/SLAM-Hive/slam_hive_results/mapping_results/3345/2100_vins-fusion-mono-imu+MH_04_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/11b1d9ea-9d5d-11ef-aaa4-0242ac110002/roslaunch-e1aee6ccf39f-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
[31m[ERROR] [1731020852.713328095]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731020852.719036042]: init begins[0m
[31m[ERROR] [1731020852.720716491]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://e1aee6ccf39f:37053/[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] [1731020853.826696445]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1731020853.842969361]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1731020853.843190512]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731020853.843213573]: 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] [1731020853.843370233]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731020853.843625543]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://e1aee6ccf39f:11311/[0m
]2;roscore http://e1aee6ccf39f:11311/
[1msetting /run_id to 11b1d9ea-9d5d-11ef-aaa4-0242ac110002[0m
[0m[ INFO] [1731020853.869697653]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mprocess[rosout-1]: started with pid [241][0m
loop start load vocabulary
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] [1731020862.688442297]: 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: 327382735.60 
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 ... 
[0m[ INFO] [1731020864.057786448]: IMU excitation not enouth![0m
[0m[ INFO] [1731020864.058932993]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731020864.270588347]: IMU excitation not enouth![0m
[0m[ INFO] [1731020864.271069953]: Not enough features or parallax; Move device around[0m
wait for imu ... 
[0m[ INFO] [1731020864.340213838]: IMU excitation not enouth![0m
[0m[ INFO] [1731020864.340685424]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731020864.538155171]: IMU excitation not enouth![0m
[0m[ INFO] [1731020864.538491159]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731020864.748771643]: IMU excitation not enouth![0m
[0m[ INFO] [1731020864.749915690]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731020864.863368737]: IMU excitation not enouth![0m
[0m[ INFO] [1731020864.863818793]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731020865.059441348]: IMU excitation not enouth![0m
[0m[ INFO] [1731020865.508548540]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1731020865.702496387]: gyroscope bias initial calibration -0.000859371    0.0337782    0.0783913[0m
[0m[ INFO] [1731020865.831387721]: Initialization finish![0m
time: 1403638129.795097, t: 0.006738 0.000507 0.065013 q: -0.022322 0.836050 0.001308 0.548198 
time: 1403638129.895097, t: 0.006789 0.003296 0.083757 q: -0.021169 0.841337 0.007045 0.540051 
time: 1403638129.995097, t: 0.008392 0.006298 0.113662 q: -0.021506 0.840100 0.009987 0.541914 
time: 1403638130.095097, t: 0.009983 0.007908 0.151588 q: -0.030964 0.830650 0.001704 0.555931 
time: 1403638130.195097, t: 0.011767 0.010660 0.190582 q: -0.036223 0.828372 0.003911 0.558993 
time: 1403638130.295097, t: 0.013056 0.013023 0.231391 q: -0.041302 0.825846 0.006385 0.562344 
time: 1403638130.395097, t: 0.014406 0.014043 0.273808 q: -0.053556 0.819141 -0.002929 0.571079 
time: 1403638130.495097, t: 0.013835 0.016073 0.313366 q: -0.056825 0.819083 0.002408 0.570848 
time: 1403638130.595097, t: 0.013544 0.018327 0.352164 q: -0.050233 0.820805 0.011616 0.568877 
time: 1403638130.695097, t: 0.011217 0.018802 0.391042 q: -0.053778 0.814102 0.006467 0.578190 
time: 1403638130.795097, t: 0.009802 0.018681 0.426341 q: -0.071359 0.807210 -0.007258 0.585890 
time: 1403638130.895097, t: 0.007246 0.017485 0.452182 q: -0.077670 0.805368 -0.008302 0.587606 
time: 1403638130.995097, t: 0.003552 0.013267 0.463773 q: -0.075990 0.795513 -0.015179 0.600961 
time: 1403638131.095097, t: 0.000553 0.009895 0.457656 q: -0.073251 0.788898 -0.019095 0.609843 
time: 1403638131.195097, t: 0.001482 0.011381 0.434856 q: -0.064161 0.797232 -0.009392 0.600180 
time: 1403638131.295097, t: 0.003625 0.014266 0.405343 q: -0.052406 0.808449 0.004146 0.586214 
time: 1403638131.395097, t: 0.004058 0.013689 0.374629 q: -0.049536 0.810969 0.005214 0.582965 
time: 1403638131.495097, t: 0.003526 0.010331 0.341100 q: -0.043203 0.810776 0.006379 0.583725 
time: 1403638131.595097, t: 0.000199 0.007720 0.301917 q: -0.040346 0.814497 0.008036 0.578708 
time: 1403638131.695097, t: -0.001949 0.004066 0.261032 q: -0.036756 0.815818 0.011675 0.577022 
time: 1403638131.795097, t: -0.005966 -0.000980 0.216360 q: -0.029492 0.816207 0.016010 0.576785 
time: 1403638131.895097, t: -0.007054 -0.005730 0.174237 q: -0.020177 0.817881 0.019604 0.574699 
time: 1403638131.995097, t: -0.010671 -0.009075 0.140581 q: -0.013410 0.819731 0.025795 0.572010 
time: 1403638132.095097, t: -0.007851 -0.004967 0.126224 q: -0.003722 0.825596 0.041198 0.562744 
time: 1403638132.195097, t: -0.008770 -0.003463 0.138449 q: -0.003334 0.826232 0.047604 0.561305 
time: 1403638132.295097, t: -0.007721 -0.001871 0.180062 q: -0.015660 0.818124 0.039790 0.573450 
time: 1403638132.395097, t: -0.007529 0.001133 0.235437 q: -0.028214 0.813600 0.034319 0.579725 
time: 1403638132.495097, t: -0.006674 0.004351 0.293690 q: -0.047462 0.805159 0.023104 0.590705 
time: 1403638132.595097, t: -0.006559 0.007468 0.348885 q: -0.065812 0.790898 0.008714 0.608336 
time: 1403638132.695097, t: -0.005565 0.015620 0.389797 q: -0.072316 0.790893 0.004863 0.607648 
time: 1403638132.795097, t: -0.004237 0.026725 0.415215 q: -0.074292 0.796398 0.003146 0.600184 
time: 1403638132.895097, t: -0.006118 0.034704 0.426227 q: -0.079914 0.788827 -0.005373 0.609374 
time: 1403638132.995097, t: -0.006692 0.036063 0.421061 q: -0.086302 0.782204 -0.006118 0.616986 
time: 1403638133.095097, t: -0.005162 0.026821 0.403159 q: -0.076582 0.787151 0.008120 0.611934 
wait for imu ... 
