/SLAM-Hive/slam_hive_results/mapping_results/2953/2161_vins-fusion-stereo+MH_01_easy+Image_comb_test-1.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720489216.128055915]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720489216.129501962]: init begins[0m
[31m[ERROR] [1720489216.130475357]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/3142c6ee-3d94-11ef-95c7-0242ac110005/roslaunch-face8bbebbe8-119.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://face8bbebbe8:40945/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [156][0m
[0m[ INFO] [1720489217.385795726]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720489217.386366356]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
config_file: /slamhive/mappingtask.yaml
result path /home/output/vio.csv
[33m[ WARN] [1720489217.400999093]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720489217.401212246]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720489217.401235933]: ROW: 384 COL: 601 [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] [1720489217.401430356]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720489217.401649488]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720489217.401817357]: waiting for image and imu...[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://face8bbebbe8:11311/[0m
]2;roscore http://face8bbebbe8:11311/
[1msetting /run_id to 3142c6ee-3d94-11ef-95c7-0242ac110005[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
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [243][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720489226.285829129]: 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: 316852647.57 
[0m[ INFO] [1720489228.666060066]: Initialization finish![0m
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time: 1403636581.013556, t: 0.086465 -0.019421 -0.030070 q: 0.999678 -0.018253 -0.016257 -0.006809 
time: 1403636581.113555, t: 0.055199 -0.021707 0.001105 q: 0.999595 -0.016425 -0.017142 -0.015680 
time: 1403636581.213556, t: 0.103084 -0.021014 -0.016570 q: 0.999790 -0.017100 -0.000694 -0.011228 
time: 1403636581.313555, t: 0.149516 -0.020084 -0.030183 q: 0.999709 -0.016556 0.014600 -0.009769 
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time: 1403636590.513556, t: -0.090395 -0.220633 -0.067529 q: 0.980824 0.005545 -0.194655 0.007883 
time: 1403636590.713556, t: -0.082622 -0.146075 -0.073413 q: 0.981567 -0.006726 -0.190857 0.007393 
time: 1403636590.813555, t: -0.081321 -0.102453 -0.072666 q: 0.980700 -0.010344 -0.194937 0.010958 
time: 1403636590.913555, t: -0.081053 -0.055721 -0.070230 q: 0.979467 -0.013051 -0.200630 0.014858 
time: 1403636591.113555, t: -0.078723 0.037146 -0.062793 q: 0.979469 -0.013750 -0.200383 0.017255 
time: 1403636591.213556, t: -0.077698 0.079250 -0.058200 q: 0.979355 -0.014779 -0.200627 0.019841 
time: 1403636591.313555, t: -0.078411 0.116818 -0.053377 q: 0.978696 -0.017741 -0.203424 0.021405 
time: 1403636591.413555, t: -0.081129 0.146021 -0.048469 q: 0.978158 -0.022292 -0.205350 0.023278 
time: 1403636591.513556, t: -0.085799 0.167968 -0.041419 q: 0.978137 -0.026054 -0.204796 0.025044 
time: 1403636591.613555, t: -0.090392 0.185552 -0.033476 q: 0.979737 -0.039942 -0.194497 0.026288 
time: 1403636591.713556, t: -0.092671 0.196060 -0.025259 q: 0.982883 -0.052292 -0.174872 0.025041 
time: 1403636591.813555, t: -0.088114 0.203007 -0.019609 q: 0.985554 -0.063761 -0.155258 0.022650 
time: 1403636592.013556, t: -0.085497 0.217222 -0.005606 q: 0.986051 -0.081504 -0.141762 0.031039 
optimize pose graph 
time: 1403636592.113555, t: -0.081976 0.230528 0.008778 q: 0.983831 -0.091785 -0.148581 0.039693 
time: 1403636592.213556, t: -0.077487 0.245390 0.028103 q: 0.981400 -0.099842 -0.157289 0.046320 
time: 1403636592.313555, t: -0.071093 0.257215 0.050597 q: 0.979709 -0.101594 -0.165807 0.048555 
time: 1403636592.413555, t: -0.062569 0.261735 0.078055 q: 0.979066 -0.095690 -0.171988 0.051905 
time: 1403636592.513556, t: -0.051000 0.256720 0.108560 q: 0.980612 -0.083557 -0.170405 0.048801 
time: 1403636592.613555, t: -0.039891 0.242089 0.140495 q: 0.983740 -0.067192 -0.161594 0.040340 
time: 1403636592.713556, t: -0.031137 0.218163 0.172151 q: 0.986061 -0.049608 -0.156023 0.029671 
time: 1403636592.813555, t: -0.026358 0.183938 0.199229 q: 0.987177 -0.025081 -0.156168 0.021552 
time: 1403636592.913555, t: -0.025737 0.137527 0.214869 q: 0.986744 0.004644 -0.161477 0.015464 
time: 1403636593.013556, t: -0.030295 0.081900 0.217508 q: 0.985216 0.033798 -0.167677 0.009534 
