/SLAM-Hive/slam_hive_results/mapping_results/3436/287_VINS-Fusion-stereo+MH_01_easy.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/efde6962-9d86-11ef-b230-0242ac110002/roslaunch-41d7f9c82c35-118.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] [1731038834.854139380]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731038834.858223935]: init begins[0m
[31m[ERROR] [1731038834.859989129]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://41d7f9c82c35:38803/[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] [1731038835.815347792]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1731038835.821665867]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731038835.821900215]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731038835.821932035]: ROW: 480 COL: 752 [0m
no imu, fix extrinsic param; no time offset calibration
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1731038835.822163965]: reading paramerter of camera /slamhive/cam0_mei.yaml[0m
[0m[ INFO] [1731038835.823702562]: reading paramerter of camera /slamhive/cam1_mei.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731038835.823903888]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://41d7f9c82c35:11311/[0m
]2;roscore http://41d7f9c82c35:11311/
[1msetting /run_id to efde6962-9d86-11ef-b230-0242ac110002[0m
[0m[ INFO] [1731038835.859176302]: 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
[1mprocess[rosout-1]: started with pid [242][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_mei.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1731038844.760944807]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 327402266.05 
[0m[ INFO] [1731038847.135843671]: Initialization finish![0m
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time: 1403636580.913555, t: -0.082491 -0.013814 0.024303 q: 0.998835 -0.014722 -0.044032 -0.013190 
time: 1403636581.013556, t: 0.092014 -0.020493 -0.027037 q: 0.999412 -0.022140 -0.014025 -0.022110 
time: 1403636581.113555, t: 0.051143 -0.029056 0.010597 q: 0.999607 -0.017227 -0.016215 -0.015040 
time: 1403636581.213556, t: 0.104035 -0.022727 -0.021249 q: 0.999786 -0.017597 -0.000153 -0.010901 
time: 1403636581.313555, t: 0.143781 -0.022835 -0.033841 q: 0.999675 -0.017092 0.016408 -0.009417 
time: 1403636581.413555, t: 0.151352 -0.021693 -0.039696 q: 0.999470 -0.019725 0.022957 -0.012020 
time: 1403636581.513556, t: 0.126239 -0.018494 -0.035047 q: 0.999477 -0.022416 0.015371 -0.017493 
time: 1403636581.613555, t: 0.077783 -0.014103 -0.021679 q: 0.999636 -0.022231 0.002766 -0.015064 
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time: 1403636581.813555, t: -0.045332 -0.003635 0.010471 q: 0.999734 -0.016957 -0.008723 -0.012965 
time: 1403636581.913555, t: -0.111110 -0.000949 0.030165 q: 0.999729 -0.014243 -0.015388 -0.010076 
time: 1403636582.013556, t: -0.172548 0.001736 0.044407 q: 0.999366 -0.018392 -0.029626 -0.007209 
time: 1403636582.113555, t: -0.219873 0.003068 0.055086 q: 0.998675 -0.019895 -0.046766 -0.008092 
time: 1403636582.213556, t: -0.243454 0.001693 0.058724 q: 0.998045 -0.016573 -0.059760 -0.007825 
time: 1403636582.313555, t: -0.233733 -0.001883 0.057439 q: 0.997809 -0.014219 -0.064130 -0.007874 
time: 1403636582.413555, t: -0.192212 -0.007541 0.046951 q: 0.998375 -0.012849 -0.055051 -0.007251 
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time: 1403636589.513556, t: -0.081076 -0.030435 -0.045420 q: 0.982144 -0.024273 -0.185618 0.018724 
time: 1403636589.613555, t: -0.085663 -0.078404 -0.046850 q: 0.982753 -0.021406 -0.182901 0.016908 
time: 1403636589.713556, t: -0.090626 -0.125367 -0.048848 q: 0.983218 -0.018818 -0.180861 0.014765 
time: 1403636589.813555, t: -0.097126 -0.169650 -0.049624 q: 0.982931 -0.011836 -0.183089 0.013573 
time: 1403636589.913555, t: -0.105095 -0.207281 -0.049259 q: 0.981811 -0.003801 -0.189435 0.012116 
time: 1403636590.013556, t: -0.111626 -0.238373 -0.049565 q: 0.981542 0.005391 -0.190744 0.012784 
time: 1403636590.113555, t: -0.113861 -0.260734 -0.050487 q: 0.982691 0.011521 -0.184526 0.011651 
time: 1403636590.213556, t: -0.113413 -0.271762 -0.052354 q: 0.983684 0.015623 -0.178888 0.010994 
time: 1403636590.313555, t: -0.112007 -0.269785 -0.055335 q: 0.983710 0.014845 -0.178932 0.008747 
optimize pose graph 
time: 1403636590.413555, t: -0.109925 -0.255341 -0.059340 q: 0.983512 0.010043 -0.180402 0.007698 
time: 1403636590.513556, t: -0.106291 -0.229597 -0.063751 q: 0.983822 0.002983 -0.179009 0.006455 
time: 1403636590.613555, t: -0.101808 -0.195557 -0.068547 q: 0.984444 -0.003387 -0.175590 0.005228 
time: 1403636590.713556, t: -0.098222 -0.155788 -0.071393 q: 0.984575 -0.009567 -0.174605 0.005838 
time: 1403636590.813555, t: -0.096314 -0.112427 -0.071732 q: 0.983815 -0.013330 -0.178455 0.009229 
time: 1403636590.913555, t: -0.095566 -0.065995 -0.069650 q: 0.982744 -0.016079 -0.183831 0.012758 
time: 1403636591.013556, t: -0.095111 -0.018380 -0.066987 q: 0.982546 -0.017921 -0.184639 0.013817 
time: 1403636591.113555, t: -0.093454 0.026829 -0.063410 q: 0.982863 -0.016171 -0.182969 0.015533 
time: 1403636591.213556, t: -0.091942 0.069018 -0.059493 q: 0.982746 -0.016883 -0.183256 0.018508 
time: 1403636591.313555, t: -0.092899 0.105954 -0.054898 q: 0.982242 -0.019919 -0.185450 0.020281 
time: 1403636591.413555, t: -0.095720 0.134733 -0.050239 q: 0.981807 -0.024609 -0.186957 0.022302 
time: 1403636591.513556, t: -0.100380 0.156119 -0.043673 q: 0.981884 -0.028691 -0.185801 0.023654 
time: 1403636591.613555, t: -0.104341 0.173663 -0.035799 q: 0.983253 -0.042608 -0.175442 0.024856 
time: 1403636591.713556, t: -0.106166 0.184604 -0.027998 q: 0.986039 -0.054840 -0.155418 0.023763 
time: 1403636591.813555, t: -0.104400 0.191594 -0.021853 q: 0.988546 -0.066256 -0.133908 0.021335 
time: 1403636592.013556, t: -0.097221 0.206412 -0.009301 q: 0.988563 -0.083680 -0.121905 0.029659 
time: 1403636592.113555, t: -0.093030 0.219674 0.004383 q: 0.986518 -0.094063 -0.128288 0.038438 
time: 1403636592.213556, t: -0.087795 0.234644 0.023109 q: 0.984310 -0.102133 -0.136613 0.045161 
time: 1403636592.313555, t: -0.080430 0.246849 0.045226 q: 0.982798 -0.103886 -0.145035 0.047759 
optimize pose graph 
time: 1403636592.413555, t: -0.071098 0.251682 0.072050 q: 0.982362 -0.097903 -0.150928 0.050995 
time: 1403636592.513556, t: -0.059120 0.247260 0.102662 q: 0.983974 -0.085612 -0.148935 0.047788 
time: 1403636592.613555, t: -0.047384 0.233226 0.134884 q: 0.986933 -0.069416 -0.140026 0.039217 
time: 1403636592.713556, t: -0.037981 0.210421 0.165635 q: 0.989121 -0.052088 -0.134559 0.028634 
time: 1403636592.813555, t: -0.031810 0.176138 0.192455 q: 0.990301 -0.027806 -0.134675 0.019836 
time: 1403636592.913555, t: -0.030949 0.129685 0.209178 q: 0.990085 0.001516 -0.139839 0.013193 
time: 1403636593.013556, t: -0.035393 0.073910 0.212222 q: 0.988753 0.030209 -0.146358 0.005878 
time: 1403636593.113555, t: -0.044210 0.012528 0.202211 q: 0.986877 0.056603 -0.151184 -0.003685 
time: 1403636593.213556, t: -0.055900 -0.049491 0.177778 q: 0.984844 0.081086 -0.153220 -0.005605 
time: 1403636593.313555, t: -0.070092 -0.105320 0.144045 q: 0.982677 0.100018 -0.155937 -0.005132 
time: 1403636593.413555, t: -0.087232 -0.144208 0.102868 q: 0.981209 0.107034 -0.160382 -0.007045 
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time: 1403636593.613555, t: -0.129699 -0.165975 0.014394 q: 0.981231 0.093180 -0.168825 -0.001114 
time: 1403636593.713556, t: -0.151185 -0.151234 -0.026791 q: 0.981232 0.076049 -0.176905 0.010258 
time: 1403636593.813555, t: -0.169791 -0.121377 -0.064841 q: 0.982283 0.046742 -0.179871 0.024118 
time: 1403636593.913555, t: -0.182616 -0.079515 -0.096827 q: 0.984265 0.009822 -0.171749 0.040348 
time: 1403636594.013556, t: -0.188748 -0.030317 -0.124094 q: 0.985381 -0.030394 -0.158876 0.053478 
time: 1403636594.113555, t: -0.189595 0.023591 -0.138744 q: 0.984038 -0.068486 -0.150734 0.065251 
time: 1403636594.213556, t: -0.185536 0.080014 -0.140556 q: 0.980808 -0.099465 -0.149845 0.075297 
time: 1403636594.313555, t: -0.178506 0.137771 -0.123967 q: 0.978092 -0.121153 -0.150157 0.078169 
optimize pose graph 
time: 1403636594.413555, t: -0.165519 0.193256 -0.095429 q: 0.976925 -0.135822 -0.146771 0.075026 
time: 1403636594.513556, t: -0.147981 0.243433 -0.055201 q: 0.977957 -0.141383 -0.137549 0.068492 
time: 1403636594.613555, t: -0.129054 0.278963 -0.009564 q: 0.979504 -0.140888 -0.127042 0.067694 
time: 1403636594.713556, t: -0.111182 0.290428 0.034570 q: 0.980940 -0.136158 -0.121050 0.067564 
time: 1403636594.813555, t: -0.099552 0.274827 0.075611 q: 0.983851 -0.120244 -0.117500 0.061411 
time: 1403636594.913555, t: -0.091723 0.233346 0.113335 q: 0.987604 -0.095897 -0.114413 0.048486 
time: 1403636595.013556, t: -0.088830 0.168747 0.141359 q: 0.991259 -0.060463 -0.112618 0.032653 
time: 1403636595.113555, t: -0.092808 0.092504 0.156631 q: 0.992818 -0.020701 -0.116574 0.017165 
time: 1403636595.213556, t: -0.099330 0.015563 0.154895 q: 0.992174 0.016400 -0.123581 0.006967 
time: 1403636595.313555, t: -0.110520 -0.047741 0.145131 q: 0.990361 0.048482 -0.129749 -0.000879 
time: 1403636595.413555, t: -0.123472 -0.091017 0.123603 q: 0.988726 0.066999 -0.133703 -0.007514 
time: 1403636595.513556, t: -0.136523 -0.107000 0.096968 q: 0.987651 0.074801 -0.137331 -0.009527 
time: 1403636595.613555, t: -0.149338 -0.095913 0.066893 q: 0.986876 0.075798 -0.142160 -0.011034 
time: 1403636595.713556, t: -0.162062 -0.062023 0.036473 q: 0.987206 0.064826 -0.145297 -0.010472 
time: 1403636595.813555, t: -0.175163 -0.012341 0.007851 q: 0.988599 0.039915 -0.144854 -0.009806 
time: 1403636595.913555, t: -0.188539 0.043388 -0.019239 q: 0.989599 0.008520 -0.143562 -0.003403 
time: 1403636596.013556, t: -0.201859 0.093896 -0.050297 q: 0.989048 -0.022699 -0.145729 0.005557 
time: 1403636596.113555, t: -0.214248 0.127672 -0.084463 q: 0.987374 -0.050109 -0.149368 0.016455 
time: 1403636596.213556, t: -0.225181 0.134828 -0.116401 q: 0.986314 -0.065045 -0.149432 0.024974 
time: 1403636596.313555, t: -0.231713 0.115170 -0.149912 q: 0.986388 -0.068832 -0.145830 0.032169 
time: 1403636596.413555, t: -0.235831 0.079027 -0.187313 q: 0.987022 -0.070702 -0.140624 0.031847 
optimize pose graph 
time: 1403636596.513556, t: -0.239785 0.039113 -0.224692 q: 0.988092 -0.068589 -0.135106 0.026751 
time: 1403636596.613555, t: -0.243455 0.003362 -0.253838 q: 0.988596 -0.066961 -0.133164 0.021494 
time: 1403636596.713556, t: -0.246604 -0.022716 -0.270532 q: 0.988344 -0.065781 -0.135842 0.019923 
