/SLAM-Hive/slam_hive_results/mapping_results/2952/2160_vins-fusion-stereo+MH_01_easy+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720488976.812106857]: init begins[0m
[31m[ERROR] [1720488976.813321411]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720488976.813350907]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/a28c8d68-3d93-11ef-ac1a-0242ac110005/roslaunch-7b3a42a8fcdc-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://7b3a42a8fcdc:42773/[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
[1mROS_MASTER_URI=http://7b3a42a8fcdc:11311/[0m
]2;roscore http://7b3a42a8fcdc:11311/
[1msetting /run_id to a28c8d68-3d93-11ef-ac1a-0242ac110005[0m
[0m[ INFO] [1720488978.127445132]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720488978.129581289]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
result path /home/output/vio.csv
[33m[ WARN] [1720488978.180852828]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720488978.181054625]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720488978.181078360]: ROW: 480 COL: 752 [0m
no imu, fix extrinsic param; no time offset calibration
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1720488978.181336178]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720488978.192601697]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720488978.192925604]: waiting for image and imu...[0m
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [192][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720488987.455730719]: 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: 316852408.76 
[0m[ INFO] [1720488989.841638583]: Initialization finish![0m
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time: 1403636580.913555, t: -0.081510 -0.014202 0.024932 q: 0.998789 -0.014690 -0.045045 -0.013291 
time: 1403636581.013556, t: 0.090417 -0.020811 -0.026089 q: 0.999404 -0.022155 -0.013916 -0.022518 
time: 1403636581.113555, t: 0.056207 -0.027880 0.003171 q: 0.999532 -0.017478 -0.017860 -0.017644 
time: 1403636581.213556, t: 0.105548 -0.023108 -0.021368 q: 0.999769 -0.017661 -0.001157 -0.012194 
time: 1403636581.313555, t: 0.145303 -0.023388 -0.033925 q: 0.999680 -0.017180 0.015372 -0.010451 
time: 1403636581.413555, t: 0.153170 -0.022411 -0.040139 q: 0.999481 -0.019838 0.021863 -0.012923 
time: 1403636581.513556, t: 0.128329 -0.018833 -0.035219 q: 0.999481 -0.022475 0.014116 -0.018266 
time: 1403636581.613555, t: 0.079357 -0.013071 -0.020245 q: 0.999631 -0.022189 0.001426 -0.015618 
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time: 1403636581.813555, t: -0.043854 -0.003678 0.010877 q: 0.999718 -0.016957 -0.010454 -0.012892 
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time: 1403636582.313555, t: -0.231766 -0.003260 0.056367 q: 0.997633 -0.013892 -0.066981 -0.007003 
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time: 1403636582.513556, t: -0.132385 -0.012098 0.031307 q: 0.998902 -0.013834 -0.043925 -0.008615 
time: 1403636582.613555, t: -0.068437 -0.014585 0.014181 q: 0.999119 -0.018475 -0.035832 -0.011623 
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time: 1403636583.213556, t: 0.169268 -0.006764 -0.052672 q: 0.998963 -0.041711 0.015736 -0.009233 
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time: 1403636584.113555, t: -0.254280 0.016495 0.055980 q: 0.997514 -0.018192 -0.067418 -0.009458 
time: 1403636584.213556, t: -0.227223 0.013737 0.049193 q: 0.997548 -0.015460 -0.067445 -0.010525 
time: 1403636584.313555, t: -0.178020 0.010598 0.037739 q: 0.997769 -0.015393 -0.064056 -0.010845 
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time: 1403636585.613555, t: -0.034089 0.020282 0.012199 q: 0.998510 -0.040973 -0.028098 -0.022568 
time: 1403636585.713556, t: -0.067897 0.021634 0.009817 q: 0.998543 -0.028476 -0.042327 -0.017561 
time: 1403636585.813555, t: -0.086481 0.021839 0.004265 q: 0.998060 -0.020154 -0.058088 -0.009842 
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time: 1403636588.713556, t: -0.065651 0.312558 -0.022102 q: 0.976816 -0.061237 -0.201325 0.039360 
time: 1403636588.813555, t: -0.067312 0.284593 -0.026205 q: 0.976531 -0.056634 -0.204381 0.037534 
time: 1403636588.913555, t: -0.069341 0.250198 -0.029145 q: 0.976643 -0.051495 -0.205243 0.037308 
time: 1403636589.013556, t: -0.069283 0.210489 -0.033562 q: 0.977481 -0.045774 -0.202975 0.035162 
time: 1403636589.113555, t: -0.067731 0.167510 -0.039477 q: 0.978901 -0.039465 -0.197978 0.031640 
time: 1403636589.213556, t: -0.065331 0.121514 -0.044048 q: 0.979868 -0.035075 -0.194335 0.029378 
time: 1403636589.313555, t: -0.064516 0.073239 -0.048632 q: 0.979795 -0.030433 -0.195917 0.026321 
time: 1403636589.413555, t: -0.066735 0.024548 -0.051289 q: 0.979173 -0.025599 -0.200080 0.023092 
time: 1403636589.513556, t: -0.069569 -0.023480 -0.053836 q: 0.979364 -0.023256 -0.199718 0.020451 
optimize pose graph 
time: 1403636589.613555, t: -0.073329 -0.071165 -0.056373 q: 0.979971 -0.020181 -0.197221 0.018817 
time: 1403636589.713556, t: -0.077944 -0.117884 -0.058581 q: 0.980443 -0.017285 -0.195313 0.016885 
time: 1403636589.813555, t: -0.084001 -0.162086 -0.060052 q: 0.980079 -0.010077 -0.197724 0.015749 
time: 1403636589.913555, t: -0.091404 -0.200373 -0.060319 q: 0.978823 -0.002146 -0.204220 0.013976 
time: 1403636590.013556, t: -0.097880 -0.231822 -0.061109 q: 0.978530 0.006952 -0.205467 0.014654 
time: 1403636590.113555, t: -0.099616 -0.253969 -0.062621 q: 0.979714 0.013279 -0.199496 0.013618 
time: 1403636590.213556, t: -0.099133 -0.264877 -0.064602 q: 0.980757 0.017470 -0.194003 0.013147 
time: 1403636590.313555, t: -0.097808 -0.262994 -0.067244 q: 0.980759 0.016715 -0.194209 0.010705 
time: 1403636590.413555, t: -0.095450 -0.248004 -0.070697 q: 0.980449 0.012205 -0.196147 0.009881 
time: 1403636590.513556, t: -0.091819 -0.222143 -0.074791 q: 0.980797 0.005122 -0.194776 0.008532 
time: 1403636590.613555, t: -0.087290 -0.187873 -0.079072 q: 0.981446 -0.001223 -0.191594 0.007338 
time: 1403636590.713556, t: -0.083736 -0.147912 -0.081501 q: 0.981550 -0.007430 -0.190898 0.007839 
time: 1403636590.813555, t: -0.082339 -0.104422 -0.080918 q: 0.980681 -0.011271 -0.194957 0.011418 
time: 1403636590.913555, t: -0.082048 -0.058078 -0.078416 q: 0.979462 -0.014265 -0.200568 0.014963 
time: 1403636591.013556, t: -0.081952 -0.010585 -0.074859 q: 0.979202 -0.016424 -0.201596 0.015874 
time: 1403636591.113555, t: -0.080913 0.034604 -0.070294 q: 0.979520 -0.014896 -0.200024 0.017591 
time: 1403636591.213556, t: -0.079818 0.076615 -0.065498 q: 0.979334 -0.015858 -0.200594 0.020362 
time: 1403636591.313555, t: -0.081173 0.113567 -0.060567 q: 0.978733 -0.019052 -0.203039 0.022210 
time: 1403636591.413555, t: -0.084699 0.142404 -0.055479 q: 0.978211 -0.023806 -0.204795 0.024397 
time: 1403636591.513556, t: -0.089829 0.163691 -0.048207 q: 0.978262 -0.027863 -0.203860 0.025870 
optimize pose graph 
time: 1403636591.613555, t: -0.094042 0.180989 -0.040306 q: 0.979747 -0.041972 -0.193933 0.026894 
time: 1403636591.713556, t: -0.096410 0.191773 -0.032267 q: 0.982893 -0.054296 -0.174098 0.025752 
time: 1403636591.813555, t: -0.095251 0.198438 -0.026208 q: 0.985812 -0.065911 -0.152617 0.023200 
time: 1403636592.013556, t: -0.088860 0.213098 -0.013221 q: 0.985967 -0.083529 -0.141116 0.031264 
time: 1403636592.113555, t: -0.085137 0.226642 0.000689 q: 0.983723 -0.093782 -0.147941 0.040093 
time: 1403636592.213556, t: -0.080958 0.241532 0.019815 q: 0.981322 -0.101890 -0.156377 0.046608 
time: 1403636592.313555, t: -0.074447 0.253404 0.042432 q: 0.979594 -0.103693 -0.165045 0.049028 
time: 1403636592.413555, t: -0.065941 0.258067 0.069616 q: 0.978987 -0.097627 -0.171258 0.052194 
time: 1403636592.513556, t: -0.054648 0.253024 0.100378 q: 0.980584 -0.085485 -0.169496 0.049178 
time: 1403636592.613555, t: -0.044169 0.238854 0.133390 q: 0.983744 -0.069046 -0.160636 0.040955 
time: 1403636592.713556, t: -0.035517 0.215816 0.164054 q: 0.986072 -0.051440 -0.155140 0.030791 