time: 1403638133.195097, t: -0.002792 0.005023 0.379966 q: -0.065093 0.791483 0.009762 0.607637 
time: 1403638133.295097, t: -0.000731 -0.027260 0.356081 q: -0.049521 0.793068 -0.000288 0.607116 
time: 1403638133.395097, t: -0.002961 -0.067590 0.330592 q: -0.031716 0.799158 -0.007750 0.600234 
time: 1403638133.495097, t: -0.009442 -0.113629 0.309134 q: -0.012062 0.802341 -0.021946 0.596341 
time: 1403638133.595097, t: -0.021473 -0.161197 0.290474 q: -0.004299 0.803774 -0.044339 0.593264 
time: 1403638133.695097, t: -0.038622 -0.204121 0.271411 q: -0.002975 0.807109 -0.061986 0.587132 
time: 1403638133.795097, t: -0.054296 -0.240753 0.254061 q: 0.011007 0.808900 -0.075978 0.582912 
time: 1403638133.895097, t: -0.064127 -0.267857 0.237268 q: 0.027307 0.811245 -0.083929 0.578006 
time: 1403638133.995097, t: -0.060489 -0.278099 0.229159 q: 0.034255 0.810281 -0.089672 0.578126 
time: 1403638134.095097, t: -0.039072 -0.264491 0.227605 q: 0.037534 0.813268 -0.084744 0.574460 
time: 1403638134.195097, t: -0.004583 -0.244977 0.227192 q: 0.039766 0.814826 -0.077991 0.573058 
time: 1403638134.295097, t: 0.018826 -0.210316 0.235483 q: 0.035735 0.805427 -0.085584 0.585393 
time: 1403638134.395097, t: 0.056259 -0.170872 0.240211 q: 0.026446 0.806914 -0.090168 0.583146 
time: 1403638134.495097, t: 0.090302 -0.128169 0.242566 q: 0.018789 0.808126 -0.093738 0.581200 
time: 1403638134.595097, t: 0.117855 -0.085664 0.245783 q: 0.007857 0.806437 -0.098438 0.583017 
time: 1403638134.695097, t: 0.133219 -0.040523 0.248814 q: 0.002836 0.809946 -0.097193 0.578388 
time: 1403638134.795097, t: 0.148123 0.004242 0.252169 q: -0.000056 0.817207 -0.091228 0.569079 
time: 1403638134.895097, t: 0.154928 0.045904 0.263182 q: 0.002001 0.819368 -0.086665 0.566676 
time: 1403638135.095097, t: 0.161809 0.109713 0.269348 q: 0.003898 0.819335 -0.078755 0.567867 
time: 1403638135.195097, t: 0.159582 0.127430 0.263554 q: 0.004889 0.823725 -0.070945 0.562512 
time: 1403638135.295097, t: 0.156780 0.128883 0.253002 q: 0.006830 0.825539 -0.067810 0.560215 
time: 1403638135.395097, t: 0.146454 0.118859 0.242874 q: 0.009525 0.822991 -0.069633 0.563691 
time: 1403638135.495097, t: 0.135022 0.097158 0.232521 q: 0.018342 0.825403 -0.068579 0.560063 
time: 1403638135.595097, t: 0.127489 0.071092 0.226825 q: 0.025921 0.830203 -0.068611 0.552615 
time: 1403638135.695097, t: 0.120222 0.038339 0.224620 q: 0.030694 0.826089 -0.078334 0.557224 
time: 1403638135.795097, t: 0.103482 0.003188 0.221404 q: 0.027746 0.822905 -0.091266 0.560114 
time: 1403638135.895097, t: 0.081616 -0.027789 0.219616 q: 0.038000 0.828211 -0.086997 0.552317 
time: 1403638135.995097, t: 0.057004 -0.056593 0.226436 q: 0.049823 0.833575 -0.082892 0.543874 
time: 1403638136.195097, t: 0.011978 -0.138003 0.259272 q: 0.056515 0.815931 -0.102664 0.566147 
time: 1403638136.295097, t: -0.013064 -0.181172 0.260735 q: 0.062808 0.813415 -0.107873 0.568133 
time: 1403638136.395097, t: -0.034511 -0.216447 0.252430 q: 0.072174 0.815312 -0.108882 0.564094 
time: 1403638136.495097, t: -0.049769 -0.237080 0.246399 q: 0.077930 0.817768 -0.111113 0.559318 
time: 1403638136.595097, t: -0.054972 -0.238964 0.250230 q: 0.071933 0.818256 -0.121748 0.557190 
time: 1403638136.695097, t: -0.050583 -0.220265 0.262693 q: 0.058352 0.817037 -0.123530 0.560166 
time: 1403638136.795097, t: -0.042208 -0.187973 0.277377 q: 0.041093 0.816759 -0.119364 0.562999 
time: 1403638136.895097, t: -0.031201 -0.147009 0.287926 q: 0.016143 0.809466 -0.120886 0.574361 
time: 1403638136.995097, t: -0.019270 -0.104230 0.283471 q: -0.002707 0.799509 -0.123958 0.587718 
time: 1403638137.095097, t: -0.009188 -0.063866 0.260072 q: -0.009786 0.799998 -0.118117 0.588180 
time: 1403638137.195097, t: -0.002681 -0.029569 0.225398 q: -0.007071 0.808210 -0.104649 0.579478 
time: 1403638137.295097, t: 0.000443 -0.002344 0.185811 q: -0.003576 0.817158 -0.090611 0.569236 
time: 1403638137.395097, t: 0.001255 0.017821 0.145806 q: -0.001187 0.822654 -0.083383 0.562394 
time: 1403638137.495097, t: 0.003366 0.030998 0.107386 q: 0.009060 0.830719 -0.074850 0.551563 
time: 1403638137.595097, t: 0.004182 0.040489 0.075425 q: 0.023838 0.839442 -0.063731 0.539172 
time: 1403638137.695097, t: 0.005124 0.046840 0.050124 q: 0.032027 0.840167 -0.063804 0.537609 
time: 1403638137.795097, t: 0.002903 0.050240 0.031169 q: 0.034538 0.839344 -0.069209 0.538070 
time: 1403638137.895097, t: -0.000100 0.052626 0.017733 q: 0.040821 0.845022 -0.065653 0.529114 
time: 1403638137.995097, t: -0.000874 0.054840 0.008503 q: 0.046580 0.853672 -0.057959 0.515475 
time: 1403638138.095097, t: -0.000779 0.056438 0.003486 q: 0.048187 0.853961 -0.054409 0.515237 
time: 1403638138.195097, t: -0.001427 0.055426 0.003026 q: 0.044690 0.846030 -0.062207 0.527604 
time: 1403638138.295097, t: -0.001878 0.055016 0.001667 q: 0.042355 0.842226 -0.064942 0.533521 
time: 1403638138.395097, t: -0.003183 0.055538 0.001950 q: 0.042512 0.837692 -0.065506 0.540531 
time: 1403638138.495097, t: -0.003602 0.055390 0.001904 q: 0.043058 0.837502 -0.064382 0.540917 
time: 1403638138.595097, t: -0.003573 0.055520 0.001816 q: 0.042322 0.837460 -0.064269 0.541054 
time: 1403638138.695097, t: -0.003508 0.055741 0.001755 q: 0.041304 0.837417 -0.064763 0.541139 
wait for imu ... 
time: 1403638138.795097, t: -0.003540 0.055676 0.001808 q: 0.041020 0.837542 -0.064078 0.541050 
optimize pose graph 
time: 1403638138.895097, t: -0.003340 0.056087 0.001760 q: 0.039290 0.837380 -0.064892 0.541331 
time: 1403638138.995097, t: -0.003398 0.056014 0.001818 q: 0.039124 0.837513 -0.064257 0.541214 
wait for imu ... 
time: 1403638139.095097, t: -0.003404 0.055937 0.001844 q: 0.038938 0.837599 -0.063692 0.541162 
wait for imu ... 
time: 1403638139.195097, t: -0.003414 0.055905 0.001877 q: 0.038748 0.837590 -0.063242 0.541242 
time: 1403638139.295097, t: -0.003420 0.055930 0.001901 q: 0.038384 0.837603 -0.062967 0.541278 
wait for imu ... 
time: 1403638139.395097, t: -0.003414 0.055992 0.001941 q: 0.037787 0.837635 -0.062851 0.541285 
wait for imu ... 
time: 1403638139.495097, t: -0.003419 0.056051 0.001961 q: 0.037198 0.837670 -0.062741 0.541285 
wait for imu ... 
wait for imu ... 
time: 1403638139.595097, t: -0.003406 0.056099 0.001989 q: 0.036722 0.837678 -0.062546 0.541327 
time: 1403638139.695097, t: -0.003421 0.056127 0.002003 q: 0.036460 0.837694 -0.062433 0.541333 
wait for imu ... 
time: 1403638139.795097, t: -0.003407 0.056145 0.002046 q: 0.036004 0.837733 -0.062236 0.541326 
time: 1403638139.895097, t: -0.003403 0.056156 0.002076 q: 0.035896 0.837734 -0.062080 0.541349 
time: 1403638139.995097, t: -0.003408 0.056158 0.002107 q: 0.035509 0.837788 -0.061850 0.541318 
wait for imu ... 
time: 1403638140.095097, t: -0.003391 0.056184 0.002152 q: 0.035159 0.837816 -0.061644 0.541321 
time: 1403638140.195097, t: -0.003395 0.056198 0.002168 q: 0.034836 0.837823 -0.061503 0.541347 
wait for imu ... 
time: 1403638140.295097, t: -0.003396 0.056220 0.002185 q: 0.034501 0.837823 -0.061319 0.541389 
wait for imu ... 
wait for imu ... 
time: 1403638140.395097, t: -0.003384 0.056244 0.002215 q: 0.034192 0.837836 -0.061182 0.541404 
time: 1403638140.495097, t: -0.003394 0.056267 0.002222 q: 0.033940 0.837857 -0.061068 0.541401 
time: 1403638140.595097, t: -0.003394 0.056269 0.002249 q: 0.033734 0.837850 -0.060946 0.541438 
time: 1403638140.695097, t: -0.003396 0.056280 0.002258 q: 0.033545 0.837848 -0.060780 0.541471 
time: 1403638140.795097, t: -0.003393 0.056295 0.002271 q: 0.033384 0.837839 -0.060716 0.541502 
time: 1403638140.895097, t: -0.003388 0.056315 0.002304 q: 0.033154 0.837853 -0.060601 0.541508 
time: 1403638140.995097, t: -0.003390 0.056332 0.002323 q: 0.032962 0.837863 -0.060468 0.541519 
wait for imu ... 
