/SLAM-Hive/slam_hive_results/mapping_results/3295/2100_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1731011027.472199903]: init begins[0m
[31m[ERROR] [1731011027.473305986]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731011027.474038763]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/317d2fb6-9d46-11ef-888b-0242ac110002/roslaunch-ca275099f76f-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://ca275099f76f:34849/[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] [1731011028.731301246]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731011028.731971485]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
[1mROS_MASTER_URI=http://ca275099f76f:11311/[0m
]2;roscore http://ca275099f76f:11311/
[1msetting /run_id to 317d2fb6-9d46-11ef-888b-0242ac110002[0m
result path /home/output/vio.csv
[33m[ WARN] [1731011028.744646086]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1731011028.744852248]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731011028.744874102]: ROW: 480 COL: 752 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
set g       0       0 9.81007
[0m[ INFO] [1731011028.745048622]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731011028.745302535]: 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
loop start load vocabulary
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
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
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1731011037.481777224]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 327372910.38 
init first imu pose
averge acc 9.049359 -0.057205 -3.951263
init R0 
    0.400188    0.0132665     0.916337
-2.46519e-32    -0.999895    0.0144762
    0.916433  -0.00579322    -0.400146
wait for imu ... 
wait for imu ... 
wait for imu ... 
[0m[ INFO] [1731011038.829352660]: IMU excitation not enouth![0m
[0m[ INFO] [1731011038.829960445]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731011039.046445645]: IMU excitation not enouth![0m
[0m[ INFO] [1731011039.046914708]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1731011039.119697353]: IMU excitation not enouth![0m
[0m[ INFO] [1731011039.119958878]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731011039.332610617]: IMU excitation not enouth![0m
[0m[ INFO] [1731011039.333516767]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1731011039.527873002]: IMU excitation not enouth![0m
[0m[ INFO] [1731011039.528826025]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731011039.635049147]: IMU excitation not enouth![0m
[0m[ INFO] [1731011039.635506555]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731011039.821706038]: IMU excitation not enouth![0m
[0m[ INFO] [1731011040.254066876]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1731011040.519598110]: gyroscope bias initial calibration -0.000859371    0.0337782    0.0783913[0m
[0m[ INFO] [1731011040.621346871]: Initialization finish![0m
time: 1403638129.895097, t: 0.006644 0.003274 0.083658 q: -0.021155 0.841229 0.006993 0.540220 
time: 1403638129.995097, t: 0.008176 0.006256 0.113511 q: -0.021493 0.839975 0.009900 0.542109 
time: 1403638130.095097, t: 0.009919 0.007895 0.151539 q: -0.030947 0.830633 0.001673 0.555956 
time: 1403638130.195097, t: 0.011747 0.010659 0.190572 q: -0.036204 0.828377 0.003896 0.558987 
time: 1403638130.295097, t: 0.013045 0.013026 0.231388 q: -0.041283 0.825854 0.006372 0.562335 
time: 1403638130.395097, t: 0.014398 0.014048 0.273809 q: -0.053537 0.819148 -0.002940 0.571070 
time: 1403638130.495097, t: 0.013834 0.016073 0.313362 q: -0.056803 0.819097 0.002384 0.570830 
time: 1403638130.595097, t: 0.013553 0.018338 0.352158 q: -0.050207 0.820820 0.011594 0.568859 
time: 1403638130.695097, t: 0.011228 0.018819 0.391037 q: -0.053753 0.814116 0.006447 0.578173 
time: 1403638130.795097, t: 0.009818 0.018706 0.426336 q: -0.071335 0.807223 -0.007276 0.585875 
time: 1403638130.895097, t: 0.007265 0.017517 0.452177 q: -0.077647 0.805381 -0.008320 0.587591 
time: 1403638130.995097, t: 0.003574 0.013302 0.463768 q: -0.075968 0.795525 -0.015195 0.600947 
time: 1403638131.095097, t: 0.000572 0.009935 0.457650 q: -0.073231 0.788910 -0.019110 0.609831 
time: 1403638131.195097, t: 0.001485 0.011423 0.434856 q: -0.064144 0.797242 -0.009405 0.600168 
time: 1403638131.295097, t: 0.003610 0.014300 0.405349 q: -0.052392 0.808458 0.004135 0.586203 
time: 1403638131.395097, t: 0.004046 0.013718 0.374633 q: -0.049526 0.810978 0.005204 0.582954 
time: 1403638131.495097, t: 0.003526 0.010352 0.341097 q: -0.043197 0.810784 0.006372 0.583714 
time: 1403638131.595097, t: 0.000211 0.007743 0.301912 q: -0.040319 0.814505 0.008016 0.578699 
time: 1403638131.695097, t: -0.001935 0.004086 0.261011 q: -0.036732 0.815825 0.011658 0.577014 
time: 1403638131.795097, t: -0.005946 -0.000955 0.216333 q: -0.029468 0.816213 0.015994 0.576777 
time: 1403638131.895097, t: -0.007040 -0.005713 0.174202 q: -0.020156 0.817887 0.019590 0.574693 
time: 1403638131.995097, t: -0.010649 -0.009049 0.140540 q: -0.013388 0.819735 0.025782 0.572005 
time: 1403638132.095097, t: -0.007829 -0.004962 0.126177 q: -0.003742 0.825599 0.041212 0.562738 
time: 1403638132.195097, t: -0.008762 -0.003461 0.138403 q: -0.003316 0.826237 0.047593 0.561299 
time: 1403638132.295097, t: -0.007713 -0.001868 0.180030 q: -0.015642 0.818128 0.039781 0.573446 
time: 1403638132.395097, t: -0.007512 0.001157 0.235425 q: -0.028319 0.813594 0.034402 0.579724 
time: 1403638132.495097, t: -0.006662 0.004369 0.293675 q: -0.047572 0.805153 0.023189 0.590702 
time: 1403638132.595097, t: -0.006551 0.007485 0.348867 q: -0.065927 0.790893 0.008798 0.608330 
time: 1403638132.695097, t: -0.005558 0.015637 0.389777 q: -0.072432 0.790887 0.004948 0.607640 
time: 1403638132.795097, t: -0.004231 0.026741 0.415195 q: -0.074408 0.796393 0.003232 0.600176 
time: 1403638132.895097, t: -0.006112 0.034721 0.426206 q: -0.080033 0.788823 -0.005286 0.609365 
time: 1403638132.995097, t: -0.006682 0.036082 0.421040 q: -0.086423 0.782199 -0.006032 0.616976 
time: 1403638133.095097, t: -0.005123 0.026857 0.403121 q: -0.076703 0.787145 0.008208 0.611925 
wait for imu ... 
