 1403637152.088319, t: 0.508039 -0.281368 0.451609 q: -0.040857 0.816236 0.057219 0.573425 
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time: 1403637152.388319, t: 0.567217 -0.316365 0.500728 q: -0.042293 0.818928 0.054226 0.569761 
optimize pose graph 
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time: 1403637152.888319, t: 0.693074 -0.389629 0.501300 q: -0.043428 0.813552 0.050945 0.577625 
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time: 1403637153.088319, t: 0.739549 -0.426801 0.529566 q: -0.039427 0.812397 0.052790 0.579371 
time: 1403637153.188319, t: 0.761755 -0.444817 0.537819 q: -0.038066 0.813637 0.053413 0.577662 
time: 1403637153.288319, t: 0.784049 -0.464117 0.542323 q: -0.035005 0.814494 0.054701 0.576525 
time: 1403637153.388319, t: 0.808638 -0.483229 0.543592 q: -0.032118 0.814759 0.055478 0.576246 
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time: 1403637153.788319, t: 0.901733 -0.545350 0.597591 q: -0.029796 0.816076 0.056127 0.574441 
time: 1403637153.888319, t: 0.927124 -0.557244 0.613354 q: -0.030905 0.814668 0.055523 0.576435 
time: 1403637153.988319, t: 0.954304 -0.568390 0.621366 q: -0.031710 0.813232 0.055261 0.578441 
time: 1403637154.088319, t: 0.977596 -0.578824 0.621829 q: -0.033543 0.814812 0.054361 0.576195 
time: 1403637154.188319, t: 1.002604 -0.590417 0.612756 q: -0.043481 0.821396 0.047176 0.566739 
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time: 1403637154.388319, t: 1.055825 -0.621257 0.584850 q: -0.054483 0.827240 0.037569 0.557938 
optimize pose graph 
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time: 1403637155.588319, t: 1.607019 -0.886896 0.590342 q: 0.026225 0.811015 -0.041493 0.582963 
time: 1403637155.688319, t: 1.658979 -0.905485 0.588700 q: 0.026830 0.810774 -0.055989 0.582057 
time: 1403637155.788319, t: 1.707158 -0.926692 0.580605 q: 0.030210 0.809761 -0.071638 0.581587 
time: 1403637155.888319, t: 1.753931 -0.951749 0.566251 q: 0.038224 0.809554 -0.089822 0.578872 
time: 1403637155.988319, t: 1.798886 -0.981643 0.547940 q: 0.051194 0.809683 -0.108472 0.574479 
time: 1403637156.088319, t: 1.840316 -1.016473 0.531130 q: 0.062554 0.804765 -0.130872 0.575598 
time: 1403637156.188319, t: 1.878930 -1.054673 0.514833 q: 0.074095 0.799090 -0.153902 0.576436 
time: 1403637156.288319, t: 1.912570 -1.100197 0.501227 q: 0.087637 0.793021 -0.178130 0.575941 
time: 1403637156.388319, t: 1.941763 -1.149600 0.487647 q: 0.101003 0.787606 -0.201969 0.573309 
optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403637208.188319, t: 1.388307 -2.555299 0.188566 q: 0.162006 0.784626 -0.231436 0.551864 
time: 1403637208.288319, t: 1.368785 -2.543836 0.222229 q: 0.158253 0.784351 -0.235259 0.551728 
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optimize pose graph 
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time: 1403637209.088319, t: 1.203886 -2.463369 0.243073 q: 0.185837 0.784216 -0.220402 0.549448 
time: 1403637209.188319, t: 1.185379 -2.442726 0.226183 q: 0.181671 0.786492 -0.214110 0.550075 
time: 1403637209.288319, t: 1.172851 -2.417294 0.214961 q: 0.162962 0.791211 -0.210068 0.550726 
time: 1403637209.388319, t: 1.158645 -2.387727 0.210940 q: 0.148576 0.797603 -0.203569 0.548010 
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time: 1403637210.388319, t: 1.516902 -2.260360 0.206942 q: 0.109973 0.857361 -0.196239 0.462956 
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optimize pose graph 
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time: 1403637211.388319, t: 3.156641 -2.713645 -0.149934 q: 0.118617 0.796118 -0.197572 0.559546 
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time: 1403637211.588319, t: 3.505088 -2.852860 -0.253380 q: 0.120125 0.796260 -0.200047 0.558141 
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time: 1403637211.988319, t: 4.160515 -3.155153 -0.386210 q: 0.103742 0.807672 -0.211788 0.540416 
time: 1403637212.088319, t: 4.323143 -3.244573 -0.396970 q: 0.114232 0.801759 -0.205801 0.549344 
time: 1403637212.188319, t: 4.483329 -3.334598 -0.398543 q: 0.122264 0.793360 -0.201278 0.561355 
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time: 1403637212.388319, t: 4.791459 -3.513123 -0.387566 q: 0.129177 0.785664 -0.199219 0.571276 
time: 1403637212.488319, t: 4.936793 -3.598442 -0.373670 q: 0.131074 0.786454 -0.199872 0.569527 
time: 1403637212.588319, t: 5.076864 -3.680700 -0.356290 q: 0.130783 0.791116 -0.202263 0.562247 
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time: 1403637212.788319, t: 5.351244 -3.843228 -0.312195 q: 0.132623 0.799713 -0.203274 0.549136 
optimize pose graph 
