/SLAM-Hive/slam_hive_results/mapping_results/3111/2316_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-6.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720541922.323148803]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720541922.325370147]: init begins[0m
[31m[ERROR] [1720541922.326464800]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/e88af23e-3e0e-11ef-abf3-0242ac110005/roslaunch-6ac50d85a291-118.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://6ac50d85a291:37665/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[0m[ INFO] [1720541923.429496940]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720541923.431322615]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720541923.436727677]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720541923.436946981]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720541923.436973248]: ROW: 480 COL: 752 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 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 9.81007
[0m[ INFO] [1720541923.437198871]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720541923.437394799]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720541923.437546723]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://6ac50d85a291:11311/[0m
]2;roscore http://6ac50d85a291:11311/
[1msetting /run_id to e88af23e-3e0e-11ef-abf3-0242ac110005[0m
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720541932.457891864]: 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: 316905353.74 
init first imu pose
averge acc 7.915898 -0.433127 -2.692743
init R0 
  0.325749   0.150146   0.933458
         0  -0.987309   0.158808
  0.945456 -0.0517317  -0.321615
[33m[ WARN] [1720541935.801378789]: gyroscope bias initial calibration -0.00545764    0.019953   0.0786989[0m
[0m[ INFO] [1720541935.862697029]: Initialization finish![0m
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time: 1403636626.063555, t: 0.162872 -0.100862 -0.107512 q: -0.102159 0.801544 0.130270 0.574561 
time: 1403636626.263556, t: 0.182977 -0.085530 -0.027371 q: -0.117123 0.801140 0.120620 0.574376 
time: 1403636626.463556, t: 0.202983 -0.083924 0.004196 q: -0.114394 0.799692 0.123343 0.576363 
time: 1403636626.663555, t: 0.219055 -0.095978 0.008840 q: -0.105779 0.790640 0.132436 0.588354 
time: 1403636626.863555, t: 0.218025 -0.116961 -0.002560 q: -0.105142 0.795548 0.137281 0.580692 
time: 1403636627.063555, t: 0.207437 -0.139423 -0.026608 q: -0.101922 0.805321 0.140521 0.566855 
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time: 1403636627.463556, t: 0.189213 -0.179756 0.017198 q: -0.107078 0.800366 0.137901 0.573525 
time: 1403636627.663555, t: 0.177883 -0.204037 0.045788 q: -0.100347 0.806120 0.125898 0.569431 
optimize pose graph 
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time: 1403636628.063555, t: 0.178620 -0.257931 0.017699 q: -0.068175 0.826374 0.098111 0.550302 
time: 1403636628.263556, t: 0.206795 -0.274266 0.052586 q: -0.071823 0.810521 0.084648 0.575092 
time: 1403636628.463556, t: 0.234066 -0.293694 0.098162 q: -0.080236 0.807316 0.076471 0.579617 
time: 1403636628.663555, t: 0.257232 -0.325222 0.124422 q: -0.084644 0.808372 0.076285 0.577539 
time: 1403636628.863555, t: 0.280062 -0.371779 0.125171 q: -0.068057 0.814807 0.075884 0.570701 
time: 1403636629.063555, t: 0.299735 -0.425151 0.138545 q: -0.056271 0.822695 0.069050 0.561461 
time: 1403636629.263556, t: 0.323301 -0.481295 0.166691 q: -0.046121 0.822694 0.055443 0.563892 
time: 1403636629.463556, t: 0.367040 -0.534893 0.174652 q: -0.047233 0.817469 0.035212 0.572951 
time: 1403636629.663555, t: 0.414183 -0.596120 0.154733 q: -0.032865 0.822498 0.008548 0.567754 
optimize pose graph 
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time: 1403636630.063555, t: 0.535988 -0.744692 0.072463 q: 0.017503 0.830678 -0.048954 0.554320 
time: 1403636630.263556, t: 0.625322 -0.817481 0.067692 q: 0.026374 0.816083 -0.060542 0.574150 
time: 1403636630.463556, t: 0.721479 -0.891631 0.086281 q: 0.028391 0.816996 -0.060157 0.572793 
time: 1403636630.663555, t: 0.826444 -0.959170 0.118706 q: 0.030997 0.820490 -0.049414 0.568677 
time: 1403636630.863555, t: 0.921370 -1.023880 0.140594 q: 0.025497 0.821568 -0.047230 0.567579 
time: 1403636631.063555, t: 1.014441 -1.088211 0.140451 q: 0.019955 0.820583 -0.047800 0.569176 
time: 1403636631.263556, t: 1.116675 -1.149732 0.128399 q: 0.019406 0.816678 -0.046610 0.574880 
time: 1403636631.463556, t: 1.209418 -1.210617 0.105116 q: 0.019961 0.816544 -0.045480 0.575143 
time: 1403636631.663555, t: 1.296434 -1.267800 0.070877 q: 0.023399 0.817184 -0.041586 0.574398 
