/SLAM-Hive/slam_hive_results/mapping_results/3421/2430_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/d8e123e6-9d7f-11ef-beac-0242ac110002/roslaunch-01fd3dd562e5-118.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] [1731035790.377014905]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731035790.382972902]: init begins[0m
[31m[ERROR] [1731035790.384280316]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://01fd3dd562e5:35035/[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] [1731035791.332978514]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731035791.338883802]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
config_file: /slamhive/mappingtask.yaml
[33m[ WARN] [1731035791.344573972]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731035791.344781660]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731035791.344801942]: 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] [1731035791.345023600]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[1mROS_MASTER_URI=http://01fd3dd562e5:11311/[0m
]2;roscore http://01fd3dd562e5:11311/
[1msetting /run_id to d8e123e6-9d7f-11ef-beac-0242ac110002[0m
[0m[ INFO] [1731035791.357404368]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731035791.357600831]: waiting for image and imu...[0m
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_05_difficult.bag  --clock 
[0m[ INFO] [1731035798.739080929]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 327397280.82 
init first imu pose
averge acc 9.015113 -0.047866 -3.797742
init R0 
 0.388249 0.0116141  0.921482
        0 -0.999921 0.0126027
 0.921555 -0.004893 -0.388218
[33m[ WARN] [1731035800.109249562]: gyroscope bias initial calibration -0.00194295    0.020065   0.0779286[0m
[0m[ INFO] [1731035800.160154759]: Initialization finish![0m
time: 1403638519.127830, t: 0.000109 -0.000020 0.000354 q: -0.003994 0.832994 0.002750 0.553261 
time: 1403638519.227829, t: -0.000342 -0.000002 -0.000734 q: -0.004105 0.833027 0.002805 0.553209 
time: 1403638519.327830, t: -0.000921 0.000195 0.002883 q: -0.003704 0.833081 0.002531 0.553133 
time: 1403638519.427830, t: 0.000251 0.003111 0.002737 q: -0.003767 0.833057 0.002567 0.553169 
time: 1403638519.527829, t: 0.000112 0.003040 0.002361 q: -0.003872 0.833056 0.002638 0.553169 
time: 1403638519.727829, t: 0.000417 0.003006 0.002565 q: -0.003985 0.833103 0.002775 0.553097 
time: 1403638519.827830, t: -0.000011 0.002638 0.002160 q: -0.004050 0.833067 0.002791 0.553150 
time: 1403638519.927830, t: 0.000338 0.002885 0.003490 q: -0.004081 0.833093 0.002801 0.553110 
time: 1403638520.027829, t: 0.000497 0.002989 0.003786 q: -0.004175 0.833093 0.002858 0.553110 
time: 1403638520.127830, t: 0.000388 0.002877 0.003658 q: -0.004217 0.833060 0.002903 0.553159 
time: 1403638520.227829, t: 0.000472 0.003314 0.003857 q: -0.004212 0.833063 0.002906 0.553154 
time: 1403638520.327830, t: 0.000477 0.003188 0.003883 q: -0.004263 0.833035 0.002986 0.553196 
time: 1403638520.427830, t: 0.000262 0.002500 0.003619 q: -0.004368 0.833007 0.003042 0.553237 
time: 1403638520.527829, t: 0.000459 0.003648 0.003660 q: -0.004295 0.832998 0.002942 0.553252 
time: 1403638520.627830, t: 0.000694 0.004795 0.003482 q: -0.004244 0.832984 0.002898 0.553273 
time: 1403638520.727829, t: 0.000621 0.003820 0.003970 q: -0.004374 0.833004 0.002987 0.553241 
time: 1403638520.827830, t: 0.000600 0.003725 0.004235 q: -0.004422 0.832994 0.002991 0.553257 
time: 1403638520.927830, t: 0.000252 0.003474 0.003444 q: -0.004436 0.832928 0.003129 0.553355 
time: 1403638521.027829, t: 0.000254 0.004360 0.002748 q: -0.004389 0.832885 0.003108 0.553420 
time: 1403638521.127830, t: -0.000632 0.003019 0.001905 q: -0.004504 0.832861 0.003045 0.553455 
time: 1403638521.227829, t: -0.000129 0.003399 0.004126 q: -0.004355 0.832894 0.003217 0.553406 
time: 1403638521.327830, t: -0.000510 0.002376 0.002706 q: -0.004288 0.832868 0.003538 0.553444 
time: 1403638521.427830, t: 0.000114 0.002784 0.003870 q: -0.004551 0.832901 0.003226 0.553394 
time: 1403638521.527829, t: 0.000132 0.002761 0.003571 q: -0.004746 0.832913 0.002630 0.553377 
time: 1403638521.627830, t: 0.000137 0.002596 0.003247 q: -0.004513 0.832845 0.002901 0.553481 
time: 1403638521.727829, t: 0.000062 0.002715 0.002845 q: -0.004951 0.832831 0.002689 0.553499 
time: 1403638521.827830, t: 0.000224 0.002662 0.003306 q: -0.004684 0.832843 0.003151 0.553480 
time: 1403638521.927830, t: 0.000944 0.002955 0.003992 q: -0.005576 0.832858 0.003065 0.553450 
time: 1403638522.027829, t: 0.002745 0.004181 0.003126 q: -0.006890 0.833166 0.005900 0.552949 
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time: 1403638522.227829, t: 0.002318 0.005107 0.022237 q: -0.012567 0.833884 0.009053 0.551723 
time: 1403638522.327830, t: 0.005008 0.006505 0.052456 q: -0.024411 0.828645 0.014405 0.559057 
time: 1403638522.427830, t: 0.007978 0.005929 0.090583 q: -0.036882 0.826785 0.019868 0.560956 
time: 1403638522.527829, t: 0.010980 0.004609 0.134715 q: -0.059331 0.828973 0.027824 0.555436 
time: 1403638522.627830, t: 0.015897 0.002750 0.180956 q: -0.078177 0.830233 0.033310 0.550900 
time: 1403638522.727829, t: 0.023336 0.003001 0.229517 q: -0.083214 0.824539 0.042940 0.558002 
time: 1403638522.827830, t: 0.029476 0.008532 0.279442 q: -0.071152 0.817714 0.033691 0.570215 
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time: 1403638523.227829, t: 0.024053 0.008058 0.406307 q: -0.031732 0.797766 -0.005321 0.602108 
time: 1403638523.327830, t: 0.026263 0.000741 0.383868 q: -0.018975 0.796452 -0.008024 0.604351 
time: 1403638523.427830, t: 0.026262 -0.006422 0.345387 q: -0.016325 0.797190 -0.007203 0.603465 
time: 1403638523.527829, t: 0.023839 -0.014294 0.299267 q: -0.010858 0.803852 -0.003938 0.594718 
time: 1403638523.627830, t: 0.020126 -0.021999 0.250255 q: -0.003882 0.813950 -0.000940 0.580921 
