/SLAM-Hive/slam_hive_results/mapping_results/2922/2130_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720484334.565602221]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720484334.567256687]: init begins[0m
[31m[ERROR] [1720484334.568289757]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/d390be80-3d88-11ef-b3b3-0242ac110005/roslaunch-d6d0ac646d59-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://d6d0ac646d59:44465/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[0m[ INFO] [1720484335.671932964]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720484335.672886938]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720484335.679007398]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720484335.679203481]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720484335.679225794]: ROW: 480 COL: 752 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
set g       0       0 9.81007
[0m[ INFO] [1720484335.679408734]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720484335.679659290]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://d6d0ac646d59:11311/[0m
]2;roscore http://d6d0ac646d59:11311/
[1msetting /run_id to d390be80-3d88-11ef-b3b3-0242ac110005[0m
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720484344.689794435]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316845826.77 
init first imu pose
averge acc 9.015113 -0.047866 -3.797742
init R0 
 0.388249 0.0116141  0.921482
        0 -0.999921 0.0126027
 0.921555 -0.004893 -0.388218
[0m[ INFO] [1720484346.040035110]: IMU excitation not enouth![0m
[0m[ INFO] [1720484346.254781588]: IMU excitation not enouth![0m
[0m[ INFO] [1720484346.255937982]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484346.463417769]: IMU excitation not enouth![0m
[0m[ INFO] [1720484346.552411908]: IMU excitation not enouth![0m
[0m[ INFO] [1720484346.553429977]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484346.755355511]: IMU excitation not enouth![0m
[0m[ INFO] [1720484346.755663060]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484346.948801765]: IMU excitation not enouth![0m
[0m[ INFO] [1720484347.064925584]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484347.263126935]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484347.454115224]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484347.565802232]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484347.751990883]: IMU excitation not enouth![0m
[0m[ INFO] [1720484347.752980716]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484347.953234847]: IMU excitation not enouth![0m
[0m[ INFO] [1720484347.954107081]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484348.056056503]: IMU excitation not enouth![0m
[0m[ INFO] [1720484348.057045131]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484348.250168964]: IMU excitation not enouth![0m
[0m[ INFO] [1720484348.250454106]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484348.454158280]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484348.552854864]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484348.765136256]: IMU excitation not enouth![0m
[0m[ INFO] [1720484348.970768528]: IMU excitation not enouth![0m
[0m[ INFO] [1720484348.971120907]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1720484349.071168479]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1720484350.324182759]: gyroscope bias initial calibration 0.0147476 0.0163658 0.0988379[0m
[0m[ INFO] [1720484350.368780737]: Initialization finish![0m
time: 1403638523.327830, t: 0.029301 0.009674 0.362310 q: -0.052450 0.803562 0.023397 0.592444 
time: 1403638523.427830, t: 0.028720 -0.000668 0.329578 q: -0.051505 0.804431 0.025552 0.591258 
time: 1403638523.527829, t: 0.029092 -0.003985 0.280643 q: -0.045447 0.811595 0.028562 0.581750 
time: 1403638523.627830, t: 0.029184 0.009064 0.230489 q: -0.035459 0.822408 0.029513 0.567025 
time: 1403638523.727829, t: 0.024784 0.009283 0.187248 q: -0.031349 0.829750 0.031139 0.556383 
time: 1403638523.827830, t: 0.015955 -0.030492 0.144905 q: -0.036320 0.832161 0.036425 0.552144 
time: 1403638523.927830, t: 0.007393 -0.042371 0.102074 q: -0.030875 0.831714 0.040346 0.552875 
time: 1403638524.027829, t: 0.000045 -0.048600 0.075186 q: -0.023013 0.833008 0.048078 0.550687 
time: 1403638524.127830, t: -0.004306 -0.049846 0.075074 q: -0.019653 0.837133 0.055722 0.543798 
time: 1403638524.327830, t: -0.002089 -0.049760 0.154493 q: -0.032786 0.839214 0.057792 0.539726 
time: 1403638524.427830, t: 0.003788 -0.049379 0.212818 q: -0.041488 0.834665 0.055363 0.546396 
time: 1403638524.527829, t: 0.010851 -0.048993 0.274101 q: -0.046791 0.826516 0.054404 0.558322 
time: 1403638524.627830, t: 0.019520 -0.047318 0.332598 q: -0.047159 0.818640 0.050644 0.570123 
time: 1403638524.727829, t: 0.027441 -0.043909 0.381064 q: -0.037868 0.813772 0.045297 0.578177 
time: 1403638524.827830, t: 0.034019 -0.040908 0.414546 q: -0.025419 0.811300 0.040243 0.582690 
