/SLAM-Hive/slam_hive_results/mapping_results/3372/2430_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/4f852e5a-9d69-11ef-b931-0242ac110002/roslaunch-96eef8c092a9-119.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] [1731026110.398497770]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1731026110.399487508]: init begins[0m
[31m[ERROR] [1731026110.400465305]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://96eef8c092a9:42815/[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 [156][0m
[0m[ INFO] [1731026111.455127573]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731026111.455891763]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://96eef8c092a9:11311/[0m
]2;roscore http://96eef8c092a9:11311/
[1msetting /run_id to 4f852e5a-9d69-11ef-b931-0242ac110002[0m
result path /home/output/vio.csv
[33m[ WARN] [1731026111.622258051]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731026111.622460526]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731026111.622489214]: ROW: 480 COL: 752 [0m
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g       0       0 9.81007
[0m[ INFO] [1731026111.626435962]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1731026111.630474244]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731026111.630661430]: waiting for image and imu...[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [193][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1731026120.568354344]: 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: 327387602.65 
init first imu pose
averge acc 9.015113 -0.047866 -3.797742
init R0 
 0.388249 0.0116141  0.921482
        0 -0.999921 0.0126027
 0.921555 -0.004893 -0.388218
[33m[ WARN] [1731026121.959524679]: gyroscope bias initial calibration -0.00194295    0.020065   0.0779286[0m
[0m[ INFO] [1731026122.051951975]: Initialization finish![0m
time: 1403638519.127830, t: 0.000192 0.000060 0.000384 q: -0.004028 0.832960 0.002735 0.553312 
time: 1403638519.227829, t: -0.000420 0.000302 -0.001175 q: -0.004094 0.833069 0.002767 0.553147 
time: 1403638519.327830, t: -0.000452 0.000085 -0.000369 q: -0.004065 0.833022 0.002699 0.553218 
time: 1403638519.427830, t: -0.000456 -0.000019 -0.000266 q: -0.004003 0.833029 0.002711 0.553208 
time: 1403638519.527829, t: -0.000608 -0.000162 -0.000301 q: -0.003985 0.833028 0.002707 0.553210 
time: 1403638519.627830, t: -0.000826 -0.000214 -0.000664 q: -0.003921 0.833012 0.002707 0.553234 
time: 1403638519.727829, t: -0.000884 -0.000514 -0.000082 q: -0.003973 0.833066 0.002758 0.553153 
time: 1403638519.827830, t: -0.000642 -0.000230 0.000390 q: -0.003934 0.833103 0.002702 0.553097 
time: 1403638519.927830, t: -0.000422 0.000145 0.000250 q: -0.003884 0.833119 0.002645 0.553073 
time: 1403638520.027829, t: -0.000513 -0.000007 0.000368 q: -0.003939 0.833130 0.002676 0.553057 
time: 1403638520.127830, t: -0.000413 0.000054 0.000527 q: -0.003914 0.833130 0.002676 0.553057 
time: 1403638520.227829, t: -0.000389 0.000066 0.000597 q: -0.003896 0.833152 0.002679 0.553024 
time: 1403638520.327830, t: -0.000466 -0.000260 0.000595 q: -0.003900 0.833144 0.002730 0.553036 
time: 1403638520.427830, t: -0.000556 -0.000450 0.000452 q: -0.003914 0.833136 0.002714 0.553047 
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time: 1403638520.627830, t: -0.000308 0.000435 0.000645 q: -0.003822 0.833159 0.002611 0.553013 
time: 1403638520.727829, t: -0.000223 0.001223 0.001250 q: -0.003777 0.833197 0.002569 0.552957 
time: 1403638520.827830, t: -0.000161 0.001340 0.001695 q: -0.003773 0.833209 0.002538 0.552939 
time: 1403638520.927830, t: -0.000259 0.001753 0.000961 q: -0.003700 0.833167 0.002616 0.553003 
time: 1403638521.027829, t: -0.000325 0.002401 0.000242 q: -0.003657 0.833146 0.002601 0.553035 
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time: 1403638521.427830, t: 0.000332 0.003207 0.002277 q: -0.003734 0.833259 0.002694 0.552864 
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time: 1403638521.727829, t: -0.000231 0.001777 0.001331 q: -0.004459 0.833300 0.002374 0.552798 
time: 1403638521.827830, t: -0.000675 0.001001 0.001100 q: -0.004343 0.833336 0.002904 0.552742 
time: 1403638521.927830, t: -0.000843 0.000611 0.000433 q: -0.005282 0.833357 0.002853 0.552702 
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time: 1403638523.927830, t: 0.007516 -0.037063 0.111415 q: -0.006544 0.826829 0.018905 0.562098 
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time: 1403638524.127830, t: -0.002640 -0.039861 0.086539 q: 0.004342 0.832808 0.035019 0.552436 
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time: 1403638524.427830, t: 0.002789 -0.036687 0.225337 q: -0.016484 0.830964 0.034392 0.555018 
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time: 1403638527.327830, t: -0.102928 -0.681779 0.193955 q: 0.048201 0.819385 -0.079542 0.565649 
time: 1403638527.427830, t: -0.103674 -0.695531 0.199040 q: 0.063361 0.814748 -0.086502 0.569815 
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time: 1403638528.027829, t: 0.001666 -0.436600 0.196053 q: 0.026301 0.821321 -0.058353 0.566864 
time: 1403638528.127830, t: 0.018821 -0.378252 0.194686 q: 0.016290 0.820010 -0.049470 0.569974 
time: 1403638528.227829, t: 0.037886 -0.323367 0.190468 q: 0.005492 0.820808 -0.039901 0.569782 
