/SLAM-Hive/slam_hive_results/mapping_results/631/287_VINS-Fusion-stereo+MH_01_easy.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1715754801.564467174]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1715754801.570639613]: init begins[0m
[31m[ERROR] [1715754801.572557918]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/063eea48-1285-11ef-9598-0242ac110007/roslaunch-0bd61ec1a4da-119.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://0bd61ec1a4da:42935/[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 [156][0m
[0m[ INFO] [1715754802.976184098]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://0bd61ec1a4da:11311/[0m
]2;roscore http://0bd61ec1a4da:11311/
[1msetting /run_id to 063eea48-1285-11ef-9598-0242ac110007[0m
config_file: /slamhive/mappingtask.yaml
[0m[ INFO] [1715754802.993308853]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
result path /home/output/vio.csv
[33m[ WARN] [1715754802.999912625]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1715754803.000120337]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1715754803.000156301]: 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] [1715754803.015914759]: reading paramerter of camera /slamhive/cam0_mei.yaml[0m
[0m[ INFO] [1715754803.016217101]: reading paramerter of camera /slamhive/cam1_mei.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1715754803.016405331]: 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_mei.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [197][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1715754811.585859839]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 312118232.89 
[0m[ INFO] [1715754813.983099138]: Initialization finish![0m
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time: 1403636581.113555, t: 0.051143 -0.029056 0.010597 q: 0.999607 -0.017227 -0.016215 -0.015040 
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time: 1403636589.613555, t: -0.085663 -0.078402 -0.046849 q: 0.982753 -0.021406 -0.182901 0.016908 
time: 1403636589.713556, t: -0.090626 -0.125365 -0.048847 q: 0.983218 -0.018818 -0.180860 0.014765 
time: 1403636589.813555, t: -0.097126 -0.169648 -0.049623 q: 0.982931 -0.011836 -0.183089 0.013573 
time: 1403636589.913555, t: -0.105095 -0.207279 -0.049259 q: 0.981811 -0.003800 -0.189435 0.012117 
time: 1403636590.013556, t: -0.111626 -0.238371 -0.049564 q: 0.981542 0.005391 -0.190744 0.012785 
time: 1403636590.113555, t: -0.113861 -0.260732 -0.050487 q: 0.982691 0.011521 -0.184525 0.011651 
time: 1403636590.213556, t: -0.113413 -0.271761 -0.052354 q: 0.983684 0.015623 -0.178888 0.010994 
time: 1403636590.313555, t: -0.112007 -0.269783 -0.055334 q: 0.983711 0.014845 -0.178932 0.008747 
optimize pose graph 
time: 1403636590.413555, t: -0.109925 -0.255339 -0.059339 q: 0.983512 0.010043 -0.180402 0.007698 
time: 1403636590.513556, t: -0.106291 -0.229595 -0.063750 q: 0.983822 0.002983 -0.179008 0.006455 
time: 1403636590.613555, t: -0.101808 -0.195555 -0.068547 q: 0.984444 -0.003387 -0.175589 0.005229 
time: 1403636590.713556, t: -0.098222 -0.155786 -0.071393 q: 0.984575 -0.009567 -0.174605 0.005838 
time: 1403636590.813555, t: -0.096314 -0.112425 -0.071731 q: 0.983815 -0.013330 -0.178454 0.009230 
time: 1403636590.913555, t: -0.095567 -0.065993 -0.069649 q: 0.982744 -0.016079 -0.183831 0.012758 
time: 1403636591.013556, t: -0.095111 -0.018378 -0.066986 q: 0.982546 -0.017921 -0.184639 0.013817 
time: 1403636591.113555, t: -0.093454 0.026831 -0.063410 q: 0.982863 -0.016171 -0.182969 0.015534 
time: 1403636591.213556, t: -0.091943 0.069020 -0.059492 q: 0.982746 -0.016883 -0.183256 0.018508 
time: 1403636591.313555, t: -0.092899 0.105956 -0.054898 q: 0.982242 -0.019919 -0.185450 0.020281 
time: 1403636591.413555, t: -0.095720 0.134735 -0.050238 q: 0.981807 -0.024609 -0.186957 0.022302 
time: 1403636591.513556, t: -0.100380 0.156121 -0.043672 q: 0.981884 -0.028691 -0.185801 0.023655 
time: 1403636591.613555, t: -0.104341 0.173668 -0.035799 q: 0.983253 -0.042607 -0.175442 0.024857 
time: 1403636591.713556, t: -0.106166 0.184606 -0.027997 q: 0.986039 -0.054840 -0.155418 0.023763 
time: 1403636591.813555, t: -0.104400 0.191596 -0.021852 q: 0.988546 -0.066256 -0.133908 0.021336 
time: 1403636591.913555, t: -0.100527 0.197876 -0.016818 q: 0.989688 -0.075743 -0.119459 0.022583 
time: 1403636592.013556, t: -0.097222 0.206414 -0.009301 q: 0.988563 -0.083680 -0.121904 0.029659 
time: 1403636592.113555, t: -0.093031 0.219676 0.004384 q: 0.986518 -0.094063 -0.128288 0.038438 
time: 1403636592.213556, t: -0.087796 0.234646 0.023110 q: 0.984310 -0.102133 -0.136613 0.045161 
time: 1403636592.313555, t: -0.080431 0.246851 0.045226 q: 0.982798 -0.103886 -0.145035 0.047759 
optimize pose graph 
time: 1403636592.413555, t: -0.071099 0.251684 0.072051 q: 0.982362 -0.097903 -0.150928 0.050995 
time: 1403636592.513556, t: -0.059121 0.247262 0.102663 q: 0.983974 -0.085612 -0.148935 0.047789 
time: 1403636592.613555, t: -0.047384 0.233228 0.134885 q: 0.986933 -0.069416 -0.140026 0.039217 
time: 1403636592.713556, t: -0.037981 0.210423 0.165635 q: 0.989121 -0.052088 -0.134559 0.028634 
time: 1403636592.813555, t: -0.031810 0.176140 0.192455 q: 0.990301 -0.027806 -0.134674 0.019837 
time: 1403636592.913555, t: -0.030950 0.129687 0.209179 q: 0.990085 0.001516 -0.139839 0.013193 
time: 1403636593.013556, t: -0.035393 0.073912 0.212222 q: 0.988753 0.030209 -0.146358 0.005879 
time: 1403636593.113555, t: -0.044210 0.012530 0.202212 q: 0.986877 0.056603 -0.151184 -0.003684 
time: 1403636593.213556, t: -0.055900 -0.049489 0.177779 q: 0.984844 0.081086 -0.153219 -0.005604 
time: 1403636593.313555, t: -0.070092 -0.105318 0.144045 q: 0.982677 0.100018 -0.155937 -0.005131 
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time: 1403636593.613555, t: -0.129699 -0.165973 0.014394 q: 0.981231 0.093180 -0.168824 -0.001114 
time: 1403636593.713556, t: -0.151185 -0.151232 -0.026791 q: 0.981232 0.076049 -0.176905 0.010258 
time: 1403636593.813555, t: -0.169791 -0.121375 -0.064840 q: 0.982283 0.046742 -0.179870 0.024119 
time: 1403636593.913555, t: -0.182616 -0.079513 -0.096827 q: 0.984265 0.009822 -0.171749 0.040348 
time: 1403636594.113555, t: -0.189595 0.023593 -0.138744 q: 0.984038 -0.068486 -0.150734 0.065251 
time: 1403636594.213556, t: -0.185537 0.080016 -0.140556 q: 0.980808 -0.099465 -0.149844 0.075298 
time: 1403636594.313555, t: -0.178506 0.137773 -0.123967 q: 0.978092 -0.121153 -0.150157 0.078169 
optimize pose graph 
time: 1403636594.413555, t: -0.165519 0.193258 -0.095428 q: 0.976925 -0.135821 -0.146771 0.075026 
time: 1403636594.513556, t: -0.147982 0.243435 -0.055200 q: 0.977957 -0.141383 -0.137549 0.068493 
time: 1403636594.613555, t: -0.129054 0.278965 -0.009563 q: 0.979504 -0.140888 -0.127042 0.067695 
time: 1403636594.713556, t: -0.111182 0.290430 0.034571 q: 0.980940 -0.136158 -0.121050 0.067564 
time: 1403636594.813555, t: -0.099552 0.274829 0.075612 q: 0.983851 -0.120244 -0.117500 0.061412 
time: 1403636594.913555, t: -0.091723 0.233348 0.113336 q: 0.987604 -0.095897 -0.114413 0.048486 
time: 1403636595.013556, t: -0.088830 0.168749 0.141360 q: 0.991259 -0.060463 -0.112617 0.032654 
time: 1403636595.113555, t: -0.092808 0.092506 0.156631 q: 0.992818 -0.020701 -0.116574 0.017165 
time: 1403636595.213556, t: -0.099330 0.015565 0.154896 q: 0.992174 0.016400 -0.123581 0.006967 
time: 1403636595.313555, t: -0.110520 -0.047739 0.145131 q: 0.990361 0.048482 -0.129749 -0.000878 
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time: 1403636595.513556, t: -0.136523 -0.106998 0.096968 q: 0.987651 0.074801 -0.137331 -0.009526 
time: 1403636595.613555, t: -0.149338 -0.095911 0.066893 q: 0.986876 0.075798 -0.142160 -0.011033 
time: 1403636595.713556, t: -0.162062 -0.062021 0.036474 q: 0.987206 0.064827 -0.145297 -0.010472 
time: 1403636595.813555, t: -0.175163 -0.012339 0.007851 q: 0.988599 0.039915 -0.144854 -0.009806 
time: 1403636595.913555, t: -0.188540 0.043390 -0.019239 q: 0.989599 0.008520 -0.143561 -0.003403 
time: 1403636596.113555, t: -0.214248 0.127674 -0.084463 q: 0.987374 -0.050108 -0.149368 0.016455 
time: 1403636596.213556, t: -0.225181 0.134830 -0.116401 q: 0.986314 -0.065045 -0.149431 0.024975 
time: 1403636596.313555, t: -0.231713 0.115172 -0.149912 q: 0.986388 -0.068832 -0.145830 0.032169 
time: 1403636596.413555, t: -0.235831 0.079029 -0.187313 q: 0.987022 -0.070702 -0.140624 0.031847 
optimize pose graph 
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time: 1403636596.713556, t: -0.246604 -0.022714 -0.270531 q: 0.988344 -0.065781 -0.135842 0.019923 
time: 1403636596.813555, t: -0.246876 -0.033557 -0.269064 q: 0.988857 -0.064209 -0.133393 0.015656 
time: 1403636596.913555, t: -0.240725 -0.029809 -0.247295 q: 0.989604 -0.065093 -0.127883 0.009625 
time: 1403636597.013556, t: -0.228183 -0.016087 -0.207325 q: 0.989166 -0.067435 -0.130263 0.005847 
time: 1403636597.113555, t: -0.211417 0.002458 -0.154654 q: 0.987757 -0.065241 -0.141608 0.005231 
time: 1403636597.213556, t: -0.188871 0.022015 -0.094585 q: 0.987180 -0.054404 -0.150040 0.001733 
time: 1403636597.313555, t: -0.160297 0.039214 -0.033442 q: 0.987881 -0.040739 -0.149663 -0.005642 
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time: 1403636597.513556, t: -0.107760 0.052907 0.082962 q: 0.989527 -0.007519 -0.142125 -0.024109 
time: 1403636597.613555, t: -0.093605 0.045472 0.121986 q: 0.990271 0.015801 -0.135236 -0.028720 
time: 1403636597.713556, t: -0.089672 0.026841 0.140002 q: 0.990659 0.039564 -0.126554 -0.031837 
time: 1403636597.813555, t: -0.094398 0.002656 0.136199 q: 0.990710 0.056227 -0.118491 -0.035943 
time: 1403636597.913555, t: -0.106136 -0.018680 0.114777 q: 0.990348 0.065879 -0.113844 -0.043707 
time: 1403636598.013556, t: -0.122789 -0.033840 0.081407 q: 0.989377 0.070297 -0.116471 -0.051248 
