/SLAM-Hive/slam_hive_results/mapping_results/2498/1855_vins-mono+MH_01_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/183f66ae-3c25-11ef-9545-0242ac110003/roslaunch-4425feab7900-117.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/home/catkin_ws/src/VINS-Mono/vins_estimator/launch/euroc.launch
[1mstarted roslaunch server http://4425feab7900:39529/[0m

SUMMARY
========

PARAMETERS
 * /feature_tracker/config_file: /slamhive/mapping...
 * /feature_tracker/vins_folder: /home/catkin_ws/s...
 * /pose_graph/config_file: /slamhive/mapping...
 * /pose_graph/skip_cnt: 0
 * /pose_graph/skip_dis: 0.0
 * /pose_graph/visualization_shift_x: 0
 * /pose_graph/visualization_shift_y: 0
 * /rosdistro: kinetic
 * /rosversion: 1.12.17
 * /vins_estimator/config_file: /slamhive/mapping...
 * /vins_estimator/vins_folder: /home/catkin_ws/s...

NODES
  /
    feature_tracker (feature_tracker/feature_tracker)
    pose_graph (pose_graph/pose_graph)
    vins_estimator (vins_estimator/vins_estimator)

auto-starting new master
[1mprocess[master]: started with pid [128][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/home/catkin_ws/src/VINS-Mono/vins_estimator/launch/euroc.launch http://localhost:11311
[1msetting /run_id to 183f66ae-3c25-11ef-9545-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [141][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [144][0m
[1mprocess[vins_estimator-3]: started with pid [159][0m
[1mprocess[pose_graph-4]: started with pid [180][0m
[0m[ INFO] [1720331553.375643493]: init begins[0m
[0m[ INFO] [1720331553.605622974]: Loaded config_file: /slamhive/mappingtask.yaml[0m
result path /home/shaozu/output//vins_result_no_loop.csv
/home/shaozu/output/ not exists, trying to create it 
/home/shaozu not exists, trying to create it 
[0m[ INFO] [1720331553.606158221]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1720331553.606180699]:  fix extrinsic param [0m
[0m[ INFO] [1720331554.117061138]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1720331554.117200021]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1720331554.167293209]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1720331554.174337335]: waiting for image and imu...[0m
vocabulary_file/home/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_pattern.yml
/home/shaozu/output/pose_graph/ not exists, trying to create it 
no previous pose graph
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720331559.751035503]: 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: 316694981.07 
[33m[ WARN] [1720331562.475861680]: gyroscope bias initial calibration -0.00110107   0.0256824    0.090457[0m
[0m[ INFO] [1720331562.606736640]: Initialization finish![0m
position: 0.009549, 0.017771, 0.137609
position: 0.013060, 0.019074, 0.197691
position: 0.015905, 0.020171, 0.244132
position: 0.015803, 0.020310, 0.271505
position: 0.015287, 0.018302, 0.267586
position: 0.013643, 0.015869, 0.231751
position: 0.011564, 0.013394, 0.176982
position: 0.008558, 0.007388, 0.114719
position: 0.003779, 0.004540, 0.048189
position: -0.001475, 0.003198, -0.017127
position: -0.005393, 0.002910, -0.073722
position: -0.007451, 0.004072, -0.111973
position: -0.007641, 0.007336, -0.122096
position: -0.006817, 0.010386, -0.095550
position: -0.004775, 0.013846, -0.043037
position: -0.001618, 0.015146, 0.021223
position: 0.001912, 0.014630, 0.088177
position: 0.006393, 0.012478, 0.154402
position: 0.012429, 0.008283, 0.219799
position: 0.015748, 0.004383, 0.276929
position: 0.016058, 0.002517, 0.312098
position: 0.016514, 0.000634, 0.314875
position: 0.017045, 0.000332, 0.285242
position: 0.018269, -0.000388, 0.235418
position: 0.017704, -0.002622, 0.171943
position: 0.016281, -0.005685, 0.102454
position: 0.014040, -0.006897, 0.031702
position: 0.011091, -0.007115, -0.032569
position: 0.008591, -0.007078, -0.085295
position: 0.004682, -0.007075, -0.124151
position: 0.000060, -0.004076, -0.140960
position: -0.003989, -0.004205, -0.127830
position: -0.002188, -0.002711, -0.088567
position: 0.002920, -0.000930, -0.032974
position: 0.011794, -0.001277, 0.034207
position: 0.021525, -0.000696, 0.108328
position: 0.030286, -0.000181, 0.183404
position: 0.034642, 0.000431, 0.249078
position: 0.035599, 0.002237, 0.301931
position: 0.034052, 0.004159, 0.331712
position: 0.035792, 0.005020, 0.331497
position: 0.038731, 0.004590, 0.305912
position: 0.041412, 0.001532, 0.262126
position: 0.044346, -0.003560, 0.210263
position: 0.044643, -0.007253, 0.155870
position: 0.038010, -0.010069, 0.105330
position: 0.025957, -0.012054, 0.065721
position: 0.011294, -0.012534, 0.042057
position: -0.002735, -0.013080, 0.033811
position: -0.014711, -0.014695, 0.036903
position: -0.020841, -0.015795, 0.040354
position: -0.025396, -0.013667, 0.045025
position: -0.031304, -0.009407, 0.049783
position: -0.038779, -0.007664, 0.053255
position: -0.048962, -0.008620, 0.055370
position: -0.057909, -0.013278, 0.058248
position: -0.061482, -0.021368, 0.062857
position: -0.060665, -0.030518, 0.066854
position: -0.057037, -0.039119, 0.068700
position: -0.053770, -0.042402, 0.068320
position: -0.048886, -0.044052, 0.068169
position: -0.043344, -0.047726, 0.067917
position: -0.036631, -0.056936, 0.067338
position: -0.027272, -0.073998, 0.067150
position: -0.018081, -0.096843, 0.067261
position: -0.009018, -0.127151, 0.068239
position: 0.000367, -0.162423, 0.070293
position: 0.010530, -0.200321, 0.073717
position: 0.020049, -0.238673, 0.075844
position: 0.026533, -0.274022, 0.073976
position: 0.031775, -0.305705, 0.070049
position: 0.036097, -0.328847, 0.065099
position: 0.038707, -0.343608, 0.060304
position: 0.039056, -0.350122, 0.057669
position: 0.037021, -0.348700, 0.056730
position: 0.033871, -0.339381, 0.058627
position: 0.028506, -0.321183, 0.062563
position: 0.020334, -0.296121, 0.064064
position: 0.012195, -0.265242, 0.063807
position: 0.003448, -0.227907, 0.065103
position: -0.006548, -0.186519, 0.068314
position: -0.016503, -0.142788, 0.072812
position: -0.026184, -0.096398, 0.076846
position: -0.036347, -0.048657, 0.077871
position: -0.045538, -0.001101, 0.077153
position: -0.054493, 0.047329, 0.075380
position: -0.062996, 0.094236, 0.073092
position: -0.071257, 0.140055, 0.069786
position: -0.078878, 0.180580, 0.064307
position: -0.085335, 0.214897, 0.058531
position: -0.090396, 0.242064, 0.055857
position: -0.094315, 0.259163, 0.056702
position: -0.097981, 0.263955, 0.058959
position: -0.100692, 0.256558, 0.061363
position: -0.100631, 0.236184, 0.063901
position: -0.099422, 0.205810, 0.067942
position: -0.096655, 0.168659, 0.071769
position: -0.091886, 0.126868, 0.073436
position: -0.084866, 0.082110, 0.073142
position: -0.076995, 0.034349, 0.072557
position: -0.067822, -0.012768, 0.071731
position: -0.059998, -0.057736, 0.07196optimize pose graph 
1
position: -0.051735, -0.098649, 0.071015
position: -0.043929, -0.132418, 0.067138
position: -0.036687, -0.156353, 0.060404
position: -0.027772, -0.174774, 0.052749
position: -0.016646, -0.188071, 0.045405
position: -0.006823, -0.195012, 0.040735
position: 0.002996, -0.199835, 0.039218
position: 0.013010, -0.205615, 0.039137
position: 0.028452, -0.215231, 0.038605
position: 0.050202, -0.227685, 0.037549
position: 0.075255, -0.239769, 0.036361
position: 0.103104, -0.246480, 0.035838
position: 0.133774, -0.244060, 0.036528
position: 0.164922, -0.231317, 0.038346
position: 0.193064, -0.208894, 0.038029
position: 0.214144, -0.176448, 0.035984
position: 0.225335, -0.132937, 0.032704
position: 0.223807, -0.080671, 0.028263
position: 0.206697, -0.021840, 0.025318
position: 0.174995, 0.038086, 0.024626
position: 0.131303, 0.094280, 0.026487
position: 0.081776, 0.137859, 0.028958
position: 0.029681, 0.163381, 0.028896
position: -0.021383, 0.170034, 0.025593
position: -0.067739, 0.160617, 0.020442
position: -0.107363,optimize pose graph 
 0.135035, 0.015480
position: -0.138199, 0.095482, 0.012610
position: -0.156997, 0.045826, 0.013875
position: -0.163709, -0.008970, 0.017857
position: -0.154713, -0.065373, 0.020979
position: -0.127406, -0.122582, 0.020194
position: -0.089651, -0.180485, 0.018715
position: -0.044133, -0.237167, 0.018520
position: 0.005684, -0.283444, 0.020360
position: 0.057019, -0.305654, 0.020042
position: 0.101696, -0.300781, 0.018552
position: 0.137102, -0.266251, 0.013711
position: 0.159364, -0.206915, 0.007318
position: 0.165506, -0.130262, -0.000270
position: 0.156651, -0.050170, -0.008794
position: 0.136789, 0.022602, -0.016051
position: 0.105087, 0.076759, -0.021316
position: 0.069408, 0.105369, -0.021290
position: 0.033018, 0.105455, -0.020475
position: 0.000168, 0.078975, -0.021376
position: -0.027564, 0.032432, -0.023710
position: -0.051966, -0.025686, -0.026501
position: -0.075564, -0.084214, -0.028794
position: -0.101659, -0.131650, -0.029725
position: -0.129352, -0.156547, -0.029753
position: -0.157519, -0.151699, -0.026998
position: -0.188342, -0.123494, -0.018990
position: -0.224916, -0.085412, -0.008344
position: -0.259577, -0.048172, -0.000488
position: -0.287158, -0.016870, 0.003665
position: -0.300063, 0.003116, 0.003668
position: -0.291915, 0.009729, 0.002088
position: -0.259882, 0.002461, -0.000898
position: -0.210236, -0.012401, -0.005103
position: -0.150613, -0.029741, -0.008195
position: -0.085137, -0.046031, -0.005244
position: -0.017881, -0.057882, 0.000414
position: 0.045156, -0.063963, 0.004995
position: 0.093741, -0.060614, 0.006010
position: 0.118606, -0.045597, 0.003817
position: 0.116081, -0.022520, 0.000587
position: 0.091335, -0.000510, -0.001779
position: 0.053482, 0.014986, -0.004528
position: 0.009557, 0.024409, -0.009001
position: -0.034575, 0.027331, -0.016371
position: -0.070497, 0.022831, -0.028102
position: -0.089628, 0.013537, -0.041780