time: 1403638528.327830, t: 0.064383 -0.277595 0.185219 q: -0.005259 0.821444 -0.029841 0.569484 
time: 1403638528.427830, t: 0.096857 -0.243463 0.178888 q: -0.007128 0.820064 -0.024535 0.571701 
time: 1403638528.527829, t: 0.133045 -0.217865 0.173548 q: -0.004696 0.820830 -0.024815 0.570614 
time: 1403638528.627830, t: 0.170111 -0.199133 0.169212 q: -0.004593 0.823024 -0.032522 0.567057 
time: 1403638528.727829, t: 0.203776 -0.186516 0.169445 q: -0.002014 0.823086 -0.038633 0.566598 
time: 1403638528.827830, t: 0.227972 -0.178177 0.173540 q: 0.000103 0.822070 -0.044930 0.567611 
time: 1403638528.927830, t: 0.234895 -0.173179 0.182312 q: -0.005615 0.821162 -0.053147 0.568187 
time: 1403638529.027829, t: 0.224453 -0.166675 0.198083 q: -0.010651 0.821706 -0.057868 0.566867 
time: 1403638529.127830, t: 0.199546 -0.156599 0.210970 q: 0.000755 0.822329 -0.054909 0.566356 
optimize pose graph 
time: 1403638529.227829, t: 0.167653 -0.139886 0.215245 q: 0.016587 0.823484 -0.047787 0.565079 
time: 1403638529.327830, t: 0.128773 -0.117016 0.214829 q: 0.025301 0.826844 -0.043591 0.560168 
time: 1403638529.427830, t: 0.092859 -0.103601 0.193093 q: 0.027487 0.834054 -0.040020 0.549543 
time: 1403638529.527829, t: 0.062211 -0.086562 0.170333 q: 0.024621 0.845101 -0.038778 0.532629 
time: 1403638529.627830, t: 0.040007 -0.076647 0.146095 q: 0.025809 0.852289 -0.035444 0.521231 
time: 1403638529.727829, t: 0.025706 -0.065589 0.121593 q: 0.026066 0.852257 -0.033620 0.521391 
time: 1403638529.827830, t: 0.017498 -0.055786 0.098991 q: 0.025069 0.846165 -0.034564 0.531208 
time: 1403638529.927830, t: 0.014578 -0.049087 0.080449 q: 0.025153 0.841150 -0.035033 0.539079 
time: 1403638530.027829, t: 0.020762 -0.045896 0.068017 q: 0.025642 0.840898 -0.035228 0.539437 
time: 1403638530.127830, t: 0.032117 -0.045287 0.057587 q: 0.025955 0.843012 -0.037388 0.535965 
time: 1403638530.227829, t: 0.046760 -0.046216 0.047401 q: 0.028350 0.843440 -0.043253 0.534729 
time: 1403638530.327830, t: 0.060862 -0.048816 0.037258 q: 0.029972 0.842647 -0.049591 0.535339 
time: 1403638530.427830, t: 0.073839 -0.052410 0.028123 q: 0.033640 0.841991 -0.053813 0.535746 
time: 1403638530.527829, t: 0.083911 -0.056322 0.021551 q: 0.031540 0.841765 -0.057895 0.535804 
time: 1403638530.627830, t: 0.089932 -0.060632 0.015887 q: 0.033940 0.842882 -0.060764 0.533579 
time: 1403638530.727829, t: 0.093839 -0.063497 0.009973 q: 0.034765 0.846588 -0.063253 0.527332 
time: 1403638530.827830, t: 0.096655 -0.065755 0.004349 q: 0.035134 0.848536 -0.064172 0.524055 
time: 1403638530.927830, t: 0.098304 -0.066725 0.000835 q: 0.033332 0.847574 -0.063978 0.525751 
time: 1403638531.027829, t: 0.098896 -0.066816 -0.001703 q: 0.032452 0.844849 -0.064062 0.530163 
time: 1403638531.127830, t: 0.098600 -0.065739 -0.002094 q: 0.035047 0.841250 -0.062742 0.535848 
time: 1403638531.227829, t: 0.099026 -0.064410 -0.002597 q: 0.037054 0.840989 -0.059893 0.536448 
time: 1403638531.327830, t: 0.098957 -0.062999 -0.003254 q: 0.037586 0.837488 -0.059853 0.541867 
optimize pose graph 
time: 1403638531.427830, t: 0.098866 -0.063036 -0.003313 q: 0.037990 0.838368 -0.059107 0.540557 
time: 1403638531.527829, t: 0.098520 -0.063119 -0.003289 q: 0.037609 0.837555 -0.059675 0.541780 
time: 1403638531.627830, t: 0.098445 -0.063261 -0.003371 q: 0.038481 0.837641 -0.058850 0.541676 
time: 1403638531.827830, t: 0.098427 -0.063262 -0.003416 q: 0.038741 0.837693 -0.059597 0.541496 
time: 1403638531.927830, t: 0.098430 -0.063250 -0.003427 q: 0.038779 0.837631 -0.059857 0.541561 
time: 1403638532.027829, t: 0.098435 -0.063257 -0.003449 q: 0.038907 0.837574 -0.060128 0.541610 
time: 1403638532.127830, t: 0.098463 -0.063323 -0.003434 q: 0.039169 0.837518 -0.060371 0.541650 
time: 1403638532.227829, t: 0.098426 -0.063349 -0.003448 q: 0.039360 0.837542 -0.060256 0.541612 
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time: 1403638540.927830, t: 0.588643 -0.053196 0.250468 q: -0.006695 0.825295 0.049712 0.562470 
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optimize pose graph 
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time: 1403638543.327830, t: 1.542660 1.285116 0.631493 q: -0.173352 0.783435 0.256572 0.538841 
optimize pose graph 
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time: 1403638597.027829, t: 7.918332 -4.024004 2.525109 q: 0.191049 0.802613 -0.102907 0.555628 
time: 1403638597.127830, t: 7.947130 -3.860455 2.554199 q: 0.193706 0.800911 -0.101798 0.557366 
time: 1403638597.227829, t: 7.979075 -3.682596 2.577045 q: 0.194027 0.798720 -0.102938 0.560182 
time: 1403638597.327830, t: 8.015000 -3.489406 2.594989 q: 0.190227 0.796784 -0.106334 0.563597 
time: 1403638597.427830, t: 8.052954 -3.280868 2.607703 q: 0.184065 0.794752 -0.112174 0.567368 
time: 1403638597.527829, t: 8.090636 -3.059707 2.613905 q: 0.172018 0.790228 -0.121376 0.575514 
time: 1403638597.627830, t: 8.126677 -2.828518 2.615373 q: 0.162812 0.786870 -0.128849 0.581142 
time: 1403638597.727829, t: 8.160203 -2.589869 2.610981 q: 0.162388 0.786047 -0.129535 0.582221 
time: 1403638597.827830, t: 8.192725 -2.343046 2.602466 q: 0.167671 0.788655 -0.119900 0.579253 
time: 1403638597.927830, t: 8.223411 -2.087651 2.589891 q: 0.171739 0.791382 -0.108386 0.576604 
time: 1403638598.027829, t: 8.255144 -1.821260 2.579418 q: 0.169432 0.792462 -0.101689 0.577024 