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time: 1403637230.988319, t: -1.230760 -0.798958 0.093613 q: 0.180403 0.771216 -0.301252 0.530968 
time: 1403637231.088319, t: -1.235078 -0.806536 0.104288 q: 0.195659 0.763614 -0.331204 0.518571 
time: 1403637231.188319, t: -1.241447 -0.819449 0.101985 q: 0.213252 0.750851 -0.363301 0.508683 
time: 1403637231.288319, t: -1.247519 -0.838551 0.084353 q: 0.232628 0.733694 -0.397132 0.499863 
time: 1403637231.388319, t: -1.233668 -0.885106 0.036017 q: 0.254040 0.712773 -0.429986 0.492474 
time: 1403637231.488319, t: -1.262476 -0.892104 0.001251 q: 0.275460 0.688080 -0.466203 0.483035 
time: 1403637231.588319, t: -1.275115 -0.925131 -0.064518 q: 0.292083 0.664175 -0.503908 0.468653 
time: 1403637231.788319, t: -1.314708 -1.009164 -0.199438 q: 0.335936 0.616926 -0.561578 0.437240 
time: 1403637231.888319, t: -1.340681 -1.063535 -0.255460 q: 0.351707 0.596404 -0.585618 0.421493 
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time: 1403637232.088319, t: -1.408294 -1.188374 -0.331978 q: -0.383148 -0.547663 0.621564 -0.408560 
time: 1403637232.188319, t: -1.452727 -1.256222 -0.356582 q: -0.401016 -0.520238 0.634425 -0.407485 
time: 1403637232.288319, t: -1.505626 -1.320130 -0.375192 q: -0.416962 -0.500762 0.646012 -0.397553 
time: 1403637232.388319, t: -1.565417 -1.381239 -0.385857 q: -0.436296 -0.483733 0.654208 -0.384266 
time: 1403637232.488319, t: -1.632792 -1.436455 -0.390027 q: -0.449460 -0.464590 0.665938 -0.372382 
time: 1403637232.588319, t: -1.702439 -1.488423 -0.391792 q: -0.446792 -0.442696 0.688369 -0.361310 
time: 1403637232.688319, t: -1.779681 -1.533519 -0.387889 q: -0.443543 -0.420187 0.710875 -0.348380 
time: 1403637232.788319, t: -1.867648 -1.572926 -0.379520 q: -0.439681 -0.399655 0.731707 -0.334008 
time: 1403637232.888319, t: -1.969207 -1.611559 -0.364608 q: -0.437745 -0.389212 0.746542 -0.315543 
optimize pose graph 
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time: 1403637233.088319, t: -2.208065 -1.696517 -0.318670 q: -0.437231 -0.386492 0.761110 -0.283134 
time: 1403637233.188319, t: -2.343001 -1.748065 -0.292053 q: -0.434125 -0.390474 0.765190 -0.271199 
time: 1403637233.288319, t: -2.486845 -1.808471 -0.269791 q: -0.429621 -0.394995 0.768155 -0.263329 
time: 1403637233.388319, t: -2.638647 -1.878402 -0.253131 q: -0.423249 -0.399932 0.770934 -0.258024 
time: 1403637233.488319, t: -2.799831 -1.958840 -0.248852 q: -0.424527 -0.409319 0.768147 -0.249370 
time: 1403637233.588319, t: -2.969401 -2.049476 -0.255218 q: -0.448350 -0.427598 0.749278 -0.233934 
time: 1403637233.688319, t: -3.141014 -2.153754 -0.273201 q: -0.483493 -0.444576 0.721251 -0.219962 
time: 1403637233.788319, t: -3.302895 -2.272272 -0.299853 q: 0.512690 0.456288 -0.696528 0.209281 
time: 1403637233.888319, t: -3.450409 -2.403361 -0.333477 q: 0.529860 0.462415 -0.681417 0.202710 
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time: 1403637234.188319, t: -3.759116 -2.865992 -0.457508 q: 0.559436 0.474188 -0.654447 0.184052 
time: 1403637234.388319, t: -3.834021 -3.222395 -0.557611 q: 0.564135 0.462959 -0.653805 0.199898 
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time: 1403637234.588319, t: -3.804765 -3.605863 -0.665754 q: 0.551827 0.451584 -0.656151 0.247031 
time: 1403637234.688319, t: -3.758154 -3.795852 -0.725504 q: 0.544424 0.452104 -0.652655 0.270641 
time: 1403637234.788319, t: -3.695262 -3.983564 -0.790934 q: 0.532132 0.454815 -0.650068 0.295618 
time: 1403637234.888319, t: -3.618468 -4.164063 -0.857562 q: 0.516730 0.458950 -0.647721 0.320644 
time: 1403637234.988319, t: -3.532882 -4.337113 -0.919042 q: 0.502734 0.466864 -0.641911 0.342414 
optimize pose graph 
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time: 1403637235.188319, t: -3.345209 -4.652196 -1.014522 q: -0.487071 -0.497905 0.617875 -0.364805 
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time: 1403637235.388319, t: -3.138394 -4.923546 -1.080865 q: -0.464365 -0.528118 0.607551 -0.369240 
time: 1403637235.488319, t: -3.028183 -5.047100 -1.107305 q: -0.446559 -0.542018 0.610681 -0.365883 
time: 1403637235.588319, t: -2.914643 -5.167989 -1.126103 q: -0.433479 -0.554952 0.609105 -0.364850 
time: 1403637235.688319, t: -2.797869 -5.287966 -1.135675 q: -0.427125 -0.565087 0.601119 -0.369995 
time: 1403637235.788319, t: -2.677413 -5.408406 -1.134534 q: -0.432485 -0.574515 0.582920 -0.378277 
time: 1403637235.888319, t: -2.551759 -5.525898 -1.124451 q: 0.445341 0.586306 -0.556758 0.384625 
time: 1403637235.988319, t: -2.415221 -5.638721 -1.110621 q: 0.450966 0.601753 -0.534136 0.386293 
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time: 1403637236.188319, t: -2.101372 -5.841374 -1.066750 q: 0.443670 0.631362 -0.499106 0.394249 
