/SLAM-Hive/slam_hive_results/mapping_results/3440/2220_vins-fusion-stereo+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/f4b13292-9d88-11ef-bfe3-0242ac110002/roslaunch-ab8d391221c6-118.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
[0m[ INFO] [1731039702.234659545]: init begins[0m
[31m[ERROR] [1731039702.239795742]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731039702.239848162]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://ab8d391221c6:46139/[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] [1731039703.045331975]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731039703.045785593]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://ab8d391221c6:11311/[0m
]2;roscore http://ab8d391221c6:11311/
[1msetting /run_id to f4b13292-9d88-11ef-bfe3-0242ac110002[0m
USE_IMU: 0
config_file: /slamhive/mappingtask.yaml
result path /home/output/vio.csv
[33m[ WARN] [1731039703.113866029]:  fix extrinsic param [0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
camera number 2
[0m[ INFO] [1731039703.115363810]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731039703.115420659]: 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] [1731039703.115671424]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731039703.134056144]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731039703.134248734]: 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
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [192][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1731039711.736852778]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 327402581.43 
[0m[ INFO] [1731039713.279584149]: Initialization finish![0m
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time: 1403637147.988319, t: 0.013280 0.048591 0.013646 q: 0.997937 -0.061466 -0.002801 0.018310 
time: 1403637148.088319, t: 0.013295 0.048604 0.013655 q: 0.997935 -0.061513 -0.002778 0.018260 
time: 1403637148.188319, t: 0.013322 0.048616 0.013658 q: 0.997936 -0.061515 -0.002724 0.018241 
time: 1403637148.288319, t: 0.013327 0.048608 0.013636 q: 0.997945 -0.061375 -0.002757 0.018175 
time: 1403637148.388319, t: 0.013322 0.048585 0.013643 q: 0.997952 -0.061272 -0.002828 0.018164 
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time: 1403637148.588319, t: 0.013326 0.048564 0.013610 q: 0.997983 -0.060797 -0.003032 0.018002 
time: 1403637148.688319, t: 0.013299 0.048497 0.013524 q: 0.998035 -0.059949 -0.003418 0.017877 
time: 1403637148.788319, t: 0.013259 0.048461 0.013464 q: 0.998066 -0.059451 -0.003752 0.017743 
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time: 1403637148.988319, t: 0.013245 0.048460 0.013286 q: 0.998151 -0.058084 -0.004394 0.017377 
time: 1403637149.088319, t: 0.013214 0.048442 0.013201 q: 0.998186 -0.057535 -0.004688 0.017105 
time: 1403637149.188319, t: 0.013219 0.048557 0.013090 q: 0.998219 -0.057019 -0.005030 0.016790 
time: 1403637149.288319, t: 0.013220 0.048559 0.012969 q: 0.998254 -0.056409 -0.005150 0.016742 
time: 1403637149.388319, t: 0.013236 0.048619 0.012900 q: 0.998304 -0.055570 -0.005557 0.016453 
time: 1403637149.488319, t: 0.013200 0.048691 0.012666 q: 0.998387 -0.054194 -0.006195 0.015770 
time: 1403637149.588319, t: 0.013152 0.048889 0.012593 q: 0.998521 -0.051827 -0.009007 0.013716 
time: 1403637149.688319, t: 0.012681 0.049073 0.012008 q: 0.998891 -0.042793 -0.017816 0.008225 
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time: 1403637149.888319, t: 0.012721 0.053965 0.010333 q: 0.998622 -0.036103 -0.037215 0.008043 
optimize pose graph 
time: 1403637149.988319, t: 0.015292 0.062263 0.007620 q: 0.997607 -0.038803 -0.057205 0.001142 
time: 1403637150.088319, t: 0.025890 0.075125 0.004238 q: 0.996002 -0.045578 -0.076033 -0.011040 
time: 1403637150.188319, t: 0.045789 0.091156 0.004729 q: 0.994970 -0.052468 -0.083256 -0.018708 
time: 1403637150.288319, t: 0.074054 0.107364 0.010787 q: 0.994996 -0.058253 -0.078396 -0.021046 
time: 1403637150.388319, t: 0.107490 0.123649 0.023985 q: 0.995798 -0.061689 -0.065130 -0.018387 
time: 1403637150.488319, t: 0.140655 0.139088 0.040188 q: 0.996294 -0.065044 -0.053685 -0.016905 
time: 1403637150.588319, t: 0.174123 0.154720 0.056854 q: 0.996293 -0.068539 -0.049419 -0.016160 
time: 1403637150.688319, t: 0.206536 0.171543 0.078874 q: 0.996250 -0.070915 -0.047135 -0.015321 
time: 1403637150.788319, t: 0.236867 0.188108 0.100319 q: 0.996123 -0.072958 -0.046413 -0.016199 
time: 1403637150.888319, t: 0.266900 0.202811 0.120080 q: 0.996198 -0.074628 -0.041143 -0.018124 
time: 1403637150.988319, t: 0.294240 0.218695 0.143121 q: 0.996474 -0.074671 -0.033096 -0.019212 
time: 1403637151.088319, t: 0.318320 0.233232 0.166115 q: 0.996714 -0.073849 -0.026145 -0.020598 
time: 1403637151.188319, t: 0.338494 0.246021 0.186288 q: 0.996897 -0.072552 -0.021065 -0.022090 
time: 1403637151.288319, t: 0.358150 0.256653 0.204436 q: 0.996939 -0.070515 -0.027287 -0.019875 
time: 1403637151.388319, t: 0.385861 0.265957 0.216315 q: 0.997140 -0.066115 -0.035109 -0.010365 
time: 1403637151.488319, t: 0.421291 0.275419 0.222937 q: 0.997098 -0.064437 -0.039823 -0.007537 