time: 1403636598.113555, t: -0.143619 -0.041798 0.042223 q: 0.988095 0.071199 -0.126143 -0.051843 
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time: 1403636598.513556, t: -0.217630 -0.012988 -0.014305 q: 0.983510 0.047970 -0.163673 -0.060152 
time: 1403636598.613555, t: -0.220304 -0.000724 0.013349 q: 0.985231 0.054078 -0.150792 -0.060474 
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time: 1403636598.813555, t: -0.224339 0.019785 0.087278 q: 0.988978 0.078272 -0.110500 -0.059886 
time: 1403636598.913555, t: -0.233452 0.029331 0.123763 q: 0.990950 0.084213 -0.087765 -0.056783 
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time: 1403636599.113555, t: -0.255418 0.043493 0.179755 q: 0.992916 0.092086 -0.051741 -0.054420 
time: 1403636599.213556, t: -0.260566 0.047268 0.197044 q: 0.993594 0.098062 -0.022808 -0.051337 
time: 1403636599.313555, t: -0.263710 0.049676 0.212015 q: 0.993941 0.099440 0.006994 -0.046305 
time: 1403636599.513556, t: -0.274497 0.053650 0.236286 q: 0.994784 0.087672 0.024511 -0.046020 
time: 1403636599.613555, t: -0.281124 0.055386 0.244062 q: 0.995583 0.081181 0.018949 -0.043195 
time: 1403636599.713556, t: -0.287639 0.057573 0.248521 q: 0.995814 0.078745 0.018315 -0.042632 
time: 1403636599.813555, t: -0.287766 0.059789 0.248124 q: 0.995212 0.080569 0.035765 -0.042211 
time: 1403636599.913555, t: -0.289071 0.061289 0.247327 q: 0.994843 0.082169 0.044494 -0.039454 
time: 1403636600.013556, t: -0.289889 0.062345 0.247732 q: 0.995135 0.080537 0.043310 -0.036660 
time: 1403636600.113555, t: -0.290936 0.064258 0.247793 q: 0.994984 0.082588 0.046609 -0.031843 
time: 1403636600.213556, t: -0.291068 0.064403 0.247681 q: 0.994950 0.082755 0.046944 -0.031961 
time: 1403636600.313555, t: -0.291208 0.064187 0.247655 q: 0.994920 0.083253 0.047111 -0.031354 
time: 1403636600.413555, t: -0.291270 0.064112 0.247520 q: 0.994907 0.083519 0.047279 -0.030797 
optimize pose graph 
time: 1403636600.513556, t: -0.291289 0.064122 0.247458 q: 0.994907 0.083540 0.047520 -0.030370 
time: 1403636600.613555, t: -0.291266 0.064044 0.247492 q: 0.994906 0.083694 0.047391 -0.030179 
time: 1403636600.713556, t: -0.291283 0.064098 0.247489 q: 0.994915 0.083577 0.047313 -0.030352 
time: 1403636600.813555, t: -0.291283 0.064132 0.247490 q: 0.994915 0.083506 0.047353 -0.030477 
time: 1403636600.913555, t: -0.291269 0.064117 0.247503 q: 0.994916 0.083489 0.047348 -0.030508 
time: 1403636601.013556, t: -0.291299 0.064143 0.247498 q: 0.994918 0.083479 0.047318 -0.030501 
time: 1403636601.113555, t: -0.291287 0.064131 0.247502 q: 0.994920 0.083501 0.047289 -0.030438 
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time: 1403636601.913555, t: -0.291346 0.064082 0.247500 q: 0.994928 0.083523 0.047297 -0.030095 
time: 1403636602.013556, t: -0.291341 0.064075 0.247501 q: 0.994927 0.083527 0.047306 -0.030083 
time: 1403636602.113555, t: -0.291355 0.064063 0.247502 q: 0.994927 0.083535 0.047331 -0.030041 
time: 1403636602.213556, t: -0.291349 0.064052 0.247491 q: 0.994927 0.083549 0.047324 -0.029991 
time: 1403636602.313555, t: -0.291359 0.064064 0.247486 q: 0.994926 0.083533 0.047323 -0.030069 
time: 1403636602.413555, t: -0.291363 0.064077 0.247486 q: 0.994927 0.083514 0.047312 -0.030110 
time: 1403636602.513556, t: -0.291365 0.064082 0.247478 q: 0.994928 0.083495 0.047318 -0.030146 
time: 1403636602.613555, t: -0.291366 0.064090 0.247479 q: 0.994927 0.083497 0.047317 -0.030172 
time: 1403636602.713556, t: -0.291367 0.064088 0.247488 q: 0.994926 0.083510 0.047317 -0.030142 
time: 1403636602.813555, t: -0.291378 0.064100 0.247472 q: 0.994927 0.083499 0.047318 -0.030142 
time: 1403636602.913555, t: -0.291371 0.064104 0.247472 q: 0.994927 0.083503 0.047317 -0.030154 
time: 1403636603.013556, t: -0.291377 0.064106 0.247483 q: 0.994926 0.083486 0.047343 -0.030183 
time: 1403636603.113555, t: -0.291381 0.064102 0.247465 q: 0.994927 0.083486 0.047351 -0.030145 
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time: 1403636603.313555, t: -0.291383 0.064094 0.247477 q: 0.994927 0.083484 0.047356 -0.030141 
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time: 1403636604.013556, t: -0.291406 0.064072 0.247461 q: 0.994927 0.083535 0.047363 -0.029993 
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time: 1403636626.413555, t: 0.043055 0.086832 0.140183 q: 0.995707 0.078680 0.025228 -0.041724 
time: 1403636626.513556, t: 0.052254 0.090982 0.145765 q: 0.995399 0.077196 0.030293 -0.048009 
optimize pose graph 
time: 1403636626.613555, t: 0.057260 0.098198 0.150356 q: 0.994840 0.076291 0.037680 -0.055265 
time: 1403636626.713556, t: 0.057748 0.107454 0.152202 q: 0.994453 0.076511 0.040284 -0.059890 
time: 1403636626.813555, t: 0.052014 0.117616 0.152116 q: 0.994431 0.077989 0.035310 -0.061464 
time: 1403636626.913555, t: 0.041422 0.128744 0.150124 q: 0.994548 0.078576 0.027251 -0.062908 
time: 1403636627.013556, t: 0.027529 0.140219 0.147608 q: 0.994683 0.078044 0.018182 -0.064683 
time: 1403636627.113555, t: 0.016002 0.151263 0.143537 q: 0.994779 0.077547 0.009470 -0.065665 
time: 1403636627.213556, t: 0.015633 0.160908 0.136854 q: 0.994673 0.078164 0.013384 -0.065856 
time: 1403636627.313555, t: 0.025143 0.168967 0.126982 q: 0.994508 0.079482 0.020898 -0.064808 
time: 1403636627.413555, t: 0.042367 0.175967 0.113926 q: 0.994514 0.080552 0.022363 -0.062869 
time: 1403636627.513556, t: 0.064652 0.183683 0.097479 q: 0.994849 0.079008 0.022501 -0.059389 
time: 1403636627.613555, t: 0.076975 0.193920 0.084550 q: 0.995656 0.071890 0.020363 -0.055558 
time: 1403636627.713556, t: 0.073764 0.206145 0.077200 q: 0.996468 0.063259 0.013165 -0.053635 
time: 1403636627.813555, t: 0.061318 0.220608 0.074738 q: 0.997387 0.050931 0.002622 -0.051161 
time: 1403636627.913555, t: 0.049226 0.235607 0.075460 q: 0.998063 0.038023 -0.006790 -0.048768 
time: 1403636628.013556, t: 0.047297 0.248683 0.078275 q: 0.998403 0.028565 -0.009710 -0.047763 
time: 1403636628.113555, t: 0.058184 0.259229 0.082830 q: 0.998699 0.023179 -0.000306 -0.045423 
time: 1403636628.213556, t: 0.079741 0.268252 0.088089 q: 0.998798 0.021366 0.017643 -0.040421 
time: 1403636628.313555, t: 0.106869 0.276428 0.091871 q: 0.998849 0.022508 0.028011 -0.031783 
time: 1403636628.413555, t: 0.134448 0.286169 0.094052 q: 0.998902 0.023696 0.030188 -0.026870 
time: 1403636628.513556, t: 0.157189 0.298495 0.096725 q: 0.998932 0.025165 0.030049 -0.024471 
optimize pose graph 
time: 1403636628.613555, t: 0.173104 0.315061 0.099730 q: 0.998959 0.027487 0.028596 -0.022534 
time: 1403636628.713556, t: 0.182952 0.334620 0.104882 q: 0.998931 0.026918 0.028634 -0.024350 
time: 1403636628.813555, t: 0.186689 0.359462 0.111956 q: 0.999138 0.018920 0.022903 -0.028988 
time: 1403636628.913555, t: 0.190956 0.386834 0.113492 q: 0.999363 0.009640 0.014331 -0.031229 
time: 1403636629.013556, t: 0.200698 0.414722 0.119175 q: 0.999475 0.003083 0.008254 -0.031179 
time: 1403636629.113555, t: 0.217787 0.440588 0.125673 q: 0.999509 -0.002815 0.006748 -0.030484 
time: 1403636629.213556, t: 0.237339 0.467447 0.133350 q: 0.999532 -0.012104 0.007928 -0.026946 
time: 1403636629.313555, t: 0.251595 0.494697 0.146764 q: 0.999473 -0.020756 0.012830 -0.021385 
time: 1403636629.413555, t: 0.262026 0.522959 0.161967 q: 0.999396 -0.025889 0.019014 -0.013298 
time: 1403636629.513556, t: 0.267547 0.552686 0.181254 q: 0.999087 -0.034044 0.025699 -0.002433 
time: 1403636629.713556, t: 0.259339 0.625951 0.223582 q: 0.997571 -0.067578 0.014093 0.009323 
time: 1403636629.813555, t: 0.250265 0.667760 0.248755 q: 0.995844 -0.089595 0.007438 0.014542 
time: 1403636629.913555, t: 0.239366 0.711873 0.277342 q: 0.993594 -0.110784 0.004409 0.021871 
time: 1403636630.013556, t: 0.235907 0.754793 0.309815 q: 0.991493 -0.127280 0.004813 0.026815 
time: 1403636630.113555, t: 0.243997 0.797851 0.342910 q: 0.989827 -0.138676 0.011880 0.029492 
time: 1403636630.213556, t: 0.263581 0.841495 0.372046 q: 0.988372 -0.146774 0.025896 0.030118 
time: 1403636630.313555, t: 0.287695 0.884972 0.403047 q: 0.987316 -0.151694 0.035791 0.030264 
time: 1403636630.413555, t: 0.313601 0.926811 0.431167 q: 0.987036 -0.153946 0.033985 0.030104 
time: 1403636630.513556, t: 0.343830 0.968874 0.456615 q: 0.987167 -0.154450 0.029501 0.027848 
time: 1403636630.613555, t: 0.376954 1.006635 0.482028 q: 0.987384 -0.154491 0.026692 0.022179 
optimize pose graph 
time: 1403636630.713556, t: 0.410342 1.042949 0.510134 q: 0.987765 -0.152964 0.024106 0.018467 
time: 1403636630.813555, t: 0.433111 1.081697 0.539819 q: 0.988305 -0.149262 0.023864 0.020110 
time: 1403636630.913555, t: 0.451068 1.124439 0.566000 q: 0.988842 -0.145149 0.024481 0.022908 
time: 1403636631.013556, t: 0.470063 1.159383 0.601034 q: 0.989088 -0.143051 0.025162 0.024672 
time: 1403636631.113555, t: 0.482480 1.197410 0.636478 q: 0.989228 -0.141510 0.028210 0.024653 
time: 1403636631.213556, t: 0.494861 1.235643 0.673701 q: 0.989291 -0.140408 0.031764 0.024067 
time: 1403636631.313555, t: 0.510391 1.271333 0.713388 q: 0.989349 -0.139766 0.033208 0.023489 
time: 1403636631.413555, t: 0.517344 1.307468 0.752417 q: 0.989455 -0.139109 0.033234 0.022867 
time: 1403636631.513556, t: 0.520312 1.344887 0.790824 q: 0.989576 -0.138739 0.032624 0.020668 
time: 1403636631.613555, t: 0.521443 1.379532 0.832737 q: 0.989659 -0.138583 0.032497 0.017740 
time: 1403636631.713556, t: 0.527532 1.412966 0.871299 q: 0.989849 -0.137731 0.031191 0.016005 
time: 1403636631.813555, t: 0.537671 1.446627 0.907280 q: 0.990012 -0.136781 0.030795 0.014770 
time: 1403636631.913555, t: 0.552468 1.476804 0.942794 q: 0.990057 -0.137057 0.028999 0.012695 
time: 1403636632.013556, t: 0.568576 1.504369 0.976765 q: 0.990021 -0.137302 0.029192 0.012434 
time: 1403636632.113555, t: 0.587393 1.529631 1.010629 q: 0.989825 -0.138229 0.032099 0.010466 
