/SLAM-Hive/slam_hive_results/mapping_results/3454/2130_vins-fusion-mono-imu+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1731042423.082809650]: init begins[0m
[31m[ERROR] [1731042423.086208253]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731042423.086229707]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/4a9fa50c-9d8f-11ef-9d99-0242ac110002/roslaunch-bf53fb76b9e7-118.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://bf53fb76b9e7:40023/[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
[1mROS_MASTER_URI=http://bf53fb76b9e7:11311/[0m
]2;roscore http://bf53fb76b9e7:11311/
[1msetting /run_id to 4a9fa50c-9d8f-11ef-9d99-0242ac110002[0m
[0m[ INFO] [1731042424.242513388]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731042424.244375824]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1731042424.269444954]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1731042424.269630555]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731042424.269655576]: 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] [1731042424.269828611]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731042424.272750235]: 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 [197][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1731042432.860136979]: 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: 327403914.94 
init first imu pose
averge acc 9.015113 -0.047866 -3.797742
init R0 
[0m[ INFO] [1731042434.218844966]: IMU excitation not enouth![0m
[0m[ INFO] [1731042434.220157753]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731042434.414209135]: IMU excitation not enouth![0m
[0m[ INFO] [1731042434.414883114]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731042434.629435402]: IMU excitation not enouth![0m
[0m[ INFO] [1731042434.715361015]: IMU excitation not enouth![0m
[0m[ INFO] [1731042434.716189741]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731042434.935568580]: IMU excitation not enouth![0m
[0m[ INFO] [1731042434.936632955]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731042435.113176808]: IMU excitation not enouth![0m
[0m[ INFO] [1731042435.217687397]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731042435.427872613]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731042435.616590049]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731042435.732942626]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731042435.917586770]: IMU excitation not enouth![0m
[0m[ INFO] [1731042435.918686076]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731042436.118747280]: IMU excitation not enouth![0m
[0m[ INFO] [1731042436.119749549]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731042436.221787140]: IMU excitation not enouth![0m
[0m[ INFO] [1731042436.222661052]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731042436.430343297]: IMU excitation not enouth![0m
[0m[ INFO] [1731042436.618592538]: IMU excitation not enouth![0m
[0m[ INFO] [1731042436.712048051]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731042436.932217503]: IMU excitation not enouth![0m
[0m[ INFO] [1731042437.128434285]: IMU excitation not enouth![0m
