/SLAM-Hive/slam_hive_results/mapping_results/3439/2340_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1731039487.020448013]: init begins[0m
[31m[ERROR] [1731039487.021494348]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731039487.022412706]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/74a6eb5a-9d88-11ef-8a72-0242ac110002/roslaunch-c42807b6f5e0-117.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://c42807b6f5e0:45359/[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 [154][0m
[1mROS_MASTER_URI=http://c42807b6f5e0:11311/[0m
]2;roscore http://c42807b6f5e0:11311/
[0m[ INFO] [1731039488.180719424]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731039488.185553914]: Connected to master at [localhost:11311][0m
[1msetting /run_id to 74a6eb5a-9d88-11ef-8a72-0242ac110002[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1731039488.208717896]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731039488.209180557]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731039488.209235557]: 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] [1731039488.209693208]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[0m[ INFO] [1731039488.258786128]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731039488.259015121]: waiting for image and imu...[0m
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
[1mprocess[rosout-1]: started with pid [191][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1731039497.204442815]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 327402640.75 
init first imu pose
averge acc 9.439445 -0.460368 -3.138128
init R0 
  0.318508   0.137589   0.937882
         0   -0.98941   0.145148
   0.94792 -0.0462307  -0.315135
[33m[ WARN] [1731039500.635743095]: gyroscope bias initial calibration -0.00582878   0.0243179   0.0801026[0m
[0m[ INFO] [1731039500.716195162]: Initialization finish![0m
time: 1403636859.701667, t: 0.015456 -0.072172 0.238101 q: -0.035961 0.814133 0.042064 0.578035 
wait for imu ... 
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time: 1403636859.801666, t: 0.017168 -0.072980 0.284686 q: -0.026183 0.805465 0.041486 0.590609 
time: 1403636859.901666, t: 0.018623 -0.072802 0.327610 q: -0.016401 0.802628 0.040424 0.594883 
time: 1403636860.001667, t: 0.014804 -0.075156 0.360357 q: -0.021928 0.797584 0.045217 0.601111 
time: 1403636860.101666, t: 0.016893 -0.079445 0.369311 q: -0.024298 0.800776 0.044373 0.596824 
time: 1403636860.201667, t: 0.018345 -0.086758 0.346657 q: -0.036241 0.803983 0.049700 0.591462 
time: 1403636860.301666, t: 0.018979 -0.091745 0.297983 q: -0.052698 0.811584 0.055333 0.579217 
time: 1403636860.401666, t: 0.017513 -0.094000 0.239562 q: -0.058260 0.824942 0.054895 0.559521 
time: 1403636860.501667, t: 0.012826 -0.095084 0.183158 q: -0.055727 0.838465 0.047874 0.539980 
time: 1403636860.601666, t: 0.008287 -0.095976 0.137980 q: -0.053926 0.848498 0.041843 0.524779 
time: 1403636860.701667, t: 0.002901 -0.097428 0.108817 q: -0.048848 0.853492 0.037549 0.517451 
time: 1403636860.801666, t: -0.001856 -0.099367 0.101341 q: -0.035023 0.854952 0.035723 0.516289 
time: 1403636860.901666, t: -0.004493 -0.100466 0.120794 q: -0.027791 0.856127 0.038290 0.514595 
time: 1403636861.001667, t: -0.003233 -0.100811 0.164496 q: -0.028653 0.854527 0.043793 0.516763 
time: 1403636861.101666, t: 0.000263 -0.101479 0.222591 q: -0.028965 0.847608 0.044123 0.527991 
time: 1403636861.201667, t: 0.005421 -0.102474 0.285363 q: -0.030237 0.835479 0.045339 0.546814 
time: 1403636861.301666, t: 0.009691 -0.104330 0.347327 q: -0.037953 0.821463 0.049595 0.566831 
time: 1403636861.501667, t: 0.014561 -0.110805 0.422320 q: -0.041473 0.803149 0.045275 0.592605 
time: 1403636861.601666, t: 0.015617 -0.112488 0.413545 q: -0.036345 0.803861 0.042769 0.592163 
time: 1403636861.701667, t: 0.016458 -0.112806 0.375495 q: -0.036921 0.809958 0.043334 0.583718 
time: 1403636861.801666, t: 0.015417 -0.112463 0.322882 q: -0.036134 0.816566 0.045813 0.574296 
time: 1403636861.901666, t: 0.011659 -0.109713 0.265998 q: -0.037883 0.824195 0.046908 0.563088 
time: 1403636862.001667, t: 0.007778 -0.105907 0.207617 q: -0.042806 0.836066 0.047053 0.544928 
time: 1403636862.101666, t: 0.003765 -0.101055 0.154708 q: -0.046528 0.845359 0.045079 0.530256 
time: 1403636862.201667, t: 0.001026 -0.097555 0.115930 q: -0.050443 0.849735 0.046525 0.522725 
time: 1403636862.301666, t: -0.001405 -0.097287 0.103354 q: -0.045857 0.853172 0.052519 0.516949 
time: 1403636862.401666, t: -0.001501 -0.097993 0.123857 q: -0.043676 0.856179 0.055101 0.511872 
time: 1403636862.501667, t: 0.000346 -0.098935 0.171163 q: -0.042483 0.854137 0.055446 0.515336 
time: 1403636862.601666, t: 0.005920 -0.102030 0.232932 q: -0.031996 0.848335 0.054012 0.525725 
time: 1403636862.701667, t: 0.011525 -0.103690 0.300816 q: -0.026032 0.840580 0.053149 0.538444 