time: 1403638598.127830, t: 8.286058 -1.542811 2.576874 q: 0.153973 0.793092 -0.105502 0.579799 
time: 1403638598.227829, t: 8.311341 -1.255484 2.579966 q: 0.133104 0.794188 -0.115041 0.581648 
time: 1403638598.327830, t: 8.334160 -0.965002 2.584508 q: 0.118650 0.796821 -0.122291 0.579693 
time: 1403638598.427830, t: 8.354042 -0.675299 2.584062 q: 0.111418 0.798954 -0.125703 0.577458 
time: 1403638598.527829, t: 8.369940 -0.386725 2.576613 q: 0.107499 0.800766 -0.125460 0.575742 
time: 1403638598.627830, t: 8.383204 -0.100966 2.560665 q: 0.102591 0.804144 -0.120233 0.573038 
time: 1403638598.727829, t: 8.396208 0.181574 2.542443 q: 0.096298 0.806027 -0.109916 0.573555 
time: 1403638598.827830, t: 8.408487 0.463130 2.528244 q: 0.087399 0.807278 -0.097195 0.575514 
time: 1403638598.927830, t: 8.417623 0.741625 2.518889 q: 0.077959 0.809791 -0.081650 0.575755 
time: 1403638599.027829, t: 8.426062 1.019765 2.513039 q: 0.065324 0.811536 -0.066034 0.576872 
time: 1403638599.127830, t: 8.431321 1.294875 2.516066 q: 0.054423 0.812661 -0.047811 0.578216 
time: 1403638599.227829, t: 8.433276 1.569021 2.523376 q: 0.043041 0.814191 -0.029176 0.578264 
time: 1403638599.327830, t: 8.433631 1.842890 2.537178 q: 0.029999 0.816175 -0.011012 0.576920 
time: 1403638599.427830, t: 8.429392 2.115931 2.558155 q: 0.020763 0.818968 0.005474 0.573438 
time: 1403638599.527829, t: 8.426717 2.387686 2.580213 q: 0.013962 0.821142 0.016468 0.570315 
time: 1403638599.627830, t: 8.424213 2.657068 2.595062 q: 0.008228 0.822807 0.021690 0.567847 
time: 1403638599.727829, t: 8.418949 2.923429 2.599256 q: 0.006084 0.823943 0.024857 0.566094 
time: 1403638599.827830, t: 8.419409 3.188731 2.594877 q: 0.005205 0.824534 0.023958 0.565282 
time: 1403638599.927830, t: 8.422394 3.450425 2.585041 q: 0.002532 0.825670 0.020068 0.563791 
time: 1403638600.027829, t: 8.427663 3.709562 2.568973 q: -0.002478 0.824930 0.013536 0.565067 
time: 1403638600.127830, t: 8.436758 3.963485 2.550496 q: -0.010764 0.826971 0.004090 0.562126 
time: 1403638600.227829, t: 8.448716 4.210885 2.529298 q: -0.022613 0.829783 -0.007636 0.557575 
time: 1403638600.327830, t: 8.464957 4.448461 2.506443 q: -0.031438 0.831563 -0.017315 0.554270 
time: 1403638600.427830, t: 8.484818 4.676330 2.486651 q: -0.039292 0.832812 -0.025755 0.551559 
time: 1403638600.527829, t: 8.510683 4.887066 2.474678 q: -0.040607 0.833616 -0.028604 0.550107 
time: 1403638600.627830, t: 8.541456 5.084615 2.471352 q: -0.040210 0.835034 -0.030087 0.547901 
time: 1403638600.727829, t: 8.576561 5.269486 2.475572 q: -0.040692 0.837245 -0.031383 0.544408 
time: 1403638600.827830, t: 8.617710 5.440580 2.486559 q: -0.037067 0.841237 -0.028326 0.538649 
time: 1403638600.927830, t: 8.664797 5.597526 2.501989 q: -0.021374 0.844417 -0.015922 0.535022 
time: 1403638601.027829, t: 8.721004 5.744344 2.511353 q: -0.007843 0.845208 -0.004893 0.534357 
time: 1403638601.127830, t: 8.783861 5.885343 2.515858 q: -0.001339 0.843936 0.001137 0.536442 
time: 1403638601.227829, t: 8.852891 6.025465 2.517581 q: 0.007364 0.840920 0.008515 0.541042 
time: 1403638601.327830, t: 8.928575 6.162841 2.516018 q: 0.013462 0.833501 0.015259 0.552143 
optimize pose graph 
time: 1403638601.527829, t: 9.092869 6.449072 2.522756 q: -0.009045 0.824926 0.027624 0.564493 
time: 1403638601.627830, t: 9.178939 6.592340 2.534302 q: -0.020201 0.821507 0.044650 0.568089 
time: 1403638601.727829, t: 9.262916 6.736131 2.552710 q: -0.032460 0.818793 0.067886 0.569137 
time: 1403638601.827830, t: 9.344480 6.879948 2.579113 q: -0.046043 0.814251 0.095750 0.570708 
time: 1403638601.927830, t: 9.422113 7.026389 2.610429 q: -0.060222 0.809516 0.123522 0.570789 
time: 1403638602.027829, t: 9.495509 7.174097 2.638600 q: -0.073261 0.806963 0.143820 0.568119 
time: 1403638602.127830, t: 9.566289 7.322263 2.660043 q: -0.081476 0.803744 0.159293 0.567436 
time: 1403638602.227829, t: 9.634368 7.472054 2.675260 q: -0.086979 0.797298 0.176117 0.570730 
time: 1403638602.327830, t: 9.696353 7.626132 2.686662 q: -0.100415 0.788547 0.192254 0.575455 
time: 1403638602.427830, t: 9.750203 7.782903 2.703244 q: -0.132613 0.772718 0.199938 0.587661 
time: 1403638602.527829, t: 9.791944 7.934955 2.732274 q: -0.168518 0.749011 0.205223 0.607015 
time: 1403638602.627830, t: 9.820988 8.076206 2.767756 q: -0.197799 0.731930 0.213276 0.616172 
time: 1403638602.727829, t: 9.833996 8.200966 2.805075 q: -0.212890 0.725550 0.230245 0.612570 
time: 1403638602.827830, t: 9.832582 8.307921 2.850213 q: -0.220984 0.721736 0.251420 0.605848 
time: 1403638602.927830, t: 9.815831 8.397342 2.897566 q: -0.235118 0.719898 0.269555 0.594816 
time: 1403638603.027829, t: 9.789999 8.477317 2.943091 q: -0.256739 0.718451 0.283017 0.581218 
time: 1403638603.127830, t: 9.754680 8.540778 2.984113 q: -0.273463 0.710562 0.296902 0.576340 
time: 1403638603.227829, t: 9.712975 8.589912 3.014644 q: -0.277865 0.709807 0.312780 0.566687 
time: 1403638603.327830, t: 9.666156 8.625655 3.034653 q: -0.271563 0.721670 0.329429 0.544906 
time: 1403638603.427830, t: 9.616069 8.650456 3.047611 q: -0.265736 0.732444 0.340594 0.526218 
optimize pose graph 
time: 1403638603.527829, t: 9.566233 8.670354 3.056656 q: -0.263819 0.735889 0.346049 0.518765 
time: 1403638603.627830, t: 9.519248 8.687911 3.062575 q: -0.268273 0.729822 0.348379 0.523471 