optimize pose graph 
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time: 1403636632.463556, t: 1.634036 -1.428547 0.046706 q: 0.033137 0.817006 -0.043982 0.573993 
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time: 1403636632.863555, t: 1.806847 -1.463459 -0.019264 q: -0.011940 0.827744 -0.010697 0.560877 
time: 1403636633.063555, t: 1.906517 -1.487132 -0.018678 q: -0.022062 0.820829 0.032458 0.569824 
time: 1403636633.263556, t: 2.008765 -1.508786 -0.023034 q: -0.032862 0.819846 0.051043 0.569357 
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time: 1403636634.463556, t: 2.810515 -1.663928 -0.069162 q: -0.037762 0.817155 0.042098 0.573637 
time: 1403636634.663555, t: 2.965991 -1.702313 -0.071941 q: -0.038549 0.812317 0.051022 0.579700 
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time: 1403636635.463556, t: 3.530611 -1.804470 -0.068821 q: -0.064952 0.822201 0.077463 0.560148 
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time: 1403636637.663555, t: 4.996753 -2.039370 0.184540 q: -0.061451 0.819148 0.085771 0.563794 
time: 1403636637.863555, t: 5.094445 -2.023586 0.231997 q: -0.062292 0.815455 0.087719 0.568733 
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optimize pose graph 
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time: 1403636701.663555, t: 5.426275 -3.481074 -0.990443 q: 0.120197 0.798546 -0.182426 0.560890 
time: 1403636701.863555, t: 5.415839 -3.541393 -0.985357 q: 0.124961 0.795763 -0.191313 0.560843 
time: 1403636702.063555, t: 5.404453 -3.602399 -1.002951 q: 0.140776 0.788786 -0.221565 0.555794 
time: 1403636702.263556, t: 5.390639 -3.665197 -1.041667 q: 0.163864 0.777928 -0.257273 0.549351 
time: 1403636702.463556, t: 5.376619 -3.730042 -1.100090 q: 0.181416 0.777325 -0.275002 0.535936 
time: 1403636702.663555, t: 5.374375 -3.792892 -1.177299 q: 0.190923 0.778904 -0.281327 0.526985 
time: 1403636702.863555, t: 5.389327 -3.855242 -1.273299 q: 0.193120 0.781755 -0.282279 0.521423 
time: 1403636703.063555, t: 5.416300 -3.918011 -1.354955 q: 0.189869 0.779539 -0.283011 0.525522 
time: 1403636703.263556, t: 5.458333 -3.987561 -1.406382 q: 0.176066 0.766288 -0.290518 0.545346 
time: 1403636703.463556, t: 5.491984 -4.067333 -1.429874 q: 0.179776 0.764120 -0.286611 0.549232 
time: 1403636703.663555, t: 5.512175 -4.148845 -1.426092 q: 0.189640 0.772148 -0.278155 0.538937 
time: 1403636703.863555, t: 5.534928 -4.227874 -1.423787 q: 0.185443 0.769939 -0.278127 0.543553 
time: 1403636704.063555, t: 5.556652 -4.300824 -1.438470 q: 0.178593 0.767129 -0.279003 0.549341 
time: 1403636704.263556, t: 5.575728 -4.379225 -1.472540 q: 0.177460 0.775277 -0.276395 0.539499 
time: 1403636704.463556, t: 5.597391 -4.457843 -1.494828 q: 0.180077 0.781414 -0.272893 0.531502 
time: 1403636704.663555, t: 5.630971 -4.542612 -1.492878 q: 0.180670 0.786905 -0.271689 0.523760 
time: 1403636704.863555, t: 5.681174 -4.630907 -1.509645 q: 0.177927 0.795380 -0.271342 0.511944 
time: 1403636705.063555, t: 5.757439 -4.730444 -1.547072 q: 0.176867 0.800808 -0.269046 0.505013 
time: 1403636705.263556, t: 5.863450 -4.840427 -1.583272 q: 0.186446 0.785985 -0.260462 0.528795 
time: 1403636705.463556, t: 5.985626 -4.947913 -1.599133 q: 0.186435 0.783913 -0.260137 0.532026 
time: 1403636705.663555, t: 6.121483 -5.049870 -1.621807 q: 0.183979 0.789246 -0.262945 0.523548 
time: 1403636705.863555, t: 6.274445 -5.154426 -1.658501 q: 0.182026 0.781440 -0.264318 0.535121 
time: 1403636706.063555, t: 6.431567 -5.257880 -1.672832 q: 0.164843 0.770459 -0.274039 0.551472 
time: 1403636706.263556, t: 6.572844 -5.368617 -1.681057 q: 0.171768 0.770306 -0.266005 0.553503 
time: 1403636706.463556, t: 6.702297 -5.479061 -1.716119 q: 0.185326 0.779544 -0.253609 0.541894 
time: 1403636706.663555, t: 6.831542 -5.580429 -1.745018 q: 0.187822 0.783486 -0.252026 0.536055 
time: 1403636706.863555, t: 6.973963 -5.674912 -1.746806 q: 0.186084 0.788073 -0.256342 0.527829 
time: 1403636707.063555, t: 7.126889 -5.766811 -1.732448 q: 0.189623 0.783956 -0.259505 0.531144 
time: 1403636707.263556, t: 7.288501 -5.856980 -1.714579 q: 0.194063 0.781182 -0.263958 0.531433 
time: 1403636707.463556, t: 7.457006 -5.941267 -1.676179 q: 0.197039 0.782078 -0.266828 0.527573 
time: 1403636707.663555, t: 7.641958 -6.028352 -1.616199 q: 0.186396 0.781505 -0.275025 0.528079 
time: 1403636707.863555, t: 7.824493 -6.099330 -1.588602 q: 0.177565 0.779374 -0.280007 0.531642 
time: 1403636708.063555, t: 8.011250 -6.186070 -1.605335 q: 0.179884 0.777597 -0.272756 0.537205 