time: 1403638523.727829, t: 0.014776 -0.030085 0.202188 q: -0.001464 0.820858 0.002820 0.571123 
time: 1403638523.827830, t: 0.008515 -0.037416 0.156261 q: -0.004339 0.823985 0.008748 0.566528 
time: 1403638523.927830, t: 0.001817 -0.043254 0.116060 q: -0.000555 0.824028 0.015364 0.566341 
time: 1403638524.027829, t: -0.004284 -0.046014 0.090878 q: 0.007698 0.825699 0.023255 0.563579 
time: 1403638524.127830, t: -0.008178 -0.046197 0.091056 q: 0.011484 0.830035 0.030522 0.556758 
time: 1403638524.227829, t: -0.009733 -0.045034 0.121000 q: 0.009557 0.833286 0.030803 0.551901 
time: 1403638524.327830, t: -0.008621 -0.044262 0.170964 q: 0.004531 0.832274 0.028035 0.553637 
time: 1403638524.427830, t: -0.004698 -0.042443 0.229836 q: -0.002650 0.827666 0.025029 0.560656 
time: 1403638524.527829, t: 0.000451 -0.040739 0.291407 q: -0.007788 0.819848 0.024854 0.571989 
time: 1403638524.627830, t: 0.007236 -0.037573 0.350862 q: -0.005299 0.811941 0.020000 0.583372 
time: 1403638524.727829, t: 0.013880 -0.033227 0.400209 q: 0.003903 0.806593 0.015193 0.590899 
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time: 1403638524.927830, t: 0.023931 -0.026882 0.454331 q: 0.007940 0.803464 0.013438 0.595149 
time: 1403638525.027829, t: 0.026438 -0.025942 0.454542 q: 0.002916 0.801848 0.017762 0.597257 
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time: 1403638525.227829, t: 0.029258 -0.026556 0.391731 q: 0.005669 0.800438 0.028645 0.598703 
time: 1403638525.327830, t: 0.028878 -0.030111 0.341041 q: 0.002013 0.807107 0.034687 0.589382 
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time: 1403638527.127830, t: -0.114410 -0.609073 0.191989 q: 0.034507 0.820201 -0.059802 0.567893 
time: 1403638527.227829, t: -0.116143 -0.656376 0.195334 q: 0.038474 0.820668 -0.071570 0.565599 
time: 1403638527.327830, t: -0.114616 -0.689325 0.199670 q: 0.050317 0.817128 -0.081297 0.568473 
time: 1403638527.427830, t: -0.115227 -0.703191 0.204736 q: 0.065365 0.812560 -0.088210 0.572445 
time: 1403638527.527829, t: -0.103010 -0.694143 0.204285 q: 0.068665 0.812180 -0.088566 0.572542 
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time: 1403638527.827830, t: -0.046760 -0.568108 0.197119 q: 0.049062 0.817652 -0.070792 0.569233 
time: 1403638527.927830, t: -0.027015 -0.506932 0.198360 q: 0.034117 0.820487 -0.065772 0.566842 
time: 1403638528.027829, t: -0.007473 -0.444770 0.200759 q: 0.027227 0.820043 -0.059191 0.568581 
time: 1403638528.127830, t: 0.009842 -0.385638 0.199555 q: 0.017566 0.818951 -0.050545 0.571363 
time: 1403638528.227829, t: 0.029093 -0.330683 0.195453 q: 0.006935 0.819845 -0.041083 0.571068 
time: 1403638528.327830, t: 0.055550 -0.284792 0.190179 q: -0.004076 0.820597 -0.030840 0.570660 
time: 1403638528.427830, t: 0.088172 -0.250712 0.183917 q: -0.005956 0.819255 -0.025525 0.572830 
time: 1403638528.527829, t: 0.124506 -0.225222 0.178659 q: -0.003459 0.820026 -0.025856 0.571732 
time: 1403638528.627830, t: 0.161721 -0.206582 0.174361 q: -0.003335 0.822208 -0.033592 0.568185 
time: 1403638528.727829, t: 0.195467 -0.194096 0.174699 q: -0.000744 0.822262 -0.039720 0.567720 
time: 1403638528.827830, t: 0.219784 -0.185773 0.178843 q: 0.001406 0.821224 -0.046044 0.568744 
time: 1403638528.927830, t: 0.226742 -0.180880 0.187653 q: -0.004327 0.820305 -0.054246 0.569331 
time: 1403638529.027829, t: 0.216416 -0.174413 0.203348 q: -0.009316 0.820813 -0.058991 0.568066 
optimize pose graph 
time: 1403638529.127830, t: 0.191576 -0.164351 0.216174 q: 0.002121 0.821434 -0.056066 0.567536 
time: 1403638529.327830, t: 0.121068 -0.125001 0.219591 q: 0.026745 0.825948 -0.044838 0.561323 
time: 1403638529.427830, t: 0.085376 -0.111307 0.197908 q: 0.029003 0.833169 -0.041348 0.550707 
time: 1403638529.527829, t: 0.054889 -0.093789 0.175087 q: 0.026184 0.844264 -0.040197 0.533776 
time: 1403638529.627830, t: 0.032759 -0.083559 0.150749 q: 0.027472 0.851475 -0.036977 0.522367 
time: 1403638529.727829, t: 0.018630 -0.072334 0.126113 q: 0.027787 0.851450 -0.035198 0.522516 
time: 1403638529.827830, t: 0.010497 -0.062501 0.103417 q: 0.026844 0.845342 -0.036150 0.532324 
time: 1403638529.927830, t: 0.007615 -0.055757 0.084827 q: 0.027001 0.840317 -0.036644 0.540182 
time: 1403638530.027829, t: 0.013806 -0.052616 0.072430 q: 0.027439 0.840090 -0.036807 0.540501 
time: 1403638530.127830, t: 0.025169 -0.052059 0.062021 q: 0.027745 0.842208 -0.038975 0.537026 
time: 1403638530.227829, t: 0.039835 -0.053062 0.051864 q: 0.030147 0.842623 -0.044854 0.535786 
time: 1403638530.327830, t: 0.053979 -0.055738 0.041749 q: 0.031831 0.841799 -0.051238 0.536411 
time: 1403638530.427830, t: 0.066932 -0.059395 0.032643 q: 0.035445 0.841151 -0.055430 0.536783 
time: 1403638530.527829, t: 0.076993 -0.063364 0.026112 q: 0.033369 0.840918 -0.059527 0.536842 
time: 1403638530.627830, t: 0.083042 -0.067750 0.020481 q: 0.035945 0.841971 -0.062516 0.534682 
time: 1403638530.727829, t: 0.086958 -0.070663 0.014589 q: 0.036836 0.845658 -0.065071 0.528462 
time: 1403638530.827830, t: 0.089760 -0.072904 0.008969 q: 0.037056 0.847666 -0.065911 0.525114 
time: 1403638530.927830, t: 0.091434 -0.073862 0.005430 q: 0.035149 0.846730 -0.065643 0.526786 
time: 1403638531.027829, t: 0.092045 -0.073962 0.002884 q: 0.034275 0.844000 -0.065715 0.531198 
optimize pose graph 
time: 1403638531.127830, t: 0.091749 -0.072898 0.002502 q: 0.036950 0.840383 -0.064423 0.536881 
time: 1403638531.227829, t: 0.092180 -0.071565 0.001995 q: 0.038943 0.840138 -0.061560 0.537458 
time: 1403638531.327830, t: 0.092111 -0.070104 0.001323 q: 0.039243 0.836702 -0.061362 0.542793 
time: 1403638531.427830, t: 0.092018 -0.070135 0.001261 q: 0.039623 0.837601 -0.060601 0.541462 
time: 1403638531.527829, t: 0.091671 -0.070218 0.001284 q: 0.039254 0.836785 -0.061170 0.542686 
