/SLAM-Hive/slam_hive_results/mapping_results/3322/2430_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1731016135.837964568]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731016135.853304971]: init begins[0m
[31m[ERROR] [1731016135.854405293]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/1645189c-9d52-11ef-bb80-0242ac110002/roslaunch-e597e7d80454-117.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://e597e7d80454:39537/[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 [154][0m
[0m[ INFO] [1731016137.045643232]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
[0m[ INFO] [1731016137.060623995]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://e597e7d80454:11311/[0m
]2;roscore http://e597e7d80454:11311/
[1msetting /run_id to 1645189c-9d52-11ef-bb80-0242ac110002[0m
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1731016137.098904093]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731016137.099119034]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731016137.099144101]: 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
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[0m[ INFO] [1731016137.105586015]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731016137.105822314]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731016137.105998700]: waiting for image and imu...[0m
[1mprocess[rosout-1]: started with pid [189][0m
started core service [/rosout]
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
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1731016145.840000273]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 327377627.92 
init first imu pose
averge acc 9.015113 -0.047866 -3.797742
init R0 
 0.388249 0.0116141  0.921482
        0 -0.999921 0.0126027
 0.921555 -0.004893 -0.388218
[33m[ WARN] [1731016147.254492260]: gyroscope bias initial calibration -0.00194295    0.020065   0.0779286[0m
[0m[ INFO] [1731016147.357374036]: Initialization finish![0m
time: 1403638519.127830, t: 0.000192 0.000060 0.000384 q: -0.004028 0.832960 0.002735 0.553312 
time: 1403638519.227829, t: -0.000673 0.000076 -0.001152 q: -0.004128 0.833007 0.002804 0.553240 
time: 1403638519.327830, t: 0.000074 0.002730 0.003807 q: -0.003670 0.833072 0.002483 0.553147 
time: 1403638519.427830, t: 0.000080 0.002741 0.003441 q: -0.003739 0.833094 0.002570 0.553112 
time: 1403638519.527829, t: 0.000004 0.002756 0.003042 q: -0.003800 0.833103 0.002610 0.553098 
time: 1403638519.627830, t: -0.000032 0.002577 0.002688 q: -0.003873 0.833105 0.002697 0.553095 
time: 1403638519.727829, t: 0.000450 0.002749 0.004668 q: -0.003892 0.833191 0.002745 0.552964 
time: 1403638519.827830, t: -0.000321 0.002313 0.002301 q: -0.003969 0.833103 0.002744 0.553097 
time: 1403638519.927830, t: 0.000099 0.002864 0.004060 q: -0.003894 0.833157 0.002695 0.553016 
time: 1403638520.027829, t: 0.000353 0.002836 0.004310 q: -0.003965 0.833177 0.002732 0.552986 
time: 1403638520.127830, t: 0.000299 0.002864 0.004167 q: -0.003925 0.833165 0.002721 0.553004 
time: 1403638520.227829, t: 0.000462 0.003507 0.004221 q: -0.003833 0.833187 0.002663 0.552971 
time: 1403638520.327830, t: 0.000397 0.002890 0.004202 q: -0.003892 0.833175 0.002751 0.552989 
time: 1403638520.427830, t: 0.000092 0.002009 0.003911 q: -0.003962 0.833161 0.002787 0.553010 
time: 1403638520.527829, t: -0.000031 0.001822 0.003416 q: -0.003921 0.833164 0.002719 0.553006 
time: 1403638520.627830, t: 0.000335 0.003282 0.003914 q: -0.003759 0.833183 0.002596 0.552979 
time: 1403638520.827830, t: 0.000424 0.003560 0.004613 q: -0.003698 0.833235 0.002518 0.552902 
time: 1403638520.927830, t: 0.000148 0.003592 0.003703 q: -0.003637 0.833186 0.002600 0.552974 
time: 1403638521.027829, t: 0.000274 0.004472 0.002863 q: -0.003530 0.833163 0.002534 0.553010 
time: 1403638521.127830, t: -0.000162 0.003969 0.001968 q: -0.003544 0.833160 0.002393 0.553015 
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time: 1403638521.427830, t: 0.000052 0.002647 0.004070 q: -0.003444 0.833274 0.002491 0.552843 
time: 1403638521.527829, t: -0.000478 0.002271 0.002776 q: -0.003672 0.833277 0.001934 0.552841 
time: 1403638521.627830, t: -0.000685 0.001970 0.002752 q: -0.003454 0.833197 0.002244 0.552961 
time: 1403638521.727829, t: -0.000566 0.002290 0.002871 q: -0.003772 0.833252 0.001931 0.552877 
time: 1403638521.827830, t: -0.000450 0.002225 0.003065 q: -0.003334 0.833288 0.002266 0.552825 
time: 1403638521.927830, t: -0.000266 0.002635 0.003419 q: -0.004109 0.833303 0.002127 0.552797 
time: 1403638522.027829, t: 0.001514 0.004374 0.003241 q: -0.005548 0.833611 0.005012 0.552301 
time: 1403638522.127830, t: 0.002134 0.006670 0.008069 q: -0.004853 0.836220 0.006509 0.548335 
time: 1403638522.227829, t: 0.003971 0.010229 0.022730 q: -0.010458 0.834248 0.007516 0.551239 
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time: 1403638522.427830, t: 0.012010 0.015458 0.088992 q: -0.037760 0.826574 0.020254 0.561195 