time: 1403636632.213556, t: 0.605648 1.553508 1.044294 q: 0.989481 -0.140710 0.032948 0.006480 
time: 1403636632.313555, t: 0.619575 1.573714 1.076091 q: 0.989360 -0.141147 0.034192 0.008628 
time: 1403636632.413555, t: 0.627138 1.591590 1.114289 q: 0.989266 -0.141803 0.033793 0.010162 
time: 1403636632.513556, t: 0.629469 1.608852 1.153649 q: 0.989842 -0.138297 0.028026 0.017351 
time: 1403636632.613555, t: 0.628757 1.620223 1.196902 q: 0.991177 -0.128651 0.018469 0.025994 
optimize pose graph 
time: 1403636632.713556, t: 0.626482 1.636207 1.239799 q: 0.993050 -0.113574 0.012567 0.028202 
time: 1403636632.813555, t: 0.630944 1.653393 1.281837 q: 0.995252 -0.094389 0.011609 0.020699 
time: 1403636632.913555, t: 0.643585 1.671258 1.324164 q: 0.997016 -0.075039 0.017993 0.002288 
time: 1403636633.013556, t: 0.662200 1.690649 1.367051 q: 0.997889 -0.059312 0.022498 -0.013944 
time: 1403636633.113555, t: 0.683962 1.710645 1.409540 q: 0.998364 -0.046284 0.023718 -0.023740 
time: 1403636633.213556, t: 0.704691 1.728085 1.454492 q: 0.998606 -0.037105 0.023577 -0.029224 
time: 1403636633.313555, t: 0.719090 1.745804 1.501806 q: 0.998896 -0.030437 0.020925 -0.029041 
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time: 1403636633.513556, t: 0.736587 1.782332 1.604880 q: 0.999370 -0.024581 0.013819 -0.021528 
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time: 1403636633.913555, t: 0.802927 1.855649 1.837173 q: 0.999341 -0.032571 0.012418 -0.010170 
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time: 1403636634.113555, t: 0.857086 1.901304 1.957829 q: 0.999310 -0.033252 0.016533 0.000664 
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time: 1403636634.413555, t: 0.965514 1.991599 2.136933 q: 0.998865 -0.035563 0.025892 -0.018278 
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time: 1403636634.613555, t: 1.028780 2.054367 2.264135 q: 0.998469 -0.033029 0.035886 -0.026110 
time: 1403636634.713556, t: 1.051584 2.084681 2.328503 q: 0.998458 -0.026703 0.036926 -0.031688 
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time: 1403636634.913555, t: 1.103338 2.138872 2.447938 q: 0.998819 -0.013226 0.029202 -0.036523 
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time: 1403636635.613555, t: 1.309004 2.285465 2.861570 q: 0.999426 0.007723 0.015542 -0.029078 
time: 1403636635.713556, t: 1.351258 2.306366 2.921397 q: 0.999426 0.007147 0.018215 -0.027642 
time: 1403636635.813555, t: 1.401315 2.329714 2.979858 q: 0.999401 0.008759 0.025752 -0.021395 
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time: 1403636692.813555, t: 1.314881 4.219342 4.958530 q: 0.954241 0.216381 0.037618 -0.202948 
time: 1403636692.913555, t: 1.363545 4.270658 4.934757 q: 0.953077 0.211078 0.035439 -0.214092 
time: 1403636693.013556, t: 1.404797 4.310917 4.914388 q: 0.953586 0.212382 0.031921 -0.211066 
time: 1403636693.113555, t: 1.445628 4.343076 4.891935 q: 0.954191 0.216282 0.033215 -0.204054 
time: 1403636693.213556, t: 1.478360 4.373717 4.873311 q: 0.954590 0.219767 0.031304 -0.198697 
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time: 1403636693.513556, t: 1.538411 4.440164 4.841610 q: 0.956314 0.224813 0.001265 -0.186871 
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time: 1403636694.013556, t: 1.624139 4.477273 4.907236 q: 0.954643 0.233778 0.031236 -0.181737 
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time: 1403636694.213556, t: 1.658955 4.483746 4.952195 q: 0.953574 0.237289 0.044812 -0.179950 
time: 1403636694.313555, t: 1.678614 4.485044 4.971061 q: 0.953408 0.237127 0.042800 -0.181529 
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time: 1403636694.713556, t: 1.751081 4.493724 5.041409 q: 0.954123 0.233436 0.032441 -0.184674 
optimize pose graph 
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time: 1403636694.913555, t: 1.760182 4.501101 5.087753 q: 0.955788 0.237173 0.033319 -0.170609 
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time: 1403636695.113555, t: 1.761144 4.514497 5.138947 q: 0.956758 0.234929 0.030929 -0.168719 
time: 1403636695.213556, t: 1.771182 4.522872 5.162448 q: 0.956872 0.231146 0.032388 -0.172969 
time: 1403636695.313555, t: 1.785457 4.532092 5.183573 q: 0.956818 0.227747 0.035324 -0.177155 
time: 1403636695.413555, t: 1.805775 4.538899 5.200782 q: 0.957029 0.225382 0.037072 -0.178671 
time: 1403636695.513556, t: 1.828884 4.546464 5.216143 q: 0.956953 0.222976 0.039262 -0.181606 
time: 1403636695.613555, t: 1.849108 4.554347 5.231512 q: 0.956836 0.220836 0.041863 -0.184240 
time: 1403636695.713556, t: 1.862032 4.561599 5.248348 q: 0.956744 0.218647 0.043814 -0.186857 
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time: 1403636696.113555, t: 1.872564 4.588556 5.317323 q: 0.958891 0.214770 0.029052 -0.183187 
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time: 1403636696.513556, t: 1.851738 4.595061 5.391239 q: 0.958449 0.216980 0.055491 -0.176681 
time: 1403636696.613555, t: 1.849478 4.594400 5.400252 q: 0.958905 0.216706 0.053560 -0.175130 
time: 1403636696.713556, t: 1.851285 4.593534 5.403876 q: 0.959344 0.216681 0.050974 -0.173523 
time: 1403636696.813555, t: 1.851406 4.594479 5.405276 q: 0.959487 0.215624 0.048926 -0.174631 
time: 1403636696.913555, t: 1.846255 4.596973 5.406653 q: 0.959303 0.214306 0.048257 -0.177432 
optimize pose graph 
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time: 1403636697.613555, t: 1.825479 4.507558 5.281814 q: 0.961229 0.200479 0.039147 -0.185241 
time: 1403636697.713556, t: 1.830477 4.478263 5.248557 q: 0.964923 0.186531 0.040943 -0.180147 
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time: 1403636698.213556, t: 1.775379 4.314745 5.115328 q: 0.981285 0.117211 0.047877 -0.145084 
time: 1403636698.313555, t: 1.750527 4.280307 5.096508 q: 0.983173 0.105856 0.048761 -0.140668 
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time: 1403636698.613555, t: 1.658715 4.174555 5.049525 q: 0.990390 0.048379 0.052496 -0.118455 
time: 1403636698.713556, t: 1.618474 4.140055 5.040177 q: 0.992607 0.025214 0.054251 -0.105602 
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time: 1403636699.013556, t: 1.500233 4.032076 5.019725 q: 0.994818 -0.051397 0.061295 -0.062749 
optimize pose graph 
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time: 1403636708.713556, t: 2.032962 7.657023 6.794019 q: 0.897790 -0.410435 0.121902 0.103225 
time: 1403636708.813555, t: 2.057551 7.724792 6.841303 q: 0.896042 -0.418644 0.117640 0.089483 
time: 1403636708.913555, t: 2.076571 7.791265 6.891348 q: 0.894177 -0.423669 0.117156 0.085008 
time: 1403636709.013556, t: 2.099085 7.854618 6.938352 q: 0.892137 -0.427515 0.120108 0.083047 
time: 1403636709.113555, t: 2.126288 7.907908 6.981932 q: 0.890032 -0.431690 0.122154 0.081021 
time: 1403636709.213556, t: 2.158938 7.951672 7.023212 q: 0.889015 -0.434281 0.118507 0.083721 
optimize pose graph 
time: 1403636709.313555, t: 2.190028 7.989626 7.062210 q: 0.889105 -0.435273 0.111694 0.086916 
time: 1403636709.413555, t: 2.223662 8.021947 7.107655 q: 0.889059 -0.436434 0.106640 0.087901 
time: 1403636709.513556, t: 2.252328 8.050377 7.153744 q: 0.889202 -0.436578 0.104538 0.088264 
time: 1403636709.613555, t: 2.277991 8.076728 7.204679 q: 0.889589 -0.436117 0.102033 0.089569 
time: 1403636709.713556, t: 2.298941 8.101617 7.257464 q: 0.890242 -0.435285 0.100252 0.089139 
time: 1403636709.813555, t: 2.320788 8.122286 7.314392 q: 0.891070 -0.433738 0.100108 0.088568 
time: 1403636709.913555, t: 2.347909 8.139063 7.373983 q: 0.891603 -0.432528 0.101169 0.087918 
time: 1403636710.013556, t: 2.381500 8.150893 7.432386 q: 0.892309 -0.430983 0.102142 0.087208 
time: 1403636710.213556, t: 2.451573 8.163621 7.555630 q: 0.893828 -0.428106 0.103863 0.083720 
time: 1403636710.313555, t: 2.474811 8.168361 7.626592 q: 0.895450 -0.422369 0.109345 0.088415 
time: 1403636710.413555, t: 2.493428 8.172362 7.701735 q: 0.898804 -0.411041 0.116313 0.098323 
time: 1403636710.513556, t: 2.510193 8.174983 7.776968 q: 0.903973 -0.396986 0.120183 0.103877 
time: 1403636710.613555, t: 2.523057 8.175850 7.852031 q: 0.909190 -0.384428 0.122237 0.103187 
time: 1403636710.713556, t: 2.530502 8.181106 7.923938 q: 0.915131 -0.371886 0.122269 0.096370 
time: 1403636710.813555, t: 2.536870 8.186069 7.992632 q: 0.921552 -0.359887 0.120322 0.082131 
time: 1403636710.913555, t: 2.545438 8.189862 8.055469 q: 0.928373 -0.347713 0.114365 0.064348 
time: 1403636711.013556, t: 2.558817 8.191280 8.113662 q: 0.933668 -0.338284 0.107931 0.046684 
time: 1403636711.113555, t: 2.575250 8.193331 8.166268 q: 0.937246 -0.330396 0.105550 0.035610 
time: 1403636711.213556, t: 2.594013 8.190438 8.216859 q: 0.939182 -0.325498 0.105753 0.028383 
time: 1403636711.313555, t: 2.615344 8.182467 8.267299 q: 0.940444 -0.321171 0.108011 0.027352 
optimize pose graph 
time: 1403636711.413555, t: 2.637783 8.169515 8.315224 q: 0.940546 -0.317845 0.116168 0.029197 
time: 1403636711.513556, t: 2.664595 8.151587 8.359967 q: 0.938916 -0.317136 0.130662 0.028093 
time: 1403636711.613555, t: 2.688970 8.128247 8.400564 q: 0.936816 -0.320779 0.137695 0.022750 
time: 1403636711.713556, t: 2.712678 8.098339 8.434436 q: 0.935592 -0.324907 0.136784 0.019846 
time: 1403636711.813555, t: 2.730163 8.061115 8.464786 q: 0.935450 -0.326054 0.134368 0.023814 
time: 1403636711.913555, t: 2.747792 8.017936 8.491116 q: 0.936706 -0.323205 0.129723 0.035942 
time: 1403636712.013556, t: 2.765160 7.970249 8.512366 q: 0.937882 -0.319026 0.126948 0.049840 
time: 1403636712.113555, t: 2.784028 7.923171 8.526665 q: 0.938439 -0.315374 0.127833 0.059418 
time: 1403636712.213556, t: 2.802468 7.875293 8.537549 q: 0.939054 -0.314222 0.128044 0.055191 
time: 1403636712.313555, t: 2.827855 7.824764 8.540909 q: 0.941625 -0.310119 0.124926 0.039513 