time: 1403636593.113555, t: -0.037554 0.020958 0.206932 q: 0.983121 0.060779 -0.172561 0.000940 
time: 1403636593.213556, t: -0.047256 -0.040302 0.180619 q: 0.980953 0.085422 -0.174450 -0.000966 
time: 1403636593.313555, t: -0.059538 -0.096339 0.145519 q: 0.978635 0.104211 -0.177239 0.000172 
time: 1403636593.413555, t: -0.073792 -0.134559 0.103095 q: 0.976944 0.111547 -0.182028 -0.001615 
time: 1403636593.513556, t: -0.091508 -0.152521 0.057500 q: 0.976792 0.107434 -0.185279 -0.002550 
time: 1403636593.613555, t: -0.111065 -0.153711 0.012832 q: 0.976647 0.097469 -0.191430 0.003885 
time: 1403636593.713556, t: -0.130404 -0.137746 -0.029762 q: 0.976288 0.080399 -0.200408 0.015290 
time: 1403636593.813555, t: -0.146992 -0.107088 -0.068673 q: 0.977215 0.050764 -0.204083 0.028708 
time: 1403636593.913555, t: -0.158597 -0.063253 -0.100429 q: 0.979403 0.014076 -0.196520 0.044179 
time: 1403636594.013556, t: -0.162718 -0.013324 -0.127832 q: 0.980700 -0.026020 -0.185276 0.056770 
optimize pose graph 
time: 1403636594.113555, t: -0.165669 0.042424 -0.140208 q: 0.979772 -0.063787 -0.176746 0.068845 
time: 1403636594.213556, t: -0.163539 0.099877 -0.138567 q: 0.976649 -0.094311 -0.176244 0.078747 
time: 1403636594.313555, t: -0.158114 -0.025237 -0.150186 q: 0.967566 -0.200880 -0.153011 0.007091 
time: 1403636594.413555, t: -0.142547 0.210687 -0.094831 q: 0.972545 -0.131294 -0.175351 0.078555 
time: 1403636594.513556, t: -0.130044 0.263532 -0.051007 q: 0.974203 -0.136090 -0.165347 0.071193 
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optimize pose graph 
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optimize pose graph 
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time: 1403636694.213556, t: 1.211616 4.615185 5.250288 q: 0.949696 0.285840 -0.017750 -0.126718 
optimize pose graph 
time: 1403636694.313555, t: 1.227534 4.617639 5.272197 q: 0.949443 0.285942 -0.019760 -0.128080 
time: 1403636694.413555, t: 1.246603 4.620074 5.292308 q: 0.949278 0.285886 -0.025704 -0.128373 
time: 1403636694.513556, t: 1.267313 4.618455 5.311760 q: 0.949328 0.284328 -0.029502 -0.130629 
time: 1403636694.613555, t: 1.280056 4.620422 5.333188 q: 0.949404 0.283695 -0.031130 -0.131073 
time: 1403636694.713556, t: 1.286508 4.622021 5.356540 q: 0.949592 0.282721 -0.029956 -0.132088 
time: 1403636694.813555, t: 1.289322 4.623470 5.381400 q: 0.950163 0.282838 -0.026450 -0.128424 
time: 1403636694.913555, t: 1.285890 4.625217 5.407834 q: 0.950725 0.285327 -0.029652 -0.117610 
time: 1403636695.013556, t: 1.280112 4.629356 5.434810 q: 0.951162 0.286254 -0.032958 -0.110737 
time: 1403636695.113555, t: 1.277720 4.636506 5.462562 q: 0.951502 0.283253 -0.032662 -0.115517 
time: 1403636695.213556, t: 1.284614 4.647425 5.489272 q: 0.951914 0.280094 -0.031500 -0.120057 
time: 1403636695.313555, t: 1.295147 4.657346 5.514071 q: 0.952356 0.277099 -0.028424 -0.124206 
time: 1403636695.413555, t: 1.313772 4.666257 5.536694 q: 0.952778 0.275024 -0.027017 -0.125882 
time: 1403636695.513556, t: 1.332292 4.673564 5.556537 q: 0.953128 0.272641 -0.024529 -0.128888 
time: 1403636695.613555, t: 1.349303 4.682609 5.575906 q: 0.953380 0.270648 -0.022022 -0.131651 
time: 1403636695.713556, t: 1.359699 4.691246 5.595676 q: 0.953576 0.268794 -0.020032 -0.134320 
time: 1403636695.813555, t: 1.366253 4.695974 5.614945 q: 0.953969 0.268736 -0.022341 -0.131242 
time: 1403636695.913555, t: 1.366541 4.702159 5.633182 q: 0.954267 0.268098 -0.023525 -0.130175 
time: 1403636696.013556, t: 1.362711 4.707175 5.651728 q: 0.954529 0.267784 -0.028665 -0.127849 
time: 1403636696.113555, t: 1.354593 4.710025 5.671479 q: 0.954614 0.264938 -0.035322 -0.131424 
time: 1403636696.213556, t: 1.345455 4.712577 5.690886 q: 0.954581 0.261869 -0.037176 -0.137178 
time: 1403636696.313555, t: 1.335541 4.712164 5.710834 q: 0.954855 0.261816 -0.030716 -0.136971 
optimize pose graph 
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time: 1403636696.613555, t: 1.316128 4.704289 5.751917 q: 0.956333 0.265205 -0.012068 -0.122260 
time: 1403636696.713556, t: 1.316864 4.703093 5.755849 q: 0.956512 0.265128 -0.014699 -0.120727 
time: 1403636696.813555, t: 1.316192 4.703779 5.757542 q: 0.956559 0.264271 -0.016694 -0.121971 
time: 1403636696.913555, t: 1.311113 4.705161 5.758196 q: 0.956485 0.263154 -0.017308 -0.124847 
time: 1403636697.013556, t: 1.301101 4.708068 5.757864 q: 0.955985 0.258624 -0.013868 -0.137892 
time: 1403636697.113555, t: 1.290252 4.709645 5.753052 q: 0.955352 0.253673 -0.010361 -0.151149 
time: 1403636697.213556, t: 1.284061 4.704090 5.741885 q: 0.954930 0.250404 -0.006954 -0.159242 