time: 1403638133.195097, t: -0.002762 0.005057 0.379925 q: -0.065218 0.791476 0.009853 0.607631 
time: 1403638133.295097, t: -0.000694 -0.027239 0.356034 q: -0.049709 0.793067 -0.000158 0.607103 
time: 1403638133.395097, t: -0.002903 -0.067564 0.330540 q: -0.031904 0.799158 -0.007617 0.600225 
time: 1403638133.495097, t: -0.009368 -0.113606 0.309075 q: -0.012252 0.802345 -0.021812 0.596336 
time: 1403638133.595097, t: -0.021388 -0.161176 0.290416 q: -0.004487 0.803783 -0.044205 0.593260 
time: 1403638133.695097, t: -0.038523 -0.204104 0.271352 q: -0.003162 0.807122 -0.061850 0.587127 
time: 1403638133.795097, t: -0.054141 -0.240736 0.253983 q: 0.010747 0.808931 -0.075789 0.582899 
time: 1403638133.895097, t: -0.063932 -0.267840 0.237191 q: 0.027048 0.811280 -0.083739 0.577997 
time: 1403638133.995097, t: -0.060267 -0.278073 0.229078 q: 0.034000 0.810319 -0.089484 0.578118 
time: 1403638134.095097, t: -0.038843 -0.264529 0.227507 q: 0.037279 0.813303 -0.084554 0.574455 
time: 1403638134.195097, t: -0.004417 -0.245027 0.227098 q: 0.039515 0.814856 -0.077804 0.573057 
time: 1403638134.295097, t: 0.019020 -0.210361 0.235373 q: 0.035508 0.805464 -0.085423 0.585379 
time: 1403638134.395097, t: 0.056412 -0.170869 0.240124 q: 0.026216 0.806951 -0.090005 0.583132 
time: 1403638134.595097, t: 0.117965 -0.085621 0.245720 q: 0.007631 0.806471 -0.098277 0.582998 
time: 1403638134.695097, t: 0.133359 -0.040373 0.248811 q: 0.002257 0.809987 -0.096755 0.578406 
time: 1403638134.795097, t: 0.148193 0.004419 0.252183 q: -0.000619 0.817245 -0.090794 0.569093 
time: 1403638134.895097, t: 0.155010 0.046068 0.263192 q: 0.001464 0.819405 -0.086248 0.566687 
time: 1403638134.995097, t: 0.162877 0.080867 0.269427 q: 0.000475 0.815439 -0.086484 0.572346 
time: 1403638135.095097, t: 0.161884 0.109847 0.269301 q: 0.003527 0.819361 -0.078464 0.567872 
time: 1403638135.195097, t: 0.159697 0.127552 0.263485 q: 0.004541 0.823749 -0.070668 0.562514 
time: 1403638135.295097, t: 0.156895 0.129015 0.252899 q: 0.006509 0.825562 -0.067554 0.560215 
time: 1403638135.395097, t: 0.146613 0.118913 0.242757 q: 0.009333 0.823002 -0.069468 0.563697 
time: 1403638135.495097, t: 0.135185 0.097215 0.232396 q: 0.018170 0.825415 -0.068427 0.560070 
time: 1403638135.595097, t: 0.127720 0.071251 0.226665 q: 0.025780 0.830215 -0.068481 0.552621 
time: 1403638135.695097, t: 0.120581 0.038725 0.224397 q: 0.030578 0.826097 -0.078225 0.557234 
time: 1403638135.795097, t: 0.103814 0.003508 0.221193 q: 0.027657 0.822908 -0.091176 0.560129 
time: 1403638135.895097, t: 0.081924 -0.027499 0.219412 q: 0.037935 0.828207 -0.086920 0.552339 
time: 1403638135.995097, t: 0.057268 -0.056329 0.226242 q: 0.049778 0.833567 -0.082827 0.543900 
time: 1403638136.095097, t: 0.035314 -0.094135 0.244593 q: 0.058862 0.826325 -0.088839 0.553020 
time: 1403638136.195097, t: 0.012162 -0.137859 0.259099 q: 0.056502 0.815936 -0.102631 0.566148 
time: 1403638136.295097, t: -0.012916 -0.181083 0.260573 q: 0.062831 0.813413 -0.107860 0.568136 
time: 1403638136.395097, t: -0.034371 -0.216343 0.252280 q: 0.072208 0.815305 -0.108876 0.564100 
time: 1403638136.495097, t: -0.049630 -0.236947 0.246258 q: 0.077970 0.817758 -0.111111 0.559326 
time: 1403638136.595097, t: -0.054855 -0.238831 0.250099 q: 0.071978 0.818244 -0.121749 0.557201 
time: 1403638136.695097, t: -0.050459 -0.220072 0.262561 q: 0.058401 0.817025 -0.123532 0.560178 
time: 1403638136.795097, t: -0.042066 -0.187754 0.277242 q: 0.041143 0.816748 -0.119366 0.563011 
time: 1403638136.895097, t: -0.031059 -0.146781 0.287788 q: 0.016198 0.809457 -0.120891 0.574372 
time: 1403638136.995097, t: -0.019124 -0.103991 0.283330 q: -0.002644 0.799501 -0.123967 0.587727 
time: 1403638137.095097, t: -0.009038 -0.063619 0.259927 q: -0.009724 0.799990 -0.118126 0.588190 
time: 1403638137.195097, t: -0.002525 -0.029313 0.225242 q: -0.006968 0.808195 -0.104682 0.579494 
time: 1403638137.295097, t: 0.000608 -0.002078 0.185646 q: -0.003473 0.817145 -0.090647 0.569249 
time: 1403638137.395097, t: 0.001423 0.018092 0.145631 q: -0.001082 0.822642 -0.083421 0.562405 
time: 1403638137.495097, t: 0.003528 0.031268 0.107205 q: 0.009158 0.830707 -0.074885 0.551575 
time: 1403638137.595097, t: 0.004346 0.040737 0.075238 q: 0.023926 0.839430 -0.063761 0.539184 
time: 1403638137.695097, t: 0.005296 0.047120 0.049918 q: 0.032109 0.840154 -0.063829 0.537622 
time: 1403638137.795097, t: 0.003077 0.050533 0.030955 q: 0.034621 0.839329 -0.069235 0.538084 
time: 1403638137.895097, t: 0.000076 0.052919 0.017517 q: 0.040907 0.845006 -0.065682 0.529128 
time: 1403638137.995097, t: -0.000701 0.055126 0.008293 q: 0.046672 0.853656 -0.057992 0.515490 
time: 1403638138.095097, t: -0.000603 0.056716 0.003283 q: 0.048288 0.853944 -0.054450 0.515250 
time: 1403638138.195097, t: -0.001252 0.055695 0.002849 q: 0.044785 0.846012 -0.062239 0.527621 
time: 1403638138.295097, t: -0.001705 0.055285 0.001494 q: 0.042437 0.842208 -0.064963 0.533540 
time: 1403638138.395097, t: -0.003011 0.055809 0.001778 q: 0.042582 0.837675 -0.065518 0.540550 
time: 1403638138.495097, t: -0.003436 0.055667 0.001740 q: 0.043068 0.837494 -0.064356 0.540932 
time: 1403638138.595097, t: -0.003406 0.055798 0.001655 q: 0.042318 0.837452 -0.064234 0.541070 
time: 1403638138.695097, t: -0.003341 0.056020 0.001596 q: 0.041289 0.837411 -0.064721 0.541155 
wait for imu ... 
time: 1403638138.795097, t: -0.003374 0.055960 0.001657 q: 0.040940 0.837542 -0.063993 0.541065 
optimize pose graph 
time: 1403638138.895097, t: -0.003172 0.056368 0.001607 q: 0.039246 0.837377 -0.064831 0.541347 
time: 1403638138.995097, t: -0.003230 0.056296 0.001667 q: 0.039063 0.837511 -0.064184 0.541230 
wait for imu ... 
time: 1403638139.095097, t: -0.003235 0.056221 0.001697 q: 0.038859 0.837598 -0.063607 0.541178 
time: 1403638139.195097, t: -0.003243 0.056182 0.001720 q: 0.038761 0.837581 -0.063218 0.541257 
wait for imu ... 
time: 1403638139.295097, t: -0.003247 0.056201 0.001735 q: 0.038482 0.837587 -0.062997 0.541294 
wait for imu ... 
time: 1403638139.395097, t: -0.003239 0.056265 0.001779 q: 0.037858 0.837621 -0.062863 0.541301 
wait for imu ... 
time: 1403638139.495097, t: -0.003245 0.056326 0.001802 q: 0.037243 0.837658 -0.062736 0.541301 
wait for imu ... 
wait for imu ... 
time: 1403638139.595097, t: -0.003231 0.056376 0.001835 q: 0.036743 0.837668 -0.062526 0.541344 
time: 1403638139.695097, t: -0.003248 0.056402 0.001845 q: 0.036516 0.837681 -0.062435 0.541348 
time: 1403638139.795097, t: -0.003231 0.056421 0.001891 q: 0.036036 0.837722 -0.062222 0.541342 
wait for imu ... 
time: 1403638139.895097, t: -0.003227 0.056443 0.001940 q: 0.035778 0.837735 -0.061968 0.541368 
time: 1403638139.995097, t: -0.003232 0.056440 0.001962 q: 0.035471 0.837784 -0.061791 0.541334 
wait for imu ... 
time: 1403638140.095097, t: -0.003214 0.056466 0.002009 q: 0.035107 0.837813 -0.061576 0.541336 
wait for imu ... 
wait for imu ... 
time: 1403638140.295097, t: -0.003219 0.056502 0.002039 q: 0.034466 0.837820 -0.061262 0.541402 
wait for imu ... 
time: 1403638140.395097, t: -0.003207 0.056527 0.002071 q: 0.034145 0.837834 -0.061117 0.541417 
time: 1403638140.495097, t: -0.003217 0.056552 0.002084 q: 0.033851 0.837858 -0.060975 0.541414 
time: 1403638140.595097, t: -0.003217 0.056555 0.002111 q: 0.033641 0.837852 -0.060850 0.541451 
wait for imu ... 
time: 1403638140.695097, t: -0.003218 0.056568 0.002125 q: 0.033418 0.837853 -0.060662 0.541485 
wait for imu ... 
time: 1403638140.795097, t: -0.003214 0.056589 0.002149 q: 0.033171 0.837849 -0.060541 0.541520 
time: 1403638140.895097, t: -0.003210 0.056609 0.002179 q: 0.032950 0.837863 -0.060432 0.541523 
wait for imu ... 
time: 1403638140.995097, t: -0.003212 0.056627 0.002201 q: 0.032741 0.837874 -0.060288 0.541535 
wait for imu ... 
time: 1403638141.095097, t: -0.003207 0.056646 0.002217 q: 0.032560 0.837842 -0.060172 0.541608 
wait for imu ... 