time: 1403636592.813555, t: -0.029898 0.181691 0.191003 q: 0.987222 -0.026704 -0.155460 0.022632 
time: 1403636592.913555, t: -0.029454 0.135264 0.207902 q: 0.986869 0.002940 -0.160640 0.016579 
time: 1403636593.013556, t: -0.033179 0.079388 0.210295 q: 0.985360 0.031872 -0.167178 0.010068 
time: 1403636593.113555, t: -0.040761 0.017858 0.198925 q: 0.983365 0.058615 -0.171917 0.001169 
time: 1403636593.213556, t: -0.050540 -0.044586 0.174044 q: 0.981249 0.083067 -0.173924 -0.000617 
time: 1403636593.313555, t: -0.062520 -0.100246 0.138785 q: 0.978932 0.102145 -0.176797 0.000811 
time: 1403636593.513556, t: -0.095009 -0.158579 0.050279 q: 0.977085 0.105390 -0.184914 -0.002189 
optimize pose graph 
time: 1403636593.613555, t: -0.115647 -0.160423 0.004721 q: 0.977081 0.095346 -0.190275 0.004127 
time: 1403636593.713556, t: -0.135717 -0.144499 -0.037168 q: 0.976784 0.078518 -0.198718 0.015447 
time: 1403636593.813555, t: -0.152774 -0.113489 -0.075732 q: 0.977626 0.049216 -0.202419 0.029190 
time: 1403636593.913555, t: -0.164576 -0.070245 -0.107983 q: 0.979657 0.012212 -0.195154 0.045153 
time: 1403636594.013556, t: -0.169882 -0.020389 -0.135091 q: 0.980971 -0.028416 -0.183087 0.058037 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403636626.713556, t: 0.063399 0.118289 0.163632 q: 0.995527 0.081058 0.007209 -0.047989 
time: 1403636626.813555, t: 0.057716 0.128191 0.163640 q: 0.995361 0.082567 0.002089 -0.049351 
time: 1403636626.913555, t: 0.046937 0.139002 0.161192 q: 0.995226 0.083160 -0.005928 -0.050731 
time: 1403636627.013556, t: 0.032927 0.150323 0.157779 q: 0.995080 0.082702 -0.015006 -0.052457 
time: 1403636627.113555, t: 0.021300 0.161395 0.153409 q: 0.994897 0.082308 -0.023824 -0.053266 
time: 1403636627.213556, t: 0.020996 0.171048 0.147253 q: 0.994940 0.082777 -0.020002 -0.053320 
time: 1403636627.313555, t: 0.031053 0.179734 0.138112 q: 0.995030 0.083962 -0.012584 -0.052031 
time: 1403636627.413555, t: 0.049022 0.187154 0.125950 q: 0.995069 0.084871 -0.010985 -0.050130 
time: 1403636627.513556, t: 0.072339 0.195801 0.111075 q: 0.995384 0.083181 -0.011037 -0.046592 
time: 1403636627.613555, t: 0.085287 0.206961 0.098568 q: 0.996095 0.076026 -0.013212 -0.042891 
optimize pose graph 
time: 1403636627.713556, t: 0.082733 0.219558 0.091734 q: 0.996651 0.067453 -0.020946 -0.041197 
time: 1403636627.813555, t: 0.070251 0.233615 0.088523 q: 0.997198 0.054887 -0.032085 -0.039428 
time: 1403636627.913555, t: 0.058337 0.248567 0.088606 q: 0.997524 0.042036 -0.042126 -0.037484 
time: 1403636628.013556, t: 0.056119 0.261238 0.091983 q: 0.997755 0.032474 -0.045420 -0.036978 
time: 1403636628.113555, t: 0.067215 0.272380 0.096890 q: 0.998371 0.026912 -0.036508 -0.034614 
time: 1403636628.213556, t: 0.088046 0.281136 0.103412 q: 0.999083 0.024546 -0.018709 -0.029666 
time: 1403636628.313555, t: 0.114395 0.290290 0.109063 q: 0.999427 0.025313 -0.008463 -0.020792 
time: 1403636628.413555, t: 0.141186 0.300232 0.113383 q: 0.999512 0.026097 -0.006355 -0.015978 
time: 1403636628.513556, t: 0.164033 0.312863 0.116482 q: 0.999507 0.027400 -0.006775 -0.013725 
time: 1403636628.613555, t: 0.179616 0.329343 0.119972 q: 0.999460 0.029509 -0.008191 -0.011881 
time: 1403636628.713556, t: 0.188415 0.349147 0.126507 q: 0.999455 0.028981 -0.008260 -0.013511 
time: 1403636628.813555, t: 0.191034 0.374421 0.134915 q: 0.999510 0.021157 -0.013925 -0.018370 
time: 1403636628.913555, t: 0.193629 0.401810 0.138520 q: 0.999461 0.011920 -0.022404 -0.020843 
time: 1403636629.013556, t: 0.202531 0.430587 0.143796 q: 0.999353 0.005420 -0.028769 -0.020884 
time: 1403636629.113555, t: 0.219218 0.456804 0.151204 q: 0.999320 -0.000740 -0.030593 -0.020589 
time: 1403636629.213556, t: 0.238154 0.484463 0.159657 q: 0.999354 -0.010301 -0.029727 -0.017398 
time: 1403636629.313555, t: 0.251788 0.512864 0.173032 q: 0.999418 -0.019391 -0.025269 -0.012192 
time: 1403636629.413555, t: 0.261689 0.542640 0.187487 q: 0.999488 -0.024939 -0.019577 -0.004317 
time: 1403636629.513556, t: 0.266304 0.573322 0.207116 q: 0.999321 -0.033701 -0.013531 0.006211 
time: 1403636629.613555, t: 0.262899 0.606213 0.226768 q: 0.998603 -0.048500 -0.016584 0.012867 
time: 1403636629.713556, t: 0.253126 0.645274 0.250628 q: 0.997218 -0.067778 -0.026124 0.016733 
optimize pose graph 
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time: 1403636629.913555, t: 0.227288 0.731715 0.303276 q: 0.992711 -0.111239 -0.036932 0.028035 
time: 1403636630.013556, t: 0.217827 0.775821 0.341252 q: 0.990581 -0.127880 -0.036636 0.032471 
time: 1403636630.113555, t: 0.220812 0.820465 0.378675 q: 0.989186 -0.139280 -0.029767 0.035012 
time: 1403636630.213556, t: 0.235850 0.865661 0.412261 q: 0.988301 -0.147475 -0.015726 0.035565 
time: 1403636630.313555, t: 0.257726 0.912413 0.445164 q: 0.987695 -0.152167 -0.006214 0.035581 
time: 1403636630.413555, t: 0.280654 0.955890 0.476520 q: 0.987354 -0.154314 -0.008155 0.035392 
time: 1403636630.513556, t: 0.306807 0.997212 0.507580 q: 0.987305 -0.154841 -0.012614 0.033085 
time: 1403636630.613555, t: 0.340963 1.035766 0.540988 q: 0.987448 -0.154811 -0.015519 0.027190 
time: 1403636630.713556, t: 0.372441 1.072189 0.573906 q: 0.987736 -0.153284 -0.018401 0.023301 
time: 1403636630.813555, t: 0.392861 1.112739 0.606791 q: 0.988249 -0.149626 -0.018673 0.025043 
time: 1403636630.913555, t: 0.411144 1.150070 0.644117 q: 0.988697 -0.146170 -0.018255 0.027932 
time: 1403636631.013556, t: 0.425420 1.183024 0.683238 q: 0.988908 -0.144427 -0.017725 0.029786 
time: 1403636631.113555, t: 0.434596 1.224435 0.716647 q: 0.989209 -0.142673 -0.014712 0.029899 
time: 1403636631.213556, t: 0.444988 1.264232 0.754876 q: 0.989435 -0.141508 -0.011272 0.029432 
time: 1403636631.313555, t: 0.456294 1.301304 0.794973 q: 0.989547 -0.140934 -0.010076 0.028848 
time: 1403636631.413555, t: 0.456860 1.340064 0.835028 q: 0.989683 -0.140104 -0.009904 0.028276 
time: 1403636631.513556, t: 0.455092 1.379990 0.873170 q: 0.989821 -0.139486 -0.010391 0.026261 
time: 1403636631.613555, t: 0.452654 1.417400 0.912574 q: 0.989938 -0.139133 -0.010823 0.023408 
time: 1403636631.713556, t: 0.454614 1.451001 0.953725 q: 0.990090 -0.138214 -0.012095 0.021737 
time: 1403636631.813555, t: 0.461963 1.484441 0.991964 q: 0.990237 -0.137311 -0.012550 0.020446 
optimize pose graph 
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time: 1403636632.013556, t: 0.485900 1.546104 1.064724 q: 0.990228 -0.137538 -0.014305 0.018091 
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time: 1403636632.213556, t: 0.517638 1.600926 1.133743 q: 0.989975 -0.140334 -0.010504 0.012025 
time: 1403636632.313555, t: 0.528086 1.620520 1.171033 q: 0.989860 -0.141029 -0.009506 0.014045 
time: 1403636632.513556, t: 0.530235 1.656149 1.250369 q: 0.989984 -0.138411 -0.015613 0.023022 
time: 1403636632.613555, t: 0.523204 1.668459 1.296434 q: 0.990796 -0.128987 -0.025175 0.032436 
time: 1403636632.713556, t: 0.517171 1.682229 1.343700 q: 0.992354 -0.114148 -0.031080 0.035169 
time: 1403636632.813555, t: 0.517687 1.700243 1.391681 q: 0.994582 -0.094669 -0.032088 0.028541 
time: 1403636632.913555, t: 0.526678 1.720702 1.439962 q: 0.996836 -0.074430 -0.025533 0.011258 
time: 1403636633.013556, t: 0.543640 1.737803 1.490605 q: 0.998070 -0.058273 -0.021058 -0.004196 
time: 1403636633.113555, t: 0.561633 1.759898 1.535793 q: 0.998713 -0.044714 -0.019778 -0.013452 
time: 1403636633.213556, t: 0.578778 1.779325 1.585030 q: 0.999012 -0.035120 -0.020009 -0.018499 
time: 1403636633.313555, t: 0.588945 1.795678 1.637631 q: 0.999164 -0.028594 -0.022932 -0.018105 
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time: 1403636633.713556, t: 0.604905 1.873769 1.865657 q: 0.998987 -0.026793 -0.035430 -0.007200 
time: 1403636633.813555, t: 0.618905 1.894624 1.925510 q: 0.998963 -0.029236 -0.034526 -0.005043 