time: 1403638531.627830, t: 0.091597 -0.070367 0.001206 q: 0.040165 0.836860 -0.060367 0.542593 
time: 1403638531.727829, t: 0.091677 -0.070392 0.001071 q: 0.040328 0.836943 -0.060932 0.542390 
time: 1403638531.827830, t: 0.091581 -0.070372 0.001162 q: 0.040447 0.836904 -0.061124 0.542420 
time: 1403638531.927830, t: 0.091585 -0.070361 0.001152 q: 0.040494 0.836839 -0.061387 0.542487 
time: 1403638532.027829, t: 0.091591 -0.070370 0.001130 q: 0.040632 0.836778 -0.061664 0.542540 
time: 1403638532.227829, t: 0.091583 -0.070463 0.001132 q: 0.041099 0.836742 -0.061797 0.542545 
time: 1403638532.327830, t: 0.091600 -0.070560 0.001145 q: 0.041477 0.836660 -0.061937 0.542626 
time: 1403638532.427830, t: 0.091592 -0.070610 0.001146 q: 0.041635 0.836642 -0.061946 0.542641 
time: 1403638532.527829, t: 0.091599 -0.070643 0.001150 q: 0.041780 0.836605 -0.062058 0.542674 
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time: 1403638539.927830, t: 0.195115 -0.076794 0.169187 q: 0.037251 0.825841 -0.055492 0.559928 
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time: 1403638540.227829, t: 0.262050 -0.078563 0.197237 q: 0.036712 0.836994 -0.055215 0.543179 
time: 1403638540.327830, t: 0.296767 -0.080419 0.206796 q: 0.037572 0.830816 -0.054082 0.552637 
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time: 1403638541.027829, t: 0.632425 -0.046973 0.259601 q: -0.019485 0.823180 0.070701 0.563024 
optimize pose graph 
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time: 1403638541.427830, t: 0.840826 0.051079 0.262924 q: -0.046161 0.819544 0.105581 0.561311 
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time: 1403638541.827830, t: 1.052912 0.241692 0.348351 q: -0.066558 0.813611 0.120402 0.564899 
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time: 1403638543.027829, t: 1.488556 1.037556 0.572125 q: -0.172239 0.779571 0.264018 0.541200 
optimize pose graph 
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time: 1403638597.027829, t: 7.916023 -4.034023 2.529733 q: 0.190914 0.802638 -0.102710 0.555675 
time: 1403638597.127830, t: 7.944819 -3.870274 2.558838 q: 0.193576 0.800935 -0.101607 0.557411 
time: 1403638597.227829, t: 7.976688 -3.692423 2.581665 q: 0.193895 0.798745 -0.102747 0.560227 
time: 1403638597.327830, t: 8.012506 -3.499275 2.599600 q: 0.190092 0.796810 -0.106141 0.563643 
time: 1403638597.427830, t: 8.050353 -3.290731 2.612310 q: 0.183928 0.794780 -0.111979 0.567412 
time: 1403638597.527829, t: 8.087945 -3.069528 2.618512 q: 0.171880 0.790259 -0.121183 0.575555 
time: 1403638597.627830, t: 8.123899 -2.838234 2.619984 q: 0.162673 0.786902 -0.128658 0.581180 
time: 1403638597.727829, t: 8.157308 -2.599510 2.615592 q: 0.162248 0.786080 -0.129343 0.582258 
time: 1403638597.827830, t: 8.189703 -2.352641 2.607071 q: 0.167531 0.788686 -0.119706 0.579292 
time: 1403638597.927830, t: 8.220261 -2.097207 2.594492 q: 0.171600 0.791410 -0.108191 0.576645 
time: 1403638598.027829, t: 8.251873 -1.830717 2.584015 q: 0.169295 0.792487 -0.101495 0.577063 
time: 1403638598.127830, t: 8.282656 -1.552186 2.581467 q: 0.153838 0.793118 -0.105309 0.579835 
time: 1403638598.227829, t: 8.307818 -1.264743 2.584556 q: 0.132972 0.794216 -0.114850 0.581678 
time: 1403638598.327830, t: 8.330517 -0.974150 2.589094 q: 0.118522 0.796850 -0.122101 0.579719 
time: 1403638598.427830, t: 8.350333 -0.684164 2.588634 q: 0.111298 0.798982 -0.125518 0.577482 
time: 1403638598.527829, t: 8.366149 -0.395358 2.581174 q: 0.107385 0.800793 -0.125278 0.575764 
time: 1403638598.627830, t: 8.379286 -0.109554 2.565223 q: 0.102476 0.804171 -0.120049 0.573059 
time: 1403638598.727829, t: 8.392172 0.173012 2.546995 q: 0.096182 0.806053 -0.109731 0.573574 
time: 1403638598.827830, t: 8.404321 0.454581 2.532794 q: 0.087280 0.807302 -0.097007 0.575531 
time: 1403638598.927830, t: 8.413343 0.733162 2.523430 q: 0.077841 0.809813 -0.081462 0.575768 
time: 1403638599.027829, t: 8.421650 1.011428 2.517575 q: 0.065205 0.811553 -0.065847 0.576883 
time: 1403638599.127830, t: 8.426771 1.286607 2.520601 q: 0.054303 0.812674 -0.047622 0.578225 
time: 1403638599.227829, t: 8.428595 1.560859 2.527909 q: 0.042919 0.814200 -0.028986 0.578270 
time: 1403638599.327830, t: 8.428778 1.834726 2.541714 q: 0.029873 0.816180 -0.010817 0.576923 
time: 1403638599.427830, t: 8.424373 2.107827 2.562697 q: 0.020635 0.818968 0.005671 0.573439 
time: 1403638599.727829, t: 8.413536 2.915934 2.603795 q: 0.005961 0.823940 0.025049 0.566092 
time: 1403638599.827830, t: 8.413886 3.181545 2.599430 q: 0.005086 0.824530 0.024147 0.565279 
time: 1403638599.927830, t: 8.416757 3.443427 2.589598 q: 0.002415 0.825667 0.020256 0.563788 
time: 1403638600.027829, t: 8.421860 3.702438 2.573536 q: -0.002605 0.824929 0.013730 0.565064 
time: 1403638600.227829, t: 8.442625 4.203636 2.533864 q: -0.022749 0.829788 -0.007432 0.557566 
time: 1403638600.327830, t: 8.458738 4.441149 2.511007 q: -0.031578 0.831569 -0.017107 0.554259 
time: 1403638600.427830, t: 8.478474 4.669046 2.491218 q: -0.039431 0.832821 -0.025546 0.551545 
time: 1403638600.627830, t: 8.534911 5.077373 2.475912 q: -0.040350 0.835045 -0.029876 0.547886 
time: 1403638600.727829, t: 8.569918 5.262323 2.480139 q: -0.040831 0.837256 -0.031172 0.544392 
time: 1403638600.827830, t: 8.610983 5.433508 2.491134 q: -0.037204 0.841248 -0.028113 0.538634 
time: 1403638600.927830, t: 8.658002 5.590517 2.506566 q: -0.021511 0.844425 -0.015708 0.535011 
time: 1403638601.027829, t: 8.714130 5.737154 2.515925 q: -0.007985 0.845212 -0.004675 0.534350 
optimize pose graph 
time: 1403638601.127830, t: 8.777291 5.878726 2.520654 q: -0.001477 0.843952 0.001345 0.536414 
time: 1403638601.227829, t: 8.845925 6.018904 2.522189 q: 0.007218 0.840923 0.008745 0.541036 
time: 1403638601.327830, t: 8.921669 6.156678 2.520616 q: 0.013321 0.833504 0.015479 0.552136 