time: 1403636862.801666, t: 0.016033 -0.103841 0.369313 q: -0.029776 0.835593 0.047645 0.546468 
time: 1403636862.901666, t: 0.018079 -0.103938 0.433210 q: -0.030969 0.832497 0.037706 0.551877 
time: 1403636863.001667, t: 0.016523 -0.104235 0.476853 q: -0.034806 0.826785 0.033539 0.560438 
time: 1403636863.101666, t: 0.015153 -0.106406 0.485624 q: -0.028887 0.820542 0.038026 0.569588 
time: 1403636863.201667, t: 0.014117 -0.107435 0.460504 q: -0.020207 0.817844 0.043202 0.573461 
time: 1403636863.301666, t: 0.013693 -0.107012 0.409009 q: -0.014530 0.819196 0.046839 0.571413 
time: 1403636863.401666, t: 0.013540 -0.107038 0.345531 q: -0.009165 0.821365 0.046595 0.568423 
time: 1403636863.501667, t: 0.011951 -0.106960 0.276798 q: -0.011083 0.826184 0.042793 0.561663 
time: 1403636863.601666, t: 0.007009 -0.106143 0.208935 q: -0.023737 0.833938 0.040336 0.549870 
time: 1403636863.701667, t: 0.002203 -0.105356 0.149966 q: -0.036783 0.842270 0.039720 0.536330 
time: 1403636863.801666, t: -0.000448 -0.105806 0.111930 q: -0.042194 0.850093 0.037616 0.523590 
time: 1403636863.901666, t: -0.002988 -0.107947 0.107316 q: -0.041174 0.855665 0.037899 0.514495 
time: 1403636864.001667, t: -0.004020 -0.110484 0.139198 q: -0.040515 0.856689 0.038580 0.512791 
time: 1403636864.101666, t: -0.003797 -0.111938 0.198291 q: -0.036619 0.853403 0.041878 0.518275 
time: 1403636864.201667, t: -0.001132 -0.112767 0.271140 q: -0.028776 0.848891 0.044080 0.525940 
time: 1403636864.301666, t: 0.002300 -0.111092 0.341424 q: -0.030449 0.845615 0.046098 0.530927 
time: 1403636864.401666, t: 0.004797 -0.108601 0.403030 q: -0.033434 0.841486 0.044244 0.537426 
time: 1403636864.501667, t: 0.006886 -0.106968 0.454048 q: -0.034488 0.831597 0.035782 0.553151 
time: 1403636864.601666, t: 0.009664 -0.103253 0.482412 q: -0.035690 0.820109 0.027864 0.570413 
time: 1403636864.701667, t: 0.010068 -0.102648 0.478924 q: -0.028587 0.814635 0.030175 0.578483 
time: 1403636864.801666, t: 0.009872 -0.103261 0.444066 q: -0.023325 0.817107 0.035778 0.574902 
time: 1403636864.901666, t: 0.009890 -0.102510 0.389689 q: -0.021887 0.822369 0.036686 0.567349 
time: 1403636865.001667, t: 0.010566 -0.103298 0.328842 q: -0.016083 0.828689 0.036501 0.558286 
time: 1403636865.101666, t: 0.011175 -0.103993 0.267227 q: -0.016836 0.835830 0.036695 0.547502 
time: 1403636865.201667, t: 0.011754 -0.102423 0.211725 q: -0.035139 0.841303 0.029984 0.538586 
time: 1403636865.301666, t: 0.011177 -0.101178 0.169166 q: -0.050163 0.843584 0.025139 0.534057 
time: 1403636865.401666, t: 0.011326 -0.100960 0.142460 q: -0.049232 0.844675 0.024680 0.532439 
time: 1403636865.501667, t: 0.011507 -0.101483 0.137050 q: -0.040110 0.849302 0.029653 0.525545 
time: 1403636865.601666, t: 0.011882 -0.100741 0.159640 q: -0.035572 0.854995 0.034384 0.516272 
time: 1403636865.701667, t: 0.011408 -0.097489 0.206740 q: -0.037141 0.854598 0.035102 0.516769 
time: 1403636865.801666, t: 0.012315 -0.093490 0.268526 q: -0.041474 0.848047 0.035587 0.527095 
time: 1403636865.901666, t: 0.014679 -0.091627 0.336625 q: -0.047076 0.837949 0.034921 0.542592 
time: 1403636866.001667, t: 0.015789 -0.091016 0.405373 q: -0.053832 0.823756 0.033299 0.563400 
wait for imu ... 
time: 1403636866.101666, t: 0.015092 -0.090890 0.466630 q: -0.050279 0.808061 0.027986 0.586282 
time: 1403636866.201667, t: 0.011993 -0.090908 0.509249 q: -0.045527 0.797820 0.028236 0.600511 
time: 1403636866.301666, t: 0.009125 -0.090223 0.521725 q: -0.038016 0.797102 0.029372 0.601930 
time: 1403636866.401666, t: 0.009163 -0.090331 0.502978 q: -0.030062 0.803164 0.031038 0.594188 
time: 1403636866.501667, t: 0.010113 -0.091080 0.459465 q: -0.027745 0.809673 0.033237 0.585282 
time: 1403636866.601666, t: 0.011697 -0.092925 0.403548 q: -0.024795 0.816015 0.033713 0.576514 
time: 1403636866.701667, t: 0.012322 -0.098912 0.350825 q: -0.021305 0.823430 0.034540 0.565964 
time: 1403636866.801666, t: 0.008168 -0.103662 0.309191 q: -0.025288 0.828978 0.038876 0.557356 
time: 1403636866.901666, t: 0.002868 -0.106095 0.273426 q: -0.038874 0.835354 0.042357 0.546698 
time: 1403636867.001667, t: -0.003834 -0.107012 0.246235 q: -0.047500 0.843821 0.041996 0.532866 
time: 1403636867.101666, t: -0.009493 -0.107192 0.228895 q: -0.047615 0.850147 0.041679 0.522730 
time: 1403636867.201667, t: -0.017983 -0.107326 0.221466 q: -0.053533 0.853381 0.043207 0.516728 
time: 1403636867.301666, t: -0.028450 -0.107207 0.220920 q: -0.061880 0.855427 0.048938 0.511879 
time: 1403636867.401666, t: -0.036053 -0.107885 0.225075 q: -0.062857 0.858724 0.052207 0.505882 
time: 1403636867.501667, t: -0.043883 -0.108081 0.231368 q: -0.058811 0.865446 0.053333 0.494671 
time: 1403636867.601666, t: -0.052899 -0.108919 0.232910 q: -0.052734 0.880688 0.057480 0.467229 
time: 1403636867.701667, t: -0.063503 -0.110299 0.229152 q: -0.051419 0.904929 0.058857 0.418325 
optimize pose graph 