position: -0.087970, 0.001916, -0.056811
position: -0.067390, -0.009045, -0.071171
position: -0.034649, -0.019232, -0.084909
position: 0.000700, -0.028optimize pose graph 
404, -0.102524
position: 0.033018, -0.037868, -0.124078
position: 0.061118, -0.047486, -0.148170
position: 0.082600, -0.054571, -0.170518
position: 0.095802, -0.058904, -0.185349
position: 0.107724, -0.060731, -0.194379
position: 0.118273, -0.061333, -0.202412
position: 0.127247, -0.061635, -0.212811
position: 0.135211, -0.061549, -0.222852
position: 0.140208, -0.062464, -0.232201
position: 0.142378, -0.064150, -0.235909
position: 0.141950, -0.065783, -0.236258
position: 0.141317, -0.066998, -0.236544
position: 0.139117, -0.068848, -0.236470
position: 0.138216, -0.070319, -0.235870
position: 0.137795, -0.069800, -0.235462
position: 0.137374, -0.069654, -0.235075
position: 0.137241, -0.069522, -0.234883
position: 0.137291, -0.069690, -0.234942
position: 0.137290, -0.069599, -0.234905
position: 0.137300, -0.069538, -0.234832
position: 0.137246, -0.069534, -0.234835
position: 0.137295, -0.069511, -0.234829
position: 0.137289, -0.069498, -0.234840
position: 0.137282, -0.069503, -0.234869
position: 0.137318, -0.069481, -0.234893
position: 0.137331, -0.069523, -0.234939
position: 0.137380, -0.069497, -0.234977
position: 0.137372, -0.069524, -0.234995
position: 0.137399, -0.069533, -0.235056
position: 0.137417, -0.069532, -0.235107
position: 0.137484, -0.069538, -0.235146
position: 0.137464, -0.069551, -0.235169
position: 0.137440, -0.069621, -0.235175
position: 0.137458, -0.069582, -0.235210
position: 0.137439, -0.069589, -0.235222
position: 0.137455, -0.069570, -0.235215
position: 0.137474, -0.069567, -0.235228
position: 0.137428, -0.069552, -0.235208
position: 0.137447, -0.069567, -0.235228
position: 0.137439, -0.069550, -0.235230
position: 0.137403, -0.069548, -0.235230
position: 0.137394, -0.069554, -0.235255
position: 0.137406, -0.069539, -0.235277
position: 0.137356, -0.069532, -0.235261
position: 0.137338, -0.069536, -0.235277
position: 0.137332, -0.069542, -0.235311
position: 0.137325, -0.069522, -0.235324
position: 0.137315, -0.069526, -0.235312
position: 0.137299, -0.069505, -0.235321
position: 0.137249, -0.069495, -0.235297
position: 0.137297, -0.069513, -0.235322
position: 0.137277, -0.069526, -0.235349
position: 0.137260, -0.069543, -0.235348
position: 0.137232, -0.069535, -0.235372
position: 0.137234, -0.069527, -0.235361
position: 0.137216, -0.069527, -0.235353
position: 0.137208, -0.069548, -0.235369
position: 0.137240, -0.069515, -0.235388
position: 0.137224, -0.069515, -0.235392
position: 0.137219, -0.069511, -0.235384
position: 0.137190, -0.069497, -0.235382
position: 0.137178, -0.069511, -0.235375
position: 0.137169, -0.069502, -0.235362
position: 0.137175, -0.069506, -0.235371
position: 0.137156, -0.069501, -0.235377
position: 0.137170, -0.069498, -0.235380
position: 0.137145, -0.069507, -0.235364
position: 0.137136, -0.069481, -0.235362
position: 0.137116, -0.069509, -0.235359
position: 0.137137, -0.069493, -0.235358
position: 0.137131, -0.069489, -0.235360
position: 0.137138, -0.069496, -0.235364
position: 0.137144, -0.069499, -0.235371
position: 0.137134, -0.069484, -0.235378
position: 0.137135, -0.069486, -0.235387
position: 0.137120, -0.069476, -0.235385
position: 0.137115, -0.069486, -0.235379
position: 0.137121, -0.069488, -0.235391
position: 0.137104, -0.069489, -0.235409
position: 0.137118, -0.069476, -0.235413
position: 0.137115, -0.069496, -0.235410
position: 0.137074, -0.069489, -0.235380
position: 0.137083, -0.069482, -0.235392
position: 0.137057, -0.069491, -0.235374
position: 0.137057, -0.069473, -0.235377
position: 0.137049, -0.069478, -0.235363
position: 0.137040, -0.069486, -0.235367
position: 0.137029, -0.069481, -0.235376
position: 0.137010, -0.069468, -0.235360
position: 0.137011, -0.069474, -0.235337
position: 0.137019, -0.069475, -0.235346
position: 0.136999, -0.069457, -0.235344
position: 0.136989, -0.069461, -0.235336
position: 0.137012, -0.069464, -0.235347
position: 0.137004, -0.069480, -0.235339
position: 0.137020, -0.069474, -0.235349
position: 0.137012, -0.069482, -0.235346
position: 0.137015, -0.069475, -0.235369
position: 0.137007, -0.069467, -0.235374
position: 0.136984, -0.069473, -0.235364
position: 0.137012, -0.069468, -0.235362
position: 0.137000, -0.069476, -0.235354
position: 0.137012, -0.069476, -0.235358
position: 0.137007, -0.069476, -0.235377
position: 0.137008, -0.069490, -0.235377
position: 0.137011, -0.069482, -0.235374
position: 0.136998, -0.069475, -0.235359
position: 0.137015, -0.069483, -0.235376
position: 0.136978, -0.069470, -0.235368
position: 0.136959, -0.069493, -0.235320
position: 0.137011, -0.069494, -0.235337
position: 0.137006, -0.069492, -0.235339
position: 0.137046, -0.069177, -0.235136
position: 0.137058, -0.069305, -0.235110
position: 0.137073, -0.069365, -0.235093
position: 0.137039, -0.069414, -0.235074
position: 0.137068, -0.069447, -0.235052
position: 0.137065, -0.069475, -0.235061
position: 0.137068, -0.069490, -0.235053
position: 0.137084, -0.069501, -0.235046
position: 0.137040, -0.069541, -0.235056
position: 0.137035, -0.069547, -0.235046
position: 0.137055, -0.069548, -0.235077
position: 0.137046, -0.069546, -0.235055
position: 0.137078, -0.069525, -0.235048
position: 0.136908, -0.069265, -0.234892
position: 0.137070, -0.069786, -0.235053
position: 0.137208, -0.070024, -0.235273
position: 0.137160, -0.069929, -0.235159
position: 0.137193, -0.069931, -0.235171
position: 0.137319, -0.070167, -0.235298
position: 0.137114, -0.069906, -0.235131
position: 0.137270, -0.070110, -0.235306
position: 0.137285, -0.069732, -0.234958
position: 0.137462, -0.070486, -0.235743
position: 0.137385, -0.070440, -0.235608
position: 0.137387, -0.070380, -0.235600
position: 0.137332, -0.070269, -0.235463
position: 0.137306, -0.070248, -0.235416
position: 0.137348, -0.070242, -0.235425
position: 0.137331, -0.070142, -0.235318
position: 0.137316, -0.070125, -0.235275
position: 0.137294, -0.070084, -0.235267
position: 0.137289, -0.070033, -0.235219
position: 0.137271, -0.070087, -0.235292
position: 0.137309, -0.070071, -0.235256
position: 0.137291, -0.070074, -0.235290
position: 0.137300, -0.070093, -0.235288
position: 0.137313, -0.070098, -0.235304
position: 0.137308, -0.070125, -0.235347
position: 0.137312, -0.070128, -0.235333
position: 0.137329, -0.070137, -0.235352
position: 0.137330, -0.070130, -0.235374
position: 0.137313, -0.070133, -0.235361
position: 0.137355, -0.070143, -0.235390
position: 0.137355, -0.070162, -0.235363
position: 0.137321, -0.070176, -0.235399
position: 0.137335, -0.070175, -0.235387
position: 0.137330, -0.070166, -0.235370
position: 0.137313, -0.070157, -0.235371
position: 0.137351, -0.070156, -0.235379
position: 0.137344, -0.070133, -0.235384
position: 0.137341, -0.070145, -0.235344
position: 0.137338, -0.070149, -0.235366
position: 0.137349, -0.070129, -0.235350
position: 0.137331, -0.070121, -0.235344
position: 0.137347, -0.070141, -0.235355
position: 0.137345, -0.070125, -0.235349
position: 0.137334, -0.070130, -0.235339
position: 0.137342, -0.070148, -0.235356
position: 0.137348, -0.070121, -0.235348
position: 0.137347, -0.070128, -0.235355
position: 0.137368, -0.070143, -0.235367
position: 0.137354, -0.070130, -0.235357
position: 0.137335, -0.070122, -0.235365
position: 0.137358, -0.070138, -0.235361
position: 0.137349, -0.070143, -0.235357
position: 0.137342, -0.070120, -0.235351
position: 0.137356, -0.070147, -0.235361
position: 0.137346, -0.070148, -0.235351
position: 0.137347, -0.070142, -0.235360
position: 0.137351, -0.070136, -0.235368
position: 0.137356, -0.070139, -0.235370
position: 0.137330, -0.070143, -0.235358
position: 0.137362, -0.070142, -0.235378
position: 0.137345, -0.070141, -0.235361
position: 0.137332, -0.070140, -0.235354
position: 0.137340, -0.070133, -0.235347
position: 0.137348, -0.070147, -0.235360
position: 0.137351, -0.070139, -0.235362
position: 0.137356, -0.070121, -0.235359
position: 0.137335, -0.070137, -0.235353
position: 0.137364, -0.070118, -0.235359
position: 0.137342, -0.070130, -0.235369
position: 0.137346, -0.070144, -0.235365
position: 0.137348, -0.070136, -0.235360
position: 0.137342, -0.070139, -0.235372
position: 0.137313, -0.070128, -0.235455
position: 0.137279, -0.070097, -0.235446
position: 0.137308, -0.070125, -0.235442
position: 0.137327, -0.070117, -0.235452
position: 0.137247, -0.070066, -0.235413
position: 0.137252, -0.070076, -0.235411
position: 0.137365, -0.070097, -0.235428
position: 0.137371, -0.070090, -0.235410
position: 0.137274, -0.070084, -0.235425
position: 0.137256, -0.070037, -0.235424
position: 0.137341, -0.070075, -0.235418
position: 0.137386, -0.070107, -0.235471
position: 0.137400, -0.070117, -0.235464
position: 0.137411, -0.070110, -0.235471
position: 0.137367, -0.070122, -0.235465
position: 0.137395, -0.070129, -0.235497
position: 0.137380, -0.070124, -0.235514
position: 0.137364, -0.070134, -0.235490
position: 0.137389, -0.070126, -0.235517
position: 0.137396, -0.070147, -0.235509
position: 0.137398, -0.070140, -0.235485
position: 0.137392, -0.070145, -0.235504
position: 0.137398, -0.070135, -0.235490
position: 0.137391, -0.070137, -0.235487
position: 0.137406, -0.070137, -0.235494
position: 0.137479, -0.070238, -0.235576
position: 0.137440, -0.070228, -0.235577
position: 0.137461, -0.070182, -0.235564
position: 0.137452, -0.070192, -0.235534
position: 0.137456, -0.070179, -0.235541
position: 0.137430, -0.070182, -0.235523
position: 0.137430, -0.070166, -0.235525
position: 0.137412, -0.070177, -0.235515
position: 0.137425, -0.070157, -0.235506
position: 0.137401, -0.070144, -0.235486
position: 0.137421, -0.070137, -0.235488