time: 1403638603.827830, t: 9.424526 8.707707 3.057204 q: -0.259165 0.713570 0.358362 0.543349 
time: 1403638603.927830, t: 9.369590 8.708551 3.045230 q: -0.252596 0.706219 0.363042 0.552857 
time: 1403638604.027829, t: 9.306057 8.708322 3.025669 q: -0.247324 0.701068 0.365632 0.560043 
time: 1403638604.127830, t: 9.233270 8.703023 3.007159 q: -0.244058 0.697867 0.367516 0.564226 
time: 1403638604.227829, t: 9.149943 8.698899 2.993442 q: -0.247128 0.699319 0.365922 0.562123 
time: 1403638604.327830, t: 9.054591 8.687852 2.987908 q: -0.253910 0.705792 0.362138 0.553393 
time: 1403638604.427830, t: 8.951041 8.671581 2.987005 q: -0.256192 0.713909 0.360931 0.542612 
time: 1403638604.527829, t: 8.842248 8.650010 2.994104 q: -0.253379 0.721025 0.363144 0.532962 
time: 1403638604.627830, t: 8.729310 8.626358 3.000305 q: -0.252502 0.724062 0.364053 0.528622 
time: 1403638604.727829, t: 8.614681 8.603160 3.000234 q: -0.256623 0.726737 0.361234 0.524889 
time: 1403638604.827830, t: 8.500561 8.579792 2.997327 q: -0.259819 0.729125 0.358768 0.521686 
time: 1403638604.927830, t: 8.386771 8.552223 2.998242 q: -0.258254 0.733296 0.359708 0.515938 
time: 1403638605.027829, t: 8.274264 8.524010 3.003608 q: -0.255350 0.740485 0.361795 0.505552 
time: 1403638605.127830, t: 8.164217 8.494996 3.017977 q: -0.252476 0.745865 0.363877 0.497529 
time: 1403638605.227829, t: 8.061419 8.469726 3.038789 q: -0.249459 0.747728 0.366184 0.494553 
time: 1403638605.327830, t: 7.964740 8.450460 3.058523 q: -0.244737 0.746718 0.369704 0.495817 
time: 1403638605.427830, t: 7.871863 8.436820 3.072857 q: -0.237992 0.739030 0.374851 0.506637 
time: 1403638605.527829, t: 7.780657 8.425824 3.083510 q: -0.232075 0.728695 0.379685 0.520561 
optimize pose graph 
time: 1403638605.627830, t: 7.686346 8.419082 3.087896 q: -0.226066 0.721115 0.384383 0.530224 
time: 1403638605.827830, t: 7.477680 8.418925 3.100700 q: -0.221842 0.718182 0.387751 0.533526 
time: 1403638605.927830, t: 7.365286 8.427655 3.118034 q: -0.219050 0.717613 0.389352 0.534278 
time: 1403638606.027829, t: 7.245289 8.441641 3.138190 q: -0.215118 0.716837 0.391161 0.535595 
time: 1403638606.127830, t: 7.118727 8.462236 3.153540 q: -0.212253 0.716861 0.392127 0.535999 
time: 1403638606.227829, t: 6.984240 8.485737 3.159835 q: -0.209313 0.716838 0.393682 0.536046 
time: 1403638606.327830, t: 6.843970 8.517928 3.160694 q: -0.210543 0.720796 0.391712 0.531683 
time: 1403638606.427830, t: 6.697198 8.553758 3.151409 q: -0.217594 0.731028 0.385968 0.518922 
time: 1403638606.527829, t: 6.548790 8.593580 3.136604 q: -0.226265 0.741578 0.379251 0.505010 
time: 1403638606.627830, t: 6.402428 8.640222 3.118747 q: -0.231922 0.747656 0.377998 0.494307 
time: 1403638606.727829, t: 6.259688 8.695111 3.095219 q: -0.236028 0.749122 0.384560 0.484996 
time: 1403638606.827830, t: 6.121438 8.756763 3.068202 q: -0.242676 0.746582 0.395692 0.476604 
time: 1403638606.927830, t: 5.989569 8.827095 3.042835 q: -0.252432 0.740543 0.409935 0.468857 
time: 1403638607.027829, t: 5.864997 8.906174 3.025035 q: -0.265749 0.732287 0.424818 0.461153 
time: 1403638607.127830, t: 5.747612 8.991962 3.015881 q: -0.282546 0.724718 0.434320 0.454222 
time: 1403638607.227829, t: 5.637560 9.085285 3.012867 q: -0.296939 0.712185 0.440290 0.459090 
time: 1403638607.327830, t: 5.533733 9.181357 3.004202 q: -0.309766 0.700473 0.442278 0.466662 
time: 1403638607.427830, t: 5.433035 9.278112 2.987487 q: -0.318921 0.693998 0.442776 0.469687 
time: 1403638607.527829, t: 5.336741 9.371916 2.962287 q: -0.323205 0.693056 0.443389 0.467566 
optimize pose graph 
time: 1403638607.627830, t: 5.244921 9.462569 2.932091 q: -0.324432 0.691736 0.444597 0.467524 
time: 1403638607.727829, t: 5.155914 9.551733 2.900288 q: -0.324083 0.689383 0.444872 0.470968 
time: 1403638607.827830, t: 5.072061 9.637995 2.864315 q: -0.323415 0.689976 0.444506 0.470903 
time: 1403638607.927830, t: 4.994730 9.721415 2.823416 q: -0.325881 0.694234 0.441106 0.466118 
time: 1403638608.027829, t: 4.921457 9.803665 2.779763 q: -0.328076 0.696019 0.437434 0.465376 
time: 1403638608.127830, t: 4.854033 9.883063 2.731812 q: -0.326567 0.693420 0.436448 0.471208 
time: 1403638608.227829, t: 4.789475 9.958900 2.678643 q: -0.323069 0.689465 0.436980 0.478866 
time: 1403638608.327830, t: 4.729431 10.031967 2.620927 q: -0.323163 0.684535 0.435427 0.487217 
time: 1403638608.427830, t: 4.668343 10.100132 2.558703 q: -0.323742 0.680985 0.434578 0.492537 
time: 1403638608.527829, t: 4.609954 10.164608 2.489480 q: -0.322149 0.682782 0.435332 0.490423 
time: 1403638608.627830, t: 4.550138 10.223312 2.419123 q: -0.324356 0.681891 0.433093 0.492187 
time: 1403638608.727829, t: 4.489835 10.276957 2.354117 q: -0.328183 0.679122 0.430863 0.495425 
time: 1403638608.827830, t: 4.432579 10.324031 2.292256 q: -0.326442 0.681761 0.432373 0.491622 
time: 1403638608.927830, t: 4.377091 10.365976 2.236726 q: -0.324796 0.685497 0.433991 0.486059 
time: 1403638609.027829, t: 4.323985 10.402140 2.187510 q: -0.325118 0.689133 0.434275 0.480416 
time: 1403638609.127830, t: 4.273086 10.435368 2.145624 q: -0.324112 0.690657 0.434908 0.478329 
time: 1403638609.227829, t: 4.223560 10.465487 2.107827 q: -0.330925 0.690747 0.429912 0.478051 
time: 1403638609.327830, t: 4.176307 10.491443 2.066185 q: -0.334701 0.691234 0.426831 0.477478 