time: 1403636708.263556, t: 8.199892 -6.274981 -1.646868 q: 0.179160 0.774978 -0.267424 0.543871 
time: 1403636708.463556, t: 8.381435 -6.369483 -1.695861 q: 0.159082 0.765969 -0.278875 0.556968 
time: 1403636708.663555, t: 8.547072 -6.481774 -1.721042 q: 0.169562 0.765846 -0.272518 0.557191 
time: 1403636708.863555, t: 8.690588 -6.594326 -1.751105 q: 0.195085 0.767718 -0.258844 0.552767 
time: 1403636709.063555, t: 8.824516 -6.685318 -1.778056 q: 0.207397 0.762418 -0.258547 0.555751 
time: 1403636709.263556, t: 8.947587 -6.750190 -1.781442 q: 0.209915 0.764625 -0.264124 0.549111 
time: 1403636709.463556, t: 9.070420 -6.792527 -1.773542 q: 0.208744 0.769579 -0.266922 0.541227 
time: 1403636709.663555, t: 9.194929 -6.819213 -1.791471 q: 0.208268 0.772768 -0.266647 0.536986 
time: 1403636709.863555, t: 9.327534 -6.832304 -1.816220 q: 0.205595 0.773778 -0.264550 0.537598 
optimize pose graph 
time: 1403636710.063555, t: 9.469297 -6.828980 -1.819125 q: 0.204461 0.773638 -0.261299 0.539818 
time: 1403636710.263556, t: 9.617631 -6.810693 -1.827630 q: 0.201086 0.773480 -0.257595 0.543082 
time: 1403636710.463556, t: 9.767000 -6.777556 -1.868590 q: 0.171926 0.770964 -0.263136 0.553909 
time: 1403636710.663555, t: 9.908253 -6.745194 -1.923319 q: 0.147314 0.774905 -0.249125 0.561923 
time: 1403636711.063555, t: 10.150898 -6.702023 -2.006313 q: 0.134307 0.794797 -0.172475 0.566137 
time: 1403636711.263556, t: 10.257921 -6.668464 -2.018409 q: 0.132892 0.797119 -0.154388 0.568424 
time: 1403636711.463556, t: 10.356185 -6.618092 -2.016239 q: 0.124433 0.787783 -0.155868 0.582769 
time: 1403636711.663555, t: 10.441342 -6.551964 -2.004519 q: 0.132679 0.777837 -0.154342 0.594596 
time: 1403636711.863555, t: 10.499049 -6.463545 -1.988429 q: 0.131107 0.781593 -0.161228 0.588157 
time: 1403636712.063555, t: 10.535676 -6.360240 -1.960945 q: 0.110673 0.786523 -0.179380 0.580479 
time: 1403636712.263556, t: 10.552883 -6.259955 -1.913218 q: 0.111167 0.787864 -0.170380 0.581277 
time: 1403636712.463556, t: 10.552820 -6.159027 -1.846437 q: 0.112253 0.791186 -0.136935 0.585383 
time: 1403636712.663555, t: 10.535986 -6.046392 -1.770731 q: 0.099025 0.789069 -0.118754 0.594526 
time: 1403636712.863555, t: 10.497156 -5.925968 -1.715766 q: 0.086726 0.789431 -0.111314 0.597400 
time: 1403636713.063555, t: 10.437185 -5.802596 -1.680047 q: 0.084916 0.794270 -0.108393 0.591756 
time: 1403636713.263556, t: 10.358314 -5.672456 -1.628077 q: 0.078326 0.797547 -0.109756 0.587994 
time: 1403636713.463556, t: 10.269057 -5.543438 -1.550100 q: 0.075249 0.800083 -0.112700 0.584384 
time: 1403636713.663555, t: 10.169529 -5.419169 -1.466940 q: 0.066595 0.801993 -0.121755 0.580989 
time: 1403636713.863555, t: 10.062192 -5.307779 -1.405668 q: 0.061437 0.802912 -0.129813 0.578538 
optimize pose graph 
time: 1403636714.063555, t: 9.948083 -5.214226 -1.365238 q: 0.073133 0.804050 -0.126992 0.576218 
time: 1403636714.263556, t: 9.831268 -5.130239 -1.343782 q: 0.076253 0.802198 -0.130402 0.577632 
time: 1403636714.463556, t: 9.712072 -5.052966 -1.338539 q: 0.074264 0.807025 -0.134318 0.570223 
time: 1403636714.663555, t: 9.596362 -4.984916 -1.348275 q: 0.061691 0.817648 -0.119401 0.559812 
time: 1403636714.863555, t: 9.493077 -4.929218 -1.341885 q: 0.044150 0.823882 -0.077982 0.559632 
time: 1403636715.063555, t: 9.404593 -4.879191 -1.305993 q: 0.021968 0.827848 -0.033714 0.559507 
time: 1403636715.263556, t: 9.334015 -4.832406 -1.252256 q: 0.008756 0.828896 -0.009591 0.559252 
time: 1403636715.463556, t: 9.284552 -4.789183 -1.215376 q: -0.004878 0.822682 -0.007790 0.568427 
time: 1403636715.663555, t: 9.242704 -4.756090 -1.209631 q: -0.019415 0.816320 -0.017541 0.577007 
time: 1403636715.863555, t: 9.201192 -4.739446 -1.212792 q: -0.002649 0.804125 -0.010822 0.594356 
time: 1403636716.063555, t: 9.141293 -4.728152 -1.196453 q: 0.004957 0.799434 -0.011695 0.600620 
optimize pose graph 
time: 1403636716.263556, t: 9.060072 -4.716566 -1.167590 q: 0.003689 0.809435 -0.020656 0.586835 
time: 1403636716.463556, t: 8.967876 -4.710552 -1.149877 q: 0.006820 0.814103 -0.026253 0.580086 
time: 1403636716.663555, t: 8.875007 -4.708125 -1.157036 q: 0.008040 0.813362 -0.020687 0.581334 
time: 1403636716.863555, t: 8.780993 -4.702770 -1.182348 q: -0.007551 0.813482 0.000167 0.581541 
time: 1403636717.063555, t: 8.681310 -4.693628 -1.191547 q: -0.032693 0.813767 0.037616 0.579051 
time: 1403636717.263556, t: 8.581611 -4.688301 -1.179965 q: -0.048395 0.811898 0.071506 0.577379 
time: 1403636717.463556, t: 8.477656 -4.681867 -1.162546 q: -0.040850 0.808983 0.097112 0.578313 