time: 1403637151.588319, t: 0.453659 0.285747 0.232510 q: 0.997036 -0.064443 -0.040805 -0.010059 
time: 1403637151.688319, t: 0.482239 0.298930 0.239338 q: 0.996998 -0.064493 -0.040620 -0.013661 
time: 1403637151.788319, t: 0.505415 0.313267 0.251521 q: 0.996942 -0.064407 -0.041497 -0.015345 
time: 1403637151.888319, t: 0.524791 0.326767 0.262120 q: 0.996910 -0.064486 -0.041410 -0.017247 
optimize pose graph 
time: 1403637151.988319, t: 0.544000 0.340117 0.274407 q: 0.996875 -0.064451 -0.041973 -0.017997 
time: 1403637152.088319, t: 0.567453 0.355569 0.284115 q: 0.996930 -0.063378 -0.042802 -0.016781 
time: 1403637152.188319, t: 0.593489 0.368424 0.293772 q: 0.996899 -0.062993 -0.044614 -0.015298 
time: 1403637152.288319, t: 0.617204 0.383571 0.306164 q: 0.996882 -0.062484 -0.046217 -0.013666 
time: 1403637152.388319, t: 0.632970 0.400170 0.318981 q: 0.996891 -0.061928 -0.047020 -0.012726 
time: 1403637152.488319, t: 0.642998 0.419256 0.338297 q: 0.996860 -0.061854 -0.047596 -0.013411 
time: 1403637152.588319, t: 0.647200 0.438013 0.357204 q: 0.996842 -0.061926 -0.047741 -0.013886 
time: 1403637152.688319, t: 0.651539 0.457875 0.377986 q: 0.996918 -0.061908 -0.046139 -0.013917 
time: 1403637152.788319, t: 0.657769 0.478556 0.397688 q: 0.997217 -0.060644 -0.041809 -0.011539 
time: 1403637152.888319, t: 0.669121 0.499217 0.417480 q: 0.997457 -0.059927 -0.037039 -0.010802 
time: 1403637152.988319, t: 0.689083 0.521657 0.434886 q: 0.997494 -0.059976 -0.035179 -0.013113 
time: 1403637153.088319, t: 0.707671 0.543358 0.451574 q: 0.997411 -0.060729 -0.035420 -0.015131 
time: 1403637153.188319, t: 0.722427 0.566230 0.467841 q: 0.997265 -0.061361 -0.037851 -0.016260 
time: 1403637153.288319, t: 0.732077 0.589453 0.483589 q: 0.997079 -0.062528 -0.039573 -0.018935 
time: 1403637153.388319, t: 0.737794 0.612026 0.499758 q: 0.996944 -0.063558 -0.040262 -0.021039 
time: 1403637153.488319, t: 0.746944 0.633191 0.517325 q: 0.996737 -0.064401 -0.043117 -0.022566 
time: 1403637153.588319, t: 0.762152 0.654272 0.532247 q: 0.996580 -0.064449 -0.046908 -0.021787 
time: 1403637153.688319, t: 0.784911 0.673473 0.546356 q: 0.996625 -0.064234 -0.046143 -0.022008 
time: 1403637153.788319, t: 0.812558 0.691552 0.561488 q: 0.996759 -0.064511 -0.042448 -0.022555 
time: 1403637153.888319, t: 0.834445 0.708397 0.576854 q: 0.996898 -0.064341 -0.039841 -0.021637 
optimize pose graph 
time: 1403637153.988319, t: 0.850141 0.725675 0.595015 q: 0.997014 -0.064175 -0.037369 -0.021152 
time: 1403637154.088319, t: 0.856455 0.741946 0.613021 q: 0.996999 -0.063593 -0.039877 -0.018949 
time: 1403637154.188319, t: 0.853891 0.756850 0.633406 q: 0.996923 -0.060188 -0.049860 -0.005979 
time: 1403637154.288319, t: 0.848076 0.775442 0.656482 q: 0.996701 -0.056469 -0.057615 0.008878 
time: 1403637154.388319, t: 0.841130 0.799929 0.684713 q: 0.996610 -0.056950 -0.058578 0.009658 
time: 1403637154.488319, t: 0.834503 0.831258 0.713990 q: 0.996934 -0.060106 -0.050090 0.001034 
time: 1403637154.588319, t: 0.827452 0.866988 0.741917 q: 0.996839 -0.064133 -0.046305 -0.007343 
time: 1403637154.688319, t: 0.824277 0.903762 0.771820 q: 0.995999 -0.070262 -0.052365 -0.017517 
time: 1403637154.788319, t: 0.824948 0.939493 0.803608 q: 0.994784 -0.079879 -0.059907 -0.020885 
time: 1403637154.888319, t: 0.825735 0.973518 0.837801 q: 0.993607 -0.091574 -0.064046 -0.016054 
time: 1403637154.988319, t: 0.834943 1.006827 0.875449 q: 0.992587 -0.101246 -0.066355 -0.010835 
time: 1403637155.088319, t: 0.851059 1.038146 0.916583 q: 0.991594 -0.113165 -0.062484 -0.005608 
time: 1403637155.188319, t: 0.877347 1.069431 0.961841 q: 0.990717 -0.125583 -0.052045 0.000382 
time: 1403637155.288319, t: 0.910058 1.098933 1.003466 q: 0.990096 -0.133264 -0.044109 0.002230 
time: 1403637155.388319, t: 0.944287 1.128300 1.044750 q: 0.989332 -0.141078 -0.035964 0.005125 
time: 1403637155.488319, t: 0.971855 1.155731 1.088432 q: 0.987450 -0.154780 -0.029501 0.010722 
time: 1403637155.588319, t: 0.991599 1.184101 1.135659 q: 0.985384 -0.167113 -0.026613 0.019588 
time: 1403637155.688319, t: 1.001913 1.213431 1.182944 q: 0.983577 -0.175953 -0.025608 0.031005 
time: 1403637155.788319, t: 1.008561 1.245547 1.225825 q: 0.981015 -0.187931 -0.024337 0.041226 
time: 1403637155.888319, t: 1.007748 1.281306 1.267823 q: 0.976994 -0.205570 -0.025040 0.050965 
optimize pose graph 
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time: 1403637156.088319, t: 1.001140 1.367267 1.332081 q: 0.965875 -0.248711 -0.022279 0.068795 
time: 1403637156.188319, t: 0.995186 1.413831 1.371252 q: 0.958898 -0.271891 -0.016626 0.079464 
time: 1403637156.288319, t: 0.989198 1.470881 1.390863 q: 0.950847 -0.295935 -0.012261 0.090347 
time: 1403637156.388319, t: 0.982637 1.532538 1.404230 q: 0.941728 -0.320684 -0.009852 0.101058 
time: 1403637156.488319, t: 0.972877 1.595057 1.419807 q: 0.931657 -0.346158 -0.007567 0.110149 
time: 1403637156.588319, t: 0.958081 1.660914 1.430873 q: 0.921133 -0.371447 -0.004439 0.116283 