time: 1403636697.313555, t: 1.283140 4.691105 5.722109 q: 0.955229 0.250114 -0.009266 -0.157783 
time: 1403636697.413555, t: 1.289122 4.671195 5.693998 q: 0.956088 0.253487 -0.017568 -0.146052 
time: 1403636697.513556, t: 1.299954 4.647861 5.659677 q: 0.956622 0.255593 -0.025467 -0.137466 
time: 1403636697.613555, t: 1.315418 4.622850 5.624018 q: 0.958404 0.250425 -0.026872 -0.134261 
time: 1403636697.713556, t: 1.326076 4.597817 5.589434 q: 0.962593 0.236295 -0.026033 -0.130005 
time: 1403636697.813555, t: 1.333755 4.572356 5.555488 q: 0.968201 0.215477 -0.026437 -0.124327 
time: 1403636697.913555, t: 1.334456 4.547675 5.521925 q: 0.973021 0.197242 -0.025975 -0.116836 
time: 1403636698.013556, t: 1.328841 4.519788 5.492971 q: 0.976607 0.183344 -0.026230 -0.109247 
time: 1403636698.113555, t: 1.319480 4.485599 5.464442 q: 0.979018 0.173102 -0.025909 -0.104348 
time: 1403636698.213556, t: 1.304281 4.448712 5.434451 q: 0.980825 0.165371 -0.025346 -0.099967 
time: 1403636698.313555, t: 1.284572 4.410698 5.407940 q: 0.983131 0.153475 -0.025250 -0.096231 
time: 1403636698.413555, t: 1.263680 4.375216 5.382291 q: 0.986013 0.137054 -0.024813 -0.091531 
time: 1403636698.513556, t: 1.238288 4.340154 5.359288 q: 0.989044 0.117329 -0.025820 -0.085790 
optimize pose graph 
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time: 1403636698.713556, t: 1.175181 4.260623 5.313526 q: 0.994934 0.070212 -0.025993 -0.067095 
time: 1403636698.813555, t: 1.138383 4.221549 5.295283 q: 0.997128 0.043434 -0.026215 -0.056226 
time: 1403636698.913555, t: 1.098029 4.177801 5.281710 q: 0.998605 0.015720 -0.024967 -0.043791 
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time: 1403636699.113555, t: 1.043305 4.096447 5.248800 q: 0.998938 -0.036521 -0.021935 -0.017531 
time: 1403636699.213556, t: 1.029436 4.059389 5.231649 q: 0.997881 -0.061748 -0.020524 0.000052 
time: 1403636699.313555, t: 1.016429 4.021538 5.215555 q: 0.995663 -0.088998 -0.020577 0.017662 
time: 1403636699.413555, t: 1.011951 3.990031 5.197992 q: 0.992540 -0.115398 -0.020532 0.033560 
time: 1403636699.513556, t: 1.009421 3.958673 5.177179 q: 0.988768 -0.140818 -0.020147 0.045857 
time: 1403636699.613555, t: 1.004151 3.938311 5.161262 q: 0.984466 -0.164513 -0.018874 0.058362 
time: 1403636699.713556, t: 0.994935 3.921991 5.145694 q: 0.979473 -0.188751 -0.015960 0.068923 
time: 1403636699.813555, t: 0.980400 3.912870 5.134443 q: 0.974872 -0.211689 -0.013607 0.068026 
time: 1403636699.913555, t: 0.966121 3.906383 5.124226 q: 0.971473 -0.227398 -0.008833 0.066719 
time: 1403636700.013556, t: 0.954948 3.904115 5.111047 q: 0.969453 -0.235177 -0.006087 0.069392 
time: 1403636700.113555, t: 0.928277 3.903716 5.104925 q: 0.968496 -0.238514 -0.004123 0.071479 
time: 1403636700.213556, t: 0.904084 3.905597 5.098343 q: 0.968053 -0.240300 -0.003249 0.071544 
time: 1403636700.313555, t: 0.876424 3.913080 5.088938 q: 0.967305 -0.242420 -0.004822 0.074361 
time: 1403636700.413555, t: 0.841042 3.925379 5.080576 q: 0.965265 -0.248143 -0.006323 0.081537 
time: 1403636700.513556, t: 0.802894 3.942833 5.076195 q: 0.962659 -0.258106 -0.002206 0.081640 
time: 1403636700.613555, t: 0.759065 3.961859 5.073888 q: 0.959665 -0.269992 0.003050 0.078353 
optimize pose graph 
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time: 1403636700.813555, t: 0.674621 3.999954 5.056892 q: 0.952151 -0.295849 0.006435 0.076417 
time: 1403636700.913555, t: 0.638460 4.019670 5.043321 q: 0.949975 -0.302168 0.001540 0.078989 
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time: 1403636701.313555, t: 0.582417 4.104970 4.965240 q: 0.949606 -0.301558 -0.022185 0.082583 
time: 1403636701.413555, t: 0.587181 4.129832 4.945811 q: 0.950579 -0.299230 -0.020095 0.080361 
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time: 1403636702.113555, t: 0.584413 4.325541 4.865428 q: 0.935219 -0.341429 0.000277 0.093768 
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time: 1403636702.513556, t: 0.474729 4.451448 4.858237 q: 0.910772 -0.398235 -0.010058 0.108636 
time: 1403636702.613555, t: 0.441175 4.485976 4.859978 q: 0.908439 -0.403296 -0.013962 0.109070 
time: 1403636702.713556, t: 0.400944 4.517132 4.870171 q: 0.906900 -0.406683 -0.018147 0.108683 
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time: 1403636710.513556, t: 1.166019 8.172025 8.659329 q: 0.920746 -0.375940 0.012007 0.103691 
time: 1403636710.613555, t: 1.160384 8.172231 8.735115 q: 0.925940 -0.362662 0.014097 0.104465 
time: 1403636710.713556, t: 1.154365 8.175931 8.808156 q: 0.931865 -0.348755 0.013958 0.099008 