time: 1403636633.913555, t: 0.641505 1.915475 1.988726 q: 0.999017 -0.030306 -0.032327 0.000878 
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time: 1403636634.113555, t: 0.683649 1.965686 2.116087 q: 0.999042 -0.031081 -0.028422 0.011869 
time: 1403636634.213556, t: 0.709405 1.992962 2.181610 q: 0.998978 -0.031701 -0.031347 0.007462 
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time: 1403636635.213556, t: 0.967805 2.280794 2.836078 q: 0.999173 0.003251 -0.025619 -0.031410 
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time: 1403636635.913555, t: 1.190242 2.442438 3.292870 q: 0.999695 0.014430 -0.020037 -0.000984 
time: 1403636636.013556, t: 1.244153 2.474076 3.355588 q: 0.999496 0.012783 -0.028987 -0.002078 
time: 1403636636.113555, t: 1.295588 2.510219 3.420275 q: 0.999252 0.009017 -0.035885 -0.011265 
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time: 1403636636.413555, t: 1.479267 2.611783 3.618485 q: 0.999562 0.003957 -0.002911 -0.029175 
time: 1403636636.513556, t: 1.536962 2.640234 3.680960 q: 0.999429 0.002703 0.006564 -0.033045 
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time: 1403636638.713556, t: 1.885300 2.823183 4.719359 q: 0.998357 0.020744 -0.048803 -0.021694 
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time: 1403636694.013556, t: 1.353534 4.789036 5.009848 q: 0.949743 0.284367 -0.025979 -0.128252 
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time: 1403636694.913555, t: 1.459931 4.807180 5.219186 q: 0.950465 0.287035 -0.025039 -0.116621 
time: 1403636695.013556, t: 1.455531 4.809499 5.246183 q: 0.950893 0.287877 -0.028582 -0.110058 
time: 1403636695.113555, t: 1.451684 4.817205 5.273444 q: 0.951251 0.284871 -0.028085 -0.114814 
time: 1403636695.213556, t: 1.456054 4.825093 5.301044 q: 0.951739 0.281538 -0.026681 -0.119240 
time: 1403636695.313555, t: 1.466794 4.834180 5.326192 q: 0.952181 0.278492 -0.023646 -0.123424 
time: 1403636695.513556, t: 1.504346 4.850714 5.368813 q: 0.952922 0.274200 -0.019856 -0.127909 
time: 1403636695.613555, t: 1.521300 4.858979 5.389474 q: 0.953160 0.272270 -0.017296 -0.130597 
time: 1403636695.713556, t: 1.530536 4.865150 5.409877 q: 0.953404 0.270188 -0.015220 -0.133368 
time: 1403636695.813555, t: 1.536373 4.870261 5.429225 q: 0.953812 0.270166 -0.017412 -0.130193 
optimize pose graph 
time: 1403636695.913555, t: 1.537767 4.876598 5.447583 q: 0.954090 0.269588 -0.018700 -0.129166 
time: 1403636696.013556, t: 1.534023 4.881231 5.465467 q: 0.954375 0.269227 -0.023846 -0.126950 
time: 1403636696.113555, t: 1.527081 4.886460 5.484647 q: 0.954448 0.266589 -0.030552 -0.130486 
time: 1403636696.213556, t: 1.519206 4.890787 5.503861 q: 0.954416 0.263589 -0.032425 -0.136233 
time: 1403636696.313555, t: 1.510523 4.889543 5.523691 q: 0.954682 0.263424 -0.026055 -0.136057 
time: 1403636696.413555, t: 1.502883 4.884990 5.542508 q: 0.955386 0.265647 -0.010828 -0.128654 
time: 1403636696.513556, t: 1.495487 4.882432 5.557647 q: 0.955814 0.267102 -0.005197 -0.122679 
time: 1403636696.613555, t: 1.489692 4.880412 5.566063 q: 0.956105 0.266708 -0.007136 -0.121156 
time: 1403636696.713556, t: 1.490109 4.878774 5.569833 q: 0.956308 0.266588 -0.009737 -0.119628 
time: 1403636696.813555, t: 1.489706 4.879779 5.571413 q: 0.956369 0.265723 -0.011743 -0.120881 
time: 1403636696.913555, t: 1.483891 4.882092 5.572137 q: 0.956286 0.264667 -0.012273 -0.123764 
time: 1403636697.013556, t: 1.474226 4.885447 5.571360 q: 0.955815 0.260054 -0.008870 -0.136788 
time: 1403636697.113555, t: 1.464218 4.886041 5.566545 q: 0.955227 0.254983 -0.005412 -0.149988 
time: 1403636697.213556, t: 1.459014 4.881880 5.554988 q: 0.954785 0.251768 -0.002189 -0.158092 
time: 1403636697.313555, t: 1.458738 4.868727 5.534454 q: 0.955074 0.251497 -0.004579 -0.156725 
time: 1403636697.413555, t: 1.463215 4.849453 5.506930 q: 0.955941 0.254960 -0.012697 -0.144953 
time: 1403636697.513556, t: 1.473975 4.825618 5.473053 q: 0.956488 0.257109 -0.020652 -0.136378 
time: 1403636697.613555, t: 1.487850 4.801264 5.437738 q: 0.958271 0.252023 -0.021978 -0.133108 
time: 1403636697.713556, t: 1.500009 4.775681 5.403099 q: 0.962477 0.237882 -0.021390 -0.128811 
time: 1403636697.813555, t: 1.506449 4.749192 5.369356 q: 0.968127 0.217033 -0.021804 -0.123093 
time: 1403636697.913555, t: 1.508719 4.721649 5.335383 q: 0.973009 0.198573 -0.021568 -0.115573 
optimize pose graph 
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time: 1403636698.113555, t: 1.493392 4.660196 5.273420 q: 0.979045 0.174360 -0.021404 -0.103011 
time: 1403636698.213556, t: 1.478982 4.624327 5.244962 q: 0.980801 0.166881 -0.020910 -0.098706 
time: 1403636698.313555, t: 1.460081 4.589272 5.218450 q: 0.983064 0.155248 -0.020855 -0.095127 
time: 1403636698.413555, t: 1.438173 4.555436 5.192178 q: 0.985912 0.139031 -0.020329 -0.090750 
time: 1403636698.513556, t: 1.413689 4.521353 5.166030 q: 0.988960 0.119274 -0.021495 -0.085268 
time: 1403636698.613555, t: 1.384530 4.484832 5.140583 q: 0.992054 0.096976 -0.021296 -0.077268 
time: 1403636698.713556, t: 1.350429 4.443803 5.119718 q: 0.994892 0.072627 -0.021753 -0.066649 
time: 1403636698.813555, t: 1.311744 4.405647 5.101415 q: 0.997153 0.046024 -0.021883 -0.055581 
time: 1403636698.913555, t: 1.272760 4.362643 5.087767 q: 0.998692 0.018392 -0.021025 -0.042832 
time: 1403636699.013556, t: 1.240999 4.322475 5.069412 q: 0.999315 -0.007756 -0.020445 -0.029847 
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time: 1403636699.213556, t: 1.203748 4.242456 5.031621 q: 0.998110 -0.059059 -0.016910 0.001259 
time: 1403636699.313555, t: 1.198410 4.204481 5.009998 q: 0.995935 -0.086230 -0.017684 0.019096 
time: 1403636699.413555, t: 1.191373 4.170202 4.987665 q: 0.992865 -0.112731 -0.017549 0.034677 
time: 1403636699.513556, t: 1.186900 4.142390 4.970541 q: 0.989181 -0.137939 -0.017104 0.046926 
time: 1403636699.613555, t: 1.180571 4.123347 4.954893 q: 0.984915 -0.161676 -0.015663 0.059645 
time: 1403636699.713556, t: 1.169272 4.106164 4.942953 q: 0.979938 -0.186159 -0.012664 0.070045 
time: 1403636699.813555, t: 1.156837 4.099568 4.929881 q: 0.975413 -0.208952 -0.010526 0.069267 
time: 1403636699.913555, t: 1.141367 4.093100 4.923349 q: 0.972031 -0.224753 -0.005739 0.067891 
time: 1403636700.013556, t: 1.122965 4.088844 4.914855 q: 0.969994 -0.232696 -0.002464 0.070420 
time: 1403636700.113555, t: 1.101496 4.089652 4.905669 q: 0.969060 -0.235874 -0.000947 0.072700 
optimize pose graph 
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time: 1403636700.713556, t: 0.890855 4.170349 4.862415 q: 0.956227 -0.281762 0.008673 0.078522 
time: 1403636700.813555, t: 0.852608 4.189754 4.850904 q: 0.952945 -0.292752 0.009081 0.078168 
time: 1403636700.913555, t: 0.818083 4.211461 4.836951 q: 0.950823 -0.298985 0.004077 0.080792 
time: 1403636701.013556, t: 0.789350 4.232446 4.823501 q: 0.949687 -0.301883 -0.002444 0.083399 
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time: 1403636707.513556, t: 0.829218 7.201357 6.392200 q: 0.912203 -0.397654 -0.016747 0.097350 
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time: 1403636707.713556, t: 0.940815 7.301258 6.525103 q: 0.912604 -0.392766 -0.014290 0.112628 
time: 1403636707.813555, t: 0.982970 7.355206 6.600290 q: 0.912994 -0.390436 -0.012285 0.117686 
time: 1403636707.913555, t: 1.014834 7.409213 6.681172 q: 0.913669 -0.389072 -0.008401 0.117310 
time: 1403636708.013556, t: 1.035646 7.467322 6.763230 q: 0.914671 -0.388043 -0.006356 0.112960 
time: 1403636708.113555, t: 1.052074 7.529370 6.848900 q: 0.915738 -0.387341 -0.004905 0.106615 
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time: 1403636708.313555, t: 1.069783 7.655834 7.025165 q: 0.917750 -0.381614 0.005334 0.109900 
optimize pose graph 
time: 1403636708.413555, t: 1.077293 7.717892 7.107567 q: 0.918417 -0.376250 0.014590 0.121382 
time: 1403636708.513556, t: 1.090644 7.785201 7.185569 q: 0.918642 -0.373835 0.019606 0.126329 