wait for imu ... 
time: 1403638141.095097, t: -0.003385 0.056351 0.002340 q: 0.032770 0.837831 -0.060344 0.541594 
wait for imu ... 
time: 1403638141.195097, t: -0.003386 0.056352 0.002345 q: 0.032559 0.837830 -0.060260 0.541618 
time: 1403638141.295097, t: -0.003381 0.056363 0.002364 q: 0.032407 0.837838 -0.060130 0.541629 
time: 1403638141.395097, t: -0.003385 0.056374 0.002376 q: 0.032228 0.837820 -0.060040 0.541677 
wait for imu ... 
time: 1403638141.495097, t: -0.003378 0.056373 0.002391 q: 0.032038 0.837836 -0.059941 0.541675 
time: 1403638141.595097, t: -0.003372 0.056383 0.002411 q: 0.031958 0.837828 -0.059859 0.541701 
wait for imu ... 
time: 1403638141.695097, t: -0.003371 0.056380 0.002420 q: 0.031816 0.837841 -0.059775 0.541699 
time: 1403638141.795097, t: -0.003376 0.056392 0.002429 q: 0.031763 0.837840 -0.059733 0.541708 
time: 1403638141.895097, t: -0.003365 0.056392 0.002439 q: 0.031627 0.837829 -0.059647 0.541742 
wait for imu ... 
time: 1403638141.995097, t: -0.003399 0.056407 0.002471 q: 0.031510 0.837820 -0.059542 0.541774 
wait for imu ... 
time: 1403638142.095097, t: -0.003378 0.056438 0.002493 q: 0.031418 0.837847 -0.059430 0.541750 
wait for imu ... 
time: 1403638142.195097, t: -0.003396 0.056413 0.002498 q: 0.031477 0.837807 -0.059618 0.541787 
time: 1403638142.295097, t: -0.003410 0.056317 0.002507 q: 0.031731 0.837819 -0.059923 0.541720 
wait for imu ... 
wait for imu ... 
time: 1403638142.395097, t: -0.003414 0.056396 0.002538 q: 0.031821 0.837869 -0.059830 0.541648 
wait for imu ... 
time: 1403638142.495097, t: -0.003398 0.056451 0.002543 q: 0.031483 0.837946 -0.059667 0.541567 
time: 1403638142.595097, t: -0.003364 0.056521 0.002528 q: 0.030881 0.837974 -0.059148 0.541616 
wait for imu ... 
wait for imu ... 
time: 1403638142.695097, t: -0.003387 0.056532 0.002556 q: 0.031106 0.838071 -0.059231 0.541443 
time: 1403638142.795097, t: -0.003400 0.056435 0.002582 q: 0.031582 0.838105 -0.059498 0.541335 
wait for imu ... 
time: 1403638142.895097, t: -0.003391 0.056425 0.002598 q: 0.031556 0.838136 -0.059365 0.541302 
time: 1403638142.995097, t: -0.003381 0.056493 0.002600 q: 0.031443 0.838122 -0.058986 0.541372 
wait for imu ... 
time: 1403638143.195097, t: -0.003416 0.056456 0.002613 q: 0.031455 0.838229 -0.059163 0.541186 
time: 1403638143.295097, t: -0.003403 0.056444 0.002589 q: 0.031424 0.838197 -0.059257 0.541228 
wait for imu ... 
time: 1403638143.395097, t: -0.003410 0.056461 0.002608 q: 0.031535 0.838189 -0.059289 0.541229 
time: 1403638143.495097, t: -0.003413 0.056459 0.002604 q: 0.031642 0.838191 -0.059313 0.541218 
time: 1403638143.595097, t: -0.003429 0.056415 0.002611 q: 0.031794 0.838194 -0.059496 0.541183 
time: 1403638143.695097, t: -0.003400 0.056429 0.002593 q: 0.031659 0.838182 -0.059487 0.541212 
time: 1403638143.795097, t: -0.003408 0.056429 0.002597 q: 0.031611 0.838184 -0.059444 0.541217 
time: 1403638143.895097, t: -0.003413 0.056440 0.002592 q: 0.031585 0.838178 -0.059532 0.541217 
time: 1403638143.995097, t: -0.003421 0.056430 0.002592 q: 0.031614 0.838158 -0.059545 0.541245 
wait for imu ... 
time: 1403638144.095097, t: -0.003426 0.056425 0.002594 q: 0.031580 0.838189 -0.059546 0.541198 
time: 1403638144.195097, t: -0.003436 0.056419 0.002589 q: 0.031636 0.838153 -0.059546 0.541251 
time: 1403638144.295097, t: -0.003425 0.056420 0.002580 q: 0.031576 0.838135 -0.059475 0.541290 
wait for imu ... 
time: 1403638144.395097, t: -0.003414 0.056417 0.002565 q: 0.031544 0.838115 -0.059485 0.541322 
time: 1403638144.495097, t: -0.003421 0.056401 0.002567 q: 0.031588 0.838112 -0.059538 0.541319 
time: 1403638144.595097, t: -0.003418 0.056410 0.002560 q: 0.031545 0.838119 -0.059577 0.541306 
time: 1403638144.695097, t: -0.003405 0.056414 0.002582 q: 0.031474 0.838069 -0.059448 0.541402 
time: 1403638144.795097, t: -0.003422 0.056424 0.002579 q: 0.031448 0.838075 -0.059490 0.541389 
wait for imu ... 
wait for imu ... 
time: 1403638144.895097, t: -0.003420 0.056424 0.002579 q: 0.031478 0.838097 -0.059497 0.541353 
time: 1403638144.995097, t: -0.003411 0.056408 0.002594 q: 0.031523 0.838066 -0.059461 0.541403 
wait for imu ... 
time: 1403638145.095097, t: -0.003417 0.056404 0.002587 q: 0.031486 0.838073 -0.059486 0.541390 
time: 1403638145.195097, t: -0.003412 0.056416 0.002605 q: 0.031534 0.838065 -0.059472 0.541402 
time: 1403638145.295097, t: -0.003413 0.056406 0.002604 q: 0.031500 0.838080 -0.059465 0.541381 
time: 1403638145.395097, t: -0.003446 0.056393 0.002618 q: 0.031596 0.838065 -0.059479 0.541397 
time: 1403638145.495097, t: -0.003437 0.056406 0.002645 q: 0.031576 0.838054 -0.059462 0.541418 
wait for imu ... 
time: 1403638145.595097, t: -0.003407 0.056385 0.002650 q: 0.031511 0.838068 -0.059402 0.541406 
time: 1403638145.695097, t: -0.003398 0.056382 0.002665 q: 0.031499 0.838039 -0.059404 0.541452 
wait for imu ... 
time: 1403638145.795097, t: -0.003403 0.056384 0.002664 q: 0.031544 0.838075 -0.059343 0.541399 
time: 1403638145.895097, t: -0.003409 0.056391 0.002666 q: 0.031538 0.838036 -0.059358 0.541459 
time: 1403638145.995097, t: -0.003392 0.056398 0.002672 q: 0.031498 0.838031 -0.059370 0.541467 
wait for imu ... 
time: 1403638146.095097, t: -0.003376 0.056397 0.002696 q: 0.031451 0.838072 -0.059288 0.541415 
time: 1403638146.195097, t: -0.003385 0.056397 0.002692 q: 0.031487 0.838012 -0.059317 0.541503 
wait for imu ... 
wait for imu ... 
time: 1403638146.295097, t: -0.003360 0.056406 0.002726 q: 0.031552 0.838025 -0.059315 0.541480 
time: 1403638146.395097, t: -0.003354 0.056397 0.002743 q: 0.031590 0.838044 -0.059267 0.541454 
wait for imu ... 
time: 1403638146.495097, t: -0.003361 0.056392 0.002750 q: 0.031608 0.838073 -0.059340 0.541399 
time: 1403638146.595097, t: -0.003354 0.056407 0.002747 q: 0.031682 0.838030 -0.059324 0.541463 
time: 1403638146.695097, t: -0.003332 0.056392 0.002781 q: 0.031729 0.838077 -0.059322 0.541389 
wait for imu ... 
time: 1403638146.795097, t: -0.003350 0.056409 0.002750 q: 0.031713 0.837989 -0.059291 0.541529 
time: 1403638146.895097, t: -0.003298 0.056403 0.002814 q: 0.031803 0.838066 -0.059191 0.541414 
time: 1403638146.995097, t: -0.003317 0.056411 0.002814 q: 0.031883 0.838183 -0.059260 0.541222 
time: 1403638147.095097, t: -0.003299 0.056528 0.002754 q: 0.031772 0.838251 -0.059172 0.541133 
wait for imu ... 