position: 0.137415, -0.070159, -0.235478
position: 0.137418, -0.070165, -0.235485
position: 0.137429, -0.070160, -0.235502
position: 0.137407, -0.070171, -0.235496
position: 0.137404, -0.070161, -0.235510
position: 0.137420, -0.070182, -0.235505
position: 0.137449, -0.070185, -0.235493
position: 0.137495, -0.070203, -0.235459
position: 0.137522, -0.070236, -0.235334
position: 0.137557, -0.070289, -0.235359
position: 0.138157, -0.070623, -0.235429
position: 0.138288, -0.070597, -0.235510
position: 0.138281, -0.070650, -0.235459
position: 0.138220, -0.070673, -0.235447
position: 0.138173, -0.070732, -0.235351
position: 0.138385, -0.070708, -0.235434
position: 0.138485, -0.070745, -0.235399
position: 0.138560, -0.070773, -0.235311
position: 0.138613, -0.070735, -0.235285
position: 0.138637, -0.070804, -0.235259
position: 0.138750, -0.070704, -0.235125
position: 0.138663, -0.070909, -0.235031
position: 0.138217, -0.072555, -0.235504
position: 0.135689, -0.077521, -0.235395
position: 0.131794, -0.084660, -0.235048
position: 0.127517, -0.094683, -0.234796
position: 0.121726, -0.107605, -0.236711
position: 0.111957, -0.124367, -0.236101
position: 0.098679, -0.141007, -0.228781
position: 0.083300, -0.154722, -0.213171
position: 0.071003, -0.162057, -0.190045
position: 0.064606, -0.163530, -0.161768
position: 0.066561, -0.160508, -0.142507
position: 0.066845, -0.161116, -0.140483
position: 0.070609, -0.159925, -0.148271
position: 0.076036, -0.157013, -0.147868
position: 0.086005, -0.149884, -0.130210
position: 0.099419, -0.139854, -0.095251
position: 0.113358, -0.127511, -0.049784
position: 0.125728, -0.115265, -0.002653
position: 0.136570, -0.105078, 0.041095
position: 0.1468optimize pose graph 
95, -0.098720, 0.077011
position: 0.156629, -0.096866, 0.099590
position: 0.165200, -0.099492, 0.109129
position: 0.171780, -0.105923, 0.112355
position: 0.175866, -0.114770, 0.110948
position: 0.176321, -0.124716, 0.105818
position: 0.172867, -0.135217, 0.098235
position: 0.167043, -0.146203, 0.087528
position: 0.160519, -0.157359, 0.075376
position: 0.154437, -0.167632, 0.071622
position: 0.150203, -0.175704, 0.079411
position: 0.145436, -0.183611, 0.095919
position: 0.139794, -0.191599, 0.120996
position: 0.135361, -0.200016, 0.143211
position: 0.129796, -0.211308, 0.150240
position: 0.124409, -0.225095, 0.142816
position: 0.122570, -0.240295, 0.131401
position: 0.124816, -0.254578, 0.123809
position: 0.134845, -0.266164, 0.126260
position: 0.149011, -0.274723, 0.141093
position: 0.164809, -0.281782, 0.162229
position: 0.178755, -0.290057, 0.187100
position: 0.190923, -0.300435, 0.211005
position: 0.201642, -0.314581, 0.229307
position: 0.210845, -0.332291, 0.240017
position: 0.218598, -0.354986, 0.244518
optimize pose graph 
position: 0.226151, -0.381446, 0.243026
position: 0.232956, -0.407883, 0.245959
position: 0.236315, -0.433904, 0.259113
position: 0.238625, -0.460513, 0.277033
position: 0.244484, -0.488236, 0.291270
position: 0.254169, -0.515582, 0.300098
position: 0.265815, -0.543584, 0.303533
position: 0.279028, -0.575066, 0.300045
position: 0.294826, -0.610536, 0.288438
position: 0.311889, -0.648665, 0.270434
position: 0.337016, -0.687802, 0.248994
position: 0.364329, -0.725893, 0.229312
position: 0.391583, -0.761723, 0.217906
position: 0.422713, -0.797414, 0.216405
position: 0.455683, -0.833187, 0.223202
position: 0.488334, -0.867215, 0.235860
position: 0.521541, -0.899108, 0.252999
position: 0.542347, -0.932729, 0.272952
position: 0.581269, -0.959640, 0.295102
position: 0.606061, -0.988810, 0.309831
position: 0.631838, -1.016195, 0.318823
position: 0.689293, -1.035399, 0.319283
position: 0.721263, -1.057821, 0.317554
position: 0.753356, -1.080769, 0.313279
position: 0.825675, -1.099733, 0.299828
position: 0.865612, -1.1optimize pose graph 
21650, 0.290102
position: 0.923150, -1.156490, 0.275339
position: 0.960164, -1.183648, 0.259518
position: 0.997852, -1.211078, 0.245865
position: 1.034393, -1.237519, 0.237265
position: 1.090811, -1.269255, 0.232743
position: 1.126371, -1.289573, 0.232983
position: 1.162577, -1.308766, 0.236465
position: 1.197115, -1.325345, 0.240608
position: 1.247504, -1.347010, 0.238815
position: 1.281992, -1.360425, 0.234414
position: 1.326786, -1.377858, 0.220181
position: 1.362814, -1.387537, 0.205572
position: 1.401375, -1.398440, 0.188607
position: 1.449013, -1.413491, 0.170155
position: 1.494177, -1.427669, 0.160057
position: 1.546256, -1.446187, 0.159528
position: 1.596328, -1.461464, 0.162017
position: 1.640424, -1.473696, 0.162814
position: 1.688090, -1.485397, 0.154084
position: 1.733945, -1.495547, 0.142451
position: 1.779901, -1.505915, 0.128260
position: 1.835900, -1.517405, 0.112916
position: 1.890340, -1.528734, 0.096959
position: 1.952627, -1.540015, 0.090576
position: 2.013046, -1.551611, 0.088894
position: 2.080759, -1.562572, 0.092473
position: 2.147124, -1.576890, 0.091956
position: 2.219850, -1.593030, 0.093716
position: 2.294854, -1.613833, 0.100709
position: 2.379030, -1.635093, 0.113100
position: 2.458984, -1.657739, 0.121874
position: 2.543059, -1.680171, 0.122006
position: 2.621864, -1.701861, 0.116534
position: 2.695027, -1.722227, 0.110103
position: 2.763554, -1.740117, 0.108845
position: 2.832510, -1.757297, 0.112425
position: 2.903568, -1.771858, 0.122178
position: 2.964299, -1.784958, 0.125048
position: 3.032902, -1.796642, 0.123948
position: 3.099670, -1.806963, 0.116791
position: 3.171059, -1.817306, 0.114468
position: 3.242921, -1.826957, 0.117848
position: 3.317871, -1.839674, 0.127214
position: 3.395530, -1.853212, 0.142121
position: 3.477158, -1.869060, 0.166505
position: 3.560801, -1.888087, 0.195812
position: 3.642296, -1.910829, 0.223729
position: 3.731672, -1.937425, 0.246950
position: 3.818336, -1.962810, 0.278708
position: 3.907200, -1.987433, 0.315938
position: 3.990118, -2.011680, 0.350149
position: 4.073471, -2.035908, 0.376260
position: 4.145023, -2.058825, 0.392964
position: 4.212304, -2.079170, 0.402044
position: 4.273559, -2.094707, 0.401267
position: 4.324049, -2.103722, 0.394100
position: 4.379081, -2.109354, 0.384877
position: 4.429027, -2.113477, 0.371988
position: 4.475121, -2.116689, 0.359692
position: 4.523263, -2.115458, 0.349990
position: 4.573340, -2.112826, 0.352259
position: 4.620895, -2.108836, 0.358328
position: 4.667543, -2.104415, 0.371263
position: 4.710585, -2.096848, 0.392777
position: 4.767823, -2.090288, 0.421396
position: 4.827498, -2.083708, 0.452042
position: 4.872170, -2.074346, 0.466504
position: 4.931284, -2.068547, 0.466898
position: 4.975138, -2.060620, 0.457158
position: 5.027220, -2.055314, 0.442563
position: 5.076394, -2.051935, 0.421391
position: 5.108209, -2.048494, 0.397886
position: 5.145029, -2.049498, 0.386752
position: 5.199487, -2.051750, 0.387815
position: 5.266227, -2.054505, 0.396936
position: 5.326298, -2.055513, 0.408677
position: 5.392258, -2.057410, 0.422296
position: 5.462055, -2.062290, 0.428217
position: 5.535039, -2.074121, 0.419236
position: 5.612098, -2.092813, 0.400621
position: 5.689487, -2.114846, 0.377656
position: 5.767178, -2.137453, 0.350003
position: 5.841638, -2.158235, 0.318712
position: 5.919545, -2.176201, 0.290994
position: 5.994557, -2.193501, 0.272977
position: 6.064705, -2.210578, 0.265415
position: 6.133024, -2.226692, 0.263805
position: 6.198868, -2.242744, 0.273833
position: 6.262527, -2.258425, 0.286443
position: 6.321417, -2.275615, 0.298500
position: 6.380852, -2.290951, 0.304983
position: 6.435068, -2.308282, 0.302341
position: 6.489650, -2.323804, 0.299875
position: 6.541391, -2.339513, 0.292423
position: 6.588755, -2.355311, 0.280132
position: 6.637518, -2.368093, 0.282862
position: 6.682321, -2.380427, 0.287411
position: 6.725578, -2.391649, 0.286107
position: 6.765523, -2.401937, 0.278261
position: 6.794909, -2.408572, 0.253499
position: 6.832656, -2.418393, 0.235683
position: 6.865958, -2.430218, 0.218931
position: 6.896469, -2.438503, 0.203200
position: 6.931277, -2.451378, 0.201082
position: 6.964214, -2.463272, 0.207064
position: 6.994943, -2.470688, 0.217281
position: 7.025078, -2.482293, 0.234476
position: 7.053696, -2.490209, 0.249167
position: 7.083865, -2.499709, 0.256614
position: 7.109521, -2.509859, 0.257986
position: 7.133585, -2.521027, 0.252130
position: 7.149713, -2.531725, 0.242600
position: 7.162427, -2.543267, 0.227876
position: 7.181059, -2.554774, 0.208177
position: 7.190101, -2.566813, 0.202490
position: 7.200807, -2.578026, 0.202821
position: 7.220557, -2.588715, 0.207081
position: 7.241433, -2.600257, 0.210994
position: 7.262026, -2.613013, 0.208788
position: 7.282308, -2.627058, 0.202974
position: 7.293408, -2.643531, 0.205523
position: 7.319994, -2.659408, 0.210277
position: 7.348921, -2.675512, 0.221454
position: 7.378952, -2.692889, 0.243489
position: 7.417574, -2.708519, 0.261636
position: 7.460785, -2.722784, 0.274840
position: 7.506840, -2.736348, 0.285163
position: 7.562400, -2.749003, 0.287648
position: 7.623332, -2.759596, 0.287602
position: 7.688178, -2.771640, 0.283217
position: 7.751768, -2.788222, 0.275596
position: 7.815473, -2.809230, 0.257433
position: 7.875884, -2.835915, 0.231022
position: 7.931556, -2.867732, 0.195618
position: 7.980193, -2.901245, 0.153954
position: 8.024519, -2.932815, 0.112161
position: 8.063925, -2.963998, 0.078468
position: 8.104238, -2.996310, 0.054059
position: 8.156676, -3.027672, 0.038985
position: 8.219620, -3.057415, 0.031611
position: 8.293010, -3.085551, 0.023916
position: 8.370035, -3.112187, 0.013719
position: 8.455588, -3.135853, -0.003703
position: 8.541440, -3.159233, -0.014327
position: 8.635187, -3.177127, -0.017752
position: 8.729801, -3.198524, -0.009444
position: 8.828207, -3.217240, 0.007407
position: 8.925615, -3.241253, 0.028475