time: 1403638141.195097, t: -0.003207 0.056649 0.002227 q: 0.032314 0.837843 -0.060063 0.541635 
time: 1403638141.295097, t: -0.003203 0.056658 0.002240 q: 0.032198 0.837850 -0.059959 0.541641 
time: 1403638141.395097, t: -0.003207 0.056667 0.002251 q: 0.032031 0.837833 -0.059877 0.541687 
wait for imu ... 
time: 1403638141.495097, t: -0.003200 0.056666 0.002264 q: 0.031851 0.837848 -0.059785 0.541684 
wait for imu ... 
wait for imu ... 
time: 1403638141.595097, t: -0.003194 0.056676 0.002286 q: 0.031763 0.837839 -0.059698 0.541712 
wait for imu ... 
time: 1403638141.695097, t: -0.003193 0.056671 0.002288 q: 0.031662 0.837852 -0.059642 0.541704 
time: 1403638141.795097, t: -0.003192 0.056684 0.002307 q: 0.031554 0.837850 -0.059560 0.541724 
time: 1403638141.895097, t: -0.003187 0.056684 0.002310 q: 0.031459 0.837840 -0.059505 0.541750 
wait for imu ... 
time: 1403638141.995097, t: -0.003221 0.056697 0.002341 q: 0.031352 0.837831 -0.059405 0.541782 
wait for imu ... 
time: 1403638142.095097, t: -0.003201 0.056728 0.002362 q: 0.031267 0.837857 -0.059299 0.541757 
wait for imu ... 
time: 1403638142.195097, t: -0.003218 0.056703 0.002365 q: 0.031343 0.837818 -0.059498 0.541792 
time: 1403638142.395097, t: -0.003237 0.056683 0.002401 q: 0.031710 0.837878 -0.059725 0.541652 
time: 1403638142.495097, t: -0.003221 0.056738 0.002405 q: 0.031380 0.837954 -0.059567 0.541571 
time: 1403638142.595097, t: -0.003187 0.056809 0.002390 q: 0.030778 0.837982 -0.059048 0.541620 
wait for imu ... 
time: 1403638142.695097, t: -0.003212 0.056820 0.002418 q: 0.031005 0.838080 -0.059133 0.541447 
wait for imu ... 
time: 1403638142.795097, t: -0.003225 0.056723 0.002443 q: 0.031482 0.838113 -0.059400 0.541339 
wait for imu ... 
time: 1403638142.895097, t: -0.003216 0.056712 0.002459 q: 0.031455 0.838144 -0.059268 0.541306 
time: 1403638142.995097, t: -0.003206 0.056780 0.002460 q: 0.031343 0.838130 -0.058889 0.541375 
wait for imu ... 
time: 1403638143.095097, t: -0.003219 0.056755 0.002471 q: 0.031423 0.838193 -0.058929 0.541270 
time: 1403638143.195097, t: -0.003241 0.056743 0.002473 q: 0.031357 0.838237 -0.059068 0.541190 
time: 1403638143.295097, t: -0.003228 0.056731 0.002449 q: 0.031327 0.838205 -0.059161 0.541231 
time: 1403638143.395097, t: -0.003236 0.056747 0.002468 q: 0.031438 0.838197 -0.059194 0.541233 
time: 1403638143.495097, t: -0.003238 0.056746 0.002463 q: 0.031546 0.838199 -0.059218 0.541222 
time: 1403638143.595097, t: -0.003254 0.056702 0.002471 q: 0.031699 0.838202 -0.059402 0.541187 
time: 1403638143.695097, t: -0.003225 0.056716 0.002453 q: 0.031565 0.838190 -0.059393 0.541215 
time: 1403638143.795097, t: -0.003233 0.056716 0.002456 q: 0.031518 0.838192 -0.059351 0.541220 
time: 1403638143.895097, t: -0.003239 0.056727 0.002451 q: 0.031492 0.838186 -0.059440 0.541220 
time: 1403638143.995097, t: -0.003247 0.056717 0.002451 q: 0.031522 0.838166 -0.059453 0.541249 
wait for imu ... 
wait for imu ... 
time: 1403638144.095097, t: -0.003251 0.056712 0.002452 q: 0.031488 0.838197 -0.059455 0.541202 
time: 1403638144.195097, t: -0.003262 0.056705 0.002447 q: 0.031545 0.838161 -0.059455 0.541254 
time: 1403638144.295097, t: -0.003250 0.056707 0.002438 q: 0.031486 0.838143 -0.059384 0.541293 
wait for imu ... 
wait for imu ... 
time: 1403638144.395097, t: -0.003240 0.056703 0.002423 q: 0.031454 0.838123 -0.059395 0.541325 
time: 1403638144.495097, t: -0.003246 0.056687 0.002425 q: 0.031499 0.838119 -0.059448 0.541322 
time: 1403638144.595097, t: -0.003244 0.056697 0.002418 q: 0.031456 0.838127 -0.059488 0.541309 
wait for imu ... 
time: 1403638144.695097, t: -0.003232 0.056700 0.002440 q: 0.031386 0.838077 -0.059359 0.541405 
time: 1403638144.795097, t: -0.003249 0.056710 0.002437 q: 0.031360 0.838083 -0.059402 0.541392 
time: 1403638144.895097, t: -0.003246 0.056711 0.002437 q: 0.031391 0.838105 -0.059409 0.541355 
time: 1403638144.995097, t: -0.003237 0.056694 0.002452 q: 0.031437 0.838073 -0.059373 0.541405 
wait for imu ... 
wait for imu ... 
time: 1403638145.095097, t: -0.003243 0.056690 0.002444 q: 0.031400 0.838081 -0.059399 0.541393 
time: 1403638145.195097, t: -0.003238 0.056702 0.002462 q: 0.031450 0.838073 -0.059385 0.541404 
time: 1403638145.295097, t: -0.003239 0.056692 0.002461 q: 0.031415 0.838088 -0.059379 0.541384 
wait for imu ... 
time: 1403638145.395097, t: -0.003272 0.056678 0.002475 q: 0.031513 0.838073 -0.059394 0.541399 
time: 1403638145.495097, t: -0.003263 0.056692 0.002502 q: 0.031493 0.838062 -0.059377 0.541420 
time: 1403638145.595097, t: -0.003233 0.056670 0.002507 q: 0.031429 0.838076 -0.059318 0.541408 
wait for imu ... 
time: 1403638145.695097, t: -0.003225 0.056668 0.002521 q: 0.031417 0.838046 -0.059320 0.541454 
wait for imu ... 
time: 1403638145.795097, t: -0.003229 0.056670 0.002520 q: 0.031463 0.838083 -0.059259 0.541401 
time: 1403638145.895097, t: -0.003236 0.056676 0.002522 q: 0.031458 0.838044 -0.059275 0.541461 
wait for imu ... 
time: 1403638145.995097, t: -0.003218 0.056683 0.002528 q: 0.031419 0.838039 -0.059288 0.541469 
wait for imu ... 
time: 1403638146.095097, t: -0.003203 0.056682 0.002551 q: 0.031371 0.838080 -0.059205 0.541417 
time: 1403638146.195097, t: -0.003212 0.056683 0.002548 q: 0.031409 0.838019 -0.059235 0.541506 
wait for imu ... 
wait for imu ... 
time: 1403638146.295097, t: -0.003187 0.056691 0.002582 q: 0.031474 0.838032 -0.059233 0.541482 
time: 1403638146.395097, t: -0.003181 0.056682 0.002598 q: 0.031512 0.838051 -0.059186 0.541456 
wait for imu ... 
time: 1403638146.495097, t: -0.003189 0.056677 0.002606 q: 0.031530 0.838080 -0.059259 0.541401 
time: 1403638146.595097, t: -0.003181 0.056692 0.002602 q: 0.031605 0.838037 -0.059243 0.541466 
time: 1403638146.695097, t: -0.003159 0.056677 0.002636 q: 0.031652 0.838084 -0.059241 0.541391 
wait for imu ... 
wait for imu ... 
time: 1403638146.795097, t: -0.003177 0.056695 0.002605 q: 0.031636 0.837996 -0.059211 0.541531 
time: 1403638146.895097, t: -0.003125 0.056688 0.002669 q: 0.031727 0.838073 -0.059111 0.541417 
time: 1403638146.995097, t: -0.003144 0.056696 0.002669 q: 0.031807 0.838190 -0.059179 0.541225 
time: 1403638147.095097, t: -0.003127 0.056813 0.002609 q: 0.031696 0.838258 -0.059092 0.541136 
wait for imu ... 
wait for imu ... 
time: 1403638147.195097, t: -0.003102 0.056834 0.002586 q: 0.031772 0.838355 -0.058976 0.540993 
wait for imu ... 
time: 1403638147.295097, t: -0.003108 0.056867 0.002605 q: 0.031686 0.838316 -0.059093 0.541045 
wait for imu ... 