time: 1403637236.288319, t: -1.922916 -5.926608 -1.033718 q: 0.435581 0.643410 -0.483804 0.402773 
time: 1403637236.388319, t: -1.729826 -6.001077 -0.992819 q: 0.423616 0.653556 -0.470658 0.414604 
time: 1403637236.488319, t: -1.523684 -6.068645 -0.945908 q: 0.409265 0.659952 -0.461698 0.428720 
time: 1403637236.588319, t: -1.307512 -6.131916 -0.897625 q: 0.399097 0.662939 -0.455305 0.440375 
time: 1403637236.688319, t: -1.084090 -6.187175 -0.854882 q: 0.396195 0.663001 -0.447686 0.450596 
time: 1403637236.788319, t: -0.852292 -6.230159 -0.815178 q: 0.394542 0.661320 -0.436742 0.465026 
time: 1403637236.888319, t: -0.613418 -6.260458 -0.772388 q: 0.388871 0.658527 -0.424046 0.485084 
time: 1403637236.988319, t: -0.372008 -6.276528 -0.721831 q: 0.385616 0.652631 -0.408668 0.508296 
time: 1403637237.088319, t: -0.131404 -6.274693 -0.665628 q: 0.383732 0.643358 -0.394810 0.531945 
optimize pose graph 
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time: 1403637237.688319, t: 1.102677 -5.771641 -0.203027 q: 0.313357 0.655404 -0.362328 0.583928 
time: 1403637237.788319, t: 1.257672 -5.616540 -0.112413 q: 0.301756 0.654954 -0.367210 0.587482 
time: 1403637237.888319, t: 1.395583 -5.449362 -0.030115 q: 0.292000 0.655833 -0.378838 0.584039 
time: 1403637237.988319, t: 1.515964 -5.268974 0.043802 q: 0.285392 0.655635 -0.396746 0.575576 
time: 1403637238.188319, t: 1.710918 -4.897035 0.169791 q: 0.269100 0.643493 -0.454450 0.554055 
time: 1403637238.288319, t: 1.778973 -4.709533 0.227330 q: 0.264989 0.627724 -0.488711 0.544890 
time: 1403637238.388319, t: 1.825838 -4.524810 0.278920 q: 0.265764 0.606702 -0.523511 0.535928 
time: 1403637238.488319, t: 1.845131 -4.343443 0.325235 q: 0.272560 0.582246 -0.555818 0.527035 
time: 1403637238.588319, t: 1.836764 -4.166471 0.367080 q: -0.281891 -0.560533 0.585002 -0.513919 
time: 1403637238.688319, t: 1.802305 -3.995747 0.404133 q: -0.277757 -0.547830 0.615176 -0.494259 
time: 1403637238.788319, t: 1.741618 -3.834669 0.437724 q: -0.264838 -0.545254 0.642603 -0.468637 
time: 1403637238.888319, t: 1.651778 -3.688424 0.468034 q: -0.248527 -0.547199 0.665910 -0.442009 
time: 1403637238.988319, t: 1.530204 -3.564144 0.499051 q: -0.234681 -0.552782 0.682643 -0.416361 
time: 1403637239.088319, t: 1.376884 -3.468280 0.533853 q: -0.240216 -0.561462 0.685755 -0.395976 
time: 1403637239.188319, t: 1.195244 -3.405848 0.574937 q: -0.269270 -0.566921 0.676359 -0.385530 
time: 1403637239.288319, t: 0.996249 -3.367258 0.616977 q: -0.301207 -0.562946 0.667433 -0.383275 
optimize pose graph 
time: 1403637239.488319, t: 0.563596 -3.343345 0.676474 q: -0.337294 -0.535902 0.677092 -0.374950 
time: 1403637239.588319, t: 0.331288 -3.349837 0.682467 q: -0.355257 -0.516449 0.686998 -0.367569 
time: 1403637239.688319, t: 0.092093 -3.367875 0.669207 q: -0.374618 -0.495316 0.697271 -0.357961 
time: 1403637239.788319, t: -0.155173 -3.393872 0.642827 q: -0.405162 -0.472321 0.700127 -0.350112 
time: 1403637239.888319, t: -0.407364 -3.425929 0.601778 q: -0.440702 -0.449688 0.698853 -0.339363 
time: 1403637240.088319, t: -0.914721 -3.483118 0.497610 q: -0.489016 -0.401810 0.708329 -0.312542 
time: 1403637240.188319, t: -1.164627 -3.507051 0.438217 q: 0.501643 0.378029 -0.719722 0.295715 
time: 1403637240.288319, t: -1.409747 -3.526899 0.374136 q: 0.504830 0.358678 -0.735049 0.276041 
time: 1403637240.388319, t: -1.650441 -3.548379 0.308700 q: -0.499971 -0.349251 0.750733 -0.253877 
time: 1403637240.488319, t: -1.888448 -3.569339 0.250428 q: -0.494279 -0.347475 0.762480 -0.231457 
time: 1403637240.588319, t: -2.124689 -3.599681 0.200292 q: -0.492455 -0.345298 0.768134 -0.219609 
time: 1403637240.688319, t: -2.359350 -3.636259 0.159731 q: -0.495189 -0.345163 0.768184 -0.213409 
time: 1403637240.788319, t: -2.593897 -3.684788 0.126085 q: 0.500861 0.344366 -0.765005 0.212881 
time: 1403637240.888319, t: -2.825738 -3.737620 0.103473 q: 0.519287 0.344657 -0.751712 0.215595 
time: 1403637240.988319, t: -3.052512 -3.797264 0.084064 q: 0.532043 0.345475 -0.741405 0.218851 
time: 1403637241.088319, t: -3.272132 -3.858212 0.057157 q: 0.530133 0.346024 -0.741385 0.222652 
time: 1403637241.188319, t: -3.483264 -3.921091 0.021385 q: 0.526669 0.349178 -0.741998 0.223904 
time: 1403637241.288319, t: -3.686929 -3.986345 -0.017397 q: 0.528567 0.355971 -0.738616 0.219881 
time: 1403637241.388319, t: -3.882036 -4.053993 -0.060100 q: 0.532743 0.362427 -0.733671 0.215775 
optimize pose graph 
time: 1403637241.488319, t: -4.066560 -4.124435 -0.102309 q: 0.537518 0.369133 -0.728380 0.210425 
time: 1403637241.588319, t: -4.239115 -4.199736 -0.138775 q: 0.545597 0.374803 -0.720574 0.206448 
time: 1403637241.688319, t: -4.396324 -4.280222 -0.167950 q: 0.553561 0.375655 -0.713234 0.209167 