time: 1403636712.413555, t: 2.852285 7.771729 8.540868 q: 0.944891 -0.302462 0.122860 0.024566 
time: 1403636712.513556, t: 2.876124 7.713941 8.537066 q: 0.947838 -0.293573 0.123415 0.013646 
time: 1403636712.613555, t: 2.903579 7.653000 8.529516 q: 0.950491 -0.283686 0.126549 0.008601 
time: 1403636712.713556, t: 2.922694 7.589926 8.520836 q: 0.952444 -0.273804 0.133531 0.007158 
time: 1403636712.813555, t: 2.933010 7.525550 8.510902 q: 0.954302 -0.266744 0.134571 0.006812 
time: 1403636712.913555, t: 2.937335 7.458938 8.500791 q: 0.955858 -0.263361 0.130074 0.007530 
time: 1403636713.013556, t: 2.933589 7.389667 8.489599 q: 0.956508 -0.263685 0.124601 0.006049 
time: 1403636713.113555, t: 2.929147 7.318895 8.472468 q: 0.957049 -0.261065 0.125845 0.008106 
time: 1403636713.213556, t: 2.927649 7.246835 8.449639 q: 0.957894 -0.258972 0.123519 0.010730 
time: 1403636713.313555, t: 2.928877 7.171469 8.419753 q: 0.958380 -0.258711 0.120147 0.011907 
time: 1403636713.413555, t: 2.935257 7.094991 8.383333 q: 0.958795 -0.257887 0.118272 0.014776 
time: 1403636713.513556, t: 2.945665 7.018141 8.342339 q: 0.959086 -0.256870 0.117528 0.018973 
time: 1403636713.613555, t: 2.956074 6.940990 8.300306 q: 0.959368 -0.255484 0.116954 0.025762 
time: 1403636713.713556, t: 2.957962 6.868015 8.257763 q: 0.959667 -0.254182 0.115599 0.032674 
time: 1403636713.813555, t: 2.954212 6.797449 8.216906 q: 0.959648 -0.253775 0.114937 0.038242 
time: 1403636713.913555, t: 2.945423 6.733247 8.174266 q: 0.959132 -0.256300 0.113827 0.037671 
time: 1403636714.013556, t: 2.933398 6.672678 8.131245 q: 0.958536 -0.259927 0.111386 0.035208 
time: 1403636714.113555, t: 2.916787 6.616316 8.089613 q: 0.957502 -0.264811 0.110137 0.030563 
time: 1403636714.213556, t: 2.894803 6.561487 8.050214 q: 0.956547 -0.267649 0.111798 0.029717 
time: 1403636714.313555, t: 2.868947 6.510172 8.010881 q: 0.956172 -0.267299 0.114440 0.034495 
time: 1403636714.413555, t: 2.843849 6.459396 7.969944 q: 0.956236 -0.268613 0.109989 0.036895 
time: 1403636714.513556, t: 2.807251 6.414512 7.934937 q: 0.957954 -0.265829 0.101130 0.037833 
time: 1403636714.613555, t: 2.771133 6.371707 7.897964 q: 0.961348 -0.256436 0.093321 0.036639 
time: 1403636714.713556, t: 2.737582 6.329564 7.864840 q: 0.965559 -0.243195 0.087799 0.029043 
time: 1403636714.813555, t: 2.712116 6.288538 7.831878 q: 0.970378 -0.226114 0.083699 0.015264 
time: 1403636714.913555, t: 2.697434 6.249853 7.793463 q: 0.975176 -0.206237 0.080589 -0.001638 
time: 1403636715.013556, t: 2.692487 6.211682 7.754929 q: 0.979523 -0.185628 0.076537 -0.014808 
time: 1403636715.113555, t: 2.692841 6.177020 7.719689 q: 0.982442 -0.169784 0.072742 -0.026270 
time: 1403636715.213556, t: 2.699675 6.141028 7.685534 q: 0.984298 -0.158320 0.070791 -0.032876 
time: 1403636715.313555, t: 2.703782 6.109088 7.657998 q: 0.985383 -0.149572 0.073697 -0.034904 
time: 1403636715.413555, t: 2.703540 6.079931 7.636161 q: 0.985901 -0.143256 0.079648 -0.033658 
time: 1403636715.513556, t: 2.700820 6.052754 7.619677 q: 0.986311 -0.137156 0.087673 -0.026314 
time: 1403636715.613555, t: 2.690897 6.032409 7.607231 q: 0.986819 -0.131873 0.092336 -0.016485 
time: 1403636715.713556, t: 2.678472 6.017304 7.594889 q: 0.985301 -0.134839 0.102445 -0.022496 
optimize pose graph 
time: 1403636715.813555, t: 2.665247 6.005538 7.581377 q: 0.983240 -0.140561 0.111646 -0.031891 
time: 1403636715.913555, t: 2.655306 5.993237 7.561875 q: 0.981447 -0.144883 0.119533 -0.038504 
time: 1403636716.013556, t: 2.645983 5.980502 7.536452 q: 0.980505 -0.147488 0.123647 -0.039619 
time: 1403636716.113555, t: 2.636955 5.966022 7.503885 q: 0.980529 -0.149100 0.122456 -0.036563 
time: 1403636716.213556, t: 2.628993 5.949499 7.465312 q: 0.981746 -0.150796 0.111888 -0.030262 
time: 1403636716.313555, t: 2.616882 5.933901 7.426033 q: 0.982144 -0.154006 0.104694 -0.026747 
time: 1403636716.413555, t: 2.601672 5.920602 7.385697 q: 0.982063 -0.156724 0.101953 -0.024411 
time: 1403636716.513556, t: 2.580136 5.909047 7.348915 q: 0.981705 -0.159377 0.101432 -0.023790 
time: 1403636716.613555, t: 2.554075 5.896342 7.316416 q: 0.981562 -0.159457 0.101664 -0.027827 
time: 1403636716.713556, t: 2.523878 5.884774 7.284427 q: 0.982496 -0.152868 0.101417 -0.032353 
time: 1403636716.813555, t: 2.487339 5.875891 7.256649 q: 0.984117 -0.141089 0.101071 -0.037314 
time: 1403636716.913555, t: 2.453152 5.863377 7.222668 q: 0.986305 -0.124427 0.098987 -0.043845 
time: 1403636717.013556, t: 2.425561 5.844755 7.189653 q: 0.988416 -0.104521 0.095820 -0.054117 
time: 1403636717.113555, t: 2.401365 5.827242 7.151136 q: 0.990024 -0.084047 0.092571 -0.064960 
time: 1403636717.213556, t: 2.380602 5.810069 7.109865 q: 0.990672 -0.069202 0.090341 -0.074956 
time: 1403636717.313555, t: 2.361480 5.794893 7.067558 q: 0.990329 -0.061411 0.088130 -0.087804 
time: 1403636717.413555, t: 2.342898 5.778072 7.025635 q: 0.989043 -0.059306 0.087859 -0.102748 
time: 1403636717.513556, t: 2.320788 5.758909 6.985238 q: 0.988603 -0.056979 0.087446 -0.108489 
time: 1403636717.613555, t: 2.293818 5.738151 6.946654 q: 0.989340 -0.052460 0.087537 -0.103887 
time: 1403636717.713556, t: 2.260551 5.713998 6.912872 q: 0.989566 -0.050904 0.089321 -0.100944 
time: 1403636717.813555, t: 2.223479 5.686675 6.879612 q: 0.989232 -0.050068 0.087600 -0.106013 
time: 1403636717.913555, t: 2.186778 5.652321 6.846771 q: 0.988907 -0.043518 0.085910 -0.113090 
optimize pose graph 
time: 1403636718.013556, t: 2.154668 5.611622 6.811288 q: 0.988538 -0.031602 0.084809 -0.120836 
time: 1403636718.113555, t: 2.127060 5.563277 6.775814 q: 0.988661 -0.013101 0.083215 -0.124310 
time: 1403636718.213556, t: 2.098221 5.511074 6.736054 q: 0.988850 0.007245 0.080663 -0.124966 
time: 1403636718.313555, t: 2.063621 5.460077 6.701417 q: 0.988795 0.023642 0.077876 -0.125144 
time: 1403636718.413555, t: 2.022850 5.409262 6.671597 q: 0.988239 0.039415 0.074945 -0.127335 
time: 1403636718.513556, t: 1.977402 5.357093 6.644170 q: 0.987328 0.056707 0.072955 -0.129015 
time: 1403636718.613555, t: 1.929283 5.307047 6.619118 q: 0.986620 0.072194 0.070400 -0.128113 
time: 1403636718.713556, t: 1.879961 5.259445 6.597720 q: 0.986347 0.086013 0.066639 -0.123619 
time: 1403636718.813555, t: 1.829860 5.217055 6.579161 q: 0.985181 0.092730 0.065792 -0.128421 
time: 1403636718.913555, t: 1.781264 5.177691 6.562798 q: 0.983385 0.093172 0.067143 -0.140588 
time: 1403636719.013556, t: 1.740356 5.138494 6.541110 q: 0.981943 0.092753 0.069458 -0.149535 
time: 1403636719.113555, t: 1.706678 5.098630 6.519848 q: 0.980974 0.093318 0.074434 -0.153104 
time: 1403636719.213556, t: 1.679412 5.059167 6.492964 q: 0.980426 0.094612 0.081078 -0.152447 
time: 1403636719.313555, t: 1.650498 5.020357 6.466900 q: 0.980386 0.095739 0.086810 -0.148800 
time: 1403636719.413555, t: 1.614169 4.985013 6.441120 q: 0.980380 0.095898 0.090938 -0.146247 
time: 1403636719.513556, t: 1.572789 4.951756 6.415635 q: 0.980802 0.095429 0.091964 -0.143048 
time: 1403636719.613555, t: 1.529389 4.921370 6.386914 q: 0.981866 0.093860 0.086425 -0.140215 
time: 1403636719.713556, t: 1.488874 4.890874 6.354109 q: 0.982867 0.090283 0.079839 -0.139455 
time: 1403636719.813555, t: 1.456111 4.861642 6.316543 q: 0.983762 0.086956 0.075640 -0.137585 
time: 1403636719.913555, t: 1.428291 4.831126 6.275701 q: 0.984316 0.084215 0.074942 -0.135694 
time: 1403636720.013556, t: 1.401872 4.804655 6.237407 q: 0.984766 0.081649 0.073122 -0.134990 
time: 1403636720.113555, t: 1.370524 4.777645 6.204678 q: 0.984959 0.080144 0.072668 -0.134731 
optimize pose graph 
time: 1403636720.213556, t: 1.337011 4.755945 6.173863 q: 0.985192 0.079956 0.071339 -0.133845 
time: 1403636720.313555, t: 1.302441 4.734401 6.144808 q: 0.985257 0.080330 0.071604 -0.133000 
time: 1403636720.413555, t: 1.264980 4.716220 6.118235 q: 0.985168 0.081229 0.071382 -0.133229 
time: 1403636720.513556, t: 1.227235 4.701436 6.091340 q: 0.985192 0.082818 0.070348 -0.132627 
time: 1403636720.613555, t: 1.196704 4.686247 6.063933 q: 0.985038 0.083840 0.069367 -0.133638 
time: 1403636720.713556, t: 1.174682 4.670303 6.034276 q: 0.984882 0.084834 0.070843 -0.133383 
time: 1403636720.813555, t: 1.158190 4.657570 6.004756 q: 0.985527 0.080651 0.070837 -0.131202 
time: 1403636720.913555, t: 1.144532 4.646358 5.975378 q: 0.986660 0.069844 0.071984 -0.128229 
time: 1403636721.013556, t: 1.125908 4.638952 5.951814 q: 0.987943 0.058839 0.075888 -0.121441 
time: 1403636721.113555, t: 1.102782 4.635169 5.929696 q: 0.989146 0.046519 0.080689 -0.113648 
time: 1403636721.213556, t: 1.079255 4.634729 5.909015 q: 0.990079 0.030951 0.086342 -0.106449 
time: 1403636721.313555, t: 1.059590 4.633514 5.886049 q: 0.990673 0.018133 0.090976 -0.099809 
time: 1403636721.413555, t: 1.045093 4.635154 5.860254 q: 0.990896 0.007133 0.093657 -0.096449 
time: 1403636721.513556, t: 1.033626 4.637481 5.831166 q: 0.991110 -0.002467 0.093971 -0.094152 
time: 1403636721.613555, t: 1.022092 4.640390 5.801814 q: 0.991288 -0.014142 0.093478 -0.091709 
time: 1403636721.713556, t: 1.006023 4.645065 5.774344 q: 0.991195 -0.022962 0.094012 -0.090367 
time: 1403636721.813555, t: 0.985787 4.648462 5.748544 q: 0.991006 -0.028754 0.094328 -0.090463 
time: 1403636721.913555, t: 0.960862 4.654358 5.725722 q: 0.990922 -0.030447 0.095629 -0.089452 
time: 1403636722.013556, t: 0.934501 4.659912 5.702977 q: 0.990251 -0.033121 0.095833 -0.095504 
time: 1403636722.113555, t: 0.913264 4.661474 5.675443 q: 0.989901 -0.033631 0.095372 -0.099339 
time: 1403636722.213556, t: 0.897417 4.660812 5.645368 q: 0.990255 -0.030979 0.094558 -0.097436 
time: 1403636722.313555, t: 0.885067 4.657546 5.612189 q: 0.990646 -0.027668 0.094064 -0.094907 
optimize pose graph 
time: 1403636722.413555, t: 0.869441 4.653353 5.580923 q: 0.990759 -0.028672 0.093555 -0.093926 