time: 1403638609.427830, t: 4.133045 10.515758 2.016440 q: -0.331487 0.691289 0.428503 0.478144 
time: 1403638609.527829, t: 4.093422 10.532305 1.961337 q: -0.327806 0.691285 0.430594 0.478808 
time: 1403638609.627830, t: 4.056036 10.549702 1.897947 q: -0.325865 0.691403 0.431204 0.479413 
optimize pose graph 
time: 1403638609.827830, t: 3.990025 10.573793 1.770649 q: -0.323285 0.691157 0.432936 0.479953 
time: 1403638609.927830, t: 3.959410 10.580190 1.717273 q: -0.323449 0.690808 0.432567 0.480678 
time: 1403638610.027829, t: 3.931108 10.587596 1.670890 q: -0.325563 0.689720 0.430700 0.482486 
time: 1403638610.127830, t: 3.908296 10.586898 1.632207 q: -0.328828 0.686839 0.428351 0.486457 
time: 1403638610.227829, t: 3.885606 10.582805 1.593532 q: -0.330189 0.684083 0.427253 0.490368 
time: 1403638610.327830, t: 3.864142 10.574464 1.547636 q: -0.331465 0.683203 0.425946 0.491868 
time: 1403638610.527829, t: 3.824278 10.544536 1.438499 q: -0.332425 0.679903 0.424370 0.497127 
time: 1403638610.627830, t: 3.807422 10.521338 1.383457 q: -0.338029 0.672776 0.420526 0.506228 
time: 1403638610.727829, t: 3.787975 10.490831 1.328119 q: -0.338233 0.673476 0.420933 0.504821 
time: 1403638610.827830, t: 3.766979 10.450174 1.276658 q: -0.335025 0.680719 0.424479 0.494164 
time: 1403638610.927830, t: 3.749153 10.404075 1.232769 q: -0.333501 0.683573 0.427090 0.488977 
time: 1403638611.027829, t: 3.729410 10.353392 1.190451 q: -0.336299 0.682623 0.424927 0.490271 
time: 1403638611.127830, t: 3.710681 10.298610 1.141132 q: -0.338815 0.680187 0.423549 0.493109 
time: 1403638611.227829, t: 3.692108 10.236460 1.089261 q: -0.338571 0.679692 0.424302 0.493312 
time: 1403638611.327830, t: 3.677077 10.170117 1.045175 q: -0.335782 0.679064 0.426691 0.494022 
time: 1403638611.427830, t: 3.658199 10.097808 1.004416 q: -0.325037 0.674594 0.433373 0.501460 
time: 1403638611.527829, t: 3.642074 10.019828 0.975380 q: -0.314425 0.671630 0.440458 0.506011 
time: 1403638611.627830, t: 3.616212 9.940919 0.951544 q: -0.309065 0.673655 0.442886 0.504500 
time: 1403638611.727829, t: 3.582379 9.859551 0.928172 q: -0.310787 0.677961 0.440861 0.499421 
time: 1403638611.827830, t: 3.549205 9.776674 0.902251 q: -0.316993 0.683828 0.435919 0.491802 
optimize pose graph 
time: 1403638611.927830, t: 3.519236 9.693505 0.869459 q: -0.320711 0.688614 0.432421 0.485764 
time: 1403638612.027829, t: 3.486407 9.612316 0.835630 q: -0.322170 0.691334 0.430820 0.482346 
time: 1403638612.127830, t: 3.459670 9.531281 0.804944 q: -0.323545 0.693184 0.429345 0.480080 
time: 1403638612.227829, t: 3.434401 9.447232 0.782457 q: -0.322672 0.693753 0.429477 0.479728 
time: 1403638612.327830, t: 3.411654 9.364370 0.766918 q: -0.322130 0.693441 0.429621 0.480413 
time: 1403638612.427830, t: 3.393356 9.280298 0.753192 q: -0.321282 0.692424 0.429506 0.482548 
time: 1403638612.527829, t: 3.374833 9.196191 0.732881 q: -0.319243 0.690381 0.429431 0.486875 
time: 1403638612.627830, t: 3.355649 9.111353 0.707259 q: -0.314454 0.688746 0.431262 0.490673 
time: 1403638612.727829, t: 3.337090 9.027131 0.675321 q: -0.310235 0.686945 0.432354 0.494905 
time: 1403638612.827830, t: 3.316110 8.941054 0.640158 q: -0.309226 0.686003 0.430754 0.498227 
time: 1403638612.927830, t: 3.288857 8.855302 0.608062 q: -0.309969 0.685670 0.428199 0.500422 
time: 1403638613.027829, t: 3.261036 8.769612 0.581674 q: -0.309721 0.688091 0.427174 0.498122 
time: 1403638613.127830, t: 3.230745 8.683282 0.563939 q: -0.309857 0.689615 0.426263 0.496709 
time: 1403638613.227829, t: 3.196360 8.597467 0.555241 q: -0.309531 0.691411 0.425975 0.494657 
time: 1403638613.327830, t: 3.166457 8.511831 0.551971 q: -0.308528 0.691946 0.426583 0.494013 
time: 1403638613.427830, t: 3.131209 8.427012 0.552753 q: -0.307645 0.691335 0.427040 0.495023 
time: 1403638613.527829, t: 3.097601 8.339955 0.546152 q: -0.308796 0.691254 0.423553 0.497410 
time: 1403638613.627830, t: 3.063703 8.252928 0.534079 q: -0.310642 0.692838 0.417405 0.499250 
time: 1403638613.727829, t: 3.024839 8.166430 0.515332 q: -0.314403 0.691907 0.410716 0.503714 
time: 1403638613.827830, t: 2.988321 8.077339 0.490613 q: -0.314181 0.692518 0.403332 0.508953 
optimize pose graph 
time: 1403638613.927830, t: 2.948109 7.982889 0.455800 q: -0.308677 0.696773 0.394348 0.513532 
time: 1403638614.027829, t: 2.911154 7.882312 0.418480 q: -0.298118 0.703873 0.383573 0.518228 
time: 1403638614.227829, t: 2.823204 7.670236 0.333737 q: -0.271372 0.723377 0.356759 0.525172 
time: 1403638614.327830, t: 2.778624 7.561083 0.299256 q: -0.261401 0.731377 0.345255 0.526836 
time: 1403638614.427830, t: 2.736932 7.451295 0.272515 q: -0.256236 0.737149 0.335600 0.527567 
time: 1403638614.527829, t: 2.695622 7.340130 0.258458 q: -0.253466 0.741572 0.327635 0.527713 
time: 1403638614.627830, t: 2.653868 7.228775 0.250253 q: -0.249998 0.746114 0.317485 0.529167 
time: 1403638614.727829, t: 2.616130 7.117874 0.255150 q: -0.247682 0.753625 0.303352 0.527902 
time: 1403638614.827830, t: 2.579807 7.003026 0.267718 q: -0.242630 0.764357 0.286405 0.524273 
time: 1403638614.927830, t: 2.548182 6.884562 0.289471 q: -0.231937 0.774814 0.268914 0.523024 
time: 1403638615.027829, t: 2.523375 6.764685 0.318232 q: -0.217329 0.784062 0.248322 0.525692 
time: 1403638615.127830, t: 2.507280 6.640590 0.352700 q: -0.196924 0.790667 0.227162 0.533352 
