/SLAM-Hive/slam_hive_results/mapping_results/3358/2130_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1731023450.955536619]: init begins[0m
[31m[ERROR] [1731023450.955939793]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731023450.960212266]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/1e445042-9d63-11ef-92d1-0242ac110002/roslaunch-c512c3a7bc32-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://c512c3a7bc32:33567/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[0m[ INFO] [1731023452.314979905]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731023452.317657401]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
[1mROS_MASTER_URI=http://c512c3a7bc32:11311/[0m
]2;roscore http://c512c3a7bc32:11311/
[1msetting /run_id to 1e445042-9d63-11ef-92d1-0242ac110002[0m
result path /home/output/vio.csv
[33m[ WARN] [1731023452.340737259]:  fix extrinsic param [0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
camera number 1
[0m[ INFO] [1731023452.406527326]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731023452.406666147]: 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] [1731023452.426742406]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731023452.470113705]: waiting for image and imu...[0m
loop start load vocabulary
[1mprocess[rosout-1]: started with pid [192][0m
started core service [/rosout]
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1731023460.575355695]: 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: 327384942.66 
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
[0m[ INFO] [1731023461.939984721]: IMU excitation not enouth![0m
[0m[ INFO] [1731023461.940967000]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731023462.128686472]: IMU excitation not enouth![0m
[0m[ INFO] [1731023462.349264834]: IMU excitation not enouth![0m
[0m[ INFO] [1731023462.428627230]: IMU excitation not enouth![0m
[0m[ INFO] [1731023462.655896707]: IMU excitation not enouth![0m
[0m[ INFO] [1731023462.841538925]: IMU excitation not enouth![0m
[0m[ INFO] [1731023462.842614284]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731023462.946566018]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731023463.149943302]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731023463.335992895]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731023463.438817293]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731023463.639852674]: IMU excitation not enouth![0m
[0m[ INFO] [1731023463.640715598]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731023463.830405362]: IMU excitation not enouth![0m
[0m[ INFO] [1731023463.942150643]: IMU excitation not enouth![0m
[0m[ INFO] [1731023463.943013951]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731023464.146955988]: IMU excitation not enouth![0m
[0m[ INFO] [1731023464.147668511]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731023464.340367030]: IMU excitation not enouth![0m
[0m[ INFO] [1731023464.443066758]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731023464.643541405]: IMU excitation not enouth![0m
[0m[ INFO] [1731023464.644086245]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731023464.848205483]: IMU excitation not enouth![0m
[0m[ INFO] [1731023464.848520066]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731023465.411269514]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1731023466.555071408]: gyroscope bias initial calibration 0.0147476 0.0163658 0.0988379[0m
[0m[ INFO] [1731023466.706821093]: Initialization finish![0m
time: 1403638523.327830, t: 0.028492 0.012528 0.362621 q: -0.051626 0.803530 0.022982 0.592576 
time: 1403638523.427830, t: 0.028467 0.002076 0.331141 q: -0.050881 0.804414 0.025514 0.591336 
time: 1403638523.627830, t: 0.032675 0.026121 0.234102 q: -0.032941 0.822532 0.028490 0.567049 
time: 1403638523.727829, t: 0.025731 0.016074 0.191480 q: -0.030376 0.829759 0.031199 0.556421 
time: 1403638523.827830, t: 0.016612 -0.027773 0.149355 q: -0.036124 0.832166 0.036972 0.552112 
time: 1403638523.927830, t: 0.007973 -0.037569 0.105621 q: -0.030485 0.831747 0.040558 0.552832 
time: 1403638524.027829, t: 0.002124 -0.044518 0.078227 q: -0.022835 0.833086 0.048328 0.550555 
time: 1403638524.127830, t: -0.004369 -0.048657 0.077588 q: -0.019941 0.837100 0.056279 0.543781 
time: 1403638524.227829, t: -0.005362 -0.048913 0.107575 q: -0.024965 0.840263 0.058941 0.538388 
time: 1403638524.327830, t: -0.002737 -0.049622 0.156914 q: -0.033171 0.839173 0.058367 0.539705 
time: 1403638524.427830, t: 0.003187 -0.049227 0.215134 q: -0.041912 0.834618 0.055935 0.546377 
time: 1403638524.527829, t: 0.010253 -0.048798 0.276305 q: -0.047221 0.826463 0.054958 0.558309 
time: 1403638524.627830, t: 0.018898 -0.047086 0.334681 q: -0.047586 0.818586 0.051183 0.570117 
time: 1403638524.727829, t: 0.027010 -0.043488 0.383159 q: -0.038265 0.813731 0.045820 0.578167 
time: 1403638524.827830, t: 0.033737 -0.040380 0.416563 q: -0.025809 0.811265 0.040757 0.582685 
time: 1403638525.027829, t: 0.038779 -0.034445 0.436404 q: -0.034127 0.807975 0.044032 0.586577 
time: 1403638525.127830, t: 0.040360 -0.033055 0.413775 q: -0.029765 0.805637 0.047872 0.589721 
time: 1403638525.227829, t: 0.040921 -0.033521 0.373035 q: -0.028483 0.805868 0.052889 0.589040 
time: 1403638525.327830, t: 0.039732 -0.034734 0.322581 q: -0.029472 0.811710 0.057800 0.580446 
time: 1403638525.427830, t: 0.036204 -0.035168 0.269519 q: -0.034580 0.822934 0.061308 0.563760 
time: 1403638525.627830, t: 0.029276 -0.035688 0.174495 q: -0.046807 0.840342 0.060328 0.536651 
time: 1403638525.727829, t: 0.026603 -0.036226 0.139027 q: -0.044983 0.840983 0.055999 0.536273 
time: 1403638525.827830, t: 0.025536 -0.036445 0.112802 q: -0.040559 0.838098 0.050107 0.541697 
time: 1403638525.927830, t: 0.022761 -0.040434 0.096073 q: -0.031753 0.835100 0.047368 0.547134 
time: 1403638526.027829, t: 0.019566 -0.054002 0.090135 q: -0.025543 0.835429 0.047048 0.546985 
time: 1403638526.127830, t: 0.016796 -0.078824 0.093542 q: -0.022754 0.838123 0.040674 0.543487 