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time: 1403638522.627830, t: 0.019942 0.015195 0.178347 q: -0.075147 0.829574 0.031196 0.552437 
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time: 1403638523.127830, t: 0.032314 0.027661 0.396969 q: -0.039445 0.799116 -0.003409 0.599872 
time: 1403638523.227829, t: 0.031710 0.020390 0.402480 q: -0.035210 0.798963 -0.003683 0.600338 
time: 1403638523.327830, t: 0.033475 0.013531 0.380174 q: -0.021091 0.797280 -0.007202 0.603197 
time: 1403638523.427830, t: 0.033190 0.006305 0.341916 q: -0.019348 0.797896 -0.005831 0.602456 
time: 1403638523.527829, t: 0.030652 -0.001459 0.295830 q: -0.014314 0.804518 -0.002223 0.593751 
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time: 1403638523.927830, t: 0.008240 -0.030103 0.112734 q: -0.003601 0.824629 0.016971 0.565408 
time: 1403638524.027829, t: 0.002109 -0.032796 0.087563 q: 0.004195 0.826328 0.025200 0.562609 
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time: 1403638524.927830, t: 0.032930 -0.016366 0.450129 q: -0.010956 0.806301 0.025559 0.590851 
time: 1403638525.027829, t: 0.035242 -0.014872 0.450194 q: -0.014164 0.804387 0.028594 0.593248 
time: 1403638525.127830, t: 0.036273 -0.013022 0.428026 q: -0.009513 0.801920 0.032363 0.596478 
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time: 1403638527.127830, t: -0.099460 -0.595303 0.186515 q: 0.029367 0.822204 -0.055732 0.565696 
time: 1403638527.227829, t: -0.101694 -0.642137 0.190123 q: 0.034373 0.822616 -0.068121 0.563455 
time: 1403638527.327830, t: -0.100498 -0.674694 0.194605 q: 0.046881 0.819014 -0.078272 0.566474 
time: 1403638527.427830, t: -0.101487 -0.688610 0.199792 q: 0.062212 0.814327 -0.085381 0.570711 
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time: 1403638527.927830, t: -0.016447 -0.490850 0.194501 q: 0.033863 0.821331 -0.064994 0.565724 
time: 1403638528.027829, t: 0.002699 -0.429096 0.197099 q: 0.026855 0.820791 -0.058332 0.567608 
time: 1403638528.127830, t: 0.019809 -0.370657 0.195726 q: 0.017038 0.819522 -0.049576 0.570645 
time: 1403638528.227829, t: 0.038931 -0.315794 0.191482 q: 0.006303 0.820356 -0.040043 0.570414 
time: 1403638528.327830, t: 0.065512 -0.270092 0.186215 q: -0.004415 0.821021 -0.029997 0.570092 
time: 1403638528.427830, t: 0.098071 -0.236015 0.179888 q: -0.006243 0.819647 -0.024711 0.572302 
time: 1403638528.527829, t: 0.134374 -0.210463 0.174559 q: -0.003749 0.820406 -0.025032 0.571221 
time: 1403638528.627830, t: 0.171529 -0.191752 0.170236 q: -0.003629 0.822587 -0.032755 0.567683 
time: 1403638528.727829, t: 0.205270 -0.179144 0.170535 q: -0.001053 0.822646 -0.038870 0.567222 
time: 1403638528.827830, t: 0.229600 -0.170783 0.174654 q: 0.001098 0.821608 -0.045189 0.568257 
time: 1403638528.927830, t: 0.236579 -0.165779 0.183454 q: -0.004634 0.820699 -0.053396 0.568841 
time: 1403638529.027829, t: 0.226180 -0.159245 0.199200 q: -0.009674 0.821223 -0.058107 0.567559 
optimize pose graph 
time: 1403638529.127830, t: 0.201309 -0.149126 0.212052 q: 0.001724 0.821844 -0.055152 0.567034 
time: 1403638529.227829, t: 0.169503 -0.132389 0.216305 q: 0.017576 0.822992 -0.048054 0.565745 
time: 1403638529.327830, t: 0.130627 -0.109492 0.215774 q: 0.026330 0.826352 -0.043897 0.560822 
time: 1403638529.427830, t: 0.094767 -0.096076 0.193916 q: 0.028538 0.833553 -0.040354 0.550224 
time: 1403638529.527829, t: 0.064127 -0.079010 0.171050 q: 0.025673 0.844621 -0.039139 0.533314 
time: 1403638529.627830, t: 0.041969 -0.069016 0.146736 q: 0.026891 0.851818 -0.035846 0.521918 
time: 1403638529.727829, t: 0.027680 -0.057931 0.122165 q: 0.027174 0.851784 -0.034042 0.522079 
time: 1403638529.827830, t: 0.019485 -0.048145 0.099507 q: 0.026186 0.845684 -0.034975 0.531892 
time: 1403638529.927830, t: 0.016545 -0.041441 0.080922 q: 0.026300 0.840660 -0.035453 0.539762 
time: 1403638530.027829, t: 0.022737 -0.038283 0.068518 q: 0.026773 0.840420 -0.035640 0.540099 
time: 1403638530.127830, t: 0.034087 -0.037697 0.058091 q: 0.027103 0.842531 -0.037818 0.536634 
time: 1403638530.227829, t: 0.048745 -0.038664 0.047917 q: 0.029501 0.842951 -0.043692 0.535402 
time: 1403638530.327830, t: 0.062873 -0.041308 0.037791 q: 0.031136 0.842143 -0.050041 0.536024 
time: 1403638530.427830, t: 0.075842 -0.044920 0.028639 q: 0.034730 0.841499 -0.054215 0.536408 
time: 1403638530.527829, t: 0.085891 -0.048869 0.022134 q: 0.032639 0.841274 -0.058304 0.536463 
time: 1403638530.627830, t: 0.091935 -0.053222 0.016500 q: 0.035136 0.842347 -0.061238 0.534291 
time: 1403638530.727829, t: 0.095848 -0.056110 0.010605 q: 0.035979 0.846045 -0.063751 0.528062 
time: 1403638530.827830, t: 0.098651 -0.058339 0.004984 q: 0.036193 0.848049 -0.064580 0.524721 
time: 1403638530.927830, t: 0.100319 -0.059285 0.001448 q: 0.034263 0.847116 -0.064301 0.526389 