time: 1403636596.813555, t: -0.246876 -0.033559 -0.269065 q: 0.988857 -0.064209 -0.133394 0.015656 
time: 1403636597.013556, t: -0.228183 -0.016089 -0.207326 q: 0.989166 -0.067435 -0.130263 0.005847 
time: 1403636597.213556, t: -0.188870 0.022013 -0.094586 q: 0.987180 -0.054404 -0.150040 0.001733 
time: 1403636597.313555, t: -0.160297 0.039212 -0.033443 q: 0.987881 -0.040739 -0.149663 -0.005643 
time: 1403636597.413555, t: -0.131092 0.049908 0.027788 q: 0.988903 -0.025500 -0.145688 -0.013986 
time: 1403636597.513556, t: -0.107759 0.052905 0.082961 q: 0.989527 -0.007520 -0.142125 -0.024110 
time: 1403636597.613555, t: -0.093604 0.045470 0.121986 q: 0.990271 0.015801 -0.135236 -0.028720 
time: 1403636597.713556, t: -0.089672 0.026838 0.140001 q: 0.990659 0.039564 -0.126554 -0.031838 
time: 1403636597.813555, t: -0.094397 0.002654 0.136198 q: 0.990710 0.056227 -0.118491 -0.035944 
time: 1403636597.913555, t: -0.106136 -0.018682 0.114777 q: 0.990348 0.065879 -0.113844 -0.043707 
time: 1403636598.013556, t: -0.122789 -0.033842 0.081406 q: 0.989377 0.070297 -0.116471 -0.051248 
time: 1403636598.113555, t: -0.143619 -0.041800 0.042223 q: 0.988095 0.071199 -0.126143 -0.051843 
time: 1403636598.213556, t: -0.166929 -0.042112 0.005790 q: 0.986037 0.066762 -0.143328 -0.052262 
time: 1403636598.313555, t: -0.189945 -0.036169 -0.018500 q: 0.983743 0.060215 -0.160185 -0.054444 
time: 1403636598.413555, t: -0.207244 -0.025779 -0.026041 q: 0.982976 0.051081 -0.166802 -0.057673 
optimize pose graph 
time: 1403636598.513556, t: -0.217630 -0.012990 -0.014306 q: 0.983510 0.047970 -0.163674 -0.060152 
time: 1403636598.613555, t: -0.220304 -0.000726 0.013348 q: 0.985231 0.054078 -0.150792 -0.060474 
time: 1403636598.713556, t: -0.220246 0.010368 0.049021 q: 0.987095 0.065231 -0.133098 -0.060600 
time: 1403636598.813555, t: -0.224339 0.019783 0.087277 q: 0.988978 0.078272 -0.110500 -0.059886 
time: 1403636598.913555, t: -0.233451 0.029329 0.123763 q: 0.990950 0.084213 -0.087765 -0.056783 
time: 1403636599.013556, t: -0.245607 0.038209 0.155873 q: 0.992152 0.085657 -0.070564 -0.057593 
time: 1403636599.113555, t: -0.255418 0.043491 0.179754 q: 0.992916 0.092085 -0.051741 -0.054420 
time: 1403636599.213556, t: -0.260566 0.047267 0.197044 q: 0.993594 0.098062 -0.022808 -0.051337 
time: 1403636599.313555, t: -0.263710 0.049674 0.212014 q: 0.993941 0.099440 0.006993 -0.046306 
time: 1403636599.413555, t: -0.268525 0.051931 0.225140 q: 0.994076 0.095829 0.022966 -0.045856 
time: 1403636599.513556, t: -0.274497 0.053648 0.236285 q: 0.994784 0.087672 0.024511 -0.046020 
time: 1403636599.613555, t: -0.281124 0.055384 0.244061 q: 0.995583 0.081181 0.018949 -0.043196 
time: 1403636599.713556, t: -0.287639 0.057571 0.248521 q: 0.995814 0.078745 0.018315 -0.042633 
time: 1403636599.813555, t: -0.287766 0.059787 0.248123 q: 0.995212 0.080569 0.035765 -0.042211 
time: 1403636599.913555, t: -0.289071 0.061287 0.247326 q: 0.994843 0.082169 0.044494 -0.039455 
time: 1403636600.013556, t: -0.289889 0.062343 0.247731 q: 0.995135 0.080536 0.043310 -0.036660 
time: 1403636600.113555, t: -0.290936 0.064256 0.247793 q: 0.994984 0.082588 0.046609 -0.031843 
time: 1403636600.213556, t: -0.291068 0.064401 0.247680 q: 0.994950 0.082755 0.046943 -0.031962 
time: 1403636600.313555, t: -0.291207 0.064185 0.247654 q: 0.994920 0.083253 0.047111 -0.031354 
time: 1403636600.413555, t: -0.291270 0.064110 0.247519 q: 0.994907 0.083519 0.047279 -0.030798 
optimize pose graph 
time: 1403636600.513556, t: -0.291289 0.064120 0.247457 q: 0.994907 0.083540 0.047520 -0.030370 
time: 1403636600.613555, t: -0.291266 0.064042 0.247491 q: 0.994906 0.083694 0.047390 -0.030179 
time: 1403636600.713556, t: -0.291283 0.064097 0.247489 q: 0.994915 0.083577 0.047313 -0.030352 
time: 1403636600.813555, t: -0.291283 0.064130 0.247490 q: 0.994915 0.083505 0.047353 -0.030478 
time: 1403636600.913555, t: -0.291269 0.064115 0.247502 q: 0.994916 0.083489 0.047348 -0.030508 
time: 1403636601.013556, t: -0.291299 0.064141 0.247497 q: 0.994918 0.083479 0.047318 -0.030501 
time: 1403636601.113555, t: -0.291287 0.064129 0.247502 q: 0.994920 0.083501 0.047289 -0.030438 
time: 1403636601.213556, t: -0.291301 0.064128 0.247495 q: 0.994921 0.083487 0.047288 -0.030437 
time: 1403636601.313555, t: -0.291305 0.064124 0.247493 q: 0.994921 0.083489 0.047288 -0.030422 
time: 1403636601.413555, t: -0.291295 0.064103 0.247502 q: 0.994923 0.083496 0.047275 -0.030366 
time: 1403636601.513556, t: -0.291330 0.064116 0.247500 q: 0.994922 0.083513 0.047329 -0.030268 
time: 1403636601.613555, t: -0.291356 0.064092 0.247480 q: 0.994923 0.083549 0.047322 -0.030137 
time: 1403636601.713556, t: -0.291367 0.064086 0.247471 q: 0.994923 0.083539 0.047336 -0.030150 
time: 1403636601.813555, t: -0.291353 0.064084 0.247515 q: 0.994928 0.083531 0.047277 -0.030097 
time: 1403636601.913555, t: -0.291346 0.064081 0.247500 q: 0.994928 0.083523 0.047297 -0.030095 
time: 1403636602.013556, t: -0.291341 0.064073 0.247501 q: 0.994927 0.083527 0.047306 -0.030083 
time: 1403636602.113555, t: -0.291355 0.064061 0.247501 q: 0.994927 0.083535 0.047330 -0.030041 
time: 1403636602.213556, t: -0.291349 0.064050 0.247490 q: 0.994927 0.083549 0.047324 -0.029991 
time: 1403636602.313555, t: -0.291359 0.064062 0.247486 q: 0.994926 0.083533 0.047323 -0.030069 
time: 1403636602.413555, t: -0.291363 0.064075 0.247485 q: 0.994927 0.083514 0.047312 -0.030110 
time: 1403636602.513556, t: -0.291365 0.064080 0.247477 q: 0.994928 0.083495 0.047318 -0.030146 
time: 1403636602.613555, t: -0.291366 0.064088 0.247478 q: 0.994927 0.083497 0.047316 -0.030172 
time: 1403636602.713556, t: -0.291367 0.064086 0.247487 q: 0.994926 0.083510 0.047317 -0.030142 
time: 1403636602.813555, t: -0.291378 0.064098 0.247472 q: 0.994927 0.083499 0.047318 -0.030142 
time: 1403636602.913555, t: -0.291370 0.064102 0.247471 q: 0.994927 0.083503 0.047316 -0.030154 
time: 1403636603.013556, t: -0.291377 0.064105 0.247483 q: 0.994926 0.083486 0.047343 -0.030184 
time: 1403636603.113555, t: -0.291381 0.064100 0.247464 q: 0.994927 0.083486 0.047351 -0.030145 
time: 1403636603.213556, t: -0.291385 0.064102 0.247472 q: 0.994927 0.083495 0.047348 -0.030121 
time: 1403636603.313555, t: -0.291383 0.064092 0.247476 q: 0.994927 0.083484 0.047356 -0.030142 
time: 1403636603.413555, t: -0.291383 0.064092 0.247469 q: 0.994926 0.083494 0.047367 -0.030109 
time: 1403636603.513556, t: -0.291384 0.064091 0.247481 q: 0.994927 0.083502 0.047347 -0.030097 
time: 1403636603.613555, t: -0.291385 0.064085 0.247468 q: 0.994927 0.083490 0.047347 -0.030125 
time: 1403636603.713556, t: -0.291390 0.064086 0.247465 q: 0.994926 0.083499 0.047374 -0.030109 
time: 1403636603.813555, t: -0.291402 0.064096 0.247459 q: 0.994927 0.083496 0.047347 -0.030121 
time: 1403636603.913555, t: -0.291426 0.064078 0.247451 q: 0.994927 0.083530 0.047332 -0.030041 
time: 1403636604.013556, t: -0.291406 0.064070 0.247460 q: 0.994927 0.083535 0.047362 -0.029993 
time: 1403636604.113555, t: -0.291393 0.064070 0.247463 q: 0.994928 0.083495 0.047370 -0.030039 
time: 1403636604.213556, t: -0.291402 0.064079 0.247465 q: 0.994928 0.083486 0.047372 -0.030065 
time: 1403636604.313555, t: -0.291400 0.064083 0.247466 q: 0.994927 0.083483 0.047398 -0.030073 
time: 1403636604.413555, t: -0.291402 0.064087 0.247468 q: 0.994928 0.083516 0.047354 -0.030021 
time: 1403636604.513556, t: -0.291390 0.064087 0.247472 q: 0.994927 0.083485 0.047376 -0.030097 
time: 1403636604.613555, t: -0.291398 0.064089 0.247464 q: 0.994928 0.083479 0.047364 -0.030099 
time: 1403636604.713556, t: -0.291391 0.064091 0.247464 q: 0.994928 0.083474 0.047364 -0.030116 
time: 1403636604.813555, t: -0.291397 0.064101 0.247467 q: 0.994928 0.083492 0.047350 -0.030088 
time: 1403636605.013556, t: -0.291399 0.064103 0.247463 q: 0.994928 0.083491 0.047359 -0.030086 
time: 1403636605.113555, t: -0.291390 0.064101 0.247465 q: 0.994928 0.083466 0.047350 -0.030146 
time: 1403636605.213556, t: -0.291393 0.064096 0.247460 q: 0.994929 0.083469 0.047342 -0.030132 
time: 1403636605.313555, t: -0.291394 0.064103 0.247460 q: 0.994929 0.083458 0.047354 -0.030160 
time: 1403636605.513556, t: -0.291395 0.064103 0.247462 q: 0.994929 0.083485 0.047336 -0.030097 
time: 1403636605.613555, t: -0.291396 0.064097 0.247463 q: 0.994928 0.083478 0.047353 -0.030119 
time: 1403636605.713556, t: -0.291383 0.064091 0.247429 q: 0.994929 0.083459 0.047330 -0.030166 
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time: 1403636605.913555, t: -0.291373 0.064081 0.247460 q: 0.994930 0.083444 0.047318 -0.030191 
time: 1403636606.013556, t: -0.291372 0.064082 0.247462 q: 0.994930 0.083444 0.047319 -0.030194 
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time: 1403636606.313555, t: -0.291377 0.064077 0.247458 q: 0.994930 0.083449 0.047315 -0.030184 
time: 1403636606.413555, t: -0.291373 0.064073 0.247451 q: 0.994930 0.083447 0.047320 -0.030183 
time: 1403636606.513556, t: -0.291374 0.064077 0.247452 q: 0.994931 0.083449 0.047314 -0.030182 
time: 1403636606.713556, t: -0.291376 0.064077 0.247456 q: 0.994931 0.083447 0.047308 -0.030182 
time: 1403636606.813555, t: -0.291377 0.064078 0.247457 q: 0.994931 0.083449 0.047309 -0.030178 
time: 1403636606.913555, t: -0.291378 0.064082 0.247464 q: 0.994930 0.083453 0.047313 -0.030176 
time: 1403636607.013556, t: -0.291375 0.064076 0.247459 q: 0.994930 0.083450 0.047319 -0.030182 
time: 1403636607.113555, t: -0.291376 0.064078 0.247461 q: 0.994930 0.083454 0.047312 -0.030176 
time: 1403636607.213556, t: -0.291378 0.064077 0.247461 q: 0.994930 0.083458 0.047303 -0.030176 
time: 1403636607.413555, t: -0.291377 0.064075 0.247454 q: 0.994931 0.083458 0.047305 -0.030164 
time: 1403636607.513556, t: -0.291377 0.064078 0.247454 q: 0.994930 0.083458 0.047308 -0.030171 
time: 1403636607.613555, t: -0.291377 0.064078 0.247461 q: 0.994930 0.083461 0.047314 -0.030162 
time: 1403636607.713556, t: -0.291378 0.064080 0.247462 q: 0.994931 0.083452 0.047304 -0.030177 
time: 1403636607.813555, t: -0.291378 0.064078 0.247455 q: 0.994931 0.083450 0.047305 -0.030184 
time: 1403636607.913555, t: -0.291380 0.064080 0.247456 q: 0.994931 0.083454 0.047306 -0.030175 
time: 1403636608.013556, t: -0.291379 0.064082 0.247459 q: 0.994930 0.083457 0.047313 -0.030177 
time: 1403636608.113555, t: -0.291382 0.064084 0.247460 q: 0.994930 0.083453 0.047307 -0.030190 
time: 1403636608.213556, t: -0.291380 0.064083 0.247462 q: 0.994930 0.083456 0.047304 -0.030183 
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time: 1403636608.613555, t: -0.291379 0.064082 0.247460 q: 0.994930 0.083454 0.047304 -0.030191 