time: 1403638526.227829, t: 0.013240 -0.111994 0.104671 q: -0.020447 0.839289 0.031219 0.542403 
time: 1403638526.327830, t: 0.007842 -0.150685 0.119464 q: -0.017319 0.836562 0.022626 0.547131 
time: 1403638526.427830, t: -0.000302 -0.194439 0.133925 q: -0.015039 0.831835 0.013046 0.554666 
time: 1403638526.527829, t: -0.009667 -0.242949 0.145053 q: -0.014228 0.826902 0.001395 0.562165 
time: 1403638526.627830, t: -0.020368 -0.298893 0.153222 q: -0.011854 0.821471 -0.008309 0.570067 
time: 1403638526.727829, t: -0.032662 -0.361202 0.159221 q: -0.006442 0.817510 -0.015598 0.575667 
time: 1403638526.827830, t: -0.047285 -0.427579 0.163574 q: 0.004030 0.815382 -0.019305 0.578587 
time: 1403638526.927830, t: -0.062492 -0.491990 0.166967 q: 0.008624 0.816653 -0.023369 0.576591 
time: 1403638527.027829, t: -0.076875 -0.552671 0.169634 q: 0.014619 0.821050 -0.033162 0.569705 
time: 1403638527.127830, t: -0.088503 -0.608474 0.173811 q: 0.022741 0.824760 -0.048091 0.562975 
time: 1403638527.327830, t: -0.099458 -0.688725 0.185947 q: 0.045853 0.819844 -0.074251 0.565898 
time: 1403638527.427830, t: -0.098302 -0.701818 0.190747 q: 0.059813 0.815123 -0.080569 0.570531 
time: 1403638527.527829, t: -0.089994 -0.690823 0.192442 q: 0.066291 0.813137 -0.083212 0.572268 
time: 1403638527.627830, t: -0.075961 -0.658864 0.190684 q: 0.066428 0.813468 -0.082412 0.571896 
time: 1403638527.727829, t: -0.061191 -0.616576 0.189456 q: 0.062630 0.814286 -0.075605 0.572101 
time: 1403638527.827830, t: -0.042524 -0.564127 0.188886 q: 0.052357 0.816936 -0.069432 0.570135 
time: 1403638527.927830, t: -0.024144 -0.504791 0.191391 q: 0.037680 0.819509 -0.064590 0.568167 
time: 1403638528.027829, t: -0.003537 -0.443370 0.192023 q: 0.030863 0.818981 -0.058040 0.570043 
time: 1403638528.127830, t: 0.014323 -0.383583 0.190089 q: 0.021184 0.818278 -0.049487 0.572297 
time: 1403638528.227829, t: 0.033797 -0.328862 0.185283 q: 0.010061 0.819507 -0.039718 0.571603 
time: 1403638528.327830, t: 0.060194 -0.282863 0.179862 q: -0.001563 0.820342 -0.029044 0.571132 
time: 1403638528.427830, t: 0.092233 -0.248892 0.173720 q: -0.004206 0.818996 -0.023209 0.573314 
time: 1403638528.527829, t: 0.128255 -0.224108 0.168719 q: -0.002714 0.819750 -0.022932 0.572256 
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time: 1403638528.827830, t: 0.220118 -0.180408 0.171169 q: 0.000048 0.821180 -0.041613 0.569151 
time: 1403638528.927830, t: 0.226840 -0.174555 0.180420 q: -0.006231 0.820424 -0.049458 0.569578 
time: 1403638529.027829, t: 0.216168 -0.168017 0.195827 q: -0.011973 0.821123 -0.053594 0.568103 
time: 1403638529.127830, t: 0.192679 -0.155960 0.208858 q: -0.001408 0.821915 -0.050107 0.567400 
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time: 1403638531.827830, t: 0.086499 -0.066453 -0.006867 q: 0.030659 0.838378 -0.051365 0.541797 
time: 1403638531.927830, t: 0.086502 -0.066430 -0.006893 q: 0.030656 0.838319 -0.051632 0.541864 
time: 1403638532.027829, t: 0.086510 -0.066422 -0.006939 q: 0.030711 0.838276 -0.051878 0.541903 
time: 1403638532.227829, t: 0.086511 -0.066476 -0.006955 q: 0.030993 0.838259 -0.051917 0.541909 
time: 1403638532.327830, t: 0.086531 -0.066553 -0.006965 q: 0.031278 0.838211 -0.052011 0.541958 
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time: 1403638533.527829, t: 0.086526 -0.066778 -0.007042 q: 0.032159 0.837914 -0.052717 0.542298 
time: 1403638533.627830, t: 0.086528 -0.066810 -0.007034 q: 0.032258 0.837893 -0.052722 0.542324 
time: 1403638533.727829, t: 0.086502 -0.066814 -0.007039 q: 0.032350 0.837898 -0.052772 0.542306 
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time: 1403638535.127830, t: 0.086398 -0.067065 -0.006841 q: 0.032735 0.837925 -0.053162 0.542203 
time: 1403638535.227829, t: 0.086405 -0.067073 -0.006864 q: 0.032696 0.837893 -0.053174 0.542254 
time: 1403638535.327830, t: 0.086390 -0.067087 -0.006850 q: 0.032706 0.837898 -0.053209 0.542242 
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time: 1403638535.527829, t: 0.086402 -0.067061 -0.006819 q: 0.032758 0.837861 -0.053218 0.542295 
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time: 1403638536.327830, t: 0.086417 -0.067072 -0.006810 q: 0.032624 0.837735 -0.053212 0.542499 
time: 1403638536.427830, t: 0.086413 -0.067068 -0.006812 q: 0.032666 0.837719 -0.053252 0.542516 
time: 1403638536.527829, t: 0.086407 -0.067078 -0.006789 q: 0.032633 0.837727 -0.053204 0.542511 
time: 1403638536.727829, t: 0.086415 -0.067059 -0.006797 q: 0.032700 0.837659 -0.053202 0.542612 
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time: 1403638537.027829, t: 0.086417 -0.067096 -0.006776 q: 0.032682 0.837616 -0.053199 0.542680 
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time: 1403638537.927830, t: 0.086501 -0.067018 -0.006623 q: 0.032910 0.837439 -0.053050 0.542953 
time: 1403638538.027829, t: 0.086480 -0.067057 -0.006550 q: 0.032936 0.837495 -0.053078 0.542863 
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time: 1403638538.327830, t: 0.086513 -0.067007 -0.006558 q: 0.033039 0.837362 -0.052968 0.543073 
time: 1403638538.427830, t: 0.086578 -0.066977 -0.006465 q: 0.033084 0.837241 -0.053007 0.543253 
time: 1403638538.527829, t: 0.086531 -0.067022 -0.006359 q: 0.033050 0.837228 -0.053052 0.543270 
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time: 1403638538.727829, t: 0.086471 -0.067091 -0.006127 q: 0.033291 0.836703 -0.053039 0.544066 
time: 1403638538.827830, t: 0.087244 -0.066886 -0.005954 q: 0.032780 0.836151 -0.052523 0.544994 
time: 1403638538.927830, t: 0.089391 -0.066485 -0.004279 q: 0.032812 0.833245 -0.051739 0.549499 
time: 1403638539.027829, t: 0.094103 -0.066491 -0.001672 q: 0.033914 0.828707 -0.052448 0.556187 
time: 1403638539.127830, t: 0.101529 -0.066592 0.003034 q: 0.033731 0.822025 -0.053800 0.565900 
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time: 1403638539.327830, t: 0.119994 -0.066797 0.032927 q: 0.033031 0.816172 -0.052927 0.574430 
time: 1403638539.427830, t: 0.129310 -0.067213 0.059399 q: 0.032951 0.817719 -0.051874 0.572328 