time: 1403638531.027829, t: 0.100925 -0.059372 -0.001097 q: 0.033343 0.844394 -0.064351 0.530797 
time: 1403638531.127830, t: 0.100628 -0.058302 -0.001483 q: 0.035978 0.840780 -0.063049 0.536487 
optimize pose graph 
time: 1403638531.227829, t: 0.101055 -0.056973 -0.001989 q: 0.037984 0.840525 -0.060198 0.537076 
time: 1403638531.327830, t: 0.100981 -0.055527 -0.002655 q: 0.038353 0.837072 -0.060050 0.542433 
time: 1403638531.427830, t: 0.100888 -0.055566 -0.002716 q: 0.038767 0.837959 -0.059311 0.541114 
time: 1403638531.527829, t: 0.100542 -0.055648 -0.002692 q: 0.038385 0.837144 -0.059875 0.542338 
time: 1403638531.627830, t: 0.100468 -0.055791 -0.002773 q: 0.039261 0.837225 -0.059053 0.542242 
time: 1403638531.727829, t: 0.100548 -0.055812 -0.002907 q: 0.039407 0.837311 -0.059609 0.542037 
time: 1403638531.827830, t: 0.100452 -0.055790 -0.002819 q: 0.039514 0.837274 -0.059795 0.542066 
time: 1403638531.927830, t: 0.100457 -0.055777 -0.002829 q: 0.039547 0.837211 -0.060051 0.542132 
time: 1403638532.027829, t: 0.100462 -0.055782 -0.002851 q: 0.039665 0.837154 -0.060316 0.542182 
time: 1403638532.127830, t: 0.100491 -0.055846 -0.002836 q: 0.039921 0.837097 -0.060555 0.542225 
time: 1403638532.227829, t: 0.100455 -0.055872 -0.002851 q: 0.040109 0.837122 -0.060437 0.542185 
time: 1403638532.327830, t: 0.100472 -0.055964 -0.002839 q: 0.040464 0.837045 -0.060564 0.542264 
time: 1403638532.427830, t: 0.100465 -0.056013 -0.002839 q: 0.040614 0.837028 -0.060569 0.542279 
time: 1403638532.527829, t: 0.100471 -0.056044 -0.002835 q: 0.040749 0.836993 -0.060675 0.542310 
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time: 1403638540.027829, t: 0.220259 -0.062080 0.176026 q: 0.035403 0.831543 -0.054988 0.551597 
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time: 1403638540.427830, t: 0.347488 -0.066817 0.213928 q: 0.036030 0.826683 -0.048741 0.559393 
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time: 1403638541.127830, t: 0.695110 -0.011313 0.258305 q: -0.032731 0.821119 0.088200 0.562951 
optimize pose graph 
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time: 1403638541.627830, t: 0.958311 0.149935 0.288303 q: -0.046888 0.816712 0.110074 0.564506 
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time: 1403638543.127830, t: 1.511027 1.134319 0.596116 q: -0.174725 0.781594 0.261623 0.538642 
optimize pose graph 
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time: 1403638597.827830, t: 8.202387 -2.316336 2.603339 q: 0.166902 0.788813 -0.118853 0.579476 
time: 1403638597.927830, t: 8.232392 -2.060857 2.590763 q: 0.170973 0.791524 -0.107336 0.576833 
time: 1403638598.027829, t: 8.263420 -1.794352 2.580289 q: 0.168667 0.792595 -0.100638 0.577249 
time: 1403638598.127830, t: 8.293596 -1.515799 2.577744 q: 0.153205 0.793230 -0.104450 0.580004 
time: 1403638598.227829, t: 8.318123 -1.228369 2.580835 q: 0.132335 0.794339 -0.113989 0.581825 
time: 1403638598.427830, t: 8.359325 -0.647927 2.584923 q: 0.110660 0.799118 -0.124648 0.577606 
time: 1403638598.527829, t: 8.374485 -0.359220 2.577469 q: 0.106746 0.800929 -0.124404 0.575884 
time: 1403638598.627830, t: 8.386995 -0.073418 2.561521 q: 0.101840 0.804300 -0.119172 0.573173 
time: 1403638598.827830, t: 8.410795 0.490741 2.529096 q: 0.086644 0.807405 -0.096129 0.575629 
time: 1403638598.927830, t: 8.419202 0.769288 2.519735 q: 0.077204 0.809898 -0.080581 0.575856 
time: 1403638599.027829, t: 8.426906 1.047496 2.513885 q: 0.064568 0.811622 -0.064963 0.576958 
time: 1403638599.127830, t: 8.431433 1.322639 2.516913 q: 0.053665 0.812723 -0.046738 0.578288 
time: 1403638599.227829, t: 8.432536 1.596816 2.524183 q: 0.042291 0.814223 -0.028113 0.578327 
time: 1403638599.327830, t: 8.432210 1.870741 2.537956 q: 0.029252 0.816185 -0.009944 0.576964 
time: 1403638599.427830, t: 8.427257 2.143821 2.558925 q: 0.020019 0.818957 0.006547 0.573469 
time: 1403638599.527829, t: 8.423870 2.415601 2.580977 q: 0.013208 0.821121 0.017538 0.570332 
time: 1403638599.627830, t: 8.420645 2.685040 2.595861 q: 0.007480 0.822778 0.022766 0.567858 
time: 1403638599.727829, t: 8.414679 2.951481 2.600058 q: 0.005340 0.823910 0.025934 0.566102 
time: 1403638599.827830, t: 8.414438 3.216890 2.595707 q: 0.004464 0.824501 0.025038 0.565288 
time: 1403638599.927830, t: 8.416725 3.478654 2.585886 q: 0.001793 0.825643 0.021150 0.563794 
time: 1403638600.027829, t: 8.421288 3.737735 2.569830 q: -0.003223 0.824912 0.014621 0.565063 
time: 1403638600.127830, t: 8.429700 3.991622 2.551360 q: -0.011509 0.826965 0.005181 0.562111 
time: 1403638600.227829, t: 8.440996 4.239035 2.530163 q: -0.023352 0.829793 -0.006539 0.557545 
time: 1403638600.327830, t: 8.456593 4.476605 2.507308 q: -0.032175 0.831585 -0.016213 0.554228 
time: 1403638600.427830, t: 8.475837 4.704516 2.487521 q: -0.040026 0.832845 -0.024652 0.551506 
time: 1403638600.627830, t: 8.531389 5.112937 2.472221 q: -0.040940 0.835074 -0.028980 0.547846 