time: 1403636717.663555, t: 8.372165 -4.658713 -1.164967 q: -0.048887 0.808857 0.096327 0.577998 
time: 1403636717.863555, t: 8.262105 -4.621303 -1.188189 q: -0.048938 0.808542 0.104581 0.576999 
time: 1403636718.063555, t: 8.146456 -4.561168 -1.191238 q: -0.062677 0.805519 0.129068 0.574936 
time: 1403636718.263556, t: 8.025558 -4.482845 -1.183928 q: -0.096011 0.802537 0.150603 0.569240 
time: 1403636718.463556, t: 7.905079 -4.397737 -1.202710 q: -0.122901 0.800068 0.169130 0.562300 
time: 1403636718.663555, t: 7.789558 -4.310914 -1.241560 q: -0.151020 0.797175 0.183618 0.554968 
time: 1403636718.863555, t: 7.688008 -4.235054 -1.295413 q: -0.157583 0.794123 0.199053 0.552190 
time: 1403636719.063555, t: 7.596731 -4.168931 -1.329641 q: -0.149816 0.788316 0.212645 0.557580 
time: 1403636719.263556, t: 7.505387 -4.103353 -1.335023 q: -0.151825 0.781028 0.211700 0.567562 
time: 1403636719.463556, t: 7.405894 -4.045809 -1.354703 q: -0.156644 0.778163 0.205282 0.572524 
time: 1403636719.663555, t: 7.298775 -4.000593 -1.393848 q: -0.155364 0.784576 0.201466 0.565432 
time: 1403636719.863555, t: 7.185930 -3.962734 -1.404216 q: -0.151603 0.790994 0.196629 0.559180 
time: 1403636720.063555, t: 7.077283 -3.933920 -1.402696 q: -0.149307 0.793800 0.193069 0.557058 
optimize pose graph 
time: 1403636720.263556, t: 6.977399 -3.907898 -1.421371 q: -0.148975 0.794826 0.192390 0.555918 
time: 1403636720.463556, t: 6.884469 -3.885936 -1.455122 q: -0.151449 0.794824 0.192800 0.555109 
time: 1403636720.663555, t: 6.798088 -3.871157 -1.474892 q: -0.153810 0.794940 0.194832 0.553582 
time: 1403636720.863555, t: 6.723150 -3.865586 -1.466784 q: -0.147601 0.796438 0.188011 0.555475 
time: 1403636721.063555, t: 6.660969 -3.867097 -1.470953 q: -0.135436 0.799081 0.165282 0.561969 
time: 1403636721.263556, t: 6.600484 -3.873991 -1.489031 q: -0.118881 0.800423 0.136821 0.571376 
time: 1403636721.463556, t: 6.541196 -3.891056 -1.484567 q: -0.104078 0.803010 0.119253 0.574562 
time: 1403636721.663555, t: 6.478402 -3.914881 -1.477379 q: -0.087015 0.807564 0.104956 0.573806 
time: 1403636721.863555, t: 6.414023 -3.940301 -1.492544 q: -0.078745 0.807785 0.098760 0.575786 
time: 1403636722.063555, t: 6.349313 -3.962131 -1.515360 q: -0.070494 0.806906 0.104347 0.577101 
time: 1403636722.263556, t: 6.281357 -3.979159 -1.512226 q: -0.075790 0.807855 0.105076 0.574965 
time: 1403636722.463556, t: 6.209756 -3.992308 -1.508186 q: -0.076169 0.808134 0.101878 0.575099 
time: 1403636722.663555, t: 6.137830 -4.004129 -1.522804 q: -0.069869 0.809168 0.096094 0.575440 
time: 1403636722.863555, t: 6.062048 -4.011992 -1.537892 q: -0.063837 0.809671 0.095349 0.575557 
time: 1403636723.063555, t: 5.986580 -4.013882 -1.527902 q: -0.069283 0.809823 0.091277 0.575374 
time: 1403636723.263556, t: 5.912588 -4.011903 -1.509472 q: -0.069206 0.810261 0.090660 0.574864 
time: 1403636723.463556, t: 5.840192 -4.009255 -1.508574 q: -0.056319 0.808896 0.086818 0.578772 
time: 1403636723.863555, t: 5.678366 -3.992793 -1.480056 q: -0.043342 0.811235 0.051793 0.580807 
time: 1403636724.063555, t: 5.586597 -3.984057 -1.478109 q: -0.036845 0.820922 0.040557 0.568405 
time: 1403636724.263556, t: 5.504399 -3.978567 -1.494850 q: -0.018544 0.824687 0.016515 0.565044 
optimize pose graph 
time: 1403636724.463556, t: 5.429267 -3.972834 -1.514669 q: 0.004662 0.819927 -0.013046 0.572300 
time: 1403636724.663555, t: 5.359966 -3.963212 -1.507813 q: 0.018864 0.815657 -0.029620 0.577469 
time: 1403636724.863555, t: 5.296460 -3.945864 -1.470203 q: 0.021747 0.816858 -0.036438 0.575276 
time: 1403636725.063555, t: 5.238890 -3.924394 -1.402102 q: 0.012235 0.817646 -0.040226 0.574183 
time: 1403636725.263556, t: 5.185985 -3.905995 -1.318008 q: 0.007945 0.818680 -0.039607 0.572828 
time: 1403636725.463556, t: 5.137731 -3.894482 -1.250464 q: 0.012958 0.818953 -0.035284 0.572628 
time: 1403636725.663555, t: 5.094993 -3.886013 -1.205788 q: 0.016880 0.818402 -0.033235 0.573436 
time: 1403636725.863555, t: 5.055582 -3.876613 -1.185868 q: 0.016067 0.819154 -0.033503 0.572369 
time: 1403636726.063555, t: 5.021402 -3.866800 -1.187311 q: 0.012869 0.818639 -0.033658 0.573177 
time: 1403636726.263556, t: 4.991391 -3.859260 -1.204433 q: 0.014377 0.816793 -0.029947 0.575974 
optimize pose graph 
time: 1403636726.463556, t: 4.962767 -3.850822 -1.211402 q: 0.012704 0.815075 -0.027305 0.578573 
time: 1403636726.663555, t: 4.934737 -3.844110 -1.190790 q: -0.010616 0.811533 -0.040302 0.582818 
time: 1403636726.863555, t: 4.904771 -3.853330 -1.143725 q: -0.000251 0.810777 -0.029510 0.584611 