position: 9.026882, -3.267143, 0.044262
position: 9.125309, -3.297884, 0.054916
position: 9.219180, -3.333336, 0.059261
position: 9.306030, -3.370937, 0.065196
position: 9.392371, -3.409628, 0.074923
position: 9.472256, -3.447881, 0.093843
position: 9.549608, -3.485574, 0.120453
position: 9.623499, -3.522596, 0.149333
position: 9.690631, -3.557933, 0.174104
position: 9.748637, -3.593987, 0.189910
position: 9.803571, -3.629606, 0.204440
position: 9.858092, -3.666104, 0.212730
position: 9.911004, -3.703369, 0.217464
position: 9.959964, -3.742221, 0.223421
position: 10.005418, -3.782683, 0.228367
position: 10.050472, -3.826305, 0.241114
position: 10.087587, -3.870236, 0.250431
position: 10.118728, -3.915796, 0.254261
position: 10.143741, -3.963718, 0.247701
position: 10.167748, -4.014566, 0.234213
position: 10.192899, -4.068391, 0.218131
position: 10.213942, -4.123196, 0.197710
position: 10.234525, -4.180612, 0.174030
position: 10.250231, -4.236725, 0.151262
position: 10.258647, -4.289728, 0.132979
position: 10.263917, -4.341172, 0.120263
position: 10.271708, -4.392642, 0.115033
position: 10.282775, -4.444503, 0.120270
position: 10.298126, -4.496140, 0.136414
position: 10.318215, -4.545619, 0.161702
position: 10.329921, -4.591617, 0.191347
position: 10.344877, -4.635829, 0.226670
position: 10.354151, -4.678553, 0.266218
position: 10.358239, -4.719109, 0.312847
position: 10.360492, -4.758444, 0.363378
position: 10.360102, -4.799203, 0.406505
position: 10.356719, -4.838459, 0.442430
position: 10.352136, -4.876786, 0.470800
position: 10.345603, -4.914828, 0.489358
position: 10.335135, -4.952839, 0.499896
position: 10.313485, -4.986510, 0.503352
position: 10.297688, -5.027561, 0.503747
position: 10.277259, -5.067171, 0.500628
position: 10.254210, -5.103365, 0.492013
position: 10.230620, -5.136345, 0.478159
position: 10.206909, -5.167157, 0.463286
position: 10.185249, -5.196849, 0.456175
position: 10.164808, -5.224923, 0.457768
position: 10.144785, -5.249985, 0.464319
position: 10.121619, -5.272936, 0.477268
position: 10.089674, -5.287150, 0.495175
position: 10.062243, -5.302596, 0.514865
position: 10.028572, -5.312720, 0.530967
position: 9.995080, -5.321458, 0.540218
position: 9.966885, -5.330574, 0.541650
position: 9.930418, -5.335621, 0.539815
position: 9.894521, -5.339686, 0.533470
position: 9.847174, -5.343386, 0.524677
position: 9.795688, -5.347374, 0.511154
position: 9.735114, -5.351492, 0.493296
position: 9.668964, -5.352811, 0.470415
position: 9.596431, -5.350086, 0.441041
position: 9.523451, -5.350500, 0.412240
position: 9.451244, -5.354224, 0.388765
position: 9.381630, -5.363826, 0.373885
position: 9.315744, -5.380195, 0.369931
position: 9.254605, -5.402507, 0.375495
position: 9.200100, -5.430573, 0.390380
position: 9.145330, -5.455450, 0.402177
position: 9.102280, -5.494564, 0.404909
position: 9.051718, -5.527768, 0.397948
position: 9.012769, -5.568338, 0.400162
position: 8.971672, -5.603951, 0.407825
position: 8.926287, -5.631380, 0.422002
position: 8.890099, -5.658515, 0.443033
position: 8.846839, -5.679599, 0.459279
position: 8.805343, -5.696872, 0.468491
position: 8.769611, -5.710538, 0.469529
position: 8.726381, -5.719652, 0.463392
position: 8.684909, -5.724949, 0.454236
position: 8.641579, -5.727534, 0.449778
position: 8.604075, -5.728492, 0.450613
position: 8.559543, -5.727753, 0.459941
position: 8.513546, -5.724119, 0.476695
position: 8.468745, -5.718465, 0.493277
position: 8.424569, -5.712355, 0.504620
position: 8.379673, -5.707314, 0.509677
position: 8.337748, -5.702295, 0.507822
position: 8.299242, -5.696499, 0.499798
position: 8.259644, -5.687987, 0.489950
position: 8.219994, -5.675214, 0.479401
position: 8.178833, -5.656804, 0.466661
position: 8.139036, -5.631210, 0.458151
position: 8.097218, -5.598369, 0.456282
position: 8.052046, -5.558550, 0.453143
position: 8.006064, -5.517862, 0.440136
position: 7.954707, -5.477783, 0.413769
position: 7.900323, -5.438435, 0.380000
position: 7.843726, -5.400542, 0.351111
position: 7.783134, -5.362383, 0.331304
position: 7.720850, -5.324075, 0.322623
position: 7.656429, -5.288703, 0.324311
position: 7.592507, -5.259884, 0.337042
position: 7.531255, -5.237308, 0.356959
position: 7.468816, -5.212591, 0.375295
position: 7.413769, -5.202650, 0.393400
position: 7.349104, -5.176980, 0.398868
position: 7.293125, -5.163769, 0.400353
position: 7.236618, -5.143769, 0.391436
position: 7.176252, -5.107452, 0.377275
position: 7.123861, -5.077948, 0.366761
position: 7.062731, -5.032349, 0.361199
position: 7.001984, -4.984456, 0.356066
position: 6.946134, -4.945116, 0.346715
position: 6.888660, -4.902589, 0.333016
position: 6.827516, -4.859396, 0.315921
position: 6.757229, -4.813083, 0.293996
position: 6.686456, -4.767235, 0.274298
position: 6.605033, -4.721723, 0.263230
position: 6.519222, -4.676618, 0.259826
position: 6.429818, -4.633797, 0.259054
position: 6.340940, -4.593408, 0.253551
position: 6.256121, -4.557950, 0.244225
position: 6.172380, -4.525527, 0.232453
position: 6.088713, -4.495818, 0.218383
position: 6.006563, -4.470419, 0.201964
position: 5.932661, -4.451272, 0.183678
position: 5.864906, -4.435557, 0.162142
position: 5.800296, -4.421275, 0.137428
position: 5.740821, -4.405993, 0.109372
position: 5.683806, -4.382313, 0.078693
position: 5.635027, -4.365376, 0.053824
position: 5.586919, -4.340678, 0.031959
position: 5.544996, -4.324692, 0.019557
position: 5.504707, -4.307738, 0.005715
position: 5.465492, -4.286708, -0.014134
position: 5.434203, -4.269912, -0.038768
position: 5.402490, -4.247615, -0.070540
position: 5.377308, -4.226945, -0.104858
position: 5.354186, -4.206247, -0.142032
position: 5.332540, -4.188287, -0.181081
position: 5.313941, -4.175808, -0.217529
position: 5.297108, -4.171294, -0.245870
position: 5.281180, -4.175278, -0.268921
position: 5.267001, -4.187386, -0.293127
position: 5.255648, -4.203189, -0.323680
position: 5.248992, -4.223380, -0.358649
position: 5.248310, -4.242553, -0.399937
position: 5.255022, -4.258512, -0.445108
position: 5.266087, -4.278379, -0.493989
position: 5.282881, -4.292098, -0.538447
position: 5.302329, -4.306443, -0.575954
position: 5.325943, -4.314903, -0.605684
position: 5.350952, -4.325181, -0.627880
position: 5.380061, -4.327512, -0.642915
position: 5.409830, -4.333905, -0.649369
position: 5.440322, -4.331640, -0.647727
position: 5.468588, -4.331009, -0.639430
position: 5.496626, -4.322727, -0.627259
position: 5.523389, -4.314701, -0.614012
position: 5.550569, -4.298576, -0.606902
position: 5.579246, -4.280354, -0.606408
position: 5.611197, -4.264171, -0.614189
position: 5.642856, -4.244570, -0.620450
position: 5.679345, -4.228412, -0.633108
position: 5.716242, -4.214516, -0.646507
position: 5.748164, -4.200217, -0.664390
position: 5.774990, -4.185630, -0.687110
position: 5.795041, -4.173780, -0.709067
position: 5.809172, -4.163303, -0.722961
position: 5.814866, -4.154829, -0.734274
position: 5.814455, -4.151322, -0.752325
position: 5.813808, -4.152202, -0.779169
position: 5.812700, -4.162257, -0.809755
position: 5.813292, -4.181559, -0.843352
position: 5.815775, -4.209495, -0.872873
position: 5.821310, -4.250191, -0.898067
position: 5.836185, -4.297263, -0.913950
position: 5.858433, -4.354151, -0.924635
position: 5.890843, -4.414993, -0.927767
position: 5.931944, -4.478035, -0.926765
position: 5.979221, -4.539359, -0.937719
position: 6.031481, -4.599115, -0.964059
position: 6.088352, -4.656087, -0.994517
position: 6.150532, -4.709539, -1.021871
position: 6.214552, -4.759244, -1.042660
position: 6.279331, -4.804910, -1.054258
position: 6.345384, -4.848190, -1.060260
position: 6.413437, -4.889726, -1.060093
position: 6.482533, -4.929520, -1.052544
position: 6.551187, -4.970206, -1.040376
position: 6.617454, -5.014634, -1.026597
position: 6.680406, -5.059422, -1.014014
position: 6.743269, -5.102838, -1.003512
position: 6.807661, -5.141437, -0.990139
position: 6.877014, -5.189664, -0.979159
position: 6.946002, -5.227842, -0.962822
position: 7.016514, -5.272615, -0.947314
position: 7.084553, -5.313691, -0.934738
position: 7.150120, -5.352723, -0.927122
position: 7.214283, -5.391108, -0.925065
position: 7.278640, -5.422576, -0.929920
position: 7.342140, -5.454682, -0.933561
position: 7.406236, -5.480430, -0.931486
position: 7.464355, -5.500491, -0.922691
position: 7.516212, -5.515789, -0.909369
position: 7.574794, -5.533527, -0.895418
position: 7.631102, -5.554190, -0.888973
position: 7.680902, -5.579921, -0.887510
position: 7.721744, -5.609055, -0.887762
position: 7.759814, -5.636339, -0.890769
position: 7.798385, -5.665766, -0.903025
position: 7.839464, -5.693869, -0.919740
position: 7.881857, -5.718651, -0.935166
position: 7.925377, -5.744880, -0.945311
position: 7.973169, -5.776538, -0.948799
position: 8.016141, -5.808684, -0.947024
position: 8.053198, -5.837369, -0.944435
position: 8.087430, -5.870129, -0.946947
position: 8.120401, -5.902913, -0.957797
position: 8.153071, -5.937101, -0.974914
position: 8.186470, -5.973587, -0.995334
position: 8.221216, -6.012241, -1.017860
position: 8.258109, -6.054187, -1.043347
position: 8.294822, -6.095056, -1.068333
position: 8.332960, -6.138432, -1.093648
position: 8.374058, -6.183361, -1.117830
position: 8.423634, -6.230307, -1.134589
position: 8.478572, -6.275329, -1.141138
position: 8.540359, -6.318289, -1.144983
position: 8.598091, -6.353516, -1.147737
position: 8.661179, -6.387456, -1.158313
position: 8.722442, -6.419357, -1.168042
position: 8.791027, -6.450809, -1.186856
position: 8.858553, -6.479289, -1.200132
position: 8.932813, -6.502889, -1.211661
position: 9.008793, -6.516865, -1.217812
position: 9.083342, -6.519618, -1.215365
position: 9.143909, -6.511401, -1.204436
position: 9.191040, -6.495663, -1.185900
position: 9.233110, -6.474526, -1.167745