time: 1403638524.927830, t: 0.038021 -0.036757 0.433975 q: -0.029378 0.810217 0.040122 0.584016 
time: 1403638525.027829, t: 0.039078 -0.034824 0.434299 q: -0.033726 0.808010 0.043517 0.586591 
time: 1403638525.127830, t: 0.040607 -0.033437 0.411672 q: -0.029362 0.805677 0.047360 0.589728 
time: 1403638525.227829, t: 0.041351 -0.033771 0.370845 q: -0.028080 0.805913 0.052375 0.589044 
time: 1403638525.327830, t: 0.040196 -0.034964 0.320360 q: -0.029077 0.811757 0.057284 0.580452 
time: 1403638525.427830, t: 0.036690 -0.035370 0.267279 q: -0.034198 0.822980 0.060785 0.563772 
time: 1403638525.527829, t: 0.031025 -0.033841 0.217154 q: -0.043008 0.834391 0.061522 0.546038 
time: 1403638525.627830, t: 0.029833 -0.035884 0.172244 q: -0.046466 0.840378 0.059800 0.536684 
time: 1403638525.727829, t: 0.027144 -0.036442 0.136797 q: -0.044651 0.841013 0.055474 0.536307 
time: 1403638525.827830, t: 0.026085 -0.036670 0.110581 q: -0.040227 0.838124 0.049586 0.541730 
time: 1403638525.927830, t: 0.023304 -0.040667 0.093865 q: -0.031420 0.835123 0.046850 0.547163 
time: 1403638526.027829, t: 0.020097 -0.054231 0.087940 q: -0.025212 0.835450 0.046531 0.547013 
time: 1403638526.127830, t: 0.017297 -0.079044 0.091355 q: -0.022431 0.838141 0.040162 0.543510 
time: 1403638526.227829, t: 0.013703 -0.112203 0.102486 q: -0.020125 0.839301 0.030707 0.542426 
time: 1403638526.327830, t: 0.008261 -0.150881 0.117278 q: -0.016996 0.836567 0.022117 0.547155 
time: 1403638526.427830, t: 0.000065 -0.194615 0.131736 q: -0.014712 0.831833 0.012540 0.554690 
time: 1403638526.527829, t: -0.009356 -0.243098 0.142862 q: -0.013898 0.826891 0.000892 0.562190 
time: 1403638526.627830, t: -0.020122 -0.299001 0.151027 q: -0.011521 0.821451 -0.008808 0.570095 
time: 1403638526.727829, t: -0.032487 -0.361291 0.157018 q: -0.006108 0.817484 -0.016095 0.575694 
time: 1403638526.827830, t: -0.047186 -0.427637 0.161365 q: 0.004365 0.815352 -0.019801 0.578611 
time: 1403638526.927830, t: -0.062463 -0.491992 0.164748 q: 0.008957 0.816618 -0.023867 0.576615 
time: 1403638527.027829, t: -0.076915 -0.552656 0.167410 q: 0.014945 0.821007 -0.033661 0.569729 
time: 1403638527.127830, t: -0.088604 -0.608434 0.171581 q: 0.023059 0.824706 -0.048591 0.562998 
time: 1403638527.227829, t: -0.096255 -0.655480 0.177494 q: 0.031690 0.824210 -0.063236 0.561850 
time: 1403638527.327830, t: -0.099640 -0.688632 0.183702 q: 0.046165 0.819771 -0.074747 0.565913 
time: 1403638527.427830, t: -0.098526 -0.701721 0.188511 q: 0.060143 0.815042 -0.081074 0.570541 
time: 1403638527.527829, t: -0.090190 -0.690756 0.190203 q: 0.066615 0.813052 -0.083712 0.572277 
time: 1403638527.627830, t: -0.076106 -0.658849 0.188445 q: 0.066742 0.813383 -0.082906 0.571910 
time: 1403638527.727829, t: -0.061276 -0.616544 0.187210 q: 0.062940 0.814202 -0.076095 0.572122 
time: 1403638527.827830, t: -0.042534 -0.564103 0.186642 q: 0.052661 0.816853 -0.069918 0.570165 
time: 1403638527.927830, t: -0.024070 -0.504768 0.189144 q: 0.037978 0.819427 -0.065072 0.568209 
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time: 1403638528.427830, t: 0.092490 -0.248954 0.171499 q: -0.004198 0.818956 -0.023480 0.573360 
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time: 1403638540.227829, t: 0.259477 -0.071852 0.188820 q: 0.028852 0.837464 -0.046256 0.543766 
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time: 1403638541.027829, t: 0.631707 -0.029838 0.248575 q: -0.027703 0.821678 0.079269 0.563732 
optimize pose graph 
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time: 1403638543.027829, t: 1.478155 1.060751 0.553488 q: -0.174512 0.776757 0.268547 0.542288 
optimize pose graph 
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time: 1403638599.527829, t: 8.468042 2.519683 2.595029 q: 0.011443 0.820150 0.020312 0.571673 
time: 1403638599.627830, t: 8.460519 2.787773 2.610709 q: 0.005586 0.821763 0.025619 0.569225 
time: 1403638599.727829, t: 8.450762 3.054011 2.616859 q: 0.003408 0.822908 0.028829 0.567433 
time: 1403638599.827830, t: 8.446629 3.317921 2.615182 q: 0.002341 0.823557 0.027980 0.566539 
time: 1403638599.927830, t: 8.444761 3.579729 2.608596 q: -0.000456 0.824800 0.024191 0.564907 
time: 1403638600.027829, t: 8.445440 3.840318 2.596518 q: -0.005454 0.824209 0.017630 0.565984 
time: 1403638600.127830, t: 8.451916 4.095606 2.580991 q: -0.013735 0.826384 0.008208 0.562879 
time: 1403638600.227829, t: 8.459379 4.342503 2.561411 q: -0.025693 0.829272 -0.003389 0.558244 
time: 1403638600.327830, t: 8.471669 4.579612 2.538545 q: -0.034585 0.831098 -0.012913 0.554900 
time: 1403638600.427830, t: 8.487370 4.806358 2.518359 q: -0.042468 0.832414 -0.021208 0.552117 
time: 1403638600.527829, t: 8.509634 5.015814 2.505859 q: -0.043746 0.833216 -0.023960 0.550694 
time: 1403638600.627830, t: 8.537317 5.213247 2.502313 q: -0.043340 0.834610 -0.025325 0.548550 
