/SLAM-Hive/slam_hive_results/mapping_results/3465/2040_vins-fusion-mono-imu+MH_02_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1731044399.758782783]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731044399.759667800]: init begins[0m
... logging to /root/.ros/log/e4dc55c6-9d93-11ef-902c-0242ac110002/roslaunch-7068eebd54dd-117.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
[31m[ERROR] [1731044399.761138053]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://7068eebd54dd:39475/[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
[0m[ INFO] [1731044400.866174471]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731044400.866454548]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://7068eebd54dd:11311/[0m
]2;roscore http://7068eebd54dd:11311/
[1msetting /run_id to e4dc55c6-9d93-11ef-902c-0242ac110002[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1731044400.894119875]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1731044400.894324777]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731044400.894351401]: 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
set g       0       0 9.81007
[0m[ INFO] [1731044400.894527641]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
MULTIPLE_THREAD is 1
[33m[ WARN] [1731044400.901662750]: 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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1731044409.806574560]: 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: 327407553.19 
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] [1731044413.260589881]: gyroscope bias initial calibration 0.00132595  0.0080178  0.0885517[0m
[0m[ INFO] [1731044413.340428522]: Initialization finish![0m
time: 1403636859.701667, t: 0.010694 -0.066735 0.228004 q: -0.034346 0.812546 0.043890 0.580226 
time: 1403636859.801666, t: 0.014216 -0.068584 0.277785 q: -0.025490 0.805992 0.043507 0.589775 
time: 1403636859.901666, t: 0.014907 -0.069392 0.323274 q: -0.018283 0.802117 0.044408 0.595233 
time: 1403636860.001667, t: 0.013836 -0.070242 0.358400 q: -0.015820 0.801160 0.043009 0.596693 
time: 1403636860.101666, t: 0.015103 -0.074213 0.368920 q: -0.014423 0.803684 0.039460 0.593572 
time: 1403636860.201667, t: 0.016765 -0.080103 0.346766 q: -0.016564 0.808535 0.037679 0.587007 
time: 1403636860.301666, t: 0.016667 -0.083927 0.297796 q: -0.022747 0.816980 0.035522 0.575121 
time: 1403636860.401666, t: 0.013862 -0.087864 0.239806 q: -0.025455 0.829763 0.031997 0.556616 
time: 1403636860.501667, t: 0.009235 -0.091284 0.183885 q: -0.028996 0.842988 0.028477 0.536394 
time: 1403636860.601666, t: 0.004886 -0.093229 0.138705 q: -0.034036 0.852876 0.026993 0.520304 
time: 1403636860.701667, t: -0.000229 -0.094977 0.108730 q: -0.038356 0.856584 0.029844 0.513715 
time: 1403636860.801666, t: -0.003576 -0.096272 0.100676 q: -0.034794 0.856307 0.036337 0.514011 
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time: 1403636861.001667, t: -0.003577 -0.097644 0.164556 q: -0.031837 0.853376 0.046853 0.518210 
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time: 1403636861.601666, t: 0.013588 -0.110135 0.414518 q: -0.031968 0.802743 0.038346 0.594232 
time: 1403636861.701667, t: 0.014870 -0.111063 0.376855 q: -0.033463 0.809216 0.039170 0.585248 
time: 1403636861.801666, t: 0.014222 -0.110588 0.323929 q: -0.032725 0.816135 0.041674 0.575427 
time: 1403636861.901666, t: 0.010789 -0.108315 0.266570 q: -0.036160 0.823967 0.043517 0.563806 
time: 1403636862.001667, t: 0.006707 -0.104446 0.208342 q: -0.040105 0.835563 0.043042 0.546236 
time: 1403636862.101666, t: 0.002627 -0.099689 0.155488 q: -0.043535 0.844751 0.040835 0.531821 
time: 1403636862.201667, t: -0.000228 -0.096367 0.116828 q: -0.046461 0.849436 0.041810 0.523977 
time: 1403636862.401666, t: -0.002451 -0.096395 0.124247 q: -0.039566 0.856121 0.050509 0.512777 
time: 1403636862.501667, t: -0.000662 -0.097242 0.171697 q: -0.038459 0.854036 0.050971 0.516280 
time: 1403636862.601666, t: 0.005143 -0.100171 0.233608 q: -0.027561 0.848065 0.049243 0.526880 
time: 1403636862.701667, t: 0.010986 -0.101824 0.301448 q: -0.019579 0.840248 0.046826 0.539822 
wait for imu ... 
time: 1403636862.801666, t: 0.015490 -0.101702 0.370026 q: -0.021352 0.835420 0.039856 0.547749 
time: 1403636862.901666, t: 0.017568 -0.101652 0.434266 q: -0.024477 0.832276 0.031258 0.552938 
time: 1403636863.001667, t: 0.016132 -0.101778 0.478206 q: -0.029241 0.826693 0.027689 0.561210 
time: 1403636863.101666, t: 0.015062 -0.103820 0.487325 q: -0.023328 0.820645 0.032208 0.570053 
time: 1403636863.201667, t: 0.014301 -0.105183 0.462046 q: -0.015266 0.818141 0.037726 0.573576 
time: 1403636863.301666, t: 0.013800 -0.104624 0.410533 q: -0.009487 0.819505 0.041329 0.571501 
time: 1403636863.401666, t: 0.013512 -0.104564 0.346941 q: -0.003600 0.821739 0.040876 0.568385 
time: 1403636863.501667, t: 0.011596 -0.104368 0.278024 q: -0.004074 0.826529 0.036304 0.561708 
time: 1403636863.601666, t: 0.006475 -0.103775 0.210169 q: -0.016147 0.834488 0.033527 0.549768 
time: 1403636863.701667, t: 0.001004 -0.103986 0.151465 q: -0.026116 0.842986 0.030975 0.536407 
time: 1403636863.801666, t: -0.001980 -0.105017 0.113235 q: -0.030342 0.850860 0.027899 0.523773 
time: 1403636863.901666, t: -0.004454 -0.106525 0.108124 q: -0.030977 0.856449 0.029263 0.514470 
time: 1403636864.001667, t: -0.005212 -0.107901 0.139762 q: -0.033539 0.857439 0.032262 0.512477 
time: 1403636864.101666, t: -0.004431 -0.108593 0.198999 q: -0.031842 0.853822 0.037288 0.518251 
time: 1403636864.201667, t: -0.001294 -0.109213 0.271898 q: -0.023659 0.849197 0.039297 0.526080 
time: 1403636864.301666, t: 0.002328 -0.107376 0.342298 q: -0.022562 0.846165 0.039198 0.530999 
time: 1403636864.401666, t: 0.005077 -0.104530 0.403918 q: -0.024560 0.842283 0.036699 0.537223 
time: 1403636864.501667, t: 0.007717 -0.102702 0.455167 q: -0.026527 0.832407 0.029088 0.552765 
time: 1403636864.601666, t: 0.010384 -0.099867 0.483746 q: -0.030985 0.820868 0.023310 0.569800 
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time: 1403636864.801666, t: 0.010730 -0.100208 0.445692 q: -0.019711 0.818128 0.031667 0.573825 
time: 1403636864.901666, t: 0.011029 -0.099482 0.391068 q: -0.018013 0.823481 0.032377 0.566133 
time: 1403636865.001667, t: 0.010882 -0.100356 0.330256 q: -0.011394 0.829750 0.031718 0.557117 
time: 1403636865.101666, t: 0.011285 -0.100824 0.268559 q: -0.010789 0.836922 0.031126 0.546330 
time: 1403636865.201667, t: 0.011444 -0.099925 0.213017 q: -0.026005 0.842372 0.022537 0.537796 
time: 1403636865.301666, t: 0.010518 -0.099266 0.170199 q: -0.039680 0.844751 0.016846 0.533420 
time: 1403636865.401666, t: 0.010540 -0.099261 0.143325 q: -0.038932 0.845809 0.016571 0.531805 
time: 1403636865.501667, t: 0.010817 -0.099071 0.137570 q: -0.031615 0.850383 0.022820 0.524717 
wait for imu ... 
time: 1403636865.601666, t: 0.011746 -0.097498 0.160522 q: -0.028618 0.855859 0.028822 0.515613 
time: 1403636865.701667, t: 0.011699 -0.093159 0.207800 q: -0.032895 0.855273 0.031882 0.516149 
time: 1403636865.801666, t: 0.013139 -0.089123 0.269385 q: -0.035877 0.848581 0.031332 0.526917 
time: 1403636865.901666, t: 0.015830 -0.087138 0.337464 q: -0.038852 0.838709 0.028773 0.542429 
time: 1403636866.001667, t: 0.017408 -0.085820 0.406038 q: -0.042643 0.824793 0.025393 0.563252 
wait for imu ... 