time: 1403638601.427830, t: 9.002348 6.299238 2.520385 q: 0.002719 0.829141 0.018124 0.558740 
time: 1403638601.527829, t: 9.085750 6.442694 2.527329 q: -0.009196 0.824922 0.027849 0.564485 
time: 1403638601.627830, t: 9.171703 6.585880 2.538870 q: -0.020355 0.821497 0.044877 0.568079 
time: 1403638601.727829, t: 9.255632 6.729765 2.557279 q: -0.032611 0.818777 0.068110 0.569123 
time: 1403638601.827830, t: 9.337164 6.873672 2.583683 q: -0.046193 0.814228 0.095971 0.570691 
time: 1403638601.927830, t: 9.414762 7.020228 2.615001 q: -0.060371 0.809486 0.123741 0.570767 
time: 1403638602.027829, t: 9.488158 7.168098 2.643179 q: -0.073407 0.806929 0.144037 0.568093 
time: 1403638602.127830, t: 9.558909 7.316379 2.664627 q: -0.081623 0.803706 0.159509 0.567408 
time: 1403638602.227829, t: 9.626904 7.466193 2.679846 q: -0.087130 0.797255 0.176334 0.570701 
time: 1403638602.327830, t: 9.688764 7.620235 2.691246 q: -0.100571 0.788498 0.192472 0.575423 
time: 1403638602.427830, t: 9.742494 7.776952 2.707808 q: -0.132778 0.772664 0.200155 0.587621 
time: 1403638602.527829, t: 9.784153 7.929040 2.736861 q: -0.168688 0.748956 0.205434 0.606965 
time: 1403638602.627830, t: 9.813048 8.070199 2.772344 q: -0.197978 0.731870 0.213485 0.616113 
time: 1403638602.727829, t: 9.826001 8.194992 2.809666 q: -0.213069 0.725484 0.230453 0.612508 
time: 1403638602.827830, t: 9.824551 8.302004 2.854806 q: -0.221161 0.721664 0.251627 0.605783 
time: 1403638602.927830, t: 9.807717 8.391341 2.902158 q: -0.235295 0.719819 0.269764 0.594748 
time: 1403638603.027829, t: 9.781912 8.471517 2.947682 q: -0.256907 0.718370 0.283223 0.581144 
time: 1403638603.127830, t: 9.746599 8.535120 2.988712 q: -0.273625 0.710478 0.297103 0.576264 
optimize pose graph 
time: 1403638603.227829, t: 9.704882 8.584371 3.019246 q: -0.278021 0.709719 0.312979 0.566610 
time: 1403638603.327830, t: 9.658037 8.620187 3.039253 q: -0.271710 0.721578 0.329630 0.544833 
time: 1403638603.427830, t: 9.607896 8.644862 3.052210 q: -0.265881 0.732348 0.340799 0.526146 
time: 1403638603.527829, t: 9.558027 8.664676 3.061249 q: -0.263963 0.735791 0.346255 0.518693 
time: 1403638603.627830, t: 9.511019 8.682055 3.067168 q: -0.268424 0.729721 0.348588 0.523395 
time: 1403638603.727829, t: 9.464719 8.693997 3.067745 q: -0.265533 0.721346 0.353377 0.533176 
time: 1403638603.827830, t: 9.416284 8.701812 3.061785 q: -0.259309 0.713473 0.358555 0.543280 
time: 1403638603.927830, t: 9.361354 8.702669 3.049799 q: -0.252736 0.706124 0.363229 0.552792 
time: 1403638604.027829, t: 9.297824 8.702403 3.030235 q: -0.247466 0.700972 0.365817 0.559979 
time: 1403638604.127830, t: 9.225048 8.697075 3.011707 q: -0.244199 0.697771 0.367699 0.564163 
time: 1403638604.227829, t: 9.141719 8.692874 2.998005 q: -0.247272 0.699223 0.366108 0.562058 
time: 1403638604.327830, t: 9.046390 8.681762 2.992473 q: -0.254053 0.705697 0.362326 0.553325 
time: 1403638604.427830, t: 8.942831 8.665433 2.991576 q: -0.256333 0.713815 0.361123 0.542542 
time: 1403638604.527829, t: 8.834088 8.643779 2.998683 q: -0.253521 0.720929 0.363340 0.532890 
time: 1403638604.627830, t: 8.721142 8.620048 3.004886 q: -0.252645 0.723966 0.364253 0.528549 
time: 1403638604.727829, t: 8.606517 8.596788 3.004825 q: -0.256767 0.726642 0.361435 0.524812 
time: 1403638604.827830, t: 8.492429 8.573342 3.001920 q: -0.259965 0.729030 0.358971 0.521606 
time: 1403638604.927830, t: 8.378640 8.545696 3.002841 q: -0.258399 0.733200 0.359913 0.515859 
time: 1403638605.027829, t: 8.266079 8.517397 3.008200 q: -0.255492 0.740388 0.362006 0.505471 
time: 1403638605.127830, t: 8.155927 8.488301 3.022568 q: -0.252616 0.745766 0.364091 0.497449 
optimize pose graph 
time: 1403638605.227829, t: 8.053116 8.462965 3.043396 q: -0.249600 0.747628 0.366399 0.494473 
time: 1403638605.327830, t: 7.956538 8.443658 3.063132 q: -0.244881 0.746617 0.369922 0.495736 
time: 1403638605.427830, t: 7.863659 8.429958 3.077474 q: -0.238139 0.738927 0.375068 0.506558 
time: 1403638605.527829, t: 7.772396 8.418885 3.088132 q: -0.232225 0.728591 0.379898 0.520485 
time: 1403638605.627830, t: 7.678127 8.412106 3.092513 q: -0.226218 0.721010 0.384594 0.530149 
time: 1403638605.727829, t: 7.577678 8.410033 3.095161 q: -0.223452 0.717623 0.386849 0.534261 
time: 1403638605.827830, t: 7.469466 8.411838 3.105306 q: -0.221993 0.718076 0.387959 0.533455 
time: 1403638605.927830, t: 7.357040 8.420497 3.122649 q: -0.219202 0.717507 0.389560 0.534208 
time: 1403638606.027829, t: 7.237038 8.434404 3.142805 q: -0.215271 0.716730 0.391368 0.535525 
time: 1403638606.127830, t: 7.110424 8.454920 3.158167 q: -0.212406 0.716754 0.392334 0.535931 
time: 1403638606.227829, t: 6.975862 8.478310 3.164474 q: -0.209468 0.716730 0.393890 0.535978 
time: 1403638606.327830, t: 6.835516 8.510425 3.165345 q: -0.210695 0.720688 0.391921 0.531614 
time: 1403638606.427830, t: 6.688801 8.546185 3.156044 q: -0.217743 0.730922 0.386180 0.518851 
time: 1403638606.527829, t: 6.540369 8.585912 3.141241 q: -0.226410 0.741473 0.379467 0.504936 
time: 1403638606.627830, t: 6.394059 8.632493 3.123365 q: -0.232063 0.747553 0.378215 0.494231 
time: 1403638606.727829, t: 6.251225 8.687332 3.099832 q: -0.236165 0.749017 0.384777 0.484920 
time: 1403638606.827830, t: 6.112901 8.748916 3.072812 q: -0.242809 0.746474 0.395907 0.476527 
time: 1403638606.927830, t: 5.980917 8.819182 3.047447 q: -0.252562 0.740431 0.410148 0.468777 
time: 1403638607.027829, t: 5.856265 8.898182 3.029650 q: -0.265879 0.732171 0.425029 0.461069 
time: 1403638607.127830, t: 5.738893 8.983876 3.020504 q: -0.282676 0.724597 0.434532 0.454131 
time: 1403638607.227829, t: 5.628744 9.077138 3.017494 q: -0.297072 0.712063 0.440498 0.458995 
time: 1403638607.327830, t: 5.524788 9.173169 3.008833 q: -0.309901 0.700349 0.442482 0.466564 
optimize pose graph 
time: 1403638607.427830, t: 5.423960 9.269867 2.992121 q: -0.319058 0.693873 0.442977 0.469588 