time: 1403636708.613555, t: 1.106928 7.854850 7.254088 q: 0.918519 -0.376030 0.020327 0.120465 
time: 1403636708.713556, t: 1.121386 7.922894 7.317246 q: 0.917750 -0.382414 0.015488 0.106087 
time: 1403636708.813555, t: 1.133196 7.991089 7.378055 q: 0.916560 -0.389130 0.011580 0.091446 
time: 1403636708.913555, t: 1.137645 8.056002 7.440027 q: 0.915064 -0.393766 0.011150 0.086497 
time: 1403636709.013556, t: 1.144211 8.116407 7.500336 q: 0.913519 -0.397752 0.014213 0.084106 
time: 1403636709.113555, t: 1.156925 8.169924 7.554651 q: 0.911936 -0.401806 0.016515 0.081563 
time: 1403636709.213556, t: 1.177391 8.216511 7.607351 q: 0.910742 -0.404167 0.012548 0.083905 
time: 1403636709.313555, t: 1.200114 8.252684 7.657980 q: 0.910051 -0.405270 0.005495 0.086794 
time: 1403636709.413555, t: 1.222951 8.284678 7.712218 q: 0.909653 -0.406018 0.000116 0.087643 
time: 1403636709.513556, t: 1.242230 8.310663 7.768575 q: 0.909549 -0.406172 -0.002128 0.087980 
time: 1403636709.613555, t: 1.254340 8.333261 7.828996 q: 0.909625 -0.405734 -0.004792 0.089100 
time: 1403636709.713556, t: 1.264504 8.353319 7.889289 q: 0.910053 -0.404853 -0.006708 0.088616 
time: 1403636709.813555, t: 1.274929 8.369855 7.954154 q: 0.910813 -0.403226 -0.006903 0.088211 
time: 1403636709.913555, t: 1.288838 8.383716 8.021600 q: 0.911484 -0.401783 -0.005934 0.087935 
time: 1403636710.013556, t: 1.310238 8.392851 8.089391 q: 0.912267 -0.400095 -0.004868 0.087578 
time: 1403636710.113555, t: 1.336879 8.395492 8.159098 q: 0.912999 -0.398729 -0.003842 0.086221 
time: 1403636710.213556, t: 1.356351 8.397397 8.232152 q: 0.913952 -0.396918 -0.003187 0.084484 
time: 1403636710.313555, t: 1.364774 8.398779 8.310580 q: 0.915712 -0.391617 0.001878 0.090020 
time: 1403636710.413555, t: 1.370501 8.396645 8.387812 q: 0.918847 -0.381196 0.008213 0.101700 
time: 1403636710.513556, t: 1.372988 8.392757 8.469061 q: 0.923514 -0.367537 0.011650 0.109098 
optimize pose graph 
time: 1403636710.613555, t: 1.371452 8.386366 8.546905 q: 0.928381 -0.354701 0.013565 0.110054 
time: 1403636710.713556, t: 1.365852 8.383372 8.621724 q: 0.933977 -0.341354 0.013584 0.104788 
time: 1403636710.813555, t: 1.358552 8.383315 8.693873 q: 0.940292 -0.327486 0.012161 0.091957 
time: 1403636710.913555, t: 1.355268 8.383292 8.759097 q: 0.946787 -0.312782 0.006977 0.075590 
time: 1403636711.013556, t: 1.359438 8.378579 8.820272 q: 0.951779 -0.301049 0.001170 0.059029 
time: 1403636711.113555, t: 1.363239 8.375937 8.876829 q: 0.955249 -0.291766 -0.000554 0.048705 
time: 1403636711.213556, t: 1.371660 8.369273 8.931050 q: 0.957322 -0.285939 0.000011 0.042120 
time: 1403636711.313555, t: 1.382154 8.360363 8.984956 q: 0.958724 -0.281249 0.002286 0.041724 
time: 1403636711.413555, t: 1.397541 8.345659 9.035897 q: 0.959440 -0.278177 0.010156 0.044602 
time: 1403636711.513556, t: 1.420817 8.326375 9.080143 q: 0.959355 -0.277605 0.024279 0.044547 
time: 1403636711.613555, t: 1.441156 8.298164 9.123263 q: 0.958348 -0.281136 0.031323 0.039373 
time: 1403636711.713556, t: 1.458624 8.265795 9.160156 q: 0.957379 -0.284961 0.030507 0.035940 
time: 1403636711.813555, t: 1.473816 8.227282 9.189551 q: 0.956971 -0.286125 0.027688 0.039664 
time: 1403636711.913555, t: 1.490519 8.180196 9.215661 q: 0.957088 -0.284265 0.022361 0.051729 
time: 1403636712.013556, t: 1.507739 8.129162 9.236588 q: 0.957159 -0.281356 0.018907 0.065793 
time: 1403636712.113555, t: 1.527549 8.080295 9.250954 q: 0.957221 -0.278624 0.019202 0.075679 
time: 1403636712.213556, t: 1.547885 8.030237 9.261552 q: 0.957983 -0.277049 0.019519 0.071630 
time: 1403636712.313555, t: 1.580022 7.982063 9.264226 q: 0.960764 -0.271022 0.017088 0.056459 
time: 1403636712.413555, t: 1.610144 7.931010 9.263736 q: 0.964161 -0.261437 0.015751 0.042381 
time: 1403636712.513556, t: 1.638659 7.875926 9.258030 q: 0.967259 -0.251112 0.017093 0.032570 
time: 1403636712.613555, t: 1.671558 7.817282 9.250625 q: 0.969939 -0.240738 0.020815 0.028833 
optimize pose graph 
time: 1403636712.713556, t: 1.698686 7.757099 9.234947 q: 0.972229 -0.230559 0.027919 0.028865 
time: 1403636712.813555, t: 1.716736 7.694671 9.219096 q: 0.973907 -0.223183 0.028954 0.029273 
time: 1403636712.913555, t: 1.731285 7.627117 9.205231 q: 0.974800 -0.219727 0.024041 0.030124 
time: 1403636713.013556, t: 1.736399 7.559419 9.185350 q: 0.975067 -0.219329 0.018470 0.028251 
time: 1403636713.113555, t: 1.742408 7.488236 9.160822 q: 0.975495 -0.217002 0.019467 0.030658 
time: 1403636713.213556, t: 1.753341 7.416149 9.128744 q: 0.975894 -0.215013 0.016933 0.033369 
time: 1403636713.313555, t: 1.768432 7.342204 9.090488 q: 0.975975 -0.214735 0.013237 0.034458 
time: 1403636713.413555, t: 1.789407 7.268651 9.047915 q: 0.976028 -0.214106 0.011233 0.037431 
time: 1403636713.513556, t: 1.815805 7.194758 8.999438 q: 0.976020 -0.213412 0.010290 0.041654 
time: 1403636713.613555, t: 1.843248 7.121370 8.950591 q: 0.975881 -0.212634 0.009082 0.048594 
time: 1403636713.713556, t: 1.860761 7.051512 8.900097 q: 0.975673 -0.211980 0.007304 0.055434 
time: 1403636713.813555, t: 1.872344 6.984207 8.850640 q: 0.975328 -0.212073 0.006090 0.061013 
time: 1403636713.913555, t: 1.878698 6.922836 8.797911 q: 0.974868 -0.214472 0.004914 0.060086 
time: 1403636714.013556, t: 1.880510 6.864260 8.746004 q: 0.974305 -0.217837 0.002388 0.057187 
time: 1403636714.113555, t: 1.879244 6.809831 8.691883 q: 0.973625 -0.222157 0.001152 0.051951 
time: 1403636714.213556, t: 1.871297 6.755671 8.641464 q: 0.972996 -0.225130 0.002494 0.050889 
time: 1403636714.313555, t: 1.857388 6.704720 8.590888 q: 0.972642 -0.225440 0.004943 0.055858 
time: 1403636714.413555, t: 1.846064 6.654159 8.540575 q: 0.972158 -0.227086 0.000036 0.057805 
time: 1403636714.513556, t: 1.819035 6.610413 8.490626 q: 0.972833 -0.223781 -0.008692 0.058674 
time: 1403636714.613555, t: 1.792274 6.566733 8.441911 q: 0.974959 -0.214034 -0.016236 0.058148 
time: 1403636714.713556, t: 1.769969 6.528052 8.395059 q: 0.978288 -0.199521 -0.021357 0.051850 
time: 1403636714.813555, t: 1.755072 6.488761 8.350851 q: 0.982440 -0.180617 -0.024381 0.039926 
optimize pose graph 
time: 1403636714.913555, t: 1.752143 6.453581 8.306807 q: 0.986669 -0.158613 -0.026249 0.025231 
time: 1403636715.013556, t: 1.758292 6.419270 8.264059 q: 0.990118 -0.136453 -0.029085 0.014150 
time: 1403636715.113555, t: 1.769900 6.387627 8.223921 q: 0.992330 -0.119347 -0.031908 0.004340 
time: 1403636715.213556, t: 1.785656 6.356462 8.189308 q: 0.993695 -0.107102 -0.033134 -0.001004 
time: 1403636715.313555, t: 1.799581 6.328455 8.158954 q: 0.994707 -0.098229 -0.030102 -0.001830 
time: 1403636715.413555, t: 1.808887 6.300773 8.134702 q: 0.995425 -0.092355 -0.024464 0.000478 
time: 1403636715.513556, t: 1.813646 6.276466 8.112923 q: 0.996004 -0.087209 -0.017044 0.008969 
time: 1403636715.613555, t: 1.808936 6.257296 8.094573 q: 0.996267 -0.083035 -0.013043 0.019702 
time: 1403636715.713556, t: 1.801921 6.243851 8.077913 q: 0.996210 -0.085783 -0.002991 0.014042 
time: 1403636715.813555, t: 1.792414 6.232668 8.059771 q: 0.995815 -0.091025 0.006721 0.004576 
time: 1403636715.913555, t: 1.787837 6.222669 8.035858 q: 0.995360 -0.095060 0.014798 -0.001995 
time: 1403636716.013556, t: 1.783865 6.213214 8.006659 q: 0.995033 -0.097685 0.018885 -0.003071 
time: 1403636716.113555, t: 1.781933 6.201240 7.970611 q: 0.994868 -0.099641 0.017560 -0.000295 
time: 1403636716.213556, t: 1.782789 6.189363 7.928318 q: 0.994815 -0.101356 0.006379 0.005362 
time: 1403636716.313555, t: 1.780070 6.177281 7.883572 q: 0.994485 -0.104560 -0.001131 0.008072 
time: 1403636716.413555, t: 1.774372 6.168328 7.836793 q: 0.994166 -0.107308 -0.004289 0.010024 
time: 1403636716.513556, t: 1.762211 6.158878 7.792220 q: 0.993862 -0.110030 -0.005023 0.010364 
time: 1403636716.613555, t: 1.744423 6.149227 7.752009 q: 0.993940 -0.109620 -0.004767 0.006610 
time: 1403636716.713556, t: 1.719484 6.139480 7.712909 q: 0.994710 -0.102591 -0.004329 0.002803 