time: 1403637241.788319, t: -4.536537 -4.363912 -0.190728 q: 0.562712 0.374721 -0.705230 0.213519 
time: 1403637241.888319, t: -4.657838 -4.449486 -0.205686 q: 0.567770 0.368159 -0.700999 0.225159 
time: 1403637241.988319, t: -4.762743 -4.533626 -0.214901 q: 0.569906 0.356078 -0.698848 0.245003 
time: 1403637242.088319, t: -4.853462 -4.612059 -0.218551 q: 0.572575 0.351768 -0.697156 0.249778 
time: 1403637242.188319, t: -4.927612 -4.683744 -0.216140 q: 0.572280 0.356108 -0.698342 0.240836 
time: 1403637242.288319, t: -4.985482 -4.751888 -0.207730 q: 0.573311 0.360733 -0.698283 0.231490 
time: 1403637242.388319, t: -5.027395 -4.817306 -0.200979 q: 0.579372 0.366053 -0.694081 0.220420 
time: 1403637242.488319, t: -5.054307 -4.882981 -0.201511 q: 0.587091 0.369477 -0.688247 0.212429 
time: 1403637242.588319, t: -5.058692 -4.946616 -0.204922 q: 0.590429 0.371730 -0.683620 0.214180 
time: 1403637242.688319, t: -5.042742 -5.012198 -0.206796 q: 0.585631 0.377807 -0.680928 0.225024 
time: 1403637242.788319, t: -5.005098 -5.076708 -0.201204 q: 0.576150 0.384247 -0.678653 0.244613 
time: 1403637242.888319, t: -4.950096 -5.136954 -0.188128 q: 0.570177 0.388087 -0.674198 0.264091 
time: 1403637242.988319, t: -4.880686 -5.189384 -0.170369 q: 0.569843 0.393515 -0.666994 0.274853 
time: 1403637243.088319, t: -4.798834 -5.236311 -0.152702 q: 0.567800 0.402493 -0.663728 0.273984 
time: 1403637243.188319, t: -4.703419 -5.274902 -0.142760 q: 0.561637 0.410097 -0.665623 0.270795 
time: 1403637243.388319, t: -4.476406 -5.335124 -0.144684 q: 0.542857 0.412927 -0.677777 0.274620 
time: 1403637243.488319, t: -4.348135 -5.360464 -0.152268 q: 0.539537 0.411389 -0.680469 0.276806 
optimize pose graph 
time: 1403637243.588319, t: -4.209861 -5.383648 -0.156127 q: 0.532017 0.409408 -0.686609 0.279125 
time: 1403637243.688319, t: -4.066144 -5.407106 -0.152932 q: 0.520663 0.407607 -0.695731 0.280581 
time: 1403637243.788319, t: -3.919992 -5.429168 -0.140585 q: 0.509081 0.402545 -0.705252 0.285332 
time: 1403637243.888319, t: -3.774259 -5.447766 -0.119918 q: -0.495254 -0.395841 0.716091 -0.291970 
time: 1403637243.988319, t: -3.632026 -5.460940 -0.089058 q: -0.488546 -0.391250 0.721730 -0.295554 
time: 1403637244.088319, t: -3.496365 -5.473328 -0.047484 q: -0.488434 -0.389098 0.723205 -0.294975 
time: 1403637244.188319, t: -3.367199 -5.484034 0.001083 q: -0.491237 -0.388211 0.722723 -0.292661 
time: 1403637244.288319, t: -3.244172 -5.494997 0.055884 q: -0.491632 -0.386552 0.723659 -0.291879 
time: 1403637244.388319, t: -3.126395 -5.502938 0.114666 q: -0.487689 -0.386740 0.726721 -0.290634 
time: 1403637244.488319, t: -3.014911 -5.510534 0.178329 q: -0.483918 -0.393676 0.726259 -0.288773 
time: 1403637244.588319, t: -2.909631 -5.522008 0.244318 q: -0.484096 -0.408914 0.719707 -0.283659 
time: 1403637244.688319, t: -2.807715 -5.537095 0.304344 q: -0.482225 -0.426392 0.712022 -0.280488 
time: 1403637244.788319, t: -2.708101 -5.557766 0.358481 q: -0.478604 -0.440429 0.705324 -0.281918 
time: 1403637244.888319, t: -2.609837 -5.584219 0.406983 q: -0.474988 -0.450174 0.700393 -0.284919 
time: 1403637244.988319, t: -2.512395 -5.616872 0.449376 q: -0.468096 -0.455533 0.699715 -0.289438 
time: 1403637245.088319, t: -2.417703 -5.654479 0.484206 q: -0.452566 -0.454062 0.707463 -0.297502 
time: 1403637245.188319, t: -2.328504 -5.697057 0.512481 q: -0.436852 -0.452540 0.716335 -0.302046 
time: 1403637245.288319, t: -2.248566 -5.746486 0.539471 q: -0.442116 -0.456271 0.712017 -0.298967 
time: 1403637245.388319, t: -2.175513 -5.802512 0.562844 q: -0.452586 -0.460419 0.704687 -0.294274 
time: 1403637245.488319, t: -2.104843 -5.863172 0.580698 q: -0.457803 -0.465809 0.698277 -0.292997 
time: 1403637245.588319, t: -2.035117 -5.931141 0.592401 q: -0.457214 -0.473848 0.692123 -0.295616 
optimize pose graph 
time: 1403637245.688319, t: -1.966013 -6.005159 0.600114 q: -0.451930 -0.484563 0.685732 -0.301213 
time: 1403637245.788319, t: -1.896524 -6.086398 0.604045 q: -0.449899 -0.495171 0.672897 -0.315604 
time: 1403637245.888319, t: -1.825950 -6.173030 0.603414 q: -0.451834 -0.508065 0.651699 -0.336162 
time: 1403637245.988319, t: -1.753803 -6.260280 0.596382 q: -0.446982 -0.525868 0.629402 -0.357104 
time: 1403637246.088319, t: -1.678755 -6.347871 0.584680 q: -0.436692 -0.548253 0.604869 -0.377958 
time: 1403637246.188319, t: -1.602157 -6.430693 0.567849 q: -0.421910 -0.573794 0.577284 -0.399369 
time: 1403637246.288319, t: -1.523426 -6.512391 0.544951 q: 0.403182 0.600423 -0.547858 0.420461 
time: 1403637246.388319, t: -1.442728 -6.589495 0.519017 q: 0.385774 0.628126 -0.513121 0.439708 