time: 1403638147.195097, t: -0.003275 0.056549 0.002731 q: 0.031847 0.838348 -0.059056 0.540990 
wait for imu ... 
time: 1403638147.295097, t: -0.003280 0.056582 0.002751 q: 0.031760 0.838310 -0.059173 0.541042 
time: 1403638147.395097, t: -0.003258 0.056589 0.002797 q: 0.031820 0.838189 -0.059120 0.541231 
time: 1403638147.495097, t: -0.003316 0.056474 0.002993 q: 0.031707 0.837743 -0.058933 0.541949 
wait for imu ... 
time: 1403638147.595097, t: -0.003305 0.056479 0.003134 q: 0.031187 0.837297 -0.059102 0.542649 
time: 1403638147.695097, t: -0.002864 0.056468 0.003009 q: 0.030786 0.837451 -0.058295 0.542522 
time: 1403638147.795097, t: -0.000979 0.056039 0.004084 q: 0.031390 0.835233 -0.058891 0.545831 
time: 1403638147.895097, t: 0.003803 0.054740 0.008174 q: 0.034050 0.828119 -0.061881 0.556085 
time: 1403638147.995097, t: 0.012283 0.053263 0.018305 q: 0.034736 0.821393 -0.064032 0.565691 
time: 1403638148.095097, t: 0.021991 0.051516 0.036348 q: 0.035485 0.816273 -0.063341 0.573085 
time: 1403638148.195097, t: 0.032450 0.049516 0.063426 q: 0.036131 0.813438 -0.060235 0.577394 
time: 1403638148.295097, t: 0.041185 0.047810 0.105164 q: 0.034465 0.813144 -0.057418 0.578197 
time: 1403638148.495097, t: 0.055982 0.046543 0.189877 q: 0.032741 0.816759 -0.051266 0.573763 
wait for imu ... 
time: 1403638148.595097, t: 0.065573 0.045853 0.200360 q: 0.032740 0.820836 -0.048810 0.568132 
time: 1403638148.695097, t: 0.072685 0.047430 0.193414 q: 0.032038 0.824485 -0.046679 0.563044 
time: 1403638148.795097, t: 0.085185 0.046832 0.185249 q: 0.029963 0.826970 -0.045457 0.559604 
optimize pose graph 
time: 1403638148.895097, t: 0.094799 0.052005 0.184447 q: 0.028554 0.827652 -0.044040 0.558782 
time: 1403638148.995097, t: 0.116303 0.055127 0.206252 q: 0.027484 0.825850 -0.042898 0.561583 
time: 1403638149.095097, t: 0.130578 0.057972 0.227841 q: 0.027149 0.822081 -0.041341 0.567219 
time: 1403638149.195097, t: 0.149853 0.062388 0.257958 q: 0.026789 0.819799 -0.040728 0.570573 
time: 1403638149.295097, t: 0.173357 0.066990 0.289005 q: 0.024815 0.818551 -0.042069 0.572353 
time: 1403638149.395097, t: 0.195407 0.073389 0.313958 q: 0.024101 0.817241 -0.042213 0.574242 
time: 1403638149.495097, t: 0.217745 0.076290 0.337976 q: 0.024570 0.816474 -0.041693 0.575350 
time: 1403638149.595097, t: 0.237603 0.081692 0.352759 q: 0.025397 0.816366 -0.040206 0.575574 
time: 1403638149.695097, t: 0.258483 0.088887 0.361814 q: 0.022767 0.816573 -0.035580 0.575694 
time: 1403638149.795097, t: 0.282318 0.095035 0.373862 q: 0.019718 0.816851 -0.030403 0.575709 
time: 1403638149.895097, t: 0.303288 0.103102 0.378900 q: 0.017078 0.816859 -0.026741 0.575964 
time: 1403638149.995097, t: 0.328507 0.112542 0.385244 q: 0.017019 0.817357 -0.023093 0.575416 
time: 1403638150.095097, t: 0.351884 0.124297 0.384321 q: 0.023504 0.817428 -0.016887 0.575304 
time: 1403638150.195097, t: 0.377403 0.139524 0.380168 q: 0.031065 0.817584 -0.010954 0.574867 
time: 1403638150.295097, t: 0.403216 0.159599 0.369908 q: 0.034914 0.818599 -0.008774 0.573236 
time: 1403638150.395097, t: 0.428426 0.184747 0.354928 q: 0.032201 0.822752 -0.009841 0.567403 
time: 1403638150.495097, t: 0.456167 0.217094 0.346086 q: 0.021321 0.828393 -0.010419 0.559644 
time: 1403638150.595097, t: 0.484731 0.250622 0.341442 q: 0.013627 0.832036 -0.006447 0.554516 
time: 1403638150.695097, t: 0.517458 0.287560 0.349346 q: 0.007556 0.832227 -0.002498 0.554378 
time: 1403638150.795097, t: 0.552884 0.323924 0.362826 q: 0.003917 0.831034 0.004174 0.556193 
optimize pose graph 
time: 1403638150.895097, t: 0.593640 0.362152 0.378810 q: -0.000160 0.828428 0.013505 0.559933 
time: 1403638150.995097, t: 0.636535 0.401225 0.390704 q: -0.004230 0.824113 0.021794 0.565991 
wait for imu ... 
time: 1403638151.095097, t: 0.683965 0.446874 0.397342 q: -0.009932 0.821891 0.034083 0.568538 
time: 1403638151.195097, t: 0.726617 0.492733 0.398838 q: -0.019275 0.819499 0.051489 0.570437 
time: 1403638151.295097, t: 0.770588 0.541465 0.392478 q: -0.033487 0.819127 0.070420 0.568288 
time: 1403638151.395097, t: 0.814052 0.593402 0.386139 q: -0.048920 0.817743 0.090734 0.566278 
time: 1403638151.495097, t: 0.853785 0.645322 0.384041 q: -0.064982 0.815352 0.110237 0.564648 
time: 1403638151.595097, t: 0.892849 0.699622 0.387609 q: -0.077687 0.813094 0.126876 0.562801 
time: 1403638151.695097, t: 0.929804 0.755483 0.398721 q: -0.086716 0.810586 0.139380 0.562143 
time: 1403638151.795097, t: 0.968416 0.812476 0.416834 q: -0.091891 0.809805 0.148092 0.560214 
time: 1403638151.895097, t: 1.011389 0.880527 0.434767 q: -0.094686 0.809292 0.152750 0.559239 
time: 1403638151.995097, t: 1.047368 0.934182 0.472434 q: -0.094990 0.809388 0.156803 0.557925 
time: 1403638152.095097, t: 1.086883 0.998295 0.498612 q: -0.095024 0.809774 0.157677 0.557113 
time: 1403638152.195097, t: 1.124695 1.062013 0.519774 q: -0.094559 0.809721 0.158138 0.557139 
time: 1403638152.295097, t: 1.161740 1.128836 0.532681 q: -0.091978 0.809305 0.159522 0.557780 
time: 1403638152.395097, t: 1.200172 1.198292 0.540256 q: -0.088286 0.809188 0.160572 0.558245 
wait for imu ... 