time: 1403636867.801666, t: -0.073563 -0.112812 0.223443 q: -0.047131 0.929081 0.058037 0.362242 
time: 1403636867.901666, t: -0.078073 -0.114579 0.222011 q: -0.042354 0.942265 0.051594 0.328149 
time: 1403636868.001667, t: -0.077942 -0.113675 0.225868 q: -0.042401 0.943137 0.046732 0.326360 
time: 1403636868.101666, t: -0.078154 -0.112477 0.231376 q: -0.043728 0.938004 0.045689 0.340807 
time: 1403636868.201667, t: -0.081164 -0.111516 0.234653 q: -0.046523 0.934237 0.045976 0.350605 
time: 1403636868.301666, t: -0.087006 -0.109944 0.235591 q: -0.048767 0.934330 0.044290 0.350267 
time: 1403636868.401666, t: -0.094723 -0.105770 0.235686 q: -0.050387 0.935676 0.040805 0.346852 
time: 1403636868.501667, t: -0.102689 -0.099577 0.237455 q: -0.048458 0.933368 0.038130 0.353583 
time: 1403636868.601666, t: -0.109879 -0.094057 0.242346 q: -0.044755 0.929949 0.033165 0.363445 
time: 1403636868.701667, t: -0.117218 -0.090227 0.246968 q: -0.043130 0.930211 0.030814 0.363177 
time: 1403636868.801666, t: -0.125259 -0.086621 0.247899 q: -0.042834 0.932874 0.035927 0.355838 
time: 1403636868.901666, t: -0.130178 -0.083163 0.248686 q: -0.038990 0.933660 0.040615 0.353708 
time: 1403636869.001667, t: -0.131909 -0.078524 0.249851 q: -0.041298 0.931262 0.042511 0.359497 
time: 1403636869.101666, t: -0.132438 -0.074870 0.251084 q: -0.047156 0.929344 0.043833 0.363559 
time: 1403636869.201667, t: -0.133005 -0.071787 0.250132 q: -0.050134 0.928863 0.046131 0.364104 
time: 1403636869.301666, t: -0.132337 -0.070166 0.248565 q: -0.049873 0.928971 0.047938 0.363632 
time: 1403636869.401666, t: -0.130773 -0.069420 0.247472 q: -0.051109 0.928803 0.048722 0.363784 
time: 1403636869.501667, t: -0.129079 -0.071026 0.246704 q: -0.051210 0.928761 0.048540 0.363901 
time: 1403636869.601666, t: -0.126157 -0.079087 0.245902 q: -0.050434 0.928951 0.047684 0.363639 
time: 1403636869.701667, t: -0.120659 -0.096861 0.244902 q: -0.048400 0.930523 0.046616 0.360015 
optimize pose graph 
time: 1403636869.801666, t: -0.111490 -0.123505 0.244446 q: -0.045794 0.931690 0.043047 0.357775 
time: 1403636869.901666, t: -0.097620 -0.158044 0.245198 q: -0.042439 0.930312 0.036042 0.362517 
time: 1403636870.001667, t: -0.081166 -0.198885 0.245277 q: -0.039460 0.928582 0.028161 0.367948 
time: 1403636870.101666, t: -0.063625 -0.244282 0.244169 q: -0.035589 0.929606 0.019425 0.366317 
time: 1403636870.201667, t: -0.044636 -0.292757 0.244244 q: -0.028820 0.932123 0.014765 0.360691 
time: 1403636870.301666, t: -0.025461 -0.341231 0.245008 q: -0.026420 0.931879 0.010554 0.361653 
time: 1403636870.401666, t: -0.007532 -0.389392 0.245350 q: -0.021263 0.929152 0.005737 0.369040 
time: 1403636870.501667, t: 0.007621 -0.432144 0.242037 q: -0.018411 0.928712 0.000186 0.370344 
time: 1403636870.601666, t: 0.017569 -0.467679 0.237751 q: -0.014398 0.931622 -0.007102 0.363073 
time: 1403636870.701667, t: 0.026139 -0.497073 0.234272 q: -0.006233 0.932685 -0.011598 0.360452 
time: 1403636870.801666, t: 0.034229 -0.515806 0.230971 q: -0.008319 0.929381 -0.016525 0.368658 
time: 1403636870.901666, t: 0.037639 -0.527638 0.226814 q: -0.010898 0.925359 -0.018562 0.378479 
time: 1403636871.001667, t: 0.038419 -0.532706 0.222606 q: -0.015633 0.923413 -0.020575 0.382936 
time: 1403636871.101666, t: 0.037879 -0.532633 0.217241 q: -0.017357 0.926257 -0.024169 0.375717 
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time: 1403636871.501667, t: 0.020529 -0.466949 0.226997 q: -0.010131 0.929144 -0.019893 0.369044 
time: 1403636871.601666, t: 0.011436 -0.427104 0.229711 q: -0.012991 0.929679 -0.017509 0.367724 
time: 1403636871.701667, t: 0.000100 -0.379223 0.233690 q: -0.020608 0.930608 -0.014624 0.365144 
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time: 1403636871.901666, t: -0.021024 -0.271455 0.237541 q: -0.031687 0.930178 -0.003116 0.365726 
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time: 1403636872.301666, t: -0.055338 -0.053671 0.226105 q: -0.057739 0.926683 0.022871 0.370676 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403636903.801666, t: 1.578178 -1.430485 0.368029 q: -0.074518 0.819468 0.095661 0.560150 
optimize pose graph 
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time: 1403636984.901666, t: 7.913115 -6.793335 -1.505594 q: 0.194070 0.769961 -0.278173 0.540479 
time: 1403636985.001667, t: 8.002510 -6.827817 -1.496946 q: 0.192612 0.769232 -0.279062 0.541578 
time: 1403636985.101666, t: 8.093873 -6.865384 -1.486577 q: 0.193743 0.769799 -0.278504 0.540657 
time: 1403636985.201667, t: 8.180293 -6.896060 -1.483444 q: 0.196492 0.770983 -0.277121 0.538684 
time: 1403636985.301666, t: 8.270798 -6.928909 -1.492775 q: 0.198800 0.770910 -0.276157 0.538437 
time: 1403636985.401666, t: 8.356256 -6.956987 -1.509826 q: 0.198344 0.772336 -0.272478 0.538435 
time: 1403636985.501667, t: 8.450255 -6.985850 -1.519674 q: 0.195754 0.776381 -0.263077 0.538241 