time: 1403638147.395097, t: -0.003085 0.056874 0.002652 q: 0.031745 0.838196 -0.059041 0.541234 
time: 1403638147.495097, t: -0.003143 0.056759 0.002848 q: 0.031633 0.837749 -0.058854 0.541952 
wait for imu ... 
time: 1403638147.595097, t: -0.003132 0.056764 0.002989 q: 0.031113 0.837304 -0.059023 0.542652 
wait for imu ... 
time: 1403638147.695097, t: -0.002691 0.056753 0.002863 q: 0.030713 0.837457 -0.058216 0.542525 
time: 1403638147.795097, t: -0.000807 0.056325 0.003938 q: 0.031316 0.835240 -0.058813 0.545834 
time: 1403638147.895097, t: 0.003975 0.055027 0.008028 q: 0.033975 0.828126 -0.061804 0.556088 
time: 1403638147.995097, t: 0.012451 0.053552 0.018152 q: 0.034665 0.821398 -0.063959 0.565696 
time: 1403638148.095097, t: 0.022158 0.051809 0.036194 q: 0.035414 0.816278 -0.063269 0.573091 
time: 1403638148.195097, t: 0.032613 0.049810 0.063272 q: 0.036060 0.813442 -0.060164 0.577401 
time: 1403638148.295097, t: 0.041346 0.048104 0.105010 q: 0.034396 0.813148 -0.057348 0.578203 
time: 1403638148.395097, t: 0.049373 0.047179 0.155280 q: 0.032779 0.812890 -0.054320 0.578951 
time: 1403638148.495097, t: 0.056141 0.046837 0.189718 q: 0.032675 0.816762 -0.051197 0.573769 
time: 1403638148.595097, t: 0.065730 0.046147 0.200201 q: 0.032676 0.820838 -0.048741 0.568138 
time: 1403638148.695097, t: 0.072838 0.047726 0.193255 q: 0.031975 0.824487 -0.046610 0.563050 
time: 1403638148.795097, t: 0.085343 0.047122 0.185092 q: 0.029901 0.826973 -0.045389 0.559609 
time: 1403638148.895097, t: 0.094951 0.052302 0.184288 q: 0.028499 0.827652 -0.043975 0.558790 
optimize pose graph 
time: 1403638148.995097, t: 0.116453 0.055423 0.206099 q: 0.027429 0.825851 -0.042834 0.561590 
time: 1403638149.095097, t: 0.130724 0.058271 0.227682 q: 0.027095 0.822082 -0.041277 0.567225 
time: 1403638149.195097, t: 0.149995 0.062689 0.257805 q: 0.026760 0.819795 -0.040680 0.570583 
time: 1403638149.295097, t: 0.173507 0.067294 0.288849 q: 0.024782 0.818549 -0.042019 0.572361 
time: 1403638149.395097, t: 0.195544 0.073693 0.313802 q: 0.024064 0.817240 -0.042161 0.574249 
time: 1403638149.495097, t: 0.217880 0.076597 0.337818 q: 0.024528 0.816474 -0.041638 0.575357 
time: 1403638149.595097, t: 0.237729 0.082000 0.352599 q: 0.025352 0.816366 -0.040149 0.575580 
time: 1403638149.695097, t: 0.258602 0.089198 0.361651 q: 0.022718 0.816574 -0.035520 0.575699 
time: 1403638149.795097, t: 0.282445 0.095348 0.373698 q: 0.019667 0.816852 -0.030341 0.575713 
time: 1403638149.895097, t: 0.303408 0.103418 0.378737 q: 0.017024 0.816860 -0.026677 0.575968 
time: 1403638149.995097, t: 0.328636 0.112861 0.385083 q: 0.016964 0.817358 -0.023028 0.575419 
time: 1403638150.095097, t: 0.352012 0.124622 0.384166 q: 0.023447 0.817429 -0.016821 0.575307 
time: 1403638150.195097, t: 0.377539 0.139854 0.380012 q: 0.031007 0.817585 -0.010888 0.574870 
time: 1403638150.295097, t: 0.403352 0.159935 0.369758 q: 0.034856 0.818601 -0.008708 0.573238 
time: 1403638150.495097, t: 0.456377 0.217410 0.345949 q: 0.021333 0.828388 -0.010402 0.559652 
time: 1403638150.595097, t: 0.484930 0.250953 0.341302 q: 0.013621 0.832033 -0.006416 0.554522 
time: 1403638150.695097, t: 0.517801 0.287742 0.349192 q: 0.007741 0.832215 -0.002603 0.554393 
time: 1403638150.795097, t: 0.553367 0.324013 0.362638 q: 0.004215 0.831025 0.003993 0.556205 
time: 1403638150.895097, t: 0.594113 0.362353 0.378631 q: 0.000033 0.828420 0.013401 0.559947 
optimize pose graph 
time: 1403638150.995097, t: 0.637019 0.401415 0.390507 q: -0.004037 0.824113 0.021690 0.565996 
wait for imu ... 
wait for imu ... 
time: 1403638151.195097, t: 0.727065 0.493066 0.398661 q: -0.019192 0.819488 0.051468 0.570457 
time: 1403638151.395097, t: 0.814499 0.593907 0.386003 q: -0.048903 0.817721 0.090766 0.566306 
time: 1403638151.495097, t: 0.854223 0.645807 0.383893 q: -0.064967 0.815339 0.110269 0.564662 
time: 1403638151.595097, t: 0.893260 0.700121 0.387463 q: -0.077691 0.813080 0.126921 0.562811 
time: 1403638151.695097, t: 0.930188 0.755994 0.398578 q: -0.086735 0.810570 0.139434 0.562149 
time: 1403638151.795097, t: 0.968786 0.813016 0.416695 q: -0.091924 0.809788 0.148154 0.560218 
time: 1403638151.895097, t: 1.011431 0.881044 0.434638 q: -0.094721 0.809270 0.152815 0.559248 
time: 1403638151.995097, t: 1.047711 0.934778 0.472305 q: -0.095040 0.809368 0.156877 0.557926 
time: 1403638152.095097, t: 1.087197 0.998910 0.498490 q: -0.095085 0.809752 0.157758 0.557111 
time: 1403638152.195097, t: 1.124996 1.062649 0.519659 q: -0.094620 0.809698 0.158219 0.557138 
time: 1403638152.295097, t: 1.161935 1.129484 0.532580 q: -0.092074 0.809277 0.159628 0.557774 
time: 1403638152.395097, t: 1.200352 1.198962 0.540162 q: -0.088382 0.809161 0.160678 0.558238 
wait for imu ... 
time: 1403638152.495097, t: 1.237197 1.271977 0.539406 q: -0.084718 0.809657 0.161334 0.557898 
time: 1403638152.595097, t: 1.272450 1.348244 0.533458 q: -0.084843 0.809717 0.160764 0.557956 
time: 1403638152.695097, t: 1.308995 1.430000 0.525786 q: -0.090334 0.811511 0.159091 0.554959 
time: 1403638152.795097, t: 1.347245 1.514908 0.524605 q: -0.098050 0.809964 0.162357 0.554964 
optimize pose graph 
time: 1403638152.895097, t: 1.385154 1.600924 0.532072 q: -0.109424 0.805906 0.168543 0.556897 
time: 1403638152.995097, t: 1.423423 1.688879 0.547012 q: -0.120199 0.801879 0.179918 0.556931 
time: 1403638153.095097, t: 1.459502 1.775021 0.567408 q: -0.128883 0.802186 0.192203 0.550405 
time: 1403638153.195097, t: 1.495326 1.860547 0.588052 q: -0.134376 0.802696 0.202108 0.544771 
time: 1403638153.295097, t: 1.536695 1.947272 0.605351 q: -0.137859 0.801861 0.210826 0.541818 
time: 1403638153.395097, t: 1.578034 2.033821 0.617520 q: -0.144105 0.800037 0.221323 0.538693 
time: 1403638153.495097, t: 1.621747 2.124234 0.629567 q: -0.146376 0.796404 0.237892 0.536397 
time: 1403638153.595097, t: 1.665045 2.216100 0.646965 q: -0.149252 0.792045 0.256644 0.533407 
time: 1403638153.695097, t: 1.705345 2.310501 0.669279 q: -0.158118 0.786194 0.273726 0.531010 
time: 1403638153.795097, t: 1.745285 2.410260 0.690514 q: -0.171323 0.779601 0.286732 0.529769 
time: 1403638153.895097, t: 1.784466 2.513272 0.706472 q: -0.182123 0.773494 0.296240 0.529887 
time: 1403638153.995097, t: 1.821738 2.618442 0.716614 q: -0.191961 0.768291 0.300584 0.531535 
time: 1403638154.095097, t: 1.859525 2.726413 0.721143 q: -0.197746 0.764438 0.303279 0.533435 
time: 1403638154.195097, t: 1.898305 2.837087 0.721176 q: -0.200170 0.759398 0.304924 0.538766 
time: 1403638154.295097, t: 1.935025 2.948005 0.716810 q: -0.200459 0.755378 0.305865 0.543753 
time: 1403638154.395097, t: 1.970930 3.063196 0.710742 q: -0.203073 0.750239 0.303264 0.551302 
time: 1403638154.495097, t: 2.000168 3.173327 0.698910 q: -0.205304 0.746940 0.300317 0.556543 
time: 1403638154.595097, t: 2.026000 3.286179 0.691148 q: -0.206921 0.748193 0.299829 0.554520 
time: 1403638154.795097, t: 2.052597 3.494981 0.692810 q: -0.209170 0.751773 0.314089 0.540772 
time: 1403638154.895097, t: 2.059397 3.596853 0.704029 q: -0.208359 0.750358 0.323306 0.537608 
time: 1403638154.995097, t: 2.064145 3.702575 0.723227 q: -0.209860 0.746821 0.332710 0.536210 
time: 1403638155.095097, t: 2.067112 3.816641 0.745849 q: -0.215842 0.741526 0.342630 0.534936 
time: 1403638155.195097, t: 2.054933 3.913939 0.772863 q: -0.224281 0.736156 0.350009 0.534103 
time: 1403638155.295097, t: 2.043582 4.019077 0.790497 q: -0.231455 0.729897 0.354999 0.536335 
time: 1403638155.495097, t: 2.004057 4.227711 0.805365 q: -0.241765 0.716097 0.371721 0.539054 
time: 1403638155.595097, t: 1.974667 4.332859 0.802949 q: -0.255792 0.710741 0.378653 0.534827 
time: 1403638155.695097, t: 1.938563 4.434919 0.797371 q: -0.274172 0.702194 0.386723 0.531224 
time: 1403638155.795097, t: 1.898355 4.534455 0.787306 q: -0.289039 0.694160 0.399539 0.524373 
time: 1403638155.895097, t: 1.854318 4.629795 0.773062 q: -0.302231 0.687863 0.415742 0.512504 
wait for imu ... 