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time: 1403636866.201667, t: 0.013578 -0.085801 0.510516 q: -0.037784 0.798964 0.022539 0.599767 
time: 1403636866.301666, t: 0.011195 -0.085992 0.522879 q: -0.031642 0.798338 0.024256 0.600888 
wait for imu ... 
time: 1403636866.401666, t: 0.011323 -0.086536 0.504299 q: -0.023578 0.804556 0.025680 0.592852 
time: 1403636866.501667, t: 0.011798 -0.087171 0.461231 q: -0.020328 0.811287 0.027245 0.583659 
time: 1403636866.601666, t: 0.012771 -0.089699 0.404619 q: -0.017511 0.817791 0.027600 0.574586 
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time: 1403636866.901666, t: 0.003846 -0.101857 0.273722 q: -0.028527 0.837415 0.034198 0.544750 
time: 1403636867.001667, t: -0.003480 -0.103044 0.246176 q: -0.037805 0.845975 0.034065 0.530789 
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time: 1403636867.301666, t: -0.029045 -0.102511 0.222412 q: -0.054586 0.857428 0.043009 0.509891 
time: 1403636867.401666, t: -0.036661 -0.103004 0.226679 q: -0.054784 0.860845 0.045518 0.503858 
time: 1403636867.501667, t: -0.044588 -0.102879 0.232751 q: -0.050603 0.867616 0.046392 0.492473 
time: 1403636867.601666, t: -0.053677 -0.103535 0.234488 q: -0.044683 0.882768 0.050280 0.464970 
time: 1403636867.701667, t: -0.064377 -0.104608 0.230565 q: -0.043489 0.906663 0.051036 0.416492 
time: 1403636867.801666, t: -0.074568 -0.106939 0.224830 q: -0.039115 0.930507 0.049130 0.360851 
time: 1403636867.901666, t: -0.080134 -0.108994 0.222855 q: -0.035894 0.943216 0.043661 0.327337 
time: 1403636868.001667, t: -0.080143 -0.108076 0.226759 q: -0.036163 0.943912 0.039071 0.325876 
time: 1403636868.101666, t: -0.080156 -0.106689 0.232548 q: -0.037211 0.938752 0.038112 0.340452 
optimize pose graph 
time: 1403636868.201667, t: -0.083238 -0.105548 0.235917 q: -0.039824 0.934973 0.038352 0.350384 
time: 1403636868.301666, t: -0.089262 -0.103569 0.237074 q: -0.042047 0.934988 0.036914 0.350238 
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time: 1403636868.501667, t: -0.105099 -0.092549 0.239021 q: -0.041909 0.934004 0.031098 0.353430 
time: 1403636868.601666, t: -0.112299 -0.086621 0.244039 q: -0.038225 0.930554 0.026351 0.363199 
time: 1403636868.701667, t: -0.119799 -0.082557 0.248731 q: -0.036619 0.930794 0.023919 0.362917 
time: 1403636868.801666, t: -0.128330 -0.078478 0.249952 q: -0.036321 0.933529 0.028961 0.355478 
time: 1403636868.901666, t: -0.133385 -0.074882 0.250724 q: -0.032499 0.934349 0.033645 0.353276 
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time: 1403636876.101666, t: -0.255799 -0.152923 0.178541 q: 0.015054 0.906588 -0.181879 0.380516 
optimize pose graph 
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wait for imu ... 
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time: 1403636883.401666, t: 0.138460 -0.142613 0.028600 q: -0.128816 0.812196 0.132542 0.553333 
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time: 1403636883.701667, t: 0.154960 -0.130537 0.006731 q: -0.143294 0.795532 0.152197 0.568710 
wait for imu ... 
time: 1403636883.801666, t: 0.157825 -0.129148 0.003120 q: -0.145808 0.794540 0.156112 0.568397 
time: 1403636883.901666, t: 0.159909 -0.128286 -0.001230 q: -0.153661 0.793227 0.157036 0.567907 
time: 1403636884.001667, t: 0.161737 -0.127925 -0.003468 q: -0.155285 0.790371 0.160158 0.570570 
time: 1403636884.101666, t: 0.162386 -0.128600 -0.004717 q: -0.161210 0.785934 0.161368 0.574700 
optimize pose graph 
time: 1403636884.201667, t: 0.162268 -0.129681 -0.004666 q: -0.158991 0.782231 0.163644 0.579704 
time: 1403636884.301666, t: 0.161002 -0.129404 -0.004257 q: -0.158371 0.779833 0.162940 0.583292 
wait for imu ... 
time: 1403636884.501667, t: 0.160496 -0.129382 -0.004143 q: -0.158582 0.779359 0.162828 0.583899 
time: 1403636884.601666, t: 0.160404 -0.129235 -0.004009 q: -0.158923 0.779338 0.162543 0.583914 
time: 1403636884.701667, t: 0.160571 -0.129282 -0.004101 q: -0.158851 0.779590 0.162486 0.583612 
wait for imu ... 
time: 1403636884.801666, t: 0.160639 -0.129368 -0.004087 q: -0.158592 0.779648 0.162469 0.583610 
time: 1403636884.901666, t: 0.160656 -0.129379 -0.004080 q: -0.158612 0.779686 0.162397 0.583574 
wait for imu ... 
time: 1403636885.001667, t: 0.160645 -0.129377 -0.004054 q: -0.158723 0.779780 0.162282 0.583451 
time: 1403636885.101666, t: 0.160604 -0.129357 -0.004038 q: -0.158795 0.779803 0.162110 0.583448 
time: 1403636885.201667, t: 0.160602 -0.129354 -0.004021 q: -0.158803 0.779882 0.162004 0.583370 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
time: 1403636887.601666, t: 0.160651 -0.129426 -0.004059 q: -0.158133 0.780260 0.161747 0.583118 
wait for imu ... 
time: 1403636887.701667, t: 0.160645 -0.129411 -0.004076 q: -0.158175 0.780275 0.161734 0.583090 
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wait for imu ... 
time: 1403636888.201667, t: 0.160658 -0.129446 -0.004094 q: -0.158143 0.780369 0.161698 0.582983 
wait for imu ... 
wait for imu ... 
time: 1403636888.301666, t: 0.160670 -0.129448 -0.004095 q: -0.158147 0.780359 0.161709 0.582992 
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time: 1403636889.601666, t: 0.160679 -0.129504 -0.004042 q: -0.157736 0.780345 0.161471 0.583187 
time: 1403636889.701667, t: 0.160674 -0.129492 -0.003987 q: -0.157795 0.780202 0.161641 0.583316 
time: 1403636889.801666, t: 0.160631 -0.129464 -0.003992 q: -0.157878 0.780179 0.161752 0.583294 
time: 1403636889.901666, t: 0.160640 -0.129488 -0.003988 q: -0.157772 0.780307 0.161403 0.583248 
wait for imu ... 
time: 1403636890.001667, t: 0.160650 -0.129487 -0.004016 q: -0.157863 0.780341 0.161637 0.583113 
time: 1403636890.101666, t: 0.160668 -0.129618 -0.003964 q: -0.157606 0.780399 0.160916 0.583304 
time: 1403636890.201667, t: 0.160610 -0.129479 -0.003861 q: -0.158001 0.780005 0.161439 0.583579 
time: 1403636890.301666, t: 0.160565 -0.129403 -0.003932 q: -0.158020 0.780316 0.161857 0.583043 
time: 1403636890.401666, t: 0.160544 -0.129507 -0.003972 q: -0.157535 0.780537 0.161246 0.583048 
time: 1403636890.501667, t: 0.160584 -0.129532 -0.003904 q: -0.157564 0.780107 0.161040 0.583671 
time: 1403636890.601666, t: 0.160572 -0.129420 -0.003881 q: -0.157960 0.779974 0.161882 0.583510 
time: 1403636890.701667, t: 0.160544 -0.129434 -0.003991 q: -0.157905 0.780424 0.161874 0.582924 
time: 1403636890.801666, t: 0.160591 -0.129571 -0.003944 q: -0.157622 0.780421 0.161101 0.583219 
time: 1403636890.901666, t: 0.160602 -0.129552 -0.003828 q: -0.157735 0.780207 0.161202 0.583447 
time: 1403636891.001667, t: 0.160561 -0.129531 -0.003903 q: -0.157871 0.780256 0.161245 0.583333 
time: 1403636891.101666, t: 0.160568 -0.129513 -0.003915 q: -0.157711 0.780281 0.161281 0.583333 
wait for imu ... 