time: 1403636716.813555, t: 1.691607 6.130022 7.673373 q: 0.995904 -0.090309 -0.004250 -0.000840 
time: 1403636716.913555, t: 1.665728 6.118417 7.631737 q: 0.997305 -0.072943 -0.005582 -0.005602 
time: 1403636717.013556, t: 1.645671 6.103481 7.591582 q: 0.998534 -0.051745 -0.007585 -0.013923 
optimize pose graph 
time: 1403636717.113555, t: 1.631539 6.090616 7.544857 q: 0.999252 -0.029875 -0.009566 -0.022636 
time: 1403636717.213556, t: 1.621984 6.078020 7.498285 q: 0.999363 -0.013867 -0.010840 -0.031052 
time: 1403636717.313555, t: 1.613383 6.065928 7.450156 q: 0.998988 -0.004762 -0.012033 -0.043068 
time: 1403636717.413555, t: 1.605407 6.052641 7.403477 q: 0.998268 -0.001241 -0.011295 -0.057715 
time: 1403636717.513556, t: 1.594254 6.037461 7.356131 q: 0.997937 0.001717 -0.011371 -0.063164 
time: 1403636717.613555, t: 1.578008 6.017919 7.309814 q: 0.998227 0.005688 -0.011571 -0.058109 
time: 1403636717.713556, t: 1.554871 5.994971 7.266507 q: 0.998425 0.006901 -0.010153 -0.054737 
time: 1403636717.813555, t: 1.528020 5.969051 7.223467 q: 0.998114 0.008326 -0.011520 -0.059718 
time: 1403636717.913555, t: 1.503247 5.935977 7.178853 q: 0.997606 0.015688 -0.012751 -0.066129 
time: 1403636718.013556, t: 1.483073 5.897076 7.132206 q: 0.996880 0.028408 -0.012772 -0.072522 
time: 1403636718.113555, t: 1.469569 5.853556 7.078599 q: 0.996032 0.047580 -0.013584 -0.073978 
time: 1403636718.213556, t: 1.453475 5.802463 7.030373 q: 0.994911 0.068048 -0.015286 -0.072720 
time: 1403636718.313555, t: 1.432542 5.753623 6.980564 q: 0.993714 0.084654 -0.017536 -0.071122 
time: 1403636718.413555, t: 1.404586 5.703285 6.937794 q: 0.992109 0.100910 -0.019868 -0.071709 
time: 1403636718.513556, t: 1.371196 5.650605 6.895767 q: 0.990138 0.118448 -0.021107 -0.071774 
time: 1403636718.613555, t: 1.334505 5.601300 6.855773 q: 0.988261 0.134136 -0.023238 -0.069336 
time: 1403636718.713556, t: 1.296444 5.552052 6.819409 q: 0.986623 0.147666 -0.027018 -0.063567 
time: 1403636718.813555, t: 1.256017 5.508147 6.785505 q: 0.985215 0.154980 -0.027515 -0.067644 
time: 1403636718.913555, t: 1.217169 5.468010 6.754727 q: 0.984087 0.156777 -0.025560 -0.079631 
time: 1403636719.013556, t: 1.184973 5.429317 6.722161 q: 0.983325 0.157248 -0.022674 -0.088496 
time: 1403636719.113555, t: 1.161362 5.390464 6.687390 q: 0.983009 0.158028 -0.017678 -0.091695 
time: 1403636719.213556, t: 1.144055 5.353183 6.650049 q: 0.983061 0.159016 -0.010973 -0.090472 
optimize pose graph 
time: 1403636719.313555, t: 1.126109 5.315809 6.612469 q: 0.983374 0.159566 -0.005789 -0.086497 
time: 1403636719.413555, t: 1.101093 5.280585 6.574064 q: 0.983673 0.159317 -0.002059 -0.083672 
time: 1403636719.513556, t: 1.067675 5.247747 6.536375 q: 0.984059 0.158606 -0.001415 -0.080439 
time: 1403636719.613555, t: 1.034735 5.217027 6.493820 q: 0.984467 0.157055 -0.007331 -0.078139 
time: 1403636719.713556, t: 1.005286 5.188495 6.447817 q: 0.984891 0.153929 -0.014398 -0.078027 
time: 1403636719.813555, t: 0.983388 5.161952 6.399815 q: 0.985400 0.150748 -0.019075 -0.076797 
time: 1403636719.913555, t: 0.968131 5.135379 6.349520 q: 0.985918 0.148054 -0.020259 -0.075064 
time: 1403636720.013556, t: 0.952644 5.111074 6.302289 q: 0.986280 0.145510 -0.022260 -0.074720 
time: 1403636720.113555, t: 0.932377 5.085921 6.259161 q: 0.986475 0.144129 -0.023031 -0.074591 
time: 1403636720.213556, t: 0.907718 5.064756 6.218410 q: 0.986531 0.143886 -0.024426 -0.073868 
time: 1403636720.313555, t: 0.881896 5.044951 6.180816 q: 0.986531 0.144271 -0.024492 -0.073090 
time: 1403636720.413555, t: 0.852337 5.026602 6.144353 q: 0.986385 0.145156 -0.024612 -0.073275 
time: 1403636720.513556, t: 0.823309 5.012489 6.108116 q: 0.986157 0.146821 -0.025890 -0.072576 
time: 1403636720.613555, t: 0.800409 4.998068 6.073100 q: 0.985898 0.147971 -0.026677 -0.073465 
time: 1403636720.713556, t: 0.786888 4.984394 6.037642 q: 0.985807 0.148909 -0.025476 -0.073224 
time: 1403636720.813555, t: 0.779168 4.974268 6.002962 q: 0.986566 0.144583 -0.026006 -0.071464 
time: 1403636720.913555, t: 0.771590 4.967407 5.970249 q: 0.988243 0.133733 -0.025728 -0.069486 
time: 1403636721.013556, t: 0.758747 4.961717 5.941398 q: 0.990231 0.121956 -0.022905 -0.063603 
time: 1403636721.113555, t: 0.741463 4.958216 5.914842 q: 0.992271 0.108556 -0.019601 -0.056837 
time: 1403636721.213556, t: 0.722430 4.954840 5.888099 q: 0.994355 0.091789 -0.015559 -0.050909 
time: 1403636721.313555, t: 0.706328 4.958199 5.864561 q: 0.995832 0.078425 -0.012063 -0.044983 
time: 1403636721.413555, t: 0.694507 4.959418 5.837167 q: 0.996806 0.066663 -0.009952 -0.042829 
optimize pose graph 
time: 1403636721.513556, t: 0.690131 4.963479 5.805413 q: 0.997469 0.056784 -0.010505 -0.041487 
time: 1403636721.613555, t: 0.683349 4.969082 5.774169 q: 0.998103 0.044863 -0.011770 -0.040491 
time: 1403636721.713556, t: 0.673749 4.975872 5.742888 q: 0.998476 0.035938 -0.012049 -0.040107 
time: 1403636721.813555, t: 0.658044 4.983453 5.712808 q: 0.998634 0.030409 -0.012223 -0.040690 
time: 1403636721.913555, t: 0.637946 4.991660 5.684764 q: 0.998734 0.028665 -0.011276 -0.039773 
time: 1403636722.013556, t: 0.616220 4.997803 5.656801 q: 0.998535 0.026556 -0.010744 -0.045901 
time: 1403636722.113555, t: 0.601395 5.001822 5.625967 q: 0.998339 0.026571 -0.011159 -0.049884 
time: 1403636722.213556, t: 0.591804 5.003106 5.591856 q: 0.998368 0.028892 -0.011941 -0.047790 
time: 1403636722.313555, t: 0.586803 5.002610 5.555464 q: 0.998399 0.031860 -0.012435 -0.045051 
time: 1403636722.413555, t: 0.579778 5.001420 5.520025 q: 0.998450 0.030845 -0.013292 -0.044372 
time: 1403636722.513556, t: 0.565208 5.002350 5.486983 q: 0.998678 0.026347 -0.012303 -0.042381 
time: 1403636722.613555, t: 0.547232 5.002129 5.454094 q: 0.998779 0.021895 -0.012523 -0.042477 
time: 1403636722.713556, t: 0.526412 5.001721 5.420529 q: 0.998833 0.018484 -0.012278 -0.042898 
time: 1403636722.813555, t: 0.505363 4.997862 5.388796 q: 0.998797 0.015732 -0.013362 -0.044480 
time: 1403636722.913555, t: 0.491165 4.994159 5.355009 q: 0.998821 0.014692 -0.013458 -0.044267 
time: 1403636723.013556, t: 0.485871 4.987363 5.318539 q: 0.998936 0.015738 -0.013472 -0.041194 
time: 1403636723.113555, t: 0.485511 4.979463 5.279818 q: 0.999059 0.016942 -0.012524 -0.037908 
time: 1403636723.213556, t: 0.483826 4.970961 5.241183 q: 0.999093 0.016747 -0.012442 -0.037111 
time: 1403636723.313555, t: 0.476724 4.962878 5.206335 q: 0.998988 0.014862 -0.012857 -0.040447 
time: 1403636723.413555, t: 0.467500 4.955461 5.172908 q: 0.998994 0.008768 -0.012161 -0.042266 
time: 1403636723.513556, t: 0.454429 4.947812 5.138189 q: 0.999114 -0.002067 -0.005549 -0.041672 
time: 1403636723.613555, t: 0.446208 4.937466 5.100141 q: 0.999346 -0.010473 0.007474 -0.033797 
optimize pose graph 
time: 1403636723.713556, t: 0.442015 4.924578 5.057057 q: 0.999373 -0.018556 0.005196 -0.029716 
time: 1403636723.813555, t: 0.438085 4.910021 5.014964 q: 0.999352 -0.025380 -0.003809 -0.025224 
time: 1403636723.913555, t: 0.430060 4.896940 4.969245 q: 0.999265 -0.030094 -0.010722 -0.021192 
time: 1403636724.013556, t: 0.416079 4.884201 4.927271 q: 0.999025 -0.035408 -0.019070 -0.018206 
time: 1403636724.113555, t: 0.398239 4.872788 4.885981 q: 0.998509 -0.045793 -0.025964 -0.014458 
time: 1403636724.213556, t: 0.377008 4.863340 4.848680 q: 0.997780 -0.060148 -0.026891 -0.009694 
time: 1403636724.313555, t: 0.353225 4.855865 4.815719 q: 0.996623 -0.078100 -0.024863 -0.004994 
time: 1403636724.513556, t: 0.316111 4.837499 4.759572 q: 0.993612 -0.112007 -0.013409 0.003292 
time: 1403636724.613555, t: 0.310439 4.824188 4.728905 q: 0.992381 -0.122646 -0.010266 0.005631 
time: 1403636724.713556, t: 0.310763 4.810971 4.697000 q: 0.991589 -0.128885 -0.009252 0.007429 
time: 1403636724.813555, t: 0.319136 4.795171 4.665148 q: 0.991129 -0.132185 -0.010463 0.008967 