time: 1403638600.727829, t: 8.569839 5.397620 2.505896 q: -0.043860 0.836821 -0.026535 0.545071 
time: 1403638600.827830, t: 8.608968 5.567122 2.515925 q: -0.040303 0.840801 -0.023368 0.539336 
time: 1403638600.927830, t: 8.654773 5.721078 2.529350 q: -0.024732 0.843919 -0.010881 0.535790 
time: 1403638601.027829, t: 8.709993 5.865437 2.538841 q: -0.011273 0.844727 0.000327 0.535078 
optimize pose graph 
time: 1403638601.127830, t: 8.771483 6.001617 2.543998 q: -0.004781 0.843500 0.006176 0.537072 
time: 1403638601.227829, t: 8.837641 6.137947 2.545301 q: 0.003866 0.840436 0.013530 0.541728 
time: 1403638601.427830, t: 8.989563 6.421824 2.543230 q: -0.000320 0.828553 0.022452 0.559461 
time: 1403638601.527829, t: 9.070613 6.565547 2.549298 q: -0.012116 0.824253 0.031983 0.565188 
time: 1403638601.627830, t: 9.152461 6.708037 2.561245 q: -0.023259 0.820755 0.048905 0.568708 
time: 1403638601.727829, t: 9.232971 6.852245 2.579993 q: -0.035398 0.817973 0.071908 0.569646 
time: 1403638601.827830, t: 9.311165 6.996066 2.607345 q: -0.048940 0.813362 0.099559 0.571082 
time: 1403638601.927830, t: 9.385569 7.141203 2.640085 q: -0.063076 0.808538 0.127166 0.571066 
time: 1403638602.027829, t: 9.456692 7.288667 2.668900 q: -0.076065 0.805958 0.147320 0.568281 
time: 1403638602.127830, t: 9.525404 7.435670 2.691034 q: -0.084284 0.802726 0.162678 0.567507 
time: 1403638602.227829, t: 9.590601 7.584282 2.707480 q: -0.089909 0.796250 0.179447 0.570702 
time: 1403638602.327830, t: 9.650806 7.736459 2.720227 q: -0.103371 0.787491 0.195507 0.575283 
time: 1403638602.427830, t: 9.701029 7.891282 2.739271 q: -0.135613 0.771614 0.203106 0.587341 
time: 1403638602.527829, t: 9.741871 8.043233 2.768836 q: -0.171435 0.747949 0.208127 0.606519 
time: 1403638602.627830, t: 9.768741 8.181742 2.805009 q: -0.200803 0.730855 0.216058 0.615506 
time: 1403638602.727829, t: 9.780725 8.303988 2.843856 q: -0.215879 0.724444 0.232881 0.611836 
time: 1403638602.827830, t: 9.776927 8.408644 2.888866 q: -0.224036 0.720465 0.254042 0.605145 
time: 1403638602.927830, t: 9.760140 8.499653 2.935920 q: -0.237988 0.718684 0.272082 0.593993 
time: 1403638603.027829, t: 9.734017 8.579210 2.981912 q: -0.259663 0.717213 0.285640 0.580164 
time: 1403638603.127830, t: 9.699024 8.641067 3.023127 q: -0.276485 0.709258 0.299548 0.575134 
optimize pose graph 
time: 1403638603.227829, t: 9.657108 8.687967 3.054504 q: -0.280906 0.708457 0.315461 0.565388 
time: 1403638603.327830, t: 9.610786 8.722975 3.075091 q: -0.274594 0.720202 0.332268 0.543603 
time: 1403638603.427830, t: 9.561000 8.746839 3.089126 q: -0.268719 0.730942 0.343559 0.524864 
time: 1403638603.527829, t: 9.511186 8.766874 3.099633 q: -0.266718 0.734422 0.348925 0.517433 
time: 1403638603.627830, t: 9.463463 8.785683 3.106927 q: -0.271130 0.728341 0.351197 0.522176 
time: 1403638603.727829, t: 9.416117 8.798137 3.107927 q: -0.268367 0.719856 0.356156 0.531921 
time: 1403638603.827830, t: 9.367102 8.806437 3.101920 q: -0.262356 0.711779 0.361609 0.542014 
time: 1403638603.927830, t: 9.311214 8.810639 3.089416 q: -0.255674 0.704467 0.366112 0.551651 
time: 1403638604.027829, t: 9.246952 8.810306 3.070322 q: -0.250426 0.699312 0.368707 0.558842 
time: 1403638604.127830, t: 9.174000 8.808440 3.051251 q: -0.246973 0.696188 0.370401 0.563142 
time: 1403638604.227829, t: 9.091023 8.802195 3.037667 q: -0.250176 0.697560 0.368965 0.560969 
time: 1403638604.327830, t: 8.995992 8.790073 3.031644 q: -0.257013 0.703962 0.365257 0.552241 
time: 1403638604.427830, t: 8.891796 8.773132 3.031458 q: -0.259260 0.712065 0.364142 0.541432 
time: 1403638604.527829, t: 8.782886 8.751275 3.038626 q: -0.256319 0.719238 0.366326 0.531792 
time: 1403638604.627830, t: 8.671204 8.728430 3.044926 q: -0.255346 0.722301 0.367214 0.527478 
time: 1403638604.727829, t: 8.558098 8.703769 3.045547 q: -0.259524 0.724923 0.364556 0.523673 
time: 1403638604.827830, t: 8.444890 8.677081 3.043992 q: -0.262889 0.727247 0.362223 0.520381 
time: 1403638604.927830, t: 8.333312 8.647693 3.043661 q: -0.261376 0.731350 0.363298 0.514611 
time: 1403638605.027829, t: 8.222968 8.616734 3.048957 q: -0.258465 0.738520 0.365416 0.504238 
time: 1403638605.127830, t: 8.114453 8.585747 3.062595 q: -0.255598 0.743915 0.367411 0.496256 
optimize pose graph 
time: 1403638605.327830, t: 7.916964 8.541721 3.101842 q: -0.247739 0.744769 0.372843 0.494908 
time: 1403638605.427830, t: 7.824261 8.526719 3.115972 q: -0.241059 0.737036 0.377873 0.505846 
time: 1403638605.527829, t: 7.732645 8.516707 3.124822 q: -0.235093 0.726781 0.382310 0.519962 
time: 1403638605.627830, t: 7.638918 8.510564 3.128027 q: -0.228981 0.719299 0.386719 0.529741 
time: 1403638605.727829, t: 7.539733 8.508996 3.129615 q: -0.226173 0.715999 0.388820 0.533863 
time: 1403638605.827830, t: 7.433431 8.511753 3.138573 q: -0.224659 0.716535 0.389734 0.533116 
time: 1403638605.927830, t: 7.321191 8.520131 3.155683 q: -0.221837 0.715939 0.391254 0.533985 