time: 1403636710.813555, t: 1.141961 8.179834 8.880060 q: 0.938293 -0.334749 0.012833 0.085931 
time: 1403636710.913555, t: 1.136841 8.179610 8.949253 q: 0.944704 -0.320369 0.007646 0.069568 
time: 1403636711.013556, t: 1.139156 8.181478 9.007547 q: 0.949880 -0.308009 0.001860 0.053440 
time: 1403636711.113555, t: 1.145079 8.178098 9.063960 q: 0.953318 -0.298820 -0.000084 0.043487 
time: 1403636711.213556, t: 1.153334 8.170147 9.122036 q: 0.955265 -0.293450 0.000454 0.036810 
time: 1403636711.413555, t: 1.181730 8.148385 9.226323 q: 0.957485 -0.285612 0.010196 0.039290 
time: 1403636711.513556, t: 1.203704 8.126499 9.271077 q: 0.957399 -0.285058 0.024364 0.039181 
time: 1403636711.613555, t: 1.223485 8.101640 9.314077 q: 0.956430 -0.288286 0.031330 0.033923 
time: 1403636711.713556, t: 1.242163 8.069752 9.349864 q: 0.955469 -0.291924 0.030395 0.030574 
time: 1403636711.813555, t: 1.258637 8.032041 9.377834 q: 0.955125 -0.292916 0.027533 0.034334 
time: 1403636711.913555, t: 1.272812 7.986093 9.404006 q: 0.955337 -0.290991 0.022490 0.046353 
time: 1403636712.013556, t: 1.289684 7.938440 9.425975 q: 0.955555 -0.287919 0.019144 0.060420 
time: 1403636712.113555, t: 1.309548 7.889948 9.440851 q: 0.955691 -0.285198 0.019513 0.070250 
time: 1403636712.213556, t: 1.334018 7.840847 9.450005 q: 0.956457 -0.283540 0.019377 0.066482 
time: 1403636712.313555, t: 1.361418 7.788965 9.453328 q: 0.959136 -0.277749 0.017225 0.051161 
time: 1403636712.413555, t: 1.391878 7.734960 9.452826 q: 0.962470 -0.268351 0.015727 0.037305 
time: 1403636712.513556, t: 1.425502 7.676793 9.447589 q: 0.965510 -0.258342 0.016528 0.027882 
time: 1403636712.613555, t: 1.458707 7.615060 9.442355 q: 0.968204 -0.248166 0.020206 0.024218 
time: 1403636712.713556, t: 1.486660 7.550216 9.431770 q: 0.970424 -0.238612 0.027229 0.024479 
time: 1403636712.813555, t: 1.506702 7.484144 9.417709 q: 0.972089 -0.231570 0.028005 0.025178 
optimize pose graph 
time: 1403636712.913555, t: 1.519036 7.414539 9.407132 q: 0.972972 -0.228277 0.023174 0.026056 
time: 1403636713.013556, t: 1.525387 7.347298 9.389783 q: 0.973232 -0.227891 0.017324 0.024169 
time: 1403636713.113555, t: 1.528941 7.277018 9.365890 q: 0.973744 -0.225332 0.018498 0.026553 
time: 1403636713.213556, t: 1.537056 7.204364 9.336336 q: 0.974145 -0.223435 0.016241 0.029241 
time: 1403636713.313555, t: 1.550357 7.128407 9.303244 q: 0.974217 -0.223181 0.012763 0.030467 
time: 1403636713.413555, t: 1.568192 7.054251 9.260980 q: 0.974297 -0.222532 0.010924 0.033256 
time: 1403636713.513556, t: 1.594036 6.979409 9.214393 q: 0.974308 -0.221832 0.010033 0.037606 
time: 1403636713.613555, t: 1.620354 6.905466 9.166246 q: 0.974223 -0.221014 0.008812 0.044328 
time: 1403636713.713556, t: 1.638105 6.833164 9.116166 q: 0.974049 -0.220336 0.007029 0.051287 
time: 1403636713.813555, t: 1.649085 6.763934 9.067999 q: 0.973708 -0.220627 0.005690 0.056432 
time: 1403636713.913555, t: 1.654208 6.700174 9.015258 q: 0.973218 -0.223053 0.004568 0.055428 
time: 1403636714.013556, t: 1.655522 6.640276 8.962686 q: 0.972609 -0.226487 0.001965 0.052267 
time: 1403636714.113555, t: 1.651745 6.583107 8.912454 q: 0.971813 -0.231042 0.000807 0.046888 
time: 1403636714.213556, t: 1.645146 6.529373 8.863295 q: 0.971148 -0.234040 0.001964 0.045745 
time: 1403636714.313555, t: 1.632384 6.477193 8.812602 q: 0.970827 -0.234374 0.004136 0.050468 
time: 1403636714.413555, t: 1.614031 6.428117 8.763858 q: 0.970338 -0.235939 -0.000029 0.052690 
time: 1403636714.513556, t: 1.595278 6.381446 8.712244 q: 0.971015 -0.232685 -0.009516 0.053818 
time: 1403636714.613555, t: 1.571344 6.338355 8.663402 q: 0.973219 -0.222913 -0.017424 0.053392 
time: 1403636714.713556, t: 1.545524 6.296920 8.620733 q: 0.976588 -0.208704 -0.022332 0.047122 
time: 1403636714.813555, t: 1.529266 6.258554 8.578690 q: 0.980844 -0.189888 -0.025394 0.035250 
time: 1403636714.913555, t: 1.524457 6.225123 8.537481 q: 0.985208 -0.167899 -0.027256 0.020797 
time: 1403636715.013556, t: 1.528041 6.188500 8.497193 q: 0.988787 -0.145953 -0.030013 0.009828 
optimize pose graph 
time: 1403636715.113555, t: 1.537907 6.156281 8.459383 q: 0.991112 -0.128893 -0.032902 -0.000010 
time: 1403636715.213556, t: 1.555138 6.125518 8.424776 q: 0.992560 -0.116657 -0.034425 -0.005449 
time: 1403636715.313555, t: 1.570065 6.096295 8.395252 q: 0.993644 -0.107857 -0.031606 -0.006340 
time: 1403636715.413555, t: 1.582751 6.069412 8.368892 q: 0.994446 -0.101838 -0.026261 -0.003998 
time: 1403636715.513556, t: 1.585977 6.046824 8.346894 q: 0.995146 -0.096521 -0.018676 0.004330 