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time: 1403636608.913555, t: -0.291379 0.064083 0.247454 q: 0.994931 0.083448 0.047297 -0.030191 
time: 1403636609.013556, t: -0.291380 0.064082 0.247451 q: 0.994931 0.083452 0.047302 -0.030190 
time: 1403636609.113555, t: -0.291380 0.064083 0.247456 q: 0.994931 0.083454 0.047304 -0.030184 
time: 1403636609.213556, t: -0.291380 0.064082 0.247458 q: 0.994930 0.083456 0.047312 -0.030184 
time: 1403636609.313555, t: -0.291381 0.064087 0.247464 q: 0.994931 0.083450 0.047304 -0.030191 
time: 1403636609.413555, t: -0.291381 0.064080 0.247454 q: 0.994931 0.083455 0.047303 -0.030181 
time: 1403636609.513556, t: -0.291382 0.064079 0.247455 q: 0.994931 0.083453 0.047303 -0.030182 
time: 1403636609.613555, t: -0.291386 0.064083 0.247460 q: 0.994930 0.083466 0.047298 -0.030166 
time: 1403636609.713556, t: -0.291389 0.064093 0.247446 q: 0.994929 0.083446 0.047330 -0.030209 
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time: 1403636626.113555, t: -0.049853 0.099840 0.142655 q: 0.995622 0.073360 0.023320 -0.053020 
time: 1403636626.213556, t: -0.006840 0.091286 0.137909 q: 0.995772 0.077162 0.023917 -0.043729 
time: 1403636626.313555, t: 0.024729 0.086563 0.137135 q: 0.995774 0.078992 0.024305 -0.040043 
time: 1403636626.413555, t: 0.043055 0.086830 0.140182 q: 0.995707 0.078680 0.025228 -0.041724 
time: 1403636626.513556, t: 0.052254 0.090980 0.145764 q: 0.995399 0.077196 0.030293 -0.048009 
optimize pose graph 
time: 1403636626.613555, t: 0.057260 0.098196 0.150355 q: 0.994840 0.076291 0.037680 -0.055265 
time: 1403636626.713556, t: 0.057748 0.107452 0.152201 q: 0.994453 0.076511 0.040284 -0.059890 
time: 1403636626.813555, t: 0.052014 0.117614 0.152115 q: 0.994431 0.077989 0.035310 -0.061464 
time: 1403636626.913555, t: 0.041422 0.128742 0.150123 q: 0.994548 0.078576 0.027251 -0.062908 
time: 1403636627.013556, t: 0.027529 0.140217 0.147607 q: 0.994683 0.078044 0.018182 -0.064683 
time: 1403636627.113555, t: 0.016003 0.151260 0.143537 q: 0.994779 0.077546 0.009470 -0.065665 
time: 1403636627.213556, t: 0.015633 0.160906 0.136853 q: 0.994673 0.078164 0.013384 -0.065856 
time: 1403636627.313555, t: 0.025143 0.168965 0.126981 q: 0.994508 0.079482 0.020897 -0.064809 
time: 1403636627.413555, t: 0.042368 0.175965 0.113925 q: 0.994514 0.080552 0.022362 -0.062870 
time: 1403636627.513556, t: 0.064652 0.183681 0.097478 q: 0.994849 0.079008 0.022501 -0.059389 
time: 1403636627.613555, t: 0.076975 0.193918 0.084549 q: 0.995656 0.071890 0.020362 -0.055558 
time: 1403636627.713556, t: 0.073764 0.206142 0.077199 q: 0.996468 0.063259 0.013164 -0.053635 
time: 1403636627.813555, t: 0.061327 0.220598 0.074732 q: 0.997387 0.050928 0.002622 -0.051169 
time: 1403636627.913555, t: 0.049226 0.235606 0.075459 q: 0.998063 0.038023 -0.006790 -0.048768 
time: 1403636628.013556, t: 0.047297 0.248681 0.078274 q: 0.998403 0.028565 -0.009711 -0.047763 
time: 1403636628.113555, t: 0.058184 0.259227 0.082829 q: 0.998699 0.023179 -0.000306 -0.045423 
time: 1403636628.213556, t: 0.079741 0.268250 0.088089 q: 0.998798 0.021366 0.017643 -0.040421 
time: 1403636628.313555, t: 0.106869 0.276426 0.091870 q: 0.998849 0.022508 0.028010 -0.031783 
time: 1403636628.413555, t: 0.134448 0.286167 0.094051 q: 0.998902 0.023696 0.030187 -0.026870 
time: 1403636628.513556, t: 0.157189 0.298493 0.096724 q: 0.998932 0.025165 0.030049 -0.024471 
optimize pose graph 
time: 1403636628.613555, t: 0.173103 0.315060 0.099730 q: 0.998959 0.027487 0.028596 -0.022534 
time: 1403636628.713556, t: 0.182952 0.334618 0.104882 q: 0.998931 0.026918 0.028634 -0.024350 
time: 1403636628.813555, t: 0.186688 0.359460 0.111956 q: 0.999138 0.018920 0.022903 -0.028988 
time: 1403636628.913555, t: 0.190956 0.386832 0.113492 q: 0.999363 0.009640 0.014331 -0.031229 
time: 1403636629.013556, t: 0.200698 0.414720 0.119174 q: 0.999475 0.003083 0.008253 -0.031179 
time: 1403636629.113555, t: 0.217786 0.440586 0.125672 q: 0.999509 -0.002815 0.006747 -0.030484 
time: 1403636629.213556, t: 0.237339 0.467446 0.133349 q: 0.999532 -0.012104 0.007928 -0.026946 
time: 1403636629.313555, t: 0.251595 0.494696 0.146763 q: 0.999473 -0.020756 0.012830 -0.021385 
time: 1403636629.413555, t: 0.262025 0.522957 0.161966 q: 0.999396 -0.025889 0.019013 -0.013298 
time: 1403636629.513556, t: 0.267547 0.552684 0.181254 q: 0.999087 -0.034044 0.025698 -0.002433 
time: 1403636629.613555, t: 0.266464 0.587496 0.201269 q: 0.998548 -0.048406 0.023153 0.004705 
time: 1403636629.713556, t: 0.259339 0.625949 0.223581 q: 0.997571 -0.067578 0.014092 0.009323 
time: 1403636629.813555, t: 0.250265 0.667759 0.248754 q: 0.995844 -0.089595 0.007438 0.014542 
time: 1403636629.913555, t: 0.239366 0.711871 0.277342 q: 0.993594 -0.110784 0.004408 0.021871 
time: 1403636630.013556, t: 0.235907 0.754791 0.309815 q: 0.991493 -0.127280 0.004812 0.026815 
time: 1403636630.113555, t: 0.243997 0.797849 0.342910 q: 0.989827 -0.138676 0.011880 0.029492 
time: 1403636630.213556, t: 0.263581 0.841493 0.372045 q: 0.988372 -0.146774 0.025896 0.030118 
time: 1403636630.313555, t: 0.287695 0.884970 0.403047 q: 0.987316 -0.151694 0.035791 0.030264 
time: 1403636630.413555, t: 0.313601 0.926809 0.431166 q: 0.987036 -0.153946 0.033985 0.030104 
time: 1403636630.513556, t: 0.343830 0.968872 0.456615 q: 0.987167 -0.154450 0.029501 0.027848 
time: 1403636630.613555, t: 0.376954 1.006633 0.482028 q: 0.987384 -0.154491 0.026692 0.022179 
optimize pose graph 
time: 1403636630.713556, t: 0.410342 1.042948 0.510134 q: 0.987765 -0.152964 0.024106 0.018467 
time: 1403636630.813555, t: 0.433111 1.081695 0.539818 q: 0.988305 -0.149262 0.023864 0.020110 
time: 1403636630.913555, t: 0.451068 1.124437 0.565999 q: 0.988842 -0.145149 0.024481 0.022908 
time: 1403636631.013556, t: 0.470063 1.159382 0.601033 q: 0.989088 -0.143051 0.025162 0.024672 
time: 1403636631.113555, t: 0.482480 1.197408 0.636477 q: 0.989228 -0.141510 0.028210 0.024653 
time: 1403636631.213556, t: 0.494861 1.235641 0.673701 q: 0.989291 -0.140408 0.031763 0.024067 
time: 1403636631.313555, t: 0.510391 1.271331 0.713387 q: 0.989349 -0.139766 0.033208 0.023489 
time: 1403636631.413555, t: 0.517343 1.307466 0.752416 q: 0.989455 -0.139109 0.033234 0.022867 
time: 1403636631.513556, t: 0.520312 1.344885 0.790823 q: 0.989576 -0.138739 0.032624 0.020668 
time: 1403636631.613555, t: 0.521443 1.379530 0.832736 q: 0.989659 -0.138583 0.032497 0.017740 
time: 1403636631.713556, t: 0.527532 1.412964 0.871298 q: 0.989849 -0.137731 0.031191 0.016004 
time: 1403636631.813555, t: 0.537671 1.446625 0.907280 q: 0.990012 -0.136781 0.030795 0.014770 
time: 1403636631.913555, t: 0.552468 1.476802 0.942794 q: 0.990057 -0.137057 0.028999 0.012695 
time: 1403636632.013556, t: 0.568576 1.504367 0.976764 q: 0.990021 -0.137302 0.029192 0.012434 
time: 1403636632.113555, t: 0.587393 1.529629 1.010629 q: 0.989825 -0.138229 0.032099 0.010466 
time: 1403636632.213556, t: 0.605647 1.553506 1.044294 q: 0.989481 -0.140710 0.032948 0.006480 
time: 1403636632.313555, t: 0.619575 1.573712 1.076091 q: 0.989360 -0.141147 0.034192 0.008628 
time: 1403636632.413555, t: 0.627138 1.591589 1.114289 q: 0.989266 -0.141803 0.033793 0.010162 
time: 1403636632.513556, t: 0.629469 1.608850 1.153648 q: 0.989842 -0.138297 0.028025 0.017351 
time: 1403636632.613555, t: 0.628757 1.620222 1.196901 q: 0.991177 -0.128651 0.018469 0.025994 
optimize pose graph 
time: 1403636632.713556, t: 0.626482 1.636205 1.239799 q: 0.993050 -0.113574 0.012566 0.028202 
time: 1403636632.813555, t: 0.630943 1.653391 1.281837 q: 0.995252 -0.094389 0.011608 0.020699 
time: 1403636632.913555, t: 0.643585 1.671256 1.324163 q: 0.997016 -0.075039 0.017993 0.002288 
time: 1403636633.013556, t: 0.662199 1.690647 1.367051 q: 0.997889 -0.059312 0.022498 -0.013944 
time: 1403636633.113555, t: 0.683961 1.710643 1.409540 q: 0.998364 -0.046284 0.023718 -0.023740 
time: 1403636633.213556, t: 0.704691 1.728084 1.454492 q: 0.998606 -0.037105 0.023576 -0.029224 
time: 1403636633.313555, t: 0.719089 1.745803 1.501806 q: 0.998896 -0.030437 0.020925 -0.029041 
time: 1403636633.413555, t: 0.728853 1.764691 1.550956 q: 0.999211 -0.025882 0.017039 -0.024833 
time: 1403636633.513556, t: 0.736586 1.782331 1.604879 q: 0.999370 -0.024581 0.013818 -0.021529 
time: 1403636633.613555, t: 0.742172 1.801474 1.660751 q: 0.999437 -0.025689 0.009997 -0.019102 
time: 1403636633.713556, t: 0.754713 1.818721 1.720806 q: 0.999374 -0.028949 0.009103 -0.018205 
time: 1403636633.813555, t: 0.774450 1.838883 1.776969 q: 0.999332 -0.031328 0.009952 -0.015979 
time: 1403636634.013556, t: 0.830073 1.877876 1.895487 q: 0.999334 -0.032487 0.016483 -0.001873 
time: 1403636634.113555, t: 0.857085 1.901302 1.957829 q: 0.999310 -0.033252 0.016533 0.000664 
time: 1403636634.213556, t: 0.886235 1.929793 2.017315 q: 0.999324 -0.033900 0.013827 -0.003464 
time: 1403636634.413555, t: 0.965513 1.991597 2.136932 q: 0.998865 -0.035563 0.025892 -0.018278 
time: 1403636634.513556, t: 0.999021 2.023358 2.199682 q: 0.998610 -0.034958 0.032466 -0.022416 
time: 1403636634.613555, t: 1.028779 2.054365 2.264135 q: 0.998469 -0.033029 0.035886 -0.026111 
time: 1403636634.713556, t: 1.051583 2.084679 2.328503 q: 0.998458 -0.026703 0.036926 -0.031688 
time: 1403636634.813555, t: 1.075577 2.112225 2.390631 q: 0.998661 -0.019875 0.032764 -0.034744 
time: 1403636634.913555, t: 1.103337 2.138871 2.447937 q: 0.998819 -0.013226 0.029202 -0.036523 
time: 1403636635.013556, t: 1.136738 2.163387 2.502689 q: 0.998828 -0.008023 0.025863 -0.040127 
time: 1403636635.113555, t: 1.170577 2.186102 2.557443 q: 0.998801 -0.004296 0.022902 -0.043054 
time: 1403636635.213556, t: 1.198662 2.206163 2.615841 q: 0.998841 -0.001310 0.020130 -0.043705 
time: 1403636635.313555, t: 1.222484 2.226125 2.675314 q: 0.999017 0.002386 0.017819 -0.040526 
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time: 1403636635.513556, t: 1.273837 2.265886 2.798448 q: 0.999376 0.007265 0.014849 -0.031219 
time: 1403636635.613555, t: 1.309003 2.285464 2.861570 q: 0.999426 0.007723 0.015541 -0.029078 
time: 1403636635.713556, t: 1.351257 2.306364 2.921396 q: 0.999426 0.007147 0.018215 -0.027642 
time: 1403636635.813555, t: 1.401314 2.329712 2.979858 q: 0.999401 0.008759 0.025752 -0.021395 
time: 1403636635.913555, t: 1.459476 2.355145 3.034526 q: 0.999482 0.010258 0.027002 -0.014225 
time: 1403636636.013556, t: 1.519192 2.384979 3.089088 q: 0.999686 0.008396 0.018158 -0.015102 