time: 1403638606.027829, t: 7.202770 8.536052 3.174829 q: -0.217800 0.715224 0.392969 0.535344 
time: 1403638606.127830, t: 7.076304 8.556451 3.190350 q: -0.214867 0.715286 0.393846 0.535802 
time: 1403638606.227829, t: 6.943593 8.581990 3.195983 q: -0.211806 0.715402 0.395353 0.535755 
time: 1403638606.327830, t: 6.803247 8.612345 3.197343 q: -0.212993 0.719385 0.393420 0.531356 
time: 1403638606.427830, t: 6.657258 8.648171 3.188592 q: -0.219915 0.729674 0.387790 0.518490 
time: 1403638606.527829, t: 6.507610 8.688032 3.174545 q: -0.228468 0.740269 0.381079 0.504562 
time: 1403638606.627830, t: 6.359133 8.734059 3.156098 q: -0.233968 0.746313 0.379815 0.493980 
time: 1403638606.727829, t: 6.217054 8.788694 3.132015 q: -0.237996 0.747698 0.386324 0.484829 
time: 1403638606.827830, t: 6.079427 8.849381 3.104112 q: -0.244595 0.745045 0.397432 0.476580 
time: 1403638606.927830, t: 5.946858 8.918569 3.078742 q: -0.254277 0.738911 0.411673 0.468913 
time: 1403638607.027829, t: 5.820399 8.996731 3.060015 q: -0.267512 0.730593 0.426468 0.461298 
time: 1403638607.127830, t: 5.703026 9.081400 3.051903 q: -0.284287 0.722982 0.435952 0.454339 
time: 1403638607.227829, t: 5.590556 9.172725 3.049658 q: -0.298778 0.710326 0.441932 0.459201 
optimize pose graph 
time: 1403638607.327830, t: 5.483465 9.267211 3.042040 q: -0.311693 0.698575 0.443808 0.466770 
time: 1403638607.427830, t: 5.380577 9.363337 3.025082 q: -0.320885 0.692034 0.444313 0.469796 
time: 1403638607.527829, t: 5.282665 9.457516 2.999566 q: -0.325138 0.691117 0.444868 0.467692 
time: 1403638607.627830, t: 5.188025 9.548679 2.969074 q: -0.326249 0.689863 0.446066 0.467628 
time: 1403638607.727829, t: 5.097543 9.638526 2.936497 q: -0.325866 0.687512 0.446365 0.471059 
time: 1403638607.827830, t: 5.011120 9.726002 2.900546 q: -0.325110 0.688173 0.445979 0.470983 
time: 1403638607.927830, t: 4.930984 9.810530 2.860280 q: -0.327412 0.692471 0.442584 0.466267 
time: 1403638608.027829, t: 4.857375 9.892500 2.815953 q: -0.329642 0.694217 0.438975 0.465511 
time: 1403638608.127830, t: 4.788774 9.972915 2.767736 q: -0.328146 0.691636 0.437912 0.471373 
time: 1403638608.227829, t: 4.727067 10.048377 2.714292 q: -0.324755 0.687657 0.438423 0.479007 
time: 1403638608.327830, t: 4.665988 10.121279 2.657133 q: -0.324821 0.682708 0.436838 0.487415 
time: 1403638608.427830, t: 4.605589 10.188659 2.594535 q: -0.325437 0.679176 0.435938 0.492716 
time: 1403638608.527829, t: 4.546458 10.253566 2.525632 q: -0.323770 0.681056 0.436646 0.490588 
time: 1403638608.627830, t: 4.487261 10.312955 2.454168 q: -0.325957 0.680308 0.434222 0.492326 
time: 1403638608.727829, t: 4.427179 10.367792 2.388934 q: -0.329865 0.677560 0.431956 0.495496 
time: 1403638608.827830, t: 4.369172 10.413189 2.326302 q: -0.328214 0.680232 0.433383 0.491669 
time: 1403638608.927830, t: 4.310011 10.457272 2.270689 q: -0.326454 0.684154 0.434770 0.486143 
time: 1403638609.027829, t: 4.254177 10.494952 2.220970 q: -0.326644 0.687840 0.435030 0.480550 
time: 1403638609.227829, t: 4.148142 10.561581 2.140497 q: -0.332288 0.689443 0.430917 0.478083 
time: 1403638609.327830, t: 4.101009 10.585238 2.098504 q: -0.336138 0.689897 0.427893 0.477453 
optimize pose graph 
time: 1403638609.427830, t: 4.057118 10.609730 2.048010 q: -0.332950 0.689893 0.429792 0.477986 
time: 1403638609.527829, t: 4.016170 10.626563 1.992642 q: -0.329208 0.689951 0.431938 0.478560 
time: 1403638609.627830, t: 3.978249 10.645397 1.929008 q: -0.327210 0.690021 0.432813 0.479038 
time: 1403638609.727829, t: 3.942269 10.656465 1.863909 q: -0.324181 0.688828 0.434990 0.480838 
time: 1403638609.827830, t: 3.910276 10.670774 1.800661 q: -0.324616 0.689850 0.434743 0.479301 
time: 1403638609.927830, t: 3.881157 10.676629 1.747719 q: -0.324855 0.689441 0.434513 0.479936 
time: 1403638610.027829, t: 3.856394 10.684953 1.702121 q: -0.327168 0.688316 0.432886 0.481448 
time: 1403638610.227829, t: 3.810367 10.681257 1.626720 q: -0.331703 0.682710 0.429546 0.489256 
time: 1403638610.327830, t: 3.788504 10.674674 1.583153 q: -0.332880 0.681859 0.428303 0.490731 
time: 1403638610.427830, t: 3.769457 10.663852 1.532912 q: -0.334172 0.681507 0.427044 0.491437 
time: 1403638610.527829, t: 3.749839 10.649607 1.477918 q: -0.333721 0.678585 0.426962 0.495839 
time: 1403638610.627830, t: 3.731346 10.626975 1.421042 q: -0.339328 0.671454 0.422929 0.505111 
time: 1403638610.727829, t: 3.709788 10.593692 1.364119 q: -0.339558 0.672158 0.423183 0.503806 
time: 1403638610.827830, t: 3.687583 10.553984 1.310324 q: -0.336292 0.679435 0.426652 0.493198 
time: 1403638610.927830, t: 3.668452 10.508214 1.266624 q: -0.334658 0.682345 0.429226 0.488032 
time: 1403638611.027829, t: 3.650004 10.457979 1.224956 q: -0.337406 0.681340 0.427372 0.489169 
time: 1403638611.127830, t: 3.632497 10.404871 1.179014 q: -0.339898 0.678728 0.426300 0.492002 
time: 1403638611.227829, t: 3.615806 10.346194 1.129295 q: -0.339628 0.678192 0.427266 0.492089 