time: 1403636715.613555, t: 1.580831 6.028175 8.330648 q: 0.995505 -0.092378 -0.014648 0.014914 
time: 1403636715.813555, t: 1.564155 6.003213 8.295621 q: 0.994955 -0.100196 0.005087 -0.000416 
time: 1403636715.913555, t: 1.557361 5.991192 8.272966 q: 0.994426 -0.104348 0.013217 -0.007259 
time: 1403636716.013556, t: 1.556181 5.979800 8.244430 q: 0.994069 -0.107078 0.017070 -0.008316 
time: 1403636716.113555, t: 1.555304 5.967499 8.207908 q: 0.993904 -0.108992 0.015638 -0.005538 
time: 1403636716.213556, t: 1.554899 5.955543 8.167335 q: 0.993831 -0.110805 0.004653 0.000238 
time: 1403636716.313555, t: 1.553881 5.942848 8.122211 q: 0.993468 -0.114028 -0.002952 0.003048 
time: 1403636716.413555, t: 1.547024 5.932273 8.078919 q: 0.993116 -0.116876 -0.005947 0.005020 
time: 1403636716.513556, t: 1.535556 5.921891 8.036046 q: 0.992782 -0.119626 -0.006637 0.005422 
time: 1403636716.613555, t: 1.516385 5.912644 7.997421 q: 0.992844 -0.119241 -0.006284 0.001558 
time: 1403636716.713556, t: 1.492125 5.902781 7.956924 q: 0.993665 -0.112198 -0.005976 -0.002222 
time: 1403636716.813555, t: 1.463566 5.891607 7.918541 q: 0.994945 -0.100077 -0.005909 -0.005834 
time: 1403636716.913555, t: 1.438478 5.879496 7.876857 q: 0.996494 -0.082652 -0.007443 -0.010592 
time: 1403636717.013556, t: 1.418050 5.865078 7.838335 q: 0.997884 -0.061495 -0.009556 -0.018815 
time: 1403636717.113555, t: 1.406039 5.850022 7.792961 q: 0.998757 -0.039795 -0.011913 -0.027552 
time: 1403636717.213556, t: 1.397038 5.839594 7.745760 q: 0.998993 -0.023483 -0.013333 -0.035826 
time: 1403636717.313555, t: 1.388190 5.828764 7.699614 q: 0.998646 -0.014251 -0.014590 -0.047850 
time: 1403636717.413555, t: 1.379686 5.816452 7.652783 q: 0.997890 -0.010615 -0.013900 -0.062529 
time: 1403636717.513556, t: 1.366999 5.800731 7.605942 q: 0.997565 -0.007576 -0.014005 -0.067906 
time: 1403636717.613555, t: 1.349378 5.782039 7.560431 q: 0.997927 -0.003595 -0.014010 -0.062703 
time: 1403636717.713556, t: 1.325584 5.759717 7.516254 q: 0.998151 -0.002272 -0.012506 -0.059445 
time: 1403636717.813555, t: 1.297950 5.732995 7.473232 q: 0.997830 -0.000880 -0.013744 -0.064391 
time: 1403636717.913555, t: 1.273987 5.700077 7.426972 q: 0.997358 0.006477 -0.015138 -0.070748 
time: 1403636718.013556, t: 1.254151 5.659453 7.382293 q: 0.996739 0.019085 -0.015224 -0.076906 
time: 1403636718.113555, t: 1.239940 5.612287 7.330989 q: 0.996058 0.037979 -0.016173 -0.078521 
time: 1403636718.213556, t: 1.223593 5.560584 7.285817 q: 0.995154 0.058395 -0.017911 -0.077061 
time: 1403636718.313555, t: 1.203835 5.507909 7.238628 q: 0.994118 0.074726 -0.020445 -0.075677 
time: 1403636718.413555, t: 1.173365 5.455881 7.197594 q: 0.992695 0.090752 -0.022589 -0.076233 
time: 1403636718.513556, t: 1.136191 5.403607 7.160456 q: 0.990903 0.108330 -0.023585 -0.076288 
time: 1403636718.613555, t: 1.096753 5.353508 7.127007 q: 0.989213 0.123965 -0.025595 -0.073724 
time: 1403636718.713556, t: 1.055188 5.304618 7.090762 q: 0.987756 0.137392 -0.028961 -0.067993 
time: 1403636718.813555, t: 1.016037 5.261760 7.056055 q: 0.986405 0.144754 -0.029500 -0.071978 
time: 1403636718.913555, t: 0.974387 5.221548 7.026727 q: 0.985250 0.146545 -0.027444 -0.083985 
time: 1403636719.013556, t: 0.943396 5.184139 6.993796 q: 0.984440 0.147136 -0.024696 -0.092834 
time: 1403636719.113555, t: 0.918122 5.145993 6.960864 q: 0.984099 0.148036 -0.019589 -0.096185 
optimize pose graph 
time: 1403636719.313555, t: 0.882216 5.068106 6.890682 q: 0.984489 0.149614 -0.007582 -0.091322 
time: 1403636719.413555, t: 0.858518 5.032175 6.855220 q: 0.984790 0.149400 -0.003942 -0.088619 
time: 1403636719.513556, t: 0.827497 4.999547 6.819796 q: 0.985149 0.148834 -0.003338 -0.085555 
time: 1403636719.613555, t: 0.793221 4.968510 6.779781 q: 0.985546 0.147356 -0.009132 -0.083080 
time: 1403636719.713556, t: 0.759892 4.941486 6.741607 q: 0.985935 0.144291 -0.015834 -0.082833 
time: 1403636719.813555, t: 0.733956 4.916280 6.701102 q: 0.986443 0.141093 -0.020011 -0.081373 
time: 1403636719.913555, t: 0.718831 4.890713 6.653776 q: 0.986913 0.138498 -0.021320 -0.079787 
time: 1403636720.013556, t: 0.703045 4.865932 6.608466 q: 0.987264 0.135925 -0.023275 -0.079329 
time: 1403636720.113555, t: 0.680934 4.842530 6.566770 q: 0.987446 0.134641 -0.024075 -0.079014 
time: 1403636720.213556, t: 0.656120 4.821093 6.527527 q: 0.987510 0.134319 -0.025437 -0.078323 
time: 1403636720.313555, t: 0.627045 4.799635 6.489935 q: 0.987557 0.134550 -0.025131 -0.077431 
time: 1403636720.413555, t: 0.596618 4.783578 6.452941 q: 0.987394 0.135601 -0.025193 -0.077653 