wait for imu ... 
time: 1403636891.301666, t: 0.160591 -0.129505 -0.003938 q: -0.157703 0.780266 0.161412 0.583319 
time: 1403636891.401666, t: 0.160587 -0.129500 -0.003937 q: -0.157672 0.780219 0.161386 0.583398 
time: 1403636891.501667, t: 0.160601 -0.129498 -0.003940 q: -0.157730 0.780240 0.161412 0.583347 
time: 1403636891.601666, t: 0.160584 -0.129510 -0.003918 q: -0.157702 0.780296 0.161400 0.583283 
wait for imu ... 
time: 1403636891.701667, t: 0.160570 -0.129521 -0.003926 q: -0.157657 0.780279 0.161334 0.583336 
time: 1403636891.801666, t: 0.160578 -0.129494 -0.003941 q: -0.157695 0.780277 0.161350 0.583323 
time: 1403636891.901666, t: 0.160575 -0.129509 -0.003942 q: -0.157735 0.780272 0.161374 0.583313 
wait for imu ... 
time: 1403636892.001667, t: 0.160572 -0.129508 -0.003944 q: -0.157650 0.780275 0.161365 0.583334 
time: 1403636892.101666, t: 0.160608 -0.129517 -0.003963 q: -0.157674 0.780278 0.161394 0.583316 
time: 1403636892.201667, t: 0.160591 -0.129517 -0.003955 q: -0.157625 0.780284 0.161400 0.583319 
time: 1403636892.301666, t: 0.160678 -0.129596 -0.003966 q: -0.157314 0.780301 0.161522 0.583347 
time: 1403636892.401666, t: 0.160643 -0.129568 -0.003946 q: -0.157480 0.780307 0.161215 0.583378 
wait for imu ... 
time: 1403636892.501667, t: 0.160601 -0.129540 -0.003927 q: -0.157513 0.780239 0.161296 0.583438 
wait for imu ... 
time: 1403636892.601666, t: 0.160578 -0.129533 -0.003925 q: -0.157540 0.780242 0.161337 0.583415 
time: 1403636892.701667, t: 0.160588 -0.129529 -0.003936 q: -0.157525 0.780230 0.161375 0.583425 
wait for imu ... 
time: 1403636892.801666, t: 0.160599 -0.129526 -0.003917 q: -0.157514 0.780210 0.161486 0.583424 
time: 1403636892.901666, t: 0.160611 -0.129538 -0.003942 q: -0.157491 0.780327 0.161425 0.583292 
time: 1403636893.001667, t: 0.160626 -0.129549 -0.003947 q: -0.157444 0.780238 0.161465 0.583411 
time: 1403636893.101666, t: 0.160615 -0.129535 -0.003955 q: -0.157454 0.780226 0.161441 0.583432 
time: 1403636893.201667, t: 0.160600 -0.129523 -0.003964 q: -0.157491 0.780250 0.161402 0.583400 
time: 1403636893.301666, t: 0.160604 -0.129525 -0.003975 q: -0.157526 0.780250 0.161397 0.583392 
time: 1403636893.401666, t: 0.160613 -0.129534 -0.003963 q: -0.157509 0.780285 0.161406 0.583348 
time: 1403636893.501667, t: 0.160625 -0.129541 -0.003969 q: -0.157485 0.780280 0.161400 0.583362 
time: 1403636893.601666, t: 0.160621 -0.129541 -0.003967 q: -0.157425 0.780284 0.161387 0.583377 
wait for imu ... 
time: 1403636893.701667, t: 0.160632 -0.129540 -0.003963 q: -0.157435 0.780268 0.161469 0.583373 
wait for imu ... 
time: 1403636893.801666, t: 0.160620 -0.129523 -0.003961 q: -0.157457 0.780316 0.161414 0.583318 
wait for imu ... 
time: 1403636893.901666, t: 0.160614 -0.129534 -0.003968 q: -0.157494 0.780325 0.161375 0.583307 
wait for imu ... 
wait for imu ... 
time: 1403636894.101666, t: 0.160574 -0.129529 -0.003960 q: -0.157448 0.780361 0.161309 0.583289 
wait for imu ... 
time: 1403636894.201667, t: 0.160601 -0.129556 -0.003991 q: -0.157477 0.780323 0.161325 0.583327 
wait for imu ... 
time: 1403636894.301666, t: 0.160593 -0.129530 -0.003992 q: -0.157471 0.780296 0.161304 0.583372 
time: 1403636894.401666, t: 0.160605 -0.129545 -0.003984 q: -0.157454 0.780347 0.161331 0.583300 
time: 1403636894.501667, t: 0.160615 -0.129541 -0.003991 q: -0.157510 0.780320 0.161351 0.583315 
wait for imu ... 
time: 1403636894.601666, t: 0.160322 -0.129219 -0.004143 q: -0.158581 0.779198 0.162417 0.584229 
time: 1403636894.701667, t: 0.160322 -0.129212 -0.004140 q: -0.158777 0.779109 0.162510 0.584269 
time: 1403636894.801666, t: 0.160327 -0.129198 -0.004141 q: -0.158825 0.779124 0.162563 0.584221 
time: 1403636894.901666, t: 0.160376 -0.129233 -0.004121 q: -0.158649 0.779108 0.162521 0.584301 
wait for imu ... 
time: 1403636895.001667, t: 0.160389 -0.129234 -0.004128 q: -0.158725 0.779110 0.162588 0.584259 
time: 1403636895.101666, t: 0.160386 -0.129221 -0.004115 q: -0.158775 0.779126 0.162587 0.584224 
time: 1403636895.201667, t: 0.160378 -0.129219 -0.004119 q: -0.158765 0.779084 0.162504 0.584306 
wait for imu ... 
time: 1403636895.301666, t: 0.160361 -0.129194 -0.004110 q: -0.158801 0.779072 0.162512 0.584311 
time: 1403636895.401666, t: 0.160348 -0.129186 -0.004106 q: -0.158753 0.779096 0.162551 0.584281 
time: 1403636895.501667, t: 0.160362 -0.129203 -0.004111 q: -0.158785 0.779046 0.162598 0.584325 
time: 1403636895.601666, t: 0.160361 -0.129202 -0.004081 q: -0.158775 0.779107 0.162577 0.584253 
time: 1403636895.701667, t: 0.160380 -0.129215 -0.004103 q: -0.158755 0.779041 0.162622 0.584333 
wait for imu ... 
time: 1403636895.801666, t: 0.160380 -0.129211 -0.004069 q: -0.158653 0.778985 0.162666 0.584423 
time: 1403636895.901666, t: 0.160402 -0.129215 -0.004064 q: -0.158708 0.779006 0.162773 0.584351 
wait for imu ... 
time: 1403636896.001667, t: 0.160379 -0.129204 -0.004038 q: -0.158687 0.779034 0.162822 0.584306 
time: 1403636896.101666, t: 0.160581 -0.129248 -0.004119 q: -0.158797 0.779473 0.162862 0.583679 
time: 1403636896.201667, t: 0.160851 -0.129312 -0.004309 q: -0.158895 0.780147 0.162837 0.582758 
wait for imu ... 
time: 1403636896.301666, t: 0.160819 -0.129345 -0.004266 q: -0.158806 0.780026 0.163028 0.582891 
time: 1403636896.401666, t: 0.160659 -0.129308 -0.004161 q: -0.158753 0.779648 0.163093 0.583393 
wait for imu ... 
time: 1403636896.501667, t: 0.160592 -0.129295 -0.004100 q: -0.158761 0.779461 0.163107 0.583636 
wait for imu ... 