time: 1403638611.327830, t: 3.600762 10.279877 1.084261 q: -0.336895 0.677521 0.429611 0.492849 
time: 1403638611.427830, t: 3.583876 10.205270 1.043507 q: -0.326241 0.672864 0.436614 0.500188 
optimize pose graph 
time: 1403638611.527829, t: 3.566798 10.127471 1.013400 q: -0.315588 0.669909 0.443554 0.504863 
time: 1403638611.627830, t: 3.542358 10.046330 0.987020 q: -0.310360 0.671789 0.446105 0.503355 
time: 1403638611.727829, t: 3.512965 9.964581 0.962908 q: -0.312221 0.676002 0.444312 0.498123 
time: 1403638611.827830, t: 3.482094 9.880163 0.935778 q: -0.318552 0.681877 0.439331 0.490466 
time: 1403638611.927830, t: 3.452153 9.799102 0.902467 q: -0.322170 0.686699 0.435819 0.484471 
time: 1403638612.027829, t: 3.421716 9.716993 0.867743 q: -0.323754 0.689423 0.434161 0.481024 
time: 1403638612.127830, t: 3.393397 9.634262 0.838612 q: -0.325124 0.691327 0.432553 0.478810 
time: 1403638612.227829, t: 3.368985 9.549454 0.816847 q: -0.324298 0.691859 0.432723 0.478448 
time: 1403638612.327830, t: 3.346325 9.466530 0.804115 q: -0.323711 0.691532 0.432944 0.479119 
time: 1403638612.427830, t: 3.327056 9.382603 0.790205 q: -0.322868 0.690510 0.432712 0.481365 
time: 1403638612.527829, t: 3.307444 9.296120 0.770712 q: -0.320856 0.688485 0.432590 0.485701 
time: 1403638612.627830, t: 3.289096 9.211269 0.745370 q: -0.316051 0.686819 0.434401 0.489578 
time: 1403638612.727829, t: 3.269059 9.123790 0.712555 q: -0.311774 0.685039 0.435455 0.493859 
time: 1403638612.827830, t: 3.250335 9.040085 0.676679 q: -0.310800 0.684135 0.433845 0.497133 
time: 1403638612.927830, t: 3.224881 8.952884 0.643551 q: -0.311683 0.683749 0.431375 0.499256 
time: 1403638613.027829, t: 3.199020 8.867804 0.617186 q: -0.311495 0.686238 0.430382 0.496810 
time: 1403638613.127830, t: 3.170028 8.781103 0.599404 q: -0.311687 0.687766 0.429498 0.495339 
time: 1403638613.227829, t: 3.136951 8.690222 0.589295 q: -0.311550 0.689473 0.429227 0.493282 
time: 1403638613.327830, t: 3.106659 8.604464 0.585818 q: -0.310534 0.690048 0.429765 0.492650 
time: 1403638613.427830, t: 3.071950 8.515233 0.585870 q: -0.309751 0.689342 0.430273 0.493687 
time: 1403638613.527829, t: 3.038957 8.428486 0.579961 q: -0.310906 0.689294 0.426773 0.496060 
optimize pose graph 
time: 1403638613.627830, t: 3.005865 8.341263 0.568010 q: -0.312798 0.690934 0.420603 0.497857 
time: 1403638613.727829, t: 2.969938 8.249967 0.549350 q: -0.316782 0.689997 0.413968 0.502179 
time: 1403638613.827830, t: 2.935094 8.161237 0.522846 q: -0.316615 0.690580 0.406612 0.507466 
time: 1403638613.927830, t: 2.897672 8.063996 0.489467 q: -0.311291 0.694866 0.397778 0.511890 
time: 1403638614.027829, t: 2.863306 7.963502 0.453023 q: -0.300803 0.702057 0.387129 0.516492 
time: 1403638614.127830, t: 2.824050 7.855230 0.411130 q: -0.287853 0.711640 0.374119 0.520331 
time: 1403638614.227829, t: 2.782913 7.743781 0.371741 q: -0.274292 0.721717 0.360793 0.523179 
time: 1403638614.427830, t: 2.699331 7.516189 0.312180 q: -0.259239 0.735610 0.339877 0.525506 
time: 1403638614.527829, t: 2.657962 7.403954 0.296741 q: -0.256323 0.740124 0.331806 0.525756 
time: 1403638614.627830, t: 2.617589 7.292527 0.288626 q: -0.252787 0.744737 0.321803 0.527170 
time: 1403638614.727829, t: 2.581072 7.183419 0.293548 q: -0.250363 0.752401 0.307707 0.525858 
time: 1403638614.827830, t: 2.546804 7.072021 0.307017 q: -0.245205 0.763239 0.290800 0.522280 
time: 1403638614.927830, t: 2.518603 6.960152 0.330035 q: -0.234502 0.773779 0.273331 0.521119 
time: 1403638615.027829, t: 2.497007 6.847484 0.357945 q: -0.219941 0.783053 0.252782 0.523980 
time: 1403638615.127830, t: 2.483071 6.732438 0.390562 q: -0.199503 0.789716 0.231598 0.531893 
time: 1403638615.227829, t: 2.476463 6.616718 0.429735 q: -0.175419 0.791977 0.210732 0.545521 
time: 1403638615.327830, t: 2.470825 6.498756 0.466818 q: -0.153401 0.795251 0.186724 0.556039 
time: 1403638615.427830, t: 2.465229 6.379853 0.497955 q: -0.132712 0.798966 0.160887 0.564053 
time: 1403638615.527829, t: 2.459874 6.259904 0.522287 q: -0.113299 0.803131 0.135552 0.569008 
optimize pose graph 
time: 1403638615.627830, t: 2.452713 6.138924 0.540062 q: -0.098257 0.805773 0.114588 0.572665 
time: 1403638615.727829, t: 2.444170 6.020617 0.558631 q: -0.088248 0.807758 0.099839 0.574258 
time: 1403638615.827830, t: 2.432908 5.904406 0.585614 q: -0.081429 0.809086 0.088934 0.575187 
time: 1403638615.927830, t: 2.418812 5.789058 0.615231 q: -0.076209 0.810190 0.076258 0.576167 
time: 1403638616.027829, t: 2.403097 5.671901 0.639260 q: -0.068091 0.811871 0.064354 0.576270 
time: 1403638616.127830, t: 2.386403 5.553818 0.653916 q: -0.058367 0.812903 0.051710 0.577155 
time: 1403638616.227829, t: 2.367482 5.436211 0.653970 q: -0.048604 0.814466 0.035248 0.577097 
time: 1403638616.327830, t: 2.348731 5.315913 0.638044 q: -0.036224 0.815577 0.016258 0.577284 