time: 1403636985.601666, t: 8.538272 -7.006790 -1.521824 q: 0.193234 0.778556 -0.253869 0.540427 
time: 1403636985.701667, t: 8.633027 -7.027161 -1.515797 q: 0.193488 0.779996 -0.245172 0.542273 
time: 1403636985.801666, t: 8.727191 -7.042993 -1.504161 q: 0.193127 0.779129 -0.238615 0.546555 
optimize pose graph 
time: 1403636985.901666, t: 8.821318 -7.054373 -1.490148 q: 0.194697 0.769890 -0.231886 0.561776 
time: 1403636986.001667, t: 8.912887 -7.058377 -1.481819 q: 0.197371 0.759113 -0.225832 0.577748 
time: 1403636986.101666, t: 8.997379 -7.053398 -1.484251 q: 0.197705 0.758754 -0.223566 0.578985 
time: 1403636986.201667, t: 9.076983 -7.040846 -1.496524 q: 0.192942 0.766972 -0.226503 0.568528 
time: 1403636986.301666, t: 9.150360 -7.021437 -1.512430 q: 0.188950 0.776423 -0.229599 0.555652 
time: 1403636986.401666, t: 9.224489 -6.997484 -1.530951 q: 0.184778 0.781128 -0.232464 0.549233 
time: 1403636986.501667, t: 9.299177 -6.968747 -1.549292 q: 0.177210 0.782116 -0.237450 0.548186 
time: 1403636986.601666, t: 9.373744 -6.936754 -1.560315 q: 0.170395 0.781184 -0.241723 0.549807 
time: 1403636986.701667, t: 9.445598 -6.904628 -1.559981 q: 0.165385 0.780608 -0.245009 0.550699 
time: 1403636986.801666, t: 9.517216 -6.874556 -1.550652 q: 0.159856 0.779554 -0.248476 0.552268 
time: 1403636986.901666, t: 9.586026 -6.844993 -1.531241 q: 0.158852 0.778373 -0.249549 0.553740 
time: 1403636987.001667, t: 9.650343 -6.817377 -1.502345 q: 0.161559 0.777816 -0.248373 0.554267 
time: 1403636987.101666, t: 9.710220 -6.790959 -1.470183 q: 0.167253 0.777424 -0.246021 0.554177 
time: 1403636987.201667, t: 9.769311 -6.763613 -1.440684 q: 0.170291 0.776302 -0.245833 0.554907 
time: 1403636987.301666, t: 9.824236 -6.736670 -1.418229 q: 0.171694 0.774547 -0.246766 0.556512 
time: 1403636987.401666, t: 9.879066 -6.707765 -1.401749 q: 0.171477 0.773219 -0.246146 0.558694 
time: 1403636987.501667, t: 9.930945 -6.679553 -1.390316 q: 0.172669 0.771401 -0.240642 0.563221 
time: 1403636987.601666, t: 9.981419 -6.647030 -1.383914 q: 0.175435 0.769162 -0.234749 0.567896 
time: 1403636987.701667, t: 10.025784 -6.611801 -1.381877 q: 0.175461 0.768316 -0.231357 0.570419 
time: 1403636987.801666, t: 10.065688 -6.573132 -1.377164 q: 0.172798 0.768451 -0.229688 0.571723 
time: 1403636987.901666, t: 10.100167 -6.531545 -1.363064 q: 0.167617 0.769361 -0.230656 0.571652 
optimize pose graph 
time: 1403636988.001667, t: 10.129732 -6.487526 -1.345556 q: 0.158541 0.771547 -0.234988 0.569526 
time: 1403636988.101666, t: 10.156093 -6.441615 -1.329592 q: 0.149681 0.774068 -0.241012 0.565975 
time: 1403636988.201667, t: 10.176985 -6.398085 -1.317859 q: 0.143864 0.774933 -0.245626 0.564313 
time: 1403636988.301666, t: 10.192959 -6.357643 -1.310436 q: 0.141066 0.771172 -0.248501 0.568895 
time: 1403636988.401666, t: 10.202678 -6.323291 -1.299456 q: 0.142171 0.764719 -0.248463 0.577285 
time: 1403636988.601666, t: 10.196538 -6.255149 -1.256437 q: 0.146335 0.758335 -0.245483 0.585877 
time: 1403636988.701667, t: 10.179307 -6.224523 -1.233148 q: 0.146052 0.757277 -0.245619 0.587258 
time: 1403636988.801666, t: 10.152221 -6.195705 -1.214771 q: 0.147276 0.755600 -0.244527 0.589563 
time: 1403636988.901666, t: 10.117494 -6.167744 -1.203010 q: 0.146746 0.753058 -0.244674 0.592878 
time: 1403636989.001667, t: 10.070780 -6.140171 -1.196253 q: 0.145979 0.750434 -0.245347 0.596107 
time: 1403636989.101666, t: 10.013664 -6.114139 -1.194162 q: 0.145441 0.748645 -0.246275 0.598102 
time: 1403636989.201667, t: 9.944495 -6.088704 -1.194771 q: 0.145467 0.748615 -0.247072 0.597804 
time: 1403636989.301666, t: 9.864832 -6.064586 -1.192543 q: 0.151225 0.754878 -0.244898 0.589334 
time: 1403636989.401666, t: 9.777870 -6.040993 -1.183070 q: 0.157674 0.764786 -0.242333 0.575775 
time: 1403636989.501667, t: 9.684749 -6.017787 -1.166924 q: 0.159368 0.772463 -0.242372 0.564942 
time: 1403636989.701667, t: 9.491039 -5.970622 -1.125837 q: 0.166645 0.779153 -0.238399 0.555262 
time: 1403636989.801666, t: 9.394118 -5.944536 -1.112188 q: 0.168519 0.780453 -0.237375 0.553307 
time: 1403636989.901666, t: 9.300957 -5.919134 -1.101392 q: 0.168057 0.778937 -0.237485 0.555532 
time: 1403636990.001667, t: 9.204642 -5.891276 -1.095739 q: 0.168050 0.774086 -0.237403 0.562307 
optimize pose graph 
time: 1403636990.101666, t: 9.110020 -5.863758 -1.087565 q: 0.169135 0.770062 -0.236405 0.567900 
time: 1403636990.201667, t: 9.010636 -5.833250 -1.073486 q: 0.170493 0.769829 -0.235144 0.568333 
time: 1403636990.301666, t: 8.911461 -5.801410 -1.053187 q: 0.170796 0.773327 -0.233877 0.564000 
time: 1403636990.401666, t: 8.808897 -5.764842 -1.028044 q: 0.170898 0.776725 -0.232511 0.559849 
time: 1403636990.501667, t: 8.708671 -5.728021 -1.005347 q: 0.167568 0.779613 -0.232757 0.556730 
time: 1403636990.601666, t: 8.608634 -5.689090 -0.989950 q: 0.166127 0.781319 -0.231984 0.555091 