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time: 1403636636.513556, t: 1.828081 2.540700 3.376059 q: 0.997452 -0.003299 0.055254 -0.045013 
time: 1403636636.613555, t: 1.879186 2.573203 3.421787 q: 0.996980 -0.005926 0.057042 -0.052356 
time: 1403636636.713556, t: 1.917609 2.600965 3.475243 q: 0.996511 -0.009513 0.056586 -0.060610 
time: 1403636636.813555, t: 1.947000 2.623903 3.527863 q: 0.995925 -0.013145 0.055719 -0.069689 
time: 1403636636.913555, t: 1.965946 2.643486 3.576837 q: 0.996037 -0.013270 0.051299 -0.071435 
time: 1403636637.113555, t: 1.986817 2.667847 3.669018 q: 0.997904 -0.001156 0.042877 -0.048448 
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time: 1403636637.713556, t: 2.088954 2.693804 3.903654 q: 0.998791 0.006636 0.021918 -0.043501 
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optimize pose graph 
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optimize pose graph 
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time: 1403636709.213556, t: 2.158991 7.951690 7.023196 q: 0.889013 -0.434285 0.118510 0.083709 
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time: 1403636710.313555, t: 2.474864 8.168378 7.626576 q: 0.895449 -0.422374 0.109348 0.088402 
time: 1403636710.413555, t: 2.493481 8.172380 7.701719 q: 0.898803 -0.411046 0.116316 0.098310 
time: 1403636710.513556, t: 2.510245 8.175001 7.776952 q: 0.903972 -0.396991 0.120186 0.103864 
time: 1403636710.613555, t: 2.523109 8.175868 7.852016 q: 0.909189 -0.384433 0.122239 0.103174 
time: 1403636710.713556, t: 2.530553 8.181125 7.923923 q: 0.915130 -0.371891 0.122271 0.096356 
time: 1403636710.813555, t: 2.536921 8.186088 7.992617 q: 0.921551 -0.359892 0.120324 0.082118 
time: 1403636710.913555, t: 2.545489 8.189882 8.055454 q: 0.928372 -0.347718 0.114366 0.064334 
time: 1403636711.013556, t: 2.558867 8.191301 8.113647 q: 0.933666 -0.338289 0.107932 0.046670 
time: 1403636711.113555, t: 2.575300 8.193352 8.166254 q: 0.937244 -0.330401 0.105551 0.035596 
time: 1403636711.213556, t: 2.594062 8.190458 8.216845 q: 0.939180 -0.325503 0.105754 0.028369 
time: 1403636711.313555, t: 2.615393 8.182487 8.267286 q: 0.940442 -0.321176 0.108012 0.027339 
time: 1403636711.413555, t: 2.637831 8.169536 8.315211 q: 0.940545 -0.317850 0.116169 0.029183 
time: 1403636711.513556, t: 2.664642 8.151607 8.359955 q: 0.938915 -0.317141 0.130662 0.028079 
time: 1403636711.613555, t: 2.689017 8.128267 8.400552 q: 0.936814 -0.320784 0.137695 0.022736 
time: 1403636711.713556, t: 2.712723 8.098359 8.434425 q: 0.935590 -0.324911 0.136785 0.019832 
time: 1403636711.813555, t: 2.730207 8.061135 8.464776 q: 0.935449 -0.326058 0.134369 0.023801 
time: 1403636711.913555, t: 2.747835 8.017956 8.491107 q: 0.936705 -0.323210 0.129724 0.035928 
time: 1403636712.013556, t: 2.765202 7.970269 8.512357 q: 0.937881 -0.319030 0.126949 0.049826 
time: 1403636712.113555, t: 2.784068 7.923190 8.526657 q: 0.938438 -0.315379 0.127834 0.059405 
time: 1403636712.213556, t: 2.802507 7.875312 8.537542 q: 0.939054 -0.314227 0.128045 0.055177 
time: 1403636712.313555, t: 2.827893 7.824782 8.540903 q: 0.941624 -0.310124 0.124927 0.039500 
time: 1403636712.413555, t: 2.852321 7.771747 8.540862 q: 0.944890 -0.302466 0.122861 0.024552 
time: 1403636712.513556, t: 2.876159 7.713959 8.537062 q: 0.947837 -0.293578 0.123416 0.013633 
time: 1403636712.613555, t: 2.903612 7.653016 8.529513 q: 0.950490 -0.283691 0.126550 0.008587 
time: 1403636712.713556, t: 2.922726 7.589941 8.520834 q: 0.952443 -0.273808 0.133531 0.007145 
time: 1403636712.813555, t: 2.933041 7.525566 8.510901 q: 0.954301 -0.266749 0.134571 0.006798 
time: 1403636712.913555, t: 2.937364 7.458953 8.500791 q: 0.955857 -0.263366 0.130074 0.007516 
time: 1403636713.013556, t: 2.933616 7.389681 8.489600 q: 0.956507 -0.263690 0.124601 0.006035 
time: 1403636713.113555, t: 2.929172 7.318910 8.472469 q: 0.957047 -0.261070 0.125845 0.008092 
time: 1403636713.213556, t: 2.927673 7.246850 8.449642 q: 0.957893 -0.258977 0.123519 0.010717 
optimize pose graph 
time: 1403636713.313555, t: 2.928899 7.171483 8.419757 q: 0.958379 -0.258716 0.120147 0.011893 
time: 1403636713.413555, t: 2.935278 7.095004 8.383338 q: 0.958794 -0.257892 0.118272 0.014763 
time: 1403636713.513556, t: 2.945683 7.018153 8.342345 q: 0.959084 -0.256875 0.117528 0.018959 
time: 1403636713.613555, t: 2.956092 6.941001 8.300314 q: 0.959367 -0.255489 0.116954 0.025748 
time: 1403636713.713556, t: 2.957978 6.868026 8.257771 q: 0.959666 -0.254187 0.115599 0.032660 
time: 1403636713.813555, t: 2.954226 6.797460 8.216916 q: 0.959648 -0.253781 0.114937 0.038228 
time: 1403636713.913555, t: 2.945436 6.733256 8.174277 q: 0.959131 -0.256305 0.113827 0.037657 
time: 1403636714.013556, t: 2.933410 6.672687 8.131256 q: 0.958535 -0.259932 0.111386 0.035195 
time: 1403636714.113555, t: 2.916798 6.616325 8.089625 q: 0.957501 -0.264817 0.110137 0.030549 
time: 1403636714.213556, t: 2.894813 6.561497 8.050227 q: 0.956546 -0.267654 0.111798 0.029703 
time: 1403636714.313555, t: 2.868956 6.510182 8.010894 q: 0.956171 -0.267304 0.114440 0.034481 
time: 1403636714.413555, t: 2.843856 6.459405 7.969958 q: 0.956235 -0.268619 0.109989 0.036881 
time: 1403636714.513556, t: 2.807258 6.414521 7.934952 q: 0.957953 -0.265834 0.101130 0.037819 
time: 1403636714.613555, t: 2.771139 6.371717 7.897979 q: 0.961347 -0.256442 0.093321 0.036625 
time: 1403636714.713556, t: 2.737588 6.329574 7.864855 q: 0.965558 -0.243201 0.087799 0.029030 
time: 1403636714.813555, t: 2.712121 6.288549 7.831894 q: 0.970377 -0.226120 0.083698 0.015251 
time: 1403636714.913555, t: 2.697438 6.249863 7.793480 q: 0.975175 -0.206243 0.080588 -0.001651 
time: 1403636715.013556, t: 2.692491 6.211692 7.754946 q: 0.979522 -0.185634 0.076536 -0.014822 
time: 1403636715.113555, t: 2.692844 6.177029 7.719707 q: 0.982441 -0.169790 0.072740 -0.026284 
time: 1403636715.213556, t: 2.699678 6.141036 7.685553 q: 0.984297 -0.158326 0.070789 -0.032890 
time: 1403636715.313555, t: 2.703784 6.109096 7.658017 q: 0.985381 -0.149578 0.073695 -0.034918 
time: 1403636715.413555, t: 2.703541 6.079938 7.636180 q: 0.985900 -0.143262 0.079646 -0.033671 
optimize pose graph 
time: 1403636715.513556, t: 2.700821 6.052761 7.619697 q: 0.986310 -0.137162 0.087671 -0.026327 
time: 1403636715.613555, t: 2.690897 6.032416 7.607252 q: 0.986818 -0.131879 0.092333 -0.016499 
time: 1403636715.713556, t: 2.678472 6.017311 7.594910 q: 0.985300 -0.134844 0.102443 -0.022510 
time: 1403636715.813555, t: 2.665247 6.005545 7.581398 q: 0.983239 -0.140566 0.111643 -0.031905 
time: 1403636715.913555, t: 2.655306 5.993244 7.561896 q: 0.981446 -0.144889 0.119531 -0.038518 
time: 1403636716.013556, t: 2.645983 5.980509 7.536473 q: 0.980503 -0.147493 0.123645 -0.039633 
time: 1403636716.113555, t: 2.636954 5.966028 7.503906 q: 0.980528 -0.149105 0.122454 -0.036577 
time: 1403636716.213556, t: 2.628992 5.949505 7.465334 q: 0.981745 -0.150802 0.111886 -0.030276 
time: 1403636716.313555, t: 2.616882 5.933907 7.426055 q: 0.982143 -0.154011 0.104692 -0.026760 
time: 1403636716.413555, t: 2.601672 5.920607 7.385719 q: 0.982062 -0.156730 0.101951 -0.024425 
time: 1403636716.513556, t: 2.580135 5.909052 7.348937 q: 0.981704 -0.159383 0.101430 -0.023804 
time: 1403636716.613555, t: 2.554074 5.896347 7.316438 q: 0.981561 -0.159463 0.101662 -0.027841 
time: 1403636716.713556, t: 2.523877 5.884780 7.284449 q: 0.982495 -0.152873 0.101415 -0.032367 
time: 1403636716.813555, t: 2.487339 5.875898 7.256671 q: 0.984116 -0.141095 0.101068 -0.037328 
time: 1403636716.913555, t: 2.453151 5.863384 7.222689 q: 0.986304 -0.124433 0.098985 -0.043859 
time: 1403636717.013556, t: 2.425561 5.844762 7.189675 q: 0.988414 -0.104526 0.095817 -0.054131 
time: 1403636717.113555, t: 2.401364 5.827249 7.151158 q: 0.990023 -0.084053 0.092568 -0.064974 
time: 1403636717.213556, t: 2.380601 5.810076 7.109887 q: 0.990671 -0.069208 0.090338 -0.074969 
time: 1403636717.313555, t: 2.361479 5.794900 7.067580 q: 0.990328 -0.061416 0.088126 -0.087818 
time: 1403636717.413555, t: 2.342897 5.778079 7.025657 q: 0.989042 -0.059312 0.087855 -0.102762 
time: 1403636717.513556, t: 2.320787 5.758916 6.985260 q: 0.988602 -0.056985 0.087442 -0.108503 
time: 1403636717.613555, t: 2.293817 5.738158 6.946677 q: 0.989338 -0.052466 0.087533 -0.103900 
time: 1403636717.713556, t: 2.260550 5.714005 6.912895 q: 0.989565 -0.050909 0.089316 -0.100957 
time: 1403636717.813555, t: 2.223477 5.686682 6.879634 q: 0.989231 -0.050074 0.087595 -0.106027 
time: 1403636717.913555, t: 2.186776 5.652329 6.846794 q: 0.988905 -0.043523 0.085906 -0.113104 
time: 1403636718.013556, t: 2.154665 5.611630 6.811311 q: 0.988537 -0.031608 0.084805 -0.120850 
time: 1403636718.113555, t: 2.127056 5.563285 6.775837 q: 0.988660 -0.013107 0.083210 -0.124323 
time: 1403636718.213556, t: 2.098216 5.511082 6.736078 q: 0.988849 0.007240 0.080658 -0.124979 
time: 1403636718.313555, t: 2.063615 5.460085 6.701442 q: 0.988794 0.023636 0.077871 -0.125157 
time: 1403636718.413555, t: 2.022843 5.409271 6.671623 q: 0.988238 0.039409 0.074939 -0.127348 
time: 1403636718.513556, t: 1.977394 5.357102 6.644195 q: 0.987327 0.056701 0.072949 -0.129028 
time: 1403636718.613555, t: 1.929274 5.307057 6.619144 q: 0.986619 0.072188 0.070395 -0.128126 
time: 1403636718.713556, t: 1.879951 5.259456 6.597746 q: 0.986346 0.086007 0.066632 -0.123632 
time: 1403636718.813555, t: 1.829849 5.217067 6.579188 q: 0.985180 0.092724 0.065786 -0.128433 
time: 1403636718.913555, t: 1.781253 5.177704 6.562825 q: 0.983384 0.093166 0.067136 -0.140601 
time: 1403636719.013556, t: 1.740343 5.138507 6.541137 q: 0.981942 0.092747 0.069452 -0.149548 
time: 1403636719.113555, t: 1.706665 5.098644 6.519875 q: 0.980973 0.093312 0.074427 -0.153117 
time: 1403636719.213556, t: 1.679398 5.059181 6.492992 q: 0.980425 0.094606 0.081072 -0.152460 
time: 1403636719.313555, t: 1.650483 5.020372 6.466928 q: 0.980385 0.095733 0.086803 -0.148813 
time: 1403636719.413555, t: 1.614153 4.985028 6.441148 q: 0.980380 0.095892 0.090931 -0.146260 
time: 1403636719.513556, t: 1.572773 4.951772 6.415664 q: 0.980802 0.095423 0.091958 -0.143061 
time: 1403636719.613555, t: 1.529372 4.921387 6.386942 q: 0.981865 0.093854 0.086418 -0.140228 
optimize pose graph 
time: 1403636719.713556, t: 1.488857 4.890890 6.354137 q: 0.982866 0.090277 0.079832 -0.139468 
time: 1403636719.813555, t: 1.456094 4.861659 6.316572 q: 0.983761 0.086950 0.075634 -0.137598 
time: 1403636719.913555, t: 1.428274 4.831143 6.275730 q: 0.984316 0.084209 0.074936 -0.135707 
time: 1403636720.013556, t: 1.401854 4.804672 6.237436 q: 0.984765 0.081643 0.073115 -0.135003 