time: 1403636727.063555, t: 4.864339 -3.868985 -1.073715 q: 0.005215 0.810760 -0.017136 0.585105 
time: 1403636727.263556, t: 4.817513 -3.883356 -1.011076 q: 0.012346 0.812164 -0.008028 0.583243 
time: 1403636727.463556, t: 4.761622 -3.886947 -0.962394 q: 0.017223 0.813578 -0.004015 0.581186 
time: 1403636727.663555, t: 4.707165 -3.881081 -0.916129 q: 0.009353 0.810763 -0.009491 0.585222 
time: 1403636727.863555, t: 4.648216 -3.866606 -0.844265 q: 0.016496 0.812757 -0.004887 0.582349 
time: 1403636728.063555, t: 4.580162 -3.840250 -0.763240 q: 0.019120 0.813223 -0.003804 0.581625 
time: 1403636728.263556, t: 4.512996 -3.802613 -0.715895 q: 0.012208 0.810679 -0.009484 0.585287 
time: 1403636728.463556, t: 4.441569 -3.757233 -0.693198 q: 0.002552 0.811051 -0.016791 0.584728 
optimize pose graph 
time: 1403636728.663555, t: 4.362381 -3.715253 -0.678693 q: -0.008773 0.812025 -0.017936 0.583281 
time: 1403636728.863555, t: 4.285356 -3.676785 -0.660638 q: -0.009772 0.812057 0.013855 0.583332 
time: 1403636729.063555, t: 4.198283 -3.636233 -0.628541 q: -0.019284 0.808330 0.036125 0.587303 
time: 1403636729.263556, t: 4.106882 -3.593286 -0.618908 q: -0.027920 0.809372 0.044940 0.584908 
time: 1403636729.463556, t: 4.008303 -3.546189 -0.621840 q: -0.030569 0.808860 0.047688 0.585267 
time: 1403636729.663555, t: 3.897556 -3.498409 -0.607163 q: -0.032196 0.810028 0.047811 0.583552 
time: 1403636729.863555, t: 3.789374 -3.448567 -0.580466 q: -0.031773 0.813859 0.046436 0.578332 
time: 1403636730.063555, t: 3.679462 -3.397297 -0.570651 q: -0.032894 0.817385 0.045031 0.573386 
time: 1403636730.263556, t: 3.577388 -3.344578 -0.577730 q: -0.033494 0.818332 0.045722 0.571944 
time: 1403636730.463556, t: 3.480219 -3.291330 -0.598330 q: -0.035432 0.821079 0.045365 0.567905 
optimize pose graph 
time: 1403636730.663555, t: 3.394244 -3.239819 -0.596690 q: -0.035808 0.828114 0.045725 0.557543 
time: 1403636730.863555, t: 3.334102 -3.185446 -0.558753 q: -0.037109 0.830015 0.045256 0.554661 
time: 1403636731.063555, t: 3.289976 -3.132753 -0.524355 q: -0.054385 0.826363 0.031580 0.559615 
time: 1403636731.263556, t: 3.260464 -3.097950 -0.505779 q: -0.054339 0.815462 0.029462 0.575500 
time: 1403636731.463556, t: 3.234535 -3.079842 -0.507023 q: -0.039946 0.813880 0.037978 0.578412 
time: 1403636731.663555, t: 3.208387 -3.070183 -0.525124 q: -0.049472 0.814886 0.031636 0.576639 
time: 1403636731.863555, t: 3.181450 -3.073080 -0.555306 q: -0.042695 0.814881 0.036519 0.576899 
time: 1403636732.063555, t: 3.152715 -3.081595 -0.599400 q: -0.040796 0.813014 0.039698 0.579455 
time: 1403636732.263556, t: 3.123255 -3.094150 -0.655565 q: -0.039413 0.811272 0.042374 0.581798 
time: 1403636732.463556, t: 3.087483 -3.108661 -0.686528 q: -0.028804 0.808158 0.050620 0.586079 
time: 1403636732.663555, t: 3.037166 -3.112728 -0.683789 q: -0.013615 0.800324 0.062690 0.596126 
time: 1403636732.863555, t: 2.969994 -3.097683 -0.664428 q: -0.028155 0.799293 0.054321 0.597819 
time: 1403636733.063555, t: 2.882197 -3.074191 -0.652496 q: -0.030883 0.804698 0.053848 0.590430 
time: 1403636733.263556, t: 2.783066 -3.042161 -0.632817 q: -0.028364 0.808180 0.057182 0.585466 
time: 1403636733.463556, t: 2.675728 -3.001295 -0.592745 q: -0.035610 0.812571 0.053581 0.579301 
time: 1403636733.663555, t: 2.567019 -2.956896 -0.543213 q: -0.037487 0.816201 0.053160 0.574094 
time: 1403636733.863555, t: 2.461916 -2.908579 -0.520904 q: -0.037201 0.818587 0.054030 0.570625 
time: 1403636734.063555, t: 2.362499 -2.857928 -0.512582 q: -0.032099 0.813141 0.056945 0.578385 
time: 1403636734.263556, t: 2.260433 -2.803276 -0.504535 q: -0.036256 0.811148 0.054036 0.581209 
time: 1403636734.463556, t: 2.155749 -2.745762 -0.468407 q: -0.040953 0.814778 0.052817 0.575907 
time: 1403636734.663555, t: 2.054362 -2.691524 -0.433092 q: -0.042137 0.819117 0.054560 0.569469 
time: 1403636734.863555, t: 1.960862 -2.635547 -0.423609 q: -0.042346 0.819847 0.057731 0.568088 
time: 1403636735.063555, t: 1.878959 -2.579042 -0.430822 q: -0.043828 0.819691 0.058086 0.568165 
time: 1403636735.263556, t: 1.801587 -2.527273 -0.437125 q: -0.046837 0.821234 0.054694 0.566029 
time: 1403636735.463556, t: 1.740159 -2.477884 -0.405149 q: -0.046878 0.821580 0.049113 0.566036 
time: 1403636735.663555, t: 1.687460 -2.434281 -0.349394 q: -0.040640 0.819423 0.045115 0.569964 
time: 1403636735.863555, t: 1.641842 -2.391698 -0.306411 q: -0.038115 0.819819 0.041884 0.569816 
time: 1403636736.063555, t: 1.603812 -2.352970 -0.281537 q: -0.038843 0.818104 0.046871 0.571839 
time: 1403636736.263556, t: 1.566681 -2.314491 -0.233311 q: -0.053668 0.812789 0.065615 0.576358 