time: 1403636990.701667, t: 8.511032 -5.650496 -0.978870 q: 0.165305 0.783598 -0.230824 0.552602 
time: 1403636990.801666, t: 8.413983 -5.610689 -0.976490 q: 0.165330 0.784864 -0.229397 0.551390 
time: 1403636990.901666, t: 8.318650 -5.569995 -0.980202 q: 0.164433 0.785215 -0.228939 0.551350 
time: 1403636991.001667, t: 8.225812 -5.530748 -0.988595 q: 0.164952 0.785301 -0.228181 0.551386 
time: 1403636991.101666, t: 8.134560 -5.490674 -0.999945 q: 0.165804 0.784848 -0.227881 0.551900 
time: 1403636991.201667, t: 8.047509 -5.451027 -1.012281 q: 0.167006 0.784974 -0.228049 0.551288 
time: 1403636991.301666, t: 7.958544 -5.408862 -1.019916 q: 0.166814 0.785331 -0.228879 0.550494 
time: 1403636991.401666, t: 7.874093 -5.366839 -1.018250 q: 0.166826 0.785876 -0.230216 0.549153 
time: 1403636991.501667, t: 7.789591 -5.321802 -1.006020 q: 0.168047 0.786137 -0.231186 0.547998 
time: 1403636991.601666, t: 7.715281 -5.283711 -0.985254 q: 0.165894 0.785490 -0.234564 0.548146 
time: 1403636991.701667, t: 7.636157 -5.239759 -0.960864 q: 0.159972 0.783925 -0.241506 0.549132 
time: 1403636991.801666, t: 7.565270 -5.202114 -0.932509 q: 0.155219 0.782415 -0.247934 0.549785 
time: 1403636991.901666, t: 7.486892 -5.164333 -0.904870 q: 0.152529 0.781557 -0.252921 0.549486 
time: 1403636992.001667, t: 7.414411 -5.131934 -0.884991 q: 0.155207 0.781259 -0.254053 0.548638 
time: 1403636992.101666, t: 7.337708 -5.100723 -0.869157 q: 0.164608 0.779810 -0.250176 0.549739 
time: 1403636992.201667, t: 7.266170 -5.075479 -0.865881 q: 0.171409 0.776775 -0.247318 0.553239 
time: 1403636992.301666, t: 7.192257 -5.049277 -0.860849 q: 0.174868 0.775749 -0.246623 0.553906 
time: 1403636992.401666, t: 7.122161 -5.022564 -0.863267 q: 0.176495 0.777761 -0.247707 0.550072 
time: 1403636992.501667, t: 7.049014 -4.993230 -0.861899 q: 0.177021 0.780627 -0.249762 0.544889 
time: 1403636992.601666, t: 6.982907 -4.963208 -0.856125 q: 0.178927 0.782121 -0.250940 0.541572 
time: 1403636992.701667, t: 6.918444 -4.932836 -0.841610 q: 0.180401 0.782461 -0.252277 0.539970 
time: 1403636992.801666, t: 6.854147 -4.901752 -0.825678 q: 0.182248 0.783046 -0.253135 0.538096 
time: 1403636992.901666, t: 6.795083 -4.870364 -0.818887 q: 0.185390 0.782602 -0.253163 0.537655 
time: 1403636993.001667, t: 6.738896 -4.839207 -0.814679 q: 0.187276 0.780762 -0.253621 0.539458 
time: 1403636993.101666, t: 6.688170 -4.807607 -0.818128 q: 0.184698 0.776735 -0.255580 0.545204 
time: 1403636993.201667, t: 6.637055 -4.773801 -0.816458 q: 0.177505 0.774874 -0.253043 0.551390 
time: 1403636993.301666, t: 6.587628 -4.738439 -0.807864 q: 0.169070 0.776274 -0.244513 0.555902 
time: 1403636993.401666, t: 6.541649 -4.702860 -0.793670 q: 0.159067 0.779160 -0.231354 0.560430 
time: 1403636993.501667, t: 6.494476 -4.665239 -0.770600 q: 0.147377 0.783392 -0.215528 0.564026 
time: 1403636993.601666, t: 6.445334 -4.628350 -0.741030 q: 0.135981 0.788230 -0.198480 0.566400 
time: 1403636993.701667, t: 6.395994 -4.592002 -0.712533 q: 0.125835 0.793226 -0.185190 0.566271 
time: 1403636993.801666, t: 6.345688 -4.555123 -0.690437 q: 0.119382 0.796823 -0.175427 0.565727 
time: 1403636993.901666, t: 6.295588 -4.518100 -0.675213 q: 0.116905 0.798947 -0.166977 0.565805 
time: 1403636994.001667, t: 6.244333 -4.481771 -0.664247 q: 0.114870 0.796993 -0.161740 0.570480 
time: 1403636994.101666, t: 6.191853 -4.444214 -0.658187 q: 0.116924 0.792316 -0.156681 0.577941 
time: 1403636994.201667, t: 6.137687 -4.405729 -0.655382 q: 0.118223 0.787394 -0.153372 0.585244 
optimize pose graph 
time: 1403636994.301666, t: 6.079337 -4.364661 -0.657801 q: 0.118865 0.782858 -0.152118 0.591493 
time: 1403636994.401666, t: 6.017531 -4.319987 -0.662659 q: 0.120072 0.780340 -0.151183 0.594808 
time: 1403636994.501667, t: 5.949842 -4.269848 -0.669510 q: 0.120193 0.780965 -0.151841 0.593794 
time: 1403636994.601666, t: 5.876431 -4.218540 -0.670603 q: 0.115861 0.784204 -0.155319 0.589471 
time: 1403636994.701667, t: 5.800227 -4.162885 -0.666238 q: 0.108977 0.789582 -0.161257 0.581963 
time: 1403636994.801666, t: 5.721161 -4.107375 -0.655641 q: 0.099333 0.794937 -0.169232 0.574081 
time: 1403636994.901666, t: 5.640841 -4.054048 -0.642714 q: 0.092161 0.796778 -0.175409 0.570862 
time: 1403636995.001667, t: 5.558801 -4.004034 -0.634614 q: 0.092189 0.795058 -0.176310 0.572973 
time: 1403636995.101666, t: 5.474931 -3.957680 -0.630963 q: 0.099296 0.791997 -0.171074 0.577593 
time: 1403636995.201667, t: 5.390752 -3.912714 -0.626728 q: 0.105449 0.789376 -0.165856 0.581599 
time: 1403636995.301666, t: 5.302972 -3.868576 -0.616271 q: 0.108831 0.787993 -0.162162 0.583889 
time: 1403636995.401666, t: 5.212617 -3.823268 -0.599398 q: 0.110624 0.790432 -0.159044 0.581106 
time: 1403636995.501667, t: 5.119439 -3.776947 -0.576205 q: 0.109655 0.795086 -0.158606 0.575029 
time: 1403636995.601666, t: 5.023786 -3.729212 -0.546263 q: 0.108746 0.796863 -0.158423 0.572787 