position: 9.262540, -6.443958, -1.157029
position: 9.275598, -6.402424, -1.150962
position: 9.271720, -6.351025, -1.140258
position: 9.251718, -6.292648, -1.122523
position: 9.213251, -6.226809, -1.099093
position: 9.158454, -6.154599, -1.077730
position: 9.085781, -6.076842, -1.058744
position: 8.989737, -5.992634, -1.031792
position: 8.867166, -5.902129, -0.995503
position: 8.720260, -5.807366, -0.953539
position: 8.553427, -5.709348, -0.911690
position: 8.377349, -5.611561, -0.873331
position: 8.200416, -5.515715, -0.842170
position: 8.025909, -5.424758, -0.817530
position: 7.856341, -5.342506, -0.797731
position: 7.693554, -5.271488, -0.780864
position: 7.539256, -5.213385, -0.760695
position: 7.396096, -5.171588, -0.730910
position: 7.267883, -5.145631, -0.690898
position: 7.158678, -5.133884, -0.645895
position: 7.069267, -5.134217, -0.603070
position: 6.996533, -5.141995, -0.568809
position: 6.940106, -5.152494, -0.548170
position: 6.893995, -5.163505, -0.547405
position: 6.851853, -5.170977, -0.566544
position: 6.811861, -5.174844, -0.592172
position: 6.777835, -5.178588, -0.613919
position: 6.746374, -5.178496, -0.625097
position: 6.722490, -5.180145, -0.630568
position: 6.705488, -5.183816, -0.628834
position: 6.696928, -5.190295, -0.621633
position: 6.696730, -5.203342, -0.614478
position: 6.705536, -5.221767, -0.612614
position: 6.728539, -5.247424, -0.612967
position: 6.758022, -5.267960, -0.618417
position: 6.792950, -5.287198, -0.621942
position: 6.832217, -5.306905, -0.621937
position: 6.878489, -5.326399, -0.623152
position: 6.928866, -5.345097, -0.627586
position: 6.982937, -5.361235, -0.637894
position: 7.038840, -5.374766, -0.654400
position: 7.097494, -5.387886, -0.678866
position: 7.155720, -5.402625, -0.708382
position: 7.209644, -5.418468, -0.741568
position: 7.259522, -5.434149, -0.780716
position: 7.304649, -5.450903, -0.819107
position: 7.346485, -5.471535, -0.850685
position: 7.389514, -5.499598, -0.872016
position: 7.437961, -5.536853, -0.884753
position: 7.495502, -5.584036, -0.890455
position: 7.561109, -5.637994, -0.888410
position: 7.638721, -5.693645, -0.888660
position: 7.720505, -5.748664, -0.892552
position: 7.806468, -5.799961, -0.902272
position: 7.896865, -5.845261, -0.916963
position: 7.989881, -5.883669, -0.937275
position: 8.081734, -5.917355, -0.963154
position: 8.169791, -5.950039, -0.991579
position: 8.253494, -5.982825, -1.021959
position: 8.332269, -6.013427, -1.053641
position: 8.409495, -6.039782, -1.086826
position: 8.487865, -6.059705, -1.115597
position: 8.568356, -6.071813, -1.137806
position: 8.656108, -6.081493, -1.149355
position: 8.746120, -6.089695, -1.151714
position: 8.835105, -6.096236, -1.146406
position: 8.917740, -6.103070, -1.139849
position: 9.000252, -6.112293, -1.145884
position: 9.081761, -6.122073, -1.165491
position: 9.169676, -6.133927, -1.197247
position: 9.251488, -6.137271, -1.221034
position: 9.335078, -6.140030, -1.239069
position: 9.409130, -6.134376, -1.245035
position: 9.473532, -6.124723, -1.244545
position: 9.531567, -6.112251, -1.239168
position: 9.579337, -6.099185, -1.231416
position: 9.619105, -6.088937, -1.219811
position: 9.655029, -6.084269, -1.207969
position: 9.690647, -6.085401, -1.200817
position: 9.727597, -6.089922, -1.199096
position: 9.760849, -6.094670, -1.195944
position: 9.795293, -6.098975, -1.188273
position: 9.830925, -6.102793, -1.174894
position: 9.865126, -6.106777, -1.158228
position: 9.899115, -6.111214, -1.146592
position: 9.932440, -6.114235, -1.143565
position: 9.963231, -6.111718, -1.148034
position: 9.991571, -6.101599, -1.156665
position: 10.016737, -6.084897, -1.168571
position: 10.037873, -6.063500, -1.179839
position: 10.055454, -6.040401, -1.184719
position: 10.069347, -6.018275, -1.181028
position: 10.078585, -5.999111, -1.169639
position: 10.084815, -5.982637, -1.152238
position: 10.085708, -5.972044, -1.128401
position: 10.087841, -5.964027, -1.095571
position: 10.092604, -5.954707, -1.056789
position: 10.093842, -5.944445, -1.013652
position: 10.087037, -5.933314, -0.970740
position: 10.071561, -5.918382, -0.933975
position: 10.047213, -5.901830, -0.904310
position: 10.012648, -5.884730, -0.881947
position: 9.968319, -5.861495, -0.866447
position: 9.915849, -5.826464, -0.856999
position: 9.856377, -5.789740, -0.851405
position: 9.791819, -5.748531, -0.847783
position: 9.724948, -5.700760, -0.850113
position: 9.661538, -5.654040, -0.857960
position: 9.602542, -5.608995, -0.869591
position: 9.548796, -5.562531, -0.880242
position: 9.495585, -5.514872, -0.887122
position: 9.441503, -5.465486, -0.886946
position: 9.385257, -5.415335, -0.881020
position: 9.328233, -5.365561, -0.877459
position: 9.269910, -5.316359, -0.878124
position: 9.212815, -5.267160, -0.880236
position: 9.150153, -5.217509, -0.878174
position: 9.087601, -5.168577, -0.868733
position: 9.020950, -5.122148, -0.851958
position: 8.954994, -5.078470, -0.835745
position: 8.888640, -5.035009, -0.826536
position: 8.825809, -4.990603, -0.820021
position: 8.764593, -4.944929, -0.816391
position: 8.703163, -4.898478, -0.818969
position: 8.640124, -4.851211, -0.819595
position: 8.577650, -4.806641, -0.815596
position: 8.509864, -4.761800, -0.806745
position: 8.441209, -4.717778, -0.794699
position: 8.369534, -4.673071, -0.787500
position: 8.292465, -4.628429, -0.786985
position: 8.217901, -4.584102, -0.791121
position: 8.138310, -4.542363, -0.799124
position: 8.061945, -4.502224, -0.811054
position: 7.984968, -4.462314, -0.827362
position: 7.909546, -4.423223, -0.843594
position: 7.833796, -4.386631, -0.854222
position: 7.761522, -4.350030, -0.857845
position: 7.691319, -4.311871, -0.850523
position: 7.620244, -4.271552, -0.836151
position: 7.544406, -4.235113, -0.816645
position: 7.473765, -4.197057, -0.795919
position: 7.397254, -4.165048, -0.782297
position: 7.319010, -4.136451, -0.775272
position: 7.249736, -4.108421, -0.773441
position: 7.175477, -4.089129, -0.777620
position: 7.106786, -4.070027, -0.788948
position: 7.035439, -4.057589, -0.803851
position: 6.966458, -4.043080, -0.815400
position: 6.894951, -4.031215, -0.819656
position: 6.819613, -4.019728, -0.816037
position: 6.743071, -4.005707, -0.808483
position: 6.666270, -3.989423, -0.799731
position: 6.587593, -3.970071, -0.798813
position: 6.510853, -3.951627, -0.801457
position: 6.432340, -3.928964, -0.811784
position: 6.355296, -3.908690, -0.824871
position: 6.277587, -3.884898, -0.843325
position: 6.196645, -3.863433, -0.858526
position: 6.119197, -3.840164, -0.867105
position: 6.044944, -3.816863, -0.868760
position: 5.969042, -3.793906, -0.863187
position: 5.896279, -3.771318, -0.856751
position: 5.825834, -3.748249, -0.854922
position: 5.754046, -3.725741, -0.860778
position: 5.689320, -3.701997, -0.868305
position: 5.625295, -3.678347, -0.872982
position: 5.564926, -3.654424, -0.869825
position: 5.498144, -3.631238, -0.861062
position: 5.439164, -3.609971, -0.846901
position: 5.374546, -3.588948, -0.836354
position: 5.317260, -3.569230, -0.830799
position: 5.256333, -3.550170, -0.833674
position: 5.203644, -3.532941, -0.840755
position: 5.148369, -3.518581, -0.857624
position: 5.094860, -3.505741, -0.878476
position: 5.043771, -3.496104, -0.907832
position: 4.994057, -3.487720, -0.940531
position: 4.950241, -3.481913, -0.978548
position: 4.901025, -3.475929, -1.011109
position: 4.856192, -3.469761, -1.038218
position: 4.803838, -3.461132, -1.058185
position: 4.754074, -3.453448, -1.080824
position: 4.703157, -3.445688, -1.107412
position: 4.650393, -3.436961, -1.137941
position: 4.598110, -3.425206, -1.172865
position: 4.541182, -3.411341, -1.202443
position: 4.483079, -3.392907, -1.227387
position: 4.424442, -3.371775, -1.242473
position: 4.365647, -3.348758, -1.248927
position: 4.309626, -3.326166, -1.246409
position: 4.257036, -3.301641, -1.236227
position: 4.206769, -3.274996, -1.218556
position: 4.158482, -3.248848, -1.193661
position: 4.113883, -3.223791, -1.164216
position: 4.074932, -3.196482, -1.138502
position: 4.043845, -3.166838, -1.116669
position: 4.023236, -3.135682, -1.098144
position: 4.012200, -3.104977, -1.084677
position: 4.010342, -3.074481, -1.077164
position: 4.011991, -3.046508, -1.064730
position: 4.020608, -3.016336, -1.046477
position: 4.038409, -2.979584, -1.030948
position: 4.056988, -2.945377, -1.011615
position: 4.083287, -2.909369, -1.002953
position: 4.113853, -2.875498, -1.001373
position: 4.150227, -2.846286, -1.012307
position: 4.193781, -2.825584, -1.026075
position: 4.245241, -2.818103, -1.034098
position: 4.300458, -2.828833, -1.034634
position: 4.357023, -2.857373, -1.027656
position: 4.407058, -2.903417, -1.015086
position: 4.453310, -2.957999, -0.999665
position: 4.496738, -3.019007, -0.977122
position: 4.541126, -3.082522, -0.945078
position: 4.584157, -3.148615, -0.913500
position: 4.624804, -3.214812, -0.888930
position: 4.664273, -3.280977, -0.870356
position: 4.703229, -3.347891, -0.854104
position: 4.740664, -3.415877, -0.834573
position: 4.775369, -3.482735, -0.808005
position: 4.801716, -3.550446, -0.772573
position: 4.826496, -3.618544, -0.731235
position: 4.850729, -3.685590, -0.683981
position: 4.872644, -3.750976, -0.630442
position: 4.890890, -3.814579, -0.577057
position: 4.907130, -3.875030, -0.528350
position: 4.918840, -3.926305, -0.484840
position: 4.926686, -3.968217, -0.445768
position: 4.933509, -4.005157, -0.411203
position: 4.938090, -4.035899, -0.384244
position: 4.943265, -4.064747, -0.362980
position: 4.949388, -4.089308, -0.345256
position: 4.957278, -4.107643, -0.329991
position: 4.971464, -4.120835, -0.318502
position: 4.989755, -4.129172, -0.305015
position: 5.016508, -4.129974, -0.297431
position: 5.046779, -4.126037, -0.292325