time: 1403638616.427830, t: 2.330033 5.191983 0.611640 q: -0.023443 0.816401 -0.002621 0.577004 
time: 1403638616.527829, t: 2.311004 5.066892 0.581044 q: -0.014146 0.817348 -0.018124 0.575686 
time: 1403638616.627830, t: 2.292528 4.944211 0.546331 q: -0.006358 0.820409 -0.029002 0.571005 
time: 1403638616.727829, t: 2.274943 4.823570 0.507329 q: -0.004618 0.827695 -0.038539 0.559835 
time: 1403638616.827830, t: 2.260550 4.704891 0.464393 q: -0.009202 0.835361 -0.047725 0.547550 
time: 1403638616.927830, t: 2.252938 4.579577 0.426528 q: -0.009569 0.837500 -0.050488 0.544016 
time: 1403638617.027829, t: 2.252321 4.450588 0.399137 q: -0.002613 0.834223 -0.045674 0.549527 
time: 1403638617.127830, t: 2.257134 4.318703 0.380698 q: 0.004288 0.830296 -0.038925 0.555946 
time: 1403638617.227829, t: 2.266458 4.187037 0.368103 q: 0.007727 0.830070 -0.033278 0.556611 
time: 1403638617.327830, t: 2.279537 4.056833 0.360446 q: 0.007038 0.833213 -0.030343 0.552074 
time: 1403638617.427830, t: 2.297725 3.929903 0.359631 q: 0.007821 0.837326 -0.026706 0.545995 
time: 1403638617.527829, t: 2.321803 3.806052 0.367664 q: 0.007705 0.839055 -0.023420 0.543487 
time: 1403638617.627830, t: 2.353559 3.686828 0.384103 q: 0.007763 0.838590 -0.020662 0.544316 
time: 1403638617.727829, t: 2.392065 3.570277 0.409552 q: 0.009495 0.836839 -0.016522 0.547117 
time: 1403638617.827830, t: 2.437187 3.460254 0.441693 q: 0.009858 0.836710 -0.013901 0.547380 
time: 1403638617.927830, t: 2.486400 3.352899 0.481006 q: 0.008387 0.835515 -0.012866 0.549254 
time: 1403638618.027829, t: 2.539139 3.247254 0.518671 q: 0.007348 0.835011 -0.011688 0.550060 
time: 1403638618.127830, t: 2.595924 3.144597 0.549953 q: 0.005355 0.835101 -0.011220 0.549957 
time: 1403638618.227829, t: 2.656644 3.042881 0.574967 q: 0.004761 0.834847 -0.010061 0.550369 
time: 1403638618.327830, t: 2.718644 2.945156 0.595680 q: 0.005113 0.834143 -0.008537 0.551459 
time: 1403638618.427830, t: 2.786962 2.849570 0.611573 q: 0.004904 0.834043 -0.007492 0.551627 
time: 1403638618.527829, t: 2.857199 2.758105 0.627020 q: 0.004304 0.833494 -0.006332 0.552475 
time: 1403638618.627830, t: 2.930488 2.668524 0.640085 q: 0.006955 0.833148 -0.008189 0.552946 
time: 1403638618.727829, t: 3.008319 2.581829 0.654686 q: 0.011099 0.832933 -0.010372 0.553166 
time: 1403638618.827830, t: 3.090174 2.499967 0.673500 q: 0.012402 0.831801 -0.014314 0.554751 
time: 1403638618.927830, t: 3.173640 2.422588 0.698936 q: 0.017240 0.829199 -0.019675 0.558341 
time: 1403638619.027829, t: 3.259958 2.345560 0.720044 q: 0.025849 0.824853 -0.030944 0.563908 
time: 1403638619.127830, t: 3.346079 2.270937 0.734472 q: 0.039824 0.821374 -0.046795 0.567071 
time: 1403638619.227829, t: 3.432693 2.199433 0.741465 q: 0.053572 0.817923 -0.068525 0.568715 
time: 1403638619.327830, t: 3.519073 2.130112 0.741228 q: 0.069048 0.814489 -0.093428 0.568429 
time: 1403638619.427830, t: 3.602139 2.064701 0.732494 q: 0.082354 0.810053 -0.116851 0.568662 
time: 1403638619.527829, t: 3.685505 2.002500 0.721519 q: 0.090632 0.806195 -0.135218 0.568816 
time: 1403638619.627830, t: 3.767497 1.943208 0.708595 q: 0.093390 0.803308 -0.150700 0.568563 
time: 1403638619.727829, t: 3.848046 1.884542 0.693129 q: 0.087879 0.800746 -0.165552 0.568924 
time: 1403638619.827830, t: 3.925054 1.824274 0.675369 q: 0.085515 0.797995 -0.174494 0.570477 
time: 1403638620.027829, t: 4.068184 1.696711 0.632000 q: 0.088682 0.795264 -0.181491 0.571622 
time: 1403638620.127830, t: 4.132310 1.627075 0.614896 q: 0.092016 0.792502 -0.181536 0.574907 
time: 1403638620.227829, t: 4.190729 1.556112 0.603021 q: 0.094789 0.790253 -0.181017 0.577709 
time: 1403638620.327830, t: 4.242826 1.482051 0.600176 q: 0.098820 0.791946 -0.178467 0.575504 
time: 1403638620.427830, t: 4.288625 1.407901 0.603113 q: 0.100151 0.793054 -0.176720 0.574286 
time: 1403638620.527829, t: 4.331327 1.331277 0.610490 q: 0.100759 0.794381 -0.174466 0.573034 
time: 1403638620.627830, t: 4.370594 1.254938 0.613393 q: 0.098867 0.796567 -0.173683 0.570561 
time: 1403638620.727829, t: 4.406207 1.178224 0.609772 q: 0.095070 0.799776 -0.174287 0.566519 
time: 1403638620.827830, t: 4.440667 1.099196 0.602605 q: 0.093785 0.802900 -0.172707 0.562786 
time: 1403638620.927830, t: 4.474506 1.018079 0.591084 q: 0.098748 0.804744 -0.166690 0.561116 
time: 1403638621.027829, t: 4.507622 0.938321 0.576842 q: 0.103455 0.803911 -0.160863 0.563158 
time: 1403638621.127830, t: 4.537805 0.858809 0.562969 q: 0.104050 0.802815 -0.157757 0.565486 
time: 1403638621.227829, t: 4.568762 0.781254 0.556759 q: 0.103696 0.801253 -0.155404 0.568411 
time: 1403638621.327830, t: 4.600498 0.705325 0.558999 q: 0.105231 0.801771 -0.152400 0.568211 
time: 1403638621.427830, t: 4.628457 0.632370 0.558298 q: 0.105097 0.800547 -0.150386 0.570494 
time: 1403638621.527829, t: 4.653025 0.564242 0.554059 q: 0.106004 0.798545 -0.147848 0.573786 
time: 1403638621.627830, t: 4.677332 0.497686 0.542887 q: 0.105834 0.796862 -0.146461 0.576506 