time: 1403637246.488319, t: -1.359019 -6.662070 0.490025 q: 0.372113 0.654837 -0.474364 0.455740 
time: 1403637246.588319, t: -1.271201 -6.727183 0.457850 q: 0.359132 0.674580 -0.436625 0.474684 
time: 1403637246.688319, t: -1.180912 -6.782383 0.423143 q: 0.344417 0.688822 -0.401426 0.495740 
time: 1403637246.788319, t: -1.087925 -6.825005 0.388310 q: 0.327963 0.702799 -0.368771 0.512368 
time: 1403637246.888319, t: -0.993905 -6.855302 0.359698 q: 0.308953 0.717283 -0.339659 0.524104 
time: 1403637246.988319, t: -0.898455 -6.877162 0.336406 q: 0.286081 0.734890 -0.319750 0.525218 
time: 1403637247.088319, t: -0.802172 -6.884521 0.318467 q: 0.265760 0.749202 -0.309242 0.521956 
time: 1403637247.188319, t: -0.704385 -6.887411 0.299215 q: 0.249223 0.758876 -0.306061 0.517998 
time: 1403637247.288319, t: -0.602505 -6.884450 0.275232 q: 0.239140 0.762009 -0.305765 0.518326 
time: 1403637247.388319, t: -0.498195 -6.877746 0.251685 q: 0.242159 0.752233 -0.300820 0.533866 
time: 1403637247.488319, t: -0.393649 -6.865634 0.224874 q: 0.248089 0.739515 -0.296540 0.551030 
time: 1403637247.588319, t: -0.292173 -6.845236 0.190270 q: 0.249054 0.739024 -0.293367 0.552949 
time: 1403637247.688319, t: -0.194326 -6.814369 0.153195 q: 0.250905 0.742225 -0.283250 0.553099 
time: 1403637247.788319, t: -0.101803 -6.771754 0.117656 q: 0.253961 0.747701 -0.267329 0.552252 
optimize pose graph 
time: 1403637247.888319, t: -0.010852 -6.715908 0.089133 q: 0.249722 0.751510 -0.252915 0.555792 
time: 1403637247.988319, t: 0.079055 -6.647058 0.070311 q: 0.234024 0.751451 -0.243353 0.566862 
time: 1403637248.088319, t: 0.164686 -6.565254 0.055856 q: 0.215393 0.760270 -0.235433 0.565834 
time: 1403637248.188319, t: 0.244812 -6.474871 0.044826 q: 0.197869 0.771702 -0.227309 0.560049 
time: 1403637248.288319, t: 0.325277 -6.379512 0.030473 q: 0.184793 0.780147 -0.221727 0.555031 
time: 1403637248.388319, t: 0.404690 -6.279980 0.009910 q: 0.178080 0.783622 -0.216818 0.554269 
time: 1403637248.488319, t: 0.482916 -6.177462 -0.014456 q: 0.174514 0.782371 -0.214231 0.558163 
time: 1403637248.588319, t: 0.560356 -6.071534 -0.037259 q: 0.175906 0.777062 -0.211301 0.566201 
time: 1403637248.688319, t: 0.634138 -5.960898 -0.055255 q: 0.177405 0.778533 -0.211612 0.563590 
time: 1403637248.788319, t: 0.705255 -5.845092 -0.064831 q: 0.178455 0.783530 -0.214690 0.555106 
time: 1403637248.888319, t: 0.774326 -5.724753 -0.065866 q: 0.178488 0.785975 -0.219636 0.549677 
time: 1403637248.988319, t: 0.844028 -5.602255 -0.059265 q: 0.177677 0.786190 -0.224973 0.547470 
time: 1403637249.088319, t: 0.915104 -5.480703 -0.045703 q: 0.179998 0.785639 -0.227261 0.546557 
time: 1403637249.188319, t: 0.988493 -5.357813 -0.023791 q: 0.181606 0.784974 -0.229308 0.546125 
time: 1403637249.288319, t: 1.062308 -5.233306 0.003855 q: 0.182076 0.783326 -0.231571 0.547378 
time: 1403637249.388319, t: 1.137010 -5.106051 0.031178 q: 0.184024 0.781923 -0.232630 0.548284 
time: 1403637249.488319, t: 1.212018 -4.975638 0.044710 q: 0.183940 0.781166 -0.233980 0.548817 
time: 1403637249.588319, t: 1.287681 -4.844221 0.040481 q: 0.183082 0.781000 -0.234743 0.549013 
time: 1403637249.688319, t: 1.361826 -4.710330 0.022046 q: 0.183634 0.779512 -0.233954 0.551276 
time: 1403637249.788319, t: 1.435730 -4.574119 0.004544 q: 0.184581 0.774632 -0.230728 0.559142 
time: 1403637249.888319, t: 1.508058 -4.435328 -0.008219 q: 0.181763 0.772437 -0.224917 0.565434 
time: 1403637249.988319, t: 1.576425 -4.291385 -0.015587 q: 0.171728 0.776116 -0.217619 0.566389 
time: 1403637250.088319, t: 1.640154 -4.144928 -0.016529 q: 0.155050 0.781032 -0.214954 0.565459 
time: 1403637250.188319, t: 1.700021 -3.998375 -0.012188 q: 0.141982 0.786304 -0.208804 0.563886 
time: 1403637250.288319, t: 1.755051 -3.852656 -0.011749 q: 0.127868 0.788830 -0.202891 0.565891 
time: 1403637250.388319, t: 1.808516 -3.709875 -0.017470 q: 0.116198 0.789966 -0.199467 0.568036 
time: 1403637250.488319, t: 1.856644 -3.571585 -0.029433 q: 0.104824 0.791460 -0.199437 0.568179 
time: 1403637250.588319, t: 1.901232 -3.440035 -0.042291 q: 0.097844 0.794437 -0.199506 0.565237 
time: 1403637250.688319, t: 1.942044 -3.315523 -0.048864 q: 0.094815 0.797799 -0.194268 0.562838 
time: 1403637250.788319, t: 1.981358 -3.198599 -0.046572 q: 0.094368 0.800169 -0.189090 0.561311 
time: 1403637250.888319, t: 2.021210 -3.089616 -0.035683 q: 0.093062 0.799039 -0.187020 0.563826 
time: 1403637250.988319, t: 2.060977 -2.989183 -0.019455 q: 0.089667 0.798759 -0.187905 0.564479 
time: 1403637251.088319, t: 2.099317 -2.895777 0.004522 q: 0.083774 0.799903 -0.186579 0.564203 
time: 1403637251.188319, t: 2.135890 -2.810135 0.033644 q: 0.073999 0.802528 -0.184873 0.562401 