[0m[ INFO] [1731042437.128797271]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731042437.230895749]: Not enough features or parallax; Move device around[0m
[33m[ WARN] [1731042438.514778358]: gyroscope bias initial calibration 0.0147476 0.0163658 0.0988379[0m
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time: 1403638523.427830, t: 0.028720 -0.000668 0.329578 q: -0.051505 0.804431 0.025552 0.591258 
time: 1403638523.527829, t: 0.029092 -0.003985 0.280643 q: -0.045447 0.811595 0.028562 0.581750 
time: 1403638523.627830, t: 0.029184 0.009064 0.230489 q: -0.035459 0.822408 0.029513 0.567025 
time: 1403638523.727829, t: 0.024784 0.009283 0.187248 q: -0.031349 0.829750 0.031139 0.556383 
time: 1403638523.827830, t: 0.015955 -0.030492 0.144905 q: -0.036320 0.832161 0.036425 0.552144 
time: 1403638523.927830, t: 0.007393 -0.042371 0.102074 q: -0.030875 0.831714 0.040346 0.552875 
time: 1403638524.027829, t: 0.000045 -0.048600 0.075186 q: -0.023013 0.833008 0.048078 0.550687 
time: 1403638524.127830, t: -0.004306 -0.049846 0.075074 q: -0.019653 0.837133 0.055722 0.543798 
time: 1403638524.227829, t: -0.004935 -0.049514 0.105193 q: -0.024613 0.840306 0.058367 0.538398 
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time: 1403638524.427830, t: 0.003788 -0.049379 0.212818 q: -0.041488 0.834665 0.055363 0.546396 
time: 1403638524.527829, t: 0.010851 -0.048993 0.274101 q: -0.046791 0.826516 0.054404 0.558322 
time: 1403638524.627830, t: 0.019520 -0.047318 0.332598 q: -0.047159 0.818640 0.050644 0.570123 
time: 1403638524.727829, t: 0.027441 -0.043909 0.381064 q: -0.037868 0.813772 0.045297 0.578177 
time: 1403638524.827830, t: 0.034019 -0.040908 0.414546 q: -0.025419 0.811300 0.040243 0.582690 
time: 1403638524.927830, t: 0.038021 -0.036757 0.433975 q: -0.029378 0.810217 0.040122 0.584016 
time: 1403638525.027829, t: 0.039078 -0.034824 0.434299 q: -0.033726 0.808010 0.043517 0.586591 
time: 1403638525.127830, t: 0.040607 -0.033437 0.411672 q: -0.029362 0.805677 0.047360 0.589728 
time: 1403638525.227829, t: 0.041351 -0.033771 0.370845 q: -0.028080 0.805913 0.052375 0.589044 
time: 1403638525.327830, t: 0.040196 -0.034964 0.320360 q: -0.029077 0.811757 0.057284 0.580452 
time: 1403638525.427830, t: 0.036690 -0.035370 0.267279 q: -0.034198 0.822980 0.060785 0.563772 
time: 1403638525.527829, t: 0.031018 -0.033781 0.217145 q: -0.042986 0.834398 0.061519 0.546029 
time: 1403638525.627830, t: 0.029835 -0.035883 0.172243 q: -0.046457 0.840386 0.059797 0.536673 
time: 1403638525.727829, t: 0.027145 -0.036441 0.136797 q: -0.044643 0.841021 0.055471 0.536296 
time: 1403638525.827830, t: 0.026085 -0.036670 0.110581 q: -0.040219 0.838132 0.049583 0.541719 
time: 1403638525.927830, t: 0.023304 -0.040667 0.093864 q: -0.031412 0.835131 0.046848 0.547151 
time: 1403638526.027829, t: 0.020096 -0.054231 0.087939 q: -0.025204 0.835458 0.046529 0.547001 
time: 1403638526.127830, t: 0.017297 -0.079044 0.091354 q: -0.022423 0.838148 0.040159 0.543499 
time: 1403638526.227829, t: 0.013703 -0.112203 0.102487 q: -0.020118 0.839308 0.030705 0.542415 
time: 1403638526.327830, t: 0.008260 -0.150881 0.117278 q: -0.016989 0.836574 0.022116 0.547144 