time: 1403636736.463556, t: 1.529598 -2.278080 -0.187677 q: -0.059196 0.810348 0.084542 0.576788 
time: 1403636736.663555, t: 1.491130 -2.240339 -0.165359 q: -0.053971 0.807081 0.099730 0.579449 
optimize pose graph 
time: 1403636736.863555, t: 1.448890 -2.192337 -0.162026 q: -0.055605 0.805918 0.103900 0.580181 
time: 1403636737.063555, t: 1.401148 -2.130488 -0.169277 q: -0.065282 0.806814 0.102591 0.578156 
time: 1403636737.263556, t: 1.345491 -2.066351 -0.190478 q: -0.076771 0.807143 0.101444 0.576486 
time: 1403636737.463556, t: 1.291057 -2.003446 -0.210050 q: -0.079372 0.811747 0.105627 0.568867 
time: 1403636737.663555, t: 1.241122 -1.944314 -0.200852 q: -0.086114 0.814914 0.104377 0.563565 
time: 1403636737.863555, t: 1.197021 -1.893476 -0.165820 q: -0.093893 0.817198 0.098439 0.560073 
time: 1403636738.063555, t: 1.168502 -1.854034 -0.100654 q: -0.092541 0.817216 0.096803 0.560556 
time: 1403636738.263556, t: 1.153710 -1.828407 -0.032239 q: -0.085669 0.815019 0.097860 0.564649 
time: 1403636738.463556, t: 1.146355 -1.806766 0.008760 q: -0.081816 0.816143 0.094946 0.564095 
time: 1403636738.663555, t: 1.149832 -1.797741 0.022535 q: -0.070169 0.821140 0.074618 0.561461 
optimize pose graph 
time: 1403636738.863555, t: 1.157424 -1.796653 0.013685 q: -0.052092 0.818768 0.033870 0.570752 
time: 1403636739.263556, t: 1.181050 -1.850079 -0.070671 q: 0.014061 0.815348 -0.059952 0.575687 
time: 1403636739.463556, t: 1.187821 -1.897467 -0.121700 q: 0.062629 0.811610 -0.096163 0.572818 
time: 1403636739.663555, t: 1.193866 -1.939040 -0.141906 q: 0.084272 0.806885 -0.132706 0.569407 
time: 1403636739.863555, t: 1.204756 -1.978221 -0.152422 q: 0.089022 0.804085 -0.149891 0.568379 
time: 1403636740.063555, t: 1.216755 -2.021089 -0.183544 q: 0.092812 0.804687 -0.149727 0.566963 
time: 1403636740.263556, t: 1.222530 -2.065986 -0.232489 q: 0.102683 0.805495 -0.137768 0.567145 
time: 1403636740.463556, t: 1.226189 -2.099810 -0.297770 q: 0.092447 0.803962 -0.138860 0.570804 
time: 1403636740.663555, t: 1.224043 -2.133202 -0.360153 q: 0.085738 0.803076 -0.137879 0.573330 
optimize pose graph 
time: 1403636740.863555, t: 1.217852 -2.164390 -0.405923 q: 0.082500 0.805933 -0.136120 0.570207 
time: 1403636741.063555, t: 1.205604 -2.197794 -0.468487 q: 0.101073 0.803713 -0.122209 0.573494 
time: 1403636741.263556, t: 1.193116 -2.217490 -0.557304 q: 0.103486 0.798170 -0.138084 0.577189 
time: 1403636741.463556, t: 1.171055 -2.228303 -0.658606 q: 0.097113 0.803315 -0.156563 0.566341 
time: 1403636741.663555, t: 1.150934 -2.241818 -0.733947 q: 0.096480 0.812033 -0.163139 0.551978 
time: 1403636741.863555, t: 1.143402 -2.264466 -0.778981 q: 0.102868 0.808175 -0.156564 0.558353 
time: 1403636742.063555, t: 1.143323 -2.288241 -0.840239 q: 0.111255 0.810518 -0.143341 0.556899 
time: 1403636742.263556, t: 1.150881 -2.302502 -0.895917 q: 0.097394 0.816535 -0.145666 0.550061 
time: 1403636742.463556, t: 1.172239 -2.316572 -0.920578 q: 0.091798 0.809406 -0.143368 0.562032 
time: 1403636742.663555, t: 1.200275 -2.332373 -0.931086 q: 0.091160 0.805256 -0.139873 0.568936 
time: 1403636742.863555, t: 1.227286 -2.350716 -0.963160 q: 0.088920 0.801288 -0.137536 0.575425 
optimize pose graph 
time: 1403636743.063555, t: 1.242309 -2.367225 -1.026099 q: 0.089668 0.804437 -0.143941 0.569317 
time: 1403636743.263556, t: 1.258791 -2.388494 -1.094374 q: 0.091141 0.823346 -0.157999 0.537430 
time: 1403636743.463556, t: 1.297625 -2.424323 -1.130269 q: 0.090508 0.823237 -0.165028 0.535589 
time: 1403636743.663555, t: 1.362751 -2.473439 -1.164325 q: 0.098416 0.813947 -0.161116 0.549405 
time: 1403636743.863555, t: 1.443470 -2.525022 -1.224885 q: 0.106597 0.803158 -0.166016 0.562150 
time: 1403636744.063555, t: 1.526561 -2.576709 -1.309571 q: 0.117847 0.796545 -0.171743 0.567568 
time: 1403636744.263556, t: 1.605304 -2.621723 -1.417203 q: 0.123883 0.790307 -0.186418 0.570365 
time: 1403636744.463556, t: 1.673900 -2.661286 -1.545717 q: 0.117890 0.786901 -0.198807 0.572158 
time: 1403636744.663555, t: 1.731116 -2.704801 -1.691730 q: 0.108374 0.782443 -0.203862 0.578342 
time: 1403636744.863555, t: 1.766946 -2.754603 -1.842619 q: 0.121479 0.784130 -0.194116 0.576804 
time: 1403636745.063555, t: 1.788537 -2.799725 -1.964471 q: 0.122081 0.794150 -0.189571 0.564345 
time: 1403636745.263556, t: 1.811735 -2.844936 -2.055910 q: 0.115238 0.800360 -0.184208 0.558758 
time: 1403636745.463556, t: 1.842757 -2.892971 -2.116253 q: 0.117318 0.794105 -0.173222 0.570637 
time: 1403636745.663555, t: 1.871932 -2.936613 -2.141867 q: 0.120325 0.789582 -0.176653 0.575218 