time: 1403636995.701667, t: 4.929397 -3.682554 -0.517207 q: 0.106409 0.796872 -0.160009 0.572773 
time: 1403636995.801666, t: 4.834025 -3.634132 -0.492941 q: 0.101741 0.796843 -0.163758 0.572602 
time: 1403636995.901666, t: 4.739318 -3.590353 -0.478118 q: 0.094272 0.797943 -0.169329 0.570726 
time: 1403636996.001667, t: 4.643292 -3.547566 -0.467051 q: 0.090658 0.798996 -0.172659 0.568836 
time: 1403636996.101666, t: 4.550628 -3.509951 -0.460525 q: 0.095764 0.800953 -0.169538 0.566181 
time: 1403636996.201667, t: 4.454719 -3.474004 -0.452998 q: 0.101149 0.802160 -0.166002 0.564581 
time: 1403636996.301666, t: 4.364593 -3.441598 -0.440629 q: 0.104962 0.802925 -0.162473 0.563824 
optimize pose graph 
time: 1403636996.401666, t: 4.273263 -3.409765 -0.420253 q: 0.102657 0.803983 -0.157849 0.564053 
time: 1403636996.501667, t: 4.187297 -3.377667 -0.391414 q: 0.098373 0.805826 -0.148553 0.564711 
time: 1403636996.601666, t: 4.100976 -3.343915 -0.356598 q: 0.091467 0.808606 -0.135647 0.565146 
time: 1403636996.701667, t: 4.019211 -3.310416 -0.324690 q: 0.081544 0.811980 -0.119551 0.565461 
time: 1403636996.801666, t: 3.938198 -3.276783 -0.308743 q: 0.068963 0.815348 -0.101752 0.565772 
time: 1403636996.901666, t: 3.858111 -3.243289 -0.305321 q: 0.053401 0.818234 -0.083546 0.566270 
time: 1403636997.001667, t: 3.782002 -3.209995 -0.307591 q: 0.038204 0.820596 -0.064000 0.566628 
time: 1403636997.101666, t: 3.708344 -3.176936 -0.314867 q: 0.024852 0.822583 -0.046067 0.566231 
time: 1403636997.201667, t: 3.638257 -3.146551 -0.326968 q: 0.014808 0.824055 -0.033038 0.565351 
time: 1403636997.301666, t: 3.571645 -3.118647 -0.341885 q: 0.008998 0.824901 -0.023164 0.564731 
time: 1403636997.401666, t: 3.507830 -3.092565 -0.351176 q: 0.006158 0.825645 -0.016939 0.563902 
time: 1403636997.501667, t: 3.449421 -3.068450 -0.352001 q: 0.005132 0.825396 -0.014008 0.564358 
time: 1403636997.601666, t: 3.396754 -3.043924 -0.345005 q: 0.004998 0.826189 -0.013840 0.563201 
time: 1403636997.701667, t: 3.345704 -3.020298 -0.330895 q: 0.006730 0.826572 -0.014073 0.562614 
time: 1403636997.901666, t: 3.262815 -2.974022 -0.281006 q: 0.011859 0.827914 -0.016520 0.560487 
time: 1403636998.001667, t: 3.224789 -2.952253 -0.245020 q: 0.012868 0.827821 -0.018669 0.560535 
time: 1403636998.101666, t: 3.192431 -2.929346 -0.204215 q: 0.013809 0.827971 -0.020833 0.560214 
time: 1403636998.201667, t: 3.167154 -2.908172 -0.163899 q: 0.012919 0.826669 -0.023924 0.562031 
time: 1403636998.301666, t: 3.142859 -2.887217 -0.130357 q: 0.013977 0.827160 -0.025370 0.561219 
time: 1403636998.401666, t: 3.122402 -2.866495 -0.103503 q: 0.013789 0.826799 -0.026960 0.561681 
time: 1403636998.501667, t: 3.106010 -2.847518 -0.079184 q: 0.013282 0.826523 -0.028818 0.562008 
optimize pose graph 
time: 1403636998.601666, t: 3.090798 -2.829675 -0.048405 q: 0.014804 0.823288 -0.028583 0.566710 
time: 1403636998.701667, t: 3.079807 -2.812792 -0.010363 q: 0.018168 0.815135 -0.026977 0.578357 
time: 1403636998.801666, t: 3.067380 -2.797659 0.032507 q: 0.021233 0.810022 -0.025751 0.585449 
time: 1403636998.901666, t: 3.053647 -2.781449 0.074004 q: 0.026733 0.808501 -0.022341 0.587463 
time: 1403636999.001667, t: 3.037300 -2.763203 0.106958 q: 0.030448 0.808886 -0.020484 0.586819 
time: 1403636999.101666, t: 3.017266 -2.741690 0.133414 q: 0.033242 0.809091 -0.019015 0.586434 
time: 1403636999.201667, t: 2.997043 -2.716944 0.153387 q: 0.034788 0.810771 -0.018723 0.584029 
time: 1403636999.301666, t: 2.976483 -2.689571 0.167864 q: 0.033524 0.812487 -0.020153 0.581665 
time: 1403636999.401666, t: 2.952501 -2.659106 0.176637 q: 0.028788 0.813043 -0.023926 0.580999 
time: 1403636999.501667, t: 2.928628 -2.627262 0.180385 q: 0.025868 0.812701 -0.026225 0.581516 
time: 1403636999.601666, t: 2.904742 -2.594951 0.180700 q: 0.024226 0.810544 -0.027816 0.584515 
time: 1403636999.701667, t: 2.876436 -2.561703 0.177697 q: 0.023687 0.808649 -0.028800 0.587109 
time: 1403636999.801666, t: 2.846061 -2.528158 0.172305 q: 0.023707 0.808241 -0.029645 0.587627 
time: 1403636999.901666, t: 2.811763 -2.494738 0.166021 q: 0.025311 0.808454 -0.028847 0.587307 
time: 1403637000.001667, t: 2.776704 -2.459856 0.159079 q: 0.029465 0.808370 -0.026337 0.587346 
time: 1403637000.101666, t: 2.737502 -2.423302 0.158658 q: 0.031627 0.809352 -0.024564 0.585957 
time: 1403637000.201667, t: 2.697279 -2.384620 0.167088 q: 0.030803 0.811091 -0.024693 0.583586 
time: 1403637000.301666, t: 2.656888 -2.342833 0.176140 q: 0.029578 0.812513 -0.025594 0.581629 
time: 1403637000.401666, t: 2.615932 -2.300250 0.184148 q: 0.027449 0.811974 -0.026963 0.582424 
time: 1403637000.501667, t: 2.572278 -2.256213 0.185870 q: 0.029521 0.811933 -0.025687 0.582437 
time: 1403637000.601666, t: 2.528670 -2.212040 0.188650 q: 0.030241 0.812104 -0.025319 0.582178 
wait for imu ... 