time: 1403638539.527829, t: 0.139486 -0.067989 0.090576 q: 0.032616 0.819686 -0.050766 0.569626 
time: 1403638539.627830, t: 0.150499 -0.069055 0.121590 q: 0.031778 0.820367 -0.049825 0.568776 
time: 1403638539.727829, t: 0.163212 -0.070532 0.142704 q: 0.031132 0.821032 -0.048843 0.567937 
time: 1403638539.827830, t: 0.176756 -0.071280 0.153872 q: 0.030941 0.822643 -0.047526 0.565723 
time: 1403638539.927830, t: 0.190661 -0.071510 0.162606 q: 0.029672 0.826469 -0.046852 0.560243 
time: 1403638540.027829, t: 0.207737 -0.071299 0.173182 q: 0.028451 0.831815 -0.047346 0.552298 
time: 1403638540.127830, t: 0.229090 -0.071592 0.180374 q: 0.028194 0.837615 -0.047156 0.543490 
time: 1403638540.227829, t: 0.259247 -0.071644 0.190893 q: 0.028725 0.837494 -0.045917 0.543755 
optimize pose graph 
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time: 1403638540.427830, t: 0.337115 -0.072632 0.212802 q: 0.028706 0.826692 -0.041003 0.560424 
time: 1403638540.527829, t: 0.380744 -0.071195 0.220776 q: 0.023325 0.826181 -0.032463 0.561985 
time: 1403638540.627830, t: 0.426903 -0.068299 0.228168 q: 0.014601 0.826324 -0.018557 0.562700 
time: 1403638540.727829, t: 0.475756 -0.064354 0.235183 q: 0.007542 0.825416 0.002840 0.564467 
time: 1403638540.827830, t: 0.526473 -0.057331 0.241410 q: -0.001361 0.824674 0.029112 0.564857 
time: 1403638540.927830, t: 0.578646 -0.045735 0.246841 q: -0.013005 0.823545 0.057139 0.564216 
time: 1403638541.027829, t: 0.631481 -0.029395 0.250636 q: -0.027836 0.821667 0.079599 0.563695 
time: 1403638541.127830, t: 0.684878 -0.009285 0.252637 q: -0.040000 0.819233 0.095795 0.563986 
time: 1403638541.227829, t: 0.738767 0.013459 0.250183 q: -0.047521 0.818240 0.106725 0.562881 
time: 1403638541.327830, t: 0.792219 0.040658 0.248655 q: -0.051386 0.817579 0.112590 0.562359 
time: 1403638541.427830, t: 0.844966 0.072646 0.253424 q: -0.053782 0.817642 0.113781 0.561804 
time: 1403638541.527829, t: 0.896545 0.110203 0.262639 q: -0.052460 0.816456 0.114487 0.563507 
time: 1403638541.627830, t: 0.950526 0.153930 0.279996 q: -0.053478 0.814859 0.116786 0.565249 
time: 1403638541.727829, t: 1.003674 0.204042 0.303685 q: -0.060662 0.812947 0.121094 0.566369 
time: 1403638541.827830, t: 1.054244 0.260408 0.335102 q: -0.072903 0.811834 0.127557 0.565102 
time: 1403638541.927830, t: 1.100476 0.319033 0.368620 q: -0.084808 0.810535 0.139254 0.562538 
time: 1403638542.027829, t: 1.145323 0.379352 0.396109 q: -0.098148 0.808537 0.155041 0.559105 
time: 1403638542.127830, t: 1.187815 0.439645 0.418864 q: -0.111926 0.805356 0.174291 0.555425 
time: 1403638542.227829, t: 1.229652 0.501219 0.436073 q: -0.128190 0.801221 0.195249 0.550900 
optimize pose graph 
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time: 1403638542.427830, t: 1.314493 0.629285 0.456358 q: -0.153390 0.784281 0.239453 0.551395 
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time: 1403638542.627830, t: 1.391714 0.761768 0.471428 q: -0.152197 0.761992 0.273413 0.566966 
time: 1403638542.727829, t: 1.420718 0.832280 0.482444 q: -0.156357 0.762273 0.277805 0.563309 
time: 1403638542.827830, t: 1.444013 0.907023 0.500554 q: -0.165792 0.766840 0.275003 0.555737 
time: 1403638542.927830, t: 1.463630 0.984657 0.524989 q: -0.171726 0.772487 0.271668 0.547695 
time: 1403638543.027829, t: 1.477138 1.061952 0.555433 q: -0.174721 0.776633 0.268902 0.542223 
time: 1403638543.127830, t: 1.488698 1.140542 0.583000 q: -0.176541 0.779010 0.265636 0.539828 
time: 1403638543.227829, t: 1.503826 1.219826 0.605038 q: -0.175761 0.780010 0.263991 0.539446 
time: 1403638543.327830, t: 1.519382 1.301720 0.620013 q: -0.175552 0.780825 0.261473 0.539560 
time: 1403638543.427830, t: 1.534921 1.385460 0.631029 q: -0.176285 0.780933 0.262676 0.538580 
time: 1403638543.527829, t: 1.552980 1.470891 0.639262 q: -0.179813 0.779276 0.269611 0.536383 
time: 1403638543.627830, t: 1.566064 1.557018 0.641987 q: -0.184668 0.774726 0.284917 0.533404 
time: 1403638543.727829, t: 1.581481 1.647319 0.645978 q: -0.193663 0.767804 0.304049 0.529647 
time: 1403638543.827830, t: 1.592614 1.738159 0.655934 q: -0.203391 0.757866 0.326898 0.526696 
time: 1403638543.927830, t: 1.604120 1.832827 0.673771 q: -0.217512 0.748325 0.347287 0.521623 
time: 1403638544.027829, t: 1.615833 1.928319 0.697238 q: -0.232102 0.741752 0.361569 0.514976 
time: 1403638544.127830, t: 1.626368 2.025276 0.722830 q: -0.243684 0.738188 0.370809 0.508132 
time: 1403638544.227829, t: 1.637622 2.144251 0.737534 q: -0.252574 0.735226 0.374676 0.505238 
optimize pose graph 
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time: 1403638544.427830, t: 1.660719 2.317071 0.773914 q: -0.258803 0.733973 0.379577 0.500225 
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time: 1403638544.827830, t: 1.719112 2.702360 0.828091 q: -0.265566 0.724944 0.381484 0.508331 
time: 1403638544.927830, t: 1.732689 2.794034 0.841398 q: -0.264655 0.727766 0.383116 0.503525 
time: 1403638545.027829, t: 1.747682 2.885616 0.848210 q: -0.266129 0.727156 0.383433 0.503387 
time: 1403638545.127830, t: 1.761848 2.971977 0.849911 q: -0.267371 0.725994 0.383910 0.504043 
time: 1403638545.227829, t: 1.776804 3.061872 0.844650 q: -0.266219 0.726268 0.385670 0.502912 
time: 1403638545.327830, t: 1.792235 3.148855 0.835008 q: -0.267076 0.724101 0.386279 0.505111 
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time: 1403638599.927830, t: 8.441153 3.585617 2.610886 q: -0.000714 0.824789 0.024569 0.564906 
time: 1403638600.027829, t: 8.441588 3.846234 2.598810 q: -0.005713 0.824202 0.018007 0.565981 
time: 1403638600.127830, t: 8.447821 4.101493 2.583284 q: -0.013993 0.826381 0.008588 0.562872 
time: 1403638600.227829, t: 8.455057 4.348403 2.563703 q: -0.025950 0.829274 -0.003008 0.558232 
time: 1403638600.327830, t: 8.467129 4.585483 2.540837 q: -0.034841 0.831104 -0.012530 0.554883 
optimize pose graph 
time: 1403638600.527829, t: 8.504700 5.021686 2.508149 q: -0.044001 0.833227 -0.023576 0.550673 
time: 1403638600.627830, t: 8.532202 5.219125 2.504602 q: -0.043594 0.834622 -0.024940 0.548529 