time: 1403638526.427830, t: 0.000064 -0.194615 0.131737 q: -0.014705 0.831840 0.012539 0.554679 
time: 1403638526.527829, t: -0.009357 -0.243098 0.142864 q: -0.013890 0.826898 0.000891 0.562180 
time: 1403638526.627830, t: -0.020123 -0.299001 0.151030 q: -0.011513 0.821458 -0.008810 0.570084 
time: 1403638526.727829, t: -0.032488 -0.361291 0.157022 q: -0.006101 0.817491 -0.016096 0.575683 
time: 1403638526.827830, t: -0.047188 -0.427636 0.161370 q: 0.004372 0.815359 -0.019802 0.578601 
time: 1403638526.927830, t: -0.062465 -0.491990 0.164753 q: 0.008964 0.816625 -0.023867 0.576605 
time: 1403638527.027829, t: -0.076917 -0.552654 0.167416 q: 0.014952 0.821014 -0.033661 0.569719 
time: 1403638527.127830, t: -0.088606 -0.608432 0.171587 q: 0.023066 0.824713 -0.048592 0.562988 
time: 1403638527.227829, t: -0.096256 -0.655478 0.177501 q: 0.031696 0.824216 -0.063236 0.561840 
time: 1403638527.327830, t: -0.099641 -0.688629 0.183708 q: 0.046171 0.819777 -0.074746 0.565903 
time: 1403638527.427830, t: -0.098498 -0.701720 0.188505 q: 0.060128 0.815050 -0.081060 0.570532 
time: 1403638527.527829, t: -0.090163 -0.690758 0.190197 q: 0.066600 0.813061 -0.083698 0.572269 
time: 1403638527.627830, t: -0.076083 -0.658855 0.188441 q: 0.066728 0.813391 -0.082893 0.571902 
time: 1403638527.727829, t: -0.061252 -0.616545 0.187206 q: 0.062926 0.814209 -0.076082 0.572114 
time: 1403638527.827830, t: -0.042512 -0.564102 0.186637 q: 0.052647 0.816861 -0.069906 0.570158 
time: 1403638527.927830, t: -0.024048 -0.504763 0.189139 q: 0.037965 0.819434 -0.065060 0.568202 
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time: 1403638534.827830, t: 0.086504 -0.066870 -0.008904 q: 0.032489 0.837881 -0.053298 0.542273 
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time: 1403638541.627830, t: 0.950620 0.153219 0.278046 q: -0.053263 0.814887 0.116398 0.565309 
optimize pose graph 
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time: 1403638542.927830, t: 1.464634 0.983291 0.523022 q: -0.171444 0.772646 0.271246 0.547768 
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time: 1403638543.627830, t: 1.567412 1.555745 0.640202 q: -0.184475 0.774854 0.284546 0.533483 
optimize pose graph 
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time: 1403638599.427830, t: 8.474476 2.249089 2.573120 q: 0.018411 0.818064 0.009134 0.574760 
time: 1403638599.527829, t: 8.468113 2.518455 2.595033 q: 0.011492 0.820152 0.020242 0.571672 
time: 1403638599.627830, t: 8.460635 2.786550 2.610713 q: 0.005635 0.821765 0.025549 0.569225 
time: 1403638599.727829, t: 8.450924 3.052793 2.616863 q: 0.003457 0.822910 0.028758 0.567433 
time: 1403638599.827830, t: 8.446836 3.316706 2.615186 q: 0.002390 0.823559 0.027909 0.566539 
time: 1403638599.927830, t: 8.445008 3.578521 2.608598 q: -0.000407 0.824802 0.024121 0.564907 
time: 1403638600.027829, t: 8.445734 3.839110 2.596521 q: -0.005405 0.824211 0.017559 0.565985 
time: 1403638600.127830, t: 8.452253 4.094394 2.580994 q: -0.013686 0.826385 0.008138 0.562881 
time: 1403638600.227829, t: 8.459758 4.341289 2.561414 q: -0.025645 0.829272 -0.003460 0.558246 
time: 1403638600.327830, t: 8.472088 4.578392 2.538548 q: -0.034538 0.831096 -0.012983 0.554903 