time: 1403638607.527829, t: 5.327538 9.363631 2.966922 q: -0.323340 0.692931 0.443589 0.467468 
time: 1403638607.627830, t: 5.235696 9.454204 2.936732 q: -0.324570 0.691610 0.444797 0.467424 
time: 1403638607.727829, t: 5.146564 9.543319 2.904948 q: -0.324221 0.689255 0.445072 0.470871 
time: 1403638607.827830, t: 5.062633 9.629553 2.868966 q: -0.323552 0.689849 0.444705 0.470808 
time: 1403638607.927830, t: 4.985328 9.712913 2.828073 q: -0.326019 0.694107 0.441308 0.466020 
time: 1403638608.027829, t: 4.912018 9.795144 2.784422 q: -0.328213 0.695894 0.437636 0.465276 
time: 1403638608.127830, t: 4.844554 9.874518 2.736473 q: -0.326705 0.693295 0.436649 0.471108 
time: 1403638608.227829, t: 4.779952 9.950329 2.683310 q: -0.323210 0.689341 0.437181 0.478767 
time: 1403638608.327830, t: 4.719849 10.023370 2.625589 q: -0.323307 0.684411 0.435627 0.487118 
time: 1403638608.427830, t: 4.658778 10.091474 2.563381 q: -0.323892 0.680859 0.434779 0.492435 
time: 1403638608.527829, t: 4.600340 10.155914 2.494151 q: -0.322298 0.682656 0.435534 0.490321 
time: 1403638608.627830, t: 4.540268 10.214704 2.424061 q: -0.324485 0.681778 0.433278 0.492095 
time: 1403638608.727829, t: 4.479904 10.268286 2.358992 q: -0.328314 0.679008 0.431051 0.495331 
time: 1403638608.827830, t: 4.422723 10.315287 2.297088 q: -0.326577 0.681645 0.432564 0.491524 
time: 1403638608.927830, t: 4.367187 10.357245 2.241545 q: -0.324928 0.685381 0.434182 0.485963 
time: 1403638609.027829, t: 4.312397 10.393752 2.193018 q: -0.325130 0.689062 0.434421 0.480377 
time: 1403638609.127830, t: 4.258672 10.427546 2.151857 q: -0.323944 0.690654 0.434972 0.478390 
time: 1403638609.227829, t: 4.208123 10.458329 2.114904 q: -0.330676 0.690797 0.429958 0.478109 
time: 1403638609.327830, t: 4.162802 10.483298 2.072025 q: -0.334621 0.691213 0.426925 0.477481 
time: 1403638609.427830, t: 4.120379 10.507314 2.021788 q: -0.331485 0.691245 0.428612 0.478110 
optimize pose graph 
time: 1403638609.527829, t: 4.080844 10.523762 1.966593 q: -0.327821 0.691241 0.430702 0.478764 
time: 1403638609.627830, t: 4.043813 10.541323 1.903094 q: -0.325899 0.691351 0.431326 0.479355 
time: 1403638609.727829, t: 4.010060 10.553161 1.838469 q: -0.322939 0.690098 0.433518 0.481184 
time: 1403638609.827830, t: 3.978292 10.564925 1.775779 q: -0.323364 0.691083 0.433072 0.479883 
time: 1403638609.927830, t: 3.947759 10.571254 1.722271 q: -0.323539 0.690733 0.432704 0.480602 
time: 1403638610.027829, t: 3.919662 10.578348 1.675674 q: -0.325685 0.689629 0.430839 0.482410 
time: 1403638610.127830, t: 3.896879 10.577742 1.636923 q: -0.328949 0.686752 0.428490 0.486376 
time: 1403638610.227829, t: 3.874203 10.573679 1.598176 q: -0.330312 0.683996 0.427391 0.490287 
time: 1403638610.327830, t: 3.852777 10.565387 1.552268 q: -0.331588 0.683117 0.426087 0.491784 
time: 1403638610.427830, t: 3.830193 10.554809 1.497397 q: -0.332802 0.682821 0.424523 0.492726 
time: 1403638610.527829, t: 3.813154 10.535529 1.441735 q: -0.332588 0.679796 0.424499 0.497055 
time: 1403638610.627830, t: 3.796136 10.513676 1.388139 q: -0.338125 0.672717 0.420681 0.506113 
time: 1403638610.727829, t: 3.777195 10.483033 1.332491 q: -0.338369 0.673406 0.421082 0.504699 
time: 1403638610.827830, t: 3.755779 10.440455 1.280420 q: -0.335194 0.680612 0.424594 0.494097 
time: 1403638610.927830, t: 3.737405 10.394842 1.237268 q: -0.333602 0.683482 0.427217 0.488925 
time: 1403638611.027829, t: 3.717459 10.344227 1.195174 q: -0.336387 0.682531 0.425061 0.490223 
time: 1403638611.127830, t: 3.698663 10.289505 1.146036 q: -0.338899 0.680092 0.423696 0.493056 
time: 1403638611.227829, t: 3.679987 10.227340 1.094104 q: -0.338652 0.679600 0.424444 0.493260 
time: 1403638611.327830, t: 3.664994 10.160987 1.050017 q: -0.335864 0.678972 0.426834 0.493969 
time: 1403638611.427830, t: 3.646204 10.088644 1.009373 q: -0.325126 0.674491 0.433534 0.501402 
optimize pose graph 
time: 1403638611.527829, t: 3.630054 10.010681 0.980291 q: -0.314515 0.671526 0.440614 0.505956 
time: 1403638611.627830, t: 3.604302 9.931708 0.956393 q: -0.309151 0.673552 0.443038 0.504451 
time: 1403638611.727829, t: 3.570335 9.850132 0.932833 q: -0.310873 0.677861 0.441007 0.499375 
time: 1403638611.827830, t: 3.537216 9.767159 0.906941 q: -0.317080 0.683727 0.436070 0.491752 
time: 1403638611.927830, t: 3.507280 9.683979 0.874174 q: -0.320797 0.688515 0.432574 0.485713 
time: 1403638612.027829, t: 3.474663 9.602762 0.840452 q: -0.322259 0.691232 0.430981 0.482288 
time: 1403638612.127830, t: 3.448084 9.521738 0.809818 q: -0.323635 0.693083 0.429508 0.480019 
time: 1403638612.227829, t: 3.422859 9.437703 0.787369 q: -0.322761 0.693653 0.429641 0.479666 
time: 1403638612.327830, t: 3.400053 9.354683 0.771721 q: -0.322221 0.693340 0.429783 0.480353 
time: 1403638612.427830, t: 3.381781 9.270607 0.758007 q: -0.321373 0.692323 0.429668 0.482487 
time: 1403638612.527829, t: 3.363432 9.186612 0.737765 q: -0.319338 0.690279 0.429598 0.486810 
time: 1403638612.627830, t: 3.344248 9.101725 0.712136 q: -0.314550 0.688644 0.431427 0.490610 
time: 1403638612.727829, t: 3.325762 9.017469 0.680191 q: -0.310335 0.686840 0.432522 0.494841 
time: 1403638612.827830, t: 3.304819 8.931376 0.645035 q: -0.309327 0.685899 0.430922 0.498162 
time: 1403638612.927830, t: 3.277672 8.845651 0.612966 q: -0.310075 0.685565 0.428370 0.500354 
time: 1403638613.027829, t: 3.249884 8.759954 0.586586 q: -0.309826 0.687986 0.427346 0.498054 
time: 1403638613.127830, t: 3.219639 8.673609 0.568858 q: -0.309962 0.689510 0.426436 0.496640 
time: 1403638613.227829, t: 3.185365 8.587719 0.560155 q: -0.309640 0.691304 0.426153 0.494586 
time: 1403638613.327830, t: 3.155494 8.502077 0.556924 q: -0.308636 0.691839 0.426761 0.493941 
time: 1403638613.427830, t: 3.120278 8.417172 0.557659 q: -0.307754 0.691227 0.427217 0.494952 