time: 1403638600.727829, t: 8.566000 5.297925 2.476444 q: -0.041417 0.837287 -0.030274 0.544352 
time: 1403638600.827830, t: 8.606695 5.469158 2.487433 q: -0.037784 0.841275 -0.027212 0.538598 
time: 1403638600.927830, t: 8.653370 5.626246 2.502861 q: -0.022086 0.844438 -0.014803 0.534992 
time: 1403638601.027829, t: 8.709186 5.773117 2.512220 q: -0.008556 0.845214 -0.003773 0.534346 
time: 1403638601.127830, t: 8.771717 5.914470 2.516722 q: -0.002050 0.843934 0.002253 0.536438 
optimize pose graph 
time: 1403638601.227829, t: 8.840381 6.054817 2.518444 q: 0.006648 0.840909 0.009627 0.541050 
time: 1403638601.327830, t: 8.915766 6.192540 2.516879 q: 0.012735 0.833482 0.016357 0.552157 
time: 1403638601.427830, t: 8.996131 6.335280 2.516656 q: 0.002126 0.829117 0.018996 0.558748 
time: 1403638601.527829, t: 9.079264 6.479058 2.523602 q: -0.009791 0.824888 0.028714 0.564481 
time: 1403638601.627830, t: 9.164939 6.622499 2.535155 q: -0.020953 0.821447 0.045736 0.568061 
time: 1403638601.727829, t: 9.248544 6.766531 2.553566 q: -0.033212 0.818703 0.068968 0.569092 
time: 1403638601.827830, t: 9.329743 6.910581 2.579972 q: -0.046797 0.814124 0.096825 0.570646 
time: 1403638601.927830, t: 9.407003 7.057256 2.611290 q: -0.060975 0.809353 0.124590 0.570708 
time: 1403638602.027829, t: 9.480040 7.205208 2.639466 q: -0.074010 0.806774 0.144884 0.568020 
time: 1403638602.127830, t: 9.550445 7.353592 2.660914 q: -0.082225 0.803534 0.160353 0.567326 
time: 1403638602.227829, t: 9.618122 7.503552 2.676132 q: -0.087734 0.797066 0.177169 0.570614 
time: 1403638602.327830, t: 9.679677 7.657759 2.687534 q: -0.101177 0.788293 0.193296 0.575321 
time: 1403638602.427830, t: 9.733101 7.814627 2.704097 q: -0.133394 0.772452 0.200961 0.587485 
time: 1403638602.527829, t: 9.774430 7.966795 2.733148 q: -0.169324 0.748739 0.206214 0.606791 
time: 1403638602.627830, t: 9.803067 8.108072 2.768632 q: -0.198620 0.731646 0.214246 0.615909 
time: 1403638602.727829, t: 9.815752 8.232874 2.805951 q: -0.213707 0.725243 0.231207 0.612287 
time: 1403638602.827830, t: 9.814066 8.339850 2.851091 q: -0.221791 0.721401 0.252376 0.605554 
time: 1403638602.927830, t: 9.797066 8.429192 2.898444 q: -0.235912 0.719538 0.270510 0.594504 
time: 1403638603.027829, t: 9.771052 8.509196 2.943970 q: -0.257513 0.718074 0.283969 0.580877 
time: 1403638603.127830, t: 9.735585 8.572637 2.984997 q: -0.274228 0.710168 0.297842 0.575978 
time: 1403638603.227829, t: 9.693758 8.621726 3.015530 q: -0.278615 0.709391 0.313719 0.566319 
optimize pose graph 
time: 1403638603.327830, t: 9.646842 8.657393 3.035540 q: -0.272283 0.721233 0.330383 0.544548 
time: 1403638603.427830, t: 9.596672 8.682017 3.048497 q: -0.266433 0.731992 0.341563 0.525867 
time: 1403638603.527829, t: 9.546775 8.701758 3.057538 q: -0.264507 0.735429 0.347022 0.518417 
time: 1403638603.627830, t: 9.499740 8.719121 3.063457 q: -0.268969 0.729358 0.349346 0.523115 
time: 1403638603.727829, t: 9.453417 8.730972 3.064033 q: -0.266092 0.720976 0.354131 0.532899 
time: 1403638603.827830, t: 9.404970 8.738671 3.058077 q: -0.259882 0.713095 0.359304 0.543007 
time: 1403638603.927830, t: 9.350036 8.739390 3.046098 q: -0.253323 0.705739 0.363972 0.552525 
time: 1403638604.027829, t: 9.286504 8.738993 3.026535 q: -0.248060 0.700585 0.366555 0.559718 
time: 1403638604.127830, t: 9.213737 8.733503 3.008019 q: -0.244800 0.697381 0.368434 0.563905 
time: 1403638604.227829, t: 9.130419 8.729148 2.994307 q: -0.247868 0.698836 0.366843 0.561798 
time: 1403638604.327830, t: 9.035108 8.717844 2.988771 q: -0.254639 0.705314 0.363068 0.553058 
time: 1403638604.427830, t: 8.931593 8.701300 2.987871 q: -0.256908 0.713432 0.361872 0.542274 
time: 1403638604.527829, t: 8.822878 8.679431 2.994972 q: -0.254084 0.720545 0.364096 0.532626 
time: 1403638604.627830, t: 8.709995 8.655473 3.001174 q: -0.253202 0.723581 0.365011 0.528287 
time: 1403638604.727829, t: 8.595428 8.631962 3.001105 q: -0.257320 0.726259 0.362196 0.524546 
time: 1403638604.827830, t: 8.481391 8.608295 2.998200 q: -0.260512 0.728650 0.359734 0.521338 
time: 1403638604.927830, t: 8.367658 8.580410 2.999120 q: -0.258941 0.732819 0.360679 0.515593 
time: 1403638605.027829, t: 8.255198 8.551895 3.004484 q: -0.256023 0.740006 0.362777 0.505209 
time: 1403638605.127830, t: 8.145180 8.522577 3.018854 q: -0.253139 0.745382 0.364867 0.497190 
time: 1403638605.227829, t: 8.042434 8.497029 3.039668 q: -0.250119 0.747242 0.367177 0.494218 
optimize pose graph 
time: 1403638605.327830, t: 7.945854 8.477514 3.059404 q: -0.245400 0.746227 0.370698 0.495487 
time: 1403638605.427830, t: 7.853010 8.463625 3.073741 q: -0.238669 0.738532 0.375835 0.506316 
time: 1403638605.527829, t: 7.761807 8.452375 3.084401 q: -0.232770 0.728191 0.380655 0.520248 
time: 1403638605.627830, t: 7.667535 8.445397 3.088779 q: -0.226773 0.720605 0.385342 0.529919 
time: 1403638605.727829, t: 7.567101 8.443108 3.091432 q: -0.224012 0.717215 0.387595 0.534033 