position: 5.076212, -4.121519, -0.288393
position: 5.105467, -4.117750, -0.286363
position: 5.133621, -4.115434, -0.280595
position: 5.160595, -optimize pose graph 
4.113151, -0.269752
position: 5.185263, -4.111603, -0.257853
position: 5.210854, -4.109541, -0.248792
position: 5.236458, -4.106147, -0.245943
position: 5.258927, -4.102090, -0.248636
position: 5.282719, -4.098981, -0.257617
position: 5.307461, -4.097176, -0.269332
position: 5.333699, -4.097068, -0.282134
position: 5.359069, -4.099233, -0.289704
position: 5.387658, -4.102496, -0.291687
position: 5.415902, -4.105592, -0.286234
position: 5.443958, -4.110133, -0.275015
position: 5.470651, -4.112656, -0.266011
position: 5.495209, -4.116577, -0.260049
position: 5.517602, -4.117316, -0.260105
position: 5.536527, -4.120658, -0.263456
position: 5.554592, -4.122993, -0.270753
position: 5.573272, -4.122300, -0.281579
position: 5.589582, -4.123033, -0.296070
position: 5.608071, -4.119509, -0.311229
position: 5.623137, -4.114575, -0.327785
position: 5.637815, -4.107491, -0.339833
position: 5.648256, -4.103393, -0.348204
position: 5.652672, -4.102768, -0.352207
position: 5.654358, -4.104415, -0.352069
position: 5.654801, optimize pose graph 
-4.107597, -0.355993
position: 5.653785, -4.110980, -0.364601
position: 5.649747, -4.113914, -0.376533
position: 5.640292, -4.115061, -0.384148
position: 5.628663, -4.107621, -0.383169
position: 5.602822, -4.096846, -0.371975
position: 5.574151, -4.079081, -0.353108
position: 5.539672, -4.061077, -0.323300
position: 5.507997, -4.040160, -0.290923
position: 5.475958, -4.020176, -0.269295
position: 5.443185, -3.997608, -0.253079
position: 5.409714, -3.970953, -0.240053
position: 5.374967, -3.942278, -0.234440
position: 5.339904, -3.910947, -0.233677
position: 5.304093, -3.879094, -0.238218
position: 5.270652, -3.846441, -0.247877
position: 5.235910, -3.814336, -0.260099
position: 5.204162, -3.780404, -0.277190
position: 5.173490, -3.747142, -0.296831
position: 5.144183, -3.713828, -0.319359
position: 5.115046, -3.676425, -0.347532
position: 5.089206, -3.639079, -0.373270
position: 5.062866, -3.600209, -0.391887
position: 5.037484, -3.561736, -0.402359
position: 5.013734, -3.525598, -0.405118
position: 4.994157,optimize pose graph 
 -3.492967, -0.401735
position: 4.978796, -3.465416, -0.393334
position: 4.967085, -3.443287, -0.385247
position: 4.955541, -3.427427, -0.382794
position: 4.944707, -3.418650, -0.384960
position: 4.933609, -3.415658, -0.391713
position: 4.922547, -3.416674, -0.400938
position: 4.911196, -3.419304, -0.415592
position: 4.897702, -3.424057, -0.434963
position: 4.885332, -3.431637, -0.457040
position: 4.868184, -3.444329, -0.488178
position: 4.854292, -3.460153, -0.522221
position: 4.837716, -3.482125, -0.562065
position: 4.821969, -3.507039, -0.603093
position: 4.805024, -3.532318, -0.642793
position: 4.786973, -3.556508, -0.675904
position: 4.768560, -3.580511, -0.701301
position: 4.750265, -3.603940, -0.719903
position: 4.733696, -3.628744, -0.730234
position: 4.720475, -3.655924, -0.730968
position: 4.708375, -3.684142, -0.724082
position: 4.700100, -3.714842, -0.716486
position: 4.693335, -3.746231, -0.707270
position: 4.687475, -3.777654, -0.700153
position: 4.682848, -3.807459, -0.695501
position: 4.678573, -3.837849, -0.694641
position: 4.674389, -3.869319, -0.699341
position: 4.668791, -3.901629, -0.709619
position: 4.661001, -3.935758, -0.724397
position: 4.653733, -3.970999, -0.744048
position: 4.647256, -4.005301, -0.768589
position: 4.643086, -4.039178, -0.797452
position: 4.643437, -4.071427, -0.832009
position: 4.648448, -4.101752, -0.872458
position: 4.658071, -4.132070, -0.916495
position: 4.671599, -4.162848, -0.963845
position: 4.685858, -4.193631, -1.006635
position: 4.708028, -4.223958, -1.044396
position: 4.728992, -4.257443, -1.071219
position: 4.750582, -4.293082, -1.090200
position: 4.769808, -4.329095, -1.104018
position: 4.783849, -4.367497, -1.111464
position: 4.796184, -4.408318, -1.114194
position: 4.807854, -4.448839, -1.111073
position: 4.816863, -4.486410, -1.109291
position: 4.829264, -4.523173, -1.110341
position: 4.841214, -4.559576, -1.115419
position: 4.851848, -4.595587, -1.123607
position: 4.860380, -4.631998, -1.136831
position: 4.866978, -4.668708, -1.156277
position: 4.875387, -4.707211, -1.171484
position: 4.889420, -4.748833, -1.181746
position: 4.902072, -4.788654, -1.180273
position: 4.921447, -4.832107, -1.179465
position: 4.942260, -4.873987, -1.182960
position: 4.971615, -4.919670, -1.195154
position: 5.005067, -4.964332, -1.209853
position: 5.048845, -5.014439, -1.229958
position: 5.097618, -5.064819, -1.248078
position: 5.156459, -5.117201, -1.264906
position: 5.218087, -5.169231, -1.275713
position: 5.284527, -5.221306, -1.282767
position: 5.351450, -5.267726, -1.292458
position: 5.420709, -5.315080, -1.306296
position: 5.495825, -5.363362, -1.325349
position: 5.573058, -5.411736, -1.342109
position: 5.652084, -5.461444, -1.351947
position: 5.728084, -5.510131, -1.352629
position: 5.800693, -5.562086, -1.350387
position: 5.869815, -5.616533, -1.354903
position: 5.935743, -5.669756, -1.368245
position: 5.999284, -5.720093, -1.385631
position: 6.061736, -5.767923, -1.402377
position: 6.127166, -5.814342, -1.408953
position: 6.192583, -5.859014, -1.415227
position: 6.2650optimize pose graph 
15, -5.903576, -1.411147
position: 6.339558, -5.946964, -1.409560
position: 6.420062, -5.990832, -1.398906
position: 6.501706, -6.033127, -1.388932
position: 6.584742, -6.075734, -1.383549
position: 6.672090, -6.115740, -1.366825
position: 6.763294, -6.156553, -1.346950
position: 6.858379, -6.194027, -1.315160
position: 6.950601, -6.228882, -1.287571
position: 7.046417, -6.264778, -1.265751
position: 7.141907, -6.303118, -1.259241
position: 7.232868, -6.341146, -1.262634
position: 7.322484, -6.381025, -1.274193
position: 7.412630, -6.421409, -1.291830
position: 7.504765, -6.461795, -1.314609
position: 7.592818, -6.501594, -1.340327
position: 7.679334, -6.544955, -1.361382
position: 7.760728, -6.593839, -1.373401
position: 7.837700, -6.646758, -1.381002
position: 7.911762, -6.699989, -1.394290
position: 7.982313, -6.750255, -1.413656
position: 8.049865, -6.795721, -1.433134
position: 8.114957, -6.834644, -1.445530
position: 8.180851, -6.868480, -1.449638
position: 8.241093, -6.893975, -1.450266
position: 8.304optimize pose graph 
296, -6.915401, -1.444772
position: 8.366228, -6.932987, -1.444499
position: 8.429527, -6.945255, -1.451652
position: 8.494467, -6.953999, -1.464045
position: 8.561956, -6.960398, -1.478691
position: 8.632925, -6.962185, -1.491592
position: 8.707975, -6.962044, -1.497370
position: 8.780079, -6.955153, -1.497755
position: 8.859013, -6.947624, -1.498979
position: 8.934275, -6.932953, -1.508646
position: 9.011154, -6.916020, -1.524538
position: 9.086336, -6.896031, -1.543613
position: 9.161736, -6.876178, -1.566507
position: 9.231529, -6.858168, -1.593086
position: 9.298344, -6.842111, -1.622617
position: 9.355227, -6.828800, -1.645905
position: 9.409614, -6.815330, -1.664768
position: 9.460416, -6.800919, -1.678638
position: 9.509817, -6.783693, -1.688623
position: 9.559014, -6.761354, -1.698172
position: 9.605810, -6.734086, -1.704582
position: 9.650701, -6.703788, -1.702925
position: 9.690336, -6.671067, -1.697454
position: 9.725934, -6.634112, -1.690314
position: 9.757417, -6.591884, -1.682582
position: 9.78optimize pose graph 
1590, -6.543972, -1.673867
position: 9.800464, -6.492612, -1.660713
position: 9.813869, -6.440238, -1.642486
position: 9.821007, -6.392680, -1.617310
position: 9.823924, -6.347235, -1.590230
position: 9.825164, -6.297937, -1.560383
position: 9.819221, -6.250442, -1.526897
position: 9.809947, -6.199020, -1.490419
position: 9.796642, -6.142758, -1.456413
position: 9.777377, -6.083643, -1.429058
position: 9.751230, -6.023766, -1.408062
position: 9.718027, -5.963343, -1.391796
position: 9.680917, -5.901090, -1.376635
position: 9.639994, -5.835961, -1.354827
position: 9.592881, -5.768683, -1.325467
position: 9.545665, -5.703124, -1.288851
position: 9.498013, -5.637255, -1.244769
position: 9.446246, -5.573890, -1.199027
position: 9.394841, -5.513783, -1.157568
position: 9.339941, -5.455521, -1.121640
position: 9.284663, -5.403819, -1.092021
position: 9.226206, -5.354797, -1.068202
position: 9.167486, -5.312042, -1.050616
position: 9.108491, -5.269338, -1.038184
position: 9.049285, -5.231954, -1.030800
position: 8.9optimize pose graph 
optimize pose graph 
89426, -5.194869, -1.025451
position: 8.929488, -5.161535, -1.025391
position: 8.872962, -5.134014, -1.032506
position: 8.817785, -5.106358, -1.040044
position: 8.763178, -5.081067, -1.041932
position: 8.708354, -5.057969, -1.035664
position: 8.660403, -5.038289, -1.022767
position: 8.615537, -5.018306, -1.004016
position: 8.573051, -4.998531, -0.979909
position: 8.533475, -4.977530, -0.953852
position: 8.500437, -4.957933, -0.933380
position: 8.473855, -4.938958, -0.919980
position: 8.450760, -4.922268, -0.914561
position: 8.428915, -4.910206, -0.914561
position: 8.408031, -4.902333, -0.915497
position: 8.385530, -4.896793, -0.915704
position: 8.361211, -4.892325, -0.907721
position: 8.331534, -4.887802, -0.897550
position: 8.293150, -4.883865, -0.881741
position: 8.252752, -4.879921, -0.865141
position: 8.206959, -4.877590, -0.851024
position: 8.163040, -4.875724, -0.846428
position: 8.119840, -4.875980, -0.845507
position: 8.076641, -4.874527, -0.853651
position: 8.033848, -4.873699, -0.865028
position: 7.990534, -4.872553, -0.879380
position: 7.943562, -4.870620, -0.891193
position: 7.893924, -4.869061, -0.894585
position: 7.844899, -4.868323, -0.891974
position: 7.790862, -4.869503, -0.886317
position: 7.733651, -4.871431, -0.880196