time: 1403636896.601666, t: 0.160598 -0.129303 -0.004101 q: -0.158685 0.779477 0.163117 0.583633 
time: 1403636896.701667, t: 0.160746 -0.129360 -0.004122 q: -0.158734 0.779753 0.163249 0.583214 
time: 1403636896.801666, t: 0.160813 -0.129381 -0.004204 q: -0.158862 0.779982 0.163401 0.582830 
time: 1403636897.001667, t: 0.160589 -0.129367 -0.003956 q: -0.158965 0.779449 0.163646 0.583446 
time: 1403636897.101666, t: 0.160038 -0.129553 -0.003634 q: -0.159842 0.778816 0.165756 0.583456 
time: 1403636897.201667, t: 0.158838 -0.130006 -0.003867 q: -0.161561 0.778614 0.168539 0.582454 
time: 1403636897.301666, t: 0.156848 -0.133104 -0.004458 q: -0.160733 0.779599 0.167474 0.581672 
time: 1403636897.401666, t: 0.152191 -0.141175 -0.004923 q: -0.155484 0.783255 0.164927 0.578908 
time: 1403636897.501667, t: 0.144191 -0.153154 -0.005324 q: -0.147229 0.788694 0.163310 0.574121 
time: 1403636897.601666, t: 0.134331 -0.167541 -0.005269 q: -0.137648 0.796810 0.162820 0.565364 
time: 1403636897.701667, t: 0.122667 -0.183978 -0.000468 q: -0.124545 0.806877 0.166629 0.552877 
time: 1403636897.801666, t: 0.111541 -0.200287 0.011449 q: -0.115698 0.814588 0.171499 0.541894 
time: 1403636897.901666, t: 0.103560 -0.214452 0.030033 q: -0.111952 0.819563 0.174862 0.534048 
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time: 1403636898.201667, t: 0.106465 -0.235805 0.079449 q: -0.121975 0.804887 0.177752 0.552887 
time: 1403636898.301666, t: 0.111408 -0.238646 0.093995 q: -0.123769 0.803846 0.180135 0.553231 
time: 1403636898.401666, t: 0.117780 -0.239314 0.111903 q: -0.125981 0.803286 0.183016 0.552599 
time: 1403636898.501667, t: 0.124852 -0.238392 0.132103 q: -0.129397 0.803298 0.185623 0.550920 
time: 1403636898.601666, t: 0.133195 -0.236431 0.153297 q: -0.130885 0.802993 0.188275 0.550113 
time: 1403636898.701667, t: 0.142582 -0.233215 0.173216 q: -0.131228 0.802952 0.190777 0.549227 
time: 1403636898.801666, t: 0.154093 -0.228180 0.191245 q: -0.133675 0.802771 0.191519 0.548643 
time: 1403636898.901666, t: 0.167246 -0.221470 0.206963 q: -0.136986 0.803806 0.190637 0.546616 
time: 1403636899.001667, t: 0.183093 -0.213964 0.220130 q: -0.142923 0.805149 0.186548 0.544526 
time: 1403636899.101666, t: 0.202667 -0.207822 0.231415 q: -0.143825 0.805575 0.178065 0.546494 
time: 1403636899.201667, t: 0.225602 -0.204516 0.242254 q: -0.135937 0.804327 0.167464 0.553657 
time: 1403636899.301666, t: 0.249993 -0.204175 0.252991 q: -0.126196 0.801222 0.150416 0.565237 
time: 1403636899.401666, t: 0.274317 -0.206936 0.262021 q: -0.110453 0.799805 0.130493 0.575399 
time: 1403636899.501667, t: 0.295572 -0.212208 0.269187 q: -0.099924 0.803819 0.108870 0.576227 
wait for imu ... 
time: 1403636899.601666, t: 0.314809 -0.218952 0.273691 q: -0.093686 0.811175 0.092161 0.569846 
time: 1403636899.701667, t: 0.334523 -0.228883 0.279196 q: -0.088716 0.815440 0.080700 0.566281 
time: 1403636899.801666, t: 0.355829 -0.241982 0.284254 q: -0.081776 0.818498 0.074563 0.563750 
time: 1403636899.901666, t: 0.378936 -0.257930 0.287278 q: -0.072352 0.818644 0.074269 0.564864 
time: 1403636900.001667, t: 0.403645 -0.275077 0.288036 q: -0.065921 0.815117 0.074869 0.570642 
time: 1403636900.101666, t: 0.428942 -0.292351 0.288270 q: -0.064095 0.810006 0.074794 0.578090 
optimize pose graph 
time: 1403636900.201667, t: 0.452054 -0.310671 0.295318 q: -0.063198 0.806140 0.075888 0.583425 
time: 1403636900.301666, t: 0.471768 -0.329171 0.311179 q: -0.062332 0.806729 0.078098 0.582413 
time: 1403636900.401666, t: 0.488476 -0.347733 0.335034 q: -0.064006 0.811376 0.080231 0.575444 
time: 1403636900.501667, t: 0.505083 -0.366084 0.360061 q: -0.064968 0.814996 0.083785 0.569684 
time: 1403636900.601666, t: 0.521058 -0.384406 0.381658 q: -0.066915 0.816837 0.085795 0.566514 
time: 1403636900.701667, t: 0.539052 -0.401373 0.394940 q: -0.068540 0.821478 0.087243 0.559343 
time: 1403636900.801666, t: 0.559780 -0.418615 0.403590 q: -0.072034 0.825389 0.087669 0.553044 
time: 1403636900.901666, t: 0.582514 -0.436742 0.407678 q: -0.080239 0.823916 0.083697 0.554724 
time: 1403636901.001667, t: 0.607951 -0.457416 0.409631 q: -0.085424 0.821069 0.080526 0.558627 
time: 1403636901.101666, t: 0.636775 -0.481854 0.407163 q: -0.089529 0.819693 0.078026 0.560357 
time: 1403636901.201667, t: 0.669839 -0.509039 0.400986 q: -0.090552 0.818808 0.076952 0.561633 
time: 1403636901.301666, t: 0.705145 -0.541178 0.399132 q: -0.086697 0.817972 0.079548 0.563096 
time: 1403636901.401666, t: 0.741723 -0.575981 0.402629 q: -0.082880 0.817485 0.081769 0.564060 
time: 1403636901.501667, t: 0.784141 -0.611503 0.412764 q: -0.077551 0.816668 0.085072 0.565511 
time: 1403636901.601666, t: 0.826095 -0.649881 0.422219 q: -0.074129 0.815921 0.087181 0.566725 
time: 1403636901.701667, t: 0.870046 -0.685147 0.423523 q: -0.073643 0.814071 0.087200 0.569440 
time: 1403636901.801666, t: 0.909820 -0.724808 0.419982 q: -0.074843 0.813553 0.086463 0.570135 
time: 1403636901.901666, t: 0.951970 -0.762772 0.410926 q: -0.074330 0.813484 0.087288 0.570176 
time: 1403636902.001667, t: 0.992080 -0.801168 0.397142 q: -0.073050 0.813135 0.088666 0.570625 
wait for imu ... 
time: 1403636902.101666, t: 1.033863 -0.838479 0.386347 q: -0.072916 0.812391 0.089841 0.571518 
optimize pose graph 
time: 1403636902.301666, t: 1.109198 -0.919588 0.381287 q: -0.074855 0.812798 0.088683 0.570869 
time: 1403636902.401666, t: 1.144939 -0.961399 0.368662 q: -0.075478 0.813498 0.086760 0.570085 
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time: 1403636902.601666, t: 1.213744 -1.040266 0.316714 q: -0.065793 0.814257 0.087508 0.570086 
time: 1403636902.701667, t: 1.247109 -1.079392 0.294014 q: -0.060707 0.813232 0.087832 0.572061 
time: 1403636902.801666, t: 1.279019 -1.115384 0.279912 q: -0.060170 0.812816 0.085985 0.572989 
time: 1403636902.901666, t: 1.309526 -1.148502 0.274245 q: -0.062234 0.810601 0.085688 0.575943 
time: 1403636903.001667, t: 1.341798 -1.183226 0.272974 q: -0.063859 0.810562 0.086556 0.575691 
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wait for imu ... 
wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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time: 1403636986.001667, t: 8.874031 -7.180341 -1.481052 q: 0.194241 0.759947 -0.223415 0.578651 
time: 1403636986.101666, t: 8.953768 -7.175877 -1.483606 q: 0.194551 0.759517 -0.221208 0.579958 
time: 1403636986.201667, t: 9.031539 -7.164144 -1.495867 q: 0.189850 0.767701 -0.224153 0.569515 
optimize pose graph 
time: 1403636986.301666, t: 9.102382 -7.145014 -1.511549 q: 0.185932 0.777145 -0.227150 0.556667 
time: 1403636986.401666, t: 9.175501 -7.121519 -1.529851 q: 0.181840 0.781921 -0.230003 0.550120 
time: 1403636986.501667, t: 9.246239 -7.092758 -1.547206 q: 0.174369 0.782936 -0.235050 0.548962 
time: 1403636986.601666, t: 9.318390 -7.061547 -1.557157 q: 0.167527 0.782035 -0.239339 0.550520 
time: 1403636986.701667, t: 9.387800 -7.029845 -1.558416 q: 0.162529 0.781440 -0.242578 0.551445 
time: 1403636986.801666, t: 9.455838 -7.000170 -1.549545 q: 0.157009 0.780373 -0.246094 0.552995 
time: 1403636986.901666, t: 9.521203 -6.972188 -1.531394 q: 0.155997 0.779158 -0.247186 0.554507 
time: 1403636987.001667, t: 9.582772 -6.946516 -1.504643 q: 0.158703 0.778612 -0.245958 0.555051 
time: 1403636987.101666, t: 9.639320 -6.920846 -1.471712 q: 0.164380 0.778272 -0.243688 0.554876 
time: 1403636987.201667, t: 9.692936 -6.894834 -1.442163 q: 0.167355 0.777179 -0.243531 0.555589 
time: 1403636987.301666, t: 9.745821 -6.869377 -1.420483 q: 0.168770 0.775453 -0.244482 0.557151 
time: 1403636987.401666, t: 9.797021 -6.841867 -1.404257 q: 0.168557 0.774171 -0.243841 0.559276 
time: 1403636987.501667, t: 9.844778 -6.814415 -1.393121 q: 0.169713 0.772359 -0.238335 0.563786 
time: 1403636987.601666, t: 9.890827 -6.783367 -1.385158 q: 0.172400 0.770207 -0.232439 0.568358 
time: 1403636987.701667, t: 9.932473 -6.748397 -1.382131 q: 0.172455 0.769405 -0.229081 0.570787 
time: 1403636987.801666, t: 9.970050 -6.710170 -1.376132 q: 0.169746 0.769604 -0.227431 0.571989 
time: 1403636987.901666, t: 10.002155 -6.669290 -1.363407 q: 0.164597 0.770443 -0.228330 0.572005 
time: 1403636988.001667, t: 10.030272 -6.626353 -1.345450 q: 0.155516 0.772625 -0.232672 0.569850 
time: 1403636988.201667, t: 10.074539 -6.540931 -1.319923 q: 0.140772 0.775996 -0.243150 0.564704 
time: 1403636988.301666, t: 10.088498 -6.503915 -1.312826 q: 0.137872 0.772239 -0.246032 0.569303 
optimize pose graph 
time: 1403636988.401666, t: 10.096551 -6.471730 -1.303550 q: 0.138898 0.765740 -0.246014 0.577777 
time: 1403636988.501667, t: 10.096618 -6.440402 -1.286356 q: 0.142298 0.761495 -0.243730 0.583500 
time: 1403636988.601666, t: 10.088517 -6.409731 -1.262685 q: 0.142915 0.759203 -0.243113 0.586586 
time: 1403636988.701667, t: 10.071807 -6.379273 -1.239104 q: 0.142704 0.758138 -0.243318 0.587927 
time: 1403636988.801666, t: 10.045590 -6.350572 -1.220384 q: 0.144029 0.756441 -0.242280 0.590215 
time: 1403636988.901666, t: 10.012489 -6.321786 -1.207921 q: 0.143633 0.753864 -0.242510 0.593505 
time: 1403636989.001667, t: 9.967171 -6.295247 -1.200684 q: 0.142913 0.751227 -0.243274 0.596701 
time: 1403636989.101666, t: 9.912262 -6.267792 -1.198231 q: 0.142541 0.749412 -0.244300 0.598650 
time: 1403636989.201667, t: 9.844370 -6.243057 -1.198157 q: 0.142659 0.749386 -0.245182 0.598294 
time: 1403636989.301666, t: 9.766440 -6.218891 -1.195733 q: 0.148541 0.755660 -0.243030 0.589788 
time: 1403636989.401666, t: 9.681969 -6.194266 -1.186341 q: 0.155229 0.765531 -0.240505 0.576215 
time: 1403636989.501667, t: 9.592331 -6.172257 -1.170100 q: 0.157043 0.773231 -0.240649 0.565279 
time: 1403636989.601666, t: 9.500007 -6.150491 -1.148354 q: 0.159993 0.777014 -0.239554 0.559700 
time: 1403636989.701667, t: 9.405842 -6.128696 -1.128602 q: 0.164486 0.780066 -0.236712 0.555345 
time: 1403636989.801666, t: 9.312411 -6.105209 -1.115091 q: 0.166336 0.781426 -0.235599 0.553353 
time: 1403636989.901666, t: 9.222325 -6.081817 -1.104679 q: 0.165850 0.779898 -0.235715 0.555600 
time: 1403636990.001667, t: 9.128785 -6.055641 -1.099721 q: 0.165738 0.775096 -0.235522 0.562393 
time: 1403636990.101666, t: 9.038030 -6.029914 -1.091418 q: 0.166870 0.771103 -0.234506 0.567945 
time: 1403636990.201667, t: 8.940830 -6.001084 -1.078196 q: 0.168130 0.770849 -0.233169 0.568469 
time: 1403636990.301666, t: 8.845860 -5.971372 -1.058331 q: 0.168410 0.774339 -0.231887 0.564151 
time: 1403636990.401666, t: 8.744605 -5.937820 -1.033555 q: 0.168326 0.777738 -0.230373 0.560105 
time: 1403636990.501667, t: 8.647870 -5.903400 -1.011557 q: 0.164989 0.780633 -0.230575 0.556979 
time: 1403636990.601666, t: 8.549734 -5.867363 -0.996040 q: 0.163435 0.782364 -0.229725 0.555358 
wait for imu ... 
wait for imu ... 