time: 1403638605.827830, t: 7.458880 8.444685 3.101580 q: -0.222553 0.717667 0.388706 0.533228 
time: 1403638605.927830, t: 7.346450 8.453114 3.118917 q: -0.219762 0.717096 0.390306 0.533984 
time: 1403638606.027829, t: 7.226422 8.466774 3.139072 q: -0.215832 0.716318 0.392114 0.535306 
time: 1403638606.127830, t: 7.099787 8.487029 3.154427 q: -0.212968 0.716341 0.393080 0.535714 
time: 1403638606.227829, t: 6.965212 8.510154 3.160728 q: -0.210029 0.716315 0.394635 0.535764 
time: 1403638606.327830, t: 6.824832 8.541975 3.161592 q: -0.211252 0.720276 0.392671 0.531399 
time: 1403638606.427830, t: 6.678006 8.577418 3.152300 q: -0.218286 0.730515 0.386940 0.518629 
time: 1403638606.527829, t: 6.529495 8.616840 3.137496 q: -0.226940 0.741074 0.380238 0.504705 
time: 1403638606.627830, t: 6.383049 8.663102 3.119632 q: -0.232582 0.747154 0.378993 0.493995 
time: 1403638606.727829, t: 6.240137 8.717622 3.096102 q: -0.236674 0.748611 0.385556 0.484678 
time: 1403638606.827830, t: 6.101710 8.778913 3.069085 q: -0.243310 0.746057 0.396684 0.476278 
time: 1403638606.927830, t: 5.969623 8.848898 3.043720 q: -0.253056 0.739999 0.410919 0.468518 
time: 1403638607.027829, t: 5.844827 8.927641 3.025921 q: -0.266363 0.731723 0.425791 0.460796 
time: 1403638607.127830, t: 5.727247 9.013101 3.016772 q: -0.283152 0.724141 0.435285 0.453842 
time: 1403638607.227829, t: 5.616927 9.106121 3.013773 q: -0.297552 0.711600 0.441238 0.458691 
time: 1403638607.327830, t: 5.512814 9.201932 3.005100 q: -0.310388 0.699885 0.443209 0.466247 
optimize pose graph 
time: 1403638607.427830, t: 5.411825 9.298417 2.988387 q: -0.319548 0.693409 0.443698 0.469260 
time: 1403638607.527829, t: 5.315249 9.391970 2.963187 q: -0.323828 0.692466 0.444309 0.467134 
time: 1403638607.627830, t: 5.223203 9.482362 2.932995 q: -0.325057 0.691144 0.445516 0.467090 
time: 1403638607.727829, t: 5.133924 9.571296 2.901194 q: -0.324712 0.688790 0.445787 0.470536 
time: 1403638607.827830, t: 5.049832 9.657334 2.865224 q: -0.324044 0.689384 0.445422 0.470472 
time: 1403638607.927830, t: 4.972315 9.740537 2.824329 q: -0.326504 0.693646 0.442029 0.465683 
time: 1403638608.027829, t: 4.898829 9.822600 2.780678 q: -0.328698 0.695436 0.438360 0.464937 
time: 1403638608.127830, t: 4.831196 9.901822 2.732730 q: -0.327197 0.692838 0.437370 0.470771 
time: 1403638608.227829, t: 4.766436 9.977491 2.679563 q: -0.323709 0.688883 0.437897 0.478434 
time: 1403638608.327830, t: 4.706186 10.050399 2.621847 q: -0.323814 0.683955 0.436337 0.486785 
time: 1403638608.427830, t: 4.644943 10.118388 2.559631 q: -0.324402 0.680405 0.435484 0.492103 
time: 1403638608.527829, t: 4.586379 10.182711 2.490412 q: -0.322806 0.682202 0.436241 0.489991 
time: 1403638608.627830, t: 4.526409 10.241251 2.420062 q: -0.325016 0.681313 0.434001 0.491752 
time: 1403638608.727829, t: 4.465942 10.294741 2.355056 q: -0.328847 0.678547 0.431767 0.494986 
time: 1403638608.927830, t: 4.352981 10.383460 2.237669 q: -0.325447 0.684918 0.434902 0.485624 
time: 1403638609.127830, t: 4.248751 10.452609 2.146569 q: -0.324748 0.690080 0.435824 0.477898 
time: 1403638609.227829, t: 4.199126 10.482603 2.108768 q: -0.331559 0.690176 0.430827 0.477612 
time: 1403638609.327830, t: 4.151849 10.508407 2.067149 q: -0.335336 0.690667 0.427749 0.477032 
time: 1403638609.427830, t: 4.108501 10.532611 2.017401 q: -0.332122 0.690719 0.429420 0.477703 
optimize pose graph 
time: 1403638609.527829, t: 4.068852 10.549049 1.962305 q: -0.328442 0.690713 0.431511 0.478372 
time: 1403638609.627830, t: 4.031386 10.566361 1.898907 q: -0.326501 0.690830 0.432121 0.478981 
time: 1403638609.727829, t: 3.997548 10.578010 1.834338 q: -0.323539 0.689570 0.434311 0.480822 
time: 1403638609.827830, t: 3.965269 10.590323 1.771622 q: -0.323918 0.690584 0.433851 0.479525 
time: 1403638609.927830, t: 3.934649 10.596606 1.718226 q: -0.324085 0.690234 0.433482 0.480249 
time: 1403638610.027829, t: 3.906280 10.603948 1.671831 q: -0.326200 0.689150 0.431612 0.482055 
time: 1403638610.127830, t: 3.883474 10.603191 1.633147 q: -0.329470 0.686272 0.429259 0.486022 
time: 1403638610.227829, t: 3.860793 10.599043 1.594472 q: -0.330837 0.683517 0.428158 0.489931 
time: 1403638610.327830, t: 3.839349 10.590646 1.548574 q: -0.332115 0.682639 0.426850 0.491429 
time: 1403638610.427830, t: 3.816735 10.580009 1.493643 q: -0.333326 0.682355 0.425273 0.492369 
time: 1403638610.527829, t: 3.799547 10.560609 1.439413 q: -0.333083 0.679342 0.425269 0.496686 
time: 1403638610.627830, t: 3.782768 10.537374 1.384381 q: -0.338699 0.672219 0.421416 0.505779 
time: 1403638610.727829, t: 3.763423 10.506811 1.329047 q: -0.338902 0.672918 0.421825 0.504372 
time: 1403638610.827830, t: 3.742551 10.466096 1.277591 q: -0.335680 0.680156 0.425381 0.493718 
time: 1403638610.927830, t: 3.724842 10.419949 1.233697 q: -0.334149 0.683007 0.427996 0.488534 