time: 1403637000.701667, t: 2.482094 -2.165253 0.195555 q: 0.028117 0.811164 -0.026937 0.583521 
time: 1403637000.801666, t: 2.435439 -2.117074 0.211081 q: 0.028096 0.810550 -0.027536 0.584347 
time: 1403637000.901666, t: 2.388544 -2.066863 0.228293 q: 0.027656 0.810652 -0.028565 0.584177 
time: 1403637001.001667, t: 2.339290 -2.017960 0.237756 q: 0.027897 0.810342 -0.029457 0.584551 
time: 1403637001.101666, t: 2.287061 -1.968325 0.241636 q: 0.027611 0.810153 -0.030224 0.584787 
time: 1403637001.201667, t: 2.232560 -1.917863 0.244348 q: 0.026759 0.809500 -0.031469 0.585665 
time: 1403637001.301666, t: 2.175152 -1.868693 0.251142 q: 0.025850 0.809648 -0.032381 0.585451 
time: 1403637001.401666, t: 2.115770 -1.819343 0.266003 q: 0.023485 0.810958 -0.034435 0.583618 
time: 1403637001.501667, t: 2.052732 -1.772923 0.288099 q: 0.023482 0.813972 -0.035468 0.579345 
time: 1403637001.601666, t: 1.991902 -1.725637 0.307779 q: 0.023821 0.815443 -0.036539 0.577192 
time: 1403637001.701667, t: 1.927281 -1.680143 0.326219 q: 0.024197 0.815600 -0.037120 0.576918 
time: 1403637001.801666, t: 1.866671 -1.634773 0.336350 q: 0.023599 0.814723 -0.038504 0.578089 
time: 1403637001.901666, t: 1.805266 -1.590271 0.339672 q: 0.024589 0.816245 -0.038482 0.575898 
time: 1403637002.001667, t: 1.745714 -1.544898 0.337953 q: 0.025243 0.817149 -0.038383 0.574592 
time: 1403637002.101666, t: 1.685536 -1.501518 0.332630 q: 0.025618 0.817787 -0.038620 0.573652 
time: 1403637002.201667, t: 1.628786 -1.458730 0.321520 q: 0.025411 0.817975 -0.038680 0.573389 
time: 1403637002.301666, t: 1.571033 -1.416958 0.307562 q: 0.026815 0.817973 -0.037879 0.573381 
time: 1403637002.401666, t: 1.512378 -1.374863 0.298006 q: 0.028854 0.818459 -0.036165 0.572699 
time: 1403637002.501667, t: 1.457621 -1.332944 0.296302 q: 0.030481 0.817920 -0.034956 0.573459 
time: 1403637002.601666, t: 1.403121 -1.291163 0.304030 q: 0.033120 0.817554 -0.033017 0.573949 
optimize pose graph 
time: 1403637002.701667, t: 1.346649 -1.248260 0.318966 q: 0.034394 0.817854 -0.032817 0.573459 
time: 1403637002.801666, t: 1.293047 -1.203967 0.332003 q: 0.034559 0.817605 -0.033795 0.573747 
time: 1403637002.901666, t: 1.238921 -1.158749 0.339561 q: 0.031509 0.817048 -0.037229 0.574503 
time: 1403637003.001667, t: 1.183972 -1.117254 0.339373 q: 0.030985 0.817262 -0.038566 0.574139 
time: 1403637003.101666, t: 1.132453 -1.071622 0.334334 q: 0.030874 0.817574 -0.040362 0.573577 
time: 1403637003.201667, t: 1.080773 -1.025179 0.324666 q: 0.031665 0.817122 -0.041488 0.574098 
time: 1403637003.301666, t: 1.031085 -0.983189 0.312875 q: 0.031614 0.816054 -0.042806 0.575520 
time: 1403637003.401666, t: 0.980922 -0.938114 0.305314 q: 0.031461 0.814731 -0.043879 0.577320 
time: 1403637003.501667, t: 0.932342 -0.893649 0.306711 q: 0.030944 0.813507 -0.045474 0.578948 
time: 1403637003.601666, t: 0.881162 -0.851512 0.315056 q: 0.030256 0.813808 -0.046434 0.578486 
time: 1403637003.701667, t: 0.829440 -0.808094 0.328018 q: 0.030099 0.813967 -0.047225 0.578205 
time: 1403637003.801666, t: 0.772169 -0.766454 0.337445 q: 0.028458 0.814415 -0.047339 0.577648 
time: 1403637003.901666, t: 0.723634 -0.724787 0.341740 q: 0.029872 0.816242 -0.045185 0.575165 
time: 1403637004.001667, t: 0.670061 -0.685110 0.339396 q: 0.030416 0.818889 -0.042447 0.571572 
time: 1403637004.101666, t: 0.622741 -0.648881 0.332349 q: 0.030985 0.821048 -0.040057 0.568609 
time: 1403637004.201667, t: 0.573202 -0.610314 0.320445 q: 0.031317 0.822287 -0.038045 0.566935 
time: 1403637004.301666, t: 0.530044 -0.571075 0.315378 q: 0.029070 0.822460 -0.037629 0.566833 
time: 1403637004.401666, t: 0.485070 -0.535306 0.317715 q: 0.026569 0.821303 -0.039167 0.568525 
time: 1403637004.501667, t: 0.446563 -0.496594 0.332005 q: 0.026482 0.816970 -0.040640 0.574637 
time: 1403637004.601666, t: 0.403318 -0.459621 0.356718 q: 0.026015 0.814528 -0.043622 0.577897 
time: 1403637004.701667, t: 0.363261 -0.421880 0.384062 q: 0.017853 0.813959 -0.052664 0.578255 
optimize pose graph 
time: 1403637004.801666, t: 0.319835 -0.386123 0.404414 q: 0.011292 0.813478 -0.060557 0.578324 
time: 1403637004.901666, t: 0.278727 -0.353965 0.409460 q: 0.009858 0.816213 -0.064488 0.574056 
time: 1403637005.001667, t: 0.237885 -0.327369 0.399148 q: 0.013382 0.820445 -0.064355 0.567935 
time: 1403637005.101666, t: 0.199345 -0.306960 0.382802 q: 0.021467 0.820355 -0.060376 0.568253 
time: 1403637005.201667, t: 0.164173 -0.288609 0.364948 q: 0.028492 0.819243 -0.056580 0.569937 
time: 1403637005.301666, t: 0.130198 -0.271991 0.343506 q: 0.032048 0.821190 -0.054273 0.567164 
time: 1403637005.401666, t: 0.096046 -0.257724 0.318774 q: 0.032790 0.822151 -0.052442 0.565900 
time: 1403637005.501667, t: 0.058191 -0.241812 0.297179 q: 0.034087 0.819157 -0.048483 0.570500 
time: 1403637005.601666, t: 0.029313 -0.223792 0.281591 q: 0.032084 0.818355 -0.047366 0.571858 
time: 1403637005.701667, t: -0.003626 -0.207705 0.275459 q: 0.025462 0.822517 -0.049664 0.565996 