time: 1403638152.595097, t: 1.272226 1.347525 0.533558 q: -0.084770 0.809739 0.160674 0.557962 
time: 1403638152.695097, t: 1.308791 1.429250 0.525875 q: -0.090258 0.811533 0.158998 0.554966 
time: 1403638152.795097, t: 1.347733 1.514519 0.524721 q: -0.097802 0.809988 0.162146 0.555035 
optimize pose graph 
time: 1403638152.895097, t: 1.386012 1.600540 0.532180 q: -0.109096 0.805936 0.168277 0.556999 
time: 1403638152.995097, t: 1.423947 1.688262 0.547083 q: -0.119959 0.801913 0.179717 0.556999 
time: 1403638153.095097, t: 1.459805 1.774260 0.567469 q: -0.128709 0.802220 0.192049 0.550450 
time: 1403638153.195097, t: 1.495491 1.859710 0.588115 q: -0.134249 0.802727 0.201986 0.544801 
time: 1403638153.295097, t: 1.536709 1.946284 0.605407 q: -0.137765 0.801890 0.210727 0.541837 
time: 1403638153.395097, t: 1.577957 2.032745 0.617575 q: -0.144033 0.800064 0.221240 0.538707 
time: 1403638153.495097, t: 1.621602 2.123053 0.629620 q: -0.146317 0.796431 0.237818 0.536406 
time: 1403638153.595097, t: 1.664886 2.214869 0.647017 q: -0.149199 0.792072 0.256574 0.533414 
time: 1403638153.695097, t: 1.705214 2.309287 0.669333 q: -0.158069 0.786222 0.273659 0.531018 
time: 1403638153.795097, t: 1.745149 2.409014 0.690564 q: -0.171279 0.779629 0.286668 0.529778 
time: 1403638153.895097, t: 1.784316 2.511962 0.706517 q: -0.182082 0.773521 0.296179 0.529896 
time: 1403638153.995097, t: 1.821591 2.617100 0.716660 q: -0.191922 0.768317 0.300526 0.531544 
time: 1403638154.095097, t: 1.859374 2.725025 0.721188 q: -0.197709 0.764464 0.303222 0.533444 
time: 1403638154.195097, t: 1.898109 2.835622 0.721220 q: -0.200141 0.759422 0.304872 0.538772 
time: 1403638154.295097, t: 1.934840 2.946502 0.716857 q: -0.200426 0.755403 0.305812 0.543760 
time: 1403638154.395097, t: 1.970709 3.061592 0.710783 q: -0.203040 0.750264 0.303211 0.551309 
time: 1403638154.495097, t: 2.000142 3.171858 0.698958 q: -0.205232 0.746972 0.300240 0.556568 
time: 1403638154.595097, t: 2.025873 3.284565 0.691190 q: -0.206868 0.748223 0.299765 0.554535 
time: 1403638154.695097, t: 2.040165 3.387477 0.687200 q: -0.209740 0.750772 0.304232 0.547534 
time: 1403638154.795097, t: 2.052582 3.493326 0.692837 q: -0.209102 0.751808 0.314014 0.540793 
time: 1403638154.895097, t: 2.059320 3.595138 0.704072 q: -0.208310 0.750389 0.323243 0.537621 
time: 1403638154.995097, t: 2.064036 3.700807 0.723278 q: -0.209821 0.746850 0.332654 0.536220 
time: 1403638155.195097, t: 2.054842 3.912045 0.772900 q: -0.224247 0.736187 0.349958 0.534109 
time: 1403638155.295097, t: 2.043576 4.017272 0.790527 q: -0.231412 0.729931 0.354942 0.536345 
time: 1403638155.395097, t: 2.027092 4.121971 0.801478 q: -0.236891 0.722819 0.361964 0.538886 
time: 1403638155.495097, t: 2.004162 4.225968 0.805388 q: -0.241708 0.716136 0.371655 0.539073 
time: 1403638155.595097, t: 1.974767 4.331006 0.802966 q: -0.255744 0.710778 0.378593 0.534843 
time: 1403638155.695097, t: 1.938685 4.432967 0.797385 q: -0.274125 0.702232 0.386665 0.531241 
time: 1403638155.795097, t: 1.898491 4.532441 0.787321 q: -0.288997 0.694198 0.399484 0.524388 
time: 1403638155.895097, t: 1.854488 4.627704 0.773078 q: -0.302189 0.687903 0.415687 0.512519 
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time: 1403638156.195097, t: 1.706734 4.881507 0.759868 q: -0.333048 0.670722 0.475311 0.461834 
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time: 1403638156.695097, t: 1.496990 5.290744 0.772209 q: -0.355042 0.652309 0.517089 0.425508 
time: 1403638156.795097, t: 1.464349 5.380122 0.758382 q: -0.354930 0.651699 0.517869 0.425587 
time: 1403638156.895097, t: 1.432700 5.473175 0.742465 q: -0.353818 0.652251 0.517598 0.425997 
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time: 1403638157.195097, t: 1.352397 5.774476 0.724631 q: -0.345453 0.659939 0.515621 0.423412 
time: 1403638157.295097, t: 1.332328 5.882446 0.730492 q: -0.346660 0.659914 0.514673 0.423618 
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time: 1403638157.895097, t: 1.220103 6.588630 0.774659 q: -0.381729 0.600311 0.559188 0.425697 
time: 1403638157.995097, t: 1.195335 6.705927 0.795121 q: -0.391983 0.588741 0.570819 0.417012 
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time: 1403638206.495097, t: 7.676091 9.693316 2.967887 q: -0.229153 0.729460 0.334109 0.551133 
time: 1403638206.595097, t: 7.588140 9.810493 2.995102 q: -0.237310 0.726583 0.336073 0.550287 
time: 1403638206.695097, t: 7.496050 9.924759 3.016154 q: -0.244900 0.723675 0.338532 0.549285 
time: 1403638206.795097, t: 7.398520 10.033330 3.030795 q: -0.251117 0.721274 0.345484 0.545293 
optimize pose graph 
time: 1403638206.895097, t: 7.298932 10.134870 3.039022 q: -0.255646 0.717924 0.351102 0.544020 
time: 1403638206.995097, t: 7.196206 10.234851 3.042705 q: -0.261891 0.714352 0.352570 0.544802 
time: 1403638207.095097, t: 7.091056 10.326660 3.039694 q: -0.264865 0.710918 0.353997 0.546926 
time: 1403638207.195097, t: 6.982047 10.417750 3.029124 q: -0.268754 0.709581 0.354318 0.546558 
time: 1403638207.295097, t: 6.868869 10.500154 3.011165 q: -0.273047 0.705515 0.359703 0.546176 
time: 1403638207.395097, t: 6.747317 10.577585 2.988376 q: -0.282069 0.698512 0.367595 0.545337 
time: 1403638207.495097, t: 6.622621 10.642094 2.966472 q: -0.293051 0.689411 0.381197 0.541777 
time: 1403638207.595097, t: 6.492750 10.698324 2.950539 q: -0.301206 0.684665 0.397075 0.531828 
time: 1403638207.695097, t: 6.362119 10.742266 2.938914 q: -0.308016 0.686386 0.409522 0.516034 
time: 1403638207.795097, t: 6.231409 10.777880 2.936203 q: -0.313717 0.687651 0.417376 0.504495 
time: 1403638207.895097, t: 6.102832 10.809023 2.940014 q: -0.315037 0.691636 0.423477 0.493010 
time: 1403638207.995097, t: 5.978244 10.832473 2.950796 q: -0.314473 0.693213 0.427209 0.487909 
time: 1403638208.095097, t: 5.853814 10.854631 2.960051 q: -0.315306 0.692040 0.427417 0.488854 
time: 1403638208.195097, t: 5.732940 10.874707 2.965005 q: -0.319945 0.689163 0.423415 0.493365 
time: 1403638208.295097, t: 5.615557 10.890910 2.961759 q: -0.319181 0.688105 0.421783 0.496724 
time: 1403638208.395097, t: 5.500400 10.901267 2.950968 q: -0.315484 0.691314 0.422730 0.493816 
time: 1403638208.495097, t: 5.387361 10.908594 2.937539 q: -0.314035 0.692651 0.425727 0.490279 
time: 1403638208.595097, t: 5.276193 10.912656 2.929421 q: -0.316819 0.690258 0.433531 0.484996 
time: 1403638208.695097, t: 5.166235 10.914115 2.928809 q: -0.323703 0.684886 0.441296 0.481046 
time: 1403638208.795097, t: 5.058473 10.913049 2.935088 q: -0.330623 0.680443 0.447387 0.477001 