time: 1403638615.227829, t: 2.496039 6.513978 0.392985 q: -0.172741 0.792836 0.206274 0.546829 
time: 1403638615.327830, t: 2.488115 6.386085 0.431928 q: -0.150673 0.795992 0.182367 0.557168 
time: 1403638615.427830, t: 2.479456 6.259160 0.464799 q: -0.129841 0.799615 0.156517 0.565031 
time: 1403638615.527829, t: 2.470114 6.130829 0.491343 q: -0.110325 0.803659 0.131129 0.569882 
time: 1403638615.627830, t: 2.459569 6.004029 0.510605 q: -0.095273 0.806275 0.109936 0.573374 
time: 1403638615.727829, t: 2.447414 5.879934 0.531078 q: -0.085279 0.808203 0.094994 0.574901 
time: 1403638615.827830, t: 2.432735 5.758103 0.558836 q: -0.078401 0.809531 0.083938 0.575732 
time: 1403638615.927830, t: 2.414992 5.638173 0.589156 q: -0.073108 0.810589 0.071237 0.576650 
time: 1403638616.027829, t: 2.396879 5.515108 0.613862 q: -0.064986 0.812270 0.059283 0.576611 
time: 1403638616.127830, t: 2.379172 5.392580 0.630266 q: -0.055250 0.813332 0.046571 0.577295 
time: 1403638616.227829, t: 2.359448 5.268295 0.631062 q: -0.045687 0.814854 0.030043 0.577082 
time: 1403638616.327830, t: 2.340204 5.144335 0.614364 q: -0.033314 0.815851 0.011036 0.577197 
time: 1403638616.427830, t: 2.320515 5.020757 0.586485 q: -0.020414 0.816571 -0.008054 0.576828 
time: 1403638616.527829, t: 2.299739 4.897424 0.553434 q: -0.010986 0.817408 -0.023741 0.575465 
time: 1403638616.627830, t: 2.279821 4.774203 0.516871 q: -0.003347 0.820455 -0.034776 0.570642 
time: 1403638616.727829, t: 2.260931 4.652572 0.477322 q: -0.001631 0.827761 -0.044429 0.559317 
time: 1403638616.827830, t: 2.244486 4.529536 0.432707 q: -0.006477 0.835381 -0.053675 0.547006 
time: 1403638616.927830, t: 2.234671 4.403303 0.393660 q: -0.006842 0.837518 -0.056495 0.543438 
time: 1403638617.027829, t: 2.232014 4.272907 0.365046 q: 0.000167 0.834257 -0.051780 0.548939 
time: 1403638617.127830, t: 2.234716 4.141125 0.345058 q: 0.007272 0.830355 -0.045110 0.555359 
time: 1403638617.227829, t: 2.241802 4.009155 0.331171 q: 0.010881 0.830119 -0.039521 0.556078 
time: 1403638617.327830, t: 2.253131 3.878649 0.322295 q: 0.010265 0.833214 -0.036599 0.551643 
time: 1403638617.427830, t: 2.269297 3.750412 0.320360 q: 0.011071 0.837264 -0.032946 0.545693 
time: 1403638617.527829, t: 2.291532 3.624142 0.327604 q: 0.010975 0.838948 -0.029545 0.543298 
time: 1403638617.627830, t: 2.321132 3.501143 0.343941 q: 0.011045 0.838484 -0.026745 0.544157 
time: 1403638617.727829, t: 2.358168 3.379846 0.368526 q: 0.012816 0.836740 -0.022646 0.546982 
time: 1403638617.827830, t: 2.403348 3.264553 0.400967 q: 0.013244 0.836670 -0.020159 0.547175 
time: 1403638617.927830, t: 2.452360 3.150731 0.440647 q: 0.011785 0.835487 -0.019199 0.549048 
time: 1403638618.027829, t: 2.505079 3.040586 0.479146 q: 0.010793 0.835008 -0.018105 0.549833 
time: 1403638618.127830, t: 2.561533 2.932962 0.511486 q: 0.008815 0.835101 -0.017713 0.549741 
time: 1403638618.227829, t: 2.621445 2.827086 0.537371 q: 0.008261 0.834848 -0.016542 0.550169 
time: 1403638618.327830, t: 2.684176 2.725518 0.559765 q: 0.008754 0.834221 -0.015173 0.551153 
time: 1403638618.427830, t: 2.751961 2.625781 0.576596 q: 0.008613 0.834117 -0.014113 0.551339 
time: 1403638618.527829, t: 2.823269 2.530844 0.593706 q: 0.008253 0.833650 -0.013063 0.552077 
time: 1403638618.727829, t: 2.977268 2.345079 0.622926 q: 0.015019 0.833136 -0.017023 0.552602 
time: 1403638618.827830, t: 3.061216 2.258891 0.643301 q: 0.016440 0.831992 -0.020931 0.554149 
time: 1403638618.927830, t: 3.147363 2.175671 0.670045 q: 0.021280 0.829362 -0.026188 0.557691 
time: 1403638619.027829, t: 3.235403 2.092367 0.693085 q: 0.029882 0.824944 -0.037322 0.563189 
time: 1403638619.127830, t: 3.323434 2.011506 0.708571 q: 0.043805 0.821324 -0.053085 0.566295 
time: 1403638619.227829, t: 3.411924 1.934818 0.716656 q: 0.057503 0.817728 -0.074733 0.567828 
time: 1403638619.327830, t: 3.499452 1.862445 0.717604 q: 0.073097 0.814153 -0.099597 0.567355 
time: 1403638619.427830, t: 3.582984 1.795244 0.708943 q: 0.086513 0.809528 -0.122955 0.567505 
time: 1403638619.527829, t: 3.665687 1.731537 0.698575 q: 0.094925 0.805513 -0.141273 0.567610 
time: 1403638619.627830, t: 3.746262 1.670644 0.685339 q: 0.097721 0.802517 -0.156660 0.567340 
time: 1403638619.727829, t: 3.824933 1.609876 0.670590 q: 0.092138 0.799902 -0.171403 0.567704 
time: 1403638619.827830, t: 3.901761 1.546558 0.654626 q: 0.089677 0.797233 -0.180202 0.569127 
time: 1403638619.927830, t: 3.975073 1.480950 0.636492 q: 0.090093 0.795826 -0.185084 0.569463 
time: 1403638620.027829, t: 4.045330 1.412647 0.612654 q: 0.092671 0.794606 -0.187059 0.570108 
time: 1403638620.127830, t: 4.108341 1.338434 0.597959 q: 0.095788 0.792016 -0.186934 0.573228 
time: 1403638620.227829, t: 4.167463 1.265802 0.585158 q: 0.098672 0.789774 -0.186419 0.575994 
time: 1403638620.327830, t: 4.218657 1.187383 0.584756 q: 0.102469 0.791614 -0.183789 0.573646 
time: 1403638620.427830, t: 4.265041 1.111090 0.587529 q: 0.103854 0.792752 -0.181975 0.572401 
time: 1403638620.527829, t: 4.306780 1.030459 0.596882 q: 0.104274 0.794202 -0.179593 0.571066 
time: 1403638620.627830, t: 4.345481 0.952151 0.599956 q: 0.102387 0.796376 -0.178817 0.568619 
time: 1403638620.727829, t: 4.381543 0.874185 0.596763 q: 0.098658 0.799585 -0.179442 0.564563 