time: 1403636720.513556, t: 0.566737 4.765435 6.416171 q: 0.987250 0.136913 -0.026383 -0.076791 
time: 1403636720.613555, t: 0.545477 4.749364 6.381642 q: 0.987030 0.137828 -0.027288 -0.077657 
time: 1403636720.713556, t: 0.528143 4.735636 6.347493 q: 0.986982 0.138709 -0.025708 -0.077241 
time: 1403636720.813555, t: 0.520821 4.726674 6.314347 q: 0.987686 0.134555 -0.026234 -0.075389 
time: 1403636720.913555, t: 0.512745 4.718014 6.282083 q: 0.989254 0.123709 -0.025868 -0.073510 
time: 1403636721.013556, t: 0.500835 4.713673 6.253116 q: 0.991127 0.112067 -0.023007 -0.067673 
time: 1403636721.113555, t: 0.481798 4.707318 6.226376 q: 0.993058 0.098577 -0.019417 -0.061164 
time: 1403636721.213556, t: 0.463492 4.705212 6.201937 q: 0.994986 0.081983 -0.015204 -0.055240 
time: 1403636721.313555, t: 0.448883 4.705228 6.172285 q: 0.996350 0.068462 -0.011806 -0.049594 
time: 1403636721.413555, t: 0.438003 4.707836 6.146320 q: 0.997193 0.056992 -0.009798 -0.047569 
optimize pose graph 
time: 1403636721.513556, t: 0.433744 4.709278 6.113599 q: 0.997759 0.046899 -0.010217 -0.046622 
time: 1403636721.613555, t: 0.430619 4.714929 6.079162 q: 0.998284 0.035042 -0.011814 -0.045410 
time: 1403636721.713556, t: 0.420728 4.720771 6.045980 q: 0.998567 0.026123 -0.011936 -0.045146 
time: 1403636721.813555, t: 0.404539 4.727848 6.016124 q: 0.998670 0.020585 -0.011994 -0.045716 
time: 1403636721.913555, t: 0.386341 4.734292 5.987645 q: 0.998753 0.018762 -0.011414 -0.044826 
time: 1403636722.013556, t: 0.364498 4.739870 5.959079 q: 0.998499 0.016645 -0.010860 -0.051029 
time: 1403636722.113555, t: 0.349274 4.743479 5.927429 q: 0.998285 0.016626 -0.011257 -0.054989 
time: 1403636722.213556, t: 0.341090 4.744774 5.891801 q: 0.998342 0.019063 -0.012179 -0.052929 
time: 1403636722.313555, t: 0.335381 4.744196 5.855842 q: 0.998414 0.022078 -0.012630 -0.050228 
time: 1403636722.413555, t: 0.327333 4.741777 5.821260 q: 0.998469 0.020952 -0.013357 -0.049410 
time: 1403636722.513556, t: 0.311977 4.741902 5.790023 q: 0.998660 0.016378 -0.012201 -0.047559 
time: 1403636722.613555, t: 0.294596 4.742172 5.756892 q: 0.998713 0.011983 -0.012426 -0.047687 
time: 1403636722.713556, t: 0.274821 4.740484 5.724166 q: 0.998730 0.008490 -0.012212 -0.048140 
time: 1403636722.813555, t: 0.253189 4.739173 5.694310 q: 0.998660 0.005870 -0.013209 -0.049684 
time: 1403636722.913555, t: 0.240268 4.734092 5.659523 q: 0.998671 0.004763 -0.013414 -0.049535 
time: 1403636723.013556, t: 0.235521 4.726799 5.623661 q: 0.998812 0.005813 -0.013558 -0.046442 
time: 1403636723.213556, t: 0.235898 4.705128 5.547113 q: 0.999002 0.006563 -0.012697 -0.042324 
time: 1403636723.313555, t: 0.229570 4.696911 5.511014 q: 0.998863 0.004789 -0.013208 -0.045550 
time: 1403636723.413555, t: 0.218324 4.689568 5.478043 q: 0.998812 -0.001278 -0.012310 -0.047140 
time: 1403636723.513556, t: 0.206453 4.683141 5.444673 q: 0.998831 -0.011841 -0.005683 -0.046522 
time: 1403636723.613555, t: 0.197269 4.670425 5.407589 q: 0.999005 -0.020320 0.007525 -0.038988 
optimize pose graph 
time: 1403636723.713556, t: 0.190711 4.658049 5.365487 q: 0.998979 -0.028341 0.005619 -0.034727 
time: 1403636723.813555, t: 0.185605 4.645529 5.321304 q: 0.998937 -0.034907 -0.003231 -0.029944 
time: 1403636723.913555, t: 0.177200 4.631602 5.275521 q: 0.998830 -0.039645 -0.010059 -0.025808 
time: 1403636724.013556, t: 0.163848 4.616667 5.233828 q: 0.998547 -0.045268 -0.018412 -0.022710 
time: 1403636724.113555, t: 0.144894 4.605221 5.193087 q: 0.997960 -0.055563 -0.025158 -0.018855 
time: 1403636724.213556, t: 0.124952 4.598093 5.155140 q: 0.997133 -0.069669 -0.026055 -0.013907 
time: 1403636724.313555, t: 0.099633 4.589787 5.121294 q: 0.995815 -0.087711 -0.023797 -0.009591 
time: 1403636724.413555, t: 0.115910 4.546625 5.141447 q: 0.993716 -0.109548 -0.021930 -0.006783 
time: 1403636724.513556, t: 0.060550 4.571377 5.065711 q: 0.992516 -0.121497 -0.012155 -0.001429 
time: 1403636724.613555, t: 0.053957 4.559881 5.035557 q: 0.991231 -0.131849 -0.008752 0.001071 
time: 1403636724.713556, t: 0.054939 4.543141 5.003164 q: 0.990354 -0.138316 -0.007711 0.002842 
time: 1403636724.813555, t: 0.063525 4.527478 4.969724 q: 0.989889 -0.141492 -0.008948 0.004441 
time: 1403636724.913555, t: 0.078843 4.508262 4.936846 q: 0.989894 -0.141221 -0.010531 0.007409 
time: 1403636725.013556, t: 0.101180 4.489025 4.903059 q: 0.990258 -0.138269 -0.011089 0.012131 
time: 1403636725.113555, t: 0.129462 4.469434 4.866422 q: 0.990614 -0.135381 -0.010550 0.015641 