time: 1403638600.727829, t: 8.564552 5.403528 2.508185 q: -0.044113 0.836834 -0.026150 0.545050 
time: 1403638600.827830, t: 8.603521 5.573042 2.518215 q: -0.040553 0.840812 -0.022980 0.539317 
time: 1403638600.927830, t: 8.649184 5.727013 2.531640 q: -0.024981 0.843924 -0.010491 0.535778 
time: 1403638601.027829, t: 8.704277 5.871409 2.541129 q: -0.011521 0.844727 0.000717 0.535073 
time: 1403638601.127830, t: 8.765669 6.007776 2.546285 q: -0.005028 0.843497 0.006564 0.537070 
time: 1403638601.227829, t: 8.831719 6.144227 2.547589 q: 0.003618 0.840430 0.013915 0.541730 
time: 1403638601.327830, t: 8.904973 6.284488 2.546411 q: 0.009876 0.832957 0.020399 0.552873 
time: 1403638601.427830, t: 8.983401 6.428345 2.545522 q: -0.000576 0.828543 0.022832 0.559460 
time: 1403638601.527829, t: 9.064296 6.572037 2.551586 q: -0.012376 0.824238 0.032362 0.565182 
time: 1403638601.627830, t: 9.146004 6.714556 2.563530 q: -0.023521 0.820732 0.049283 0.568698 
time: 1403638601.727829, t: 9.226378 6.858830 2.582277 q: -0.035660 0.817939 0.072285 0.569630 
time: 1403638601.827830, t: 9.304449 7.002735 2.609630 q: -0.049202 0.813316 0.099933 0.571061 
time: 1403638601.927830, t: 9.378741 7.147977 2.642371 q: -0.063338 0.808479 0.127538 0.571038 
time: 1403638602.027829, t: 9.449776 7.295594 2.671189 q: -0.076324 0.805890 0.147689 0.568246 
time: 1403638602.127830, t: 9.518373 7.442689 2.693325 q: -0.084542 0.802651 0.163046 0.567467 
time: 1403638602.227829, t: 9.583448 7.591380 2.709771 q: -0.090169 0.796168 0.179812 0.570661 
time: 1403638602.327830, t: 9.643490 7.743566 2.722517 q: -0.103634 0.787401 0.195869 0.575235 
optimize pose graph 
time: 1403638602.427830, t: 9.693579 7.898443 2.741561 q: -0.135882 0.771520 0.203461 0.587279 
time: 1403638602.527829, t: 9.734286 8.050437 2.771126 q: -0.171714 0.747854 0.208471 0.606440 
time: 1403638602.627830, t: 9.761023 8.188955 2.807298 q: -0.201086 0.730755 0.216395 0.615414 
time: 1403638602.727829, t: 9.772891 8.311206 2.846144 q: -0.216161 0.724336 0.233215 0.611737 
time: 1403638602.827830, t: 9.769002 8.415873 2.891155 q: -0.224315 0.720348 0.254374 0.605042 
time: 1403638602.927830, t: 9.752116 8.506843 2.938207 q: -0.238262 0.718557 0.272414 0.593884 
time: 1403638603.027829, t: 9.725926 8.586435 2.984205 q: -0.259931 0.717080 0.285971 0.580045 
time: 1403638603.127830, t: 9.690901 8.648323 3.025426 q: -0.276750 0.709120 0.299875 0.575008 
time: 1403638603.227829, t: 9.648943 8.695212 3.056807 q: -0.281167 0.708311 0.315788 0.565260 
time: 1403638603.327830, t: 9.602582 8.730197 3.077396 q: -0.274845 0.720048 0.332600 0.543478 
time: 1403638603.427830, t: 9.552759 8.753968 3.091427 q: -0.268962 0.730782 0.343896 0.524741 
time: 1403638603.527829, t: 9.502914 8.773943 3.101933 q: -0.266958 0.734260 0.349265 0.517311 
time: 1403638603.627830, t: 9.455164 8.792683 3.109227 q: -0.271372 0.728178 0.351534 0.522052 
time: 1403638603.727829, t: 9.407801 8.805081 3.110229 q: -0.268613 0.719690 0.356488 0.531798 
time: 1403638603.827830, t: 9.358767 8.813351 3.104222 q: -0.262606 0.711612 0.361936 0.541894 
time: 1403638603.927830, t: 9.302864 8.817513 3.091716 q: -0.255928 0.704298 0.366436 0.551535 
time: 1403638604.027829, t: 9.238598 8.817118 3.072621 q: -0.250683 0.699141 0.369028 0.558728 
time: 1403638604.127830, t: 9.165641 8.815183 3.053548 q: -0.247232 0.696017 0.370721 0.563029 
time: 1403638604.227829, t: 9.082667 8.808861 3.039962 q: -0.250434 0.697390 0.369286 0.560855 
time: 1403638604.327830, t: 8.987641 8.796648 3.033937 q: -0.257268 0.703793 0.365580 0.552123 
time: 1403638604.427830, t: 8.883461 8.779607 3.033751 q: -0.259510 0.711896 0.364469 0.541314 
optimize pose graph 
time: 1403638604.527829, t: 8.774560 8.757645 3.040920 q: -0.256564 0.719069 0.366658 0.531674 
time: 1403638604.627830, t: 8.662900 8.734691 3.047221 q: -0.255590 0.722132 0.367547 0.527360 
time: 1403638604.727829, t: 8.549807 8.709922 3.047842 q: -0.259766 0.724755 0.364890 0.523553 
time: 1403638604.827830, t: 8.436615 8.683128 3.046288 q: -0.263130 0.727080 0.362558 0.520259 
time: 1403638604.927830, t: 8.325014 8.653635 3.045952 q: -0.261615 0.731182 0.363635 0.514490 
time: 1403638605.027829, t: 8.214669 8.622565 3.051248 q: -0.258699 0.738351 0.365757 0.504118 
time: 1403638605.127830, t: 8.106149 8.591467 3.064889 q: -0.255829 0.743745 0.367755 0.496137 
time: 1403638605.227829, t: 8.004687 8.566693 3.085596 q: -0.252732 0.745628 0.369869 0.493317 
time: 1403638605.327830, t: 7.908830 8.547274 3.104141 q: -0.247971 0.744596 0.373191 0.494790 
time: 1403638605.427830, t: 7.816139 8.532183 3.118272 q: -0.241296 0.736861 0.378217 0.505731 
time: 1403638605.527829, t: 7.724504 8.522075 3.127123 q: -0.235336 0.726603 0.382649 0.519850 
time: 1403638605.627830, t: 7.630775 8.515843 3.130328 q: -0.229229 0.719119 0.387054 0.529633 
time: 1403638605.827830, t: 7.425304 8.516843 3.140872 q: -0.224908 0.716354 0.390068 0.533010 
time: 1403638605.927830, t: 7.313063 8.525117 3.157983 q: -0.222087 0.715757 0.391588 0.533880 
time: 1403638606.027829, t: 7.194650 8.540930 3.177127 q: -0.218051 0.715041 0.393302 0.535241 
time: 1403638606.127830, t: 7.068157 8.561206 3.192649 q: -0.215118 0.715103 0.394180 0.535700 
time: 1403638606.227829, t: 6.935394 8.586616 3.198285 q: -0.212057 0.715219 0.395686 0.535656 
time: 1403638606.327830, t: 6.795009 8.616839 3.199647 q: -0.213241 0.719203 0.393755 0.531256 
time: 1403638606.427830, t: 6.648983 8.652530 3.190896 q: -0.220157 0.729494 0.388130 0.518387 
time: 1403638606.527829, t: 6.499337 8.692248 3.176846 q: -0.228704 0.740092 0.381424 0.504454 
optimize pose graph 
time: 1403638606.627830, t: 6.350867 8.738135 3.158395 q: -0.234200 0.746137 0.380163 0.493869 
time: 1403638606.727829, t: 6.208758 8.792640 3.134311 q: -0.238223 0.747519 0.386673 0.484716 
time: 1403638606.827830, t: 6.071036 8.853208 3.106409 q: -0.244818 0.744861 0.397779 0.476465 
time: 1403638606.927830, t: 5.938368 8.922279 3.081040 q: -0.254496 0.738720 0.412016 0.468794 