time: 1403636990.701667, t: 8.455196 -5.831345 -0.986863 q: 0.162620 0.784615 -0.228438 0.552947 
time: 1403636990.801666, t: 8.360053 -5.793645 -0.984842 q: 0.162601 0.785922 -0.226914 0.551723 
time: 1403636990.901666, t: 8.268853 -5.755687 -0.988189 q: 0.161667 0.786290 -0.226431 0.551670 
time: 1403636991.001667, t: 8.175917 -5.718005 -0.996515 q: 0.162146 0.786364 -0.225578 0.551774 
time: 1403636991.101666, t: 8.086887 -5.679915 -1.007820 q: 0.162983 0.785921 -0.225200 0.552313 
time: 1403636991.201667, t: 8.000088 -5.642466 -1.021083 q: 0.164112 0.785977 -0.225285 0.551864 
time: 1403636991.301666, t: 7.913058 -5.602074 -1.028896 q: 0.163919 0.786334 -0.226062 0.551095 
time: 1403636991.401666, t: 7.828398 -5.561328 -1.028455 q: 0.163943 0.786806 -0.227388 0.549866 
time: 1403636991.501667, t: 7.746310 -5.518214 -1.017346 q: 0.165240 0.787005 -0.228343 0.548798 
time: 1403636991.601666, t: 7.669945 -5.479209 -0.998125 q: 0.163260 0.786176 -0.231752 0.549149 
time: 1403636991.701667, t: 7.590216 -5.436804 -0.973805 q: 0.157277 0.784575 -0.238702 0.550207 
time: 1403636991.801666, t: 7.514308 -5.396418 -0.946068 q: 0.152603 0.782964 -0.245175 0.550971 
time: 1403636991.901666, t: 7.430728 -5.357658 -0.917483 q: 0.149956 0.782088 -0.250081 0.550737 
time: 1403636992.001667, t: 7.352316 -5.323324 -0.897502 q: 0.152654 0.781826 -0.251177 0.549868 
time: 1403636992.101666, t: 7.273700 -5.292478 -0.880369 q: 0.162085 0.780344 -0.247269 0.551045 
time: 1403636992.201667, t: 7.194264 -5.263040 -0.875335 q: 0.168877 0.777355 -0.244527 0.554442 
time: 1403636992.301666, t: 7.120460 -5.236271 -0.870061 q: 0.172385 0.776249 -0.243916 0.555182 
time: 1403636992.401666, t: 7.048517 -5.210452 -0.873455 q: 0.174025 0.778298 -0.245031 0.551296 
time: 1403636992.501667, t: 6.977004 -5.181741 -0.872149 q: 0.174613 0.781153 -0.247105 0.546123 
time: 1403636992.601666, t: 6.907749 -5.151126 -0.866671 q: 0.176552 0.782743 -0.248269 0.542684 
time: 1403636992.701667, t: 6.837559 -5.119363 -0.851643 q: 0.178005 0.783174 -0.249527 0.541008 
time: 1403636992.801666, t: 6.771718 -5.088473 -0.834996 q: 0.179855 0.783785 -0.250385 0.539111 
time: 1403636992.901666, t: 6.705661 -5.055130 -0.826457 q: 0.182939 0.783434 -0.250357 0.538596 
time: 1403636993.001667, t: 6.649309 -5.023876 -0.821973 q: 0.184791 0.781611 -0.250812 0.540397 
time: 1403636993.101666, t: 6.592664 -4.989483 -0.823981 q: 0.182184 0.777677 -0.252756 0.546023 
time: 1403636993.201667, t: 6.539674 -4.955033 -0.821625 q: 0.174937 0.775841 -0.250205 0.552147 
time: 1403636993.301666, t: 6.488153 -4.918818 -0.812723 q: 0.166433 0.777190 -0.241697 0.556648 
time: 1403636993.401666, t: 6.436783 -4.881551 -0.796937 q: 0.156356 0.780045 -0.228575 0.561103 
time: 1403636993.601666, t: 6.331098 -4.804980 -0.745041 q: 0.133018 0.788877 -0.195606 0.567202 
time: 1403636993.701667, t: 6.279101 -4.768070 -0.717120 q: 0.122781 0.793788 -0.182325 0.567083 
time: 1403636993.801666, t: 6.226182 -4.731440 -0.694002 q: 0.116229 0.797351 -0.172496 0.566541 
time: 1403636993.901666, t: 6.172923 -4.694042 -0.677861 q: 0.113679 0.799452 -0.163930 0.566639 
time: 1403636994.001667, t: 6.119049 -4.657133 -0.666156 q: 0.111579 0.797465 -0.158630 0.571346 
time: 1403636994.101666, t: 6.063643 -4.618782 -0.659541 q: 0.113578 0.792777 -0.153589 0.578806 
time: 1403636994.201667, t: 6.006283 -4.578607 -0.655743 q: 0.114849 0.787797 -0.150332 0.586163 
time: 1403636994.301666, t: 5.945934 -4.536803 -0.657970 q: 0.115475 0.783234 -0.149114 0.592431 
time: 1403636994.401666, t: 5.883769 -4.492585 -0.663329 q: 0.116701 0.780650 -0.148238 0.595812 
optimize pose graph 
time: 1403636994.501667, t: 5.813658 -4.441925 -0.670527 q: 0.116855 0.781245 -0.148918 0.594832 
time: 1403636994.601666, t: 5.743302 -4.392288 -0.673248 q: 0.112616 0.784450 -0.152440 0.590523 
time: 1403636994.701667, t: 5.664875 -4.336583 -0.669469 q: 0.105733 0.789818 -0.158420 0.583019 
time: 1403636994.801666, t: 5.588028 -4.282707 -0.660407 q: 0.096167 0.795204 -0.166334 0.575095 
time: 1403636994.901666, t: 5.508490 -4.229781 -0.648711 q: 0.089060 0.797100 -0.172380 0.571826 
time: 1403636995.001667, t: 5.427511 -4.181029 -0.640816 q: 0.089086 0.795445 -0.173185 0.573879 
time: 1403636995.101666, t: 5.345094 -4.136179 -0.637540 q: 0.096191 0.792420 -0.167888 0.578474 
time: 1403636995.201667, t: 5.258595 -4.090629 -0.633473 q: 0.102328 0.789783 -0.162655 0.582507 
time: 1403636995.301666, t: 5.172325 -4.048615 -0.622986 q: 0.105659 0.788396 -0.158908 0.584821 
time: 1403636995.401666, t: 5.079716 -4.002750 -0.605335 q: 0.107465 0.790819 -0.155734 0.582068 
time: 1403636995.501667, t: 4.987881 -3.959254 -0.581758 q: 0.106433 0.795517 -0.155159 0.575977 
time: 1403636995.601666, t: 4.889708 -3.910909 -0.551858 q: 0.105540 0.797279 -0.154947 0.573758 
time: 1403636995.701667, t: 4.797288 -3.866549 -0.522919 q: 0.103168 0.797338 -0.156589 0.573662 
time: 1403636995.801666, t: 4.701528 -3.818731 -0.498442 q: 0.098497 0.797352 -0.160276 0.573445 
time: 1403636995.901666, t: 4.607477 -3.775900 -0.483128 q: 0.091077 0.798468 -0.165941 0.571505 
time: 1403636996.001667, t: 4.509747 -3.732783 -0.472101 q: 0.087507 0.799525 -0.169206 0.569624 
time: 1403636996.101666, t: 4.414451 -3.695627 -0.466001 q: 0.092604 0.801432 -0.166139 0.567036 
time: 1403636996.201667, t: 4.317455 -3.659878 -0.459220 q: 0.097972 0.802616 -0.162570 0.565490 
time: 1403636996.301666, t: 4.225327 -3.628236 -0.447071 q: 0.101766 0.803352 -0.159108 0.564760 
time: 1403636996.401666, t: 4.132354 -3.596522 -0.425472 q: 0.099422 0.804445 -0.154452 0.564914 
time: 1403636996.501667, t: 4.044890 -3.565264 -0.395903 q: 0.095066 0.806263 -0.145170 0.565534 
optimize pose graph 
time: 1403636996.601666, t: 3.957860 -3.533481 -0.361282 q: 0.088094 0.809003 -0.132243 0.565920 
time: 1403636996.701667, t: 3.875888 -3.502806 -0.329739 q: 0.078011 0.812300 -0.116098 0.566219 
time: 1403636996.801666, t: 3.791155 -3.469277 -0.313037 q: 0.065396 0.815590 -0.098216 0.566472 
time: 1403636997.001667, t: 3.627368 -3.402800 -0.310741 q: 0.034554 0.820598 -0.060335 0.567261 
time: 1403636997.101666, t: 3.548104 -3.370112 -0.317511 q: 0.021098 0.822467 -0.042315 0.566844 
time: 1403636997.201667, t: 3.472050 -3.339402 -0.329015 q: 0.011018 0.823821 -0.029299 0.565985 
time: 1403636997.301666, t: 3.399439 -3.310582 -0.343376 q: 0.005182 0.824548 -0.019418 0.565435 
time: 1403636997.401666, t: 3.328757 -3.283266 -0.352368 q: 0.002336 0.825244 -0.013228 0.564617 
time: 1403636997.501667, t: 3.266746 -3.258771 -0.353794 q: 0.001265 0.824921 -0.010289 0.565152 
time: 1403636997.601666, t: 3.207176 -3.232993 -0.347769 q: 0.001111 0.825674 -0.010048 0.564057 
time: 1403636997.801666, t: 3.104967 -3.185919 -0.311315 q: 0.005773 0.827177 -0.011127 0.561802 
time: 1403636997.901666, t: 3.065103 -3.161869 -0.282224 q: 0.008004 0.827436 -0.012753 0.561358 
time: 1403636998.001667, t: 3.028698 -3.140587 -0.245814 q: 0.009025 0.827394 -0.014934 0.561350 
wait for imu ... 