time: 1403636722.513556, t: 0.848974 4.651802 5.552182 q: 0.990716 -0.032895 0.094837 -0.091681 
time: 1403636722.613555, t: 0.824632 4.649986 5.525054 q: 0.990591 -0.037310 0.094855 -0.091324 
time: 1403636722.713556, t: 0.798404 4.648246 5.497895 q: 0.990419 -0.040700 0.095153 -0.091432 
time: 1403636722.813555, t: 0.772331 4.642360 5.471619 q: 0.990270 -0.043763 0.094226 -0.092580 
time: 1403636722.913555, t: 0.751761 4.636428 5.442578 q: 0.990260 -0.044752 0.094115 -0.092333 
time: 1403636723.013556, t: 0.739253 4.626008 5.411357 q: 0.990565 -0.043452 0.094397 -0.089344 
time: 1403636723.113555, t: 0.730493 4.614166 5.375612 q: 0.990816 -0.041799 0.095366 -0.086261 
time: 1403636723.213556, t: 0.719915 4.602573 5.341675 q: 0.990867 -0.041880 0.095491 -0.085503 
time: 1403636723.313555, t: 0.705174 4.591989 5.310825 q: 0.990561 -0.044080 0.094889 -0.088554 
time: 1403636723.413555, t: 0.687367 4.582145 5.282388 q: 0.990061 -0.050338 0.096084 -0.089515 
time: 1403636723.513556, t: 0.667848 4.572699 5.254307 q: 0.988893 -0.060666 0.103164 -0.088131 
time: 1403636723.613555, t: 0.651617 4.560599 5.222232 q: 0.987587 -0.067442 0.116968 -0.080264 
time: 1403636723.713556, t: 0.636475 4.544596 5.186353 q: 0.987602 -0.075044 0.115720 -0.074956 
time: 1403636723.813555, t: 0.620508 4.527250 5.146958 q: 0.988422 -0.081617 0.107578 -0.069189 
time: 1403636723.913555, t: 0.602406 4.511737 5.107287 q: 0.989061 -0.086018 0.101130 -0.064276 
time: 1403636724.013556, t: 0.579221 4.496746 5.071081 q: 0.989615 -0.091290 0.093362 -0.060094 
time: 1403636724.113555, t: 0.552551 4.484499 5.038114 q: 0.989501 -0.101349 0.087227 -0.054842 
time: 1403636724.213556, t: 0.522924 4.472764 5.011299 q: 0.988284 -0.115250 0.087511 -0.048524 
time: 1403636724.313555, t: 0.491521 4.464540 4.989426 q: 0.986108 -0.132461 0.090934 -0.042139 
time: 1403636724.413555, t: 0.463926 4.455687 4.967327 q: 0.983157 -0.150195 0.097914 -0.035454 
time: 1403636724.513556, t: 0.443037 4.444286 4.944307 q: 0.980391 -0.164341 0.104347 -0.030621 
time: 1403636724.613555, t: 0.430403 4.429959 4.919878 q: 0.978345 -0.174325 0.108209 -0.027244 
optimize pose graph 
time: 1403636724.713556, t: 0.424215 4.411556 4.891242 q: 0.977162 -0.180378 0.109573 -0.024752 
time: 1403636724.813555, t: 0.424263 4.392033 4.859682 q: 0.976752 -0.183441 0.108598 -0.022629 
time: 1403636724.913555, t: 0.428964 4.371287 4.826875 q: 0.977112 -0.182659 0.107263 -0.019570 
time: 1403636725.013556, t: 0.439959 4.347035 4.791259 q: 0.977851 -0.179167 0.107151 -0.014986 
time: 1403636725.113555, t: 0.458217 4.323075 4.751328 q: 0.978465 -0.175724 0.107662 -0.011660 
time: 1403636725.213556, t: 0.478549 4.300703 4.711731 q: 0.978863 -0.174061 0.106802 -0.011080 
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time: 1403636725.713556, t: 0.532151 4.220278 4.559273 q: 0.978078 -0.177866 0.106416 -0.020053 
time: 1403636725.813555, t: 0.529853 4.209460 4.541189 q: 0.978078 -0.177879 0.106339 -0.020383 
time: 1403636725.913555, t: 0.523708 4.200872 4.525141 q: 0.978566 -0.176108 0.105240 -0.017864 
time: 1403636726.013556, t: 0.514329 4.192525 4.513275 q: 0.978795 -0.174680 0.105628 -0.017032 
time: 1403636726.113555, t: 0.500909 4.185386 4.504808 q: 0.978696 -0.174741 0.106027 -0.019413 
time: 1403636726.213556, t: 0.485916 4.179953 4.497978 q: 0.978505 -0.174109 0.108420 -0.021446 
time: 1403636726.313555, t: 0.469676 4.175265 4.492052 q: 0.978574 -0.173219 0.108881 -0.023071 
time: 1403636726.413555, t: 0.458887 4.169079 4.483314 q: 0.978538 -0.172203 0.110414 -0.024853 
time: 1403636726.513556, t: 0.454415 4.159662 4.470488 q: 0.978876 -0.169456 0.112086 -0.022893 
time: 1403636726.613555, t: 0.455286 4.150899 4.454945 q: 0.980008 -0.161035 0.116450 -0.009561 
time: 1403636726.713556, t: 0.461397 4.143751 4.433583 q: 0.980399 -0.156318 0.119898 -0.002580 
time: 1403636726.813555, t: 0.470314 4.139359 4.408234 q: 0.979742 -0.159845 0.120074 -0.011731 
optimize pose graph 
time: 1403636726.913555, t: 0.486522 4.134936 4.376069 q: 0.979567 -0.160794 0.118593 -0.022995 
time: 1403636727.013556, t: 0.506019 4.130115 4.339149 q: 0.979727 -0.159485 0.117813 -0.028648 
time: 1403636727.113555, t: 0.526774 4.124412 4.302506 q: 0.979703 -0.159366 0.116817 -0.033723 
time: 1403636727.213556, t: 0.541256 4.119265 4.266418 q: 0.979569 -0.160548 0.114516 -0.039431 
time: 1403636727.313555, t: 0.551348 4.113849 4.231430 q: 0.979299 -0.162337 0.112396 -0.044588 
time: 1403636727.413555, t: 0.557412 4.106214 4.198948 q: 0.979374 -0.162989 0.110060 -0.046348 
time: 1403636727.513556, t: 0.561621 4.095470 4.168788 q: 0.979270 -0.162492 0.111910 -0.045865 
time: 1403636727.613555, t: 0.567373 4.081207 4.136953 q: 0.979430 -0.160196 0.115346 -0.041815 
time: 1403636727.713556, t: 0.577097 4.063888 4.101407 q: 0.979738 -0.159517 0.114351 -0.039888 
time: 1403636727.813555, t: 0.591229 4.043295 4.063527 q: 0.979654 -0.160596 0.112746 -0.042130 
time: 1403636727.913555, t: 0.608320 4.019084 4.022285 q: 0.978670 -0.165415 0.110780 -0.050698 
time: 1403636728.013556, t: 0.625532 3.991507 3.985369 q: 0.978700 -0.165725 0.110106 -0.050582 
time: 1403636728.113555, t: 0.634357 3.964322 3.949603 q: 0.979140 -0.163259 0.112063 -0.045531 
time: 1403636728.213556, t: 0.638318 3.932662 3.917607 q: 0.979212 -0.161935 0.114577 -0.042331 
time: 1403636728.313555, t: 0.636519 3.901212 3.888741 q: 0.979418 -0.160942 0.115165 -0.039682 
time: 1403636728.413555, t: 0.627405 3.868562 3.863724 q: 0.979844 -0.159497 0.114746 -0.036061 
time: 1403636728.513556, t: 0.610874 3.838155 3.839678 q: 0.980913 -0.153667 0.116844 -0.023304 
time: 1403636728.613555, t: 0.591909 3.809995 3.816439 q: 0.981695 -0.148862 0.117305 -0.018837 
time: 1403636728.713556, t: 0.572924 3.781562 3.795549 q: 0.982096 -0.145843 0.115284 -0.030452 
time: 1403636728.813555, t: 0.557447 3.753495 3.768152 q: 0.983136 -0.137157 0.112360 -0.044798 
time: 1403636728.913555, t: 0.547965 3.720191 3.736237 q: 0.983998 -0.126569 0.112033 -0.056358 
time: 1403636729.013556, t: 0.536188 3.685791 3.706071 q: 0.984653 -0.116896 0.113208 -0.063070 
time: 1403636729.113555, t: 0.519285 3.653436 3.676025 q: 0.984963 -0.109280 0.114995 -0.068425 
time: 1403636729.213556, t: 0.496569 3.622246 3.648254 q: 0.985636 -0.104404 0.112273 -0.070827 
time: 1403636729.313555, t: 0.469566 3.591242 3.622223 q: 0.986221 -0.100365 0.110992 -0.070543 
time: 1403636729.413555, t: 0.440442 3.560206 3.593913 q: 0.986329 -0.098345 0.111662 -0.070817 
time: 1403636729.613555, t: 0.389758 3.494389 3.527159 q: 0.986620 -0.096529 0.110825 -0.070575 
time: 1403636729.713556, t: 0.371918 3.457956 3.487429 q: 0.986829 -0.095744 0.110630 -0.069012 
time: 1403636729.813555, t: 0.354385 3.417351 3.446882 q: 0.987148 -0.096955 0.107003 -0.068473 
time: 1403636729.913555, t: 0.332862 3.380018 3.408036 q: 0.987710 -0.097301 0.102742 -0.066374 
time: 1403636730.013556, t: 0.307949 3.345005 3.370193 q: 0.988014 -0.097853 0.099498 -0.065982 
time: 1403636730.113555, t: 0.279782 3.309347 3.336599 q: 0.988205 -0.097299 0.098166 -0.065932 
time: 1403636730.213556, t: 0.250183 3.275827 3.304890 q: 0.988354 -0.097033 0.097106 -0.065664 
time: 1403636730.313555, t: 0.218351 3.243947 3.275592 q: 0.988507 -0.095595 0.097855 -0.064341 
time: 1403636730.413555, t: 0.184776 3.212463 3.249384 q: 0.988688 -0.095291 0.095946 -0.064892 
time: 1403636730.513556, t: 0.154654 3.179497 3.223847 q: 0.989335 -0.095728 0.088406 -0.065083 
time: 1403636730.613555, t: 0.131138 3.146641 3.197182 q: 0.990094 -0.095181 0.081664 -0.063123 
time: 1403636730.713556, t: 0.116245 3.112331 3.172137 q: 0.990374 -0.094729 0.079454 -0.062233 
time: 1403636730.813555, t: 0.111150 3.076772 3.147562 q: 0.990389 -0.095080 0.078247 -0.062978 
time: 1403636730.913555, t: 0.112767 3.041818 3.126108 q: 0.990998 -0.093095 0.077266 -0.057322 
time: 1403636731.013556, t: 0.115401 3.010240 3.108551 q: 0.991615 -0.088903 0.080773 -0.047653 
time: 1403636731.113555, t: 0.117960 2.982270 3.093731 q: 0.991293 -0.084177 0.093651 -0.038494 
time: 1403636731.213556, t: 0.116928 2.961719 3.084211 q: 0.990361 -0.084284 0.102812 -0.038880 
time: 1403636731.313555, t: 0.112594 2.946058 3.075247 q: 0.989037 -0.089008 0.107677 -0.047854 
optimize pose graph 
time: 1403636731.413555, t: 0.105308 2.935230 3.067436 q: 0.988259 -0.093750 0.106789 -0.056134 
time: 1403636731.513556, t: 0.093521 2.925790 3.061006 q: 0.988202 -0.094117 0.106851 -0.056403 
time: 1403636731.613555, t: 0.080471 2.919953 3.055148 q: 0.988868 -0.090698 0.107014 -0.049620 
time: 1403636731.713556, t: 0.064339 2.917061 3.050355 q: 0.989040 -0.089857 0.106969 -0.047787 
time: 1403636731.813555, t: 0.045154 2.917567 3.046413 q: 0.988678 -0.092101 0.106181 -0.052522 
time: 1403636731.913555, t: 0.023606 2.920627 3.043712 q: 0.988344 -0.093298 0.106073 -0.056748 
time: 1403636732.013556, t: -0.001084 2.925214 3.042745 q: 0.988195 -0.093087 0.106980 -0.057979 
time: 1403636732.113555, t: -0.029425 2.932713 3.041857 q: 0.988049 -0.092509 0.108461 -0.058634 
time: 1403636732.213556, t: -0.062034 2.938910 3.042436 q: 0.987722 -0.092489 0.110312 -0.060679 
time: 1403636732.313555, t: -0.088163 2.945975 3.038960 q: 0.987510 -0.091977 0.111925 -0.061937 
time: 1403636732.413555, t: -0.109634 2.951359 3.032113 q: 0.986712 -0.094990 0.112509 -0.068684 
time: 1403636732.513556, t: -0.125405 2.953469 3.019101 q: 0.984395 -0.101399 0.116678 -0.084091 
time: 1403636732.613555, t: -0.137243 2.950972 2.999820 q: 0.982319 -0.105382 0.121843 -0.095382 
time: 1403636732.713556, t: -0.147677 2.939804 2.974552 q: 0.982382 -0.102227 0.126503 -0.092044 
time: 1403636732.813555, t: -0.157588 2.922796 2.946443 q: 0.983465 -0.096920 0.128376 -0.083206 
time: 1403636732.913555, t: -0.171358 2.900428 2.917333 q: 0.983905 -0.095318 0.127987 -0.080407 