position: 7.674291, -4.871174, -0.875302
position: 7.614633, -4.866582, -0.876294
position: 7.561995, -4.856055, -0.880366
position: 7.499595, -4.843581, -0.890680
position: 7.440446, -4.826072, -0.901171
position: 7.378019, -4.802698, -0.903991
position: 7.314886, -4.772447, -0.901747
position: 7.249838, -4.736992, -0.892553
position: 7.185424, -4.699011, -0.887891
position: 7.117198, -4.659110, -0.891976
position: 7.050701, -4.616744, -0.902882
position: 6.985588, -4.573469, -0.918640
position: 6.922983, -4.531115, -0.937634
position: 6.860710, -4.492062, -0.960698
position: 6.801910, -4.458719, -0.986888
position: 6.753354, -4.431219, -1.008039
position: 6.708581, -4.405125, -1.021263
position: 6.659361, -4.373921, -1.023705
position: 6.613288, -4.346431, -1.026300
position: 6optimize pose graph 
.562216, -4.316606, -1.029885
position: 6.510640, -4.290794, -1.046624
position: 6.458940, -4.267292, -1.063464
position: 6.404157, -4.247610, -1.083602
position: 6.349679, -4.228640, -1.090724
position: 6.293680, -4.212863, -1.092594
position: 6.239158, -4.196246, -1.087876
position: 6.183592, -4.183730, -1.090333
position: 6.133952, -4.169330, -1.095424
position: 6.087805, -4.156540, -1.105962
position: 6.040438, -4.147631, -1.123043
position: 5.998467, -4.138125, -1.138925
position: 5.958278, -4.135700, -1.153637
position: 5.919527, -4.130331, -1.159120
position: 5.878284, -4.131404, -1.159013
position: 5.844055, -4.128842, -1.153901
position: 5.813880, -4.128628, -1.152760
position: 5.786310, -4.128892, -1.157320
position: 5.756505, -4.133642, -1.168078
position: 5.726945, -4.139894, -1.175683
position: 5.698041, -4.148825, -1.176282
position: 5.666790, -4.159435, -1.170515
position: 5.637831, -4.172095, -1.163228
position: 5.607747, -4.185019, -1.161737
position: 5.578381, -4.196798, -1.166156
position: 5.547746, -4.207727, -1.176408
position: 5.517734, -4.219848, -1.189601
position: 5.483369, -4.231394, -1.200262
position: 5.450299, -4.241286, -1.202997
position: 5.415467, -4.250270, -1.198263
position: 5.376919, -4.259206, -1.193747
position: 5.341528, -4.267467, -1.194032
position: 5.305487, -4.274895, -1.198895
position: 5.268883, -4.281557, -1.207048
position: 5.231168, -4.288026, -1.215728
position: 5.193871, -4.292172, -1.222056
position: 5.153655, -4.295901, -1.220458
position: 5.114394, -4.297275, -1.211526
position: 5.077737, -4.297864, -1.199950
position: 5.042041, -4.298519, -1.192688
position: 5.006835, -4.299272, -1.188654
position: 4.968244, -4.300619, -1.192611
position: 4.931741, -4.299741, -1.193665
position: 4.897466, -4.296335, -1.183052
position: 4.860073, -4.292383, -1.170501
position: 4.821544, -4.287566, -1.159649
position: 4.781267, -4.282435, -1.154282
position: 4.742949, -4.277304, -1.153610
position: 4.704376, -4.274581, -1.158242
position: 4.667510, -4.273011, -1.165672
position:optimize pose graph 
 4.633279, -4.271899, -1.175095
position: 4.599760, -4.270617, -1.180801
position: 4.569022, -4.268210, -1.180893
position: 4.540935, -4.264284, -1.174732
position: 4.515248, -4.257762, -1.159835
position: 4.486759, -4.249028, -1.137583
position: 4.462624, -4.239176, -1.107545
position: 4.437814, -4.229591, -1.070513
position: 4.412989, -4.222032, -1.028589
position: 4.388309, -4.216438, -0.988413
position: 4.366112, -4.212645, -0.953506
position: 4.344176, -4.209258, -0.925230
position: 4.324299, -4.206902, -0.903127
position: 4.306445, -4.204859, -0.886772
position: 4.290093, -4.202694, -0.876223
position: 4.270761, -4.199387, -0.870305
position: 4.254221, -4.196618, -0.869509
position: 4.237577, -4.194343, -0.871911
position: 4.221540, -4.192154, -0.878405
position: 4.205195, -4.189452, -0.887695
position: 4.189867, -4.186290, -0.893709
position: 4.176527, -4.183362, -0.892179
position: 4.151081, -4.176018, -0.874269
position: 4.140181, -4.174541, -0.858932
position: 4.126264, -4.178412, -0.838465
positionoptimize pose graph 
: 4.101454, -4.184351, -0.807246
position: 4.084868, -4.192892, -0.776810
position: 4.066494, -4.202596, -0.740713
position: 4.029893, -4.210474, -0.705151
position: 4.010526, -4.218194, -0.678850
position: 3.988655, -4.223939, -0.658211
position: 3.965507, -4.226544, -0.640844
position: 3.924497, -4.224547, -0.620271
position: 3.900779, -4.221482, -0.596771
position: 3.875489, -4.216548, -0.566352
position: 3.848101, -4.209470, -0.529526
position: 3.818964, -4.199708, -0.492763
position: 3.772878, -4.185954, -0.456305
position: 3.743130, -4.169270, -0.431196
position: 3.710351, -4.150278, -0.411238
position: 3.676097, -4.129687, -0.397337
position: 3.625547, -4.106625, -0.380606
position: 3.588963, -4.086675, -0.376007
position: 3.543052, -4.066067, -0.369644
position: 3.504506, -4.049659, -0.366141
position: 3.458257, -4.030037, -0.349024
position: 3.406041, -4.011332, -0.332268
position: 3.356452, -3.991325, -0.320563
position: 3.307532, -3.972507, -0.313997
position: 3.257574, -3.953187, -0.312767
positiooptimize pose graph 
n: 3.206513, -3.933641, -0.315868
position: 3.154200, -3.912074, -0.319834
position: 3.097645, -3.891318, -0.316504
position: 3.040963, -3.869491, -0.305375
position: 2.983554, -3.844435, -0.291983
position: 2.924370, -3.821780, -0.278743
position: 2.865179, -3.798517, -0.270832
position: 2.808388, -3.771307, -0.268493
position: 2.750544, -3.747329, -0.269706
position: 2.696157, -3.720514, -0.275968
position: 2.640250, -3.696162, -0.284966
position: 2.586622, -3.672017, -0.294539
position: 2.540847, -3.647605, -0.297741
position: 2.496957, -3.622278, -0.292822
position: 2.464213, -3.595213, -0.276134
position: 2.429142, -3.567886, -0.253834
position: 2.399021, -3.539654, -0.231765
position: 2.376692, -3.514816, -0.212382
position: 2.359854, -3.493920, -0.198458
position: 2.346461, -3.478715, -0.190998
position: 2.332600, -3.468578, -0.188597
position: 2.317989, -3.460770, -0.191449
position: 2.305729, -3.455293, -0.201161
position: 2.293606, -3.453094, -0.211173
position: 2.282993, -3.455248, -0.227107
position: 2.272191, -3.459763, -0.247263
position: 2.261198, -3.465172, -0.269202
position: 2.250314, -3.472078, -0.294789
position: 2.238316, -3.479773, -0.325191
position: 2.222897, -3.487877, -0.352832
position: 2.205364, -3.496710, -0.374161
position: 2.186222, -3.505847, -0.385534
position: 2.162816, -3.512991, -0.390290
position: 2.136455, -3.514459, -0.389518
position: 2.100960, -3.510185, -0.383320
position: 2.060516, -3.503006, -0.370099
position: 2.015105, -3.493955, -0.362188
position: 1.971593, -3.481870, -0.359317
position: 1.917805, -3.469381, -0.353338
position: 1.867317, -3.453363, -0.340383
position: 1.809117, -3.436966, -0.320982
position: 1.752217, -3.418262, -0.295492
position: 1.699669, -3.397327, -0.270259
position: 1.643414, -3.377184, -0.248472
position: 1.591706, -3.355239, -0.232952
position: 1.536924, -3.333946, -0.223568
position: 1.483282, -3.311709, -0.218090
position: 1.431022, -3.286616, -0.215087
position: 1.377351, -3.262084, -0.213343
position: 1.323805, -3.234119, -0.204878
position: 1.267678, -3.207394, -0.190981
position: 1.212310, -3.180895, -0.169522
position: 1.160488, -3.154540, -0.147227
position: 1.106600, -3.128547, -0.132874
position: 1.056102, -3.104158, -0.122328
position: 1.005288, -3.078641, -0.120596
position: 0.957506, -3.053578, -0.123111
position: 0.910588, -3.029926, -0.129055
position: 0.867598, -3.004618, -0.135259
position: 0.828078, -2.980244, -0.135174
position: 0.796527, -2.958437, -0.126625
position: 0.763484, -2.933200, -0.103522
position: 0.732294, -2.909915, -0.075114
position: 0.702655, -2.886892, -0.043139
position: 0.674452, -2.865243, -0.015832
position: 0.649628, -2.846044, 0.003137
position: 0.626637, -2.824934, 0.019921
position: 0.605054, -2.804890, 0.036542
position: 0.580767, -2.784381, 0.060231
position: 0.554937, -2.764087, 0.090236
position: 0.524017, -2.745180, 0.112378
position: 0.499066, -2.727037, 0.130990
position: 0.477222, -2.708206, 0.142528
position: 0.453502, -2.688157, 0.150372
position: 0.427154, -2.665597, 0.151360
position: 0.39optimize pose graph 
9094, -2.639872, 0.151770
position: 0.369000, -2.611123, 0.149400
position: 0.337076, -2.578836, 0.142339
position: 0.302909, -2.546335, 0.133774
position: 0.270130, -2.511373, 0.120875
position: 0.233453, -2.478980, 0.108360
position: 0.196456, -2.442523, 0.101190
position: 0.159230, -2.411977, 0.102725
position: 0.127566, -2.375425, 0.110293
position: 0.091569, -2.348482, 0.124525
position: 0.069490, -2.316682, 0.148967
position: 0.042262, -2.297527, 0.178271
position: 0.036760, -2.277688, 0.222319
position: 0.017705, -2.265305, 0.259820
position: 0.002200, -2.253900, 0.292103
position: 0.016659, -2.242706, 0.322780
position: 0.005436, -2.233707, 0.343508
position: -0.000132, -2.225997, 0.357566
position: -0.002624, -2.221324, 0.364541
position: 0.031684, -2.219701, 0.364669
position: 0.055051, -2.221449, 0.356315
position: 0.074045, -2.227277, 0.340397
position: 0.091453, -2.239817, 0.319893
position: 0.107786, -2.258707, 0.296093
position: 0.123488, -2.281638, 0.267540
position: 0.138053, -2.306139, 0.235optimize pose graph 
896
position: 0.152072, -2.332195, 0.208966
position: 0.164697, -2.356039, 0.195497
position: 0.177585, -2.377503, 0.188844
position: 0.190886, -2.397176, 0.184523
position: 0.203493, -2.417054, 0.175161
position: 0.214836, -2.438039, 0.160837
position: 0.225939, -2.459839, 0.141858
position: 0.230506, -2.481603, 0.118569
position: 0.240831, -2.502646, 0.092775
position: 0.248838, -2.521106, 0.063692
position: 0.240467, -2.534302, 0.027286
position: 0.245862, -2.548826, -0.005413
position: 0.247498, -2.563625, -0.032422
position: 0.246337, -2.579378, -0.053516
position: 0.227389, -2.594222, -0.072136
position: 0.224163, -2.610051, -0.097447