time: 1403636724.913555, t: 0.333407 4.777533 4.631144 q: 0.991131 -0.131811 -0.011928 0.011937 
time: 1403636725.013556, t: 0.354528 4.758408 4.595909 q: 0.991450 -0.128802 -0.012406 0.016812 
time: 1403636725.113555, t: 0.385537 4.739667 4.557024 q: 0.991768 -0.125854 -0.012108 0.020273 
time: 1403636725.213556, t: 0.417926 4.722336 4.518996 q: 0.991940 -0.124319 -0.012994 0.020777 
time: 1403636725.313555, t: 0.448523 4.707259 4.482293 q: 0.991989 -0.124128 -0.014233 0.018647 
time: 1403636725.413555, t: 0.474002 4.695702 4.450072 q: 0.991965 -0.124728 -0.014461 0.015450 
time: 1403636725.513556, t: 0.493162 4.684859 4.420627 q: 0.991901 -0.125499 -0.014653 0.012957 
time: 1403636725.613555, t: 0.507635 4.674347 4.393392 q: 0.991758 -0.126737 -0.015378 0.010834 
time: 1403636725.713556, t: 0.516020 4.665440 4.369634 q: 0.991758 -0.126961 -0.013232 0.011049 
time: 1403636725.813555, t: 0.518774 4.656666 4.348991 q: 0.991766 -0.126923 -0.013277 0.010687 
time: 1403636725.913555, t: 0.518942 4.650436 4.331669 q: 0.991913 -0.125351 -0.014696 0.013375 
time: 1403636726.013556, t: 0.512001 4.642557 4.316957 q: 0.992067 -0.124066 -0.014233 0.014415 
time: 1403636726.113555, t: 0.501965 4.635841 4.303735 q: 0.992136 -0.123822 -0.013688 0.012160 
time: 1403636726.213556, t: 0.488900 4.630201 4.292341 q: 0.992281 -0.123069 -0.011121 0.010387 
time: 1403636726.313555, t: 0.474270 4.624481 4.281824 q: 0.992429 -0.122043 -0.010541 0.008918 
time: 1403636726.413555, t: 0.466029 4.618470 4.269641 q: 0.992598 -0.120899 -0.008860 0.007379 
time: 1403636726.513556, t: 0.465590 4.611182 4.254949 q: 0.992895 -0.118362 -0.007429 0.009776 
time: 1403636726.613555, t: 0.472149 4.605479 4.238927 q: 0.993448 -0.111620 -0.003883 0.024247 
time: 1403636726.713556, t: 0.484368 4.601116 4.217156 q: 0.993651 -0.107878 -0.000769 0.031942 
time: 1403636726.813555, t: 0.501158 4.600915 4.193326 q: 0.993643 -0.110294 -0.000389 0.022567 
time: 1403636726.913555, t: 0.525345 4.601731 4.163234 q: 0.993877 -0.109921 -0.001115 0.011130 
time: 1403636727.013556, t: 0.554237 4.602940 4.129423 q: 0.994138 -0.107965 -0.001467 0.005598 
time: 1403636727.113555, t: 0.583678 4.603940 4.096716 q: 0.994236 -0.107188 -0.002139 0.000604 
time: 1403636727.213556, t: 0.609199 4.604496 4.062202 q: 0.994165 -0.107645 -0.004237 -0.005458 
time: 1403636727.313555, t: 0.626285 4.604377 4.028908 q: 0.993993 -0.108749 -0.005877 -0.010867 
time: 1403636727.413555, t: 0.641087 4.600945 3.996250 q: 0.993913 -0.109110 -0.008129 -0.012843 
time: 1403636727.513556, t: 0.652907 4.594843 3.964833 q: 0.993983 -0.108662 -0.006406 -0.012184 
time: 1403636727.613555, t: 0.668213 4.584864 3.931508 q: 0.994222 -0.107023 -0.003167 -0.007647 
time: 1403636727.713556, t: 0.687168 4.572623 3.895645 q: 0.994290 -0.106480 -0.004189 -0.005645 
time: 1403636727.913555, t: 0.742479 4.538232 3.816096 q: 0.993637 -0.111043 -0.007145 -0.017449 
time: 1403636728.013556, t: 0.768221 4.518007 3.776910 q: 0.993627 -0.111144 -0.007561 -0.017166 
optimize pose graph 
time: 1403636728.113555, t: 0.791025 4.495696 3.739496 q: 0.993923 -0.109282 -0.006140 -0.011675 
time: 1403636728.213556, t: 0.803966 4.467170 3.704563 q: 0.994054 -0.108517 -0.003681 -0.008259 
time: 1403636728.313555, t: 0.812377 4.438410 3.669979 q: 0.994151 -0.107818 -0.003194 -0.005445 
time: 1403636728.413555, t: 0.812791 4.406614 3.635908 q: 0.994278 -0.106739 -0.003909 -0.001586 
time: 1403636728.513556, t: 0.806297 4.375642 3.604046 q: 0.994662 -0.102470 -0.002637 0.011893 
time: 1403636728.613555, t: 0.794539 4.347503 3.573402 q: 0.995017 -0.098246 -0.002290 0.016860 
time: 1403636728.713556, t: 0.783068 4.320316 3.541602 q: 0.995578 -0.093709 -0.003597 0.005559 
time: 1403636728.813555, t: 0.777242 4.293538 3.505165 q: 0.996486 -0.083230 -0.005282 -0.007805 
time: 1403636728.913555, t: 0.780579 4.262826 3.467679 q: 0.997283 -0.071258 -0.004781 -0.018047 
time: 1403636729.013556, t: 0.779091 4.233040 3.432060 q: 0.997871 -0.060800 -0.002911 -0.023433 
time: 1403636729.113555, t: 0.773315 4.203771 3.391282 q: 0.998233 -0.052597 -0.000623 -0.027648 
time: 1403636729.213556, t: 0.760787 4.174455 3.353668 q: 0.998439 -0.047251 -0.003214 -0.029613 
time: 1403636729.313555, t: 0.743171 4.144579 3.315230 q: 0.998645 -0.043117 -0.004561 -0.028768 
time: 1403636729.413555, t: 0.723868 4.113031 3.274474 q: 0.998733 -0.041112 -0.003864 -0.028766 
time: 1403636729.513556, t: 0.707221 4.081990 3.232096 q: 0.998776 -0.039986 -0.003648 -0.028893 
time: 1403636729.613555, t: 0.695976 4.048067 3.186030 q: 0.998812 -0.039307 -0.004959 -0.028376 
time: 1403636729.713556, t: 0.691712 4.012772 3.135998 q: 0.998878 -0.038715 -0.005286 -0.026751 
time: 1403636729.813555, t: 0.686730 3.977926 3.089149 q: 0.998824 -0.039729 -0.009073 -0.026264 
time: 1403636729.913555, t: 0.677491 3.941798 3.040209 q: 0.998805 -0.040140 -0.013447 -0.024431 
time: 1403636730.013556, t: 0.665015 3.908054 2.991518 q: 0.998741 -0.040568 -0.016764 -0.024300 
time: 1403636730.113555, t: 0.648944 3.876043 2.949544 q: 0.998746 -0.039893 -0.018327 -0.024061 
time: 1403636730.213556, t: 0.629942 3.842701 2.905755 q: 0.998744 -0.039581 -0.019402 -0.023802 
optimize pose graph 
time: 1403636730.413555, t: 0.584893 3.779694 2.828113 q: 0.998804 -0.037879 -0.020863 -0.022794 
time: 1403636730.513556, t: 0.563733 3.746838 2.790433 q: 0.998606 -0.037845 -0.028401 -0.023393 
time: 1403636730.613555, t: 0.551363 3.717951 2.755856 q: 0.998448 -0.037001 -0.035530 -0.021693 
time: 1403636730.713556, t: 0.547012 3.686733 2.722985 q: 0.998398 -0.036397 -0.038000 -0.020804 
time: 1403636730.813555, t: 0.551602 3.655422 2.693164 q: 0.998328 -0.036475 -0.039292 -0.021599 
time: 1403636730.913555, t: 0.561687 3.622380 2.667859 q: 0.998435 -0.035071 -0.040588 -0.015809 
time: 1403636731.013556, t: 0.572122 3.592337 2.647023 q: 0.998758 -0.032157 -0.037656 -0.005497 
time: 1403636731.113555, t: 0.581401 3.567666 2.631050 q: 0.999241 -0.029084 -0.025435 0.004957 
time: 1403636731.213556, t: 0.585087 3.547421 2.618229 q: 0.999415 -0.029654 -0.016233 0.005091 
time: 1403636731.313555, t: 0.586139 3.533233 2.607176 q: 0.999365 -0.033599 -0.011158 -0.004133 
time: 1403636731.413555, t: 0.581717 3.522272 2.596355 q: 0.999150 -0.037342 -0.011617 -0.013011 
time: 1403636731.513556, t: 0.572702 3.513665 2.586583 q: 0.999134 -0.037634 -0.011757 -0.013291 
time: 1403636731.613555, t: 0.561562 3.507355 2.576652 q: 0.999297 -0.035010 -0.011973 -0.006092 
time: 1403636731.713556, t: 0.547353 3.503602 2.567270 q: 0.999327 -0.034375 -0.012137 -0.004129 
time: 1403636731.813555, t: 0.528997 3.502716 2.558905 q: 0.999228 -0.036049 -0.012681 -0.009142 
time: 1403636731.913555, t: 0.507568 3.504316 2.551247 q: 0.999154 -0.036768 -0.012528 -0.013484 
time: 1403636732.013556, t: 0.482123 3.507612 2.544339 q: 0.999162 -0.036437 -0.011549 -0.014627 
time: 1403636732.113555, t: 0.452725 3.513058 2.537454 q: 0.999193 -0.035870 -0.009961 -0.015073 
time: 1403636732.213556, t: 0.419929 3.519169 2.531629 q: 0.999194 -0.035546 -0.008175 -0.016747 
time: 1403636732.313555, t: 0.393156 3.524323 2.522395 q: 0.999206 -0.035026 -0.006427 -0.017894 
time: 1403636732.413555, t: 0.374421 3.529658 2.508980 q: 0.998981 -0.037238 -0.005557 -0.024895 
time: 1403636732.513556, t: 0.360811 3.531150 2.493959 q: 0.998273 -0.042238 -0.000401 -0.040829 
time: 1403636732.613555, t: 0.353446 3.529447 2.471660 q: 0.997586 -0.045313 0.005524 -0.052323 
time: 1403636732.813555, t: 0.348837 3.507337 2.410526 q: 0.998444 -0.038553 0.011339 -0.038655 
time: 1403636732.913555, t: 0.343859 3.487238 2.375500 q: 0.998618 -0.037250 0.010602 -0.035528 
time: 1403636733.013556, t: 0.333664 3.466474 2.336033 q: 0.998750 -0.036251 0.005466 -0.033963 
time: 1403636733.113555, t: 0.320812 3.444228 2.293640 q: 0.998793 -0.035877 -0.001290 -0.033522 
time: 1403636733.213556, t: 0.313006 3.419445 2.246901 q: 0.998663 -0.036477 -0.002851 -0.036520 