time: 1403636733.013556, t: -0.191226 2.877887 2.885895 q: 0.984774 -0.094387 0.122961 -0.078692 
time: 1403636733.113555, t: -0.214393 2.853334 2.852562 q: 0.985634 -0.094318 0.116381 -0.078007 
time: 1403636733.213556, t: -0.234286 2.825900 2.813967 q: 0.985518 -0.095310 0.114663 -0.080767 
time: 1403636733.313555, t: -0.249540 2.792456 2.773218 q: 0.985792 -0.094296 0.113480 -0.080282 
time: 1403636733.413555, t: -0.261563 2.756714 2.727080 q: 0.986776 -0.092069 0.109094 -0.076781 
time: 1403636733.513556, t: -0.268270 2.720197 2.677951 q: 0.987540 -0.090806 0.105364 -0.073609 
time: 1403636733.613555, t: -0.276418 2.681679 2.629279 q: 0.987864 -0.090588 0.102490 -0.073579 
time: 1403636733.713556, t: -0.289915 2.644887 2.583885 q: 0.988286 -0.089827 0.100180 -0.072016 
time: 1403636733.813555, t: -0.306990 2.607198 2.541762 q: 0.988496 -0.089893 0.097858 -0.072241 
time: 1403636733.913555, t: -0.329370 2.571331 2.504801 q: 0.988326 -0.090401 0.097957 -0.073776 
time: 1403636734.013556, t: -0.354134 2.537384 2.470843 q: 0.987294 -0.092010 0.103135 -0.078408 
time: 1403636734.113555, t: -0.380396 2.501375 2.437038 q: 0.986864 -0.092032 0.107920 -0.077347 
time: 1403636734.213556, t: -0.405429 2.464833 2.402744 q: 0.986969 -0.091138 0.109054 -0.075454 
time: 1403636734.313555, t: -0.425298 2.423770 2.365183 q: 0.987353 -0.088979 0.109109 -0.072885 
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time: 1403636734.713556, t: -0.479386 2.262839 2.209004 q: 0.989256 -0.085186 0.095540 -0.070619 
time: 1403636734.813555, t: -0.501203 2.226761 2.178570 q: 0.989294 -0.084501 0.094717 -0.072012 
time: 1403636734.913555, t: -0.526008 2.191637 2.151619 q: 0.989481 -0.083051 0.094136 -0.071895 
time: 1403636735.013556, t: -0.554040 2.157445 2.129916 q: 0.989461 -0.082825 0.094138 -0.072418 
time: 1403636735.113555, t: -0.583729 2.126873 2.110113 q: 0.989520 -0.082052 0.095269 -0.071006 
time: 1403636735.213556, t: -0.609100 2.095576 2.089855 q: 0.989802 -0.081573 0.094428 -0.068710 
time: 1403636735.313555, t: -0.627195 2.063422 2.068180 q: 0.990233 -0.081687 0.092156 -0.065367 
time: 1403636735.413555, t: -0.634574 2.032263 2.044205 q: 0.990127 -0.083238 0.093033 -0.063762 
time: 1403636735.513556, t: -0.633962 2.000837 2.017585 q: 0.989732 -0.086009 0.095689 -0.062257 
time: 1403636735.613555, t: -0.626783 1.969886 1.990994 q: 0.989140 -0.089369 0.098666 -0.062288 
time: 1403636735.713556, t: -0.618212 1.939387 1.967104 q: 0.988948 -0.092375 0.098568 -0.061099 
time: 1403636735.813555, t: -0.611759 1.912233 1.945648 q: 0.988774 -0.094569 0.098635 -0.060443 
time: 1403636735.913555, t: -0.610252 1.886458 1.929763 q: 0.988584 -0.095329 0.099825 -0.060410 
time: 1403636736.013556, t: -0.610927 1.862054 1.916488 q: 0.988405 -0.094771 0.100740 -0.062661 
time: 1403636736.113555, t: -0.607197 1.837338 1.901364 q: 0.988629 -0.087380 0.102873 -0.066287 
time: 1403636736.213556, t: -0.596790 1.809734 1.884302 q: 0.988942 -0.075639 0.105366 -0.071911 
time: 1403636736.313555, t: -0.586808 1.782614 1.865649 q: 0.989170 -0.065311 0.105699 -0.078133 
time: 1403636736.413555, t: -0.577371 1.755822 1.848442 q: 0.989242 -0.057931 0.104964 -0.083830 
time: 1403636736.513556, t: -0.573075 1.729573 1.836295 q: 0.988385 -0.055772 0.105209 -0.094428 
time: 1403636736.613555, t: -0.573659 1.703645 1.826647 q: 0.987497 -0.055094 0.105602 -0.103256 
time: 1403636736.713556, t: -0.580607 1.678468 1.816719 q: 0.987109 -0.053521 0.106755 -0.106562 
time: 1403636736.813555, t: -0.591068 1.648674 1.809889 q: 0.986904 -0.052586 0.106807 -0.108848 
time: 1403636736.913555, t: -0.605464 1.619296 1.802010 q: 0.987089 -0.050551 0.106063 -0.108860 
time: 1403636737.013556, t: -0.622815 1.586984 1.794993 q: 0.987860 -0.045971 0.105687 -0.104165 
time: 1403636737.113555, t: -0.640576 1.551858 1.787364 q: 0.988620 -0.040107 0.106561 -0.098324 
time: 1403636737.213556, t: -0.664225 1.518731 1.781497 q: 0.988976 -0.036459 0.105783 -0.096989 
time: 1403636737.313555, t: -0.687915 1.482301 1.777130 q: 0.989489 -0.033881 0.102512 -0.096205 
time: 1403636737.413555, t: -0.711188 1.449604 1.769576 q: 0.990023 -0.031533 0.098107 -0.096096 
time: 1403636737.513556, t: -0.724802 1.412708 1.758924 q: 0.990344 -0.030722 0.093553 -0.097583 
optimize pose graph 
time: 1403636737.613555, t: -0.734782 1.378755 1.744638 q: 0.990947 -0.028037 0.091416 -0.094239 
time: 1403636737.713556, t: -0.739193 1.343127 1.729581 q: 0.991861 -0.024796 0.088820 -0.087791 
time: 1403636737.813555, t: -0.737032 1.310240 1.712758 q: 0.992433 -0.022785 0.087620 -0.082949 
time: 1403636737.913555, t: -0.727007 1.280062 1.693953 q: 0.992612 -0.022315 0.087625 -0.080903 
time: 1403636738.013556, t: -0.709419 1.251674 1.674249 q: 0.992561 -0.023229 0.088591 -0.080216 
time: 1403636738.113555, t: -0.686708 1.226779 1.654166 q: 0.992113 -0.026279 0.089731 -0.083487 
time: 1403636738.213556, t: -0.664848 1.204495 1.638474 q: 0.991631 -0.028977 0.092132 -0.085673 
time: 1403636738.313555, t: -0.648772 1.187058 1.625110 q: 0.991497 -0.030843 0.092761 -0.085891 
time: 1403636738.413555, t: -0.636453 1.172777 1.614890 q: 0.991560 -0.032573 0.092408 -0.084903 
time: 1403636738.513556, t: -0.626964 1.161845 1.608836 q: 0.991664 -0.037687 0.091467 -0.082554 
time: 1403636738.613555, t: -0.620427 1.153171 1.605851 q: 0.991929 -0.047895 0.089464 -0.076022 
time: 1403636738.713556, t: -0.619209 1.151172 1.609583 q: 0.991556 -0.062753 0.092021 -0.066408 
time: 1403636738.813555, t: -0.619322 1.151622 1.614626 q: 0.990214 -0.080627 0.100147 -0.054271 
time: 1403636738.913555, t: -0.622967 1.155735 1.623585 q: 0.988242 -0.100548 0.108144 -0.039657 
time: 1403636739.013556, t: -0.631668 1.168092 1.633630 q: 0.985713 -0.121396 0.114725 -0.021707 
time: 1403636739.113555, t: -0.643013 1.185229 1.643858 q: 0.982018 -0.146468 0.118892 -0.007253 
time: 1403636739.213556, t: -0.657018 1.206744 1.655829 q: 0.976873 -0.176208 0.121114 -0.000595 
time: 1403636739.313555, t: -0.673478 1.232760 1.664551 q: 0.970548 -0.207254 0.122763 0.003363 
time: 1403636739.413555, t: -0.692201 1.263618 1.670731 q: 0.963694 -0.236517 0.123712 0.007052 
time: 1403636739.513556, t: -0.706006 1.293090 1.676536 q: 0.957000 -0.261171 0.125240 0.015984 
time: 1403636739.613555, t: -0.711028 1.316499 1.678565 q: 0.951523 -0.277682 0.129157 0.028555 
time: 1403636739.713556, t: -0.711501 1.337882 1.677597 q: 0.947602 -0.289629 0.130101 0.035213 
optimize pose graph 
time: 1403636739.813555, t: -0.713457 1.358310 1.677666 q: 0.945495 -0.294457 0.132227 0.043024 
time: 1403636739.913555, t: -0.719516 1.379633 1.680436 q: 0.944365 -0.297615 0.132354 0.045628 
time: 1403636740.013556, t: -0.730972 1.402391 1.685149 q: 0.943990 -0.299272 0.131623 0.044664 
time: 1403636740.113555, t: -0.744997 1.426414 1.691558 q: 0.943973 -0.300494 0.130454 0.039991 
time: 1403636740.213556, t: -0.762160 1.450432 1.698790 q: 0.943883 -0.302452 0.128915 0.031434 
time: 1403636740.313555, t: -0.781929 1.473645 1.708464 q: 0.944189 -0.301528 0.129716 0.027593 
time: 1403636740.413555, t: -0.804885 1.495366 1.720212 q: 0.945234 -0.296616 0.132584 0.031192 
time: 1403636740.513556, t: -0.831187 1.517193 1.733902 q: 0.946143 -0.292175 0.135197 0.034193 
time: 1403636740.613555, t: -0.855607 1.538017 1.744942 q: 0.946733 -0.289908 0.136163 0.033315 
time: 1403636740.713556, t: -0.876006 1.557851 1.751110 q: 0.947938 -0.286885 0.133463 0.036034 
time: 1403636740.813555, t: -0.893481 1.575987 1.755285 q: 0.948794 -0.285412 0.130562 0.035820 
time: 1403636740.913555, t: -0.913700 1.595269 1.760008 q: 0.948741 -0.285436 0.131856 0.032098 
time: 1403636741.013556, t: -0.938773 1.616070 1.767341 q: 0.947621 -0.290117 0.132054 0.020196 
time: 1403636741.113555, t: -0.970909 1.635031 1.778660 q: 0.945490 -0.296826 0.133362 0.012555 
time: 1403636741.213556, t: -1.009159 1.653733 1.792546 q: 0.943082 -0.301865 0.138235 0.019126 
time: 1403636741.313555, t: -1.051454 1.669886 1.808055 q: 0.941951 -0.302939 0.141241 0.031729 
time: 1403636741.413555, t: -1.096696 1.682848 1.823609 q: 0.941789 -0.304547 0.135753 0.043090 
time: 1403636741.713556, t: -1.197972 1.717301 1.851070 q: 0.941972 -0.309773 0.117478 0.054120 
time: 1403636741.813555, t: -1.216249 1.731444 1.855158 q: 0.941393 -0.310861 0.121390 0.049086 
time: 1403636741.913555, t: -1.235548 1.746457 1.861238 q: 0.941031 -0.312101 0.123935 0.041146 
time: 1403636742.013556, t: -1.260509 1.762714 1.872457 q: 0.941130 -0.313862 0.121542 0.031493 
optimize pose graph 
time: 1403636742.113555, t: -1.286875 1.777548 1.887709 q: 0.943041 -0.310942 0.113913 0.031833 
time: 1403636742.213556, t: -1.305975 1.792278 1.901016 q: 0.944977 -0.305751 0.110408 0.036681 
time: 1403636742.313555, t: -1.315305 1.804764 1.913183 q: 0.946255 -0.300230 0.113404 0.040031 
time: 1403636742.413555, t: -1.317545 1.815846 1.925326 q: 0.946223 -0.297220 0.121708 0.038864 
time: 1403636742.513556, t: -1.313974 1.826405 1.935663 q: 0.946233 -0.295417 0.126455 0.037170 
time: 1403636742.613555, t: -1.309167 1.838192 1.944342 q: 0.946348 -0.294053 0.129281 0.035285 
time: 1403636742.713556, t: -1.305989 1.849212 1.953959 q: 0.946083 -0.292846 0.134382 0.033313 
time: 1403636742.813555, t: -1.310272 1.862367 1.968046 q: 0.946036 -0.291704 0.137528 0.031783 
time: 1403636742.913555, t: -1.322062 1.876715 1.984711 q: 0.946322 -0.289730 0.139622 0.032210 
time: 1403636743.013556, t: -1.340109 1.892212 2.003742 q: 0.945713 -0.292217 0.138011 0.034485 
time: 1403636743.113555, t: -1.366506 1.910689 2.023710 q: 0.945705 -0.296702 0.125262 0.043812 
time: 1403636743.213556, t: -1.391738 1.930408 2.044900 q: 0.946139 -0.300789 0.107230 0.053371 
time: 1403636743.313555, t: -1.406101 1.950513 2.064202 q: 0.945849 -0.304539 0.095728 0.058840 
time: 1403636743.413555, t: -1.407970 1.972420 2.085870 q: 0.945214 -0.305938 0.094881 0.063010 