time: 1403638600.427830, t: 8.487828 4.805135 2.518362 q: -0.042421 0.832412 -0.021279 0.552121 
time: 1403638600.527829, t: 8.510129 5.014585 2.505862 q: -0.043699 0.833214 -0.024031 0.550698 
time: 1403638600.627830, t: 8.537846 5.212011 2.502316 q: -0.043294 0.834607 -0.025396 0.548554 
time: 1403638600.727829, t: 8.570399 5.396379 2.505899 q: -0.043814 0.836819 -0.026607 0.545074 
time: 1403638600.827830, t: 8.609556 5.565871 2.515928 q: -0.040257 0.840799 -0.023440 0.539340 
time: 1403638600.927830, t: 8.655387 5.719817 2.529353 q: -0.024687 0.843918 -0.010953 0.535792 
time: 1403638601.027829, t: 8.710633 5.864164 2.538844 q: -0.011227 0.844727 0.000255 0.535080 
time: 1403638601.127830, t: 8.772148 6.000347 2.544000 q: -0.004735 0.843501 0.006104 0.537073 
time: 1403638601.227829, t: 8.838331 6.136670 2.545303 q: 0.003913 0.840437 0.013458 0.541728 
time: 1403638601.327830, t: 8.911718 6.276756 2.544122 q: 0.010175 0.832968 0.019946 0.552868 
time: 1403638601.427830, t: 8.990304 6.420531 2.543233 q: -0.000272 0.828554 0.022381 0.559461 
time: 1403638601.527829, t: 9.071376 6.564231 2.549301 q: -0.012068 0.824256 0.031913 0.565189 
time: 1403638601.627830, t: 9.153248 6.706702 2.561248 q: -0.023211 0.820759 0.048835 0.568711 
optimize pose graph 
time: 1403638601.727829, t: 9.233782 6.850895 2.579995 q: -0.035349 0.817979 0.071838 0.569649 
time: 1403638601.827830, t: 9.312001 6.994704 2.607347 q: -0.048891 0.813370 0.099490 0.571087 
time: 1403638601.927830, t: 9.386432 7.139832 2.640087 q: -0.063027 0.808549 0.127097 0.571072 
time: 1403638602.027829, t: 9.457584 7.287292 2.668903 q: -0.076016 0.805970 0.147251 0.568288 
time: 1403638602.127830, t: 9.526323 7.434286 2.691037 q: -0.084235 0.802739 0.162610 0.567514 
time: 1403638602.227829, t: 9.591547 7.582890 2.707482 q: -0.089860 0.796265 0.179379 0.570710 
time: 1403638602.327830, t: 9.651776 7.735052 2.720229 q: -0.103321 0.787507 0.195440 0.575291 
time: 1403638602.427830, t: 9.702026 7.889867 2.739274 q: -0.135563 0.771631 0.203040 0.587353 
time: 1403638602.527829, t: 9.742895 8.041812 2.768838 q: -0.171383 0.747967 0.208063 0.606533 
time: 1403638602.627830, t: 9.769788 8.180316 2.805011 q: -0.200750 0.730873 0.215996 0.615523 
time: 1403638602.727829, t: 9.781793 8.302559 2.843858 q: -0.215827 0.724464 0.232820 0.611855 
time: 1403638602.827830, t: 9.778014 8.407217 2.888869 q: -0.223984 0.720487 0.253980 0.605164 
time: 1403638602.927830, t: 9.761240 8.498227 2.935922 q: -0.237937 0.718707 0.272021 0.594013 
time: 1403638603.027829, t: 9.735134 8.577797 2.981914 q: -0.259613 0.717238 0.285579 0.580186 
time: 1403638603.127830, t: 9.700151 8.639665 3.023130 q: -0.276436 0.709284 0.299488 0.575158 
time: 1403638603.227829, t: 9.658243 8.686574 3.054508 q: -0.280858 0.708484 0.315401 0.565412 
time: 1403638603.327830, t: 9.611927 8.721592 3.075095 q: -0.274548 0.720231 0.332206 0.543627 
time: 1403638603.427830, t: 9.562144 8.745460 3.089129 q: -0.268674 0.730971 0.343497 0.524887 
time: 1403638603.527829, t: 9.512332 8.765501 3.099636 q: -0.266674 0.734452 0.348863 0.517456 
time: 1403638603.627830, t: 9.464611 8.784316 3.106930 q: -0.271085 0.728371 0.351136 0.522200 