time: 1403636725.213556, t: 0.161162 4.450072 4.830326 q: 0.990788 -0.133980 -0.011393 0.016069 
time: 1403636725.313555, t: 0.189272 4.435312 4.794658 q: 0.990842 -0.133711 -0.012530 0.014030 
time: 1403636725.413555, t: 0.212778 4.421561 4.762522 q: 0.990780 -0.134459 -0.012568 0.010843 
time: 1403636725.513556, t: 0.230386 4.410241 4.731678 q: 0.990703 -0.135194 -0.012676 0.008302 
time: 1403636725.613555, t: 0.242948 4.399702 4.705333 q: 0.990541 -0.136434 -0.013291 0.006124 
time: 1403636725.713556, t: 0.253967 4.391667 4.679241 q: 0.990566 -0.136425 -0.011363 0.006141 
time: 1403636725.813555, t: 0.256625 4.381375 4.659404 q: 0.990560 -0.136482 -0.011440 0.005747 
optimize pose graph 
time: 1403636725.913555, t: 0.254704 4.372498 4.642314 q: 0.990724 -0.135036 -0.012649 0.008412 
time: 1403636726.013556, t: 0.249065 4.365037 4.627148 q: 0.990902 -0.133688 -0.012289 0.009433 
time: 1403636726.113555, t: 0.238902 4.358856 4.614480 q: 0.990966 -0.133409 -0.011759 0.007145 
time: 1403636726.213556, t: 0.226194 4.353206 4.604548 q: 0.991104 -0.132657 -0.009287 0.005389 
time: 1403636726.313555, t: 0.211886 4.347107 4.594705 q: 0.991249 -0.131654 -0.008736 0.003919 
time: 1403636726.413555, t: 0.203782 4.340697 4.583107 q: 0.991414 -0.130542 -0.007088 0.002427 
time: 1403636726.513556, t: 0.204085 4.332987 4.568098 q: 0.991747 -0.127988 -0.005672 0.004919 
time: 1403636726.613555, t: 0.210651 4.327444 4.553306 q: 0.992443 -0.121184 -0.002057 0.019165 
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optimize pose graph 
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optimize pose graph 
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time: 1403636752.113555, t: 0.056795 2.528992 2.134628 q: 0.951174 -0.298947 -0.021515 0.073722 
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optimize pose graph 
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time: 1403636752.913555, t: 0.320766 2.528291 2.078066 q: 0.984634 -0.173942 -0.010014 0.011826 
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time: 1403636753.113555, t: 0.343230 2.522382 2.074726 q: 0.991346 -0.129534 -0.015355 -0.014771 
time: 1403636753.213556, t: 0.346372 2.515964 2.075764 q: 0.993970 -0.105063 -0.017412 -0.026121 
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time: 1403636754.713556, t: 0.356799 2.136856 1.974579 q: 0.998474 -0.012977 -0.004718 -0.053472 
optimize pose graph 
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time: 1403636755.313555, t: 0.275318 1.847157 1.800060 q: 0.996772 0.040906 -0.016258 -0.067135 
time: 1403636755.413555, t: 0.271490 1.793644 1.761738 q: 0.996487 0.041121 -0.027891 -0.067411 
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time: 1403636756.113555, t: 0.214848 1.375291 1.537791 q: 0.997255 0.037017 -0.015752 -0.062159 
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time: 1403636756.513556, t: 0.185725 1.132471 1.396732 q: 0.997163 0.040463 -0.011063 -0.062495 
time: 1403636756.613555, t: 0.166935 1.069792 1.360605 q: 0.997114 0.041295 -0.010459 -0.062842 
time: 1403636756.713556, t: 0.146944 1.006661 1.328817 q: 0.997098 0.042558 -0.008857 -0.062493 
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time: 1403636756.913555, t: 0.124430 0.882904 1.247982 q: 0.997027 0.044909 -0.007834 -0.062127 
optimize pose graph 
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time: 1403636757.713556, t: -0.009341 0.378045 0.866764 q: 0.994679 0.058273 -0.039873 -0.075025 
time: 1403636757.813555, t: -0.013503 0.312427 0.819675 q: 0.993740 0.065069 -0.049327 -0.076248 
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time: 1403636758.713556, t: -0.041207 -0.272737 0.533860 q: 0.993167 0.090989 -0.059192 -0.042862 
time: 1403636758.813555, t: -0.054411 -0.322868 0.527509 q: 0.994026 0.089474 -0.041702 -0.046568 
time: 1403636758.913555, t: -0.068771 -0.368558 0.524881 q: 0.994347 0.086768 -0.026877 -0.054983 
time: 1403636759.013556, t: -0.084160 -0.410805 0.523779 q: 0.994385 0.085518 -0.020017 -0.059030 
time: 1403636759.113555, t: -0.103718 -0.451194 0.523446 q: 0.994652 0.088945 -0.016735 -0.049767 
time: 1403636759.213556, t: -0.125901 -0.485777 0.525934 q: 0.994748 0.096689 -0.017407 -0.028705 
time: 1403636759.313555, t: -0.148648 -0.512220 0.528577 q: 0.994589 0.100745 -0.018123 -0.017728 
optimize pose graph 
time: 1403636759.413555, t: -0.176078 -0.528787 0.531720 q: 0.994693 0.096340 -0.016283 -0.032246 
time: 1403636759.513556, t: -0.202505 -0.535083 0.531236 q: 0.994527 0.091600 -0.014151 -0.048222 