time: 1403638607.027829, t: 5.811795 9.000328 3.062313 q: -0.267727 0.730396 0.426807 0.461172 
time: 1403638607.127830, t: 5.694454 9.084863 3.054201 q: -0.284501 0.722779 0.436289 0.454204 
time: 1403638607.227829, t: 5.581851 9.176087 3.051959 q: -0.298994 0.710120 0.442263 0.459060 
time: 1403638607.327830, t: 5.474627 9.270481 3.044341 q: -0.311912 0.698369 0.444133 0.466624 
time: 1403638607.427830, t: 5.371625 9.366512 3.027386 q: -0.321105 0.691827 0.444635 0.469645 
time: 1403638607.527829, t: 5.273591 9.460609 3.001871 q: -0.325357 0.690910 0.445189 0.467540 
time: 1403638607.627830, t: 5.178888 9.551671 2.971382 q: -0.326469 0.689655 0.446386 0.467475 
time: 1403638607.727829, t: 5.088344 9.641415 2.938809 q: -0.326088 0.687304 0.446684 0.470906 
time: 1403638607.827830, t: 5.001836 9.728806 2.902862 q: -0.325331 0.687965 0.446299 0.470830 
time: 1403638607.927830, t: 4.921672 9.813228 2.862601 q: -0.327632 0.692264 0.442906 0.466113 
time: 1403638608.027829, t: 4.847983 9.895130 2.818274 q: -0.329861 0.694012 0.439298 0.465356 
time: 1403638608.127830, t: 4.779297 9.975494 2.770057 q: -0.328368 0.691432 0.438233 0.471220 
time: 1403638608.227829, t: 4.717541 10.050895 2.716619 q: -0.324980 0.687452 0.438743 0.478855 
time: 1403638608.327830, t: 4.656389 10.123743 2.659457 q: -0.325050 0.682504 0.437156 0.487263 
time: 1403638608.427830, t: 4.595947 10.191063 2.596866 q: -0.325668 0.678972 0.436254 0.492564 
time: 1403638608.527829, t: 4.536770 10.255901 2.527967 q: -0.324001 0.680852 0.436963 0.490436 
time: 1403638608.627830, t: 4.477524 10.315232 2.456514 q: -0.326188 0.680105 0.434539 0.492174 
optimize pose graph 
time: 1403638608.727829, t: 4.417387 10.370018 2.391286 q: -0.330097 0.677358 0.432271 0.495342 
time: 1403638608.827830, t: 4.359353 10.415351 2.328658 q: -0.328445 0.680030 0.433700 0.491516 
time: 1403638608.927830, t: 4.300139 10.459387 2.273049 q: -0.326682 0.683952 0.435088 0.485991 
time: 1403638609.027829, t: 4.244251 10.497033 2.223326 q: -0.326868 0.687638 0.435349 0.480398 
time: 1403638609.127830, t: 4.189852 10.532618 2.181241 q: -0.325725 0.689160 0.436096 0.478312 
time: 1403638609.227829, t: 4.138136 10.563570 2.142850 q: -0.332510 0.689243 0.431236 0.477930 
time: 1403638609.327830, t: 4.091005 10.587167 2.100871 q: -0.336360 0.689698 0.428212 0.477297 
time: 1403638609.427830, t: 4.047094 10.611616 2.050387 q: -0.333171 0.689694 0.430111 0.477832 
time: 1403638609.527829, t: 4.006146 10.628403 1.995025 q: -0.329429 0.689751 0.432258 0.478408 
time: 1403638609.627830, t: 3.968206 10.647203 1.931399 q: -0.327430 0.689821 0.433132 0.478888 
time: 1403638609.727829, t: 3.932227 10.658230 1.866305 q: -0.324403 0.688627 0.435308 0.480689 
time: 1403638609.827830, t: 3.900189 10.672532 1.803041 q: -0.324836 0.689650 0.435061 0.479152 
time: 1403638609.927830, t: 3.871077 10.678356 1.750102 q: -0.325075 0.689240 0.434831 0.479787 
time: 1403638610.027829, t: 3.846284 10.686671 1.704495 q: -0.327388 0.688116 0.433204 0.481298 
time: 1403638610.127830, t: 3.822386 10.686648 1.667213 q: -0.330561 0.685277 0.430888 0.485243 
time: 1403638610.227829, t: 3.800282 10.682899 1.629083 q: -0.331928 0.682512 0.429860 0.489103 
time: 1403638610.327830, t: 3.778427 10.676321 1.585536 q: -0.333105 0.681661 0.428617 0.490577 
time: 1403638610.427830, t: 3.759364 10.665494 1.535279 q: -0.334398 0.681310 0.427358 0.491283 
time: 1403638610.527829, t: 3.739775 10.651225 1.480293 q: -0.333949 0.678388 0.427275 0.495685 
time: 1403638610.627830, t: 3.721315 10.628574 1.423428 q: -0.339560 0.671259 0.423239 0.504954 
time: 1403638610.727829, t: 3.699790 10.595271 1.366506 q: -0.339789 0.671963 0.423493 0.503650 
optimize pose graph 
time: 1403638610.827830, t: 3.677625 10.555541 1.312711 q: -0.336518 0.679238 0.426965 0.493043 
time: 1403638610.927830, t: 3.658536 10.509755 1.269010 q: -0.334882 0.682147 0.429541 0.487878 
time: 1403638611.027829, t: 3.640129 10.459503 1.227344 q: -0.337631 0.681143 0.427686 0.489013 
time: 1403638611.127830, t: 3.622699 10.406380 1.181441 q: -0.340125 0.678531 0.426614 0.491845 
time: 1403638611.227829, t: 3.606067 10.347688 1.131722 q: -0.339855 0.677995 0.427579 0.491933 
time: 1403638611.327830, t: 3.591089 10.281358 1.086690 q: -0.337122 0.677323 0.429924 0.492694 
time: 1403638611.427830, t: 3.574237 10.206719 1.045899 q: -0.326472 0.672662 0.436925 0.500038 
time: 1403638611.527829, t: 3.557237 10.128907 1.015796 q: -0.315821 0.669704 0.443863 0.504717 
time: 1403638611.627830, t: 3.532842 10.047720 0.989378 q: -0.310593 0.671582 0.446416 0.503212 
time: 1403638611.727829, t: 3.503491 9.965907 0.965216 q: -0.312452 0.675796 0.444624 0.497979 
time: 1403638611.827830, t: 3.472685 9.881437 0.938067 q: -0.318780 0.681673 0.439647 0.490319 
time: 1403638611.927830, t: 3.442835 9.800361 0.904776 q: -0.322395 0.686497 0.436137 0.484322 
time: 1403638612.027829, t: 3.412488 9.718240 0.870077 q: -0.323977 0.689221 0.434480 0.480874 
time: 1403638612.127830, t: 3.384252 9.635491 0.840958 q: -0.325346 0.691126 0.432873 0.478660 
time: 1403638612.227829, t: 3.359907 9.550639 0.819180 q: -0.324520 0.691658 0.433043 0.478298 
time: 1403638612.327830, t: 3.337322 9.467673 0.806439 q: -0.323933 0.691331 0.433264 0.478969 
time: 1403638612.427830, t: 3.318131 9.383723 0.792529 q: -0.323092 0.690309 0.433032 0.481216 
time: 1403638612.527829, t: 3.298618 9.297272 0.773062 q: -0.321081 0.688285 0.432908 0.485553 
time: 1403638612.627830, t: 3.280348 9.212403 0.747720 q: -0.316277 0.686618 0.434719 0.489432 
time: 1403638612.727829, t: 3.260396 9.124889 0.714902 q: -0.312003 0.684837 0.435773 0.493715 
optimize pose graph 
time: 1403638612.827830, t: 3.241752 9.041177 0.679029 q: -0.311031 0.683933 0.434162 0.496989 
time: 1403638612.927830, t: 3.216387 8.953963 0.645907 q: -0.311914 0.683549 0.431692 0.499111 
time: 1403638613.027829, t: 3.190608 8.868873 0.619547 q: -0.311725 0.686039 0.430700 0.496665 
time: 1403638613.127830, t: 3.161699 8.782148 0.601765 q: -0.311917 0.687567 0.429817 0.495195 