time: 1403636720.213556, t: 1.336992 4.755963 6.173892 q: 0.985191 0.079950 0.071332 -0.133858 
time: 1403636720.313555, t: 1.302422 4.734419 6.144837 q: 0.985256 0.080324 0.071598 -0.133013 
time: 1403636720.413555, t: 1.264960 4.716239 6.118264 q: 0.985167 0.081223 0.071376 -0.133242 
time: 1403636720.513556, t: 1.227216 4.701455 6.091369 q: 0.985191 0.082812 0.070341 -0.132640 
time: 1403636720.613555, t: 1.196684 4.686266 6.063962 q: 0.985037 0.083834 0.069361 -0.133651 
time: 1403636720.713556, t: 1.174663 4.670322 6.034306 q: 0.984882 0.084828 0.070837 -0.133396 
time: 1403636720.813555, t: 1.158170 4.657589 6.004786 q: 0.985526 0.080645 0.070831 -0.131215 
time: 1403636720.913555, t: 1.144512 4.646377 5.975407 q: 0.986659 0.069838 0.071977 -0.128242 
time: 1403636721.013556, t: 1.125889 4.638971 5.951843 q: 0.987942 0.058833 0.075882 -0.121455 
time: 1403636721.113555, t: 1.102762 4.635189 5.929725 q: 0.989145 0.046513 0.080683 -0.113661 
time: 1403636721.213556, t: 1.079236 4.634749 5.909044 q: 0.990078 0.030945 0.086337 -0.106462 
time: 1403636721.313555, t: 1.059571 4.633534 5.886078 q: 0.990672 0.018127 0.090971 -0.099823 
time: 1403636721.413555, t: 1.045075 4.635174 5.860283 q: 0.990895 0.007127 0.093652 -0.096462 
time: 1403636721.513556, t: 1.033608 4.637501 5.831194 q: 0.991109 -0.002473 0.093966 -0.094165 
time: 1403636721.613555, t: 1.022074 4.640409 5.801842 q: 0.991287 -0.014148 0.093473 -0.091723 
time: 1403636721.713556, t: 1.006006 4.645084 5.774372 q: 0.991194 -0.022968 0.094007 -0.090381 
time: 1403636721.813555, t: 0.985771 4.648481 5.748572 q: 0.991005 -0.028760 0.094323 -0.090477 
optimize pose graph 
time: 1403636721.913555, t: 0.960845 4.654377 5.725749 q: 0.990921 -0.030453 0.095625 -0.089466 
time: 1403636722.013556, t: 0.934485 4.659932 5.703004 q: 0.990250 -0.033127 0.095828 -0.095518 
time: 1403636722.113555, t: 0.913248 4.661494 5.675469 q: 0.989900 -0.033637 0.095368 -0.099353 
time: 1403636722.213556, t: 0.897402 4.660832 5.645395 q: 0.990254 -0.030985 0.094554 -0.097450 
time: 1403636722.313555, t: 0.885052 4.657566 5.612216 q: 0.990645 -0.027674 0.094060 -0.094921 
time: 1403636722.413555, t: 0.869426 4.653372 5.580949 q: 0.990758 -0.028678 0.093550 -0.093940 
time: 1403636722.513556, t: 0.848959 4.651821 5.552208 q: 0.990715 -0.032901 0.094832 -0.091695 
time: 1403636722.613555, t: 0.824617 4.650005 5.525080 q: 0.990590 -0.037316 0.094851 -0.091338 
time: 1403636722.713556, t: 0.798390 4.648265 5.497921 q: 0.990418 -0.040706 0.095148 -0.091446 
time: 1403636722.813555, t: 0.772317 4.642380 5.471644 q: 0.990269 -0.043770 0.094222 -0.092595 
time: 1403636722.913555, t: 0.751747 4.636448 5.442604 q: 0.990259 -0.044758 0.094110 -0.092347 
time: 1403636723.013556, t: 0.739239 4.626028 5.411382 q: 0.990564 -0.043458 0.094393 -0.089359 
time: 1403636723.113555, t: 0.730480 4.614185 5.375637 q: 0.990815 -0.041805 0.095362 -0.086276 
time: 1403636723.213556, t: 0.719901 4.602593 5.341701 q: 0.990866 -0.041887 0.095486 -0.085518 
time: 1403636723.313555, t: 0.705160 4.592008 5.310851 q: 0.990560 -0.044087 0.094885 -0.088568 
time: 1403636723.413555, t: 0.687354 4.582164 5.282413 q: 0.990060 -0.050344 0.096080 -0.089529 
time: 1403636723.513556, t: 0.667834 4.572718 5.254332 q: 0.988892 -0.060672 0.103160 -0.088145 
time: 1403636723.613555, t: 0.651603 4.560618 5.222257 q: 0.987586 -0.067448 0.116963 -0.080278 
time: 1403636723.713556, t: 0.636461 4.544615 5.186378 q: 0.987601 -0.075050 0.115716 -0.074971 
time: 1403636723.813555, t: 0.620494 4.527269 5.146984 q: 0.988421 -0.081623 0.107574 -0.069204 
time: 1403636723.913555, t: 0.602392 4.511756 5.107312 q: 0.989060 -0.086024 0.101126 -0.064290 
time: 1403636724.013556, t: 0.579207 4.496764 5.071107 q: 0.989614 -0.091297 0.093358 -0.060108 
time: 1403636724.113555, t: 0.552537 4.484518 5.038140 q: 0.989500 -0.101356 0.087223 -0.054856 
time: 1403636724.213556, t: 0.522910 4.472782 5.011325 q: 0.988282 -0.115257 0.087508 -0.048539 
time: 1403636724.313555, t: 0.491507 4.464559 4.989452 q: 0.986107 -0.132467 0.090931 -0.042154 
time: 1403636724.413555, t: 0.463912 4.455706 4.967353 q: 0.983156 -0.150202 0.097911 -0.035469 
time: 1403636724.513556, t: 0.443023 4.444305 4.944332 q: 0.980390 -0.164347 0.104344 -0.030636 
time: 1403636724.613555, t: 0.430389 4.429978 4.919903 q: 0.978344 -0.174332 0.108206 -0.027259 
time: 1403636724.713556, t: 0.424201 4.411575 4.891267 q: 0.977160 -0.180384 0.109571 -0.024767 
time: 1403636724.813555, t: 0.424249 4.392051 4.859707 q: 0.976750 -0.183447 0.108596 -0.022644 
time: 1403636724.913555, t: 0.428950 4.371304 4.826901 q: 0.977111 -0.182665 0.107261 -0.019585 
time: 1403636725.013556, t: 0.439944 4.347051 4.791286 q: 0.977850 -0.179173 0.107149 -0.015001 
time: 1403636725.113555, t: 0.458202 4.323091 4.751355 q: 0.978464 -0.175730 0.107659 -0.011675 
time: 1403636725.213556, t: 0.478535 4.300717 4.711759 q: 0.978862 -0.174068 0.106800 -0.011095 
time: 1403636725.313555, t: 0.498152 4.278485 4.674007 q: 0.978934 -0.174293 0.105543 -0.013042 
time: 1403636725.413555, t: 0.512846 4.261023 4.639462 q: 0.978748 -0.175251 0.105281 -0.015963 
time: 1403636725.513556, t: 0.523135 4.246045 4.609488 q: 0.978562 -0.176254 0.104960 -0.018288 
time: 1403636725.613555, t: 0.528941 4.232859 4.582849 q: 0.978343 -0.177696 0.104212 -0.020205 
time: 1403636725.713556, t: 0.532135 4.220287 4.559303 q: 0.978077 -0.177872 0.106414 -0.020068 
time: 1403636725.813555, t: 0.529838 4.209469 4.541219 q: 0.978076 -0.177885 0.106337 -0.020398 
time: 1403636725.913555, t: 0.523693 4.200882 4.525171 q: 0.978565 -0.176114 0.105237 -0.017879 
time: 1403636726.013556, t: 0.514313 4.192535 4.513305 q: 0.978794 -0.174687 0.105626 -0.017047 
optimize pose graph 
time: 1403636726.113555, t: 0.500893 4.185395 4.504838 q: 0.978695 -0.174748 0.106025 -0.019428 
time: 1403636726.213556, t: 0.485900 4.179963 4.498008 q: 0.978503 -0.174116 0.108417 -0.021461 
time: 1403636726.313555, t: 0.469660 4.175276 4.492082 q: 0.978573 -0.173225 0.108878 -0.023086 
time: 1403636726.413555, t: 0.458871 4.169089 4.483344 q: 0.978537 -0.172210 0.110412 -0.024868 
time: 1403636726.513556, t: 0.454399 4.159672 4.470518 q: 0.978874 -0.169462 0.112084 -0.022908 
time: 1403636726.613555, t: 0.455270 4.150909 4.454975 q: 0.980007 -0.161041 0.116447 -0.009576 
time: 1403636726.713556, t: 0.461381 4.143760 4.433613 q: 0.980398 -0.156324 0.119896 -0.002595 
time: 1403636726.813555, t: 0.470298 4.139368 4.408265 q: 0.979741 -0.159852 0.120071 -0.011746 
time: 1403636726.913555, t: 0.486506 4.134944 4.376100 q: 0.979566 -0.160800 0.118590 -0.023010 
time: 1403636727.013556, t: 0.506003 4.130121 4.339180 q: 0.979725 -0.159491 0.117810 -0.028663 
time: 1403636727.113555, t: 0.526758 4.124417 4.302537 q: 0.979702 -0.159372 0.116814 -0.033738 
time: 1403636727.213556, t: 0.541241 4.119269 4.266450 q: 0.979568 -0.160554 0.114513 -0.039446 
time: 1403636727.313555, t: 0.551333 4.113852 4.231461 q: 0.979297 -0.162344 0.112393 -0.044603 
time: 1403636727.413555, t: 0.557398 4.106217 4.198979 q: 0.979372 -0.162995 0.110057 -0.046363 
time: 1403636727.513556, t: 0.561606 4.095472 4.168820 q: 0.979268 -0.162498 0.111907 -0.045880 
time: 1403636727.613555, t: 0.567358 4.081208 4.136985 q: 0.979429 -0.160202 0.115343 -0.041830 
time: 1403636727.713556, t: 0.577082 4.063888 4.101440 q: 0.979737 -0.159524 0.114348 -0.039904 
time: 1403636727.813555, t: 0.591214 4.043294 4.063560 q: 0.979653 -0.160602 0.112743 -0.042145 
time: 1403636727.913555, t: 0.608304 4.019081 4.022319 q: 0.978669 -0.165422 0.110777 -0.050713 
time: 1403636728.013556, t: 0.625516 3.991504 3.985404 q: 0.978698 -0.165732 0.110103 -0.050597 
time: 1403636728.113555, t: 0.634341 3.964318 3.949638 q: 0.979139 -0.163265 0.112060 -0.045546 
time: 1403636728.213556, t: 0.638302 3.932657 3.917642 q: 0.979211 -0.161942 0.114575 -0.042346 
optimize pose graph 
time: 1403636728.313555, t: 0.636502 3.901207 3.888777 q: 0.979417 -0.160948 0.115163 -0.039697 
time: 1403636728.413555, t: 0.627388 3.868556 3.863760 q: 0.979842 -0.159503 0.114743 -0.036076 
time: 1403636728.513556, t: 0.610856 3.838149 3.839714 q: 0.980912 -0.153673 0.116841 -0.023319 
time: 1403636728.613555, t: 0.591891 3.809989 3.816477 q: 0.981694 -0.148868 0.117302 -0.018852 
time: 1403636728.713556, t: 0.572905 3.781557 3.795587 q: 0.982095 -0.145849 0.115281 -0.030467 
time: 1403636728.813555, t: 0.557428 3.753490 3.768190 q: 0.983135 -0.137163 0.112357 -0.044813 
time: 1403636728.913555, t: 0.547945 3.720185 3.736275 q: 0.983997 -0.126575 0.112029 -0.056373 
time: 1403636729.013556, t: 0.536168 3.685784 3.706110 q: 0.984652 -0.116902 0.113204 -0.063085 
time: 1403636729.113555, t: 0.519265 3.653429 3.676065 q: 0.984962 -0.109287 0.114991 -0.068440 
time: 1403636729.213556, t: 0.496548 3.622239 3.648294 q: 0.985635 -0.104410 0.112269 -0.070842 
time: 1403636729.313555, t: 0.469545 3.591235 3.622264 q: 0.986219 -0.100371 0.110988 -0.070558 
time: 1403636729.413555, t: 0.440420 3.560199 3.593954 q: 0.986328 -0.098351 0.111658 -0.070832 
time: 1403636729.513556, t: 0.412942 3.529152 3.562038 q: 0.986374 -0.097202 0.112086 -0.071098 
time: 1403636729.613555, t: 0.389735 3.494382 3.527200 q: 0.986619 -0.096535 0.110820 -0.070590 
time: 1403636729.713556, t: 0.371894 3.457949 3.487470 q: 0.986828 -0.095751 0.110626 -0.069027 
time: 1403636729.813555, t: 0.354361 3.417344 3.446924 q: 0.987147 -0.096962 0.106999 -0.068488 
time: 1403636729.913555, t: 0.332837 3.380011 3.408078 q: 0.987709 -0.097307 0.102738 -0.066389 
time: 1403636730.013556, t: 0.307924 3.344997 3.370236 q: 0.988013 -0.097860 0.099494 -0.065997 
time: 1403636730.113555, t: 0.279756 3.309340 3.336643 q: 0.988204 -0.097306 0.098162 -0.065947 
time: 1403636730.213556, t: 0.250156 3.275820 3.304934 q: 0.988353 -0.097040 0.097102 -0.065679 
time: 1403636730.313555, t: 0.218324 3.243940 3.275636 q: 0.988506 -0.095602 0.097851 -0.064356 
time: 1403636730.413555, t: 0.184748 3.212457 3.249428 q: 0.988686 -0.095297 0.095942 -0.064907 
optimize pose graph 
time: 1403636730.513556, t: 0.154626 3.179491 3.223891 q: 0.989334 -0.095735 0.088402 -0.065098 
time: 1403636730.613555, t: 0.131109 3.146635 3.197227 q: 0.990093 -0.095188 0.081660 -0.063138 
time: 1403636730.713556, t: 0.116215 3.112325 3.172182 q: 0.990373 -0.094737 0.079449 -0.062248 
time: 1403636730.813555, t: 0.111121 3.076765 3.147608 q: 0.990388 -0.095087 0.078243 -0.062992 
time: 1403636730.913555, t: 0.112736 3.041811 3.126154 q: 0.990997 -0.093102 0.077261 -0.057337 