time: 1403636743.513556, t: -1.402391 2.001061 2.108867 q: 0.943964 -0.307809 0.102109 0.061314 
time: 1403636743.613555, t: -1.398744 2.034573 2.137162 q: 0.942520 -0.310181 0.111158 0.055564 
time: 1403636743.713556, t: -1.397404 2.071833 2.170202 q: 0.941151 -0.312699 0.118467 0.049187 
time: 1403636743.813555, t: -1.397389 2.110523 2.208185 q: 0.938386 -0.318097 0.126564 0.047210 
time: 1403636743.913555, t: -1.404119 2.151341 2.249691 q: 0.935518 -0.323252 0.133755 0.049228 
time: 1403636744.013556, t: -1.415931 2.191335 2.294153 q: 0.933277 -0.327733 0.138385 0.049354 
time: 1403636744.113555, t: -1.431133 2.232423 2.339898 q: 0.930149 -0.335490 0.140624 0.049941 
time: 1403636744.213556, t: -1.451883 2.274068 2.387919 q: 0.927176 -0.341471 0.144136 0.054470 
optimize pose graph 
time: 1403636744.313555, t: -1.476349 2.313980 2.437085 q: 0.925068 -0.344512 0.148265 0.059808 
time: 1403636744.413555, t: -1.507383 2.353449 2.488826 q: 0.924193 -0.344262 0.151218 0.066964 
time: 1403636744.613555, t: -1.586669 2.434321 2.591477 q: 0.924250 -0.337761 0.159785 0.078413 
time: 1403636744.713556, t: -1.631629 2.477420 2.638966 q: 0.923892 -0.338158 0.162459 0.075358 
time: 1403636744.813555, t: -1.679399 2.519900 2.683071 q: 0.923416 -0.342582 0.159518 0.067049 
time: 1403636744.913555, t: -1.723867 2.560693 2.719903 q: 0.923987 -0.345486 0.151665 0.062325 
time: 1403636745.013556, t: -1.763656 2.597550 2.751365 q: 0.925619 -0.344398 0.143882 0.062590 
time: 1403636745.113555, t: -1.799215 2.632151 2.778254 q: 0.927861 -0.341569 0.135590 0.063403 
time: 1403636745.213556, t: -1.826785 2.664027 2.805571 q: 0.929580 -0.337765 0.133525 0.062981 
time: 1403636745.313555, t: -1.849241 2.694896 2.829035 q: 0.931084 -0.334581 0.132743 0.059317 
time: 1403636745.413555, t: -1.862254 2.726405 2.848485 q: 0.931164 -0.332389 0.140442 0.052220 
time: 1403636745.613555, t: -1.870586 2.782645 2.878099 q: 0.929178 -0.334469 0.149634 0.048661 
time: 1403636745.713556, t: -1.868657 2.805929 2.887838 q: 0.927129 -0.339323 0.151208 0.049275 
time: 1403636745.813555, t: -1.862167 2.824270 2.890265 q: 0.924949 -0.346032 0.149278 0.049468 
time: 1403636745.913555, t: -1.850942 2.837182 2.889366 q: 0.922080 -0.354091 0.148352 0.048778 
time: 1403636746.013556, t: -1.835328 2.845723 2.885620 q: 0.919246 -0.362687 0.145813 0.046737 
time: 1403636746.113555, t: -1.815270 2.849096 2.881951 q: 0.916919 -0.370046 0.142426 0.045176 
time: 1403636746.213556, t: -1.788944 2.845304 2.874469 q: 0.914944 -0.374206 0.144527 0.044275 
time: 1403636746.313555, t: -1.760575 2.834169 2.868608 q: 0.912015 -0.376745 0.156920 0.040849 
time: 1403636746.413555, t: -1.737568 2.817709 2.867032 q: 0.910316 -0.377031 0.166059 0.039955 
time: 1403636746.513556, t: -1.724213 2.797079 2.870253 q: 0.912314 -0.373666 0.160690 0.047293 
time: 1403636746.613555, t: -1.720810 2.773362 2.876831 q: 0.916895 -0.367532 0.143793 0.059561 
time: 1403636746.713556, t: -1.722817 2.750329 2.888006 q: 0.921970 -0.358331 0.126141 0.075216 
time: 1403636746.813555, t: -1.724012 2.728133 2.901615 q: 0.924873 -0.349841 0.121310 0.086634 
time: 1403636746.913555, t: -1.721389 2.711538 2.916808 q: 0.926072 -0.344560 0.124140 0.090873 
time: 1403636747.013556, t: -1.712601 2.700249 2.930933 q: 0.926371 -0.343213 0.127560 0.088147 
time: 1403636747.113555, t: -1.696715 2.692791 2.940294 q: 0.925155 -0.348070 0.131661 0.074836 
time: 1403636747.213556, t: -1.670534 2.685477 2.947948 q: 0.923387 -0.353065 0.136333 0.064140 
time: 1403636747.313555, t: -1.639735 2.677674 2.951662 q: 0.922036 -0.357039 0.138031 0.057626 
time: 1403636747.413555, t: -1.605037 2.667650 2.955304 q: 0.921020 -0.359442 0.139156 0.056212 
time: 1403636747.513556, t: -1.575583 2.658283 2.962089 q: 0.920217 -0.361495 0.138413 0.057998 
time: 1403636747.613555, t: -1.547763 2.646816 2.974773 q: 0.919713 -0.362784 0.137049 0.061099 
time: 1403636747.713556, t: -1.517801 2.635318 2.985864 q: 0.918913 -0.364744 0.136328 0.063048 
time: 1403636747.813555, t: -1.481029 2.621405 2.995015 q: 0.918086 -0.366765 0.135578 0.064964 
time: 1403636747.913555, t: -1.437756 2.605866 3.001351 q: 0.917506 -0.364960 0.140132 0.073141 
time: 1403636748.013556, t: -1.390648 2.589879 3.008455 q: 0.916846 -0.359794 0.149534 0.087077 
time: 1403636748.113555, t: -1.346837 2.577220 3.016486 q: 0.916226 -0.358186 0.152479 0.094778 
time: 1403636748.213556, t: -1.312108 2.569785 3.025408 q: 0.915786 -0.358922 0.151725 0.097423 
time: 1403636748.313555, t: -1.284411 2.565896 3.033755 q: 0.915212 -0.365708 0.145394 0.086632 
time: 1403636748.413555, t: -1.258990 2.564616 3.044042 q: 0.914500 -0.372611 0.139592 0.073248 
time: 1403636748.513556, t: -1.231128 2.563549 3.052417 q: 0.914012 -0.375079 0.139251 0.067134 
time: 1403636748.613555, t: -1.198641 2.561563 3.059463 q: 0.913968 -0.373596 0.142227 0.069717 
time: 1403636748.713556, t: -1.163138 2.556513 3.065232 q: 0.913958 -0.370131 0.147342 0.077297 
time: 1403636748.813555, t: -1.129159 2.552316 3.070722 q: 0.913808 -0.367369 0.150895 0.085001 
time: 1403636748.913555, t: -1.100172 2.550585 3.075489 q: 0.912863 -0.367273 0.154151 0.089607 
time: 1403636749.013556, t: -1.076310 2.553557 3.079789 q: 0.911548 -0.369100 0.155841 0.092515 
time: 1403636749.113555, t: -1.055050 2.558137 3.083982 q: 0.910558 -0.367919 0.160098 0.099441 
time: 1403636749.213556, t: -1.036473 2.565945 3.083430 q: 0.909550 -0.369834 0.160924 0.100219 
time: 1403636749.313555, t: -1.015715 2.575961 3.076254 q: 0.908021 -0.377463 0.157745 0.090202 
time: 1403636749.413555, t: -0.991190 2.584410 3.065782 q: 0.907038 -0.383215 0.153947 0.082031 
time: 1403636749.513556, t: -0.962165 2.591836 3.047741 q: 0.906455 -0.387648 0.150105 0.074412 
time: 1403636749.613555, t: -0.934443 2.597264 3.031879 q: 0.905996 -0.391550 0.146668 0.065936 
time: 1403636749.713556, t: -0.910525 2.602141 3.018490 q: 0.906345 -0.390791 0.147228 0.064389 
time: 1403636749.813555, t: -0.891794 2.604942 3.009500 q: 0.906193 -0.388465 0.154759 0.062922 
time: 1403636749.913555, t: -0.878071 2.606031 3.003479 q: 0.906156 -0.385451 0.162823 0.061618 
time: 1403636750.013556, t: -0.870402 2.604272 2.998179 q: 0.906844 -0.382159 0.167398 0.059711 
time: 1403636750.113555, t: -0.868995 2.599203 2.993978 q: 0.908311 -0.378883 0.166852 0.059830 
time: 1403636750.213556, t: -0.866041 2.589920 2.986803 q: 0.910143 -0.375826 0.163284 0.061092 
time: 1403636750.313555, t: -0.859474 2.575440 2.974853 q: 0.912218 -0.372987 0.157660 0.062306 
time: 1403636750.413555, t: -0.846987 2.557324 2.957541 q: 0.914126 -0.369851 0.153501 0.063418 
time: 1403636750.513556, t: -0.828347 2.535359 2.935001 q: 0.915678 -0.367022 0.151840 0.061433 
optimize pose graph 
time: 1403636750.613555, t: -0.804406 2.510168 2.909022 q: 0.917222 -0.364043 0.150235 0.060044 
time: 1403636750.713556, t: -0.775600 2.482950 2.878982 q: 0.918289 -0.362538 0.148329 0.057538 
time: 1403636750.813555, t: -0.741560 2.452846 2.845218 q: 0.919313 -0.361087 0.145877 0.056571 
time: 1403636750.913555, t: -0.704073 2.420419 2.809303 q: 0.920005 -0.360835 0.142628 0.055190 
time: 1403636751.013556, t: -0.665460 2.386100 2.774437 q: 0.920167 -0.362013 0.139263 0.053340 
time: 1403636751.113555, t: -0.631038 2.350921 2.745519 q: 0.919994 -0.362500 0.138961 0.053803 
time: 1403636751.213556, t: -0.601430 2.318948 2.718648 q: 0.920551 -0.363070 0.132274 0.057179 
time: 1403636751.413555, t: -0.540916 2.254590 2.673785 q: 0.921081 -0.359617 0.131426 0.070797 
time: 1403636751.513556, t: -0.509352 2.227519 2.655195 q: 0.920650 -0.355771 0.140932 0.077257 
time: 1403636751.613555, t: -0.480018 2.202505 2.636904 q: 0.921993 -0.349204 0.147366 0.079171 
time: 1403636751.713556, t: -0.451915 2.179554 2.617899 q: 0.924644 -0.342616 0.145168 0.081083 
time: 1403636751.813555, t: -0.427034 2.161018 2.598708 q: 0.927656 -0.337261 0.136835 0.083585 
time: 1403636751.913555, t: -0.404118 2.148068 2.579800 q: 0.929494 -0.337496 0.126878 0.077717 
time: 1403636752.013556, t: -0.378065 2.138073 2.561161 q: 0.930113 -0.339802 0.121022 0.069125 
time: 1403636752.113555, t: -0.352301 2.133955 2.544553 q: 0.929962 -0.340701 0.122508 0.063920 
time: 1403636752.213556, t: -0.324274 2.129989 2.531635 q: 0.930118 -0.338335 0.131061 0.056861 
time: 1403636752.313555, t: -0.294640 2.130334 2.517286 q: 0.932252 -0.329912 0.140095 0.049381 
time: 1403636752.413555, t: -0.261135 2.125929 2.503037 q: 0.936128 -0.317289 0.146094 0.040598 
time: 1403636752.513556, t: -0.225754 2.119836 2.485087 q: 0.941972 -0.301098 0.145097 0.031233 
time: 1403636752.613555, t: -0.191845 2.112756 2.468216 q: 0.948436 -0.283399 0.140388 0.021088 
time: 1403636752.713556, t: -0.164099 2.105839 2.453945 q: 0.954752 -0.264434 0.135630 0.011302 
optimize pose graph 
time: 1403636752.813555, t: -0.139679 2.101267 2.440585 q: 0.960527 -0.245133 0.131519 -0.000528 
time: 1403636752.913555, t: -0.121800 2.098651 2.430502 q: 0.965570 -0.225969 0.128012 -0.015038 
time: 1403636753.013556, t: -0.108465 2.095510 2.425361 q: 0.969998 -0.206871 0.123739 -0.031571 
time: 1403636753.113555, t: -0.100270 2.089240 2.425092 q: 0.974078 -0.186186 0.119600 -0.046934 
time: 1403636753.213556, t: -0.097959 2.082188 2.426584 q: 0.977715 -0.163816 0.116132 -0.061245 
time: 1403636753.313555, t: -0.102397 2.074367 2.431639 q: 0.980069 -0.143015 0.112998 -0.079009 
time: 1403636753.413555, t: -0.111254 2.065126 2.437886 q: 0.981953 -0.122549 0.113763 -0.088366 
time: 1403636753.513556, t: -0.116051 2.049540 2.445282 q: 0.983829 -0.105755 0.114403 -0.088367 
time: 1403636753.713556, t: -0.112023 2.007892 2.448687 q: 0.985419 -0.089593 0.116741 -0.085404 
time: 1403636753.813555, t: -0.112392 1.985740 2.450305 q: 0.985106 -0.089147 0.118584 -0.086925 