time: 1403638613.227829, t: 3.128705 8.691194 0.591647 q: -0.311780 0.689274 0.429546 0.493137 
time: 1403638613.327830, t: 3.098492 8.605410 0.588172 q: -0.310763 0.689849 0.430085 0.492506 
time: 1403638613.427830, t: 3.063855 8.516099 0.588213 q: -0.309981 0.689142 0.430593 0.493543 
time: 1403638613.527829, t: 3.031179 8.428834 0.582419 q: -0.311152 0.689093 0.427088 0.495914 
time: 1403638613.627830, t: 2.998174 8.341549 0.570496 q: -0.313044 0.690736 0.420917 0.497711 
time: 1403638613.727829, t: 2.962337 8.250310 0.551814 q: -0.317029 0.689804 0.414281 0.502030 
time: 1403638613.827830, t: 2.927349 8.162000 0.525216 q: -0.316850 0.690392 0.406930 0.507319 
time: 1403638613.927830, t: 2.889940 8.064689 0.491788 q: -0.311525 0.694683 0.398099 0.511747 
time: 1403638614.027829, t: 2.855618 7.964197 0.455317 q: -0.301037 0.701879 0.387454 0.516354 
time: 1403638614.127830, t: 2.816437 7.855887 0.413407 q: -0.288087 0.711468 0.374448 0.520199 
time: 1403638614.227829, t: 2.775443 7.744450 0.374038 q: -0.274529 0.721551 0.361128 0.523053 
time: 1403638614.327830, t: 2.733335 7.629914 0.340147 q: -0.264683 0.729555 0.349855 0.524685 
time: 1403638614.427830, t: 2.692077 7.516643 0.314466 q: -0.259479 0.735453 0.340220 0.525385 
time: 1403638614.527829, t: 2.650834 7.404394 0.299048 q: -0.256564 0.739970 0.332152 0.525637 
time: 1403638614.627830, t: 2.610612 7.293038 0.290978 q: -0.253029 0.744588 0.322152 0.527052 
time: 1403638614.727829, t: 2.574194 7.183884 0.295918 q: -0.250605 0.752258 0.308061 0.525741 
time: 1403638614.827830, t: 2.539939 7.072557 0.309354 q: -0.245439 0.763102 0.291165 0.522167 
optimize pose graph 
time: 1403638614.927830, t: 2.511773 6.960712 0.332342 q: -0.234731 0.773650 0.273707 0.521010 
time: 1403638615.027829, t: 2.490338 6.848110 0.360308 q: -0.220174 0.782932 0.253165 0.523878 
time: 1403638615.127830, t: 2.476540 6.733107 0.392951 q: -0.199741 0.789605 0.231985 0.531799 
time: 1403638615.227829, t: 2.470037 6.617384 0.432122 q: -0.175665 0.791875 0.211121 0.545439 
time: 1403638615.327830, t: 2.464531 6.499505 0.469208 q: -0.153652 0.795161 0.187114 0.555966 
time: 1403638615.427830, t: 2.459046 6.380624 0.500335 q: -0.132968 0.798888 0.161280 0.563991 
time: 1403638615.527829, t: 2.453813 6.260733 0.524658 q: -0.113558 0.803065 0.135947 0.568956 
time: 1403638615.627830, t: 2.446772 6.139813 0.542423 q: -0.098518 0.805717 0.114984 0.572619 
time: 1403638615.727829, t: 2.438344 6.021565 0.560982 q: -0.088509 0.807708 0.100236 0.574218 
time: 1403638615.827830, t: 2.427191 5.905398 0.587957 q: -0.081691 0.809042 0.089332 0.575150 
time: 1403638615.927830, t: 2.413205 5.790119 0.617559 q: -0.076471 0.810152 0.076656 0.576133 
time: 1403638616.027829, t: 2.397605 5.672985 0.641580 q: -0.068354 0.811839 0.064754 0.576240 
time: 1403638616.127830, t: 2.381032 5.554987 0.656215 q: -0.058632 0.812876 0.052110 0.577130 
time: 1403638616.227829, t: 2.362238 5.437452 0.656259 q: -0.048869 0.814447 0.035650 0.577076 
time: 1403638616.327830, t: 2.343619 5.317146 0.640342 q: -0.036491 0.815568 0.016661 0.577269 
time: 1403638616.427830, t: 2.325057 5.193149 0.613957 q: -0.023714 0.816400 -0.002215 0.576996 
time: 1403638616.527829, t: 2.306168 5.068000 0.583378 q: -0.014418 0.817354 -0.017716 0.575682 
time: 1403638616.627830, t: 2.287821 4.945257 0.548680 q: -0.006631 0.820421 -0.028591 0.571006 
time: 1403638616.727829, t: 2.270364 4.824598 0.509688 q: -0.004886 0.827711 -0.038123 0.559836 
time: 1403638616.827830, t: 2.256094 4.705919 0.466764 q: -0.009466 0.835382 -0.047304 0.547549 
time: 1403638616.927830, t: 2.248619 4.580617 0.428911 q: -0.009831 0.837523 -0.050066 0.544015 
time: 1403638617.027829, t: 2.248140 4.451645 0.401533 q: -0.002880 0.834243 -0.045253 0.549529 
time: 1403638617.127830, t: 2.253099 4.319841 0.383115 q: 0.004019 0.830313 -0.038506 0.555951 
time: 1403638617.227829, t: 2.262565 4.188261 0.370540 q: 0.007458 0.830084 -0.032859 0.556619 
time: 1403638617.327830, t: 2.275775 4.058112 0.362892 q: 0.006770 0.833226 -0.029923 0.552081 
time: 1403638617.427830, t: 2.294082 3.931181 0.362072 q: 0.007555 0.837337 -0.026283 0.546003 
time: 1403638617.527829, t: 2.318276 3.807326 0.370098 q: 0.007438 0.839064 -0.022994 0.543495 
time: 1403638617.627830, t: 2.350139 3.688079 0.386525 q: 0.007493 0.838597 -0.020234 0.544324 
time: 1403638617.727829, t: 2.388753 3.571577 0.411973 q: 0.009223 0.836845 -0.016094 0.547126 
time: 1403638617.827830, t: 2.433973 3.461633 0.444111 q: 0.009586 0.836715 -0.013474 0.547389 
time: 1403638617.927830, t: 2.483279 3.354367 0.483425 q: 0.008114 0.835518 -0.012440 0.549262 
time: 1403638618.027829, t: 2.536119 3.248787 0.521082 q: 0.007074 0.835014 -0.011262 0.550068 
time: 1403638618.127830, t: 2.593000 3.146202 0.552355 q: 0.005081 0.835104 -0.010793 0.549963 
time: 1403638618.227829, t: 2.653814 3.044559 0.577368 q: 0.004486 0.834849 -0.009634 0.550376 
time: 1403638618.327830, t: 2.715910 2.946892 0.598074 q: 0.004836 0.834144 -0.008110 0.551465 
time: 1403638618.427830, t: 2.784321 2.851370 0.613968 q: 0.004627 0.834044 -0.007064 0.551634 
time: 1403638618.527829, t: 2.854653 2.759963 0.629411 q: 0.004026 0.833495 -0.005904 0.552481 
time: 1403638618.627830, t: 2.928025 2.670461 0.642478 q: 0.006677 0.833149 -0.007761 0.552953 
time: 1403638618.727829, t: 3.005950 2.583829 0.657079 q: 0.010820 0.832935 -0.009944 0.553175 
time: 1403638618.827830, t: 3.087894 2.502031 0.675897 q: 0.012121 0.831805 -0.013887 0.554761 
time: 1403638618.927830, t: 3.171424 2.424750 0.701332 q: 0.016958 0.829207 -0.019249 0.558353 
time: 1403638619.027829, t: 3.257789 2.347849 0.722433 q: 0.025565 0.824866 -0.030521 0.563925 
time: 1403638619.127830, t: 3.343991 2.273300 0.736864 q: 0.039538 0.821395 -0.046373 0.567095 
time: 1403638619.227829, t: 3.430668 2.201891 0.743858 q: 0.053284 0.817954 -0.068104 0.568747 
time: 1403638619.327830, t: 3.517172 2.132597 0.743634 q: 0.068760 0.814534 -0.093008 0.568468 
time: 1403638619.427830, t: 3.600278 2.067293 0.734896 q: 0.082066 0.810110 -0.116434 0.568709 