time: 1403638621.727829, t: 4.696034 0.438335 0.527567 q: 0.106109 0.796020 -0.145310 0.577909 
optimize pose graph 
time: 1403638621.827830, t: 4.713040 0.378538 0.507964 q: 0.107485 0.793703 -0.143730 0.581226 
time: 1403638621.927830, t: 4.725259 0.323631 0.486615 q: 0.108866 0.790259 -0.142178 0.586024 
time: 1403638622.027829, t: 4.730706 0.277571 0.462452 q: 0.108168 0.788735 -0.142191 0.588199 
time: 1403638622.127830, t: 4.735602 0.230999 0.432496 q: 0.105588 0.789378 -0.144408 0.587264 
time: 1403638622.227829, t: 4.733479 0.192719 0.403796 q: 0.103349 0.789737 -0.146111 0.586759 
time: 1403638622.327830, t: 4.727151 0.152347 0.380006 q: 0.101067 0.789731 -0.148111 0.586664 
time: 1403638622.427830, t: 4.713442 0.116459 0.366388 q: 0.103549 0.790578 -0.147515 0.585237 
time: 1403638622.527829, t: 4.693046 0.087178 0.362128 q: 0.106613 0.790626 -0.146247 0.584941 
time: 1403638622.627830, t: 4.671193 0.055726 0.362641 q: 0.111540 0.789059 -0.143767 0.586750 
time: 1403638622.727829, t: 4.642498 0.033399 0.377023 q: 0.114738 0.781111 -0.142144 0.597073 
time: 1403638622.827830, t: 4.610823 0.011169 0.395706 q: 0.116515 0.771459 -0.141764 0.609244 
time: 1403638622.927830, t: 4.569386 -0.000422 0.419742 q: 0.116103 0.771560 -0.142975 0.608911 
time: 1403638623.027829, t: 4.517206 -0.006944 0.437316 q: 0.113565 0.777731 -0.146003 0.600766 
time: 1403638623.127830, t: 4.458906 -0.011432 0.445988 q: 0.109639 0.783459 -0.149571 0.593128 
time: 1403638623.227829, t: 4.392841 -0.009976 0.451088 q: 0.105691 0.786559 -0.152539 0.588971 
time: 1403638623.327830, t: 4.322675 -0.008871 0.451281 q: 0.103266 0.790023 -0.154421 0.584256 
time: 1403638623.427830, t: 4.250105 -0.008427 0.446769 q: 0.103409 0.792777 -0.154495 0.580468 
time: 1403638623.527829, t: 4.173752 -0.006122 0.440211 q: 0.102056 0.793298 -0.155381 0.579758 
time: 1403638623.627830, t: 4.094483 -0.003910 0.440040 q: 0.104876 0.792692 -0.154115 0.580421 
time: 1403638623.727829, t: 4.009966 -0.000673 0.446723 q: 0.106567 0.793379 -0.153728 0.579276 
time: 1403638623.827830, t: 3.922739 0.004009 0.459194 q: 0.108256 0.794242 -0.153431 0.577857 
optimize pose graph 
time: 1403638623.927830, t: 3.831358 0.010047 0.475754 q: 0.109858 0.795976 -0.154056 0.574996 
time: 1403638624.027829, t: 3.738705 0.015663 0.485883 q: 0.110050 0.796676 -0.155176 0.573687 
time: 1403638624.127830, t: 3.644846 0.024782 0.493169 q: 0.107847 0.797173 -0.158071 0.572624 
time: 1403638624.227829, t: 3.552477 0.033600 0.497215 q: 0.105371 0.797186 -0.160959 0.572261 
time: 1403638624.327830, t: 3.455701 0.043078 0.494956 q: 0.104284 0.796465 -0.162944 0.572902 
time: 1403638624.427830, t: 3.360201 0.052661 0.489059 q: 0.104238 0.796230 -0.164288 0.572854 
time: 1403638624.527829, t: 3.268237 0.060789 0.481411 q: 0.103129 0.793160 -0.166679 0.576611 
time: 1403638624.627830, t: 3.168469 0.068429 0.467198 q: 0.100505 0.783476 -0.169206 0.589435 
time: 1403638624.727829, t: 3.066352 0.075053 0.453039 q: 0.104824 0.785899 -0.162423 0.587362 
time: 1403638624.827830, t: 2.971653 0.080446 0.447592 q: 0.107955 0.792924 -0.152806 0.579886 
time: 1403638624.927830, t: 2.860257 0.091230 0.448105 q: 0.105305 0.797341 -0.147340 0.575716 
time: 1403638625.027829, t: 2.760625 0.101921 0.454616 q: 0.098076 0.798939 -0.145703 0.575194 
time: 1403638625.127830, t: 2.660380 0.112503 0.457844 q: 0.089869 0.800040 -0.146337 0.574844 
time: 1403638625.227829, t: 2.550697 0.123668 0.455420 q: 0.085753 0.801160 -0.145457 0.574135 
time: 1403638625.327830, t: 2.449115 0.130354 0.451427 q: 0.084432 0.801514 -0.144013 0.574201 
time: 1403638625.427830, t: 2.340482 0.136574 0.447163 q: 0.083895 0.801342 -0.142752 0.574834 
time: 1403638625.527829, t: 2.236773 0.142013 0.451598 q: 0.083869 0.801168 -0.142334 0.575184 
time: 1403638625.627830, t: 2.128485 0.147081 0.461567 q: 0.084409 0.802625 -0.142103 0.573127 
time: 1403638625.727829, t: 2.021460 0.150925 0.477646 q: 0.083319 0.805550 -0.142852 0.568982 
time: 1403638625.827830, t: 1.914198 0.153856 0.492049 q: 0.082672 0.809880 -0.143863 0.562640 
time: 1403638625.927830, t: 1.809739 0.153897 0.500586 q: 0.083866 0.810905 -0.143597 0.561053 
time: 1403638626.027829, t: 1.706307 0.154242 0.504000 q: 0.083865 0.811644 -0.144667 0.559708 
time: 1403638626.127830, t: 1.606280 0.151797 0.502324 q: 0.082175 0.812068 -0.146575 0.558845 
time: 1403638626.227829, t: 1.512128 0.148652 0.494937 q: 0.083828 0.811935 -0.145990 0.558947 
time: 1403638626.327830, t: 1.418366 0.142807 0.485168 q: 0.090163 0.809988 -0.142150 0.561768 
time: 1403638626.427830, t: 1.326879 0.136364 0.472556 q: 0.095763 0.807809 -0.138033 0.564997 
time: 1403638626.527829, t: 1.234201 0.132749 0.456618 q: 0.097253 0.809078 -0.136630 0.563264 
time: 1403638626.627830, t: 1.147843 0.127809 0.440297 q: 0.096028 0.811176 -0.137363 0.560271 
time: 1403638626.727829, t: 1.066870 0.123609 0.425484 q: 0.094322 0.814027 -0.138067 0.556237 