time: 1403638603.727829, t: 9.417267 8.796777 3.107930 q: -0.268321 0.719886 0.356095 0.531944 
optimize pose graph 
time: 1403638603.827830, t: 9.368253 8.805088 3.101923 q: -0.262311 0.711810 0.361549 0.542036 
time: 1403638603.927830, t: 9.312365 8.809301 3.089418 q: -0.255627 0.704498 0.366052 0.551673 
time: 1403638604.027829, t: 9.248102 8.808979 3.070323 q: -0.250378 0.699343 0.368647 0.558864 
time: 1403638604.127830, t: 9.175150 8.807125 3.051253 q: -0.246925 0.696220 0.370342 0.563163 
time: 1403638604.227829, t: 9.092171 8.800894 3.037668 q: -0.250128 0.697591 0.368906 0.560991 
time: 1403638604.327830, t: 8.997138 8.788787 3.031644 q: -0.256966 0.703993 0.365197 0.552263 
time: 1403638604.427830, t: 8.892938 8.771864 3.031459 q: -0.259214 0.712095 0.364081 0.541455 
time: 1403638604.527829, t: 8.784024 8.750025 3.038627 q: -0.256273 0.719269 0.366265 0.531814 
time: 1403638604.627830, t: 8.672338 8.727198 3.044927 q: -0.255301 0.722332 0.367153 0.527499 
time: 1403638604.727829, t: 8.559227 8.702556 3.045548 q: -0.259479 0.724954 0.364494 0.523695 
time: 1403638604.827830, t: 8.446014 8.675887 3.043993 q: -0.262845 0.727278 0.362161 0.520403 
time: 1403638604.927830, t: 8.334426 8.646517 3.043662 q: -0.261333 0.731381 0.363236 0.514633 
time: 1403638605.027829, t: 8.224074 8.615576 3.048958 q: -0.258422 0.738551 0.365353 0.504260 
time: 1403638605.127830, t: 8.115550 8.584607 3.062596 q: -0.255556 0.743946 0.367347 0.496277 
time: 1403638605.227829, t: 8.013968 8.559933 3.083299 q: -0.252460 0.745831 0.369458 0.493458 
time: 1403638605.327830, t: 7.918068 8.540616 3.101843 q: -0.247697 0.744800 0.372780 0.494928 
time: 1403638605.427830, t: 7.825361 8.525630 3.115973 q: -0.241016 0.737068 0.377811 0.505866 
time: 1403638605.527829, t: 7.733741 8.515632 3.124823 q: -0.235049 0.726813 0.382249 0.519982 
time: 1403638605.627830, t: 7.640013 8.509505 3.128028 q: -0.228936 0.719331 0.386658 0.529761 
time: 1403638605.727829, t: 7.540828 8.507954 3.129616 q: -0.226128 0.716032 0.388759 0.533883 
time: 1403638605.827830, t: 7.434528 8.510730 3.138574 q: -0.224614 0.716568 0.389674 0.533135 
optimize pose graph 
time: 1403638605.927830, t: 7.322291 8.519126 3.155684 q: -0.221792 0.715972 0.391194 0.534004 
time: 1403638606.027829, t: 7.203875 8.535068 3.174830 q: -0.217755 0.715257 0.392908 0.535363 
time: 1403638606.127830, t: 7.077411 8.555487 3.190351 q: -0.214821 0.715319 0.393786 0.535820 
time: 1403638606.227829, t: 6.944703 8.581048 3.195984 q: -0.211761 0.715436 0.395292 0.535773 
time: 1403638606.327830, t: 6.804361 8.611427 3.197344 q: -0.212948 0.719419 0.393360 0.531374 
time: 1403638606.427830, t: 6.658377 8.647278 3.188591 q: -0.219871 0.729707 0.387728 0.518509 
time: 1403638606.527829, t: 6.508740 8.687164 3.174545 q: -0.228426 0.740301 0.381017 0.504581 
time: 1403638606.627830, t: 6.360276 8.733216 3.156098 q: -0.233927 0.746345 0.379752 0.494000 
time: 1403638606.727829, t: 6.218209 8.787875 3.132015 q: -0.237955 0.747731 0.386261 0.484849 
time: 1403638606.827830, t: 6.080588 8.848586 3.104112 q: -0.244555 0.745079 0.397369 0.476601 