time: 1403638619.527829, t: 3.683670 2.005209 0.723919 q: 0.090344 0.806260 -0.134804 0.568868 
time: 1403638619.627830, t: 3.765716 1.946003 0.710997 q: 0.093101 0.803382 -0.150286 0.568616 
time: 1403638619.727829, t: 3.846294 1.887443 0.695533 q: 0.087590 0.800827 -0.165139 0.568975 
time: 1403638619.827830, t: 3.923332 1.827276 0.677776 q: 0.085225 0.798080 -0.174083 0.570526 
time: 1403638619.927830, t: 3.995637 1.765025 0.658757 q: 0.085761 0.796572 -0.179075 0.571008 
time: 1403638620.027829, t: 4.066567 1.699876 0.634416 q: 0.088390 0.795353 -0.181081 0.571673 
time: 1403638620.127830, t: 4.130777 1.630297 0.617318 q: 0.091723 0.792592 -0.181127 0.574959 
time: 1403638620.227829, t: 4.189253 1.559405 0.605447 q: 0.094494 0.790342 -0.180610 0.577763 
time: 1403638620.327830, t: 4.241405 1.485416 0.602609 q: 0.098526 0.792034 -0.178059 0.575560 
time: 1403638620.427830, t: 4.287271 1.411320 0.605548 q: 0.099858 0.793141 -0.176311 0.574343 
time: 1403638620.527829, t: 4.330052 1.334748 0.612928 q: 0.100467 0.794467 -0.174056 0.573090 
time: 1403638620.627830, t: 4.369388 1.258458 0.615834 q: 0.098576 0.796653 -0.173272 0.570617 
time: 1403638620.727829, t: 4.405080 1.181785 0.612215 q: 0.094781 0.799862 -0.173874 0.566573 
time: 1403638620.827830, t: 4.439631 1.102794 0.605049 q: 0.093497 0.802985 -0.172293 0.562839 
time: 1403638620.927830, t: 4.473552 1.021717 0.593531 q: 0.098461 0.804826 -0.166275 0.561171 
time: 1403638621.027829, t: 4.506766 0.941976 0.579287 q: 0.103166 0.803991 -0.160448 0.563215 
time: 1403638621.127830, t: 4.537012 0.862529 0.565421 q: 0.103761 0.802893 -0.157343 0.565544 
time: 1403638621.227829, t: 4.568057 0.784998 0.559211 q: 0.103405 0.801330 -0.154991 0.568468 
time: 1403638621.327830, t: 4.599896 0.709082 0.561448 q: 0.104940 0.801846 -0.151986 0.568269 
time: 1403638621.427830, t: 4.627945 0.636136 0.560745 q: 0.104805 0.800621 -0.149973 0.570552 
time: 1403638621.527829, t: 4.652577 0.568043 0.556507 q: 0.105710 0.798618 -0.147435 0.573844 
time: 1403638621.627830, t: 4.676934 0.501538 0.545341 q: 0.105538 0.796935 -0.146049 0.576564 
time: 1403638621.727829, t: 4.695699 0.442207 0.530022 q: 0.105812 0.796092 -0.144899 0.577967 
time: 1403638621.827830, t: 4.712748 0.382457 0.510427 q: 0.107187 0.793775 -0.143320 0.581285 
time: 1403638621.927830, t: 4.725027 0.327555 0.489080 q: 0.108565 0.790330 -0.141770 0.586083 
time: 1403638622.027829, t: 4.730560 0.281430 0.464908 q: 0.107866 0.788806 -0.141783 0.588258 
time: 1403638622.127830, t: 4.735503 0.234867 0.434955 q: 0.105286 0.789450 -0.143999 0.587322 
time: 1403638622.227829, t: 4.733421 0.196585 0.406257 q: 0.103047 0.789810 -0.145703 0.586816 
time: 1403638622.327830, t: 4.727129 0.156220 0.382472 q: 0.100765 0.789805 -0.147703 0.586719 
time: 1403638622.427830, t: 4.713460 0.120306 0.368855 q: 0.103248 0.790652 -0.147106 0.585294 
time: 1403638622.527829, t: 4.693145 0.090873 0.364569 q: 0.106311 0.790699 -0.145838 0.584999 
time: 1403638622.627830, t: 4.671323 0.059397 0.365083 q: 0.111237 0.789131 -0.143358 0.586811 
time: 1403638622.727829, t: 4.642633 0.037082 0.379475 q: 0.114430 0.781182 -0.141740 0.597135 
time: 1403638622.827830, t: 4.610982 0.014808 0.398157 q: 0.116201 0.771530 -0.141364 0.609307 
time: 1403638622.927830, t: 4.569554 0.003166 0.422191 q: 0.115788 0.771632 -0.142575 0.608974 
optimize pose graph 
time: 1403638623.027829, t: 4.517375 -0.003377 0.439772 q: 0.113255 0.777805 -0.145600 0.600828 
time: 1403638623.127830, t: 4.459077 -0.007919 0.448446 q: 0.109333 0.783534 -0.149165 0.593187 
time: 1403638623.227829, t: 4.393007 -0.006554 0.453540 q: 0.105386 0.786636 -0.152131 0.589028 
time: 1403638623.327830, t: 4.322825 -0.005566 0.453723 q: 0.102963 0.790100 -0.154010 0.584312 
time: 1403638623.427830, t: 4.250251 -0.005194 0.449210 q: 0.103108 0.792854 -0.154083 0.580525 
time: 1403638623.527829, t: 4.173891 -0.002968 0.442652 q: 0.101756 0.793376 -0.154969 0.579814 
time: 1403638623.627830, t: 4.094616 -0.000839 0.442479 q: 0.104575 0.792769 -0.153703 0.580479 
time: 1403638623.727829, t: 4.010104 0.002319 0.449164 q: 0.106267 0.793457 -0.153316 0.579334 
time: 1403638623.827830, t: 3.922863 0.006907 0.461634 q: 0.107956 0.794319 -0.153018 0.577917 
time: 1403638623.927830, t: 3.831466 0.012849 0.478194 q: 0.109560 0.796054 -0.153643 0.575056 
time: 1403638624.027829, t: 3.738778 0.018367 0.488324 q: 0.109753 0.796754 -0.154763 0.573748 
time: 1403638624.127830, t: 3.644885 0.027384 0.495611 q: 0.107551 0.797252 -0.157657 0.572683 
time: 1403638624.227829, t: 3.552520 0.036122 0.499658 q: 0.105076 0.797267 -0.160546 0.572319 
time: 1403638624.327830, t: 3.455699 0.045493 0.497399 q: 0.103988 0.796547 -0.162531 0.572960 
time: 1403638624.427830, t: 3.360172 0.054977 0.491501 q: 0.103942 0.796312 -0.163875 0.572911 
time: 1403638624.527829, t: 3.268252 0.063034 0.483850 q: 0.102833 0.793244 -0.166269 0.576667 
time: 1403638624.627830, t: 3.168436 0.070566 0.469638 q: 0.100202 0.783560 -0.168801 0.589490 
time: 1403638624.727829, t: 3.066286 0.077087 0.455478 q: 0.104522 0.785980 -0.162017 0.587419 
time: 1403638624.827830, t: 2.971525 0.082404 0.450030 q: 0.107658 0.793000 -0.152397 0.579945 
time: 1403638624.927830, t: 2.860068 0.093072 0.450543 q: 0.105011 0.797414 -0.146929 0.575774 
optimize pose graph 
time: 1403638625.027829, t: 2.760391 0.103677 0.457049 q: 0.097783 0.799011 -0.145292 0.575248 
time: 1403638625.127830, t: 2.660110 0.114170 0.460279 q: 0.089577 0.800112 -0.145925 0.574894 
time: 1403638625.227829, t: 2.550371 0.125226 0.457855 q: 0.085462 0.801232 -0.145044 0.574183 
time: 1403638625.327830, t: 2.448830 0.131801 0.453862 q: 0.084140 0.801586 -0.143601 0.574247 
time: 1403638625.427830, t: 2.340122 0.137914 0.449594 q: 0.083603 0.801413 -0.142340 0.574881 
time: 1403638625.527829, t: 2.236428 0.143235 0.454029 q: 0.083576 0.801239 -0.141922 0.575230 
time: 1403638625.627830, t: 2.128114 0.148192 0.463997 q: 0.084117 0.802696 -0.141690 0.573173 