time: 1403638620.827830, t: 4.414314 0.792793 0.590751 q: 0.097285 0.802786 -0.177779 0.560771 
time: 1403638620.927830, t: 4.448584 0.711244 0.579175 q: 0.102330 0.804654 -0.171841 0.559045 
time: 1403638621.027829, t: 4.480450 0.630404 0.563708 q: 0.107081 0.803815 -0.165982 0.561128 
time: 1403638621.127830, t: 4.506828 0.551407 0.549247 q: 0.107730 0.802712 -0.162710 0.563537 
time: 1403638621.227829, t: 4.537139 0.472758 0.543371 q: 0.107450 0.801168 -0.160291 0.566472 
time: 1403638621.327830, t: 4.566261 0.397500 0.545350 q: 0.109136 0.801646 -0.157375 0.566291 
time: 1403638621.427830, t: 4.593203 0.322644 0.544402 q: 0.109078 0.800460 -0.155272 0.568556 
time: 1403638621.527829, t: 4.616987 0.256160 0.539451 q: 0.110213 0.798402 -0.152848 0.571878 
time: 1403638621.627830, t: 4.640984 0.188264 0.528555 q: 0.110049 0.796745 -0.151427 0.574593 
time: 1403638621.727829, t: 4.660809 0.128737 0.512581 q: 0.110528 0.795887 -0.150350 0.575971 
time: 1403638621.827830, t: 4.679636 0.067004 0.493749 q: 0.111950 0.793638 -0.148768 0.579201 
time: 1403638621.927830, t: 4.692162 0.010346 0.472242 q: 0.113368 0.790208 -0.147164 0.584005 
optimize pose graph 
time: 1403638622.027829, t: 4.699715 -0.036062 0.448883 q: 0.112941 0.788727 -0.147376 0.586033 
time: 1403638622.127830, t: 4.704385 -0.085159 0.417610 q: 0.110274 0.789346 -0.149523 0.585163 
time: 1403638622.227829, t: 4.702523 -0.126570 0.389445 q: 0.107975 0.789756 -0.151263 0.584591 
time: 1403638622.327830, t: 4.696562 -0.168612 0.366033 q: 0.105632 0.789762 -0.153269 0.584488 
time: 1403638622.427830, t: 4.682367 -0.206340 0.352066 q: 0.108031 0.790601 -0.152608 0.583087 
time: 1403638622.527829, t: 4.661684 -0.240323 0.348780 q: 0.110901 0.790693 -0.151382 0.582743 
time: 1403638622.627830, t: 4.639573 -0.271785 0.349463 q: 0.115799 0.789143 -0.148783 0.584558 
time: 1403638622.727829, t: 4.611449 -0.297648 0.364635 q: 0.118947 0.781271 -0.147082 0.594840 
time: 1403638622.827830, t: 4.579217 -0.319581 0.383502 q: 0.120822 0.771666 -0.146571 0.607001 
time: 1403638622.927830, t: 4.535329 -0.334303 0.408260 q: 0.120329 0.771796 -0.147881 0.606616 
time: 1403638623.027829, t: 4.480842 -0.341920 0.426441 q: 0.117720 0.777938 -0.151082 0.598439 
time: 1403638623.127830, t: 4.421145 -0.347010 0.434371 q: 0.113650 0.783600 -0.154661 0.590877 
time: 1403638623.227829, t: 4.351308 -0.346594 0.440437 q: 0.109698 0.786589 -0.157766 0.586817 
time: 1403638623.327830, t: 4.277667 -0.345121 0.441453 q: 0.107285 0.789975 -0.159856 0.582130 
time: 1403638623.427830, t: 4.203942 -0.343880 0.437235 q: 0.107397 0.792736 -0.159936 0.578322 
time: 1403638623.527829, t: 4.123859 -0.341541 0.429816 q: 0.106043 0.793175 -0.160817 0.577724 
time: 1403638623.627830, t: 4.043592 -0.338549 0.430349 q: 0.108868 0.792609 -0.159526 0.578334 
time: 1403638623.727829, t: 3.955842 -0.335292 0.434813 q: 0.110561 0.793239 -0.159072 0.577273 
time: 1403638623.827830, t: 3.868161 -0.329763 0.448156 q: 0.112255 0.794125 -0.158761 0.575811 
time: 1403638623.927830, t: 3.776734 -0.322555 0.465222 q: 0.113813 0.795793 -0.159364 0.573029 
time: 1403638624.027829, t: 3.684975 -0.313981 0.475443 q: 0.114105 0.796395 -0.160541 0.571806 
optimize pose graph 
time: 1403638624.227829, t: 3.502062 -0.291232 0.488125 q: 0.109591 0.796763 -0.166459 0.570483 
time: 1403638624.327830, t: 3.406679 -0.281081 0.486831 q: 0.108502 0.796007 -0.168433 0.571166 
time: 1403638624.427830, t: 3.312726 -0.270019 0.481505 q: 0.108449 0.795770 -0.169818 0.571096 
time: 1403638624.527829, t: 3.223154 -0.258805 0.472135 q: 0.107465 0.792697 -0.172266 0.574811 
time: 1403638624.627830, t: 3.125467 -0.250003 0.458472 q: 0.105000 0.783054 -0.174744 0.587593 
time: 1403638624.727829, t: 3.025467 -0.241731 0.444348 q: 0.109341 0.785530 -0.168028 0.585452 
time: 1403638624.827830, t: 2.930072 -0.232892 0.437896 q: 0.112549 0.792613 -0.158581 0.577884 
time: 1403638624.927830, t: 2.820640 -0.220715 0.439100 q: 0.109875 0.797052 -0.153200 0.573729 
time: 1403638625.027829, t: 2.718750 -0.202265 0.447152 q: 0.102940 0.798621 -0.151851 0.573191 
time: 1403638625.127830, t: 2.616193 -0.186029 0.451133 q: 0.094956 0.799688 -0.152596 0.572885 
time: 1403638625.227829, t: 2.509484 -0.173451 0.448856 q: 0.090871 0.800836 -0.151686 0.572184 
time: 1403638625.327830, t: 2.408088 -0.163499 0.444931 q: 0.089696 0.801199 -0.150249 0.572242 
time: 1403638625.427830, t: 2.301164 -0.154790 0.441078 q: 0.089223 0.801045 -0.149017 0.572852 
time: 1403638625.527829, t: 2.197432 -0.147231 0.444108 q: 0.089210 0.800863 -0.148555 0.573229 
time: 1403638625.627830, t: 2.089968 -0.140213 0.454195 q: 0.089761 0.802293 -0.148341 0.571194 
time: 1403638625.727829, t: 1.982482 -0.133121 0.470082 q: 0.088681 0.805181 -0.149128 0.567080 
time: 1403638625.827830, t: 1.875521 -0.125948 0.484907 q: 0.087988 0.809519 -0.150201 0.560693 
time: 1403638625.927830, t: 1.772284 -0.124038 0.494008 q: 0.089140 0.810545 -0.149967 0.559090 
time: 1403638626.027829, t: 1.670086 -0.120920 0.498407 q: 0.089119 0.811283 -0.151026 0.557735 
time: 1403638626.127830, t: 1.571276 -0.122219 0.497220 q: 0.087396 0.811718 -0.152889 0.556867 
optimize pose graph 
time: 1403638626.227829, t: 1.475802 -0.122356 0.491135 q: 0.089086 0.811577 -0.152295 0.556967 
time: 1403638626.327830, t: 1.383070 -0.128063 0.482250 q: 0.095333 0.809690 -0.148394 0.559726 