time: 1403638611.027829, t: 3.705206 10.369204 1.191366 q: -0.336949 0.682059 0.425831 0.489825 
time: 1403638611.127830, t: 3.686635 10.314354 1.142046 q: -0.339471 0.679624 0.424451 0.492658 
time: 1403638611.227829, t: 3.668167 10.252141 1.090139 q: -0.339226 0.679130 0.425200 0.492863 
time: 1403638611.327830, t: 3.653319 10.185752 1.046054 q: -0.336438 0.678498 0.427589 0.493576 
time: 1403638611.427830, t: 3.634662 10.113373 1.005295 q: -0.325706 0.674017 0.434267 0.501028 
optimize pose graph 
time: 1403638611.627830, t: 3.593127 9.956356 0.952438 q: -0.309738 0.673064 0.443781 0.504089 
time: 1403638611.727829, t: 3.559463 9.874853 0.929033 q: -0.311454 0.677373 0.441761 0.499008 
time: 1403638611.827830, t: 3.526511 9.791879 0.903108 q: -0.317649 0.683246 0.436828 0.491381 
time: 1403638612.027829, t: 3.464223 9.627369 0.836525 q: -0.322814 0.690758 0.431742 0.481917 
time: 1403638612.127830, t: 3.437744 9.546267 0.805842 q: -0.324186 0.692609 0.430270 0.479649 
time: 1403638612.227829, t: 3.412707 9.462163 0.783370 q: -0.323313 0.693178 0.430404 0.479298 
time: 1403638612.327830, t: 3.390127 9.379175 0.767784 q: -0.322772 0.692866 0.430546 0.479985 
time: 1403638612.427830, t: 3.372020 9.295003 0.754117 q: -0.321926 0.691846 0.430429 0.482124 
time: 1403638612.627830, t: 3.334825 9.126054 0.708157 q: -0.315110 0.688169 0.432180 0.490254 
time: 1403638612.727829, t: 3.316498 9.041777 0.676216 q: -0.310897 0.686366 0.433271 0.494491 
time: 1403638612.827830, t: 3.295748 8.955644 0.641057 q: -0.309893 0.685426 0.431670 0.497814 
time: 1403638612.927830, t: 3.268749 8.869845 0.608973 q: -0.310640 0.685096 0.429115 0.500007 
time: 1403638613.027829, t: 3.241155 8.784086 0.582589 q: -0.310388 0.687519 0.428093 0.497707 
time: 1403638613.127830, t: 3.211098 8.697678 0.564858 q: -0.310522 0.689044 0.427184 0.496294 
time: 1403638613.227829, t: 3.176968 8.611750 0.556156 q: -0.310195 0.690840 0.426901 0.494242 
time: 1403638613.327830, t: 3.147286 8.526046 0.552891 q: -0.309191 0.691374 0.427508 0.493599 
time: 1403638613.427830, t: 3.112262 8.441099 0.553660 q: -0.308309 0.690763 0.427964 0.494610 
time: 1403638613.527829, t: 3.078879 8.353952 0.547062 q: -0.309463 0.690686 0.424477 0.496996 
optimize pose graph 
time: 1403638613.627830, t: 3.045213 8.266833 0.534990 q: -0.311312 0.692278 0.418332 0.498833 
time: 1403638613.727829, t: 3.006588 8.180214 0.516243 q: -0.315079 0.691356 0.411642 0.503292 
time: 1403638613.827830, t: 2.970304 8.091031 0.491527 q: -0.314864 0.691977 0.404258 0.508531 
time: 1403638613.927830, t: 2.930322 7.996382 0.456691 q: -0.309367 0.696244 0.395280 0.513118 
time: 1403638614.027829, t: 2.893632 7.895693 0.419369 q: -0.298814 0.703358 0.384514 0.517828 
time: 1403638614.127830, t: 2.850511 7.790933 0.374872 q: -0.285755 0.712836 0.371242 0.521907 
time: 1403638614.227829, t: 2.806198 7.683259 0.334590 q: -0.272079 0.722898 0.357725 0.524809 
time: 1403638614.327830, t: 2.761921 7.573989 0.300110 q: -0.262110 0.730913 0.346233 0.526485 
time: 1403638614.427830, t: 2.720512 7.464045 0.273355 q: -0.256947 0.736698 0.336586 0.527223 
time: 1403638614.527829, t: 2.679510 7.352801 0.259308 q: -0.254177 0.741132 0.328628 0.527372 
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time: 1403638619.627830, t: 3.745065 1.686406 0.686323 q: 0.096967 0.802721 -0.155584 0.567476 
time: 1403638619.727829, t: 3.823894 1.625830 0.671575 q: 0.091380 0.800126 -0.170330 0.567834 
time: 1403638619.827830, t: 3.900910 1.562722 0.655619 q: 0.088916 0.797470 -0.179131 0.569252 
time: 1403638619.927830, t: 3.974415 1.497304 0.637487 q: 0.089332 0.796070 -0.184014 0.569589 
time: 1403638620.027829, t: 4.044849 1.429199 0.613655 q: 0.091909 0.794852 -0.185990 0.570237 
time: 1403638620.127830, t: 4.108095 1.355133 0.598955 q: 0.095020 0.792264 -0.185868 0.573361 
time: 1403638620.227829, t: 4.167414 1.282661 0.586158 q: 0.097900 0.790021 -0.185355 0.576131 
time: 1403638620.327830, t: 4.218818 1.204387 0.585752 q: 0.101701 0.791857 -0.182723 0.573788 
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time: 1403638620.727829, t: 4.382577 0.891612 0.597760 q: 0.097900 0.799822 -0.178364 0.564700 
time: 1403638620.827830, t: 4.415607 0.810253 0.591736 q: 0.096530 0.803022 -0.176696 0.560907 
time: 1403638620.927830, t: 4.450093 0.728804 0.580163 q: 0.101577 0.804882 -0.170755 0.559187 
time: 1403638621.027829, t: 4.482178 0.648044 0.564698 q: 0.106325 0.804035 -0.164897 0.561277 
time: 1403638621.127830, t: 4.508764 0.569106 0.550230 q: 0.106970 0.802927 -0.161626 0.563687 
time: 1403638621.227829, t: 4.539292 0.490540 0.544357 q: 0.106686 0.801380 -0.159209 0.566622 
time: 1403638621.327830, t: 4.568613 0.415353 0.546330 q: 0.108372 0.801854 -0.156291 0.566444 
time: 1403638621.427830, t: 4.595764 0.340570 0.545386 q: 0.108310 0.800666 -0.154190 0.568708 