time: 1403638155.995097, t: 1.806221 4.719531 0.760321 q: -0.312192 0.683617 0.436875 0.494312 
time: 1403638156.095097, t: 1.756091 4.802347 0.755637 q: -0.321178 0.678212 0.459293 0.475314 
time: 1403638156.195097, t: 1.706406 4.883734 0.759848 q: -0.333090 0.670673 0.475366 0.461819 
time: 1403638156.295097, t: 1.658066 4.964345 0.770322 q: -0.341101 0.663704 0.491530 0.448938 
time: 1403638156.395097, t: 1.612710 5.042963 0.780458 q: -0.347455 0.658838 0.503342 0.438012 
time: 1403638156.495097, t: 1.570392 5.124331 0.783836 q: -0.351300 0.655935 0.511054 0.430303 
time: 1403638156.595097, t: 1.531863 5.207666 0.781191 q: -0.354358 0.653070 0.515140 0.427272 
time: 1403638156.695097, t: 1.496582 5.292886 0.772188 q: -0.355070 0.652266 0.517137 0.425491 
time: 1403638156.795097, t: 1.463915 5.382225 0.758367 q: -0.354964 0.651652 0.517924 0.425564 
time: 1403638156.895097, t: 1.432237 5.475278 0.742453 q: -0.353855 0.652203 0.517654 0.425973 
time: 1403638156.995097, t: 1.402046 5.569951 0.729241 q: -0.352144 0.653614 0.516483 0.426649 
time: 1403638157.095097, t: 1.376486 5.672253 0.723475 q: -0.349666 0.656581 0.515597 0.425200 
time: 1403638157.195097, t: 1.351888 5.776662 0.724610 q: -0.345483 0.659895 0.515674 0.423391 
time: 1403638157.295097, t: 1.331757 5.884715 0.730477 q: -0.346691 0.659869 0.514727 0.423597 
time: 1403638157.395097, t: 1.315235 5.996030 0.742086 q: -0.345838 0.655852 0.517657 0.426949 
time: 1403638157.495097, t: 1.299738 6.110316 0.750787 q: -0.347462 0.650036 0.520440 0.431121 
time: 1403638157.595097, t: 1.281609 6.229965 0.754724 q: -0.353680 0.641197 0.525237 0.433479 
time: 1403638157.695097, t: 1.265692 6.349733 0.755621 q: -0.361079 0.627655 0.534140 0.436309 
time: 1403638157.795097, t: 1.243849 6.469153 0.760907 q: -0.369175 0.613323 0.546977 0.434006 
time: 1403638157.895097, t: 1.219380 6.591135 0.774655 q: -0.381758 0.600264 0.559236 0.425674 
time: 1403638157.995097, t: 1.194585 6.708554 0.795115 q: -0.392007 0.588697 0.570864 0.416991 
time: 1403638158.095097, t: 1.169157 6.828027 0.811713 q: -0.401386 0.583589 0.578938 0.403910 
time: 1403638158.195097, t: 1.145086 6.944168 0.822526 q: -0.410176 0.580109 0.582880 0.394310 
time: 1403638158.295097, t: 1.123348 7.055563 0.827092 q: -0.413796 0.575470 0.586794 0.391511 
time: 1403638158.395097, t: 1.102652 7.174151 0.827253 q: -0.412679 0.571899 0.590889 0.391762 
time: 1403638158.495097, t: 1.083447 7.289115 0.823678 q: -0.410284 0.567402 0.594044 0.396022 
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wait for imu ... 
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wait for imu ... 
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time: 1403638202.895097, t: 8.314548 4.333580 2.554786 q: 0.051916 0.817371 -0.076074 0.568702 
optimize pose graph 
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time: 1403638206.595097, t: 7.587977 9.815798 2.995043 q: -0.237348 0.726560 0.336127 0.550269 
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time: 1403638206.795097, t: 7.398311 10.038610 3.030731 q: -0.251155 0.721250 0.345538 0.545274 
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time: 1403638206.995097, t: 7.195946 10.240131 3.042639 q: -0.261928 0.714327 0.352623 0.544781 
optimize pose graph 
time: 1403638207.095097, t: 7.090771 10.331949 3.039632 q: -0.264903 0.710893 0.354049 0.546906 
time: 1403638207.195097, t: 6.981736 10.423031 3.029056 q: -0.268792 0.709556 0.354370 0.546538 
time: 1403638207.295097, t: 6.868536 10.505376 3.011086 q: -0.273086 0.705489 0.359756 0.546154 
time: 1403638207.495097, t: 6.622257 10.647334 2.966391 q: -0.293090 0.689384 0.381249 0.541755 
time: 1403638207.595097, t: 6.492371 10.703552 2.950456 q: -0.301244 0.684636 0.397126 0.531804 
time: 1403638207.695097, t: 6.361701 10.747500 2.938827 q: -0.308052 0.686357 0.409573 0.516011 
time: 1403638207.795097, t: 6.230968 10.783105 2.936115 q: -0.313752 0.687622 0.417427 0.504471 
time: 1403638207.895097, t: 6.102380 10.814231 2.939925 q: -0.315072 0.691606 0.423528 0.492986 
time: 1403638207.995097, t: 5.977833 10.837625 2.950715 q: -0.314508 0.693182 0.427261 0.487884 
time: 1403638208.095097, t: 5.853363 10.859786 2.959967 q: -0.315340 0.692009 0.427468 0.488830 
time: 1403638208.195097, t: 5.732452 10.879859 2.964920 q: -0.319979 0.689133 0.423466 0.493341 
time: 1403638208.295097, t: 5.615054 10.896046 2.961675 q: -0.319215 0.688075 0.421833 0.496700 
time: 1403638208.395097, t: 5.499913 10.906382 2.950885 q: -0.315518 0.691285 0.422780 0.493792 
time: 1403638208.495097, t: 5.386855 10.913695 2.937458 q: -0.314068 0.692621 0.425777 0.490256 
time: 1403638208.595097, t: 5.275717 10.917730 2.929340 q: -0.316853 0.690228 0.433581 0.484971 
time: 1403638208.695097, t: 5.165773 10.919170 2.928728 q: -0.323736 0.684855 0.441346 0.481022 
time: 1403638208.795097, t: 5.057957 10.918099 2.935007 q: -0.330656 0.680412 0.447437 0.476977 
time: 1403638208.895097, t: 4.955684 10.913278 2.942229 q: -0.334557 0.675134 0.453251 0.476266 
time: 1403638208.995097, t: 4.855101 10.906721 2.944253 q: -0.337250 0.671205 0.457542 0.475817 
optimize pose graph 
time: 1403638209.095097, t: 4.758957 10.896494 2.939447 q: -0.340142 0.669508 0.459866 0.473904 
time: 1403638209.195097, t: 4.665543 10.883329 2.927451 q: -0.340667 0.668615 0.461830 0.472877 
time: 1403638209.295097, t: 4.574004 10.868022 2.908853 q: -0.342645 0.668693 0.461663 0.471499 
time: 1403638209.395097, t: 4.483010 10.850719 2.884932 q: -0.343838 0.669196 0.461304 0.470266 
time: 1403638209.495097, t: 4.395844 10.832355 2.854845 q: -0.345602 0.668582 0.460123 0.471005 
time: 1403638209.595097, t: 4.312677 10.812101 2.811811 q: -0.347161 0.667148 0.458526 0.473441 
time: 1403638209.695097, t: 4.228886 10.788920 2.750651 q: -0.346664 0.668827 0.457573 0.472357 
time: 1403638209.795097, t: 4.147842 10.762745 2.671376 q: -0.343601 0.667718 0.458970 0.474802 
time: 1403638209.895097, t: 4.064015 10.731559 2.577991 q: -0.341868 0.665630 0.459430 0.478526 
time: 1403638209.995097, t: 3.988146 10.701512 2.477844 q: -0.343295 0.661750 0.457911 0.484307 