time: 1403638613.527829, t: 3.086694 8.330095 0.551064 q: -0.308906 0.691147 0.423730 0.497339 
optimize pose graph 
time: 1403638613.627830, t: 3.052832 8.243043 0.538995 q: -0.310753 0.692733 0.417584 0.499178 
time: 1403638613.727829, t: 3.014038 8.156476 0.520253 q: -0.314517 0.691803 0.410896 0.503639 
time: 1403638613.827830, t: 2.977561 8.067373 0.495535 q: -0.314297 0.692415 0.403512 0.508879 
time: 1403638614.027829, t: 2.900433 7.872063 0.423361 q: -0.298239 0.703774 0.383756 0.518157 
time: 1403638614.127830, t: 2.857034 7.767265 0.378848 q: -0.285177 0.713237 0.370474 0.522223 
time: 1403638614.227829, t: 2.812488 7.659639 0.338546 q: -0.271499 0.723283 0.356947 0.525109 
time: 1403638614.327830, t: 2.767985 7.550457 0.304070 q: -0.261530 0.731285 0.345447 0.526773 
time: 1403638614.427830, t: 2.726323 7.440539 0.277299 q: -0.256367 0.737059 0.335794 0.527505 
time: 1403638614.527829, t: 2.685088 7.329412 0.263267 q: -0.253597 0.741485 0.327832 0.527650 
time: 1403638614.627830, t: 2.643404 7.218101 0.255087 q: -0.250129 0.746030 0.317684 0.529104 
time: 1403638614.727829, t: 2.605716 7.107253 0.260013 q: -0.247811 0.753545 0.303554 0.527839 
time: 1403638614.827830, t: 2.569423 6.992424 0.272600 q: -0.242757 0.764282 0.286610 0.524211 
time: 1403638614.927830, t: 2.537814 6.873907 0.294354 q: -0.232062 0.774743 0.269121 0.522966 
time: 1403638615.027829, t: 2.513057 6.754049 0.323130 q: -0.217453 0.783997 0.248533 0.525637 
time: 1403638615.127830, t: 2.497029 6.630009 0.357616 q: -0.197047 0.790608 0.227374 0.533303 
time: 1403638615.227829, t: 2.485885 6.503436 0.397955 q: -0.172863 0.792784 0.206488 0.546786 
time: 1403638615.327830, t: 2.477973 6.375568 0.436865 q: -0.150793 0.795946 0.182578 0.557133 
time: 1403638615.427830, t: 2.469343 6.248660 0.469746 q: -0.129959 0.799574 0.156727 0.565003 
time: 1403638615.527829, t: 2.460055 6.120360 0.496288 q: -0.110441 0.803625 0.131338 0.569860 
time: 1403638615.627830, t: 2.449569 5.993540 0.515558 q: -0.095390 0.806245 0.110146 0.573356 
time: 1403638615.727829, t: 2.437451 5.869453 0.536042 q: -0.085396 0.808177 0.095205 0.574885 
time: 1403638615.827830, t: 2.422810 5.747594 0.563813 q: -0.078520 0.809507 0.084151 0.575718 
time: 1403638615.927830, t: 2.405097 5.627676 0.594138 q: -0.073227 0.810568 0.071450 0.576638 
time: 1403638616.027829, t: 2.387048 5.504575 0.618855 q: -0.065107 0.812252 0.059497 0.576600 
time: 1403638616.127830, t: 2.369396 5.382044 0.635262 q: -0.055371 0.813317 0.046786 0.577287 
time: 1403638616.227829, t: 2.349761 5.257814 0.636047 q: -0.045807 0.814844 0.030257 0.577075 
time: 1403638616.327830, t: 2.330584 5.133798 0.619359 q: -0.033437 0.815846 0.011253 0.577193 
time: 1403638616.427830, t: 2.310949 5.010159 0.591492 q: -0.020538 0.816570 -0.007836 0.576827 
time: 1403638616.527829, t: 2.290236 4.886776 0.558451 q: -0.011111 0.817411 -0.023521 0.575467 
time: 1403638616.627830, t: 2.270378 4.763487 0.521893 q: -0.003475 0.820462 -0.034553 0.570645 
time: 1403638616.727829, t: 2.251556 4.641904 0.482349 q: -0.001754 0.827770 -0.044206 0.559320 
time: 1403638616.827830, t: 2.235181 4.518856 0.437739 q: -0.006598 0.835393 -0.053449 0.547008 
time: 1403638616.927830, t: 2.225459 4.392686 0.398706 q: -0.006961 0.837532 -0.056270 0.543439 
time: 1403638617.027829, t: 2.222878 4.262282 0.370101 q: 0.000046 0.834270 -0.051554 0.548941 
time: 1403638617.127830, t: 2.225657 4.130553 0.350133 q: 0.007148 0.830365 -0.044885 0.555363 
time: 1403638617.227829, t: 2.232806 3.998614 0.336265 q: 0.010756 0.830127 -0.039296 0.556083 
time: 1403638617.327830, t: 2.244199 3.868092 0.327397 q: 0.010137 0.833222 -0.036370 0.551648 
time: 1403638617.427830, t: 2.260421 3.739806 0.325462 q: 0.010940 0.837271 -0.032712 0.545699 
time: 1403638617.527829, t: 2.282723 3.613520 0.332707 q: 0.010840 0.838954 -0.029307 0.543304 
time: 1403638617.627830, t: 2.312376 3.490493 0.349045 q: 0.010907 0.838490 -0.026504 0.544163 
time: 1403638617.727829, t: 2.349457 3.369202 0.373641 q: 0.012677 0.836744 -0.022405 0.546989 
time: 1403638617.827830, t: 2.394684 3.254090 0.406103 q: 0.013113 0.836675 -0.019922 0.547180 
time: 1403638617.927830, t: 2.443754 3.140391 0.445792 q: 0.011658 0.835492 -0.018965 0.549052 
time: 1403638618.027829, t: 2.496534 3.030240 0.484286 q: 0.010664 0.835013 -0.017869 0.549837 
time: 1403638618.127830, t: 2.553040 2.922644 0.516627 q: 0.008683 0.835105 -0.017477 0.549745 
time: 1403638618.227829, t: 2.613006 2.816803 0.542515 q: 0.008129 0.834852 -0.016305 0.550173 
time: 1403638618.327830, t: 2.675783 2.715245 0.564907 q: 0.008620 0.834223 -0.014934 0.551157 
time: 1403638618.427830, t: 2.743623 2.615526 0.581748 q: 0.008478 0.834120 -0.013874 0.551344 
time: 1403638618.527829, t: 2.814966 2.520658 0.598851 q: 0.008120 0.833652 -0.012825 0.552082 
time: 1403638618.627830, t: 2.888636 2.425584 0.612951 q: 0.010665 0.833312 -0.014567 0.552508 
time: 1403638618.727829, t: 2.969105 2.334865 0.628088 q: 0.014883 0.833139 -0.016783 0.552609 
time: 1403638618.827830, t: 3.053071 2.248766 0.648464 q: 0.016306 0.831994 -0.020693 0.554158 
time: 1403638618.927830, t: 3.139228 2.165640 0.675210 q: 0.021148 0.829366 -0.025952 0.557702 
time: 1403638619.027829, t: 3.227285 2.082444 0.698240 q: 0.029751 0.824949 -0.037089 0.563204 
time: 1403638619.127830, t: 3.315409 2.001562 0.713742 q: 0.043672 0.821334 -0.052851 0.566313 
time: 1403638619.227829, t: 3.403955 1.924895 0.721831 q: 0.057369 0.817743 -0.074501 0.567851 
time: 1403638619.327830, t: 3.491535 1.852521 0.722797 q: 0.072962 0.814174 -0.099364 0.567384 
time: 1403638619.427830, t: 3.575056 1.785368 0.714145 q: 0.086376 0.809554 -0.122723 0.567540 
time: 1403638619.527829, t: 3.657752 1.721711 0.703788 q: 0.094787 0.805542 -0.141040 0.567649 