time: 1403636733.313555, t: 0.310318 3.390756 2.197417 q: 0.998722 -0.035355 -0.004107 -0.035876 
time: 1403636733.413555, t: 0.313741 3.358600 2.143952 q: 0.998880 -0.033342 -0.008713 -0.032407 
time: 1403636733.513556, t: 0.321695 3.325729 2.089707 q: 0.998965 -0.032336 -0.012592 -0.029391 
time: 1403636733.613555, t: 0.329129 3.295444 2.033156 q: 0.998943 -0.031759 -0.015543 -0.029363 
time: 1403636733.713556, t: 0.330532 3.262535 1.980108 q: 0.998966 -0.031038 -0.017951 -0.027945 
time: 1403636733.813555, t: 0.327765 3.231530 1.930302 q: 0.998919 -0.030743 -0.020412 -0.028269 
time: 1403636733.913555, t: 0.318141 3.199225 1.884123 q: 0.998868 -0.031009 -0.020212 -0.029883 
time: 1403636734.013556, t: 0.305936 3.167117 1.840254 q: 0.998772 -0.032355 -0.014801 -0.034470 
time: 1403636734.113555, t: 0.291272 3.133579 1.798605 q: 0.998862 -0.032725 -0.010197 -0.033160 
time: 1403636734.213556, t: 0.281073 3.097455 1.752196 q: 0.998951 -0.032158 -0.009365 -0.031241 
time: 1403636734.313555, t: 0.273202 3.059702 1.707042 q: 0.999094 -0.030257 -0.009521 -0.028381 
time: 1403636734.413555, t: 0.274577 3.022471 1.656596 q: 0.999179 -0.028516 -0.012616 -0.025856 
time: 1403636734.513556, t: 0.277740 2.984557 1.606784 q: 0.999181 -0.027353 -0.016024 -0.025166 
time: 1403636734.613555, t: 0.278601 2.946657 1.561784 q: 0.999141 -0.026384 -0.020425 -0.024582 
time: 1403636734.713556, t: 0.272892 2.909054 1.518940 q: 0.999039 -0.026122 -0.023209 -0.026475 
time: 1403636734.813555, t: 0.261573 2.874467 1.478702 q: 0.999010 -0.025202 -0.024060 -0.027641 
time: 1403636734.913555, t: 0.247890 2.840242 1.440111 q: 0.999039 -0.023730 -0.024652 -0.027405 
time: 1403636735.013556, t: 0.228753 2.807282 1.406190 q: 0.999041 -0.023325 -0.024544 -0.027764 
time: 1403636735.113555, t: 0.208874 2.772434 1.379134 q: 0.999101 -0.023025 -0.023915 -0.026377 
time: 1403636735.213556, t: 0.192048 2.741402 1.347730 q: 0.999143 -0.022702 -0.024887 -0.024040 
time: 1403636735.313555, t: 0.182041 2.710146 1.317828 q: 0.999144 -0.023054 -0.027349 -0.020800 
time: 1403636735.413555, t: 0.185536 2.680881 1.286560 q: 0.999143 -0.024713 -0.026966 -0.019390 
time: 1403636735.513556, t: 0.196162 2.654172 1.254605 q: 0.999157 -0.027628 -0.024466 -0.017966 
time: 1403636735.613555, t: 0.215697 2.627453 1.224663 q: 0.999111 -0.031081 -0.021767 -0.018349 
time: 1403636735.713556, t: 0.233409 2.601616 1.197876 q: 0.999023 -0.034096 -0.022005 -0.017493 
time: 1403636735.913555, t: 0.257432 2.549126 1.157855 q: 0.998923 -0.037382 -0.021243 -0.017419 
time: 1403636736.013556, t: 0.262926 2.525542 1.142046 q: 0.998934 -0.036633 -0.020147 -0.019568 
time: 1403636736.113555, t: 0.273230 2.502048 1.125481 q: 0.999181 -0.029009 -0.017470 -0.022167 
time: 1403636736.213556, t: 0.289674 2.477078 1.106861 q: 0.999420 -0.016812 -0.013949 -0.026111 
time: 1403636736.313555, t: 0.310614 2.453681 1.086456 q: 0.999415 -0.005714 -0.013150 -0.031051 
time: 1403636736.413555, t: 0.326879 2.431670 1.068334 q: 0.999268 0.002509 -0.013304 -0.035791 
optimize pose graph 
time: 1403636736.513556, t: 0.336773 2.408999 1.052510 q: 0.998854 0.006087 -0.012196 -0.045885 
time: 1403636736.613555, t: 0.342840 2.382705 1.040169 q: 0.998409 0.007734 -0.011384 -0.054673 
time: 1403636736.713556, t: 0.341567 2.357736 1.025092 q: 0.998236 0.009644 -0.009924 -0.057738 
time: 1403636736.813555, t: 0.338423 2.326775 1.012639 q: 0.998085 0.010854 -0.010077 -0.060055 
time: 1403636736.913555, t: 0.328839 2.297337 0.996990 q: 0.998066 0.013012 -0.010698 -0.059839 
time: 1403636737.013556, t: 0.315960 2.264923 0.982057 q: 0.998298 0.017166 -0.011210 -0.054603 
time: 1403636737.113555, t: 0.302602 2.228421 0.966318 q: 0.998542 0.022325 -0.010648 -0.047974 
time: 1403636737.213556, t: 0.285222 2.193977 0.950299 q: 0.998525 0.025963 -0.011500 -0.046273 
time: 1403636737.313555, t: 0.267837 2.151626 0.937782 q: 0.998451 0.028396 -0.015028 -0.045425 
time: 1403636737.413555, t: 0.248122 2.121876 0.918562 q: 0.998306 0.031363 -0.019132 -0.045113 
time: 1403636737.513556, t: 0.240384 2.087994 0.899633 q: 0.998081 0.033014 -0.023675 -0.046735 
time: 1403636737.613555, t: 0.236851 2.055763 0.879087 q: 0.998098 0.035587 -0.025879 -0.043185 
time: 1403636737.713556, t: 0.242566 2.021857 0.859599 q: 0.998168 0.038290 -0.029260 -0.036593 
time: 1403636737.813555, t: 0.252652 1.991378 0.838918 q: 0.998229 0.039902 -0.030734 -0.031655 
time: 1403636737.913555, t: 0.269240 1.961990 0.821410 q: 0.998288 0.039885 -0.030932 -0.029555 
time: 1403636738.013556, t: 0.293651 1.939047 0.802399 q: 0.998373 0.039013 -0.029910 -0.028882 
time: 1403636738.113555, t: 0.322999 1.919104 0.785512 q: 0.998406 0.036369 -0.028488 -0.032428 
time: 1403636738.213556, t: 0.350357 1.902168 0.771481 q: 0.998482 0.033995 -0.025870 -0.034779 
time: 1403636738.313555, t: 0.371437 1.888449 0.760472 q: 0.998542 0.032112 -0.025468 -0.035122 
time: 1403636738.413555, t: 0.387939 1.877231 0.751413 q: 0.998609 0.030383 -0.025957 -0.034399 
time: 1403636738.513556, t: 0.399248 1.869034 0.745298 q: 0.998776 0.025196 -0.027189 -0.032760 
time: 1403636738.613555, t: 0.408613 1.863121 0.743059 q: 0.999046 0.014437 -0.030467 -0.027744 
time: 1403636738.713556, t: 0.407715 1.860812 0.744929 q: 0.999377 -0.001606 -0.029129 -0.019854 
optimize pose graph 
time: 1403636738.813555, t: 0.409612 1.855069 0.753067 q: 0.999445 -0.021808 -0.023198 -0.009759 
time: 1403636738.913555, t: 0.403085 1.858404 0.758962 q: 0.998887 -0.043824 -0.017215 0.002711 
time: 1403636739.013556, t: 0.391822 1.869345 0.767341 q: 0.997496 -0.067090 -0.012935 0.018258 
time: 1403636739.113555, t: 0.376209 1.885783 0.777415 q: 0.995078 -0.093979 -0.010796 0.029517 
time: 1403636739.213556, t: 0.355354 1.904383 0.787002 q: 0.991630 -0.124607 -0.009877 0.032342 
time: 1403636739.313555, t: 0.331418 1.933906 0.790585 q: 0.987221 -0.155725 -0.009268 0.032531 
time: 1403636739.413555, t: 0.308299 1.957777 0.799848 q: 0.981925 -0.186256 -0.009483 0.032276 
time: 1403636739.513556, t: 0.288127 1.989793 0.801059 q: 0.976504 -0.211921 -0.009106 0.038033 
time: 1403636739.613555, t: 0.277735 2.013368 0.803760 q: 0.971897 -0.230289 -0.006272 0.048417 
time: 1403636739.713556, t: 0.273147 2.032753 0.804607 q: 0.968438 -0.243433 -0.005875 0.053242 
time: 1403636739.813555, t: 0.268302 2.053091 0.805443 q: 0.966497 -0.249451 -0.004436 0.060318 
time: 1403636739.913555, t: 0.257812 2.076411 0.806310 q: 0.965499 -0.252758 -0.004583 0.062485 
time: 1403636740.013556, t: 0.242319 2.096855 0.810423 q: 0.965154 -0.254370 -0.005262 0.061208 
time: 1403636740.113555, t: 0.223518 2.120694 0.815137 q: 0.965323 -0.254843 -0.006249 0.056277 
time: 1403636740.213556, t: 0.201261 2.143487 0.820120 q: 0.965587 -0.255605 -0.007225 0.047500 
time: 1403636740.313555, t: 0.175669 2.165345 0.827187 q: 0.966141 -0.254181 -0.006131 0.043896 
time: 1403636740.413555, t: 0.148650 2.184041 0.836093 q: 0.967065 -0.249888 -0.003769 0.048238 
time: 1403636740.513556, t: 0.115688 2.203276 0.845358 q: 0.967902 -0.245885 -0.001286 0.052013 
time: 1403636740.613555, t: 0.086059 2.221611 0.852232 q: 0.968527 -0.243519 -0.000262 0.051512 
time: 1403636740.713556, t: 0.061545 2.239593 0.855131 q: 0.969075 -0.240652 -0.003129 0.054495 
time: 1403636740.813555, t: 0.043261 2.254054 0.856328 q: 0.969447 -0.239158 -0.006307 0.054191 
time: 1403636740.913555, t: 0.018862 2.271797 0.859220 q: 0.969735 -0.238821 -0.004791 0.050549 
optimize pose graph 
time: 1403636741.113555, t: -0.046196 2.305890 0.866920 q: 0.968330 -0.247876 -0.002449 0.029816 
time: 1403636741.213556, t: -0.090327 2.321204 0.872312 q: 0.966544 -0.253954 0.001944 0.035999 
time: 1403636741.313555, t: -0.137506 2.330925 0.880300 q: 0.965206 -0.256915 0.003842 0.048551 
time: 1403636741.413555, t: -0.188934 2.337883 0.885327 q: 0.963871 -0.259687 -0.002378 0.059250 