time: 1403638210.095097, t: 3.907142 10.663018 2.378020 q: -0.346704 0.657479 0.454957 0.490440 
time: 1403638210.195097, t: 3.832369 10.622030 2.285358 q: -0.350420 0.653942 0.452165 0.495088 
time: 1403638210.295097, t: 3.750565 10.567195 2.197090 q: -0.351241 0.654278 0.451414 0.494748 
time: 1403638210.395097, t: 3.674066 10.508101 2.112831 q: -0.350402 0.654996 0.451772 0.494066 
time: 1403638210.495097, t: 3.593586 10.439668 2.024776 q: -0.351349 0.655243 0.450765 0.493985 
time: 1403638210.595097, t: 3.512246 10.364294 1.931184 q: -0.351194 0.654844 0.450169 0.495167 
time: 1403638210.695097, t: 3.433728 10.284652 1.833484 q: -0.353626 0.655161 0.447878 0.495094 
time: 1403638210.795097, t: 3.355946 10.195413 1.738806 q: -0.353641 0.655211 0.447523 0.495338 
time: 1403638210.895097, t: 3.275782 10.099060 1.651258 q: -0.353324 0.658365 0.447930 0.490995 
time: 1403638210.995097, t: 3.198047 9.996389 1.570414 q: -0.350991 0.661964 0.449871 0.486030 
time: 1403638211.095097, t: 3.120936 9.886895 1.498797 q: -0.349510 0.664938 0.451304 0.481690 
optimize pose graph 
time: 1403638211.195097, t: 3.046878 9.777500 1.437358 q: -0.349147 0.667944 0.451965 0.477153 
time: 1403638211.295097, t: 2.976435 9.669459 1.383727 q: -0.347452 0.669233 0.452403 0.476168 
time: 1403638211.395097, t: 2.909375 9.558261 1.333133 q: -0.344069 0.672385 0.448223 0.478132 
time: 1403638211.495097, t: 2.843837 9.443582 1.277847 q: -0.338105 0.678964 0.439614 0.481075 
time: 1403638211.595097, t: 2.782621 9.325753 1.217515 q: -0.331885 0.687579 0.426214 0.485210 
time: 1403638211.695097, t: 2.726260 9.202604 1.151831 q: -0.324634 0.697282 0.408036 0.491851 
time: 1403638211.795097, t: 2.674205 9.073877 1.082937 q: -0.314061 0.710461 0.386866 0.496937 
time: 1403638211.895097, t: 2.626834 8.942498 1.015759 q: -0.303888 0.724033 0.363215 0.501501 
time: 1403638211.995097, t: 2.585089 8.806877 0.955350 q: -0.290169 0.735552 0.341335 0.508189 
time: 1403638212.095097, t: 2.548343 8.667488 0.902255 q: -0.275171 0.744962 0.321206 0.515887 
time: 1403638212.195097, t: 2.515263 8.525101 0.858205 q: -0.257556 0.752333 0.303102 0.525156 
time: 1403638212.295097, t: 2.483781 8.378371 0.824111 q: -0.241602 0.760093 0.283344 0.532543 
time: 1403638212.395097, t: 2.454191 8.228351 0.796159 q: -0.224318 0.766829 0.264810 0.539936 
time: 1403638212.495097, t: 2.424681 8.073064 0.774847 q: -0.209830 0.773205 0.244077 0.546399 
time: 1403638212.595097, t: 2.395322 7.913192 0.759667 q: -0.195424 0.780312 0.223144 0.550572 
time: 1403638212.695097, t: 2.366132 7.748219 0.749842 q: -0.181425 0.787087 0.201258 0.554143 
time: 1403638212.795097, t: 2.338475 7.581738 0.749783 q: -0.164313 0.792682 0.180157 0.558749 
time: 1403638212.895097, t: 2.310433 7.409641 0.751832 q: -0.149205 0.798815 0.155975 0.561520 
time: 1403638212.995097, t: 2.285070 7.237474 0.761247 q: -0.131147 0.804445 0.131842 0.564169 
time: 1403638213.095097, t: 2.262229 7.064286 0.776683 q: -0.114261 0.809067 0.105436 0.566779 
time: 1403638213.195097, t: 2.241458 6.889846 0.789943 q: -0.099899 0.815828 0.076866 0.564390 
optimize pose graph 
time: 1403638213.395097, t: 2.210958 6.533230 0.797297 q: -0.078611 0.832277 0.014514 0.548566 
time: 1403638213.495097, t: 2.206397 6.349696 0.795125 q: -0.069626 0.835984 -0.016880 0.544058 
time: 1403638213.595097, t: 2.208031 6.158484 0.791005 q: -0.052077 0.833396 -0.037369 0.548947 
time: 1403638213.695097, t: 2.217341 5.961333 0.790296 q: -0.028420 0.824634 -0.043673 0.563261 
time: 1403638213.795097, t: 2.227115 5.761322 0.793167 q: -0.008600 0.817720 -0.044360 0.573840 
time: 1403638213.895097, t: 2.239859 5.561538 0.800966 q: 0.002238 0.814767 -0.044790 0.578052 
time: 1403638213.995097, t: 2.251766 5.363041 0.813809 q: 0.006826 0.815411 -0.044584 0.577122 
time: 1403638214.095097, t: 2.261519 5.164737 0.830186 q: 0.009318 0.821315 -0.042528 0.568812 
time: 1403638214.195097, t: 2.270785 4.966007 0.851396 q: 0.008293 0.828244 -0.040090 0.558870 
time: 1403638214.295097, t: 2.283544 4.769460 0.870604 q: 0.006230 0.833532 -0.037131 0.551187 
time: 1403638214.495097, t: 2.322756 4.376975 0.890611 q: 0.003249 0.834981 -0.028573 0.549527 
time: 1403638214.595097, t: 2.349009 4.179910 0.892579 q: 0.002303 0.828773 -0.024465 0.559045 
time: 1403638214.695097, t: 2.377588 3.987921 0.889440 q: 0.000833 0.822219 -0.020875 0.568788 
time: 1403638214.795097, t: 2.406018 3.796620 0.881638 q: -0.000941 0.817001 -0.017583 0.576368 
time: 1403638214.895097, t: 2.432108 3.608854 0.867996 q: -0.002000 0.813939 -0.014640 0.580763 
time: 1403638214.995097, t: 2.456941 3.426380 0.848650 q: -0.002836 0.812139 -0.012875 0.583316 
time: 1403638215.095097, t: 2.479498 3.248653 0.823875 q: -0.002496 0.811992 -0.011023 0.583559 
time: 1403638215.195097, t: 2.500024 3.075752 0.795139 q: -0.002153 0.813231 -0.010169 0.581847 
time: 1403638215.295097, t: 2.519883 2.904460 0.764109 q: 0.001395 0.815242 -0.007818 0.579066 
time: 1403638215.395097, t: 2.538812 2.736074 0.733567 q: 0.005678 0.815911 -0.005363 0.578124 
time: 1403638215.495097, t: 2.558450 2.572508 0.709753 q: 0.009575 0.815592 -0.002555 0.578543 
time: 1403638215.595097, t: 2.577267 2.414097 0.694235 q: 0.011058 0.814389 -0.001701 0.580212 
time: 1403638215.695097, t: 2.594930 2.261173 0.685477 q: 0.007871 0.813681 -0.003742 0.581246 
time: 1403638215.795097, t: 2.610330 2.111542 0.678584 q: 0.005012 0.813182 -0.007560 0.581939 
time: 1403638215.895097, t: 2.621059 1.968886 0.665610 q: 0.006129 0.813216 -0.013369 0.581776 
time: 1403638215.995097, t: 2.628420 1.825821 0.647929 q: 0.007520 0.812943 -0.018084 0.582013 
time: 1403638216.095097, t: 2.631995 1.687133 0.626141 q: 0.011030 0.812701 -0.020297 0.582223 
time: 1403638216.195097, t: 2.633905 1.554796 0.608831 q: 0.013523 0.812674 -0.021866 0.582151 
time: 1403638216.295097, t: 2.632851 1.426178 0.598309 q: 0.016047 0.811512 -0.022957 0.583664 
time: 1403638216.395097, t: 2.630010 1.302236 0.594188 q: 0.018020 0.810059 -0.023472 0.585601 
time: 1403638216.495097, t: 2.624133 1.183341 0.595336 q: 0.018687 0.809545 -0.024080 0.586266 