time: 1403638625.727829, t: 2.021078 0.151926 0.480077 q: 0.083029 0.805621 -0.142437 0.569028 
time: 1403638625.827830, t: 1.913857 0.154723 0.494482 q: 0.082385 0.809952 -0.143446 0.562685 
time: 1403638625.927830, t: 1.809387 0.154656 0.503020 q: 0.083580 0.810977 -0.143179 0.561098 
time: 1403638626.027829, t: 1.706025 0.154874 0.506434 q: 0.083579 0.811716 -0.144249 0.559753 
time: 1403638626.127830, t: 1.606013 0.152324 0.504758 q: 0.081889 0.812142 -0.146156 0.558890 
time: 1403638626.227829, t: 1.511808 0.149078 0.497369 q: 0.083541 0.812008 -0.145570 0.558993 
time: 1403638626.327830, t: 1.418077 0.143133 0.487600 q: 0.089875 0.810059 -0.141732 0.561817 
time: 1403638626.427830, t: 1.326581 0.136595 0.474988 q: 0.095474 0.807878 -0.137616 0.565049 
time: 1403638626.527829, t: 1.233937 0.132875 0.459050 q: 0.096964 0.809147 -0.136213 0.563317 
time: 1403638626.627830, t: 1.147586 0.127847 0.442728 q: 0.095741 0.811245 -0.136944 0.560322 
time: 1403638626.727829, t: 1.066620 0.123564 0.427915 q: 0.094037 0.814097 -0.137647 0.556288 
time: 1403638626.827830, t: 0.986851 0.121478 0.419921 q: 0.092371 0.817322 -0.138596 0.551583 
time: 1403638626.927830, t: 0.913748 0.118134 0.420024 q: 0.092372 0.819578 -0.138098 0.548351 
time: 1403638627.027829, t: 0.844758 0.116172 0.422241 q: 0.091765 0.819647 -0.137904 0.548397 
time: 1403638627.127830, t: 0.780368 0.112020 0.421532 q: 0.090991 0.819432 -0.137723 0.548894 
optimize pose graph 
time: 1403638627.227829, t: 0.719907 0.106688 0.416574 q: 0.090344 0.819330 -0.137492 0.549210 
time: 1403638627.327830, t: 0.664841 0.104692 0.404600 q: 0.093048 0.819333 -0.135222 0.549319 
time: 1403638627.427830, t: 0.618452 0.099696 0.395529 q: 0.094189 0.819220 -0.134173 0.549550 
time: 1403638627.527829, t: 0.576495 0.095755 0.382719 q: 0.093893 0.818887 -0.134459 0.550026 
time: 1403638627.627830, t: 0.539322 0.092653 0.368080 q: 0.097133 0.816832 -0.132966 0.552875 
time: 1403638627.727829, t: 0.507861 0.089919 0.352255 q: 0.098022 0.813788 -0.132739 0.557245 
time: 1403638627.827830, t: 0.479589 0.090254 0.334515 q: 0.099239 0.812500 -0.132418 0.558982 
time: 1403638627.927830, t: 0.446232 0.089977 0.319798 q: 0.100006 0.813646 -0.132387 0.557183 
time: 1403638628.027829, t: 0.421508 0.090891 0.303992 q: 0.101237 0.815250 -0.132344 0.554620 
time: 1403638628.127830, t: 0.397808 0.092623 0.290913 q: 0.101784 0.816204 -0.132856 0.552992 
time: 1403638628.227829, t: 0.375031 0.098347 0.278882 q: 0.102202 0.816345 -0.133623 0.552521 
time: 1403638628.327830, t: 0.361890 0.107085 0.267958 q: 0.101983 0.817010 -0.134807 0.551290 
time: 1403638628.427830, t: 0.353525 0.116284 0.261435 q: 0.099514 0.816601 -0.136908 0.551829 
time: 1403638628.527829, t: 0.350187 0.126627 0.258666 q: 0.091190 0.810842 -0.143308 0.560074 
time: 1403638628.627830, t: 0.348092 0.136810 0.259037 q: 0.084888 0.804113 -0.148077 0.569447 
time: 1403638628.727829, t: 0.348261 0.145307 0.258853 q: 0.082524 0.803688 -0.149892 0.569919 
time: 1403638628.827830, t: 0.338019 0.149947 0.252189 q: 0.086187 0.805106 -0.147905 0.567892 
time: 1403638628.927830, t: 0.327076 0.152513 0.241143 q: 0.090628 0.805150 -0.145499 0.567758 
time: 1403638629.027829, t: 0.316851 0.154448 0.231021 q: 0.095629 0.806131 -0.142056 0.566417 
time: 1403638629.127830, t: 0.308939 0.155696 0.223350 q: 0.099140 0.807426 -0.139252 0.564662 
time: 1403638629.227829, t: 0.297867 0.160221 0.217089 q: 0.100873 0.808384 -0.137698 0.563364 
optimize pose graph 
time: 1403638629.327830, t: 0.287369 0.165413 0.216158 q: 0.102177 0.809207 -0.136975 0.562122 
time: 1403638629.427830, t: 0.281642 0.171187 0.213981 q: 0.101733 0.813255 -0.137868 0.556111 
time: 1403638629.527829, t: 0.277394 0.178568 0.213983 q: 0.098986 0.817912 -0.140379 0.549104 
time: 1403638629.627830, t: 0.278141 0.186309 0.215728 q: 0.091926 0.818253 -0.145792 0.548412 
time: 1403638629.727829, t: 0.283372 0.192357 0.218881 q: 0.081790 0.814296 -0.153533 0.553769 
time: 1403638629.827830, t: 0.289895 0.195313 0.221385 q: 0.077845 0.808317 -0.156804 0.562118 
time: 1403638629.927830, t: 0.295620 0.194598 0.217622 q: 0.082959 0.802147 -0.154167 0.570885 
time: 1403638630.027829, t: 0.299810 0.191689 0.204238 q: 0.093826 0.796224 -0.147074 0.579304 
time: 1403638630.127830, t: 0.300876 0.189223 0.179774 q: 0.100427 0.796582 -0.142477 0.578854 
time: 1403638630.227829, t: 0.299129 0.187837 0.148122 q: 0.102972 0.800681 -0.140350 0.573244 
time: 1403638630.327830, t: 0.296316 0.187904 0.110306 q: 0.105402 0.807348 -0.139837 0.563493 
time: 1403638630.427830, t: 0.306151 0.191441 0.107997 q: 0.090746 0.813613 -0.146234 0.555351 
time: 1403638630.527829, t: 0.318148 0.192215 0.115901 q: 0.099726 0.804008 -0.138979 0.569483 
time: 1403638630.627830, t: 0.328814 0.193637 0.103659 q: 0.100489 0.803216 -0.139313 0.570384 
time: 1403638630.727829, t: 0.334619 0.192020 0.084923 q: 0.091230 0.829366 -0.132317 0.535090 
time: 1403638630.827830, t: 0.329966 0.184707 0.080926 q: 0.095344 0.826910 -0.134132 0.537715 
time: 1403638630.927830, t: 0.325482 0.191493 0.074082 q: 0.094789 0.827669 -0.132563 0.537035 
time: 1403638631.027829, t: 0.341989 0.175659 0.104095 q: 0.093686 0.828369 -0.132640 0.536128 
time: 1403638631.127830, t: 0.319104 0.175530 0.084981 q: 0.092935 0.828149 -0.132641 0.536599 
time: 1403638631.327830, t: 0.303809 0.196724 0.054082 q: 0.094036 0.827834 -0.133182 0.536760 
optimize pose graph 
time: 1403638631.427830, t: 0.297441 0.196822 0.049600 q: 0.094204 0.827859 -0.132978 0.536743 
time: 1403638631.527829, t: 0.292408 0.196448 0.044721 q: 0.094186 0.827971 -0.133048 0.536555 
time: 1403638631.627830, t: 0.286811 0.195166 0.040337 q: 0.094373 0.828059 -0.132847 0.536436 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731023576.333843594]: Shutdown request received.[0m
[33m[ WARN] [1731023576.333876372]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731023576.334755756]: Shutdown request received.[0m
[33m[ WARN] [1731023576.334782339]: Reason given for shutdown: [user request][0m
killed