time: 1403637251.288319, t: 2.167408 -2.735079 0.070719 q: 0.067175 0.804164 -0.181128 0.562140 
time: 1403637251.388319, t: 2.197663 -2.669093 0.117374 q: 0.071152 0.803934 -0.167469 0.566200 
time: 1403637251.488319, t: 2.228337 -2.611475 0.166291 q: 0.071431 0.803915 -0.152291 0.570461 
time: 1403637251.588319, t: 2.257309 -2.558953 0.208796 q: 0.067095 0.804736 -0.137024 0.573692 
time: 1403637251.688319, t: 2.283727 -2.511246 0.243682 q: 0.060428 0.805613 -0.125364 0.575865 
time: 1403637251.788319, t: 2.307002 -2.467638 0.271715 q: 0.053950 0.806162 -0.117180 0.577461 
time: 1403637251.888319, t: 2.327699 -2.429095 0.296398 q: 0.053321 0.805097 -0.109546 0.580496 
optimize pose graph 
time: 1403637251.988319, t: 2.345529 -2.394538 0.318349 q: 0.060252 0.801697 -0.098949 0.586397 
time: 1403637252.088319, t: 2.358884 -2.360373 0.335945 q: 0.064365 0.797986 -0.092610 0.592030 
time: 1403637252.188319, t: 2.366174 -2.325249 0.349111 q: 0.062246 0.794134 -0.091706 0.597550 
time: 1403637252.288319, t: 2.367120 -2.289362 0.355615 q: 0.057658 0.793896 -0.093667 0.598022 
time: 1403637252.388319, t: 2.363934 -2.254542 0.354010 q: 0.053712 0.796996 -0.096140 0.593860 
time: 1403637252.488319, t: 2.351843 -2.219148 0.345751 q: 0.050837 0.802009 -0.098660 0.586910 
time: 1403637252.588319, t: 2.338155 -2.185832 0.332058 q: 0.049471 0.805118 -0.100405 0.582457 
time: 1403637252.688319, t: 2.320214 -2.154127 0.313380 q: 0.045493 0.809468 -0.103735 0.576134 
time: 1403637252.788319, t: 2.303559 -2.127135 0.293907 q: 0.038129 0.815345 -0.109554 0.567236 
time: 1403637252.888319, t: 2.286126 -2.103918 0.281261 q: 0.041195 0.816700 -0.108393 0.565292 
time: 1403637252.988319, t: 2.270942 -2.087354 0.278909 q: 0.049622 0.812226 -0.103674 0.571907 
time: 1403637253.088319, t: 2.254420 -2.074691 0.284179 q: 0.054689 0.809012 -0.101015 0.576459 
time: 1403637253.188319, t: 2.237706 -2.063781 0.292950 q: 0.057290 0.807307 -0.100125 0.578747 
time: 1403637253.288319, t: 2.220972 -2.053002 0.297482 q: 0.058551 0.806490 -0.100431 0.579707 
time: 1403637253.388319, t: 2.201754 -2.044229 0.295786 q: 0.058816 0.806393 -0.100965 0.579722 
time: 1403637253.488319, t: 2.181013 -2.036663 0.287640 q: 0.057987 0.805563 -0.102159 0.580749 
time: 1403637253.588319, t: 2.158473 -2.029948 0.274870 q: 0.059183 0.806554 -0.101889 0.579298 
time: 1403637253.688319, t: 2.134467 -2.023662 0.266503 q: 0.063111 0.806296 -0.099203 0.579709 
time: 1403637253.788319, t: 2.108506 -2.017813 0.265559 q: 0.067758 0.805091 -0.095975 0.581400 
time: 1403637253.888319, t: 2.081472 -2.010517 0.270852 q: 0.069527 0.804695 -0.094939 0.581910 
time: 1403637253.988319, t: 2.053176 -2.002786 0.282030 q: 0.070112 0.804593 -0.094954 0.581978 
time: 1403637254.088319, t: 2.020814 -1.990823 0.299365 q: 0.071363 0.803738 -0.093476 0.583245 
optimize pose graph 
time: 1403637254.188319, t: 1.986693 -1.976431 0.321427 q: 0.068260 0.803929 -0.088756 0.584090 
time: 1403637254.288319, t: 1.950981 -1.959032 0.348781 q: 0.063968 0.807615 -0.080145 0.580727 
time: 1403637254.388319, t: 1.913770 -1.938998 0.378929 q: 0.058650 0.812275 -0.072114 0.575820 
time: 1403637254.488319, t: 1.877704 -1.917906 0.404395 q: 0.054357 0.815621 -0.065981 0.572237 
time: 1403637254.588319, t: 1.842778 -1.895768 0.425407 q: 0.050500 0.816803 -0.061215 0.571433 
time: 1403637254.688319, t: 1.809069 -1.872346 0.440287 q: 0.048464 0.815715 -0.057891 0.573506 
time: 1403637254.788319, t: 1.773637 -1.848257 0.450509 q: 0.046592 0.812850 -0.055954 0.577904 
time: 1403637254.888319, t: 1.740549 -1.822769 0.453921 q: 0.043592 0.810206 -0.055994 0.581834 
time: 1403637255.088319, t: 1.670700 -1.767822 0.445412 q: 0.040757 0.807487 -0.053520 0.586038 
time: 1403637255.188319, t: 1.631364 -1.737223 0.441328 q: 0.035138 0.808164 -0.047140 0.586015 
time: 1403637255.288319, t: 1.590393 -1.705436 0.444297 q: 0.028118 0.808030 -0.040058 0.587105 
time: 1403637255.388319, t: 1.548339 -1.672966 0.453419 q: 0.020315 0.808483 -0.033611 0.587208 
time: 1403637255.488319, t: 1.503500 -1.640002 0.458907 q: 0.013482 0.809765 -0.023420 0.586132 
time: 1403637255.588319, t: 1.456433 -1.605339 0.457925 q: 0.007399 0.810609 -0.009230 0.585468 
time: 1403637255.688319, t: 1.409427 -1.570791 0.452904 q: -0.000366 0.811469 0.007069 0.584353 
time: 1403637255.788319, t: 1.360267 -1.535910 0.447733 q: -0.009586 0.813606 0.025682 0.580770 
time: 1403637255.888319, t: 1.310326 -1.499663 0.449561 q: -0.021228 0.815914 0.044311 0.576081 
time: 1403637255.988319, t: 1.258959 -1.462866 0.461517 q: -0.033010 0.816110 0.060518 0.573771 
time: 1403637256.088319, t: 1.207274 -1.425793 0.482343 q: -0.039791 0.815884 0.073555 0.572136 
optimize pose graph 