time: 1403636998.101666, t: 2.999811 -3.120331 -0.204388 q: 0.009885 0.827626 -0.017124 0.560932 
time: 1403636998.201667, t: 2.982683 -3.102837 -0.164340 q: 0.008971 0.826393 -0.020261 0.562658 
time: 1403636998.301666, t: 2.961162 -3.083527 -0.131384 q: 0.010019 0.826912 -0.021698 0.561824 
time: 1403636998.401666, t: 2.942470 -3.064944 -0.104708 q: 0.009765 0.826564 -0.023270 0.562277 
time: 1403636998.501667, t: 2.928981 -3.046850 -0.079100 q: 0.009247 0.826326 -0.025207 0.562552 
time: 1403636998.601666, t: 2.916746 -3.029838 -0.049116 q: 0.010822 0.823118 -0.025013 0.567215 
time: 1403636998.701667, t: 2.906381 -3.014172 -0.011773 q: 0.014117 0.814949 -0.023462 0.578885 
optimize pose graph 
time: 1403636998.801666, t: 2.895293 -2.999463 0.030293 q: 0.017212 0.809801 -0.022387 0.586025 
time: 1403636998.901666, t: 2.883196 -2.983788 0.069791 q: 0.022785 0.808259 -0.018985 0.588079 
time: 1403636999.001667, t: 2.867166 -2.965028 0.102304 q: 0.026606 0.808638 -0.017212 0.587453 
time: 1403636999.101666, t: 2.846625 -2.943623 0.128294 q: 0.029485 0.808848 -0.015708 0.587068 
time: 1403636999.201667, t: 2.825183 -2.918894 0.148860 q: 0.031081 0.810532 -0.015381 0.584666 
time: 1403636999.301666, t: 2.805205 -2.890937 0.164125 q: 0.029899 0.812236 -0.016747 0.582322 
time: 1403636999.401666, t: 2.778954 -2.860144 0.173097 q: 0.025171 0.812782 -0.020437 0.581665 
time: 1403636999.501667, t: 2.753912 -2.828113 0.177627 q: 0.022279 0.812428 -0.022719 0.582193 
time: 1403636999.601666, t: 2.729296 -2.795334 0.178265 q: 0.020661 0.810244 -0.024350 0.585222 
time: 1403636999.701667, t: 2.700861 -2.762002 0.175627 q: 0.020140 0.808331 -0.025340 0.587837 
time: 1403636999.801666, t: 2.670440 -2.728719 0.169496 q: 0.020152 0.807923 -0.026205 0.588359 
time: 1403636999.901666, t: 2.637321 -2.696079 0.161205 q: 0.021767 0.808124 -0.025524 0.588057 
time: 1403637000.001667, t: 2.600350 -2.660248 0.155472 q: 0.025951 0.808052 -0.023010 0.588089 
time: 1403637000.101666, t: 2.559982 -2.622650 0.155240 q: 0.028178 0.809059 -0.021249 0.586667 
time: 1403637000.201667, t: 2.516792 -2.583388 0.162070 q: 0.027249 0.810732 -0.021396 0.584392 
time: 1403637000.301666, t: 2.478086 -2.544819 0.172956 q: 0.025969 0.812272 -0.022302 0.582273 
time: 1403637000.401666, t: 2.434225 -2.503061 0.179976 q: 0.023756 0.811681 -0.023719 0.583136 
time: 1403637000.501667, t: 2.392903 -2.459991 0.182818 q: 0.025883 0.811716 -0.022487 0.583045 
time: 1403637000.601666, t: 2.346198 -2.415277 0.184198 q: 0.026570 0.811869 -0.022067 0.582818 
time: 1403637000.701667, t: 2.299081 -2.368563 0.191618 q: 0.024471 0.810984 -0.023691 0.584076 
time: 1403637000.801666, t: 2.256283 -2.321756 0.207813 q: 0.024493 0.810408 -0.024397 0.584846 
time: 1403637000.901666, t: 2.207770 -2.274093 0.223358 q: 0.023910 0.810452 -0.025382 0.584767 
time: 1403637001.001667, t: 2.159260 -2.224266 0.234661 q: 0.024225 0.810139 -0.026296 0.585147 
time: 1403637001.101666, t: 2.105667 -2.176195 0.238658 q: 0.023817 0.809942 -0.027004 0.585403 
time: 1403637001.201667, t: 2.050802 -2.127660 0.240478 q: 0.022817 0.809251 -0.028180 0.586344 
time: 1403637001.301666, t: 1.990881 -2.077037 0.248139 q: 0.022032 0.809377 -0.029124 0.586152 
time: 1403637001.401666, t: 1.930521 -2.028469 0.262744 q: 0.019619 0.810679 -0.031126 0.584334 
time: 1403637001.501667, t: 1.866186 -1.979685 0.284739 q: 0.019722 0.813698 -0.032259 0.580056 
time: 1403637001.601666, t: 1.804413 -1.932550 0.305094 q: 0.020071 0.815182 -0.033263 0.577901 
time: 1403637001.701667, t: 1.739049 -1.887159 0.323457 q: 0.020436 0.815318 -0.033856 0.577661 
time: 1403637001.801666, t: 1.677543 -1.842139 0.333232 q: 0.019815 0.814402 -0.035208 0.578892 
time: 1403637001.901666, t: 1.615332 -1.798514 0.335784 q: 0.020793 0.815918 -0.035123 0.576725 
time: 1403637002.001667, t: 1.555717 -1.756713 0.334265 q: 0.021345 0.816789 -0.035070 0.575474 
time: 1403637002.101666, t: 1.495924 -1.714764 0.328796 q: 0.021753 0.817398 -0.035243 0.574583 
time: 1403637002.201667, t: 1.440201 -1.675107 0.317390 q: 0.021518 0.817572 -0.035378 0.574336 
time: 1403637002.301666, t: 1.383418 -1.635566 0.304026 q: 0.022863 0.817571 -0.034529 0.574337 
time: 1403637002.401666, t: 1.325608 -1.595960 0.294261 q: 0.024849 0.818068 -0.032822 0.573646 
time: 1403637002.501667, t: 1.271074 -1.556874 0.292408 q: 0.026355 0.817530 -0.031552 0.574416 
time: 1403637002.601666, t: 1.215555 -1.516272 0.300373 q: 0.028965 0.817158 -0.029558 0.574926 
time: 1403637002.701667, t: 1.157109 -1.473804 0.315444 q: 0.030257 0.817468 -0.029492 0.574422 
time: 1403637002.801666, t: 1.101034 -1.429178 0.329086 q: 0.030432 0.817221 -0.030418 0.574716 
optimize pose graph 
time: 1403637002.901666, t: 1.045537 -1.384967 0.336872 q: 0.027325 0.816681 -0.033831 0.575449 
time: 1403637003.001667, t: 0.990611 -1.340409 0.336270 q: 0.027079 0.816933 -0.035420 0.575007 
time: 1403637003.101666, t: 0.938839 -1.294855 0.331220 q: 0.026994 0.817265 -0.037208 0.574426 
time: 1403637003.201667, t: 0.887611 -1.250971 0.321896 q: 0.027767 0.816822 -0.038328 0.574945 
time: 1403637003.401666, t: 0.787566 -1.164083 0.301973 q: 0.027566 0.814400 -0.040933 0.578202 
time: 1403637003.501667, t: 0.737942 -1.120449 0.303071 q: 0.027017 0.813153 -0.042543 0.579864 
time: 1403637003.601666, t: 0.687369 -1.077300 0.310071 q: 0.026462 0.813399 -0.043771 0.579453 
time: 1403637003.701667, t: 0.635630 -1.033978 0.323465 q: 0.026312 0.813590 -0.044561 0.579132 
time: 1403637003.801666, t: 0.578063 -0.990511 0.332674 q: 0.024732 0.814048 -0.044915 0.578530 
time: 1403637003.901666, t: 0.528232 -0.949817 0.338249 q: 0.026076 0.815882 -0.042726 0.576048 
time: 1403637004.001667, t: 0.477123 -0.910084 0.335818 q: 0.026628 0.818509 -0.040023 0.572479 
time: 1403637004.101666, t: 0.421068 -0.874276 0.326329 q: 0.027189 0.820543 -0.037555 0.569701 
time: 1403637004.201667, t: 0.378391 -0.836668 0.314861 q: 0.027474 0.821747 -0.035748 0.568066 
time: 1403637004.401666, t: 0.288240 -0.758585 0.310994 q: 0.022872 0.820748 -0.037039 0.569629 
time: 1403637004.501667, t: 0.246681 -0.720913 0.324655 q: 0.022838 0.816440 -0.038467 0.575695 
time: 1403637004.601666, t: 0.205011 -0.682924 0.348496 q: 0.022434 0.814014 -0.041378 0.578935 