time: 1403638606.927830, t: 5.948029 8.917797 3.078742 q: -0.254238 0.738945 0.411611 0.468935 
time: 1403638607.027829, t: 5.821579 8.995980 3.060015 q: -0.267473 0.730629 0.426407 0.461320 
time: 1403638607.127830, t: 5.704238 9.080670 3.051900 q: -0.284249 0.723019 0.435891 0.454363 
time: 1403638607.227829, t: 5.591777 9.172012 3.049657 q: -0.298739 0.710363 0.441872 0.459226 
time: 1403638607.327830, t: 5.484696 9.266517 3.042039 q: -0.311654 0.698613 0.443749 0.466797 
time: 1403638607.427830, t: 5.381823 9.362660 3.025082 q: -0.320845 0.692071 0.444255 0.469823 
time: 1403638607.527829, t: 5.283922 9.456856 2.999566 q: -0.325099 0.691154 0.444809 0.467719 
time: 1403638607.627830, t: 5.189300 9.548034 2.969074 q: -0.326210 0.689900 0.446008 0.467656 
time: 1403638607.727829, t: 5.098835 9.637894 2.936498 q: -0.325827 0.687550 0.446307 0.471086 
time: 1403638607.827830, t: 5.012426 9.725385 2.900547 q: -0.325070 0.688210 0.445921 0.471010 
time: 1403638607.927830, t: 4.932309 9.809923 2.860281 q: -0.327373 0.692508 0.442525 0.466295 
optimize pose graph 
time: 1403638608.027829, t: 4.858714 9.891904 2.815955 q: -0.329603 0.694254 0.438916 0.465539 
time: 1403638608.127830, t: 4.790127 9.972331 2.767737 q: -0.328107 0.691673 0.437853 0.471401 
time: 1403638608.227829, t: 4.728435 10.047802 2.714295 q: -0.324715 0.687694 0.438365 0.479035 
time: 1403638608.327830, t: 4.667368 10.120716 2.657135 q: -0.324780 0.682745 0.436780 0.487442 
time: 1403638608.427830, t: 4.606982 10.188105 2.594538 q: -0.325395 0.679213 0.435881 0.492744 
time: 1403638608.527829, t: 4.547863 10.253021 2.525636 q: -0.323729 0.681092 0.436589 0.490615 
time: 1403638608.627830, t: 4.488677 10.312419 2.454173 q: -0.325915 0.680344 0.434164 0.492354 
time: 1403638608.727829, t: 4.428604 10.367267 2.388940 q: -0.329823 0.677596 0.431899 0.495524 
time: 1403638608.827830, t: 4.370606 10.412673 2.326308 q: -0.328172 0.680269 0.433326 0.491697 
time: 1403638608.927830, t: 4.311451 10.456766 2.270696 q: -0.326413 0.684191 0.434712 0.486171 
time: 1403638609.027829, t: 4.255622 10.494457 2.220977 q: -0.326603 0.687877 0.434972 0.480577 
time: 1403638609.127830, t: 4.201261 10.530106 2.178885 q: -0.325462 0.689399 0.435718 0.478491 
time: 1403638609.227829, t: 4.149596 10.561104 2.140504 q: -0.332248 0.689479 0.430858 0.478112 
time: 1403638609.427830, t: 4.058584 10.609267 2.048020 q: -0.332910 0.689929 0.429734 0.478015 
time: 1403638609.527829, t: 4.017640 10.626106 1.992652 q: -0.329167 0.689987 0.431880 0.478588 
time: 1403638609.627830, t: 3.979722 10.644947 1.929019 q: -0.327169 0.690058 0.432754 0.479066 
time: 1403638609.727829, t: 3.943745 10.656019 1.863921 q: -0.324140 0.688865 0.434932 0.480866 
time: 1403638609.827830, t: 3.911752 10.670336 1.800671 q: -0.324575 0.689887 0.434684 0.479329 
time: 1403638609.927830, t: 3.882634 10.676196 1.747729 q: -0.324814 0.689478 0.434455 0.479964 
time: 1403638610.027829, t: 3.857871 10.684525 1.702130 q: -0.327127 0.688352 0.432828 0.481476 
time: 1403638610.127830, t: 3.833963 10.684530 1.664846 q: -0.330297 0.685511 0.430514 0.485423 
time: 1403638610.227829, t: 3.811845 10.680838 1.626730 q: -0.331661 0.682746 0.429488 0.489284 