time: 1403638619.627830, t: 3.738384 1.660814 0.690566 q: 0.097578 0.802552 -0.156426 0.567380 
time: 1403638619.727829, t: 3.817090 1.600073 0.675829 q: 0.091991 0.799942 -0.171167 0.567743 
time: 1403638619.827830, t: 3.893984 1.536782 0.659874 q: 0.089527 0.797276 -0.179965 0.569164 
time: 1403638619.927830, t: 3.967370 1.471200 0.641742 q: 0.089942 0.795872 -0.184846 0.569500 
time: 1403638620.027829, t: 4.037654 1.402954 0.617916 q: 0.092519 0.794652 -0.186820 0.570146 
time: 1403638620.127830, t: 4.100785 1.328727 0.603214 q: 0.095633 0.792064 -0.186695 0.573265 
time: 1403638620.227829, t: 4.159952 1.256132 0.590422 q: 0.098515 0.789822 -0.186180 0.576032 
time: 1403638620.327830, t: 4.211195 1.177754 0.590014 q: 0.102312 0.791661 -0.183549 0.573685 
time: 1403638620.427830, t: 4.257622 1.101508 0.592795 q: 0.103698 0.792799 -0.181734 0.572441 
time: 1403638620.527829, t: 4.299487 1.020822 0.602136 q: 0.104114 0.794250 -0.179350 0.571105 
time: 1403638620.627830, t: 4.338220 0.942563 0.605217 q: 0.102228 0.796423 -0.178573 0.568658 
time: 1403638620.727829, t: 4.374329 0.864614 0.602031 q: 0.098499 0.799633 -0.179197 0.564601 
time: 1403638620.827830, t: 4.407236 0.783121 0.595997 q: 0.097123 0.802834 -0.177531 0.560810 
time: 1403638620.927830, t: 4.441547 0.701607 0.584430 q: 0.102169 0.804700 -0.171591 0.559084 
time: 1403638621.027829, t: 4.473466 0.620772 0.568969 q: 0.106919 0.803860 -0.165733 0.561169 
time: 1403638621.127830, t: 4.499886 0.541759 0.554495 q: 0.107565 0.802755 -0.162459 0.563579 
time: 1403638621.227829, t: 4.530255 0.463127 0.548627 q: 0.107284 0.801211 -0.160041 0.566514 
time: 1403638621.327830, t: 4.559423 0.387862 0.550594 q: 0.108968 0.801688 -0.157122 0.566335 
time: 1403638621.427830, t: 4.586423 0.313020 0.549656 q: 0.108908 0.800502 -0.155020 0.568599 
time: 1403638621.527829, t: 4.610272 0.246470 0.544694 q: 0.110039 0.798444 -0.152594 0.571922 
time: 1403638621.627830, t: 4.634281 0.178673 0.533816 q: 0.109876 0.796786 -0.151174 0.574636 
optimize pose graph 
time: 1403638621.727829, t: 4.654119 0.119188 0.517844 q: 0.110353 0.795927 -0.150096 0.576015 
time: 1403638621.827830, t: 4.672965 0.057539 0.499027 q: 0.111774 0.793679 -0.148515 0.579244 
time: 1403638622.027829, t: 4.693099 -0.045544 0.454169 q: 0.112759 0.788768 -0.147122 0.586076 
time: 1403638622.127830, t: 4.697786 -0.094563 0.422913 q: 0.110092 0.789388 -0.149269 0.585205 
time: 1403638622.227829, t: 4.695986 -0.136026 0.394742 q: 0.107790 0.789800 -0.151007 0.584632 
time: 1403638622.327830, t: 4.689977 -0.178011 0.371358 q: 0.105447 0.789807 -0.153012 0.584528 
time: 1403638622.427830, t: 4.675841 -0.215763 0.357387 q: 0.107847 0.790646 -0.152351 0.583127 
time: 1403638622.527829, t: 4.655257 -0.249920 0.354070 q: 0.110712 0.790739 -0.151122 0.582784 
time: 1403638622.627830, t: 4.633162 -0.281362 0.354764 q: 0.115609 0.789188 -0.148523 0.584601 
time: 1403638622.727829, t: 4.605044 -0.307213 0.369941 q: 0.118752 0.781316 -0.146823 0.594884 
time: 1403638622.827830, t: 4.572823 -0.329162 0.388819 q: 0.120622 0.771711 -0.146315 0.607045 
time: 1403638622.927830, t: 4.528946 -0.344007 0.413552 q: 0.120127 0.771841 -0.147623 0.606661 
time: 1403638623.027829, t: 4.474457 -0.351592 0.431746 q: 0.117520 0.777984 -0.150822 0.598483 
time: 1403638623.127830, t: 4.414769 -0.356674 0.439687 q: 0.113454 0.783648 -0.154399 0.590919 
time: 1403638623.227829, t: 4.344903 -0.356400 0.445734 q: 0.109496 0.786639 -0.157500 0.586859 
time: 1403638623.327830, t: 4.271218 -0.355047 0.446735 q: 0.107080 0.790026 -0.159585 0.582173 
time: 1403638623.427830, t: 4.197480 -0.353832 0.442521 q: 0.107193 0.792787 -0.159664 0.578365 
time: 1403638623.527829, t: 4.117385 -0.351566 0.435093 q: 0.105836 0.793228 -0.160543 0.577767 
time: 1403638623.627830, t: 4.037100 -0.348617 0.435630 q: 0.108661 0.792661 -0.159251 0.578377 
time: 1403638623.727829, t: 3.949363 -0.345405 0.440085 q: 0.110354 0.793291 -0.158796 0.577318 
optimize pose graph 
time: 1403638623.827830, t: 3.861651 -0.339938 0.453434 q: 0.112047 0.794177 -0.158485 0.575856 
time: 1403638623.927830, t: 3.770190 -0.332799 0.470507 q: 0.113607 0.795846 -0.159087 0.573074 
time: 1403638624.027829, t: 3.678353 -0.324273 0.480730 q: 0.113900 0.796447 -0.160263 0.571852 
time: 1403638624.127830, t: 3.585937 -0.313819 0.489442 q: 0.111764 0.796884 -0.163197 0.570833 
time: 1403638624.327830, t: 3.399918 -0.291527 0.492131 q: 0.108303 0.796062 -0.168158 0.571208 
time: 1403638624.427830, t: 3.305914 -0.280524 0.486810 q: 0.108251 0.795825 -0.169544 0.571138 
time: 1403638624.527829, t: 3.216435 -0.269248 0.477428 q: 0.107273 0.792752 -0.171998 0.574851 
time: 1403638624.627830, t: 3.118684 -0.260528 0.463772 q: 0.104804 0.783110 -0.174480 0.587633 
time: 1403638624.727829, t: 3.018634 -0.252318 0.449652 q: 0.109146 0.785583 -0.167763 0.585493 
time: 1403638624.827830, t: 2.923146 -0.243468 0.443193 q: 0.112361 0.792662 -0.158317 0.577926 
time: 1403638624.927830, t: 2.813658 -0.231362 0.444400 q: 0.109691 0.797100 -0.152937 0.573768 
time: 1403638625.027829, t: 2.711633 -0.212910 0.452457 q: 0.102758 0.798668 -0.151588 0.573229 
time: 1403638625.127830, t: 2.609077 -0.196718 0.456435 q: 0.094775 0.799734 -0.152334 0.572920 
time: 1403638625.227829, t: 2.502279 -0.184190 0.454169 q: 0.090692 0.800883 -0.151423 0.572218 
time: 1403638625.327830, t: 2.401008 -0.174320 0.450238 q: 0.089517 0.801245 -0.149987 0.572274 
time: 1403638625.427830, t: 2.294056 -0.165674 0.446387 q: 0.089044 0.801092 -0.148756 0.572883 
time: 1403638625.627830, t: 2.082754 -0.151274 0.459498 q: 0.089581 0.802340 -0.148078 0.571226 
time: 1403638625.727829, t: 1.975235 -0.144249 0.475393 q: 0.088501 0.805228 -0.148864 0.567111 
time: 1403638625.827830, t: 1.868231 -0.137232 0.490210 q: 0.087806 0.809567 -0.149932 0.560724 
time: 1403638625.927830, t: 1.764995 -0.135378 0.499320 q: 0.088958 0.810593 -0.149697 0.559121 