time: 1403636745.863555, t: 1.896465 -2.971309 -2.140369 q: 0.132836 0.788844 -0.182801 0.571545 
time: 1403636746.063555, t: 1.917056 -2.991706 -2.114184 q: 0.149473 0.788279 -0.187574 0.566648 
time: 1403636746.263556, t: 1.934347 -2.989939 -2.061558 q: 0.158736 0.783899 -0.190739 0.569143 
time: 1403636746.463556, t: 1.949269 -2.961649 -2.014000 q: 0.158311 0.774301 -0.192941 0.581523 
time: 1403636746.663555, t: 1.955788 -2.909467 -2.006951 q: 0.137379 0.795598 -0.202144 0.554337 
time: 1403636746.863555, t: 1.970357 -2.860504 -2.014938 q: 0.111887 0.805484 -0.211923 0.542001 
time: 1403636747.063555, t: 1.996478 -2.833348 -2.010984 q: 0.113811 0.801789 -0.204893 0.549727 
time: 1403636747.263556, t: 2.036338 -2.821915 -1.969333 q: 0.132491 0.795431 -0.192055 0.559330 
time: 1403636747.463556, t: 2.081898 -2.805312 -1.910228 q: 0.139554 0.793566 -0.191078 0.560595 
time: 1403636747.663555, t: 2.127120 -2.779873 -1.868633 q: 0.139370 0.794728 -0.197152 0.556879 
time: 1403636747.863555, t: 2.177966 -2.747626 -1.807312 q: 0.140552 0.793612 -0.202742 0.556166 
time: 1403636748.063555, t: 2.230329 -2.717203 -1.728186 q: 0.119886 0.785763 -0.223264 0.564232 
time: 1403636748.263556, t: 2.277658 -2.699098 -1.672102 q: 0.122893 0.787210 -0.224749 0.560968 
time: 1403636748.463556, t: 2.318976 -2.694877 -1.637503 q: 0.144103 0.790797 -0.209479 0.556770 
time: 1403636748.663555, t: 2.365376 -2.687434 -1.584748 q: 0.140926 0.788219 -0.211945 0.560295 
time: 1403636748.863555, t: 2.407534 -2.682805 -1.532162 q: 0.129125 0.784158 -0.223392 0.564374 
time: 1403636749.063555, t: 2.445154 -2.685937 -1.496913 q: 0.126656 0.780548 -0.232593 0.566218 
time: 1403636749.263556, t: 2.470186 -2.703539 -1.467377 q: 0.131758 0.778628 -0.234677 0.566837 
time: 1403636749.463556, t: 2.481740 -2.732762 -1.413705 q: 0.150369 0.780927 -0.224492 0.563157 
time: 1403636749.663555, t: 2.488401 -2.758177 -1.352489 q: 0.162296 0.783495 -0.214874 0.560023 
time: 1403636749.863555, t: 2.497537 -2.774705 -1.311424 q: 0.157982 0.776256 -0.213308 0.571811 
time: 1403636750.263556, t: 2.487906 -2.767595 -1.277038 q: 0.147171 0.779033 -0.205855 0.573648 
time: 1403636750.463556, t: 2.464996 -2.744723 -1.228097 q: 0.141333 0.785073 -0.202364 0.568097 
time: 1403636750.663555, t: 2.436422 -2.717317 -1.141761 q: 0.138648 0.787660 -0.195459 0.567595 
time: 1403636750.863555, t: 2.404835 -2.684523 -1.030404 q: 0.136748 0.790871 -0.191463 0.564948 
time: 1403636751.063555, t: 2.369787 -2.643468 -0.906234 q: 0.140215 0.794284 -0.188402 0.560318 
time: 1403636751.263556, t: 2.342562 -2.598585 -0.806362 q: 0.137373 0.800575 -0.193064 0.550395 
time: 1403636751.463556, t: 2.324947 -2.550250 -0.712453 q: 0.126212 0.796780 -0.204536 0.554416 
time: 1403636751.663555, t: 2.313643 -2.513172 -0.625885 q: 0.112452 0.791955 -0.205028 0.564026 
time: 1403636751.863555, t: 2.300801 -2.492038 -0.552985 q: 0.103951 0.803630 -0.199578 0.550946 
time: 1403636752.063555, t: 2.293846 -2.491644 -0.483006 q: 0.114397 0.809323 -0.185913 0.545294 
time: 1403636752.263556, t: 2.303246 -2.501243 -0.417471 q: 0.114172 0.802051 -0.174475 0.559676 
time: 1403636752.463556, t: 2.316974 -2.510038 -0.338208 q: 0.097925 0.799281 -0.149363 0.573804 
time: 1403636752.663555, t: 2.327009 -2.515635 -0.256984 q: 0.075135 0.808136 -0.113241 0.573104 
time: 1403636752.863555, t: 2.331036 -2.518897 -0.201350 q: 0.050319 0.814710 -0.073396 0.572999 
time: 1403636753.063555, t: 2.335225 -2.519007 -0.172699 q: 0.031405 0.817920 -0.024986 0.573930 
optimize pose graph 
time: 1403636753.263556, t: 2.339720 -2.506280 -0.169809 q: 0.006435 0.818898 0.023106 0.573438 
time: 1403636753.463556, t: 2.340970 -2.478436 -0.185641 q: -0.019971 0.815242 0.058891 0.575772 
time: 1403636753.663555, t: 2.334073 -2.437111 -0.180525 q: -0.040585 0.812856 0.066604 0.577219 
time: 1403636753.863555, t: 2.323459 -2.393310 -0.170054 q: -0.041952 0.811342 0.067682 0.579122 
time: 1403636754.063555, t: 2.307377 -2.346898 -0.174005 q: -0.039706 0.809390 0.063490 0.582478 
time: 1403636754.263556, t: 2.284005 -2.297523 -0.160749 q: -0.034296 0.803857 0.060322 0.590761 
time: 1403636754.463556, t: 2.245717 -2.240373 -0.126296 q: -0.032981 0.803933 0.061979 0.590561 
time: 1403636754.663555, t: 2.193067 -2.170329 -0.101046 q: -0.041810 0.805308 0.079985 0.585947 
time: 1403636754.863555, t: 2.123725 -2.094284 -0.095528 q: -0.062673 0.803067 0.104860 0.583233 
time: 1403636755.063555, t: 2.044275 -2.011078 -0.105976 q: -0.074650 0.800724 0.121777 0.581754 
optimize pose graph 