time: 1403638216.595097, t: 2.616240 1.068533 0.592642 q: 0.020853 0.810291 -0.023591 0.585181 
time: 1403638216.695097, t: 2.606781 0.958873 0.582377 q: 0.023801 0.812142 -0.022093 0.582556 
time: 1403638216.795097, t: 2.597036 0.852005 0.566463 q: 0.027236 0.811301 -0.020638 0.583629 
time: 1403638216.895097, t: 2.587340 0.749565 0.545493 q: 0.031425 0.807492 -0.025171 0.588503 
time: 1403638216.995097, t: 2.571991 0.653023 0.521452 q: 0.034967 0.806372 -0.035698 0.589293 
time: 1403638217.095097, t: 2.554632 0.560416 0.494712 q: 0.039099 0.807991 -0.050722 0.585704 
time: 1403638217.195097, t: 2.532674 0.472238 0.465978 q: 0.045248 0.809615 -0.065478 0.581540 
time: 1403638217.295097, t: 2.510720 0.388152 0.438619 q: 0.051984 0.810831 -0.074926 0.578132 
optimize pose graph 
time: 1403638217.395097, t: 2.487464 0.308918 0.419207 q: 0.057530 0.811858 -0.081428 0.575280 
time: 1403638217.495097, t: 2.462149 0.234691 0.408344 q: 0.062662 0.812272 -0.084672 0.573688 
time: 1403638217.595097, t: 2.437052 0.164030 0.406093 q: 0.069594 0.813254 -0.084181 0.571567 
time: 1403638217.695097, t: 2.411540 0.097130 0.410772 q: 0.078143 0.813664 -0.080271 0.570440 
time: 1403638217.795097, t: 2.385899 0.036404 0.422269 q: 0.084390 0.815178 -0.075825 0.567992 
time: 1403638217.895097, t: 2.362114 -0.015621 0.438936 q: 0.086818 0.815709 -0.073416 0.567179 
time: 1403638217.995097, t: 2.340581 -0.060290 0.455104 q: 0.087910 0.813516 -0.070648 0.570502 
time: 1403638218.095097, t: 2.321736 -0.097730 0.462474 q: 0.088217 0.812120 -0.068649 0.572684 
time: 1403638218.195097, t: 2.302841 -0.127001 0.465207 q: 0.085893 0.810398 -0.068260 0.575515 
time: 1403638218.295097, t: 2.283896 -0.150131 0.463202 q: 0.083714 0.806768 -0.066911 0.581068 
time: 1403638218.395097, t: 2.267206 -0.166393 0.459176 q: 0.077101 0.804587 -0.068878 0.584766 
time: 1403638218.495097, t: 2.243019 -0.173465 0.465658 q: 0.071718 0.804797 -0.070599 0.584957 
time: 1403638218.595097, t: 2.220081 -0.176250 0.476576 q: 0.069465 0.805912 -0.070947 0.583650 
time: 1403638218.695097, t: 2.191174 -0.173140 0.493044 q: 0.066971 0.809719 -0.072895 0.578408 
time: 1403638218.795097, t: 2.162054 -0.165969 0.506001 q: 0.070025 0.814020 -0.078506 0.571231 
time: 1403638218.895097, t: 2.136526 -0.155725 0.511215 q: 0.073754 0.815814 -0.086417 0.567045 
time: 1403638218.995097, t: 2.113063 -0.141512 0.510797 q: 0.064394 0.814867 -0.101424 0.567061 
time: 1403638219.095097, t: 2.087253 -0.127560 0.508428 q: 0.057052 0.812065 -0.113390 0.569594 
time: 1403638219.195097, t: 2.066395 -0.114235 0.502183 q: 0.060897 0.809525 -0.115646 0.572352 
time: 1403638219.295097, t: 2.040147 -0.104336 0.495291 q: 0.070074 0.803938 -0.112594 0.579737 
time: 1403638219.395097, t: 2.013354 -0.094701 0.487076 q: 0.076604 0.796467 -0.109671 0.589699 
optimize pose graph 
time: 1403638219.495097, t: 1.987922 -0.083679 0.480904 q: 0.080698 0.791349 -0.107243 0.596451 
time: 1403638219.595097, t: 1.955856 -0.070702 0.479849 q: 0.078382 0.792017 -0.108798 0.595591 
time: 1403638219.695097, t: 1.914444 -0.054260 0.483925 q: 0.072612 0.794438 -0.112380 0.592425 
time: 1403638219.795097, t: 1.867914 -0.036816 0.484995 q: 0.065236 0.797715 -0.117153 0.587937 
time: 1403638219.995097, t: 1.764519 -0.009420 0.470663 q: 0.049243 0.802805 -0.127960 0.580264 
time: 1403638220.095097, t: 1.709593 -0.002590 0.455708 q: 0.047051 0.805055 -0.129493 0.576978 
time: 1403638220.195097, t: 1.653602 -0.002679 0.445939 q: 0.055204 0.807415 -0.124203 0.574114 
time: 1403638220.295097, t: 1.599494 -0.007350 0.441485 q: 0.070387 0.810057 -0.113855 0.570868 
time: 1403638220.395097, t: 1.539765 -0.011694 0.446974 q: 0.079171 0.810670 -0.108219 0.569942 
time: 1403638220.495097, t: 1.479042 -0.013225 0.458588 q: 0.082618 0.810949 -0.106078 0.569459 
time: 1403638220.595097, t: 1.422605 -0.012895 0.471995 q: 0.083519 0.810343 -0.106547 0.570102 
time: 1403638220.695097, t: 1.363386 -0.012135 0.482585 q: 0.084420 0.809862 -0.107382 0.570496 
time: 1403638220.795097, t: 1.308264 -0.008466 0.485368 q: 0.083757 0.809987 -0.109361 0.570041 
time: 1403638220.895097, t: 1.252586 -0.002630 0.481024 q: 0.084005 0.809829 -0.110648 0.569980 
time: 1403638220.995097, t: 1.197393 0.005053 0.469076 q: 0.083114 0.810580 -0.112528 0.568674 
time: 1403638221.095097, t: 1.143477 0.013956 0.453604 q: 0.083342 0.810964 -0.113488 0.567901 
time: 1403638221.195097, t: 1.086308 0.023480 0.439391 q: 0.083356 0.812235 -0.114175 0.565941 
time: 1403638221.295097, t: 1.035694 0.035175 0.434169 q: 0.081852 0.813621 -0.115791 0.563838 
time: 1403638221.395097, t: 0.985340 0.046995 0.434458 q: 0.079656 0.814683 -0.118151 0.562127 
time: 1403638221.495097, t: 0.935791 0.057995 0.436466 q: 0.077394 0.814901 -0.120223 0.561687 
time: 1403638221.595097, t: 0.890520 0.069358 0.431183 q: 0.075927 0.814089 -0.122221 0.562634 
optimize pose graph 
time: 1403638221.695097, t: 0.847781 0.078461 0.422115 q: 0.075264 0.812384 -0.122747 0.565067 
time: 1403638221.795097, t: 0.807198 0.085995 0.413927 q: 0.073112 0.810263 -0.123978 0.568118 
time: 1403638221.895097, t: 0.768034 0.092748 0.412297 q: 0.075168 0.809195 -0.122023 0.569793 
time: 1403638221.995097, t: 0.733984 0.096538 0.421669 q: 0.079045 0.808663 -0.118727 0.570719 
time: 1403638222.095097, t: 0.692930 0.103036 0.432853 q: 0.082397 0.810398 -0.116331 0.568273 
time: 1403638222.195097, t: 0.653237 0.109475 0.440817 q: 0.082674 0.814249 -0.116389 0.562687 
time: 1403638222.295097, t: 0.614661 0.116488 0.443802 q: 0.081684 0.817674 -0.117572 0.557597 
time: 1403638222.395097, t: 0.586249 0.123272 0.439820 q: 0.080856 0.820569 -0.118543 0.553242 
time: 1403638222.495097, t: 0.554144 0.130531 0.432737 q: 0.080528 0.822854 -0.118586 0.549876 
time: 1403638222.595097, t: 0.532428 0.136300 0.421418 q: 0.080793 0.819123 -0.118257 0.555451 
time: 1403638222.695097, t: 0.509029 0.142848 0.408061 q: 0.079939 0.813766 -0.118807 0.563276 
time: 1403638222.795097, t: 0.488228 0.149131 0.392074 q: 0.080880 0.811403 -0.118249 0.566658 