time: 1403638626.827830, t: 0.987054 0.121611 0.417491 q: 0.092654 0.817252 -0.139018 0.551533 
time: 1403638626.927830, t: 0.913948 0.118344 0.417594 q: 0.092653 0.819508 -0.138522 0.548301 
time: 1403638627.027829, t: 0.844903 0.116457 0.419811 q: 0.092047 0.819578 -0.138327 0.548348 
time: 1403638627.127830, t: 0.780526 0.112374 0.419102 q: 0.091273 0.819362 -0.138146 0.548845 
time: 1403638627.327830, t: 0.664951 0.105170 0.402171 q: 0.093330 0.819264 -0.135645 0.549269 
time: 1403638627.427830, t: 0.618555 0.100217 0.393098 q: 0.094472 0.819152 -0.134596 0.549499 
time: 1403638627.527829, t: 0.576592 0.096320 0.380289 q: 0.094176 0.818819 -0.134882 0.549975 
time: 1403638627.627830, t: 0.539416 0.093258 0.365650 q: 0.097417 0.816765 -0.133388 0.552823 
time: 1403638627.727829, t: 0.507955 0.090556 0.349826 q: 0.098308 0.813720 -0.133160 0.557192 
time: 1403638627.827830, t: 0.479643 0.090917 0.332085 q: 0.099527 0.812433 -0.132838 0.558928 
optimize pose graph 
time: 1403638627.927830, t: 0.446287 0.090679 0.317368 q: 0.100293 0.813579 -0.132808 0.557129 
time: 1403638628.027829, t: 0.421613 0.091617 0.301564 q: 0.101522 0.815183 -0.132765 0.554566 
time: 1403638628.127830, t: 0.397893 0.093373 0.288484 q: 0.102068 0.816137 -0.133278 0.552937 
time: 1403638628.227829, t: 0.375275 0.099125 0.276466 q: 0.102486 0.816278 -0.134045 0.552466 
time: 1403638628.327830, t: 0.362099 0.107869 0.265538 q: 0.102267 0.816942 -0.135230 0.551235 
time: 1403638628.427830, t: 0.353735 0.117073 0.259014 q: 0.099798 0.816532 -0.137330 0.551776 
time: 1403638628.527829, t: 0.350411 0.127415 0.256245 q: 0.091478 0.810769 -0.143728 0.560024 
time: 1403638628.627830, t: 0.348324 0.137596 0.256614 q: 0.085181 0.804038 -0.148494 0.569401 
time: 1403638628.727829, t: 0.348475 0.146084 0.256426 q: 0.082818 0.803612 -0.150308 0.569874 
time: 1403638628.827830, t: 0.338206 0.150740 0.249757 q: 0.086479 0.805031 -0.148321 0.567845 
time: 1403638628.927830, t: 0.327267 0.153319 0.238711 q: 0.090920 0.805077 -0.145916 0.567709 
time: 1403638629.027829, t: 0.317046 0.155265 0.228589 q: 0.095920 0.806059 -0.142473 0.566365 
time: 1403638629.127830, t: 0.309107 0.156523 0.220912 q: 0.099431 0.807356 -0.139670 0.564608 
time: 1403638629.227829, t: 0.298040 0.161061 0.214650 q: 0.101164 0.808314 -0.138116 0.563309 
time: 1403638629.327830, t: 0.287555 0.166264 0.213722 q: 0.102467 0.809138 -0.137394 0.562066 
time: 1403638629.527829, t: 0.277589 0.179431 0.211544 q: 0.099270 0.817841 -0.140803 0.549050 
time: 1403638629.627830, t: 0.278335 0.187177 0.213286 q: 0.092209 0.818179 -0.146217 0.548362 
time: 1403638629.727829, t: 0.283568 0.193222 0.216439 q: 0.082076 0.814218 -0.153956 0.553724 
time: 1403638629.827830, t: 0.290101 0.196170 0.218944 q: 0.078135 0.808238 -0.157223 0.562075 
time: 1403638629.927830, t: 0.295830 0.195444 0.215184 q: 0.083254 0.802069 -0.154583 0.570840 
time: 1403638630.027829, t: 0.300009 0.192540 0.201792 q: 0.094125 0.796149 -0.147487 0.579253 
optimize pose graph 
time: 1403638630.127830, t: 0.301075 0.190068 0.177330 q: 0.100725 0.796510 -0.142890 0.578800 
time: 1403638630.227829, t: 0.299328 0.188680 0.145679 q: 0.103267 0.800610 -0.140765 0.573188 
time: 1403638630.327830, t: 0.296513 0.188750 0.107861 q: 0.105692 0.807278 -0.140255 0.563436 
time: 1403638630.427830, t: 0.306350 0.192275 0.105548 q: 0.091032 0.813539 -0.146655 0.555301 
time: 1403638630.527829, t: 0.318346 0.193034 0.113455 q: 0.100018 0.803938 -0.139395 0.569429 
time: 1403638630.627830, t: 0.329013 0.194443 0.101213 q: 0.100782 0.803146 -0.139728 0.570329 
time: 1403638630.727829, t: 0.334815 0.192818 0.082477 q: 0.091504 0.829299 -0.132746 0.535041 
time: 1403638630.827830, t: 0.330154 0.185506 0.078483 q: 0.095620 0.826843 -0.134559 0.537664 
time: 1403638630.927830, t: 0.325679 0.192301 0.071635 q: 0.095065 0.827602 -0.132991 0.536984 
time: 1403638631.027829, t: 0.342175 0.176443 0.101647 q: 0.093960 0.828303 -0.133067 0.536078 
time: 1403638631.127830, t: 0.319196 0.176349 0.082293 q: 0.093207 0.828081 -0.133066 0.536552 
time: 1403638631.227829, t: 0.309747 0.197508 0.057010 q: 0.094402 0.827849 -0.133599 0.536569 
time: 1403638631.327830, t: 0.304023 0.197545 0.051630 q: 0.094311 0.827767 -0.133610 0.536708 
time: 1403638631.427830, t: 0.297657 0.197646 0.047146 q: 0.094479 0.827792 -0.133405 0.536691 
time: 1403638631.527829, t: 0.292630 0.197334 0.042284 q: 0.094464 0.827904 -0.133477 0.536504 
time: 1403638631.627830, t: 0.287029 0.195998 0.037882 q: 0.094648 0.827992 -0.133275 0.536385 
optimize pose graph 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720484460.372522366]: Shutdown request received.[0m
[33m[ WARN] [1720484460.372594356]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720484460.373533350]: Shutdown request received.[0m
[33m[ WARN] [1720484460.373559202]: Reason given for shutdown: [user request][0m
killed