time: 1403637156.688319, t: 0.938255 1.731043 1.435747 q: 0.909989 -0.396648 -0.001942 0.120771 
time: 1403637156.788319, t: 0.914893 1.803831 1.432993 q: 0.899792 -0.418692 -0.003332 0.122721 
time: 1403637156.888319, t: 0.889576 1.880085 1.428112 q: 0.892277 -0.434303 -0.011594 0.122830 
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time: 1403637157.588319, t: 0.742895 2.435601 1.392857 q: 0.890128 -0.430982 -0.013427 0.147469 
time: 1403637157.688319, t: 0.746671 2.527959 1.371244 q: 0.891623 -0.427855 -0.013586 0.147524 
time: 1403637157.788319, t: 0.757432 2.625235 1.341954 q: 0.892854 -0.426358 -0.010996 0.144603 
time: 1403637157.888319, t: 0.768594 2.730269 1.310671 q: 0.893556 -0.427637 -0.006870 0.136517 
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time: 1403637159.988319, t: 0.504476 4.895405 -0.018972 q: 0.824609 -0.544325 -0.014992 0.153315 
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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: 1403637207.888319, t: 0.626934 2.671472 0.541674 q: 0.915672 -0.386346 -0.028633 0.107059 
time: 1403637207.988319, t: 0.639460 2.652396 0.519663 q: 0.915453 -0.388477 -0.027184 0.101454 
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optimize pose graph 
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time: 1403637208.888319, t: 0.720637 2.508376 0.338468 q: 0.912993 -0.396675 -0.020777 0.093063 
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time: 1403637209.088319, t: 0.681537 2.476419 0.311678 q: 0.911671 -0.403442 -0.031746 0.071287 
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optimize pose graph 
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time: 1403637212.388319, t: 1.010770 4.412675 3.549838 q: 0.933982 -0.346344 -0.013944 0.086774 
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optimize pose graph 
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time: 1403637213.388319, t: 1.548028 5.558463 4.592563 q: 0.933534 -0.344602 -0.041870 0.089501 
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time: 1403637213.988319, t: 1.716299 6.190307 5.279509 q: 0.932578 -0.353675 -0.047674 0.054214 
time: 1403637214.088319, t: 1.748181 6.285140 5.400449 q: 0.935470 -0.347096 -0.039120 0.053761 
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time: 1403637214.488319, t: 1.917121 6.569110 5.886413 q: 0.959012 -0.282101 -0.015518 0.021769 
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time: 1403637214.688319, t: 2.033511 6.650440 6.104982 q: 0.968823 -0.246501 -0.013815 -0.020681 
time: 1403637214.788319, t: 2.093900 6.665169 6.213514 q: 0.970929 -0.236178 -0.011894 -0.037086 
optimize pose graph 
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time: 1403637215.488319, t: 2.382168 6.342363 6.871435 q: 0.981566 -0.187700 0.028404 -0.022151 
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time: 1403637232.488319, t: -0.596724 0.894952 -1.950359 q: -0.495028 0.830143 -0.042369 -0.253010 
time: 1403637232.588319, t: -0.615182 0.930574 -2.021423 q: -0.469214 0.838893 -0.049241 -0.271427 
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time: 1403637232.888319, t: -0.657341 0.988507 -2.312335 q: -0.396096 0.857890 -0.051872 -0.323175 
optimize pose graph 
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time: 1403637233.488319, t: -0.756193 1.125233 -3.188801 q: -0.371248 0.857794 0.009846 -0.355341 
time: 1403637233.588319, t: -0.814662 1.168494 -3.371261 q: -0.375737 0.865705 0.036406 -0.328711 
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optimize pose graph 
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time: 1403637235.588319, t: -1.636444 4.228850 -3.882317 q: 0.568521 -0.790190 -0.024038 0.227611 
time: 1403637235.688319, t: -1.620199 4.374684 -3.799164 q: 0.581145 -0.781606 -0.026205 0.225115 
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time: 1403637235.888319, t: -1.557616 4.659890 -3.627777 q: 0.609220 -0.771976 -0.031825 0.178582 
time: 1403637235.988319, t: -1.506512 4.801412 -3.523911 q: 0.623332 -0.764541 -0.042799 0.158439 
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time: 1403637236.888319, t: -0.707576 5.812652 -2.091589 q: 0.744263 -0.659620 -0.004520 0.104661 
time: 1403637236.988319, t: -0.598148 5.882610 -1.888853 q: 0.755503 -0.648464 0.016638 0.091833 
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optimize pose graph 
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time: 1403637237.888319, t: 0.544770 5.431783 -0.188287 q: 0.813736 -0.563602 0.078342 0.118527 
time: 1403637237.988319, t: 0.646918 5.281258 -0.050621 q: 0.807876 -0.568206 0.074700 0.137470 
time: 1403637238.088319, t: 0.743961 5.126808 0.082683 q: 0.797474 -0.575884 0.071238 0.165279 
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time: 1403637238.588319, t: 1.041337 4.265430 0.399081 q: 0.683396 -0.663459 0.102040 0.287018 
time: 1403637238.688319, t: 1.093582 4.098559 0.389630 q: 0.659731 -0.675958 0.094433 0.314512 
time: 1403637238.788319, t: 1.099221 3.919428 0.355042 q: 0.641800 -0.679646 0.080323 0.346007 
time: 1403637238.888319, t: 1.111809 3.756804 0.295996 q: 0.626906 -0.679021 0.060939 0.377102 