time: 1403638208.895097, t: 4.956247 10.908240 2.942311 q: -0.334525 0.675166 0.453202 0.476290 
optimize pose graph 
time: 1403638208.995097, t: 4.855741 10.901688 2.944336 q: -0.337218 0.671236 0.457495 0.475840 
time: 1403638209.095097, t: 4.759570 10.891484 2.939532 q: -0.340110 0.669540 0.459818 0.473929 
time: 1403638209.195097, t: 4.666151 10.878336 2.927533 q: -0.340635 0.668648 0.461782 0.472901 
time: 1403638209.295097, t: 4.574624 10.863046 2.908936 q: -0.342612 0.668726 0.461614 0.471524 
time: 1403638209.395097, t: 4.483681 10.845755 2.885016 q: -0.343806 0.669229 0.461256 0.470291 
time: 1403638209.495097, t: 4.396535 10.827406 2.854932 q: -0.345570 0.668614 0.460074 0.471029 
time: 1403638209.595097, t: 4.313349 10.807165 2.811902 q: -0.347129 0.667181 0.458477 0.473466 
time: 1403638209.695097, t: 4.229552 10.783992 2.750743 q: -0.346631 0.668859 0.457525 0.472382 
time: 1403638209.795097, t: 4.148477 10.757825 2.671472 q: -0.343568 0.667751 0.458921 0.474827 
time: 1403638209.895097, t: 4.064635 10.726639 2.578088 q: -0.341835 0.665662 0.459382 0.478551 
time: 1403638209.995097, t: 3.988768 10.696610 2.477951 q: -0.343262 0.661782 0.457862 0.484332 
time: 1403638210.095097, t: 3.907721 10.658108 2.378111 q: -0.346671 0.657511 0.454910 0.490465 
time: 1403638210.195097, t: 3.832931 10.617144 2.285449 q: -0.350386 0.653974 0.452117 0.495114 
time: 1403638210.295097, t: 3.751129 10.562304 2.197176 q: -0.351207 0.654310 0.451367 0.494773 
time: 1403638210.395097, t: 3.674621 10.503258 2.112908 q: -0.350366 0.655028 0.451723 0.494092 
time: 1403638210.495097, t: 3.594134 10.434822 2.024850 q: -0.351315 0.655275 0.450717 0.494010 
time: 1403638210.595097, t: 3.512800 10.359457 1.931259 q: -0.351161 0.654875 0.450122 0.495192 
time: 1403638210.695097, t: 3.434256 10.279843 1.833551 q: -0.353591 0.655193 0.447830 0.495120 
time: 1403638210.795097, t: 3.356441 10.190602 1.738859 q: -0.353606 0.655243 0.447475 0.495364 
time: 1403638210.895097, t: 3.276273 10.094266 1.651320 q: -0.353289 0.658397 0.447882 0.491021 
time: 1403638210.995097, t: 3.198538 9.991621 1.570473 q: -0.350956 0.661996 0.449823 0.486056 
optimize pose graph 
time: 1403638211.095097, t: 3.121442 9.882158 1.498879 q: -0.349476 0.664970 0.451255 0.481716 
time: 1403638211.195097, t: 3.047374 9.772782 1.437432 q: -0.349113 0.667977 0.451916 0.477178 
time: 1403638211.295097, t: 2.976946 9.664787 1.383822 q: -0.347418 0.669266 0.452354 0.476193 
time: 1403638211.395097, t: 2.909939 9.553656 1.333280 q: -0.344035 0.672418 0.448174 0.478157 
time: 1403638211.495097, t: 2.844409 9.439017 1.278006 q: -0.338070 0.678996 0.439565 0.481099 
time: 1403638211.595097, t: 2.783151 9.321177 1.217636 q: -0.331851 0.687610 0.426164 0.485234 
time: 1403638211.695097, t: 2.726756 9.198014 1.151930 q: -0.324599 0.697311 0.407985 0.491875 
time: 1403638211.795097, t: 2.674699 9.069319 1.083029 q: -0.314027 0.710487 0.386814 0.496960 
time: 1403638211.895097, t: 2.627311 8.937950 1.015848 q: -0.303853 0.724059 0.363162 0.501523 
time: 1403638211.995097, t: 2.585543 8.802325 0.955430 q: -0.290135 0.735576 0.341282 0.508210 
time: 1403638212.095097, t: 2.548791 8.662968 0.902344 q: -0.275136 0.744984 0.321153 0.515906 
time: 1403638212.195097, t: 2.515706 8.520625 0.858305 q: -0.257520 0.752355 0.303048 0.525174 
time: 1403638212.295097, t: 2.484200 8.373898 0.824207 q: -0.241566 0.760114 0.283290 0.532560 
time: 1403638212.395097, t: 2.454591 8.223893 0.796253 q: -0.224280 0.766848 0.264755 0.539952 
time: 1403638212.495097, t: 2.425074 8.068645 0.774950 q: -0.209792 0.773222 0.244021 0.546414 
time: 1403638212.595097, t: 2.395691 7.908786 0.759762 q: -0.195386 0.780328 0.223089 0.550585 
time: 1403638212.695097, t: 2.366482 7.743836 0.749934 q: -0.181387 0.787102 0.201201 0.554155 
time: 1403638212.795097, t: 2.338817 7.577394 0.749891 q: -0.164274 0.792695 0.180099 0.558761 
time: 1403638212.895097, t: 2.310758 7.405319 0.751935 q: -0.149165 0.798826 0.155917 0.561531 
time: 1403638212.995097, t: 2.285368 7.233157 0.761344 q: -0.131108 0.804454 0.131784 0.564178 
time: 1403638213.095097, t: 2.262504 7.059992 0.776781 q: -0.114221 0.809075 0.105377 0.566787 
optimize pose graph 
time: 1403638213.195097, t: 2.241720 6.885625 0.790044 q: -0.099859 0.815834 0.076806 0.564397 
time: 1403638213.295097, t: 2.223767 6.709510 0.797104 q: -0.088449 0.824622 0.046144 0.556818 
time: 1403638213.395097, t: 2.211156 6.528951 0.797383 q: -0.078573 0.832278 0.014455 0.548571 
time: 1403638213.495097, t: 2.206577 6.345501 0.795214 q: -0.069588 0.835983 -0.016940 0.544062 
time: 1403638213.595097, t: 2.208173 6.154202 0.791091 q: -0.052039 0.833393 -0.037428 0.548950 
time: 1403638213.695097, t: 2.217448 5.957042 0.790379 q: -0.028382 0.824631 -0.043731 0.563263 
time: 1403638213.795097, t: 2.227190 5.757032 0.793250 q: -0.008561 0.817717 -0.044419 0.573840 
time: 1403638213.895097, t: 2.239906 5.557256 0.801048 q: 0.002278 0.814764 -0.044849 0.578052 
time: 1403638213.995097, t: 2.251784 5.358773 0.813892 q: 0.006866 0.815408 -0.044643 0.577122 
time: 1403638214.095097, t: 2.261502 5.160504 0.830268 q: 0.009358 0.821312 -0.042588 0.568811 
time: 1403638214.195097, t: 2.270736 4.961821 0.851479 q: 0.008334 0.828242 -0.040151 0.558869 
time: 1403638214.295097, t: 2.283462 4.765319 0.870686 q: 0.006272 0.833529 -0.037193 0.551186 
time: 1403638214.395097, t: 2.299935 4.567617 0.883775 q: 0.004642 0.836987 -0.033228 0.546193 
time: 1403638214.495097, t: 2.322612 4.372943 0.890688 q: 0.003291 0.834979 -0.028636 0.549527 
time: 1403638214.595097, t: 2.348831 4.175990 0.892653 q: 0.002347 0.828771 -0.024528 0.559046 
time: 1403638214.695097, t: 2.377388 3.983983 0.889511 q: 0.000876 0.822217 -0.020937 0.568788 
time: 1403638214.795097, t: 2.405792 3.792666 0.881710 q: -0.000899 0.816999 -0.017643 0.576368 
time: 1403638214.895097, t: 2.431852 3.604934 0.868066 q: -0.001957 0.813937 -0.014700 0.580763 
time: 1403638214.995097, t: 2.456652 3.422503 0.848722 q: -0.002793 0.812137 -0.012935 0.583316 
time: 1403638215.095097, t: 2.479183 3.244730 0.823949 q: -0.002455 0.811991 -0.011082 0.583560 
time: 1403638215.195097, t: 2.499685 3.071788 0.795216 q: -0.002113 0.813231 -0.010228 0.581848 
time: 1403638215.295097, t: 2.519524 2.900440 0.764186 q: 0.001434 0.815241 -0.007876 0.579066 
time: 1403638215.395097, t: 2.538435 2.732003 0.733643 q: 0.005716 0.815911 -0.005420 0.578124 