position: 0.218960, -2.624092, -0.129775
position: 0.212585, -2.635103, -0.169277
position: 0.197367, -2.644513, -0.214467
position: 0.188326, -2.653002, -0.264629
position: 0.172338, -2.659559, -0.309825
position: 0.158382, -2.667420, -0.350019
position: 0.146398, -2.677482, -0.383300
position: 0.139843, -2.688873, -0.407949
position: 0.134761, -2.700162, -0.428079
position: 0.131751, -2.711849, -0.455658
position: 0.130429, -2.722068, -0.489502
position: 0.137694, -2.732029, -0.525607
position: 0.142183, -2.737982, -0.547869
position: 0.155880, -2.748315, -0.570216
position: 0.167924, -2.754889, -0.575951
position: 0.188784, -2.763276, -0.581508
position: 0.203473, -2.770445, -0.584684
position: 0.221789, -2.781440, -0.597181
position: 0.234770, -2.789867, -0.617664
position: 0.245277, -2.797529, -0.643985
position: 0.252862, -2.806922, -0.676018
position: 0.261560, -2.817091, -0.716494
position: 0.271519, -2.827641, -0.745976
position: 0.287018, -2.840503, -0.767260
position: 0.311204, -2.857488, -0.780147
position: 0.341848, -2.877556, -0.794641
position: 0.377772, -2.899895, -0.815306
position: 0.416402, -2.925280, -0.842262
position: 0.456425, -2.948209, -0.874154
position: 0.499273, -2.972976, -0.909893
position: 0.540603, -2.995281, -0.953381
position: 0.583132, -3.018268, -1.003101
position: 0.622445, -3.037670, -1.058629
position: 0.662083, -3.058601, -1.120239
position: 0.699070, -3.076850, -1.187275
position: 0.739040, -3.100252, -1.260916
position: 0.769189, -3.121398, -1.335808
position: 0.792616, -3.144247, -1.412770
position: 0.812158, -3.170275, -1.486757
position: 0.824617, -3.192238, -1.550858
position: 0.836002, -3.215128, -1.606797
position: 0.846949, -3.237073, -1.654769
position: 0.859755, -3.259704, -1.697029
position: 0.875344, -3.283523, -1.732062
position: 0.889830, -3.306191, -1.755720
position: 0.903730, -3.327282, -1.771849
position: 0.915394, -3.346833, -1.779337
position: 0.925903, -3.362824, -1.781050
position: 0.939273, -3.378077, -1.774527
position: 0.948045, -3.388394, -1.762120
position: 0.960143, -3.395924, -1.745652
position: 0.972302, -3.397913, -1.724846
position: 0.980410, -3.392604, -1.697328
position: 0.992778, -3.385762, -1.670571
position: 0.998110, -3.368493, -1.651508
position: 1.005161, -3.349685, -1.644832
position: 1.006182, -3.322558, -1.643347
position: 1.012900, -3.297379, -1.646298
position: 1.022887, -3.274949, -1.649525
position: 1.036289, -3.258665, -1.651845
position: 1.052317, -3.247518, -1.646133
position: 1.070501, -3.240348, -1.629820
position: 1.095981, -3.234772, -1.606419
position: 1.119130, -3.224669, -1.574040
position: 1.148484, -3.214952, -1.542411
position: 1.170609, -3.197812, -1.519584
position: 1.200467, -3.183474, -1.495745
position: 1.228863, -3.165917, -1.467040
position: 1.259675, -3.146693, -1.429199
position: 1.292707, -3.126930, -1.383657
position: 1.310135, -3.103375, -1.345129
position: 1.331204, -3.087151, -1.310461
position: 1.357844, -3.077357, -1.281794
position: 1.379071, -3.070007, -1.260272
position: 1.406103, -3.064841, -1.239763
position: 1.427217, -3.059051, -1.218175
position: 1.452088, -3.052871, -1.185670
position: 1.475228, -3.047274, -1.152551
position: 1.495374, -3.044387, -1.129375
position: 1.517279, -3.042450, -1.104623
position: 1.538552, -3.044539, -1.086936
position: 1.554935, -3.050194, -1.069940
position: 1.566602, -3.060025, -1.051842
position: 1.577085, -3.074103, -1.027561
position: 1.580906, -3.087948, -0.996957
position: 1.584357, -3.104770, -0.967936
position: 1.587120, -3.116093, -0.936013
position: 1.593390, -3.129322, -0.916379
position: 1.597236, -3.134807, -0.896173
position: 1.599905, -3.138084, -0.882854
position: 1.603940, -3.141537, -0.875764
position: 1.598105, -3.136454, -0.868865
position: 1.592060, -3.131226, -0.856988
position: 1.580086, -3.120667, -0.836306
position: 1.565835, -3.110444, -0.807031
position: 1.550999, -3.097430, -0.765486
position: 1.534348, -3.084344, -0.717834
position: 1.520366, -3.070579, -0.661938
position: 1.499889, -3.053921, -0.602719
position: 1.482975, -3.036059, -0.535220
position: 1.465461, -3.015931, -0.471759
position: 1.440345, -2.988129, -0.418321
position: 1.426686, -2.965506, -0.366495
position: 1.414066, -2.940765, -0.316479
position: 1.405866, -2.916768, -0.265879
position: 1.393173, -2.892033, -0.217934
position: 1.382538, -2.871145, -0.171947
position: 1.370880, -2.853984, -0.129967
position: 1.360501, -2.844600, -0.090540
pooptimize pose graph 
sition: 1.351265, -2.840450, -0.053446
position: 1.346399, -2.841314, -0.015841
position: 1.348862, -2.846313, 0.013942
position: 1.351220, -2.850467, 0.048632
position: 1.361499, -2.857675, 0.077620
position: 1.370225, -2.863123, 0.112951
position: 1.375590, -2.867016, 0.154184
position: 1.377570, -2.869672, 0.190835
position: 1.377095, -2.872163, 0.222329
position: 1.374478, -2.874228, 0.246793
position: 1.370544, -2.875456, 0.264355
position: 1.365279, -2.874722, 0.273665
position: 1.358745, -2.869778, 0.277033
position: 1.351451, -2.861179, 0.273844
position: 1.343821, -2.849126, 0.265179
position: 1.336145, -2.833022, 0.257821
position: 1.327300, -2.814028, 0.258340
position: 1.315762, -2.793428, 0.266669
position: 1.304283, -2.771950, 0.275811
position: 1.292661, -2.749257, 0.279830
position: 1.279850, -2.726345, 0.278218
position: 1.266731, -2.701804, 0.277870
position: 1.252722, -2.676062, 0.284032
position: 1.234695, -2.649275, 0.294689
position: 1.222073, -2.615119, 0.309155
position: 1.196775, -2.5optimize pose graph 
85034, 0.330721
position: 1.167066, -2.551485, 0.348256
position: 1.132105, -2.515557, 0.358212
position: 1.102725, -2.472005, 0.360966
position: 1.068216, -2.430870, 0.359018
position: 1.031282, -2.392526, 0.351948
position: 0.992564, -2.356785, 0.342657
position: 0.947191, -2.320303, 0.336543
position: 0.896124, -2.281978, 0.336326
position: 0.842974, -2.243118, 0.343703
position: 0.793156, -2.199554, 0.357332
position: 0.740894, -2.159898, 0.375921
position: 0.695641, -2.117847, 0.388533
position: 0.651566, -2.068518, 0.391917
position: 0.608394, -2.017342, 0.391261
position: 0.567719, -1.969674, 0.391609
position: 0.525081, -1.916419, 0.393405
position: 0.484336, -1.864171, 0.404103
position: 0.439513, -1.808716, 0.416894
position: 0.389664, -1.752096, 0.430331
position: 0.342353, -1.694932, 0.435783
position: 0.288660, -1.638544, 0.436056
position: 0.241057, -1.583316, 0.431950
position: 0.181727, -1.529129, 0.431518
position: 0.128667, -1.476222, 0.436051
position: 0.062564, -1.425214, 0.447816
positionoptimize pose graph 
: 0.004691, -1.374642, 0.461091
position: -0.066443, -1.324202, 0.471922
position: -0.128597, -1.275333, 0.475069
position: -0.200627, -1.230024, 0.473625
position: -0.267170, -1.181649, 0.466647
position: -0.341852, -1.134664, 0.464774
position: -0.409781, -1.083804, 0.468071
position: -0.481827, -1.029201, 0.478627
position: -0.544028, -0.972698, 0.499569
position: -0.596140, -0.914877, 0.531666
position: -0.644161, -0.852146, 0.565708
position: -0.691010, -0.786670, 0.593551
position: -0.748113, -0.716271, 0.612797
position: -0.801712, -0.652105, 0.622957
position: -0.854397, -0.592233, 0.622499
position: -0.899753, -0.535269, 0.618600
position: -0.941033, -0.481679, 0.613492
position: -0.970290, -0.432036, 0.610527
position: -0.992547, -0.386053, 0.604926
position: -1.020362, -0.348648, 0.592817
position: -1.039355, -0.313194, 0.576984
position: -1.055855, -0.275953, 0.560285
position: -1.068835, -0.242177, 0.540687
position: -1.079401, -0.217749, 0.518848
position: -1.089527, -0.206153, 0.491006
positionoptimize pose graph 
: -1.100167, -0.203137, 0.458729
position: -1.107851, -0.203123, 0.430197
position: -1.113626, -0.202307, 0.412811
position: -1.122663, -0.201343, 0.405923
position: -1.138979, -0.203535, 0.398977
position: -1.153671, -0.204259, 0.390031
position: -1.167389, -0.204029, 0.379249
position: -1.178262, -0.203184, 0.368655
position: -1.186725, -0.204914, 0.356444
position: -1.195995, -0.206644, 0.339733
position: -1.205593, -0.211938, 0.325000
position: -1.217558, -0.213726, 0.307221
position: -1.228543, -0.215612, 0.293620
position: -1.240777, -0.214909, 0.280477
position: -1.253919, -0.212222, 0.268430
position: -1.268447, -0.206639, 0.254724
position: -1.283019, -0.199463, 0.240265
position: -1.295059, -0.189352, 0.227313
position: -1.301569, -0.175679, 0.218437
position: -1.303273, -0.158938, 0.214096
position: -1.302162, -0.140143, 0.212841
position: -1.300052, -0.121289, 0.215365
position: -1.299072, -0.103553, 0.219969
position: -1.296647, -0.089274, 0.228928
position: -1.296331, -0.079030, 0.236422
positiooptimize pose graph 

Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720331748.797965107]: Shutdown request received.[0m
[33m[ WARN] [1720331748.798080970]: Reason given for shutdown: [user request][0m
n: -1.294492, -0.072199, 0.245934
position: -1.292838, -0.066519, 0.258025
position: -1.300923, -0.055463, 0.256919
position: -1.305133, -0.040777, 0.252627
position: -1.305305, -0.019573, 0.245693
position: -1.301822, 0.005696, 0.234552
position: -1.295058, 0.029169, 0.219597
position: -1.284360, 0.044076, 0.194566
position: -1.276670, 0.049928, 0.178429
position: -1.285655, 0.037496, 0.175768
position: -1.294293, 0.017492, 0.166701
position: -1.298132, 0.004476, 0.165674
position: -1.295326, 0.000630, 0.154203
position: -1.295765, -0.002389, 0.151656
position: -1.295169, -0.004565, 0.150616
position: -1.297053, -0.006583, 0.146032
position: -1.299260, -0.009041, 0.142147
position: -1.301522, -0.011669, 0.138364
[33m[ WARN] [1720331748.800133381]: Shutdown request received.[0m
[33m[ WARN] [1720331748.800204473]: Reason given for shutdown: [user request][0m
killed