time: 1403637238.988319, t: 1.105885 3.603103 0.205609 q: 0.615797 -0.676822 0.040380 0.401343 
time: 1403637239.088319, t: 1.096466 3.472481 0.083928 q: 0.609123 -0.682999 0.019358 0.402625 
time: 1403637239.188319, t: 1.091960 3.367364 -0.075277 q: 0.604571 -0.700478 0.004771 0.379213 
time: 1403637239.288319, t: 1.083231 3.285647 -0.261061 q: 0.597723 -0.719853 0.001701 0.352896 
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optimize pose graph 
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time: 1403637240.188319, t: 0.332563 2.987437 -2.203553 q: -0.376515 0.886622 -0.033974 -0.266428 
time: 1403637240.288319, t: 0.197626 2.931004 -2.450110 q: -0.350080 0.893939 -0.032690 -0.277936 
time: 1403637240.488319, t: -0.059252 2.886597 -2.859993 q: -0.312384 0.898457 -0.008040 -0.308426 
time: 1403637240.588319, t: -0.168236 2.868118 -3.075873 q: -0.303522 0.899261 -0.000633 -0.314965 
time: 1403637240.688319, t: -0.277135 2.847681 -3.297477 q: -0.300251 0.900756 0.003741 -0.313807 
time: 1403637240.788319, t: -0.368450 2.839695 -3.521250 q: -0.299239 0.903129 0.004420 -0.307887 
time: 1403637240.888319, t: -0.460054 2.837662 -3.741981 q: -0.300698 0.909859 0.004513 -0.285861 
time: 1403637240.988319, t: -0.538299 2.844072 -3.961436 q: -0.303198 0.913924 0.004215 -0.269808 
time: 1403637241.088319, t: -0.626179 2.853584 -4.170897 q: -0.306264 0.912787 0.001373 -0.270222 
time: 1403637241.188319, t: -0.706932 2.869423 -4.368494 q: -0.309445 0.910843 0.002575 -0.273135 
time: 1403637241.288319, t: -0.796840 2.884302 -4.571389 q: -0.313055 0.910352 0.010158 -0.270466 
time: 1403637241.388319, t: -0.887534 2.907057 -4.755875 q: -0.315645 0.910987 0.018218 -0.264839 
time: 1403637241.488319, t: -0.979389 2.931345 -4.934899 q: -0.318002 0.911738 0.026989 -0.258613 
time: 1403637241.588319, t: -1.061394 2.965789 -5.108467 q: -0.320185 0.913496 0.035058 -0.248550 
optimize pose graph 
time: 1403637241.688319, t: -1.129383 3.012618 -5.266282 q: -0.322172 0.915614 0.034745 -0.238010 
time: 1403637241.788319, t: -1.191130 3.066817 -5.412910 q: -0.323714 0.918255 0.031853 -0.225838 
time: 1403637241.888319, t: -1.235180 3.128211 -5.545187 q: -0.325271 0.919872 0.019797 -0.218273 
time: 1403637241.988319, t: -1.273272 3.190654 -5.663305 q: -0.327509 0.920551 -0.002897 -0.212876 
time: 1403637242.088319, t: -1.303293 3.249312 -5.763529 q: -0.326756 0.921635 -0.008927 -0.209142 
time: 1403637242.188319, t: -1.320270 3.301423 -5.850393 q: -0.324933 0.921772 0.000682 -0.211551 
time: 1403637242.288319, t: -1.327681 3.356270 -5.923141 q: -0.322930 0.922236 0.011057 -0.212307 
time: 1403637242.388319, t: -1.330761 3.414043 -5.981805 q: -0.320431 0.924058 0.024071 -0.207029 
time: 1403637242.488319, t: -1.340965 3.469329 -6.022428 q: -0.318399 0.926336 0.033335 -0.198526 
time: 1403637242.588319, t: -1.347508 3.536411 -6.041569 q: -0.321224 0.926518 0.033809 -0.192971 
time: 1403637242.688319, t: -1.344731 3.607984 -6.041648 q: -0.333050 0.922471 0.028643 -0.193144 
time: 1403637242.788319, t: -1.331731 3.682907 -6.022991 q: -0.350885 0.915632 0.016586 -0.195505 
time: 1403637242.888319, t: -1.305486 3.755849 -5.988908 q: -0.366399 0.910003 0.003529 -0.193995 
time: 1403637242.988319, t: -1.269915 3.817338 -5.940012 q: -0.377864 0.906609 -0.001138 -0.187825 
time: 1403637243.088319, t: -1.231730 3.876288 -5.876928 q: -0.384833 0.903846 0.005041 -0.186921 
time: 1403637243.188319, t: -1.199202 3.930453 -5.799097 q: -0.389267 0.900624 0.011493 -0.192912 
time: 1403637243.288319, t: -1.167955 3.984304 -5.707348 q: -0.392821 0.896358 0.010383 -0.205246 
time: 1403637243.388319, t: -1.140262 4.037532 -5.600151 q: -0.394699 0.893544 0.007463 -0.213860 
time: 1403637243.488319, t: -1.114522 4.092888 -5.484433 q: -0.394916 0.892609 0.004385 -0.217419 
time: 1403637243.588319, t: -1.079397 4.146340 -5.360249 q: -0.395016 0.890308 0.000527 -0.226527 
time: 1403637243.688319, t: -1.036691 4.199943 -5.234658 q: -0.394975 0.886693 -0.003437 -0.240331 
time: 1403637243.788319, t: -0.986889 4.252127 -5.106659 q: -0.394195 0.883164 -0.012059 -0.253940 
optimize pose graph 
time: 1403637243.888319, t: -0.927646 4.299351 -4.978721 q: -0.393228 0.878645 -0.023424 -0.269826 
time: 1403637243.988319, t: -0.860924 4.342362 -4.855767 q: -0.391772 0.876639 -0.030104 -0.277691 
time: 1403637244.088319, t: -0.786030 4.380328 -4.742818 q: -0.389818 0.877142 -0.031155 -0.278734 
time: 1403637244.188319, t: -0.706695 4.414718 -4.637922 q: -0.387662 0.878813 -0.029682 -0.276632 
time: 1403637244.288319, t: -0.620557 4.448403 -4.538875 q: -0.385831 0.879450 -0.030250 -0.277104 
time: 1403637244.388319, t: -0.531316 4.479897 -4.446187 q: -0.385403 0.878097 -0.029561 -0.282021 
time: 1403637244.488319, t: -0.435377 4.512470 -4.358256 q: -0.389798 0.875414 -0.023779 -0.284854 
time: 1403637244.588319, t: -0.337401 4.548685 -4.276424 q: -0.398804 0.872727 -0.009475 -0.281447 
time: 1403637244.688319, t: -0.246356 4.585584 -4.201757 q: -0.411458 0.867837 0.004373 -0.278465 