time: 1403638215.495097, t: 2.558052 2.568413 0.709826 q: 0.009613 0.815592 -0.002613 0.578542 
time: 1403638215.595097, t: 2.576850 2.409985 0.694305 q: 0.011097 0.814389 -0.001758 0.580211 
time: 1403638215.695097, t: 2.594492 2.257059 0.685545 q: 0.007910 0.813681 -0.003799 0.581246 
time: 1403638215.795097, t: 2.609868 2.107467 0.678653 q: 0.005052 0.813181 -0.007618 0.581939 
time: 1403638215.895097, t: 2.620576 1.964805 0.665682 q: 0.006169 0.813215 -0.013428 0.581776 
time: 1403638215.995097, t: 2.627911 1.821806 0.648002 q: 0.007561 0.812942 -0.018143 0.582013 
time: 1403638216.095097, t: 2.631460 1.683183 0.626220 q: 0.011072 0.812699 -0.020357 0.582222 
time: 1403638216.195097, t: 2.633351 1.550835 0.608907 q: 0.013564 0.812672 -0.021925 0.582151 
time: 1403638216.295097, t: 2.632278 1.422231 0.598385 q: 0.016088 0.811510 -0.023016 0.583663 
time: 1403638216.395097, t: 2.629419 1.298298 0.594264 q: 0.018061 0.810057 -0.023531 0.585601 
time: 1403638216.495097, t: 2.623525 1.179398 0.595409 q: 0.018728 0.809543 -0.024138 0.586265 
time: 1403638216.595097, t: 2.615618 1.064575 0.592713 q: 0.020894 0.810289 -0.023649 0.585180 
time: 1403638216.695097, t: 2.606144 0.954914 0.582449 q: 0.023842 0.812140 -0.022152 0.582555 
time: 1403638216.795097, t: 2.596388 0.848020 0.566529 q: 0.027277 0.811299 -0.020696 0.583627 
time: 1403638216.895097, t: 2.586676 0.745579 0.545558 q: 0.031466 0.807490 -0.025229 0.588501 
time: 1403638216.995097, t: 2.571315 0.649043 0.521517 q: 0.035009 0.806370 -0.035756 0.589291 
time: 1403638217.095097, t: 2.553942 0.556425 0.494773 q: 0.039140 0.807987 -0.050780 0.585701 
time: 1403638217.195097, t: 2.531973 0.468274 0.466043 q: 0.045288 0.809611 -0.065536 0.581536 
optimize pose graph 
time: 1403638217.295097, t: 2.510007 0.384201 0.438682 q: 0.052024 0.810826 -0.074984 0.578128 
time: 1403638217.395097, t: 2.486740 0.304966 0.419267 q: 0.057571 0.811852 -0.081486 0.575276 
time: 1403638217.595097, t: 2.436311 0.160124 0.406156 q: 0.069635 0.813247 -0.084240 0.571562 
time: 1403638217.695097, t: 2.410795 0.093244 0.410837 q: 0.078183 0.813658 -0.080330 0.570435 
time: 1403638217.795097, t: 2.385149 0.032531 0.422334 q: 0.084430 0.815172 -0.075884 0.567986 
time: 1403638217.895097, t: 2.361357 -0.019491 0.438999 q: 0.086859 0.815703 -0.073476 0.567173 
time: 1403638217.995097, t: 2.339819 -0.064154 0.455167 q: 0.087950 0.813511 -0.070707 0.570496 
time: 1403638218.095097, t: 2.320974 -0.101598 0.462533 q: 0.088257 0.812115 -0.068708 0.572678 
time: 1403638218.195097, t: 2.302071 -0.130864 0.465264 q: 0.085933 0.810393 -0.068318 0.575509 
time: 1403638218.295097, t: 2.283136 -0.153999 0.463257 q: 0.083755 0.806763 -0.066970 0.581062 
time: 1403638218.395097, t: 2.266449 -0.170265 0.459229 q: 0.077142 0.804582 -0.068936 0.584761 
time: 1403638218.495097, t: 2.242259 -0.177331 0.465713 q: 0.071760 0.804791 -0.070657 0.584952 
time: 1403638218.595097, t: 2.219325 -0.180119 0.476624 q: 0.069506 0.805907 -0.071005 0.583645 
time: 1403638218.695097, t: 2.190437 -0.177004 0.493103 q: 0.067011 0.809714 -0.072953 0.578403 
time: 1403638218.795097, t: 2.161322 -0.169826 0.506054 q: 0.070064 0.814014 -0.078565 0.571226 
time: 1403638218.895097, t: 2.135820 -0.159584 0.511263 q: 0.073792 0.815808 -0.086475 0.567040 
time: 1403638218.995097, t: 2.112328 -0.145360 0.510849 q: 0.064432 0.814860 -0.101482 0.567056 
time: 1403638219.095097, t: 2.086486 -0.131412 0.508480 q: 0.057093 0.812057 -0.113449 0.569591 
time: 1403638219.195097, t: 2.065627 -0.118086 0.502237 q: 0.060938 0.809517 -0.115705 0.572348 
optimize pose graph 
time: 1403638219.395097, t: 2.012583 -0.098551 0.487131 q: 0.076646 0.796459 -0.109729 0.589694 
time: 1403638219.495097, t: 1.987149 -0.087528 0.480965 q: 0.080742 0.791341 -0.107301 0.596445 
time: 1403638219.595097, t: 1.955085 -0.074546 0.479908 q: 0.078425 0.792008 -0.108856 0.595586 
time: 1403638219.695097, t: 1.913674 -0.058099 0.483983 q: 0.072655 0.794429 -0.112438 0.592420 
time: 1403638219.795097, t: 1.867160 -0.040647 0.485056 q: 0.065279 0.797707 -0.117212 0.587932 
time: 1403638219.895097, t: 1.816561 -0.024837 0.480423 q: 0.056586 0.800516 -0.122994 0.583819 
time: 1403638219.995097, t: 1.763781 -0.013236 0.470717 q: 0.049286 0.802795 -0.128019 0.580261 
time: 1403638220.095097, t: 1.708861 -0.006400 0.455762 q: 0.047093 0.805046 -0.129552 0.576975 
time: 1403638220.195097, t: 1.652876 -0.006487 0.445996 q: 0.055246 0.807406 -0.124262 0.574110 
time: 1403638220.295097, t: 1.598770 -0.011148 0.441540 q: 0.070428 0.810048 -0.113915 0.570863 
time: 1403638220.395097, t: 1.539040 -0.015487 0.447030 q: 0.079212 0.810662 -0.108278 0.569937 
time: 1403638220.495097, t: 1.478342 -0.017015 0.458645 q: 0.082659 0.810941 -0.106137 0.569453 
time: 1403638220.595097, t: 1.421910 -0.016679 0.472052 q: 0.083560 0.810335 -0.106606 0.570096 
time: 1403638220.695097, t: 1.362665 -0.015902 0.482639 q: 0.084461 0.809854 -0.107442 0.570490 
time: 1403638220.795097, t: 1.307520 -0.012221 0.485419 q: 0.083798 0.809978 -0.109420 0.570035 
time: 1403638220.895097, t: 1.251875 -0.006382 0.481077 q: 0.084047 0.809820 -0.110707 0.569975 
time: 1403638220.995097, t: 1.196686 0.001308 0.469129 q: 0.083155 0.810571 -0.112588 0.568668 
time: 1403638221.095097, t: 1.142736 0.010223 0.453653 q: 0.083383 0.810956 -0.113547 0.567895 
time: 1403638221.195097, t: 1.085614 0.019749 0.439446 q: 0.083397 0.812227 -0.114235 0.565936 
time: 1403638221.295097, t: 1.034990 0.031452 0.434224 q: 0.081893 0.813612 -0.115851 0.563832 
time: 1403638221.395097, t: 0.984655 0.043276 0.434517 q: 0.079696 0.814675 -0.118210 0.562121 
time: 1403638221.495097, t: 0.935129 0.054284 0.436526 q: 0.077435 0.814892 -0.120283 0.561682 
optimize pose graph 
time: 1403638221.595097, t: 0.889843 0.065652 0.431242 q: 0.075968 0.814079 -0.122280 0.562629 
time: 1403638221.695097, t: 0.847107 0.074761 0.422170 q: 0.075305 0.812375 -0.122807 0.565062 
time: 1403638221.795097, t: 0.806526 0.082304 0.413981 q: 0.073153 0.810254 -0.124037 0.568113 
time: 1403638221.895097, t: 0.767364 0.089063 0.412351 q: 0.075209 0.809185 -0.122082 0.569788 
time: 1403638221.995097, t: 0.733360 0.092854 0.421725 q: 0.079086 0.808654 -0.118787 0.570714 
time: 1403638222.095097, t: 0.692314 0.099357 0.432908 q: 0.082438 0.810389 -0.116391 0.568267 
time: 1403638222.195097, t: 0.652614 0.105803 0.440872 q: 0.082715 0.814241 -0.116448 0.562681 
time: 1403638222.295097, t: 0.614041 0.112822 0.443854 q: 0.081724 0.817665 -0.117632 0.557591 