time: 1403636731.013556, t: 0.115370 3.010232 3.108598 q: 0.991614 -0.088911 0.080769 -0.047667 
time: 1403636731.113555, t: 0.117928 2.982262 3.093778 q: 0.991292 -0.084184 0.093647 -0.038509 
time: 1403636731.213556, t: 0.116896 2.961711 3.084259 q: 0.990360 -0.084291 0.102807 -0.038895 
time: 1403636731.313555, t: 0.112562 2.946049 3.075295 q: 0.989036 -0.089015 0.107673 -0.047869 
time: 1403636731.413555, t: 0.105276 2.935221 3.067484 q: 0.988258 -0.093756 0.106785 -0.056149 
time: 1403636731.513556, t: 0.093489 2.925782 3.061055 q: 0.988201 -0.094124 0.106846 -0.056418 
time: 1403636731.613555, t: 0.080439 2.919944 3.055197 q: 0.988867 -0.090705 0.107009 -0.049635 
time: 1403636731.713556, t: 0.064306 2.917053 3.050404 q: 0.989039 -0.089864 0.106965 -0.047802 
time: 1403636731.813555, t: 0.045122 2.917560 3.046462 q: 0.988677 -0.092108 0.106176 -0.052537 
time: 1403636731.913555, t: 0.023573 2.920620 3.043760 q: 0.988343 -0.093305 0.106069 -0.056763 
time: 1403636732.013556, t: -0.001117 2.925207 3.042793 q: 0.988194 -0.093093 0.106976 -0.057995 
time: 1403636732.113555, t: -0.029457 2.932707 3.041904 q: 0.988048 -0.092516 0.108457 -0.058650 
time: 1403636732.213556, t: -0.062066 2.938906 3.042483 q: 0.987721 -0.092496 0.110307 -0.060694 
time: 1403636732.313555, t: -0.088195 2.945971 3.039006 q: 0.987509 -0.091984 0.111920 -0.061952 
time: 1403636732.413555, t: -0.109665 2.951355 3.032159 q: 0.986711 -0.094997 0.112505 -0.068699 
time: 1403636732.513556, t: -0.125436 2.953466 3.019147 q: 0.984393 -0.101406 0.116673 -0.084106 
time: 1403636732.613555, t: -0.137273 2.950968 2.999866 q: 0.982318 -0.105389 0.121838 -0.095397 
time: 1403636732.713556, t: -0.147708 2.939801 2.974598 q: 0.982381 -0.102233 0.126498 -0.092059 
time: 1403636732.813555, t: -0.157619 2.922792 2.946490 q: 0.983463 -0.096926 0.128372 -0.083221 
time: 1403636732.913555, t: -0.171389 2.900423 2.917380 q: 0.983903 -0.095324 0.127983 -0.080422 
time: 1403636733.013556, t: -0.191257 2.877883 2.885942 q: 0.984772 -0.094393 0.122956 -0.078708 
time: 1403636733.113555, t: -0.214424 2.853330 2.852609 q: 0.985633 -0.094325 0.116376 -0.078022 
time: 1403636733.213556, t: -0.234317 2.825895 2.814014 q: 0.985516 -0.095316 0.114658 -0.080783 
time: 1403636733.313555, t: -0.249572 2.792450 2.773266 q: 0.985790 -0.094303 0.113475 -0.080297 
time: 1403636733.413555, t: -0.261596 2.756708 2.727128 q: 0.986774 -0.092076 0.109090 -0.076796 
time: 1403636733.513556, t: -0.268303 2.720190 2.678000 q: 0.987538 -0.090813 0.105359 -0.073624 
time: 1403636733.613555, t: -0.276451 2.681672 2.629329 q: 0.987863 -0.090595 0.102486 -0.073595 
time: 1403636733.713556, t: -0.289949 2.644880 2.583935 q: 0.988285 -0.089834 0.100176 -0.072031 
time: 1403636733.813555, t: -0.307024 2.607190 2.541812 q: 0.988495 -0.089900 0.097853 -0.072256 
time: 1403636733.913555, t: -0.329405 2.571322 2.504852 q: 0.988325 -0.090408 0.097952 -0.073792 
time: 1403636734.013556, t: -0.354170 2.537375 2.470895 q: 0.987293 -0.092017 0.103130 -0.078424 
time: 1403636734.113555, t: -0.380432 2.501367 2.437090 q: 0.986863 -0.092039 0.107915 -0.077362 
time: 1403636734.213556, t: -0.405465 2.464825 2.402797 q: 0.986968 -0.091145 0.109049 -0.075469 
time: 1403636734.313555, t: -0.425334 2.423761 2.365236 q: 0.987352 -0.088986 0.109104 -0.072900 
time: 1403636734.413555, t: -0.437755 2.382371 2.323088 q: 0.988022 -0.087183 0.106077 -0.070426 
time: 1403636734.513556, t: -0.449020 2.340818 2.280755 q: 0.988532 -0.086103 0.102645 -0.069682 
time: 1403636734.613555, t: -0.461229 2.301958 2.242952 q: 0.989094 -0.085140 0.098424 -0.068968 
time: 1403636734.713556, t: -0.479426 2.262828 2.209060 q: 0.989255 -0.085193 0.095535 -0.070635 
time: 1403636734.813555, t: -0.501243 2.226750 2.178626 q: 0.989293 -0.084508 0.094712 -0.072028 
time: 1403636734.913555, t: -0.526049 2.191627 2.151675 q: 0.989479 -0.083059 0.094131 -0.071910 
time: 1403636735.013556, t: -0.554081 2.157435 2.129972 q: 0.989460 -0.082833 0.094133 -0.072434 
time: 1403636735.113555, t: -0.583770 2.126863 2.110170 q: 0.989519 -0.082059 0.095264 -0.071021 
time: 1403636735.213556, t: -0.609142 2.095566 2.089912 q: 0.989801 -0.081580 0.094423 -0.068726 
time: 1403636735.313555, t: -0.627238 2.063413 2.068238 q: 0.990232 -0.081694 0.092151 -0.065382 
time: 1403636735.413555, t: -0.634617 2.032253 2.044264 q: 0.990126 -0.083245 0.093028 -0.063778 
time: 1403636735.513556, t: -0.634006 2.000826 2.017644 q: 0.989731 -0.086016 0.095684 -0.062272 
time: 1403636735.613555, t: -0.626827 1.969874 1.991053 q: 0.989139 -0.089376 0.098661 -0.062304 
time: 1403636735.713556, t: -0.618257 1.939375 1.967165 q: 0.988947 -0.092382 0.098564 -0.061115 
time: 1403636735.813555, t: -0.611804 1.912220 1.945709 q: 0.988773 -0.094576 0.098630 -0.060459 
time: 1403636735.913555, t: -0.610298 1.886445 1.929825 q: 0.988583 -0.095337 0.099821 -0.060425 
time: 1403636736.013556, t: -0.610973 1.862040 1.916550 q: 0.988403 -0.094778 0.100735 -0.062677 
time: 1403636736.113555, t: -0.607243 1.837324 1.901427 q: 0.988628 -0.087387 0.102868 -0.066302 
time: 1403636736.213556, t: -0.596837 1.809720 1.884365 q: 0.988940 -0.075646 0.105361 -0.071927 
time: 1403636736.313555, t: -0.586856 1.782599 1.865713 q: 0.989169 -0.065318 0.105694 -0.078148 
time: 1403636736.413555, t: -0.577418 1.755806 1.848507 q: 0.989241 -0.057938 0.104958 -0.083846 
time: 1403636736.513556, t: -0.573123 1.729556 1.836360 q: 0.988383 -0.055779 0.105203 -0.094443 
time: 1403636736.613555, t: -0.573707 1.703627 1.826713 q: 0.987496 -0.055101 0.105596 -0.103271 
optimize pose graph 
time: 1403636736.713556, t: -0.580656 1.678451 1.816785 q: 0.987107 -0.053528 0.106749 -0.106577 
time: 1403636736.813555, t: -0.591117 1.648657 1.809955 q: 0.986902 -0.052593 0.106801 -0.108863 
time: 1403636736.913555, t: -0.605513 1.619278 1.802077 q: 0.987088 -0.050558 0.106057 -0.108876 
time: 1403636737.013556, t: -0.622866 1.586967 1.795060 q: 0.987858 -0.045978 0.105681 -0.104180 
time: 1403636737.113555, t: -0.640627 1.551841 1.787432 q: 0.988618 -0.040114 0.106555 -0.098339 
time: 1403636737.213556, t: -0.664277 1.518715 1.781566 q: 0.988975 -0.036466 0.105777 -0.097005 
time: 1403636737.313555, t: -0.687968 1.482284 1.777199 q: 0.989488 -0.033889 0.102505 -0.096221 
time: 1403636737.413555, t: -0.711241 1.449589 1.769645 q: 0.990022 -0.031540 0.098101 -0.096111 
time: 1403636737.513556, t: -0.724857 1.412692 1.758994 q: 0.990343 -0.030729 0.093547 -0.097598 
time: 1403636737.613555, t: -0.734838 1.378739 1.744709 q: 0.990946 -0.028044 0.091410 -0.094254 
time: 1403636737.713556, t: -0.739248 1.343110 1.729651 q: 0.991860 -0.024804 0.088814 -0.087806 
time: 1403636737.813555, t: -0.737089 1.310224 1.712829 q: 0.992432 -0.022792 0.087614 -0.082964 
time: 1403636737.913555, t: -0.727064 1.280045 1.694026 q: 0.992611 -0.022322 0.087619 -0.080919 
time: 1403636738.013556, t: -0.709476 1.251656 1.674322 q: 0.992560 -0.023237 0.088584 -0.080231 
time: 1403636738.113555, t: -0.686765 1.226760 1.654240 q: 0.992112 -0.026287 0.089725 -0.083503 
time: 1403636738.213556, t: -0.664906 1.204475 1.638549 q: 0.991630 -0.028985 0.092125 -0.085688 
time: 1403636738.313555, t: -0.648830 1.187037 1.625185 q: 0.991496 -0.030850 0.092754 -0.085906 
time: 1403636738.413555, t: -0.636512 1.172755 1.614965 q: 0.991559 -0.032581 0.092402 -0.084919 
time: 1403636738.513556, t: -0.627023 1.161823 1.608912 q: 0.991663 -0.037695 0.091461 -0.082569 
time: 1403636738.613555, t: -0.620486 1.153148 1.605927 q: 0.991928 -0.047903 0.089458 -0.076038 
time: 1403636738.713556, t: -0.619267 1.151149 1.609660 q: 0.991555 -0.062761 0.092015 -0.066424 
optimize pose graph 
time: 1403636738.813555, t: -0.619381 1.151599 1.614702 q: 0.990213 -0.080635 0.100141 -0.054287 
time: 1403636738.913555, t: -0.623025 1.155712 1.623661 q: 0.988241 -0.100556 0.108139 -0.039673 
time: 1403636739.013556, t: -0.631726 1.168069 1.633706 q: 0.985712 -0.121403 0.114721 -0.021723 
time: 1403636739.113555, t: -0.643069 1.185207 1.643934 q: 0.982017 -0.146476 0.118888 -0.007269 
time: 1403636739.213556, t: -0.657074 1.206721 1.655903 q: 0.976873 -0.176215 0.121111 -0.000611 
time: 1403636739.413555, t: -0.692255 1.263596 1.670804 q: 0.963692 -0.236524 0.123710 0.007036 
time: 1403636739.513556, t: -0.706059 1.293069 1.676608 q: 0.956999 -0.261179 0.125238 0.015967 
time: 1403636739.613555, t: -0.711079 1.316477 1.678637 q: 0.951521 -0.277690 0.129155 0.028538 
time: 1403636739.713556, t: -0.711552 1.337860 1.677669 q: 0.947600 -0.289637 0.130099 0.035196 
time: 1403636739.813555, t: -0.713507 1.358288 1.677737 q: 0.945493 -0.294465 0.132226 0.043007 
time: 1403636739.913555, t: -0.719565 1.379611 1.680507 q: 0.944364 -0.297623 0.132353 0.045611 
time: 1403636740.013556, t: -0.731020 1.402370 1.685219 q: 0.943989 -0.299279 0.131621 0.044647 
time: 1403636740.113555, t: -0.745044 1.426393 1.691628 q: 0.943972 -0.300501 0.130453 0.039974 
time: 1403636740.313555, t: -0.781975 1.473625 1.708532 q: 0.944187 -0.301536 0.129715 0.027576 
time: 1403636740.413555, t: -0.804931 1.495347 1.720280 q: 0.945232 -0.296624 0.132583 0.031175 
time: 1403636740.513556, t: -0.831232 1.517174 1.733969 q: 0.946141 -0.292183 0.135195 0.034176 
time: 1403636740.613555, t: -0.855652 1.537999 1.745008 q: 0.946731 -0.289916 0.136161 0.033298 
time: 1403636740.813555, t: -0.893524 1.575970 1.755350 q: 0.948793 -0.285420 0.130560 0.035803 
time: 1403636740.913555, t: -0.913743 1.595253 1.760072 q: 0.948740 -0.285444 0.131854 0.032081 
time: 1403636741.013556, t: -0.938815 1.616054 1.767405 q: 0.947619 -0.290125 0.132052 0.020179 
optimize pose graph 
time: 1403636741.113555, t: -0.970951 1.635017 1.778723 q: 0.945488 -0.296833 0.133360 0.012538 
time: 1403636741.213556, t: -1.009201 1.653721 1.792608 q: 0.943080 -0.301872 0.138234 0.019109 
time: 1403636741.313555, t: -1.051495 1.669874 1.808116 q: 0.941949 -0.302947 0.141240 0.031712 
time: 1403636741.413555, t: -1.096737 1.682839 1.823670 q: 0.941787 -0.304555 0.135751 0.043073 
time: 1403636741.513556, t: -1.138664 1.693561 1.835250 q: 0.942010 -0.307185 0.125525 0.049976 
time: 1403636741.613555, t: -1.172235 1.705707 1.844077 q: 0.942231 -0.308411 0.118733 0.054645 
time: 1403636741.713556, t: -1.198012 1.717294 1.851129 q: 0.941970 -0.309781 0.117476 0.054103 
time: 1403636741.813555, t: -1.216288 1.731438 1.855216 q: 0.941391 -0.310869 0.121389 0.049069 
time: 1403636741.913555, t: -1.235587 1.746451 1.861295 q: 0.941029 -0.312110 0.123934 0.041128 