time: 1403637244.788319, t: -0.167349 4.628310 -4.125505 q: -0.424053 0.862456 0.012187 -0.276043 
time: 1403637244.888319, t: -0.093581 4.670913 -4.053891 q: -0.434506 0.857570 0.016015 -0.274811 
time: 1403637244.988319, t: -0.026784 4.722095 -3.976325 q: -0.441847 0.852730 0.015076 -0.278200 
time: 1403637245.088319, t: 0.030529 4.774416 -3.906309 q: -0.446751 0.845450 0.006039 -0.292559 
time: 1403637245.188319, t: 0.077638 4.829565 -3.841582 q: -0.449305 0.838477 -0.000944 -0.308351 
time: 1403637245.288319, t: 0.121129 4.890522 -3.783121 q: -0.450308 0.840222 0.004284 -0.302046 
time: 1403637245.388319, t: 0.157519 4.955143 -3.733818 q: -0.450582 0.844125 0.011495 -0.290340 
time: 1403637245.488319, t: 0.193477 5.027558 -3.687919 q: -0.454020 0.844751 0.016788 -0.282808 
time: 1403637245.588319, t: 0.225599 5.109455 -3.642350 q: -0.462346 0.841477 0.020359 -0.278817 
time: 1403637245.688319, t: 0.246893 5.197676 -3.590765 q: -0.474865 0.835220 0.022677 -0.276400 
time: 1403637245.788319, t: 0.270203 5.289461 -3.549757 q: -0.493215 0.827647 0.018612 -0.267193 
time: 1403637245.888319, t: 0.288573 5.395316 -3.495027 q: 0.516319 -0.819547 -0.012400 0.248200 
time: 1403637245.988319, t: 0.300414 5.502574 -3.444781 q: 0.544799 -0.805516 -0.008259 0.232960 
optimize pose graph 
time: 1403637246.088319, t: 0.311658 5.610673 -3.383819 q: 0.577100 -0.786664 -0.007137 0.219238 
time: 1403637246.188319, t: 0.321725 5.705242 -3.336016 q: 0.613691 -0.761817 -0.006774 0.207297 
time: 1403637246.288319, t: 0.321551 5.806982 -3.278024 q: 0.651440 -0.733078 -0.007444 0.195365 
time: 1403637246.388319, t: 0.320360 5.894554 -3.216446 q: 0.689147 -0.702151 -0.010722 0.178733 
time: 1403637246.488319, t: 0.317347 5.982734 -3.143581 q: 0.723798 -0.671780 -0.016813 0.156673 
time: 1403637246.588319, t: 0.321613 6.071896 -3.061108 q: 0.754063 -0.642447 -0.016516 0.135566 
time: 1403637246.688319, t: 0.313240 6.148874 -2.983674 q: 0.782084 -0.612238 -0.010690 0.115733 
time: 1403637246.788319, t: 0.299275 6.215477 -2.900312 q: 0.807426 -0.581601 -0.007834 0.098701 
time: 1403637246.888319, t: 0.311260 6.263411 -2.791192 q: 0.828758 -0.552660 -0.009630 0.087380 
time: 1403637246.988319, t: 0.294731 6.315383 -2.720537 q: 0.847929 -0.522824 -0.018157 0.085684 
time: 1403637247.088319, t: 0.304385 6.342115 -2.613015 q: 0.859187 -0.502670 -0.029103 0.090959 
time: 1403637247.188319, t: 0.318542 6.369351 -2.513037 q: 0.865933 -0.488661 -0.037663 0.099756 
time: 1403637247.288319, t: 0.343895 6.386155 -2.388012 q: 0.868776 -0.482016 -0.040444 0.106079 
time: 1403637247.388319, t: 0.354462 6.402752 -2.276682 q: 0.870327 -0.482038 -0.023070 0.098173 
time: 1403637247.488319, t: 0.362063 6.409026 -2.161354 q: 0.869999 -0.485020 -0.003296 0.088584 
time: 1403637247.588319, t: 0.350291 6.411975 -2.057616 q: 0.871023 -0.483831 -0.001302 0.084998 
time: 1403637247.688319, t: 0.342709 6.403094 -1.952066 q: 0.874269 -0.479417 -0.004104 0.076136 
time: 1403637247.788319, t: 0.331794 6.388624 -1.854715 q: 0.879263 -0.472149 -0.009755 0.062254 
time: 1403637247.888319, t: 0.318301 6.353212 -1.754585 q: 0.885941 -0.460661 -0.009476 0.053013 
time: 1403637247.988319, t: 0.328017 6.310854 -1.658480 q: 0.894956 -0.442877 -0.000983 0.053961 
time: 1403637248.088319, t: 0.336364 6.252104 -1.560785 q: 0.903675 -0.423985 -0.006323 0.059730 
time: 1403637248.188319, t: 0.308188 6.171483 -1.461528 q: 0.911113 -0.406908 -0.013051 0.064248 
optimize pose graph 
time: 1403637248.288319, t: 0.330885 6.105645 -1.364807 q: 0.916709 -0.392820 -0.023363 0.069218 
time: 1403637248.388319, t: 0.332787 6.022192 -1.253792 q: 0.919513 -0.385979 -0.025959 0.069582 
time: 1403637248.488319, t: 0.319932 5.939215 -1.149107 q: 0.921361 -0.382010 -0.020995 0.068711 
time: 1403637248.588319, t: 0.340088 5.857552 -1.045862 q: 0.922124 -0.381144 -0.014400 0.064874 
time: 1403637248.688319, t: 0.330476 5.760378 -0.941595 q: 0.921301 -0.383193 -0.015938 0.064141 
time: 1403637248.788319, t: 0.335080 5.663494 -0.846067 q: 0.919894 -0.385597 -0.024900 0.067015 
time: 1403637248.988319, t: 0.369863 5.462319 -0.666166 q: 0.917141 -0.389997 -0.030832 0.076187 
time: 1403637249.088319, t: 0.398017 5.357222 -0.574976 q: 0.915721 -0.393283 -0.030783 0.076392 
time: 1403637249.188319, t: 0.445047 5.253067 -0.485584 q: 0.914682 -0.395475 -0.031177 0.077363 
time: 1403637249.288319, t: 0.493652 5.147658 -0.398259 q: 0.914048 -0.396796 -0.029252 0.078825 
time: 1403637249.388319, t: 0.542034 5.038138 -0.308711 q: 0.913340 -0.398575 -0.027978 0.078518 
time: 1403637249.488319, t: 0.580197 4.928410 -0.216706 q: 0.913141 -0.398762 -0.027739 0.079951 
time: 1403637249.588319, t: 0.603883 4.819891 -0.119182 q: 0.913312 -0.398004 -0.028203 0.081597 
time: 1403637249.688319, t: 0.606292 4.707042 -0.014916 q: 0.913543 -0.397876 -0.025917 0.080384 
time: 1403637249.788319, t: 0.607004 4.592329 0.085689 q: 0.914718 -0.396493 -0.017252 0.076067 
time: 1403637249.988319, t: 0.624679 4.348632 0.284852 q: 0.922404 -0.379057 -0.013304 0.072868 
time: 1403637250.088319, t: 0.637634 4.214726 0.381264 q: 0.927285 -0.365088 -0.016126 0.081201 