time: 1403638222.895097, t: 0.468066 0.155779 0.375428 q: 0.082450 0.805834 -0.116859 0.574611 
time: 1403638222.995097, t: 0.447557 0.161513 0.357496 q: 0.081580 0.801182 -0.116843 0.581205 
time: 1403638223.095097, t: 0.423764 0.170110 0.343701 q: 0.081714 0.803928 -0.116571 0.577437 
time: 1403638223.195097, t: 0.393577 0.179809 0.335437 q: 0.079114 0.812930 -0.118874 0.564584 
time: 1403638223.295097, t: 0.367824 0.189911 0.328957 q: 0.073273 0.820445 -0.123315 0.553439 
time: 1403638223.395097, t: 0.342295 0.197492 0.325432 q: 0.070372 0.818562 -0.125724 0.556056 
time: 1403638223.495097, t: 0.318744 0.203677 0.319780 q: 0.060261 0.813450 -0.132721 0.563074 
time: 1403638223.595097, t: 0.298728 0.203984 0.310054 q: 0.059236 0.810960 -0.133534 0.566572 
time: 1403638223.695097, t: 0.276113 0.199846 0.301611 q: 0.070032 0.810915 -0.126334 0.567056 
optimize pose graph 
time: 1403638223.795097, t: 0.253741 0.194591 0.288675 q: 0.080734 0.812084 -0.119205 0.565501 
time: 1403638223.895097, t: 0.231631 0.189534 0.275549 q: 0.086070 0.812766 -0.115207 0.564563 
time: 1403638223.995097, t: 0.219135 0.181965 0.263064 q: 0.089645 0.813255 -0.112446 0.563858 
time: 1403638224.095097, t: 0.198737 0.181617 0.244736 q: 0.088829 0.817234 -0.112828 0.558129 
time: 1403638224.195097, t: 0.185385 0.182365 0.226266 q: 0.086433 0.823542 -0.114521 0.548810 
time: 1403638224.295097, t: 0.179689 0.184247 0.212808 q: 0.085884 0.822965 -0.114771 0.549710 
time: 1403638224.395097, t: 0.173735 0.188736 0.202032 q: 0.083555 0.816759 -0.117057 0.558767 
time: 1403638224.495097, t: 0.172973 0.193812 0.189749 q: 0.078794 0.809123 -0.120258 0.569780 
time: 1403638224.595097, t: 0.169310 0.198579 0.177674 q: 0.080654 0.805862 -0.118644 0.574460 
time: 1403638224.695097, t: 0.165106 0.204144 0.163878 q: 0.081087 0.813397 -0.118437 0.563722 
time: 1403638224.795097, t: 0.161624 0.210786 0.151508 q: 0.080463 0.822075 -0.119201 0.550917 
time: 1403638224.895097, t: 0.163408 0.217035 0.148638 q: 0.076417 0.818308 -0.121602 0.556548 
time: 1403638224.995097, t: 0.168983 0.222285 0.151420 q: 0.068647 0.810250 -0.126099 0.568226 
time: 1403638225.095097, t: 0.173942 0.225249 0.154013 q: 0.067940 0.806449 -0.125669 0.573787 
time: 1403638225.195097, t: 0.176925 0.225847 0.158097 q: 0.073433 0.809933 -0.120955 0.569198 
time: 1403638225.295097, t: 0.179023 0.225819 0.162815 q: 0.076593 0.817350 -0.117962 0.558711 
time: 1403638225.395097, t: 0.182970 0.225128 0.168893 q: 0.078980 0.816599 -0.115768 0.559933 
time: 1403638225.495097, t: 0.189245 0.224259 0.169250 q: 0.081376 0.808543 -0.113950 0.571534 
time: 1403638225.595097, t: 0.194443 0.223854 0.162337 q: 0.084452 0.797778 -0.112072 0.586395 
time: 1403638225.695097, t: 0.195232 0.225099 0.148167 q: 0.085731 0.792641 -0.110916 0.593354 
time: 1403638225.795097, t: 0.190623 0.229573 0.121691 q: 0.084802 0.799807 -0.111595 0.583665 
optimize pose graph 
time: 1403638225.895097, t: 0.183576 0.236066 0.087270 q: 0.083937 0.812307 -0.112305 0.566127 
time: 1403638225.995097, t: 0.177559 0.244059 0.049539 q: 0.079654 0.820546 -0.115232 0.554149 
time: 1403638226.095097, t: 0.182785 0.255266 0.048989 q: 0.060087 0.823744 -0.125315 0.549665 
time: 1403638226.195097, t: 0.192917 0.262119 0.051584 q: 0.060358 0.829009 -0.122736 0.542252 
time: 1403638226.295097, t: 0.195274 0.268738 0.045606 q: 0.073288 0.820801 -0.121414 0.553329 
time: 1403638226.395097, t: 0.193788 0.274208 0.035401 q: 0.079388 0.825553 -0.110550 0.547667 
time: 1403638226.495097, t: 0.196901 0.277009 0.031117 q: 0.079222 0.825353 -0.112830 0.547527 
time: 1403638226.595097, t: 0.194287 0.275838 0.032610 q: 0.079860 0.824934 -0.112416 0.548150 
time: 1403638226.695097, t: 0.198291 0.263341 0.064439 q: 0.079177 0.825494 -0.111823 0.547528 
wait for imu ... 
time: 1403638226.795097, t: 0.191855 0.254986 0.065938 q: 0.078948 0.825357 -0.111496 0.547834 
time: 1403638226.895097, t: 0.190593 0.253132 0.072343 q: 0.078695 0.825491 -0.111702 0.547627 
time: 1403638226.995097, t: 0.190755 0.255063 0.065685 q: 0.077963 0.825653 -0.112609 0.547300 
time: 1403638227.095097, t: 0.191956 0.255861 0.072672 q: 0.077959 0.825571 -0.112848 0.547376 
wait for imu ... 
time: 1403638227.195097, t: 0.191883 0.254626 0.075829 q: 0.078161 0.825604 -0.112669 0.547334 
time: 1403638227.295097, t: 0.190484 0.251434 0.077085 q: 0.078351 0.825677 -0.112347 0.547263 
time: 1403638227.395097, t: 0.187462 0.249024 0.077298 q: 0.078477 0.825707 -0.112140 0.547242 
time: 1403638227.495097, t: 0.186379 0.248308 0.078128 q: 0.078342 0.825759 -0.112255 0.547159 
time: 1403638227.595097, t: 0.186379 0.249129 0.079428 q: 0.078181 0.825744 -0.112378 0.547180 
time: 1403638227.695097, t: 0.187907 0.249695 0.081023 q: 0.078081 0.825820 -0.112531 0.547048 
time: 1403638227.795097, t: 0.189595 0.249913 0.080926 q: 0.078067 0.825845 -0.112579 0.547003 
wait for imu ... 
time: 1403638227.895097, t: 0.189489 0.250305 0.078553 q: 0.078149 0.825891 -0.112506 0.546936 
optimize pose graph 
time: 1403638227.995097, t: 0.189514 0.251383 0.074151 q: 0.078187 0.825882 -0.112537 0.546938 
time: 1403638228.095097, t: 0.189368 0.254391 0.066269 q: 0.078314 0.825883 -0.112511 0.546923 
time: 1403638228.195097, t: 0.191083 0.257097 0.059586 q: 0.078342 0.825861 -0.112591 0.546937 
wait for imu ... 
time: 1403638228.295097, t: 0.194022 0.258553 0.055269 q: 0.078286 0.825851 -0.112689 0.546939 
time: 1403638228.395097, t: 0.196290 0.259667 0.051722 q: 0.078205 0.825883 -0.112791 0.546881 
wait for imu ... 
time: 1403638228.495097, t: 0.198140 0.260147 0.049622 q: 0.078195 0.825880 -0.112781 0.546890 
time: 1403638228.595097, t: 0.198685 0.259950 0.049076 q: 0.078120 0.825944 -0.112739 0.546813 
time: 1403638228.795097, t: 0.200280 0.260237 0.048087 q: 0.078125 0.826003 -0.112777 0.546715 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731011140.993732162]: Shutdown request received.[0m
[33m[ WARN] [1731011140.993770776]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731011140.994713791]: Shutdown request received.[0m
[33m[ WARN] [1731011140.994754743]: Reason given for shutdown: [user request][0m
killed