time: 1403636742.013556, t: -1.260547 1.762710 1.872514 q: 0.941128 -0.313870 0.121540 0.031476 
time: 1403636742.113555, t: -1.286913 1.777545 1.887765 q: 0.943039 -0.310950 0.113912 0.031816 
time: 1403636742.213556, t: -1.306013 1.792275 1.901072 q: 0.944975 -0.305760 0.110407 0.036664 
time: 1403636742.313555, t: -1.315343 1.804761 1.913238 q: 0.946254 -0.300238 0.113402 0.040014 
time: 1403636742.413555, t: -1.317583 1.815844 1.925382 q: 0.946221 -0.297228 0.121706 0.038847 
time: 1403636742.513556, t: -1.314011 1.826402 1.935718 q: 0.946231 -0.295425 0.126453 0.037153 
time: 1403636742.613555, t: -1.309204 1.838190 1.944397 q: 0.946346 -0.294061 0.129280 0.035268 
time: 1403636742.713556, t: -1.306025 1.849209 1.954014 q: 0.946081 -0.292854 0.134380 0.033295 
time: 1403636742.813555, t: -1.310308 1.862365 1.968100 q: 0.946035 -0.291712 0.137527 0.031766 
time: 1403636742.913555, t: -1.322098 1.876714 1.984765 q: 0.946320 -0.289738 0.139620 0.032192 
time: 1403636743.013556, t: -1.340146 1.892211 2.003796 q: 0.945711 -0.292225 0.138010 0.034468 
time: 1403636743.113555, t: -1.366541 1.910690 2.023763 q: 0.945703 -0.296711 0.125260 0.043795 
time: 1403636743.213556, t: -1.391774 1.930410 2.044952 q: 0.946137 -0.300798 0.107229 0.053354 
optimize pose graph 
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time: 1403636743.413555, t: -1.408005 1.972422 2.085921 q: 0.945212 -0.305946 0.094880 0.062993 
time: 1403636743.513556, t: -1.402425 2.001064 2.108918 q: 0.943962 -0.307818 0.102108 0.061297 
time: 1403636743.613555, t: -1.398778 2.034576 2.137213 q: 0.942519 -0.310189 0.111157 0.055547 
time: 1403636743.713556, t: -1.397437 2.071837 2.170252 q: 0.941149 -0.312708 0.118466 0.049170 
time: 1403636743.813555, t: -1.397421 2.110528 2.208234 q: 0.938384 -0.318105 0.126562 0.047193 
time: 1403636743.913555, t: -1.404151 2.151347 2.249739 q: 0.935516 -0.323260 0.133754 0.049211 
time: 1403636744.013556, t: -1.415962 2.191342 2.294200 q: 0.933275 -0.327741 0.138384 0.049337 
time: 1403636744.113555, t: -1.431163 2.232431 2.339944 q: 0.930147 -0.335498 0.140623 0.049924 
time: 1403636744.213556, t: -1.451913 2.274078 2.387965 q: 0.927174 -0.341479 0.144135 0.054452 
time: 1403636744.313555, t: -1.476379 2.313991 2.437130 q: 0.925067 -0.344520 0.148265 0.059791 
time: 1403636744.513556, t: -1.545102 2.393669 2.540581 q: 0.924318 -0.340399 0.155054 0.075648 
time: 1403636744.613555, t: -1.586697 2.434338 2.591517 q: 0.924248 -0.337769 0.159785 0.078395 
time: 1403636744.713556, t: -1.631656 2.477440 2.639005 q: 0.923891 -0.338166 0.162459 0.075340 
time: 1403636744.813555, t: -1.679426 2.519922 2.683109 q: 0.923414 -0.342589 0.159517 0.067031 
time: 1403636744.913555, t: -1.723893 2.560717 2.719939 q: 0.923986 -0.345494 0.151664 0.062307 
time: 1403636745.013556, t: -1.763681 2.597576 2.751399 q: 0.925617 -0.344406 0.143881 0.062572 
time: 1403636745.113555, t: -1.799240 2.632178 2.778287 q: 0.927859 -0.341577 0.135590 0.063386 
time: 1403636745.213556, t: -1.826809 2.664056 2.805603 q: 0.929578 -0.337773 0.133524 0.062963 
time: 1403636745.313555, t: -1.849264 2.694926 2.829067 q: 0.931082 -0.334589 0.132742 0.059299 
time: 1403636745.413555, t: -1.862277 2.726436 2.848516 q: 0.931162 -0.332397 0.140441 0.052202 
time: 1403636745.513556, t: -1.868533 2.755950 2.866002 q: 0.930351 -0.332454 0.146950 0.048246 
time: 1403636745.613555, t: -1.870607 2.782676 2.878128 q: 0.929177 -0.334477 0.149633 0.048643 
time: 1403636745.713556, t: -1.868677 2.805961 2.887867 q: 0.927127 -0.339330 0.151207 0.049257 
time: 1403636745.813555, t: -1.862187 2.824301 2.890294 q: 0.924947 -0.346040 0.149277 0.049450 
time: 1403636745.913555, t: -1.850961 2.837213 2.889395 q: 0.922078 -0.354099 0.148352 0.048760 
time: 1403636746.013556, t: -1.835347 2.845753 2.885649 q: 0.919243 -0.362695 0.145813 0.046719 
time: 1403636746.113555, t: -1.815289 2.849126 2.881980 q: 0.916916 -0.370054 0.142426 0.045158 
time: 1403636746.213556, t: -1.788964 2.845333 2.874498 q: 0.914941 -0.374213 0.144526 0.044257 
time: 1403636746.313555, t: -1.760594 2.834196 2.868638 q: 0.912012 -0.376753 0.156920 0.040831 
time: 1403636746.413555, t: -1.737587 2.817735 2.867063 q: 0.910314 -0.377039 0.166059 0.039937 
time: 1403636746.513556, t: -1.724233 2.797105 2.870285 q: 0.912311 -0.373673 0.160689 0.047275 
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time: 1403636746.713556, t: -1.722839 2.750354 2.888040 q: 0.921969 -0.358340 0.126141 0.075199 
time: 1403636746.813555, t: -1.724034 2.728159 2.901649 q: 0.924871 -0.349850 0.121309 0.086616 
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time: 1403636747.013556, t: -1.712624 2.700275 2.930968 q: 0.926369 -0.343222 0.127559 0.088130 
time: 1403636747.113555, t: -1.696739 2.692817 2.940330 q: 0.925154 -0.348078 0.131661 0.074818 
time: 1403636747.213556, t: -1.670558 2.685502 2.947984 q: 0.923385 -0.353074 0.136333 0.064122 
time: 1403636747.313555, t: -1.639760 2.677698 2.951699 q: 0.922034 -0.357047 0.138031 0.057608 
time: 1403636747.413555, t: -1.605062 2.667673 2.955341 q: 0.921018 -0.359450 0.139156 0.056194 
time: 1403636747.513556, t: -1.575609 2.658305 2.962127 q: 0.920215 -0.361503 0.138412 0.057980 
time: 1403636747.613555, t: -1.547789 2.646837 2.974812 q: 0.919711 -0.362792 0.137048 0.061081 
time: 1403636747.713556, t: -1.517827 2.635339 2.985903 q: 0.918911 -0.364753 0.136327 0.063031 
time: 1403636747.813555, t: -1.481056 2.621425 2.995056 q: 0.918084 -0.366773 0.135577 0.064946 
time: 1403636747.913555, t: -1.437783 2.605885 3.001392 q: 0.917504 -0.364968 0.140132 0.073123 
time: 1403636748.013556, t: -1.390676 2.589897 3.008497 q: 0.916844 -0.359802 0.149534 0.087059 
time: 1403636748.113555, t: -1.346865 2.577236 3.016529 q: 0.916225 -0.358194 0.152479 0.094761 
time: 1403636748.213556, t: -1.312137 2.569800 3.025452 q: 0.915784 -0.358930 0.151725 0.097405 
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time: 1403636748.413555, t: -1.259019 2.564630 3.044087 q: 0.914498 -0.372619 0.139592 0.073230 
time: 1403636748.513556, t: -1.231157 2.563563 3.052463 q: 0.914010 -0.375087 0.139251 0.067116 
time: 1403636748.613555, t: -1.198671 2.561576 3.059509 q: 0.913965 -0.373605 0.142227 0.069700 
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time: 1403636748.813555, t: -1.129189 2.552327 3.070769 q: 0.913806 -0.367378 0.150895 0.084983 
time: 1403636748.913555, t: -1.100203 2.550595 3.075537 q: 0.912861 -0.367281 0.154151 0.089589 
time: 1403636749.013556, t: -1.076340 2.553566 3.079838 q: 0.911546 -0.369108 0.155841 0.092497 
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time: 1403636749.213556, t: -1.036503 2.565953 3.083479 q: 0.909549 -0.369843 0.160925 0.100201 
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time: 1403636749.413555, t: -0.991219 2.584416 3.065831 q: 0.907036 -0.383223 0.153947 0.082013 
time: 1403636749.513556, t: -0.962193 2.591841 3.047791 q: 0.906453 -0.387657 0.150105 0.074394 
time: 1403636749.613555, t: -0.934471 2.597267 3.031929 q: 0.905994 -0.391558 0.146668 0.065918 
time: 1403636749.713556, t: -0.910552 2.602143 3.018540 q: 0.906342 -0.390799 0.147228 0.064371 
time: 1403636749.913555, t: -0.878099 2.606031 3.003529 q: 0.906154 -0.385459 0.162823 0.061600 
time: 1403636750.013556, t: -0.870429 2.604272 2.998230 q: 0.906842 -0.382167 0.167398 0.059693 
time: 1403636750.113555, t: -0.869022 2.599203 2.994029 q: 0.908309 -0.378891 0.166852 0.059812 
time: 1403636750.213556, t: -0.866069 2.589920 2.986855 q: 0.910141 -0.375834 0.163284 0.061073 
time: 1403636750.313555, t: -0.859502 2.575440 2.974905 q: 0.912216 -0.372995 0.157660 0.062288 
time: 1403636750.413555, t: -0.847015 2.557322 2.957594 q: 0.914124 -0.369859 0.153501 0.063400 
time: 1403636750.513556, t: -0.828375 2.535356 2.935054 q: 0.915675 -0.367031 0.151839 0.061415 
time: 1403636750.613555, t: -0.804434 2.510163 2.909077 q: 0.917220 -0.364051 0.150235 0.060025 
time: 1403636750.713556, t: -0.775629 2.482944 2.879037 q: 0.918286 -0.362547 0.148329 0.057520 
time: 1403636750.813555, t: -0.741590 2.452838 2.845275 q: 0.919310 -0.361095 0.145877 0.056553 
time: 1403636750.913555, t: -0.704103 2.420409 2.809360 q: 0.920003 -0.360844 0.142628 0.055172 
time: 1403636751.013556, t: -0.665490 2.386088 2.774497 q: 0.920165 -0.362022 0.139262 0.053322 
time: 1403636751.113555, t: -0.631069 2.350907 2.745580 q: 0.919992 -0.362509 0.138960 0.053784 
time: 1403636751.213556, t: -0.601462 2.318933 2.718709 q: 0.920549 -0.363079 0.132274 0.057161 
time: 1403636751.313555, t: -0.571757 2.285141 2.695256 q: 0.921300 -0.362122 0.126654 0.063509 
time: 1403636751.413555, t: -0.540949 2.254572 2.673849 q: 0.921079 -0.359625 0.131425 0.070779 
optimize pose graph 
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time: 1403636751.713556, t: -0.451949 2.179533 2.617967 q: 0.924642 -0.342625 0.145167 0.081065 
time: 1403636751.813555, t: -0.427069 2.160995 2.598777 q: 0.927654 -0.337270 0.136834 0.083567 
time: 1403636751.913555, t: -0.404153 2.148043 2.579869 q: 0.929492 -0.337506 0.126877 0.077699 
time: 1403636752.013556, t: -0.378101 2.138047 2.561231 q: 0.930111 -0.339811 0.121021 0.069107 
time: 1403636752.113555, t: -0.352336 2.133928 2.544623 q: 0.929960 -0.340710 0.122507 0.063902 
time: 1403636752.213556, t: -0.324309 2.129961 2.531706 q: 0.930116 -0.338344 0.131060 0.056843 
time: 1403636752.313555, t: -0.294675 2.130305 2.517357 q: 0.932250 -0.329921 0.140094 0.049363 
time: 1403636752.413555, t: -0.261170 2.125898 2.503109 q: 0.936126 -0.317298 0.146093 0.040580 
time: 1403636752.513556, t: -0.225789 2.119804 2.485160 q: 0.941970 -0.301107 0.145095 0.031215 
time: 1403636752.613555, t: -0.191880 2.112722 2.468289 q: 0.948434 -0.283408 0.140385 0.021070 
time: 1403636752.713556, t: -0.164134 2.105804 2.454020 q: 0.954750 -0.264443 0.135628 0.011284 
time: 1403636752.813555, t: -0.139714 2.101231 2.440660 q: 0.960525 -0.245143 0.131516 -0.000546 
time: 1403636752.913555, t: -0.121835 2.098613 2.430578 q: 0.965568 -0.225978 0.128009 -0.015055 
time: 1403636753.013556, t: -0.108500 2.095472 2.425437 q: 0.969996 -0.206880 0.123735 -0.031588 
time: 1403636753.113555, t: -0.100305 2.089201 2.425169 q: 0.974076 -0.186195 0.119595 -0.046951 
time: 1403636753.213556, t: -0.097994 2.082149 2.426661 q: 0.977713 -0.163825 0.116126 -0.061262 
time: 1403636753.313555, t: -0.102433 2.074328 2.431716 q: 0.980067 -0.143024 0.112992 -0.079026 
time: 1403636753.413555, t: -0.111290 2.065088 2.437964 q: 0.981951 -0.122558 0.113757 -0.088384 