time: 1403636755.263556, t: 1.949214 -1.923432 -0.106657 q: -0.081338 0.802015 0.128232 0.577678 
time: 1403636755.463556, t: 1.851207 -1.832691 -0.082668 q: -0.080872 0.813349 0.130339 0.561191 
time: 1403636755.663555, t: 1.761689 -1.736821 -0.056799 q: -0.077867 0.812301 0.129153 0.563403 
time: 1403636755.863555, t: 1.677691 -1.632412 -0.052778 q: -0.080485 0.808743 0.124325 0.569210 
time: 1403636756.063555, t: 1.596368 -1.525694 -0.051431 q: -0.083112 0.805650 0.122002 0.573704 
time: 1403636756.263556, t: 1.512833 -1.416005 -0.028847 q: -0.082915 0.803441 0.122659 0.576682 
time: 1403636756.463556, t: 1.421531 -1.304866 -0.012320 q: -0.083398 0.802120 0.124094 0.578143 
time: 1403636756.663555, t: 1.322368 -1.197216 -0.015720 q: -0.085571 0.801220 0.124843 0.578911 
time: 1403636756.863555, t: 1.215399 -1.088804 -0.009509 q: -0.088075 0.799592 0.125580 0.580624 
time: 1403636757.063555, t: 1.097396 -0.984790 0.018307 q: -0.090876 0.799975 0.125493 0.579684 
time: 1403636757.263556, t: 0.975881 -0.883612 0.036684 q: -0.090917 0.800074 0.126430 0.579337 
optimize pose graph 
time: 1403636757.463556, t: 0.845466 -0.788688 0.030432 q: -0.086159 0.802830 0.131218 0.575172 
time: 1403636757.663555, t: 0.712895 -0.688309 0.032504 q: -0.088466 0.811667 0.144762 0.558940 
time: 1403636757.863555, t: 0.593494 -0.577485 0.065019 q: -0.097428 0.819594 0.155567 0.542745 
time: 1403636758.063555, t: 0.498623 -0.452885 0.125957 q: -0.108212 0.808800 0.158264 0.555955 
time: 1403636758.263556, t: 0.414697 -0.326317 0.168716 q: -0.116204 0.797831 0.156879 0.570396 
time: 1403636758.463556, t: 0.328291 -0.207133 0.176673 q: -0.122338 0.807164 0.153223 0.556814 
time: 1403636758.663555, t: 0.247101 -0.097833 0.162676 q: -0.134625 0.826345 0.143625 0.527638 
time: 1403636758.863555, t: 0.207552 -0.004207 0.151641 q: -0.130353 0.808210 0.144938 0.555695 
time: 1403636759.063555, t: 0.179569 0.079440 0.129070 q: -0.124875 0.799305 0.148161 0.568828 
time: 1403636759.263556, t: 0.155571 0.146854 0.091655 q: -0.157110 0.800389 0.126121 0.564613 
optimize pose graph 
time: 1403636759.463556, t: 0.136570 0.180885 0.043442 q: -0.140194 0.797911 0.139130 0.569497 
time: 1403636759.663555, t: 0.115309 0.190055 -0.008500 q: -0.121631 0.795406 0.154366 0.573330 
time: 1403636759.863555, t: 0.089793 0.192170 -0.027794 q: -0.119977 0.794945 0.156797 0.573658 
time: 1403636760.063555, t: 0.059415 0.191640 -0.043395 q: -0.118600 0.806381 0.157158 0.557660 
time: 1403636760.263556, t: 0.036046 0.190403 -0.063103 q: -0.118927 0.804645 0.156106 0.560387 
time: 1403636760.463556, t: 0.017781 0.187622 -0.090263 q: -0.118597 0.794824 0.156625 0.574159 
time: 1403636760.663555, t: -0.007082 0.181965 -0.124375 q: -0.111860 0.803590 0.162302 0.561594 
time: 1403636760.863555, t: -0.030495 0.182255 -0.150188 q: -0.107412 0.801095 0.166878 0.564678 
time: 1403636761.063555, t: -0.056674 0.191891 -0.175320 q: -0.109697 0.804467 0.166459 0.559546 
time: 1403636761.263556, t: -0.080367 0.210743 -0.201738 q: -0.110228 0.818934 0.167037 0.537862 
time: 1403636761.463556, t: -0.084035 0.241659 -0.213150 q: -0.112019 0.809611 0.166069 0.551727 
optimize pose graph 
time: 1403636761.663555, t: -0.078250 0.278288 -0.211664 q: -0.119106 0.798749 0.159615 0.567747 
time: 1403636761.863555, t: -0.075540 0.309738 -0.203650 q: -0.136162 0.799536 0.146316 0.566387 
time: 1403636762.063555, t: -0.072328 0.323947 -0.188707 q: -0.115682 0.797718 0.159118 0.570040 
time: 1403636762.263556, t: -0.076191 0.338691 -0.171664 q: -0.093437 0.803297 0.172893 0.562221 
time: 1403636762.463556, t: -0.080564 0.371846 -0.178638 q: -0.106233 0.816618 0.162759 0.543470 
time: 1403636762.663555, t: -0.070738 0.412637 -0.215036 q: -0.150009 0.807818 0.131707 0.554600 
time: 1403636762.863555, t: -0.053279 0.426753 -0.264599 q: -0.145612 0.782985 0.136356 0.589185 
time: 1403636763.063555, t: -0.074933 0.392169 -0.280514 q: -0.120028 0.803272 0.118922 0.571144 
time: 1403636763.263556, t: -0.083349 0.379497 -0.291283 q: -0.119064 0.801124 0.096646 0.578518 
time: 1403636763.463556, t: -0.088120 0.373429 -0.293252 q: -0.120007 0.799853 0.095852 0.580212 
optimize pose graph 
time: 1403636763.663555, t: -0.075083 0.381498 -0.274934 q: -0.119946 0.800546 0.095336 0.579353 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720542121.212676531]: Shutdown request received.[0m
[33m[ WARN] [1720542121.212720828]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720542121.213555190]: Shutdown request received.[0m
[33m[ WARN] [1720542121.213580142]: Reason given for shutdown: [user request][0m
killed