time: 1403638222.395097, t: 0.585683 0.119609 0.439872 q: 0.080896 0.820560 -0.118604 0.553236 
time: 1403638222.495097, t: 0.553574 0.126871 0.432790 q: 0.080568 0.822845 -0.118647 0.549871 
time: 1403638222.595097, t: 0.531891 0.132641 0.421471 q: 0.080834 0.819114 -0.118318 0.555445 
time: 1403638222.695097, t: 0.508486 0.139199 0.408105 q: 0.079980 0.813756 -0.118867 0.563271 
time: 1403638222.895097, t: 0.467527 0.152127 0.375483 q: 0.082492 0.805825 -0.116918 0.574605 
time: 1403638222.995097, t: 0.446984 0.157870 0.357550 q: 0.081622 0.801173 -0.116902 0.581200 
time: 1403638223.095097, t: 0.423193 0.166470 0.343756 q: 0.081756 0.803919 -0.116630 0.577432 
time: 1403638223.195097, t: 0.392979 0.176177 0.335490 q: 0.079155 0.812921 -0.118934 0.564579 
time: 1403638223.295097, t: 0.367221 0.186283 0.329012 q: 0.073313 0.820436 -0.123375 0.553434 
time: 1403638223.395097, t: 0.341693 0.193867 0.325487 q: 0.070412 0.818552 -0.125784 0.556051 
time: 1403638223.495097, t: 0.318163 0.200048 0.319839 q: 0.060302 0.813440 -0.132780 0.563070 
optimize pose graph 
time: 1403638223.595097, t: 0.298153 0.200354 0.310114 q: 0.059277 0.810950 -0.133593 0.566568 
time: 1403638223.695097, t: 0.275546 0.196219 0.301672 q: 0.070073 0.810905 -0.126394 0.567051 
time: 1403638223.795097, t: 0.253180 0.190966 0.288737 q: 0.080775 0.812075 -0.119265 0.565495 
time: 1403638223.895097, t: 0.231054 0.185901 0.275631 q: 0.086111 0.812757 -0.115267 0.564557 
time: 1403638223.995097, t: 0.218564 0.178352 0.263125 q: 0.089687 0.813247 -0.112505 0.563852 
time: 1403638224.095097, t: 0.198114 0.178010 0.244815 q: 0.088870 0.817225 -0.112888 0.558123 
time: 1403638224.195097, t: 0.184783 0.178771 0.226330 q: 0.086473 0.823533 -0.114581 0.548804 
time: 1403638224.295097, t: 0.179142 0.180640 0.212872 q: 0.085924 0.822956 -0.114831 0.549704 
time: 1403638224.395097, t: 0.173154 0.185132 0.202120 q: 0.083596 0.816750 -0.117117 0.558761 
time: 1403638224.495097, t: 0.172393 0.190210 0.189813 q: 0.078835 0.809114 -0.120318 0.569775 
time: 1403638224.595097, t: 0.168727 0.194973 0.177734 q: 0.080695 0.805853 -0.118703 0.574455 
time: 1403638224.695097, t: 0.164535 0.200536 0.163948 q: 0.081128 0.813388 -0.118496 0.563717 
time: 1403638224.795097, t: 0.161059 0.207182 0.151566 q: 0.080503 0.822066 -0.119262 0.550912 
time: 1403638224.895097, t: 0.162846 0.213423 0.148710 q: 0.076457 0.818299 -0.121662 0.556543 
time: 1403638224.995097, t: 0.168421 0.218669 0.151495 q: 0.068688 0.810241 -0.126158 0.568222 
time: 1403638225.095097, t: 0.173373 0.221640 0.154079 q: 0.067982 0.806439 -0.125728 0.573783 
time: 1403638225.195097, t: 0.176362 0.222238 0.158158 q: 0.073474 0.809924 -0.121014 0.569193 
time: 1403638225.295097, t: 0.178461 0.222211 0.162871 q: 0.076634 0.817341 -0.118022 0.558706 
time: 1403638225.395097, t: 0.182404 0.221519 0.168951 q: 0.079021 0.816591 -0.115828 0.559928 
time: 1403638225.495097, t: 0.188685 0.220652 0.169301 q: 0.081418 0.808535 -0.114009 0.571528 
time: 1403638225.595097, t: 0.193879 0.220245 0.162391 q: 0.084494 0.797769 -0.112131 0.586389 
time: 1403638225.695097, t: 0.194664 0.221491 0.148220 q: 0.085774 0.792632 -0.110974 0.593348 
optimize pose graph 
time: 1403638225.795097, t: 0.190060 0.225965 0.121743 q: 0.084844 0.799798 -0.111653 0.583659 
time: 1403638225.895097, t: 0.183013 0.232458 0.087323 q: 0.083978 0.812298 -0.112365 0.566122 
time: 1403638225.995097, t: 0.176996 0.240452 0.049592 q: 0.079694 0.820537 -0.115292 0.554144 
time: 1403638226.095097, t: 0.182223 0.251657 0.049042 q: 0.060127 0.823734 -0.125375 0.549662 
time: 1403638226.195097, t: 0.192354 0.258512 0.051637 q: 0.060398 0.828999 -0.122797 0.542248 
time: 1403638226.295097, t: 0.194703 0.265133 0.045629 q: 0.073328 0.820792 -0.121474 0.553325 
time: 1403638226.395097, t: 0.193228 0.270598 0.035456 q: 0.079427 0.825544 -0.110610 0.547662 
time: 1403638226.495097, t: 0.196342 0.273398 0.031171 q: 0.079261 0.825344 -0.112890 0.547522 
time: 1403638226.595097, t: 0.193778 0.272011 0.032164 q: 0.079893 0.824922 -0.112460 0.548155 
wait for imu ... 
time: 1403638226.695097, t: 0.197508 0.259939 0.066370 q: 0.079231 0.825480 -0.111892 0.547527 
wait for imu ... 
time: 1403638226.795097, t: 0.191274 0.251618 0.065570 q: 0.079002 0.825338 -0.111569 0.547839 
time: 1403638226.895097, t: 0.190036 0.249520 0.072471 q: 0.078733 0.825483 -0.111760 0.547621 
time: 1403638226.995097, t: 0.190171 0.251440 0.065754 q: 0.078000 0.825645 -0.112666 0.547296 
wait for imu ... 
wait for imu ... 
time: 1403638227.195097, t: 0.191357 0.251038 0.075922 q: 0.078200 0.825596 -0.112729 0.547328 
time: 1403638227.295097, t: 0.189894 0.247808 0.077162 q: 0.078389 0.825668 -0.112405 0.547259 
time: 1403638227.395097, t: 0.186889 0.245397 0.077416 q: 0.078514 0.825698 -0.112198 0.547238 
time: 1403638227.495097, t: 0.185789 0.244696 0.078187 q: 0.078380 0.825751 -0.112313 0.547155 
time: 1403638227.595097, t: 0.185835 0.245525 0.079509 q: 0.078220 0.825735 -0.112437 0.547175 
wait for imu ... 
time: 1403638227.695097, t: 0.187333 0.246067 0.081147 q: 0.078119 0.825812 -0.112589 0.547043 
time: 1403638227.795097, t: 0.189017 0.246279 0.081062 q: 0.078105 0.825836 -0.112637 0.546998 
optimize pose graph 
wait for imu ... 
time: 1403638227.895097, t: 0.188911 0.246666 0.078699 q: 0.078187 0.825882 -0.112564 0.546932 
time: 1403638227.995097, t: 0.188937 0.247736 0.074310 q: 0.078224 0.825874 -0.112595 0.546933 
time: 1403638228.095097, t: 0.188791 0.250740 0.066438 q: 0.078351 0.825875 -0.112568 0.546918 
time: 1403638228.195097, t: 0.190500 0.253465 0.059717 q: 0.078379 0.825852 -0.112649 0.546932 
time: 1403638228.295097, t: 0.193440 0.254926 0.055387 q: 0.078324 0.825842 -0.112747 0.546935 
wait for imu ... 
time: 1403638228.395097, t: 0.195710 0.256041 0.051837 q: 0.078243 0.825875 -0.112849 0.546877 
time: 1403638228.495097, t: 0.197565 0.256523 0.049732 q: 0.078233 0.825871 -0.112839 0.546885 
time: 1403638228.595097, t: 0.198140 0.256334 0.049135 q: 0.078158 0.825935 -0.112797 0.546808 
time: 1403638228.695097, t: 0.199430 0.256737 0.048120 q: 0.078195 0.825946 -0.112835 0.546778 
time: 1403638228.795097, t: 0.199677 0.256612 0.048182 q: 0.078162 0.825994 -0.112834 0.546711 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731020966.223461429]: Shutdown request received.[0m
[33m[ WARN] [1731020966.223495794]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731020966.224392129]: Shutdown request received.[0m
[33m[ WARN] [1731020966.224433813]: Reason given for shutdown: [user request][0m
killed