time: 1403637250.188319, t: 0.659905 4.085387 0.469904 q: 0.932178 -0.351293 -0.020451 0.084962 
time: 1403637250.288319, t: 0.676749 3.956164 0.556467 q: 0.937079 -0.336959 -0.020046 0.089106 
time: 1403637250.388319, t: 0.687448 3.827271 0.646027 q: 0.940479 -0.326243 -0.018708 0.093356 
optimize pose graph 
time: 1403637250.488319, t: 0.689354 3.708407 0.726555 q: 0.942865 -0.317156 -0.018924 0.100291 
time: 1403637250.588319, t: 0.693968 3.590766 0.806393 q: 0.944005 -0.311852 -0.022868 0.105260 
time: 1403637250.688319, t: 0.699577 3.475919 0.878838 q: 0.945755 -0.306680 -0.027309 0.103677 
time: 1403637250.788319, t: 0.712979 3.368333 0.944864 q: 0.947052 -0.303543 -0.030244 0.100199 
time: 1403637250.888319, t: 0.734703 3.266987 1.007721 q: 0.947902 -0.301547 -0.027791 0.098882 
time: 1403637250.988319, t: 0.763837 3.178804 1.064141 q: 0.948361 -0.299278 -0.026952 0.101574 
time: 1403637251.088319, t: 0.797091 3.093452 1.115070 q: 0.949715 -0.293937 -0.027512 0.104333 
time: 1403637251.188319, t: 0.833443 3.016187 1.161771 q: 0.951720 -0.285292 -0.029870 0.109292 
time: 1403637251.288319, t: 0.878629 2.949785 1.198325 q: 0.953806 -0.277587 -0.030973 0.110632 
time: 1403637251.388319, t: 0.932384 2.889543 1.233417 q: 0.956708 -0.272821 -0.029291 0.097058 
time: 1403637251.488319, t: 0.984930 2.841422 1.262780 q: 0.960487 -0.263850 -0.027065 0.084355 
time: 1403637251.588319, t: 1.032367 2.795788 1.289718 q: 0.964657 -0.251375 -0.025937 0.074659 
time: 1403637251.688319, t: 1.071537 2.757891 1.315074 q: 0.968218 -0.239006 -0.025271 0.069226 
time: 1403637251.788319, t: 1.103251 2.721706 1.338460 q: 0.970816 -0.229118 -0.024591 0.066455 
time: 1403637251.888319, t: 1.131256 2.686640 1.359043 q: 0.972429 -0.224217 -0.022106 0.060164 
time: 1403637251.988319, t: 1.157364 2.658603 1.375143 q: 0.973476 -0.223276 -0.016845 0.046983 
time: 1403637252.088319, t: 1.178056 2.627848 1.388751 q: 0.974035 -0.222784 -0.011096 0.038739 
time: 1403637252.188319, t: 1.193573 2.594790 1.398702 q: 0.974552 -0.220766 -0.004487 0.038605 
time: 1403637252.288319, t: 1.202455 2.559842 1.404866 q: 0.974895 -0.218431 -0.003680 0.043056 
time: 1403637252.388319, t: 1.200220 2.525041 1.409576 q: 0.975000 -0.216790 -0.008286 0.048051 
time: 1403637252.488319, t: 1.189951 2.483956 1.413542 q: 0.974716 -0.216515 -0.016493 0.052707 
time: 1403637252.588319, t: 1.173965 2.447213 1.412095 q: 0.974447 -0.216546 -0.021754 0.055565 
optimize pose graph 
time: 1403637252.788319, t: 1.130357 2.382072 1.406692 q: 0.973587 -0.213300 -0.038492 0.071759 
time: 1403637252.888319, t: 1.115093 2.355034 1.402965 q: 0.973265 -0.215088 -0.041221 0.069228 
time: 1403637252.988319, t: 1.109054 2.335682 1.392939 q: 0.973358 -0.218786 -0.034360 0.059385 
time: 1403637253.088319, t: 1.112144 2.321093 1.379078 q: 0.973354 -0.220979 -0.029568 0.053635 
time: 1403637253.188319, t: 1.117085 2.307348 1.363756 q: 0.973247 -0.222407 -0.026959 0.050973 
time: 1403637253.288319, t: 1.116566 2.293118 1.349141 q: 0.973063 -0.223517 -0.025721 0.050276 
time: 1403637253.388319, t: 1.109641 2.280522 1.333755 q: 0.972944 -0.223983 -0.025602 0.050564 
time: 1403637253.488319, t: 1.095761 2.268854 1.318156 q: 0.972910 -0.224014 -0.024066 0.051807 
time: 1403637253.588319, t: 1.076638 2.257127 1.302324 q: 0.972727 -0.224798 -0.025804 0.051014 
time: 1403637253.688319, t: 1.061725 2.246077 1.283110 q: 0.972633 -0.226180 -0.025841 0.046480 
time: 1403637253.788319, t: 1.054182 2.234683 1.260321 q: 0.972537 -0.227818 -0.024450 0.040894 
time: 1403637253.888319, t: 1.050954 2.220983 1.235449 q: 0.972464 -0.228526 -0.023976 0.038916 
time: 1403637253.988319, t: 1.052949 2.206366 1.206803 q: 0.972415 -0.228823 -0.023803 0.038506 
time: 1403637254.088319, t: 1.060926 2.186311 1.175611 q: 0.972497 -0.228947 -0.022461 0.036445 
time: 1403637254.188319, t: 1.073816 2.163441 1.142306 q: 0.973788 -0.223730 -0.022179 0.034485 
time: 1403637254.288319, t: 1.092023 2.137041 1.105981 q: 0.975697 -0.215179 -0.027526 0.030919 
time: 1403637254.388319, t: 1.111791 2.107797 1.068080 q: 0.977496 -0.206136 -0.034518 0.028590 
time: 1403637254.488319, t: 1.126657 2.076579 1.033032 q: 0.978806 -0.199116 -0.039566 0.026945 
time: 1403637254.588319, t: 1.136591 2.046339 1.000268 q: 0.979973 -0.193180 -0.040926 0.025667 
time: 1403637254.688319, t: 1.141161 2.016816 0.968982 q: 0.980836 -0.189430 -0.038716 0.024061 
time: 1403637254.788319, t: 1.142112 1.985007 0.938008 q: 0.981537 -0.186883 -0.033661 0.022940 
optimize pose graph 
time: 1403637254.988319, t: 1.125038 1.918562 0.884922 q: 0.982355 -0.183766 -0.024861 0.024307 
time: 1403637255.088319, t: 1.109805 1.883029 0.860401 q: 0.982920 -0.180990 -0.023780 0.023360 
time: 1403637255.188319, t: 1.097044 1.842642 0.831677 q: 0.984400 -0.172882 -0.024418 0.021736 
time: 1403637255.288319, t: 1.090107 1.801362 0.798674 q: 0.986111 -0.163130 -0.023699 0.020312 
time: 1403637255.388319, t: 1.088166 1.760763 0.761436 q: 0.987734 -0.153011 -0.023861 0.020011 