time: 1403637256.188319, t: 1.155057 -1.388026 0.504702 q: -0.044307 0.813360 0.081537 0.574312 
time: 1403637256.288319, t: 1.103346 -1.348924 0.521838 q: -0.047950 0.809421 0.085511 0.578987 
time: 1403637256.388319, t: 1.051631 -1.307758 0.531087 q: -0.048604 0.807204 0.087760 0.581685 
time: 1403637256.488319, t: 0.997490 -1.264938 0.534272 q: -0.046745 0.806111 0.088758 0.583199 
time: 1403637256.588319, t: 0.942903 -1.220463 0.532596 q: -0.047063 0.805652 0.086969 0.584078 
time: 1403637256.688319, t: 0.885801 -1.174249 0.523001 q: -0.050696 0.810788 0.081441 0.577425 
time: 1403637256.788319, t: 0.828459 -1.125693 0.510095 q: -0.059474 0.818012 0.072012 0.567569 
time: 1403637256.888319, t: 0.772891 -1.079639 0.496381 q: -0.065152 0.819658 0.066379 0.565252 
time: 1403637256.988319, t: 0.719261 -1.034863 0.484583 q: -0.064838 0.816147 0.071746 0.569695 
time: 1403637257.188319, t: 0.613935 -0.946051 0.480805 q: -0.065923 0.810185 0.091537 0.575218 
time: 1403637257.288319, t: 0.564978 -0.901225 0.488848 q: -0.067745 0.810548 0.098715 0.573305 
time: 1403637257.388319, t: 0.513813 -0.858890 0.503018 q: -0.068294 0.811218 0.105816 0.571020 
time: 1403637257.488319, t: 0.466201 -0.813572 0.517235 q: -0.069088 0.811395 0.110337 0.569817 
time: 1403637257.588319, t: 0.418818 -0.768709 0.525141 q: -0.068588 0.812513 0.114163 0.567525 
time: 1403637257.688319, t: 0.370357 -0.723826 0.525185 q: -0.071422 0.816459 0.114422 0.561428 
time: 1403637257.788319, t: 0.325420 -0.675589 0.521170 q: -0.075344 0.819533 0.116728 0.555935 
time: 1403637257.888319, t: 0.287478 -0.624136 0.513464 q: -0.080662 0.821945 0.122050 0.550458 
time: 1403637257.988319, t: 0.252689 -0.570792 0.502098 q: -0.088953 0.822129 0.129973 0.547081 
time: 1403637258.088319, t: 0.221250 -0.516677 0.489840 q: -0.100680 0.820444 0.141496 0.544714 
time: 1403637258.188319, t: 0.195492 -0.462752 0.484790 q: -0.111959 0.813417 0.158568 0.548338 
time: 1403637258.288319, t: 0.173034 -0.408119 0.485556 q: -0.119438 0.804453 0.175085 0.554919 
optimize pose graph 
time: 1403637258.388319, t: 0.151439 -0.352638 0.482746 q: -0.127421 0.798108 0.186283 0.558646 
time: 1403637258.488319, t: 0.128963 -0.297609 0.472522 q: -0.138989 0.797218 0.190188 0.555836 
time: 1403637258.588319, t: 0.109732 -0.242617 0.455542 q: -0.148288 0.798784 0.190925 0.550911 
time: 1403637258.688319, t: 0.091101 -0.190279 0.435671 q: -0.151055 0.795563 0.192436 0.554284 
time: 1403637258.788319, t: 0.075498 -0.140431 0.415439 q: -0.152138 0.793050 0.193141 0.557335 
time: 1403637258.888319, t: 0.059511 -0.093184 0.394781 q: -0.153754 0.791125 0.192152 0.559962 
time: 1403637258.988319, t: 0.044654 -0.048718 0.380494 q: -0.155366 0.791501 0.189981 0.559728 
time: 1403637259.088319, t: 0.031269 -0.007499 0.376240 q: -0.155170 0.792168 0.188247 0.559423 
time: 1403637259.188319, t: 0.018827 0.030643 0.384151 q: -0.155759 0.791938 0.186928 0.560028 
time: 1403637259.288319, t: 0.004994 0.063822 0.400152 q: -0.156244 0.791406 0.185155 0.561233 
time: 1403637259.388319, t: -0.009103 0.093344 0.415650 q: -0.156859 0.792132 0.183112 0.560707 
time: 1403637259.488319, t: -0.021200 0.119042 0.426416 q: -0.164186 0.792121 0.176714 0.560678 
time: 1403637259.588319, t: -0.032817 0.139120 0.434427 q: -0.168015 0.792316 0.173291 0.560336 
time: 1403637259.688319, t: -0.042693 0.153558 0.439438 q: -0.164526 0.792236 0.174850 0.561000 
time: 1403637259.788319, t: -0.051700 0.163422 0.439493 q: -0.157470 0.795107 0.179308 0.557545 
time: 1403637259.888319, t: -0.059487 0.169343 0.437351 q: -0.156158 0.795346 0.179997 0.557352 
time: 1403637259.988319, t: -0.066139 0.172294 0.430842 q: -0.159989 0.793416 0.177279 0.559881 
time: 1403637260.088319, t: -0.071730 0.171004 0.419839 q: -0.156356 0.791235 0.180128 0.563075 
time: 1403637260.188319, t: -0.077376 0.166543 0.404609 q: -0.150319 0.791514 0.184714 0.562842 
time: 1403637260.288319, t: -0.083354 0.160099 0.386668 q: -0.142854 0.791650 0.190675 0.562606 
time: 1403637260.388319, t: -0.090664 0.152847 0.367974 q: -0.133829 0.789855 0.197609 0.564951 
optimize pose graph 
time: 1403637260.488319, t: -0.098941 0.147707 0.347133 q: -0.128702 0.790041 0.201936 0.564352 
time: 1403637260.588319, t: -0.108571 0.145837 0.324212 q: -0.127795 0.796675 0.202781 0.554849 
time: 1403637260.688319, t: -0.118565 0.147786 0.301467 q: -0.129069 0.801212 0.201605 0.548412 
time: 1403637260.788319, t: -0.127385 0.153232 0.279458 q: -0.132382 0.798795 0.199706 0.551833 
time: 1403637260.888319, t: -0.135223 0.161089 0.257325 q: -0.136320 0.794008 0.198079 0.558330 
time: 1403637260.988319, t: -0.142863 0.170579 0.235315 q: -0.138169 0.789478 0.197419 0.564499 