time: 1403638626.127830, t: 1.564009 -0.133761 0.502531 q: 0.087211 0.811768 -0.152617 0.556898 
time: 1403638626.227829, t: 1.468440 -0.134016 0.496441 q: 0.088897 0.811627 -0.152021 0.556999 
time: 1403638626.327830, t: 1.375728 -0.139781 0.487559 q: 0.095144 0.809739 -0.148121 0.559760 
time: 1403638626.427830, t: 1.284792 -0.144140 0.476351 q: 0.100757 0.807611 -0.143972 0.562926 
time: 1403638626.527829, t: 1.194972 -0.146632 0.461113 q: 0.102198 0.808946 -0.142520 0.561115 
time: 1403638626.627830, t: 1.108730 -0.150202 0.445386 q: 0.100916 0.811067 -0.143256 0.558090 
time: 1403638626.727829, t: 1.024138 -0.151828 0.430608 q: 0.099170 0.813895 -0.143957 0.554090 
time: 1403638626.827830, t: 0.942578 -0.154475 0.423457 q: 0.097360 0.817136 -0.144825 0.549396 
time: 1403638626.927830, t: 0.870845 -0.157254 0.423737 q: 0.097270 0.819449 -0.144322 0.546089 
time: 1403638627.027829, t: 0.800683 -0.159268 0.426315 q: 0.096548 0.819567 -0.144054 0.546111 
time: 1403638627.127830, t: 0.738821 -0.163204 0.425431 q: 0.095751 0.819394 -0.143813 0.546573 
time: 1403638627.227829, t: 0.680452 -0.167170 0.420552 q: 0.095131 0.819327 -0.143567 0.546847 
time: 1403638627.327830, t: 0.622365 -0.165888 0.409127 q: 0.097869 0.819278 -0.141360 0.547012 
time: 1403638627.427830, t: 0.576731 -0.170792 0.400428 q: 0.098957 0.819207 -0.140261 0.547206 
time: 1403638627.527829, t: 0.534101 -0.174045 0.387195 q: 0.098655 0.818856 -0.140542 0.547714 
time: 1403638627.627830, t: 0.495727 -0.177173 0.372841 q: 0.101843 0.816839 -0.138997 0.550529 
time: 1403638627.727829, t: 0.462004 -0.179644 0.358281 q: 0.102772 0.813835 -0.138712 0.554859 
time: 1403638627.827830, t: 0.428324 -0.177211 0.344928 q: 0.104099 0.812550 -0.138491 0.556548 
time: 1403638627.927830, t: 0.398976 -0.176505 0.330574 q: 0.104843 0.813735 -0.138479 0.554677 
optimize pose graph 
time: 1403638628.027829, t: 0.371134 -0.172736 0.317117 q: 0.106167 0.815288 -0.138551 0.552121 
time: 1403638628.127830, t: 0.347950 -0.170736 0.303794 q: 0.106666 0.816255 -0.139021 0.550476 
time: 1403638628.227829, t: 0.326104 -0.162202 0.293553 q: 0.107192 0.816381 -0.139933 0.549955 
time: 1403638628.327830, t: 0.312259 -0.153466 0.283375 q: 0.106980 0.817017 -0.141082 0.548757 
time: 1403638628.427830, t: 0.302620 -0.144090 0.276539 q: 0.104543 0.816580 -0.143162 0.549339 
time: 1403638628.527829, t: 0.297317 -0.134370 0.273368 q: 0.096290 0.810808 -0.149523 0.557639 
time: 1403638628.627830, t: 0.293179 -0.125690 0.272915 q: 0.090043 0.804090 -0.154224 0.567051 
time: 1403638628.727829, t: 0.283164 -0.117266 0.269989 q: 0.087638 0.803567 -0.155948 0.567697 
time: 1403638628.827830, t: 0.272044 -0.112131 0.262802 q: 0.091230 0.804939 -0.153812 0.565767 
time: 1403638628.927830, t: 0.262251 -0.109937 0.251585 q: 0.095639 0.804966 -0.151311 0.565675 
time: 1403638629.027829, t: 0.253847 -0.108614 0.241700 q: 0.100580 0.805978 -0.147821 0.564297 
time: 1403638629.127830, t: 0.246735 -0.107471 0.233947 q: 0.103997 0.807303 -0.144847 0.562553 
time: 1403638629.227829, t: 0.238494 -0.105456 0.228421 q: 0.105605 0.808285 -0.143359 0.561223 
time: 1403638629.327830, t: 0.228194 -0.101076 0.226822 q: 0.106727 0.809150 -0.142560 0.559967 
time: 1403638629.427830, t: 0.221716 -0.094482 0.225356 q: 0.106248 0.813207 -0.143473 0.553914 
time: 1403638629.527829, t: 0.215583 -0.086328 0.224396 q: 0.103377 0.817869 -0.145955 0.546902 
time: 1403638629.627830, t: 0.214837 -0.077693 0.225542 q: 0.096256 0.818177 -0.151290 0.546290 
time: 1403638629.727829, t: 0.219154 -0.070543 0.227959 q: 0.086241 0.814166 -0.159178 0.551687 
time: 1403638629.827830, t: 0.226523 -0.067991 0.230406 q: 0.082328 0.808190 -0.162459 0.560051 
time: 1403638629.927830, t: 0.232144 -0.068528 0.226562 q: 0.087426 0.802080 -0.159786 0.568764 
time: 1403638630.027829, t: 0.236415 -0.072253 0.213678 q: 0.098287 0.796286 -0.152607 0.577044 
time: 1403638630.127830, t: 0.237770 -0.075573 0.189601 q: 0.104761 0.796662 -0.147966 0.576595 
optimize pose graph 
time: 1403638630.227829, t: 0.236224 -0.077227 0.157994 q: 0.107177 0.800797 -0.145833 0.570938 
time: 1403638630.327830, t: 0.233414 -0.077519 0.120736 q: 0.109427 0.807411 -0.145331 0.561241 
time: 1403638630.427830, t: 0.243501 -0.074448 0.119332 q: 0.094686 0.813562 -0.151770 0.553279 
time: 1403638630.527829, t: 0.255997 -0.074254 0.128168 q: 0.103666 0.804030 -0.144374 0.567403 
time: 1403638630.627830, t: 0.267289 -0.073308 0.116727 q: 0.104381 0.803243 -0.144620 0.568323 
time: 1403638630.727829, t: 0.273647 -0.075541 0.098770 q: 0.094839 0.829355 -0.137820 0.533087 
time: 1403638630.827830, t: 0.270969 -0.085120 0.097111 q: 0.098913 0.826889 -0.139585 0.535712 
time: 1403638630.927830, t: 0.267452 -0.075910 0.089753 q: 0.098390 0.827597 -0.138033 0.535117 
time: 1403638631.027829, t: 0.282760 -0.091197 0.114144 q: 0.097592 0.828317 -0.138155 0.534116 
time: 1403638631.127830, t: 0.271631 -0.083739 0.113680 q: 0.097321 0.828183 -0.138576 0.534264 
time: 1403638631.227829, t: 0.272098 -0.083575 0.113473 q: 0.097559 0.828196 -0.138439 0.534235 
time: 1403638631.327830, t: 0.277664 -0.082826 0.112971 q: 0.097729 0.828217 -0.138668 0.534113 
time: 1403638631.427830, t: 0.276465 -0.082759 0.112609 q: 0.097957 0.828088 -0.138394 0.534342 
time: 1403638631.527829, t: 0.278367 -0.082560 0.112041 q: 0.098072 0.828163 -0.138377 0.534209 
time: 1403638631.627830, t: 0.278699 -0.082681 0.111813 q: 0.098296 0.828197 -0.138171 0.534169 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731035914.431909483]: Shutdown request received.[0m
[33m[ WARN] [1731035914.431953895]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731035914.432849818]: Shutdown request received.[0m
[33m[ WARN] [1731035914.432882979]: Reason given for shutdown: [user request][0m
killed