time: 1403637255.488319, t: 1.082668 1.718957 0.724422 q: 0.989474 -0.141406 -0.025991 0.016413 
time: 1403637255.588319, t: 1.069520 1.675566 0.685353 q: 0.991352 -0.127916 -0.027850 0.009111 
time: 1403637255.688319, t: 1.052631 1.631561 0.654262 q: 0.993255 -0.111955 -0.030148 0.001075 
time: 1403637255.788319, t: 1.035039 1.588189 0.614060 q: 0.994978 -0.093355 -0.035311 -0.007485 
time: 1403637255.888319, t: 1.024835 1.541890 0.575750 q: 0.996389 -0.072786 -0.041257 -0.014481 
time: 1403637255.988319, t: 1.021502 1.495488 0.528067 q: 0.997418 -0.053509 -0.043648 -0.019732 
time: 1403637256.088319, t: 1.027225 1.446629 0.486777 q: 0.997828 -0.040070 -0.045455 -0.025829 
time: 1403637256.188319, t: 1.032474 1.400166 0.441150 q: 0.998172 -0.031421 -0.042352 -0.029513 
time: 1403637256.288319, t: 1.038102 1.348531 0.399219 q: 0.998497 -0.026241 -0.036538 -0.031304 
time: 1403637256.388319, t: 1.035477 1.295630 0.358459 q: 0.998599 -0.024406 -0.033243 -0.033162 
time: 1403637256.488319, t: 1.027261 1.242662 0.316910 q: 0.998549 -0.025198 -0.031878 -0.035351 
time: 1403637256.588319, t: 1.012349 1.188638 0.274333 q: 0.998615 -0.025952 -0.030774 -0.033880 
time: 1403637256.788319, t: 0.965795 1.069295 0.197351 q: 0.998392 -0.025180 -0.049259 -0.012354 
time: 1403637256.888319, t: 0.938757 1.011432 0.161823 q: 0.998388 -0.024111 -0.051211 -0.004080 
time: 1403637256.988319, t: 0.915461 0.956609 0.122842 q: 0.998661 -0.021014 -0.046341 -0.009348 
optimize pose graph 
time: 1403637257.088319, t: 0.898142 0.900771 0.087773 q: 0.998850 -0.014312 -0.041815 -0.018565 
time: 1403637257.188319, t: 0.886636 0.846113 0.048321 q: 0.998848 -0.007931 -0.040063 -0.025182 
time: 1403637257.288319, t: 0.880318 0.791675 0.012176 q: 0.998675 -0.002034 -0.042123 -0.029477 
time: 1403637257.388319, t: 0.877497 0.741400 -0.032925 q: 0.998406 0.002947 -0.044655 -0.034384 
time: 1403637257.488319, t: 0.876446 0.685099 -0.069551 q: 0.998240 0.006368 -0.045764 -0.037177 
time: 1403637257.588319, t: 0.871578 0.630259 -0.106521 q: 0.997980 0.008400 -0.048553 -0.040090 
time: 1403637257.688319, t: 0.860962 0.577857 -0.144121 q: 0.997672 0.010937 -0.055676 -0.037837 
time: 1403637257.788319, t: 0.843627 0.523955 -0.177920 q: 0.997318 0.015804 -0.061539 -0.036345 
time: 1403637257.888319, t: 0.832562 0.461204 -0.194446 q: 0.996746 0.023261 -0.067791 -0.036900 
time: 1403637257.988319, t: 0.815527 0.401378 -0.212024 q: 0.996160 0.034881 -0.070796 -0.037895 
time: 1403637258.088319, t: 0.796034 0.344633 -0.231940 q: 0.995305 0.051474 -0.071739 -0.039636 
time: 1403637258.188319, t: 0.782349 0.285568 -0.238696 q: 0.994237 0.070984 -0.065230 -0.046898 
time: 1403637258.288319, t: 0.780254 0.227472 -0.250476 q: 0.992981 0.087142 -0.056042 -0.057043 
time: 1403637258.388319, t: 0.774001 0.172174 -0.261209 q: 0.991747 0.100790 -0.049653 -0.061754 
time: 1403637258.488319, t: 0.758633 0.109847 -0.263868 q: 0.990698 0.112136 -0.051025 -0.057789 
time: 1403637258.588319, t: 0.735959 0.050701 -0.260849 q: 0.989873 0.119948 -0.055066 -0.052259 
time: 1403637258.688319, t: 0.714880 -0.001146 -0.260939 q: 0.989710 0.123137 -0.050641 -0.052419 
time: 1403637258.788319, t: 0.691766 -0.052306 -0.258591 q: 0.989726 0.124397 -0.046679 -0.052818 
time: 1403637258.888319, t: 0.666413 -0.098730 -0.260613 q: 0.989845 0.125274 -0.043261 -0.051407 
time: 1403637258.988319, t: 0.649321 -0.145207 -0.259329 q: 0.989991 0.125163 -0.043402 -0.048662 
time: 1403637259.088319, t: 0.642896 -0.187325 -0.263411 q: 0.990195 0.123863 -0.043960 -0.047329 
time: 1403637259.188319, t: 0.648607 -0.226235 -0.270709 q: 0.990338 0.123345 -0.043468 -0.046122 
time: 1403637259.288319, t: 0.661886 -0.261432 -0.280891 q: 0.990548 0.122619 -0.042256 -0.044647 
optimize pose graph 
time: 1403637259.388319, t: 0.673791 -0.294402 -0.290484 q: 0.990714 0.121768 -0.042996 -0.042541 
time: 1403637259.488319, t: 0.681996 -0.322464 -0.298707 q: 0.990896 0.123494 -0.042081 -0.033209 
time: 1403637259.588319, t: 0.686862 -0.345553 -0.307182 q: 0.990940 0.124468 -0.041936 -0.028071 
time: 1403637259.688319, t: 0.688665 -0.361713 -0.314663 q: 0.991061 0.122768 -0.041632 -0.031501 
time: 1403637259.788319, t: 0.685970 -0.373130 -0.320777 q: 0.990906 0.119988 -0.047028 -0.038683 
time: 1403637259.888319, t: 0.681505 -0.380360 -0.326350 q: 0.990908 0.119368 -0.047482 -0.039987 
time: 1403637259.988319, t: 0.673536 -0.384317 -0.330123 q: 0.991070 0.120724 -0.043761 -0.035927 
time: 1403637260.088319, t: 0.661644 -0.383784 -0.332788 q: 0.991157 0.119616 -0.040520 -0.040729 
time: 1403637260.188319, t: 0.645579 -0.380028 -0.335219 q: 0.991018 0.117645 -0.041689 -0.048021 
time: 1403637260.288319, t: 0.626802 -0.373955 -0.337707 q: 0.990739 0.115371 -0.043026 -0.057223 
time: 1403637260.388319, t: 0.606869 -0.367703 -0.341223 q: 0.990425 0.112487 -0.041485 -0.068444 
time: 1403637260.488319, t: 0.584701 -0.363517 -0.345499 q: 0.990054 0.111227 -0.042842 -0.074742 
time: 1403637260.588319, t: 0.559849 -0.362678 -0.350046 q: 0.989501 0.111040 -0.054487 -0.074764 
time: 1403637260.688319, t: 0.535013 -0.365742 -0.353444 q: 0.989207 0.111381 -0.062027 -0.072226 