time: 1403636759.613555, t: -0.231336 -0.538084 0.531315 q: 0.994137 0.089056 -0.012440 -0.060052 
time: 1403636759.713556, t: -0.253525 -0.540498 0.528395 q: 0.993828 0.088068 -0.012805 -0.066233 
time: 1403636759.813555, t: -0.264906 -0.542466 0.519211 q: 0.993734 0.088575 -0.011251 -0.067233 
time: 1403636759.913555, t: -0.273918 -0.544643 0.506920 q: 0.993674 0.088265 -0.017453 -0.067202 
time: 1403636760.013556, t: -0.286618 -0.545859 0.494388 q: 0.993507 0.087262 -0.027598 -0.067580 
time: 1403636760.113555, t: -0.300340 -0.546650 0.482923 q: 0.993333 0.086518 -0.036557 -0.066835 
time: 1403636760.213556, t: -0.313438 -0.547212 0.473832 q: 0.993398 0.086611 -0.036102 -0.066000 
time: 1403636760.313555, t: -0.326049 -0.547492 0.468299 q: 0.993866 0.088050 -0.021727 -0.063289 
time: 1403636760.413555, t: -0.342126 -0.546997 0.464206 q: 0.993875 0.087587 -0.013450 -0.066030 
time: 1403636760.513556, t: -0.360304 -0.545383 0.458907 q: 0.993758 0.086449 -0.013732 -0.069159 
time: 1403636760.613555, t: -0.381017 -0.543951 0.451624 q: 0.993433 0.085488 -0.024350 -0.072039 
time: 1403636760.713556, t: -0.400263 -0.543562 0.444332 q: 0.993015 0.084096 -0.031467 -0.076541 
time: 1403636760.813555, t: -0.415979 -0.544809 0.437107 q: 0.992900 0.083880 -0.028547 -0.079370 
time: 1403636760.913555, t: -0.431370 -0.548843 0.430979 q: 0.992828 0.084064 -0.021479 -0.082244 
time: 1403636761.013556, t: -0.448082 -0.555058 0.422740 q: 0.992779 0.084688 -0.025629 -0.081005 
time: 1403636761.113555, t: -0.466008 -0.564158 0.416374 q: 0.992633 0.085697 -0.037319 -0.077095 
time: 1403636761.213556, t: -0.483595 -0.574554 0.411595 q: 0.991939 0.085373 -0.052068 -0.077824 
time: 1403636761.313555, t: -0.496503 -0.587439 0.410303 q: 0.991650 0.085215 -0.058018 -0.077482 
time: 1403636761.413555, t: -0.502367 -0.602673 0.413462 q: 0.992159 0.086345 -0.048176 -0.076442 
time: 1403636761.613555, t: -0.501716 -0.637469 0.426290 q: 0.993228 0.087489 -0.021705 -0.073303 
optimize pose graph 
time: 1403636761.713556, t: -0.498925 -0.655214 0.430887 q: 0.993785 0.090500 -0.018732 -0.062042 
time: 1403636761.813555, t: -0.495279 -0.670799 0.434109 q: 0.994133 0.093478 -0.019024 -0.050984 
time: 1403636761.913555, t: -0.489907 -0.682095 0.435541 q: 0.994192 0.093570 -0.020082 -0.049233 
time: 1403636762.013556, t: -0.482795 -0.688813 0.435767 q: 0.993962 0.088787 -0.018913 -0.061630 
time: 1403636762.113555, t: -0.474051 -0.694093 0.435060 q: 0.993152 0.080890 -0.016146 -0.082740 
time: 1403636762.213556, t: -0.466299 -0.701919 0.431899 q: 0.992399 0.075933 -0.021601 -0.094397 
time: 1403636762.313555, t: -0.463456 -0.714405 0.429871 q: 0.992252 0.075329 -0.037705 -0.091325 
time: 1403636762.413555, t: -0.467848 -0.730880 0.431369 q: 0.992307 0.076654 -0.049080 -0.083915 
time: 1403636762.513556, t: -0.478369 -0.749949 0.439014 q: 0.993408 0.084195 -0.047832 -0.061354 
time: 1403636762.613555, t: -0.495032 -0.768288 0.453146 q: 0.994292 0.093605 -0.037967 -0.034358 
time: 1403636762.713556, t: -0.517855 -0.779800 0.472107 q: 0.994558 0.095943 -0.027114 -0.030236 
time: 1403636762.813555, t: -0.546934 -0.783888 0.494013 q: 0.994492 0.091687 -0.021956 -0.045805 
time: 1403636762.913555, t: -0.546750 -0.776813 0.491409 q: 0.994472 0.093387 0.021234 -0.043042 
time: 1403636763.013556, t: -0.556729 -0.761398 0.479986 q: 0.996063 0.072679 -0.015707 -0.048265 
time: 1403636763.113555, t: -0.562727 -0.747208 0.470449 q: 0.997892 0.057848 -0.005135 -0.028964 
time: 1403636763.213556, t: -0.562845 -0.742791 0.469474 q: 0.998529 0.050268 0.000811 -0.020314 
time: 1403636763.313555, t: -0.559543 -0.755786 0.474018 q: 0.998670 0.047109 -0.005749 -0.020128 
time: 1403636763.413555, t: -0.564580 -0.742485 0.469155 q: 0.998540 0.050571 -0.005809 -0.018065 
time: 1403636763.513556, t: -0.564995 -0.741751 0.469072 q: 0.998546 0.050476 -0.005560 -0.018088 
time: 1403636763.613555, t: -0.564943 -0.741740 0.469096 q: 0.998550 0.050359 -0.005569 -0.018211 
time: 1403636763.713556, t: -0.564898 -0.741763 0.469213 q: 0.998549 0.050437 -0.005505 -0.018053 
time: 1403636763.813555, t: -0.564928 -0.741805 0.469206 q: 0.998550 0.050481 -0.005467 -0.017889 
optimize pose graph 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720489414.970307269]: Shutdown request received.[0m
[33m[ WARN] [1720489414.970359968]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720489414.971232681]: Shutdown request received.[0m
[33m[ WARN] [1720489414.971259424]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/3142c6ee-3d94-11ef-95c7-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