time: 1403637261.088319, t: -0.152180 0.180102 0.212258 q: -0.138977 0.791237 0.197093 0.561946 
time: 1403637261.188319, t: -0.162487 0.190793 0.189478 q: -0.136526 0.798179 0.198477 0.552157 
time: 1403637261.288319, t: -0.171953 0.202987 0.170390 q: -0.134111 0.803658 0.199896 0.544234 
time: 1403637261.388319, t: -0.178513 0.217362 0.158837 q: -0.135980 0.800169 0.198361 0.549447 
time: 1403637261.488319, t: -0.183626 0.233166 0.151815 q: -0.142889 0.796146 0.193512 0.555237 
time: 1403637261.588319, t: -0.187398 0.248276 0.145374 q: -0.142006 0.801186 0.193734 0.548090 
time: 1403637261.688319, t: -0.188707 0.263588 0.143259 q: -0.137832 0.806895 0.196239 0.539827 
time: 1403637261.788319, t: -0.185343 0.280573 0.148324 q: -0.136627 0.804607 0.196779 0.543339 
time: 1403637261.888319, t: -0.179135 0.298991 0.156226 q: -0.138624 0.797515 0.194944 0.553850 
time: 1403637261.988319, t: -0.173051 0.316481 0.157298 q: -0.139799 0.792910 0.193078 0.560776 
time: 1403637262.088319, t: -0.166755 0.334074 0.148464 q: -0.143208 0.790303 0.189290 0.564873 
time: 1403637262.188319, t: -0.161642 0.350340 0.130688 q: -0.146955 0.790478 0.185421 0.564950 
time: 1403637262.288319, t: -0.157349 0.363645 0.105786 q: -0.149742 0.790917 0.182025 0.564707 
time: 1403637262.388319, t: -0.161361 0.357261 0.103921 q: -0.152150 0.777529 0.180482 0.582860 
time: 1403637262.488319, t: -0.163095 0.348179 0.095994 q: -0.140880 0.794191 0.150260 0.571695 
time: 1403637262.588319, t: -0.168372 0.343625 0.101856 q: -0.151529 0.777214 0.139992 0.594457 
optimize pose graph 
time: 1403637262.688319, t: -0.166571 0.343522 0.100732 q: -0.147147 0.787472 0.141846 0.581477 
time: 1403637262.788319, t: -0.169002 0.342475 0.101601 q: -0.148276 0.785608 0.139219 0.584339 
time: 1403637262.888319, t: -0.168505 0.344107 0.101590 q: -0.148867 0.786666 0.139988 0.582580 
time: 1403637262.988319, t: -0.168713 0.343616 0.101677 q: -0.148629 0.786287 0.139812 0.583193 
time: 1403637263.088319, t: -0.168710 0.343455 0.101657 q: -0.148047 0.786280 0.140061 0.583292 
time: 1403637263.188319, t: -0.168814 0.343201 0.101728 q: -0.147638 0.786157 0.140157 0.583538 
time: 1403637263.288319, t: -0.168859 0.343286 0.101679 q: -0.147870 0.786340 0.140025 0.583264 
time: 1403637263.388319, t: -0.168858 0.343354 0.101685 q: -0.148139 0.786330 0.139951 0.583227 
time: 1403637263.488319, t: -0.168902 0.343237 0.101665 q: -0.147796 0.786336 0.140064 0.583278 
time: 1403637263.588319, t: -0.168892 0.343261 0.101663 q: -0.147977 0.786364 0.139959 0.583220 
time: 1403637263.688319, t: -0.168912 0.343270 0.101658 q: -0.148011 0.786413 0.139956 0.583147 
time: 1403637263.788319, t: -0.168936 0.343378 0.101647 q: -0.148343 0.786406 0.139689 0.583135 
time: 1403637263.888319, t: -0.168961 0.343343 0.101664 q: -0.148355 0.786415 0.139709 0.583115 
time: 1403637263.988319, t: -0.168934 0.343228 0.101658 q: -0.148019 0.786434 0.139877 0.583135 
time: 1403637264.088319, t: -0.168929 0.343245 0.101637 q: -0.147961 0.786459 0.139954 0.583097 
time: 1403637264.188319, t: -0.168905 0.343191 0.101627 q: -0.147894 0.786412 0.139940 0.583181 
time: 1403637264.288319, t: -0.168893 0.343259 0.101619 q: -0.148066 0.786437 0.139856 0.583124 
time: 1403637264.388319, t: -0.168926 0.343246 0.101603 q: -0.148028 0.786467 0.139914 0.583079 
time: 1403637264.488319, t: -0.168841 0.343255 0.101576 q: -0.147919 0.786429 0.139909 0.583159 
time: 1403637264.588319, t: -0.168852 0.343289 0.101577 q: -0.147965 0.786453 0.139883 0.583121 
time: 1403637264.688319, t: -0.168899 0.343266 0.101607 q: -0.147980 0.786460 0.139863 0.583113 
time: 1403637264.788319, t: -0.168865 0.343276 0.101619 q: -0.148046 0.786481 0.139838 0.583074 
time: 1403637264.888319, t: -0.168855 0.343277 0.101633 q: -0.147986 0.786482 0.139856 0.583084 
time: 1403637264.988319, t: -0.168814 0.343265 0.101641 q: -0.147826 0.786497 0.139938 0.583084 
time: 1403637265.088319, t: -0.168828 0.343284 0.101655 q: -0.147841 0.786537 0.139972 0.583018 
time: 1403637265.188319, t: -0.168861 0.343266 0.101656 q: -0.147799 0.786503 0.139946 0.583081 
time: 1403637265.288319, t: -0.168867 0.343252 0.101644 q: -0.147819 0.786530 0.139966 0.583034 
time: 1403637265.388319, t: -0.168775 0.343273 0.101672 q: -0.147798 0.786536 0.139982 0.583029 
time: 1403637265.488319, t: -0.168700 0.343243 0.101690 q: -0.147824 0.786530 0.139960 0.583035 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731031960.285359041]: Shutdown request received.[0m
[33m[ WARN] [1731031960.285395892]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731031960.286503766]: Shutdown request received.[0m
[33m[ WARN] [1731031960.286534738]: Reason given for shutdown: [user request][0m
killed