time: 1403637260.788319, t: 0.511515 -0.371385 -0.354765 q: 0.989525 0.112876 -0.057572 -0.069173 
time: 1403637260.888319, t: 0.488307 -0.379493 -0.354493 q: 0.989916 0.115026 -0.049211 -0.066432 
time: 1403637260.988319, t: 0.465354 -0.389400 -0.353833 q: 0.990187 0.116098 -0.041580 -0.065750 
time: 1403637261.088319, t: 0.441055 -0.399476 -0.355191 q: 0.990077 0.116582 -0.044488 -0.064636 
time: 1403637261.188319, t: 0.415974 -0.411105 -0.356393 q: 0.989492 0.115724 -0.056569 -0.065669 
time: 1403637261.288319, t: 0.395193 -0.423912 -0.357753 q: 0.988888 0.114906 -0.066305 -0.067091 
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time: 1403637261.488319, t: 0.374494 -0.454351 -0.357212 q: 0.989940 0.118031 -0.051921 -0.058239 
time: 1403637261.588319, t: 0.367315 -0.469797 -0.355453 q: 0.989528 0.117506 -0.060604 -0.057915 
time: 1403637261.688319, t: 0.364969 -0.484810 -0.352919 q: 0.988835 0.115759 -0.070998 -0.061350 
time: 1403637261.788319, t: 0.370815 -0.500659 -0.347532 q: 0.989078 0.115159 -0.067065 -0.062967 
time: 1403637261.888319, t: 0.380026 -0.517067 -0.340004 q: 0.989890 0.115633 -0.054305 -0.061628 
time: 1403637261.988319, t: 0.382695 -0.533038 -0.329570 q: 0.990423 0.115366 -0.045880 -0.060405 
time: 1403637262.088319, t: 0.376027 -0.548533 -0.317407 q: 0.990890 0.115736 -0.040394 -0.055771 
time: 1403637262.188319, t: 0.360063 -0.562399 -0.304244 q: 0.991136 0.116334 -0.039789 -0.050333 
time: 1403637262.288319, t: 0.337590 -0.573146 -0.291385 q: 0.991331 0.116017 -0.039562 -0.047312 
time: 1403637262.388319, t: 0.338309 -0.568677 -0.297433 q: 0.991930 0.117130 -0.016787 -0.045534 
time: 1403637262.488319, t: 0.334090 -0.559312 -0.301454 q: 0.995030 0.089885 -0.033834 -0.026277 
time: 1403637262.588319, t: 0.336562 -0.555977 -0.310268 q: 0.995665 0.091643 -0.004238 -0.015350 
time: 1403637262.688319, t: 0.331420 -0.555483 -0.305994 q: 0.995606 0.089595 -0.021040 -0.017282 
time: 1403637262.788319, t: 0.332171 -0.555046 -0.306645 q: 0.995762 0.089044 -0.017753 -0.014656 
time: 1403637262.888319, t: 0.332235 -0.556346 -0.305964 q: 0.995644 0.089872 -0.019772 -0.014981 
time: 1403637262.988319, t: 0.332240 -0.555977 -0.306237 q: 0.995681 0.089590 -0.019069 -0.015145 
time: 1403637263.088319, t: 0.332259 -0.555762 -0.306357 q: 0.995701 0.089266 -0.019078 -0.015730 
time: 1403637263.188319, t: 0.332239 -0.555579 -0.306414 q: 0.995727 0.088984 -0.018778 -0.016058 
time: 1403637263.288319, t: 0.332216 -0.555662 -0.306408 q: 0.995714 0.089098 -0.019073 -0.015870 
time: 1403637263.388319, t: 0.332227 -0.555734 -0.306419 q: 0.995706 0.089215 -0.019077 -0.015696 
time: 1403637263.488319, t: 0.332174 -0.555653 -0.306418 q: 0.995716 0.089061 -0.019041 -0.015948 
time: 1403637263.588319, t: 0.332217 -0.555686 -0.306433 q: 0.995712 0.089116 -0.019107 -0.015849 
time: 1403637263.688319, t: 0.332172 -0.555714 -0.306438 q: 0.995707 0.089170 -0.019182 -0.015770 
time: 1403637263.788319, t: 0.332159 -0.555804 -0.306449 q: 0.995701 0.089310 -0.019168 -0.015376 
time: 1403637263.888319, t: 0.332168 -0.555803 -0.306459 q: 0.995699 0.089322 -0.019168 -0.015421 
time: 1403637263.988319, t: 0.332158 -0.555707 -0.306460 q: 0.995708 0.089159 -0.019169 -0.015750 
time: 1403637264.088319, t: 0.332163 -0.555714 -0.306444 q: 0.995704 0.089177 -0.019240 -0.015864 
time: 1403637264.188319, t: 0.332128 -0.555673 -0.306400 q: 0.995710 0.089121 -0.019137 -0.015882 
time: 1403637264.288319, t: 0.332153 -0.555726 -0.306454 q: 0.995705 0.089198 -0.019175 -0.015722 
time: 1403637264.388319, t: 0.332122 -0.555717 -0.306470 q: 0.995702 0.089225 -0.019221 -0.015725 
time: 1403637264.488319, t: 0.332124 -0.555693 -0.306446 q: 0.995706 0.089170 -0.019186 -0.015797 
time: 1403637264.588319, t: 0.332123 -0.555727 -0.306449 q: 0.995703 0.089198 -0.019232 -0.015769 
time: 1403637264.688319, t: 0.332110 -0.555727 -0.306462 q: 0.995704 0.089205 -0.019222 -0.015728 
time: 1403637264.788319, t: 0.332098 -0.555724 -0.306448 q: 0.995700 0.089257 -0.019239 -0.015658 
time: 1403637264.888319, t: 0.332119 -0.555725 -0.306487 q: 0.995703 0.089212 -0.019236 -0.015728 
time: 1403637264.988319, t: 0.332124 -0.555700 -0.306416 q: 0.995705 0.089159 -0.019270 -0.015860 
time: 1403637265.088319, t: 0.332130 -0.555723 -0.306422 q: 0.995700 0.089200 -0.019326 -0.015858 
time: 1403637265.188319, t: 0.332123 -0.555698 -0.306436 q: 0.995703 0.089189 -0.019251 -0.015826 
time: 1403637265.288319, t: 0.332099 -0.555695 -0.306429 q: 0.995701 0.089197 -0.019297 -0.015846 
time: 1403637265.388319, t: 0.332142 -0.555706 -0.306339 q: 0.995701 0.089187 -0.019300 -0.015897 
time: 1403637265.488319, t: 0.332119 -0.555640 -0.306283 q: 0.995699 0.089235 -0.019274 -0.015807 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731039848.680663667]: Shutdown request received.[0m
[33m[ WARN] [1731039848.680724353]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731039848.682339006]: Shutdown request received.[0m
[33m[ WARN] [1731039848.682383051]: Reason given for shutdown: [user request][0m
killed