time: 1403638621.527829, t: 4.619737 0.274114 0.540430 q: 0.109439 0.798605 -0.151768 0.572032 
time: 1403638621.627830, t: 4.643903 0.206325 0.529542 q: 0.109272 0.796945 -0.150349 0.574746 
time: 1403638621.727829, t: 4.663874 0.146869 0.513569 q: 0.109748 0.796085 -0.149272 0.576126 
time: 1403638621.827830, t: 4.682859 0.085225 0.494743 q: 0.111167 0.793835 -0.147694 0.579357 
time: 1403638621.927830, t: 4.695542 0.028596 0.473238 q: 0.112578 0.790403 -0.146094 0.584163 
time: 1403638622.027829, t: 4.703209 -0.017796 0.449880 q: 0.112146 0.788922 -0.146307 0.586190 
time: 1403638622.127830, t: 4.708006 -0.066842 0.418616 q: 0.109480 0.789544 -0.148453 0.585317 
time: 1403638622.227829, t: 4.706270 -0.108279 0.390447 q: 0.107180 0.789958 -0.150191 0.584741 
time: 1403638622.327830, t: 4.700421 -0.150313 0.367042 q: 0.104838 0.789967 -0.152197 0.584635 
time: 1403638622.427830, t: 4.686331 -0.188084 0.353076 q: 0.107239 0.790805 -0.151535 0.583237 
time: 1403638622.527829, t: 4.665764 -0.222196 0.349777 q: 0.110106 0.790895 -0.150307 0.582897 
time: 1403638622.627830, t: 4.643736 -0.253700 0.350465 q: 0.115002 0.789342 -0.147711 0.584719 
time: 1403638622.727829, t: 4.615678 -0.279624 0.365639 q: 0.118135 0.781468 -0.146020 0.595005 
time: 1403638622.827830, t: 4.583505 -0.301642 0.384512 q: 0.119993 0.771863 -0.145522 0.607168 
time: 1403638622.927830, t: 4.539658 -0.316529 0.409256 q: 0.119500 0.771994 -0.146830 0.606783 
time: 1403638623.027829, t: 4.485190 -0.324262 0.427444 q: 0.116902 0.778140 -0.150022 0.598603 
time: 1403638623.127830, t: 4.425511 -0.329490 0.435379 q: 0.112842 0.783807 -0.153594 0.591034 
time: 1403638623.227829, t: 4.355658 -0.329305 0.441436 q: 0.108893 0.786801 -0.156693 0.586970 
time: 1403638623.327830, t: 4.281995 -0.328074 0.442444 q: 0.106484 0.790190 -0.158777 0.582280 
time: 1403638623.427830, t: 4.208263 -0.327022 0.438229 q: 0.106601 0.792951 -0.158853 0.578473 
time: 1403638623.527829, t: 4.128170 -0.324911 0.430804 q: 0.105246 0.793392 -0.159733 0.577873 
time: 1403638623.627830, t: 4.047889 -0.322132 0.431339 q: 0.108070 0.792825 -0.158442 0.578486 
optimize pose graph 
time: 1403638623.727829, t: 3.960139 -0.319108 0.435798 q: 0.109765 0.793454 -0.157987 0.577428 
time: 1403638623.827830, t: 3.872431 -0.313819 0.449143 q: 0.111460 0.794340 -0.157674 0.575969 
time: 1403638623.927830, t: 3.780972 -0.306865 0.466211 q: 0.113022 0.796009 -0.158276 0.573189 
time: 1403638624.027829, t: 3.689158 -0.298534 0.476432 q: 0.113316 0.796611 -0.159451 0.571966 
time: 1403638624.127830, t: 3.596748 -0.288256 0.485137 q: 0.111181 0.797051 -0.162385 0.570946 
time: 1403638624.327830, t: 3.410723 -0.266376 0.487824 q: 0.107717 0.796234 -0.167345 0.571318 
time: 1403638624.427830, t: 3.316721 -0.255568 0.482500 q: 0.107665 0.795999 -0.168731 0.571248 
time: 1403638624.527829, t: 3.227174 -0.244539 0.473124 q: 0.106679 0.792929 -0.171186 0.574960 
time: 1403638624.627830, t: 3.129437 -0.236011 0.459463 q: 0.104197 0.783289 -0.173677 0.587739 
time: 1403638624.727829, t: 3.029396 -0.228008 0.445341 q: 0.108541 0.785756 -0.166958 0.585604 
time: 1403638624.827830, t: 2.933944 -0.219393 0.438886 q: 0.111762 0.792825 -0.157503 0.578040 
time: 1403638624.927830, t: 2.824458 -0.207509 0.440087 q: 0.109096 0.797257 -0.152118 0.573881 
time: 1403638625.027829, t: 2.722464 -0.189306 0.448145 q: 0.102162 0.798824 -0.150767 0.573334 
time: 1403638625.127830, t: 2.619873 -0.173336 0.452126 q: 0.094179 0.799891 -0.151511 0.573017 
time: 1403638625.227829, t: 2.513097 -0.161040 0.449853 q: 0.090096 0.801039 -0.150599 0.572310 
time: 1403638625.327830, t: 2.411743 -0.151371 0.445925 q: 0.088921 0.801400 -0.149162 0.572366 
time: 1403638625.427830, t: 2.304788 -0.142949 0.442073 q: 0.088448 0.801245 -0.147931 0.572975 
time: 1403638625.527829, t: 2.200994 -0.135693 0.445097 q: 0.088432 0.801062 -0.147469 0.573352 
time: 1403638625.627830, t: 2.093513 -0.128965 0.455186 q: 0.088987 0.802492 -0.147253 0.571318 
time: 1403638625.727829, t: 1.985997 -0.122163 0.471076 q: 0.087912 0.805381 -0.148036 0.567202 
optimize pose graph 
time: 1403638625.827830, t: 1.879000 -0.115321 0.485896 q: 0.087226 0.809721 -0.149101 0.560814 
time: 1403638625.927830, t: 1.775761 -0.113685 0.495001 q: 0.088380 0.810746 -0.148865 0.559213 
time: 1403638626.027829, t: 1.673560 -0.110880 0.499396 q: 0.088358 0.811487 -0.149923 0.557858 
time: 1403638626.127830, t: 1.574763 -0.112445 0.498211 q: 0.086637 0.811924 -0.151785 0.556988 
time: 1403638626.227829, t: 1.479247 -0.112868 0.492123 q: 0.088325 0.811782 -0.151190 0.557090 
time: 1403638626.327830, t: 1.386541 -0.118824 0.483239 q: 0.094569 0.809889 -0.147292 0.559858 
time: 1403638626.427830, t: 1.295613 -0.123359 0.472028 q: 0.100179 0.807757 -0.143147 0.563029 
time: 1403638626.527829, t: 1.205826 -0.126074 0.456796 q: 0.101620 0.809091 -0.141692 0.561221 
time: 1403638626.627830, t: 1.119592 -0.129794 0.441054 q: 0.100344 0.811212 -0.142426 0.558194 