time: 1403637004.701667, t: 0.161174 -0.647077 0.376007 q: 0.014174 0.813465 -0.050436 0.579250 
time: 1403637004.801666, t: 0.123904 -0.614803 0.395819 q: 0.007621 0.813023 -0.058350 0.579250 
time: 1403637004.901666, t: 0.083825 -0.584395 0.401126 q: 0.006282 0.815784 -0.062171 0.574971 
optimize pose graph 
time: 1403637005.001667, t: 0.042752 -0.558396 0.391310 q: 0.009887 0.820014 -0.062071 0.568882 
time: 1403637005.101666, t: 0.003725 -0.536489 0.375106 q: 0.018177 0.819953 -0.058074 0.569187 
time: 1403637005.201667, t: -0.030925 -0.519439 0.356642 q: 0.025355 0.818825 -0.054238 0.570912 
time: 1403637005.301666, t: -0.064433 -0.503344 0.334842 q: 0.029013 0.820753 -0.051893 0.568181 
time: 1403637005.401666, t: -0.098838 -0.487032 0.311042 q: 0.029955 0.821746 -0.050083 0.566859 
time: 1403637005.501667, t: -0.132955 -0.470819 0.289032 q: 0.031450 0.818746 -0.046212 0.571428 
time: 1403637005.601666, t: -0.160534 -0.454785 0.271868 q: 0.029423 0.817902 -0.045011 0.572839 
time: 1403637005.701667, t: -0.192456 -0.439006 0.265776 q: 0.022787 0.822061 -0.047267 0.566977 
time: 1403637005.801666, t: -0.216802 -0.424667 0.272052 q: 0.019610 0.823734 -0.048194 0.564584 
time: 1403637005.901666, t: -0.238299 -0.410570 0.284046 q: 0.022895 0.822093 -0.044952 0.567114 
time: 1403637006.001667, t: -0.256730 -0.398540 0.293443 q: 0.025391 0.819635 -0.042933 0.570711 
time: 1403637006.101666, t: -0.274981 -0.384413 0.299431 q: 0.023630 0.817700 -0.044297 0.573451 
time: 1403637006.201667, t: -0.293620 -0.370964 0.303240 q: 0.022708 0.817710 -0.044626 0.573449 
time: 1403637006.301666, t: -0.313007 -0.356465 0.304897 q: 0.020175 0.821946 -0.046598 0.567298 
time: 1403637006.401666, t: -0.328757 -0.344636 0.303771 q: 0.017869 0.828433 -0.048035 0.557739 
time: 1403637006.501667, t: -0.342872 -0.332580 0.302139 q: 0.011880 0.831085 -0.052148 0.553568 
time: 1403637006.601666, t: -0.351463 -0.324056 0.301045 q: 0.008236 0.826620 -0.050007 0.560474 
time: 1403637006.701667, t: -0.355784 -0.318586 0.298150 q: 0.006426 0.821809 -0.039600 0.568349 
time: 1403637006.801666, t: -0.358370 -0.315029 0.292216 q: 0.000592 0.817748 -0.025527 0.575009 
time: 1403637006.901666, t: -0.359542 -0.313404 0.283299 q: -0.011163 0.817827 -0.009499 0.575278 
time: 1403637007.001667, t: -0.361132 -0.312588 0.274319 q: -0.021039 0.819059 0.012667 0.573183 
time: 1403637007.101666, t: -0.362611 -0.313119 0.265368 q: -0.029003 0.817632 0.031726 0.574134 
optimize pose graph 
time: 1403637007.201667, t: -0.364287 -0.314129 0.255716 q: -0.035594 0.815365 0.046043 0.576014 
time: 1403637007.301666, t: -0.366541 -0.315353 0.246775 q: -0.036951 0.810128 0.057766 0.582228 
time: 1403637007.401666, t: -0.371748 -0.315564 0.237383 q: -0.037864 0.806688 0.064532 0.586222 
time: 1403637007.501667, t: -0.380480 -0.314359 0.226317 q: -0.039730 0.808046 0.067223 0.583921 
time: 1403637007.601666, t: -0.391076 -0.312026 0.213931 q: -0.040926 0.812598 0.067740 0.577426 
time: 1403637007.701667, t: -0.403600 -0.307946 0.199549 q: -0.040500 0.820796 0.067150 0.565813 
time: 1403637007.801666, t: -0.414369 -0.302360 0.187024 q: -0.038412 0.824385 0.066847 0.560755 
time: 1403637007.901666, t: -0.422542 -0.294633 0.177265 q: -0.041992 0.819551 0.062292 0.568060 
time: 1403637008.001667, t: -0.429570 -0.285978 0.168671 q: -0.048055 0.813114 0.055417 0.577464 
time: 1403637008.101666, t: -0.438157 -0.278459 0.160592 q: -0.044553 0.814869 0.054508 0.575355 
time: 1403637008.201667, t: -0.447691 -0.271468 0.152269 q: -0.039791 0.824010 0.054413 0.562550 
time: 1403637008.301666, t: -0.454409 -0.263713 0.147437 q: -0.034512 0.830182 0.055077 0.553690 
time: 1403637008.401666, t: -0.457215 -0.254545 0.147386 q: -0.031767 0.830363 0.054316 0.553659 
time: 1403637008.501667, t: -0.455547 -0.243227 0.152347 q: -0.034927 0.823007 0.049823 0.564763 
time: 1403637008.601666, t: -0.451382 -0.231704 0.158002 q: -0.037741 0.816914 0.045419 0.573729 
time: 1403637008.701667, t: -0.447419 -0.220692 0.159543 q: -0.042566 0.814903 0.039960 0.576649 
time: 1403637008.801666, t: -0.443400 -0.212007 0.156185 q: -0.054804 0.818619 0.029841 0.570937 
time: 1403637008.901666, t: -0.437313 -0.208871 0.148333 q: -0.062741 0.822863 0.023508 0.564277 
time: 1403637009.001667, t: -0.429585 -0.211294 0.136824 q: -0.059345 0.823294 0.024357 0.563979 
time: 1403637009.101666, t: -0.419794 -0.218311 0.122563 q: -0.047156 0.822048 0.031305 0.566598 
time: 1403637009.201667, t: -0.409027 -0.228772 0.106897 q: -0.035290 0.820945 0.038618 0.568606 
optimize pose graph 
time: 1403637009.301666, t: -0.396013 -0.239916 0.088904 q: -0.019055 0.820834 0.049175 0.568727 
time: 1403637009.401666, t: -0.383349 -0.248285 0.074667 q: -0.033012 0.816751 0.050470 0.573830 
wait for imu ... 
time: 1403637009.501667, t: -0.380573 -0.256893 0.071012 q: -0.046861 0.807104 0.064527 0.584999 
time: 1403637009.601666, t: -0.380413 -0.261599 0.063971 q: -0.089368 0.785085 0.053552 0.610563 
time: 1403637009.701667, t: -0.389678 -0.267914 0.062333 q: -0.078272 0.790849 0.040458 0.605636 
time: 1403637009.801666, t: -0.391177 -0.267040 0.062234 q: -0.077970 0.790169 0.037237 0.606767 
time: 1403637009.901666, t: -0.393188 -0.267406 0.061956 q: -0.078509 0.789919 0.038137 0.606968 
wait for imu ... 
time: 1403637010.001667, t: -0.392020 -0.265862 0.061070 q: -0.078695 0.789817 0.038077 0.607080 
time: 1403637010.101666, t: -0.392955 -0.266466 0.060631 q: -0.079686 0.789986 0.037795 0.606748 
time: 1403637010.201667, t: -0.394377 -0.267819 0.060557 q: -0.079992 0.789924 0.037764 0.606791 
time: 1403637010.301666, t: -0.394230 -0.268063 0.060592 q: -0.080369 0.790158 0.037649 0.606444 
time: 1403637010.401666, t: -0.394122 -0.268281 0.060740 q: -0.080339 0.790139 0.037630 0.606473 
time: 1403637010.501667, t: -0.394053 -0.268421 0.060767 q: -0.080351 0.790249 0.037556 0.606333 
time: 1403637010.601666, t: -0.394131 -0.268546 0.060818 q: -0.080461 0.790301 0.037468 0.606256 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731044564.489209525]: Shutdown request received.[0m
[33m[ WARN] [1731044564.489253513]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731044564.490191235]: Shutdown request received.[0m
[33m[ WARN] [1731044564.490223492]: Reason given for shutdown: [user request][0m
killed