time: 1403636753.513556, t: -0.116088 2.049501 2.445360 q: 0.983827 -0.105764 0.114397 -0.088384 
time: 1403636753.613555, t: -0.115070 2.029661 2.448938 q: 0.984863 -0.094734 0.116142 -0.087077 
optimize pose graph 
time: 1403636753.713556, t: -0.112061 2.007853 2.448766 q: 0.985418 -0.089602 0.116735 -0.085421 
time: 1403636753.813555, t: -0.112431 1.985700 2.450386 q: 0.985105 -0.089156 0.118577 -0.086942 
time: 1403636753.913555, t: -0.117555 1.963676 2.454467 q: 0.985061 -0.090148 0.119098 -0.085699 
time: 1403636754.013556, t: -0.127002 1.941714 2.460302 q: 0.984606 -0.092792 0.120627 -0.085960 
time: 1403636754.113555, t: -0.131577 1.916514 2.461655 q: 0.983664 -0.094465 0.127602 -0.084843 
time: 1403636754.213556, t: -0.133356 1.888685 2.457606 q: 0.982553 -0.097828 0.132742 -0.086014 
time: 1403636754.313555, t: -0.132610 1.858288 2.447023 q: 0.981962 -0.101291 0.133911 -0.086942 
time: 1403636754.413555, t: -0.128900 1.820881 2.433668 q: 0.981774 -0.102145 0.133804 -0.088215 
time: 1403636754.513556, t: -0.128321 1.782039 2.416124 q: 0.982259 -0.098038 0.131935 -0.090274 
time: 1403636754.613555, t: -0.134726 1.741397 2.398497 q: 0.983035 -0.090509 0.127078 -0.096444 
time: 1403636754.713556, t: -0.147784 1.696736 2.383218 q: 0.983947 -0.077266 0.124360 -0.102044 
time: 1403636754.813555, t: -0.166371 1.651333 2.368361 q: 0.984457 -0.061932 0.122810 -0.109209 
time: 1403636754.913555, t: -0.188730 1.605581 2.353145 q: 0.984679 -0.049186 0.121842 -0.114642 
time: 1403636755.013556, t: -0.219530 1.562114 2.335007 q: 0.984683 -0.039767 0.120335 -0.119743 
time: 1403636755.113555, t: -0.247825 1.512809 2.319479 q: 0.984776 -0.033161 0.119401 -0.121897 
time: 1403636755.213556, t: -0.274402 1.462547 2.298044 q: 0.985056 -0.028307 0.118189 -0.122045 
time: 1403636755.313555, t: -0.298919 1.410449 2.271848 q: 0.986003 -0.026842 0.110638 -0.121810 
time: 1403636755.413555, t: -0.317962 1.353638 2.243408 q: 0.987238 -0.027496 0.099432 -0.121318 
time: 1403636755.513556, t: -0.332607 1.294280 2.214798 q: 0.987623 -0.028895 0.095324 -0.121157 
time: 1403636755.613555, t: -0.348717 1.235379 2.190021 q: 0.987127 -0.031206 0.097106 -0.123199 
time: 1403636755.713556, t: -0.369675 1.177646 2.170121 q: 0.987164 -0.031436 0.099606 -0.120819 
time: 1403636755.813555, t: -0.393550 1.120249 2.152993 q: 0.986984 -0.031010 0.104431 -0.118301 
time: 1403636755.913555, t: -0.419381 1.061048 2.140408 q: 0.986604 -0.030727 0.109075 -0.117353 
optimize pose graph 
time: 1403636756.013556, t: -0.446138 1.001276 2.127169 q: 0.986592 -0.029888 0.111465 -0.115402 
time: 1403636756.113555, t: -0.467453 0.939557 2.111014 q: 0.986277 -0.030153 0.113425 -0.116117 
time: 1403636756.213556, t: -0.485536 0.876556 2.091373 q: 0.985965 -0.029809 0.115935 -0.116377 
time: 1403636756.313555, t: -0.502143 0.813156 2.068118 q: 0.985974 -0.028906 0.116415 -0.116050 
time: 1403636756.413555, t: -0.522547 0.749479 2.046575 q: 0.985677 -0.028709 0.117384 -0.117629 
time: 1403636756.513556, t: -0.546971 0.689165 2.026849 q: 0.985691 -0.027250 0.117688 -0.117560 
time: 1403636756.613555, t: -0.578555 0.629304 2.007217 q: 0.985598 -0.026375 0.118284 -0.117937 
time: 1403636756.713556, t: -0.609922 0.568537 1.988157 q: 0.985422 -0.024939 0.119946 -0.118043 
time: 1403636756.813555, t: -0.638173 0.505894 1.964248 q: 0.985320 -0.023441 0.121217 -0.117905 
time: 1403636756.913555, t: -0.661667 0.443940 1.937157 q: 0.985338 -0.022572 0.121024 -0.118125 
time: 1403636757.013556, t: -0.683380 0.379637 1.903899 q: 0.985396 -0.021514 0.120766 -0.118096 
time: 1403636757.113555, t: -0.705493 0.315174 1.871615 q: 0.985595 -0.020204 0.120728 -0.116702 
time: 1403636757.213556, t: -0.736672 0.255232 1.839855 q: 0.985678 -0.019779 0.120463 -0.116346 
time: 1403636757.313555, t: -0.769087 0.193573 1.809388 q: 0.985413 -0.021125 0.119233 -0.119574 
time: 1403636757.413555, t: -0.810327 0.134989 1.779588 q: 0.985606 -0.021413 0.116388 -0.120731 
time: 1403636757.513556, t: -0.856219 0.081061 1.748681 q: 0.985590 -0.021426 0.111905 -0.125026 
time: 1403636757.613555, t: -0.890928 0.015788 1.721308 q: 0.986391 -0.017207 0.101107 -0.128506 
time: 1403636757.713556, t: -0.922055 -0.050870 1.689797 q: 0.987385 -0.011900 0.087983 -0.131102 
time: 1403636757.813555, t: -0.944500 -0.126176 1.657349 q: 0.988072 -0.006393 0.078307 -0.132444 
time: 1403636757.913555, t: -0.957612 -0.200594 1.626037 q: 0.988313 -0.000785 0.075327 -0.132525 
time: 1403636758.013556, t: -0.963604 -0.274358 1.598351 q: 0.987432 0.005074 0.085979 -0.132515 
time: 1403636758.113555, t: -0.972875 -0.343784 1.575438 q: 0.986187 0.010572 0.100085 -0.131557 
optimize pose graph 
time: 1403636758.213556, t: -0.976146 -0.418642 1.555495 q: 0.985151 0.013603 0.109759 -0.131325 
time: 1403636758.313555, t: -0.996887 -0.485563 1.537443 q: 0.984900 0.016140 0.114447 -0.128892 
time: 1403636758.413555, t: -1.024893 -0.555689 1.515840 q: 0.986257 0.016857 0.106878 -0.124862 
time: 1403636758.513556, t: -1.054634 -0.620447 1.504219 q: 0.989381 0.018651 0.086998 -0.114928 
time: 1403636758.613555, t: -1.087012 -0.683587 1.499805 q: 0.992199 0.021547 0.068252 -0.102074 
time: 1403636758.713556, t: -1.108306 -0.739011 1.495752 q: 0.991967 0.021086 0.072957 -0.101163 
time: 1403636758.813555, t: -1.123130 -0.789577 1.495660 q: 0.990108 0.019356 0.089898 -0.105973 
time: 1403636758.913555, t: -1.140578 -0.836288 1.504826 q: 0.987765 0.015891 0.104244 -0.114892 
time: 1403636759.013556, t: -1.158583 -0.877953 1.513435 q: 0.986486 0.014025 0.111116 -0.119592 
time: 1403636759.113555, t: -1.179819 -0.914597 1.523141 q: 0.986965 0.018914 0.115031 -0.110948 
time: 1403636759.213556, t: -1.202139 -0.947927 1.533552 q: 0.988662 0.029224 0.115657 -0.091202 
time: 1403636759.313555, t: -1.226654 -0.971227 1.543959 q: 0.989337 0.034698 0.115935 -0.081039 
time: 1403636759.413555, t: -1.252617 -0.982195 1.553219 q: 0.988116 0.028265 0.117226 -0.095315 
time: 1403636759.513556, t: -1.280035 -0.986376 1.564171 q: 0.986521 0.021551 0.118826 -0.110418 
time: 1403636759.613555, t: -1.308526 -0.986188 1.573659 q: 0.985122 0.017468 0.120050 -0.121726 
time: 1403636759.713556, t: -1.330736 -0.985767 1.576449 q: 0.984507 0.015793 0.119565 -0.127281 
time: 1403636759.813555, t: -1.344624 -0.987459 1.570931 q: 0.984113 0.016109 0.121271 -0.128668 
time: 1403636759.913555, t: -1.357323 -0.989694 1.562207 q: 0.984923 0.015674 0.115255 -0.128051 
time: 1403636760.013556, t: -1.372952 -0.990681 1.553508 q: 0.986130 0.014274 0.105222 -0.127565 
time: 1403636760.113555, t: -1.389129 -0.991395 1.547236 q: 0.987185 0.013173 0.096697 -0.126260 
time: 1403636760.213556, t: -1.404212 -0.991638 1.543408 q: 0.987196 0.013339 0.097458 -0.125571 
time: 1403636760.313555, t: -1.418030 -0.991618 1.541568 q: 0.985781 0.015587 0.112052 -0.124246 
time: 1403636760.413555, t: -1.434517 -0.989674 1.542616 q: 0.984431 0.015119 0.120038 -0.127510 
optimize pose graph 
time: 1403636760.513556, t: -1.453384 -0.986768 1.542280 q: 0.984057 0.013365 0.119749 -0.130817 
time: 1403636760.613555, t: -1.475424 -0.983775 1.541734 q: 0.985074 0.011586 0.109234 -0.132525 
time: 1403636760.713556, t: -1.495622 -0.981827 1.540010 q: 0.985354 0.009261 0.102009 -0.136329 
time: 1403636760.813555, t: -1.512885 -0.982295 1.537693 q: 0.984580 0.008554 0.104977 -0.139672 
time: 1403636760.913555, t: -1.529947 -0.985207 1.535834 q: 0.983314 0.008528 0.111902 -0.143175 
time: 1403636761.013556, t: -1.548607 -0.990328 1.534494 q: 0.983967 0.009170 0.107912 -0.141702 
time: 1403636761.113555, t: -1.568747 -0.997638 1.534523 q: 0.985728 0.010233 0.096929 -0.137262 
time: 1403636761.213556, t: -1.588015 -1.006742 1.536968 q: 0.987101 0.009123 0.082639 -0.136819 
time: 1403636761.313555, t: -1.601642 -1.017795 1.540875 q: 0.987661 0.008714 0.076896 -0.136152 
time: 1403636761.413555, t: -1.607667 -1.031667 1.547577 q: 0.986821 0.010260 0.086917 -0.136107 
time: 1403636761.513556, t: -1.608324 -1.047684 1.557030 q: 0.985251 0.011644 0.102575 -0.136465 
time: 1403636761.613555, t: -1.606779 -1.064632 1.565355 q: 0.984145 0.012658 0.113922 -0.135355 
time: 1403636761.813555, t: -1.601392 -1.097715 1.576512 q: 0.986060 0.021692 0.118728 -0.114542 
time: 1403636761.913555, t: -1.596702 -1.109824 1.578159 q: 0.986356 0.021815 0.117933 -0.112772 
time: 1403636762.013556, t: -1.590357 -1.117744 1.577425 q: 0.985007 0.015281 0.118495 -0.124447 
time: 1403636762.113555, t: -1.582648 -1.124053 1.574839 q: 0.982284 0.004664 0.119798 -0.144033 
time: 1403636762.213556, t: -1.576903 -1.133150 1.570938 q: 0.981430 -0.002348 0.113758 -0.154432 
time: 1403636762.313555, t: -1.576037 -1.145981 1.569280 q: 0.983772 -0.003116 0.098376 -0.150019 
time: 1403636762.413555, t: -1.581052 -1.161262 1.574713 q: 0.985959 -0.001240 0.087660 -0.142121 
time: 1403636762.513556, t: -1.590684 -1.178150 1.587198 q: 0.988440 0.009403 0.090663 -0.121152 
time: 1403636762.613555, t: -1.603858 -1.192140 1.607963 q: 0.989737 0.022806 0.102487 -0.096938 
time: 1403636762.713556, t: -1.621180 -1.198764 1.633690 q: 0.988691 0.025877 0.113831 -0.094147 
optimize pose graph 
time: 1403636762.813555, t: -1.642493 -1.196504 1.662934 q: 0.986701 0.019280 0.118438 -0.109640 
time: 1403636762.913555, t: -1.643529 -1.189365 1.658147 q: 0.980458 0.023429 0.161184 -0.110329 
time: 1403636763.013556, t: -1.656409 -1.173069 1.645377 q: 0.985911 0.000814 0.125998 -0.110013 
time: 1403636763.113555, t: -1.664232 -1.159943 1.641862 q: 0.986240 -0.010024 0.139061 -0.088833 
time: 1403636763.213556, t: -1.664629 -1.156900 1.638857 q: 0.985737 -0.016080 0.146929 -0.080473 
time: 1403636763.313555, t: -1.663682 -1.155361 1.643305 q: 0.986668 -0.015821 0.141779 -0.078329 
time: 1403636763.413555, t: -1.664001 -1.155700 1.642668 q: 0.986901 -0.015515 0.140585 -0.077596 
time: 1403636763.513556, t: -1.664106 -1.155674 1.642551 q: 0.986846 -0.015651 0.140844 -0.077796 
time: 1403636763.613555, t: -1.664150 -1.155610 1.642566 q: 0.986842 -0.015761 0.140847 -0.077828 
time: 1403636763.713556, t: -1.664111 -1.155633 1.642659 q: 0.986845 -0.015662 0.140911 -0.077694 
time: 1403636763.813555, t: -1.664126 -1.155646 1.642630 q: 0.986850 -0.015582 0.140963 -0.077548 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731039033.517354178]: Shutdown request received.[0m
[33m[ WARN] [1731039033.517400457]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731039033.518293628]: Shutdown request received.[0m
[33m[ WARN] [1731039033.518314507]: Reason given for shutdown: [user request][0m
killed