time: 1403637005.801666, t: -0.030427 -0.191802 0.281298 q: 0.022309 0.824169 -0.050601 0.563638 
time: 1403637005.901666, t: -0.054126 -0.176509 0.294164 q: 0.025680 0.822569 -0.047193 0.566121 
time: 1403637006.001667, t: -0.075464 -0.162273 0.304009 q: 0.028229 0.820108 -0.045155 0.569726 
time: 1403637006.101666, t: -0.095814 -0.147273 0.310143 q: 0.026434 0.818193 -0.046313 0.572466 
time: 1403637006.201667, t: -0.114744 -0.133268 0.314102 q: 0.025469 0.818204 -0.046625 0.572468 
time: 1403637006.301666, t: -0.134519 -0.118375 0.316131 q: 0.022899 0.822423 -0.048433 0.566348 
time: 1403637006.401666, t: -0.150995 -0.105798 0.314912 q: 0.020540 0.828870 -0.049752 0.556846 
time: 1403637006.501667, t: -0.163167 -0.095082 0.313030 q: 0.014404 0.831525 -0.053773 0.552690 
time: 1403637006.601666, t: -0.170224 -0.087715 0.311334 q: 0.010629 0.827108 -0.051603 0.559568 
time: 1403637006.701667, t: -0.175167 -0.082143 0.308781 q: 0.008765 0.822364 -0.041103 0.567408 
time: 1403637006.801666, t: -0.178090 -0.078339 0.302720 q: 0.002914 0.818334 -0.027176 0.574093 
time: 1403637006.901666, t: -0.180621 -0.075630 0.293883 q: -0.008819 0.818487 -0.011240 0.574348 
optimize pose graph 
time: 1403637007.001667, t: -0.183080 -0.073988 0.284529 q: -0.018668 0.819781 0.010811 0.572271 
time: 1403637007.101666, t: -0.185700 -0.073804 0.275411 q: -0.026565 0.818431 0.029844 0.573214 
time: 1403637007.201667, t: -0.187927 -0.074663 0.265529 q: -0.033246 0.816231 0.044204 0.575072 
time: 1403637007.301666, t: -0.190158 -0.076044 0.256595 q: -0.034657 0.811020 0.055952 0.581305 
time: 1403637007.401666, t: -0.195690 -0.076288 0.247129 q: -0.035642 0.807572 0.062786 0.585333 
time: 1403637007.501667, t: -0.204653 -0.075114 0.235989 q: -0.037621 0.808938 0.065473 0.583025 
time: 1403637007.601666, t: -0.215593 -0.072752 0.223177 q: -0.038879 0.813506 0.065916 0.576500 
time: 1403637007.701667, t: -0.228213 -0.068749 0.208772 q: -0.038608 0.821725 0.065318 0.564811 
time: 1403637007.801666, t: -0.238949 -0.063206 0.196410 q: -0.036613 0.825366 0.064985 0.559649 
time: 1403637007.901666, t: -0.246802 -0.055341 0.187292 q: -0.040194 0.820567 0.060404 0.566927 
time: 1403637008.001667, t: -0.253289 -0.046586 0.179511 q: -0.046291 0.814162 0.053584 0.576304 
time: 1403637008.101666, t: -0.262006 -0.039320 0.171686 q: -0.042871 0.815927 0.052734 0.574147 
time: 1403637008.201667, t: -0.271110 -0.032377 0.163929 q: -0.038184 0.825096 0.052663 0.561235 
time: 1403637008.301666, t: -0.277591 -0.024909 0.159845 q: -0.032977 0.831289 0.053341 0.552291 
time: 1403637008.401666, t: -0.279744 -0.016083 0.160357 q: -0.030281 0.831532 0.052598 0.552151 
time: 1403637008.501667, t: -0.277367 -0.005486 0.165617 q: -0.033564 0.824198 0.048131 0.563253 
time: 1403637008.601666, t: -0.273057 0.005514 0.171244 q: -0.036410 0.818112 0.043762 0.572235 
time: 1403637008.701667, t: -0.269088 0.016249 0.172645 q: -0.041234 0.816088 0.038319 0.575180 
time: 1403637008.801666, t: -0.265136 0.025355 0.168675 q: -0.053343 0.819785 0.028120 0.569488 
time: 1403637008.901666, t: -0.259916 0.030329 0.160143 q: -0.061070 0.824036 0.021663 0.562819 
time: 1403637009.001667, t: -0.252359 0.028588 0.148487 q: -0.057654 0.824447 0.022515 0.562545 
optimize pose graph 
time: 1403637009.201667, t: -0.231502 0.010413 0.118541 q: -0.033845 0.822060 0.036908 0.567194 
time: 1403637009.301666, t: -0.218848 -0.001125 0.100569 q: -0.017804 0.821932 0.047489 0.567323 
time: 1403637009.401666, t: -0.206488 -0.009808 0.086569 q: -0.031812 0.817800 0.048703 0.572554 
time: 1403637009.501667, t: -0.203901 -0.018356 0.082761 q: -0.045646 0.808170 0.062767 0.583813 
time: 1403637009.601666, t: -0.204162 -0.023390 0.075383 q: -0.088071 0.786086 0.051765 0.609616 
time: 1403637009.701667, t: -0.212994 -0.030064 0.073176 q: -0.076951 0.791847 0.038694 0.604616 
time: 1403637009.801666, t: -0.214324 -0.029574 0.072545 q: -0.076650 0.791285 0.035430 0.605588 
time: 1403637009.901666, t: -0.216474 -0.030397 0.072485 q: -0.077119 0.791282 0.036163 0.605489 
time: 1403637010.001667, t: -0.216680 -0.030393 0.072223 q: -0.077463 0.791283 0.036048 0.605451 
time: 1403637010.101666, t: -0.216539 -0.029394 0.072116 q: -0.078141 0.791406 0.035668 0.605226 
time: 1403637010.201667, t: -0.216960 -0.030167 0.072145 q: -0.078439 0.791342 0.035594 0.605275 
time: 1403637010.301666, t: -0.217222 -0.030640 0.072239 q: -0.078811 0.791554 0.035483 0.604956 
time: 1403637010.401666, t: -0.217488 -0.031109 0.072372 q: -0.078770 0.791486 0.035484 0.605050 
time: 1403637010.501667, t: -0.217661 -0.031470 0.072348 q: -0.078775 0.791557 0.035439 0.604960 

Done.
time: 1403637010.601666, t: -0.217835 -0.031646 0.072357 q: -0.078864 0.791582 0.035381 0.604919 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731039652.021381930]: Shutdown request received.[0m
[33m[ WARN] [1731039652.021423520]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731039652.022277369]: Shutdown request received.[0m
[33m[ WARN] [1731039652.022302533]: Reason given for shutdown: [user request][0m
killed