time: 1403638626.727829, t: 1.034999 -0.131580 0.426282 q: 0.098602 0.814041 -0.143125 0.554193 
time: 1403638626.827830, t: 0.953384 -0.134377 0.419136 q: 0.096798 0.817282 -0.143990 0.549497 
time: 1403638626.927830, t: 0.881664 -0.137304 0.419412 q: 0.096711 0.819595 -0.143485 0.546190 
time: 1403638627.027829, t: 0.811446 -0.139456 0.421993 q: 0.095989 0.819712 -0.143217 0.546211 
time: 1403638627.127830, t: 0.749593 -0.143517 0.421105 q: 0.095192 0.819540 -0.142976 0.546673 
time: 1403638627.227829, t: 0.691295 -0.147765 0.416094 q: 0.094566 0.819471 -0.142725 0.546949 
time: 1403638627.327830, t: 0.633222 -0.146448 0.404786 q: 0.097309 0.819421 -0.140523 0.547114 
time: 1403638627.427830, t: 0.587571 -0.151435 0.396087 q: 0.098397 0.819348 -0.139424 0.547310 
time: 1403638627.527829, t: 0.544953 -0.154774 0.382853 q: 0.098095 0.818997 -0.139705 0.547816 
time: 1403638627.627830, t: 0.506587 -0.157982 0.368500 q: 0.101281 0.816979 -0.138162 0.550635 
time: 1403638627.727829, t: 0.472876 -0.160523 0.353938 q: 0.102205 0.813975 -0.137881 0.554966 
time: 1403638627.827830, t: 0.439296 -0.158155 0.340603 q: 0.103530 0.812690 -0.137662 0.556656 
optimize pose graph 
time: 1403638628.027829, t: 0.382236 -0.153798 0.312799 q: 0.105602 0.815428 -0.137719 0.552231 
time: 1403638628.227829, t: 0.337285 -0.143358 0.289252 q: 0.106630 0.816522 -0.139100 0.550066 
time: 1403638628.327830, t: 0.323341 -0.134674 0.279071 q: 0.106419 0.817159 -0.140249 0.548868 
time: 1403638628.427830, t: 0.313678 -0.125324 0.272233 q: 0.103982 0.816724 -0.142329 0.549447 
time: 1403638628.527829, t: 0.308356 -0.115620 0.269059 q: 0.095719 0.810959 -0.148696 0.557740 
time: 1403638628.627830, t: 0.304195 -0.106952 0.268605 q: 0.089462 0.804245 -0.153404 0.567145 
time: 1403638628.727829, t: 0.294114 -0.098548 0.265677 q: 0.087057 0.803724 -0.155128 0.567789 
time: 1403638628.827830, t: 0.282932 -0.093437 0.258486 q: 0.090652 0.805094 -0.152992 0.565862 
time: 1403638628.927830, t: 0.273130 -0.091260 0.247267 q: 0.095062 0.805118 -0.150491 0.565774 
time: 1403638629.027829, t: 0.264730 -0.089956 0.237385 q: 0.100005 0.806127 -0.146999 0.564402 
time: 1403638629.227829, t: 0.249338 -0.086836 0.224099 q: 0.105034 0.808429 -0.142537 0.561332 
time: 1403638629.327830, t: 0.239016 -0.082472 0.222495 q: 0.106158 0.809293 -0.141737 0.560077 
time: 1403638629.427830, t: 0.232531 -0.075894 0.221031 q: 0.105685 0.813351 -0.142646 0.554024 
time: 1403638629.527829, t: 0.226374 -0.067751 0.220070 q: 0.102822 0.818015 -0.145124 0.547008 
time: 1403638629.627830, t: 0.225610 -0.059116 0.221216 q: 0.095702 0.818329 -0.150459 0.546389 
time: 1403638629.727829, t: 0.229908 -0.051955 0.223633 q: 0.085681 0.814326 -0.158351 0.551776 
time: 1403638629.827830, t: 0.237272 -0.049388 0.226079 q: 0.081760 0.808354 -0.161638 0.560136 
time: 1403638629.927830, t: 0.242898 -0.049915 0.222235 q: 0.086849 0.802241 -0.158971 0.568853 
time: 1403638630.027829, t: 0.247173 -0.053629 0.209350 q: 0.097701 0.796440 -0.151798 0.577145 
optimize pose graph 
time: 1403638630.127830, t: 0.248535 -0.056948 0.185271 q: 0.104176 0.796811 -0.147157 0.576702 
time: 1403638630.227829, t: 0.246995 -0.058609 0.153664 q: 0.106598 0.800943 -0.145019 0.571049 
time: 1403638630.327830, t: 0.244179 -0.058907 0.116406 q: 0.108857 0.807557 -0.144511 0.561354 
time: 1403638630.427830, t: 0.254253 -0.055817 0.114999 q: 0.094124 0.813714 -0.150943 0.553377 
time: 1403638630.527829, t: 0.266742 -0.055599 0.123838 q: 0.103090 0.804174 -0.143557 0.567510 
time: 1403638630.627830, t: 0.278026 -0.054633 0.112395 q: 0.103803 0.803388 -0.143804 0.568431 
time: 1403638630.727829, t: 0.284386 -0.056855 0.094436 q: 0.094297 0.829493 -0.136977 0.533186 
time: 1403638630.827830, t: 0.281718 -0.066445 0.092771 q: 0.098367 0.827029 -0.138744 0.535815 
time: 1403638630.927830, t: 0.278168 -0.057244 0.085409 q: 0.097844 0.827735 -0.137191 0.535220 
time: 1403638631.027829, t: 0.293614 -0.071726 0.110004 q: 0.097087 0.828453 -0.137338 0.534209 
time: 1403638631.127830, t: 0.271295 -0.069737 0.095535 q: 0.096422 0.828085 -0.137486 0.534861 
time: 1403638631.227829, t: 0.291917 -0.062366 0.103632 q: 0.097387 0.828319 -0.137839 0.534232 
time: 1403638631.427830, t: 0.292872 -0.063200 0.101811 q: 0.097543 0.828101 -0.137669 0.534586 
time: 1403638631.527829, t: 0.292658 -0.063312 0.100864 q: 0.097571 0.828171 -0.137699 0.534464 
time: 1403638631.627830, t: 0.292660 -0.063604 0.099118 q: 0.097745 0.828197 -0.137512 0.534441 
optimize pose graph 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731016261.522488066]: Shutdown request received.[0m
[33m[ WARN] [1731016261.522535959]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731016261.523436846]: Shutdown request received.[0m
[33m[ WARN] [1731016261.523466254]: Reason given for shutdown: [user request][0m
killed