time: 1403638626.427830, t: 1.292122 -0.132352 0.471038 q: 0.100948 0.807563 -0.144246 0.562890 
time: 1403638626.527829, t: 1.202356 -0.134768 0.455806 q: 0.102389 0.808898 -0.142795 0.561079 
time: 1403638626.627830, t: 1.116090 -0.138287 0.440075 q: 0.101107 0.811019 -0.143531 0.558055 
time: 1403638626.727829, t: 1.031491 -0.139851 0.425303 q: 0.099359 0.813847 -0.144233 0.554056 
time: 1403638626.827830, t: 0.949816 -0.142415 0.418152 q: 0.097549 0.817086 -0.145103 0.549362 
time: 1403638626.927830, t: 0.878089 -0.145148 0.418425 q: 0.097458 0.819399 -0.144602 0.546056 
time: 1403638627.027829, t: 0.807811 -0.147100 0.421009 q: 0.096737 0.819517 -0.144333 0.546078 
time: 1403638627.127830, t: 0.745945 -0.150994 0.420118 q: 0.095940 0.819345 -0.144093 0.546541 
time: 1403638627.227829, t: 0.687650 -0.155126 0.415090 q: 0.095314 0.819277 -0.143840 0.546819 
time: 1403638627.327830, t: 0.629631 -0.153596 0.403800 q: 0.098059 0.819229 -0.141639 0.546979 
time: 1403638627.427830, t: 0.583940 -0.158459 0.395097 q: 0.099148 0.819158 -0.140541 0.547173 
time: 1403638627.527829, t: 0.541316 -0.161681 0.381863 q: 0.098846 0.818807 -0.140822 0.547680 
time: 1403638627.627830, t: 0.502940 -0.164787 0.367513 q: 0.102035 0.816790 -0.139276 0.550495 
time: 1403638627.727829, t: 0.469226 -0.167238 0.352951 q: 0.102965 0.813787 -0.138991 0.554825 
time: 1403638627.827830, t: 0.435744 -0.164773 0.339631 q: 0.104293 0.812502 -0.138770 0.556512 
time: 1403638627.927830, t: 0.406413 -0.164048 0.325269 q: 0.105036 0.813687 -0.138758 0.554641 
time: 1403638628.027829, t: 0.378811 -0.160263 0.311832 q: 0.106359 0.815240 -0.138831 0.552085 
time: 1403638628.127830, t: 0.355588 -0.158255 0.298510 q: 0.106858 0.816206 -0.139301 0.550440 
time: 1403638628.227829, t: 0.333976 -0.149703 0.288296 q: 0.107384 0.816332 -0.140214 0.549918 
optimize pose graph 
time: 1403638628.427830, t: 0.310340 -0.131626 0.271272 q: 0.104735 0.816530 -0.143443 0.549303 
time: 1403638628.527829, t: 0.305045 -0.121912 0.268097 q: 0.096484 0.810756 -0.149803 0.557606 
time: 1403638628.627830, t: 0.300904 -0.113236 0.267642 q: 0.090239 0.804036 -0.154501 0.567020 
time: 1403638628.727829, t: 0.290856 -0.104823 0.264722 q: 0.087834 0.803513 -0.156225 0.567667 
time: 1403638628.827830, t: 0.279593 -0.099661 0.257525 q: 0.091429 0.804885 -0.154091 0.565736 
time: 1403638628.927830, t: 0.269793 -0.097453 0.246306 q: 0.095839 0.804913 -0.151591 0.565641 
time: 1403638629.027829, t: 0.261474 -0.096160 0.236457 q: 0.100779 0.805928 -0.148100 0.564261 
time: 1403638629.127830, t: 0.254226 -0.094998 0.228662 q: 0.104197 0.807252 -0.145127 0.562516 
time: 1403638629.227829, t: 0.245990 -0.092971 0.223133 q: 0.105806 0.808235 -0.143641 0.561185 
time: 1403638629.427830, t: 0.229208 -0.081981 0.220065 q: 0.106448 0.813157 -0.143758 0.553876 
time: 1403638629.527829, t: 0.223067 -0.073819 0.219103 q: 0.103575 0.817817 -0.146243 0.546865 
time: 1403638629.627830, t: 0.222324 -0.065180 0.220249 q: 0.096455 0.818123 -0.151579 0.546255 
time: 1403638629.727829, t: 0.226639 -0.058028 0.222665 q: 0.086442 0.814109 -0.159466 0.551656 
time: 1403638629.827830, t: 0.234009 -0.055483 0.225112 q: 0.082532 0.808133 -0.162745 0.560021 
time: 1403638629.927830, t: 0.239638 -0.056026 0.221266 q: 0.087633 0.802024 -0.160069 0.568732 
time: 1403638630.027829, t: 0.243898 -0.059749 0.208380 q: 0.098497 0.796232 -0.152888 0.577008 
time: 1403638630.127830, t: 0.245250 -0.063072 0.184299 q: 0.104971 0.796610 -0.148247 0.576556 
time: 1403638630.227829, t: 0.243708 -0.064733 0.152690 q: 0.107384 0.800745 -0.146115 0.570900 
time: 1403638630.327830, t: 0.240886 -0.065022 0.115433 q: 0.109630 0.807359 -0.145616 0.561203 
optimize pose graph 
time: 1403638630.427830, t: 0.250963 -0.061962 0.114022 q: 0.094886 0.813507 -0.152057 0.553246 
time: 1403638630.527829, t: 0.263448 -0.061779 0.122861 q: 0.103871 0.803978 -0.144657 0.567367 
time: 1403638630.627830, t: 0.274730 -0.060846 0.111415 q: 0.104585 0.803191 -0.144903 0.568286 
time: 1403638630.727829, t: 0.281080 -0.063088 0.093451 q: 0.095031 0.829305 -0.138112 0.533055 
time: 1403638630.827830, t: 0.278379 -0.072674 0.091778 q: 0.099104 0.826838 -0.139875 0.535679 
time: 1403638630.927830, t: 0.274842 -0.063467 0.084414 q: 0.098579 0.827547 -0.138322 0.535084 
time: 1403638631.027829, t: 0.290190 -0.078295 0.108991 q: 0.097804 0.828265 -0.138460 0.534078 
time: 1403638631.127830, t: 0.267876 -0.075961 0.094397 q: 0.097152 0.827895 -0.138615 0.534732 
time: 1403638631.227829, t: 0.288616 -0.068634 0.102660 q: 0.098118 0.828130 -0.138972 0.534097 
time: 1403638631.327830, t: 0.289605 -0.069207 0.101192 q: 0.098076 0.827925 -0.139020 0.534411 
time: 1403638631.427830, t: 0.289557 -0.069460 0.100841 q: 0.098274 0.827913 -0.138799 0.534450 
time: 1403638631.527829, t: 0.289342 -0.069570 0.099894 q: 0.098302 0.827983 -0.138830 0.534328 
time: 1403638631.627830, t: 0.289343 -0.069863 0.098147 q: 0.098476 0.828009 -0.138643 0.534304 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731026236.151039381]: Shutdown request received.[0m
[33m[ WARN] [1731026236.151103359]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731026236.151973867]: Shutdown request received.[0m
[33m[ WARN] [1731026236.152005805]: Reason given for shutdown: [user request][0m
killed