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time: 1403636742.613555, t: -0.463582 2.464762 0.965742 q: 0.967430 -0.247409 -0.008823 0.052829 
time: 1403636742.713556, t: -0.466848 2.477859 0.975950 q: 0.967907 -0.245954 -0.003551 0.051482 
time: 1403636742.813555, t: -0.476455 2.488771 0.990301 q: 0.968263 -0.244821 -0.000246 0.050303 
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optimize pose graph 
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time: 1403636743.813555, t: -0.657976 2.713185 1.232364 q: 0.960380 -0.271466 -0.013252 0.061647 
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time: 1403636752.313555, t: 0.383640 2.804264 1.824832 q: 0.957407 -0.281461 -0.006056 0.064147 
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time: 1403636752.813555, t: 0.562924 2.800463 1.785283 q: 0.981568 -0.188970 -0.010438 0.026580 
time: 1403636753.013556, t: 0.597695 2.794477 1.780372 q: 0.989106 -0.146402 -0.015359 0.000540 
time: 1403636753.113555, t: 0.606762 2.789995 1.778642 q: 0.992125 -0.123376 -0.017984 -0.011932 
time: 1403636753.213556, t: 0.608754 2.783849 1.778914 q: 0.994634 -0.098871 -0.019836 -0.023119 
time: 1403636753.313555, t: 0.601727 2.776082 1.781270 q: 0.996201 -0.075544 -0.020891 -0.037959 
optimize pose graph 
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optimize pose graph 
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time: 1403636757.613555, t: 0.291311 0.741160 0.572691 q: 0.995388 0.059478 -0.029101 -0.069413 
time: 1403636757.713556, t: 0.278894 0.675054 0.525214 q: 0.994344 0.065877 -0.041990 -0.071955 
time: 1403636757.813555, t: 0.278589 0.605274 0.477656 q: 0.993332 0.072247 -0.051762 -0.073434 
time: 1403636757.913555, t: 0.283345 0.534466 0.434021 q: 0.992792 0.078034 -0.054434 -0.072879 
optimize pose graph 
time: 1403636758.113555, t: 0.301263 0.396688 0.359438 q: 0.993327 0.088042 -0.029511 -0.068398 
time: 1403636758.213556, t: 0.316217 0.324880 0.329496 q: 0.993396 0.090696 -0.020182 -0.067320 
time: 1403636758.313555, t: 0.313771 0.257426 0.297196 q: 0.993481 0.092603 -0.016199 -0.064487 
time: 1403636758.413555, t: 0.301917 0.192734 0.260992 q: 0.993423 0.093727 -0.024380 -0.061090 
time: 1403636758.513556, t: 0.282698 0.121736 0.243171 q: 0.993072 0.095096 -0.045026 -0.052329 
time: 1403636758.613555, t: 0.258154 0.056131 0.226045 q: 0.992326 0.097363 -0.064590 -0.040469 
time: 1403636758.713556, t: 0.246272 0.003443 0.207832 q: 0.992676 0.096923 -0.060344 -0.039488 
time: 1403636758.813555, t: 0.235865 -0.046669 0.198606 q: 0.993575 0.095318 -0.043041 -0.043250 
time: 1403636758.913555, t: 0.221824 -0.093420 0.194517 q: 0.993957 0.092678 -0.028232 -0.051609 
time: 1403636759.013556, t: 0.206803 -0.135752 0.191918 q: 0.994015 0.091433 -0.021192 -0.055900 
time: 1403636759.113555, t: 0.188874 -0.175077 0.191250 q: 0.994224 0.095145 -0.018149 -0.046226 
time: 1403636759.213556, t: 0.168592 -0.210064 0.190264 q: 0.994207 0.102700 -0.019073 -0.025329 
time: 1403636759.313555, t: 0.146809 -0.236258 0.188489 q: 0.993986 0.106710 -0.019812 -0.014600 
time: 1403636759.413555, t: 0.120705 -0.250883 0.189407 q: 0.994148 0.102333 -0.017803 -0.029662 
time: 1403636759.513556, t: 0.091961 -0.257952 0.191140 q: 0.994045 0.097763 -0.015400 -0.045611 
time: 1403636759.613555, t: 0.062458 -0.261393 0.191904 q: 0.993714 0.095284 -0.013635 -0.057168 
time: 1403636759.713556, t: 0.040583 -0.263507 0.187768 q: 0.993448 0.094348 -0.013963 -0.062970 
time: 1403636759.813555, t: 0.028645 -0.265486 0.178284 q: 0.993356 0.094811 -0.012333 -0.064058 
time: 1403636759.913555, t: 0.019992 -0.266948 0.165835 q: 0.993281 0.094724 -0.018771 -0.063780 
time: 1403636760.013556, t: 0.007787 -0.267995 0.152933 q: 0.993096 0.093846 -0.028976 -0.064137 
time: 1403636760.113555, t: -0.005798 -0.268968 0.142000 q: 0.992914 0.093047 -0.037909 -0.063462 
optimize pose graph 
time: 1403636760.213556, t: -0.018947 -0.269453 0.133845 q: 0.992977 0.093212 -0.037490 -0.062472 
time: 1403636760.313555, t: -0.031416 -0.269807 0.128162 q: 0.993461 0.094593 -0.023178 -0.059583 
time: 1403636760.413555, t: -0.047291 -0.269056 0.124020 q: 0.993496 0.094147 -0.014981 -0.062270 
time: 1403636760.513556, t: -0.065509 -0.267532 0.118713 q: 0.993390 0.093007 -0.015227 -0.065535 
time: 1403636760.613555, t: -0.086644 -0.266402 0.112111 q: 0.993078 0.092122 -0.025779 -0.068160 
time: 1403636760.713556, t: -0.105627 -0.265962 0.104705 q: 0.992671 0.090783 -0.032925 -0.072654 
time: 1403636760.813555, t: -0.121590 -0.267413 0.097664 q: 0.992574 0.090449 -0.029854 -0.075661 
time: 1403636760.913555, t: -0.136654 -0.271433 0.090403 q: 0.992518 0.090564 -0.022842 -0.078638 
time: 1403636761.013556, t: -0.153397 -0.277834 0.082973 q: 0.992461 0.091239 -0.027011 -0.077250 
time: 1403636761.113555, t: -0.171531 -0.286889 0.076199 q: 0.992272 0.092230 -0.038599 -0.073490 
time: 1403636761.213556, t: -0.188933 -0.297888 0.071145 q: 0.991582 0.091923 -0.053180 -0.074072 
time: 1403636761.313555, t: -0.201456 -0.310378 0.069383 q: 0.991256 0.091880 -0.059186 -0.073936 
time: 1403636761.413555, t: -0.206756 -0.325274 0.071682 q: 0.991779 0.092978 -0.049514 -0.072651 
time: 1403636761.513556, t: -0.207694 -0.342265 0.078257 q: 0.992438 0.093713 -0.034061 -0.071583 
time: 1403636761.613555, t: -0.206139 -0.359768 0.084674 q: 0.992874 0.094131 -0.023060 -0.069349 
time: 1403636761.713556, t: -0.203512 -0.377451 0.089666 q: 0.993375 0.097010 -0.020029 -0.058261 
time: 1403636761.813555, t: -0.199514 -0.393127 0.092740 q: 0.993655 0.100046 -0.020399 -0.047170 
time: 1403636761.913555, t: -0.193992 -0.404817 0.094159 q: 0.993712 0.100040 -0.021567 -0.045420 
time: 1403636762.013556, t: -0.186619 -0.411785 0.094322 q: 0.993549 0.095372 -0.020452 -0.057854 
time: 1403636762.113555, t: -0.177851 -0.416924 0.093496 q: 0.992875 0.087583 -0.017634 -0.078852 
time: 1403636762.213556, t: -0.170063 -0.424712 0.090439 q: 0.992186 0.082474 -0.023135 -0.090721 
time: 1403636762.313555, t: -0.167018 -0.437061 0.087481 q: 0.992011 0.082012 -0.039160 -0.087492 
time: 1403636762.413555, t: -0.171335 -0.453404 0.089173 q: 0.991990 0.083390 -0.050559 -0.080280 
optimize pose graph 
time: 1403636762.513556, t: -0.181680 -0.472889 0.095875 q: 0.992972 0.090804 -0.049336 -0.057678 
time: 1403636762.613555, t: -0.198366 -0.491296 0.109808 q: 0.993741 0.099934 -0.039325 -0.030761 
time: 1403636762.713556, t: -0.221023 -0.503286 0.128036 q: 0.994007 0.102156 -0.028520 -0.026485 
time: 1403636762.813555, t: -0.249633 -0.507568 0.149651 q: 0.994023 0.097963 -0.023282 -0.042178 
time: 1403636762.913555, t: -0.250070 -0.499606 0.146142 q: 0.994058 0.099631 0.019790 -0.039121 
time: 1403636763.013556, t: -0.260799 -0.481839 0.131000 q: 0.995689 0.079753 -0.017177 -0.044130 
time: 1403636763.113555, t: -0.268809 -0.469687 0.128491 q: 0.997578 0.064985 -0.006885 -0.023838 
time: 1403636763.213556, t: -0.268484 -0.466747 0.125711 q: 0.998247 0.057013 -0.000321 -0.015885 
time: 1403636763.313555, t: -0.268820 -0.465828 0.130297 q: 0.998240 0.057296 -0.005939 -0.014120 
time: 1403636763.413555, t: -0.268973 -0.465961 0.129863 q: 0.998217 0.057755 -0.007269 -0.013237 
time: 1403636763.513556, t: -0.269082 -0.465923 0.129715 q: 0.998223 0.057641 -0.007012 -0.013377 
time: 1403636763.613555, t: -0.269144 -0.465872 0.129722 q: 0.998229 0.057534 -0.007010 -0.013422 
time: 1403636763.713556, t: -0.269129 -0.465904 0.129826 q: 0.998227 0.057611 -0.006957 -0.013265 
time: 1403636763.813555, t: -0.269128 -0.465917 0.129800 q: 0.998226 0.057664 -0.006914 -0.013110 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720489176.184943081]: Shutdown request received.[0m
[33m[ WARN] [1720489176.184978839]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720489176.185920787]: Shutdown request received.[0m
[33m[ WARN] [1720489176.185948099]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/a28c8d68-3d93-11ef-ac1a-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