time: 1403636753.913555, t: -0.117515 1.963715 2.454386 q: 0.985062 -0.090138 0.119105 -0.085682 
time: 1403636754.013556, t: -0.126961 1.941752 2.460221 q: 0.984608 -0.092783 0.120634 -0.085943 
time: 1403636754.213556, t: -0.133314 1.888724 2.457523 q: 0.982555 -0.097819 0.132749 -0.085996 
time: 1403636754.313555, t: -0.132567 1.858327 2.446940 q: 0.981963 -0.101283 0.133918 -0.086925 
time: 1403636754.413555, t: -0.128856 1.820921 2.433584 q: 0.981776 -0.102136 0.133811 -0.088198 
time: 1403636754.513556, t: -0.128276 1.782079 2.416039 q: 0.982260 -0.098029 0.131942 -0.090257 
time: 1403636754.613555, t: -0.134681 1.741437 2.398411 q: 0.983037 -0.090500 0.127085 -0.096426 
time: 1403636754.713556, t: -0.147737 1.696777 2.383131 q: 0.983949 -0.077257 0.124368 -0.102027 
time: 1403636754.813555, t: -0.166323 1.651374 2.368273 q: 0.984459 -0.061922 0.122817 -0.109192 
time: 1403636754.913555, t: -0.188682 1.605621 2.353056 q: 0.984680 -0.049176 0.121849 -0.114625 
time: 1403636755.013556, t: -0.219481 1.562155 2.334918 q: 0.984684 -0.039758 0.120343 -0.119726 
optimize pose graph 
time: 1403636755.113555, t: -0.247774 1.512849 2.319389 q: 0.984778 -0.033152 0.119409 -0.121880 
time: 1403636755.313555, t: -0.298866 1.410490 2.271756 q: 0.986004 -0.026833 0.110647 -0.121793 
time: 1403636755.413555, t: -0.317909 1.353679 2.243314 q: 0.987240 -0.027486 0.099441 -0.121302 
time: 1403636755.513556, t: -0.332552 1.294321 2.214703 q: 0.987625 -0.028885 0.095333 -0.121141 
time: 1403636755.613555, t: -0.348661 1.235420 2.189925 q: 0.987128 -0.031196 0.097114 -0.123182 
time: 1403636755.713556, t: -0.369618 1.177688 2.170024 q: 0.987166 -0.031427 0.099615 -0.120802 
time: 1403636755.813555, t: -0.393491 1.120290 2.152895 q: 0.986985 -0.031001 0.104439 -0.118284 
time: 1403636755.913555, t: -0.419321 1.061089 2.140309 q: 0.986605 -0.030717 0.109083 -0.117336 
time: 1403636756.013556, t: -0.446076 1.001316 2.127068 q: 0.986594 -0.029878 0.111474 -0.115385 
time: 1403636756.113555, t: -0.467390 0.939597 2.110912 q: 0.986278 -0.030143 0.113434 -0.116100 
time: 1403636756.213556, t: -0.485471 0.876596 2.091270 q: 0.985966 -0.029800 0.115944 -0.116360 
time: 1403636756.313555, t: -0.502077 0.813196 2.068013 q: 0.985975 -0.028897 0.116423 -0.116033 
time: 1403636756.413555, t: -0.522479 0.749519 2.046470 q: 0.985679 -0.028700 0.117393 -0.117612 
time: 1403636756.513556, t: -0.546902 0.689205 2.026743 q: 0.985692 -0.027240 0.117696 -0.117543 
time: 1403636756.713556, t: -0.609850 0.568577 1.988048 q: 0.985423 -0.024930 0.119955 -0.118026 
time: 1403636756.813555, t: -0.638100 0.505934 1.964138 q: 0.985321 -0.023432 0.121226 -0.117888 
time: 1403636756.913555, t: -0.661593 0.443979 1.937046 q: 0.985339 -0.022563 0.121033 -0.118108 
time: 1403636757.013556, t: -0.683304 0.379677 1.903786 q: 0.985398 -0.021505 0.120775 -0.118079 
time: 1403636757.113555, t: -0.705416 0.315215 1.871501 q: 0.985596 -0.020195 0.120737 -0.116685 
time: 1403636757.213556, t: -0.736593 0.255272 1.839741 q: 0.985679 -0.019769 0.120472 -0.116329 
time: 1403636757.313555, t: -0.769008 0.193613 1.809272 q: 0.985414 -0.021116 0.119242 -0.119557 
optimize pose graph 
time: 1403636757.413555, t: -0.810246 0.135029 1.779472 q: 0.985607 -0.021404 0.116397 -0.120714 
time: 1403636757.513556, t: -0.856137 0.081100 1.748564 q: 0.985591 -0.021416 0.111914 -0.125009 
time: 1403636757.613555, t: -0.890844 0.015826 1.721189 q: 0.986393 -0.017197 0.101116 -0.128489 
time: 1403636757.713556, t: -0.921970 -0.050831 1.689677 q: 0.987387 -0.011890 0.087992 -0.131086 
time: 1403636757.813555, t: -0.944413 -0.126136 1.657228 q: 0.988073 -0.006383 0.078316 -0.132427 
time: 1403636757.913555, t: -0.957524 -0.200554 1.625915 q: 0.988314 -0.000775 0.075337 -0.132508 
time: 1403636758.013556, t: -0.963514 -0.274318 1.598226 q: 0.987433 0.005084 0.085988 -0.132499 
time: 1403636758.113555, t: -0.972784 -0.343743 1.575312 q: 0.986188 0.010581 0.100095 -0.131541 
time: 1403636758.213556, t: -0.976053 -0.418601 1.555367 q: 0.985152 0.013613 0.109769 -0.131308 
time: 1403636758.313555, t: -0.996792 -0.485521 1.537314 q: 0.984901 0.016150 0.114457 -0.128875 
time: 1403636758.413555, t: -1.024797 -0.555647 1.515709 q: 0.986258 0.016867 0.106888 -0.124845 
time: 1403636758.513556, t: -1.054536 -0.620406 1.504088 q: 0.989382 0.018661 0.087008 -0.114911 
time: 1403636758.613555, t: -1.086912 -0.683547 1.499672 q: 0.992200 0.021558 0.068262 -0.102057 
time: 1403636758.713556, t: -1.108205 -0.738972 1.495618 q: 0.991968 0.021097 0.072967 -0.101146 
time: 1403636758.813555, t: -1.123028 -0.789538 1.495526 q: 0.990108 0.019366 0.089908 -0.105956 
time: 1403636758.913555, t: -1.140474 -0.836250 1.504690 q: 0.987766 0.015901 0.104254 -0.114875 
time: 1403636759.013556, t: -1.158478 -0.877915 1.513299 q: 0.986487 0.014035 0.111126 -0.119575 
time: 1403636759.113555, t: -1.179712 -0.914560 1.523005 q: 0.986966 0.018924 0.115041 -0.110931 
time: 1403636759.213556, t: -1.202031 -0.947891 1.533416 q: 0.988662 0.029234 0.115667 -0.091185 
time: 1403636759.313555, t: -1.226545 -0.971191 1.543822 q: 0.989337 0.034708 0.115945 -0.081022 
time: 1403636759.413555, t: -1.252508 -0.982161 1.553082 q: 0.988117 0.028275 0.117236 -0.095298 
time: 1403636759.513556, t: -1.279926 -0.986343 1.564035 q: 0.986521 0.021561 0.118836 -0.110401 
optimize pose graph 
time: 1403636759.613555, t: -1.308417 -0.986156 1.573523 q: 0.985123 0.017477 0.120060 -0.121709 
time: 1403636759.713556, t: -1.330627 -0.985736 1.576314 q: 0.984508 0.015803 0.119575 -0.127264 
time: 1403636759.813555, t: -1.344514 -0.987428 1.570796 q: 0.984114 0.016118 0.121281 -0.128650 
time: 1403636759.913555, t: -1.357214 -0.989663 1.562072 q: 0.984924 0.015684 0.115266 -0.128034 
time: 1403636760.013556, t: -1.372843 -0.990651 1.553373 q: 0.986131 0.014284 0.105233 -0.127548 
time: 1403636760.113555, t: -1.389020 -0.991365 1.547102 q: 0.987186 0.013183 0.096707 -0.126243 
time: 1403636760.213556, t: -1.404103 -0.991608 1.543274 q: 0.987197 0.013349 0.097468 -0.125554 
time: 1403636760.313555, t: -1.417921 -0.991589 1.541435 q: 0.985782 0.015597 0.112062 -0.124229 
time: 1403636760.413555, t: -1.434409 -0.989645 1.542483 q: 0.984431 0.015129 0.120048 -0.127493 
time: 1403636760.513556, t: -1.453275 -0.986740 1.542148 q: 0.984058 0.013375 0.119759 -0.130799 
time: 1403636760.613555, t: -1.475315 -0.983748 1.541601 q: 0.985075 0.011596 0.109244 -0.132508 
time: 1403636760.713556, t: -1.495514 -0.981800 1.539878 q: 0.985355 0.009271 0.102019 -0.136311 
time: 1403636760.813555, t: -1.512777 -0.982269 1.537562 q: 0.984582 0.008564 0.104987 -0.139655 
time: 1403636761.013556, t: -1.548498 -0.990302 1.534363 q: 0.983968 0.009180 0.107922 -0.141685 
time: 1403636761.113555, t: -1.568638 -0.997613 1.534392 q: 0.985729 0.010243 0.096939 -0.137245 
time: 1403636761.213556, t: -1.587906 -1.006718 1.536837 q: 0.987102 0.009133 0.082649 -0.136802 
time: 1403636761.313555, t: -1.601532 -1.017771 1.540744 q: 0.987662 0.008725 0.076907 -0.136135 
time: 1403636761.413555, t: -1.607557 -1.031644 1.547446 q: 0.986822 0.010270 0.086927 -0.136090 
time: 1403636761.513556, t: -1.608213 -1.047661 1.556899 q: 0.985252 0.011654 0.102585 -0.136448 
time: 1403636761.613555, t: -1.606668 -1.064609 1.565222 q: 0.984146 0.012668 0.113932 -0.135337 
time: 1403636761.713556, t: -1.604412 -1.081933 1.572075 q: 0.984951 0.017163 0.118066 -0.125051 
time: 1403636761.813555, t: -1.601280 -1.097692 1.576379 q: 0.986060 0.021702 0.118738 -0.114524 
optimize pose graph 
time: 1403636761.913555, t: -1.596589 -1.109801 1.578026 q: 0.986357 0.021826 0.117944 -0.112754 
time: 1403636762.013556, t: -1.590244 -1.117721 1.577291 q: 0.985008 0.015291 0.118505 -0.124430 
time: 1403636762.113555, t: -1.582535 -1.124030 1.574705 q: 0.982285 0.004674 0.119809 -0.144016 
time: 1403636762.213556, t: -1.576789 -1.133126 1.570804 q: 0.981431 -0.002338 0.113769 -0.154415 
time: 1403636762.313555, t: -1.575923 -1.145957 1.569145 q: 0.983773 -0.003106 0.098386 -0.150001 
time: 1403636762.413555, t: -1.580938 -1.161238 1.574578 q: 0.985961 -0.001230 0.087670 -0.142103 
time: 1403636762.513556, t: -1.590569 -1.178127 1.587063 q: 0.988441 0.009414 0.090673 -0.121134 
time: 1403636762.613555, t: -1.603742 -1.192119 1.607828 q: 0.989737 0.022816 0.102497 -0.096920 
time: 1403636762.713556, t: -1.621063 -1.198743 1.633554 q: 0.988691 0.025887 0.113842 -0.094129 
time: 1403636762.813555, t: -1.642376 -1.196485 1.662799 q: 0.986702 0.019290 0.118449 -0.109622 
time: 1403636762.913555, t: -1.643412 -1.189346 1.658012 q: 0.980458 0.023439 0.161194 -0.110311 
time: 1403636763.013556, t: -1.656292 -1.173050 1.645243 q: 0.985912 0.000825 0.126008 -0.109995 
time: 1403636763.113555, t: -1.664116 -1.159924 1.641728 q: 0.986241 -0.010014 0.139071 -0.088815 
time: 1403636763.213556, t: -1.664514 -1.156881 1.638724 q: 0.985737 -0.016070 0.146938 -0.080455 
time: 1403636763.313555, t: -1.663566 -1.155342 1.643171 q: 0.986668 -0.015811 0.141788 -0.078310 
time: 1403636763.413555, t: -1.663885 -1.155681 1.642535 q: 0.986902 -0.015505 0.140594 -0.077577 
time: 1403636763.513556, t: -1.663990 -1.155655 1.642418 q: 0.986847 -0.015640 0.140853 -0.077778 
time: 1403636763.613555, t: -1.664035 -1.155591 1.642433 q: 0.986842 -0.015751 0.140856 -0.077809 
time: 1403636763.713556, t: -1.663995 -1.155614 1.642526 q: 0.986845 -0.015652 0.140921 -0.077675 
time: 1403636763.813555, t: -1.664010 -1.155627 1.642497 q: 0.986850 -0.015572 0.140972 -0.077530 
optimize pose graph 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1715755000.360666952]: Shutdown request received.[0m
[33m[ WARN] [1715755000.360716201]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1715755000.361723536]: Shutdown request received.[0m
[33m[ WARN] [1715755000.361776904]: Reason given for shutdown: [user request][0m
killed