time: 1403638610.327830, t: 3.789981 10.674258 1.583164 q: -0.332838 0.681895 0.428245 0.490759 
time: 1403638610.427830, t: 3.770930 10.663440 1.532921 q: -0.334131 0.681543 0.426986 0.491466 
time: 1403638610.527829, t: 3.751311 10.649197 1.477928 q: -0.333679 0.678621 0.426904 0.495867 
time: 1403638610.627830, t: 3.732815 10.626569 1.421053 q: -0.339285 0.671490 0.422872 0.505140 
time: 1403638610.727829, t: 3.711252 10.593290 1.364131 q: -0.339515 0.672194 0.423126 0.503835 
time: 1403638610.827830, t: 3.689041 10.553585 1.310335 q: -0.336250 0.679471 0.426594 0.493226 
time: 1403638610.927830, t: 3.669901 10.507818 1.266636 q: -0.334616 0.682381 0.429168 0.488060 
time: 1403638611.027829, t: 3.651445 10.457586 1.224968 q: -0.337364 0.681377 0.427314 0.489198 
time: 1403638611.127830, t: 3.633932 10.404482 1.179030 q: -0.339857 0.678764 0.426243 0.492031 
time: 1403638611.227829, t: 3.617231 10.345808 1.129311 q: -0.339586 0.678228 0.427208 0.492118 
time: 1403638611.327830, t: 3.602176 10.279494 1.084277 q: -0.336853 0.677558 0.429554 0.492878 
time: 1403638611.427830, t: 3.585274 10.204888 1.043520 q: -0.326198 0.672901 0.436557 0.500216 
time: 1403638611.527829, t: 3.568183 10.127093 1.013413 q: -0.315545 0.669947 0.443497 0.504890 
time: 1403638611.627830, t: 3.543727 10.045953 0.987029 q: -0.310318 0.671826 0.446048 0.503382 
time: 1403638611.727829, t: 3.514316 9.964205 0.962911 q: -0.312179 0.676040 0.444254 0.498150 
time: 1403638611.827830, t: 3.483429 9.879790 0.935779 q: -0.318510 0.681914 0.439273 0.490493 
time: 1403638611.927830, t: 3.453476 9.798736 0.902470 q: -0.322129 0.686736 0.435761 0.484498 
time: 1403638612.027829, t: 3.423027 9.716634 0.867750 q: -0.323714 0.689459 0.434102 0.481051 
time: 1403638612.127830, t: 3.394695 9.633909 0.838620 q: -0.325084 0.691363 0.432495 0.478838 
time: 1403638612.227829, t: 3.370267 9.549102 0.816853 q: -0.324258 0.691896 0.432664 0.478476 
time: 1403638612.327830, t: 3.347593 9.466181 0.804120 q: -0.323671 0.691568 0.432885 0.479146 
time: 1403638612.427830, t: 3.328309 9.382257 0.790210 q: -0.322828 0.690546 0.432654 0.481393 
time: 1403638612.527829, t: 3.308685 9.295782 0.770720 q: -0.320815 0.688522 0.432531 0.485729 
time: 1403638612.627830, t: 3.290322 9.210935 0.745378 q: -0.316009 0.686856 0.434343 0.489605 
time: 1403638612.727829, t: 3.270271 9.123457 0.712563 q: -0.311733 0.685076 0.435397 0.493886 
time: 1403638612.827830, t: 3.251533 9.039757 0.676687 q: -0.310758 0.684171 0.433787 0.497160 
time: 1403638612.927830, t: 3.226065 8.952562 0.643559 q: -0.311641 0.683785 0.431317 0.499283 
time: 1403638613.027829, t: 3.200190 8.867488 0.617196 q: -0.311452 0.686275 0.430324 0.496836 
time: 1403638613.127830, t: 3.171186 8.780787 0.599413 q: -0.311645 0.687802 0.429440 0.495366 
time: 1403638613.227829, t: 3.138091 8.689913 0.589303 q: -0.311508 0.689510 0.429168 0.493309 
time: 1403638613.327830, t: 3.107785 8.604160 0.585826 q: -0.310492 0.690084 0.429706 0.492677 
time: 1403638613.427830, t: 3.073059 8.514931 0.585877 q: -0.309710 0.689378 0.430215 0.493713 
time: 1403638613.527829, t: 3.040052 8.428191 0.579969 q: -0.310864 0.689330 0.426715 0.496086 
time: 1403638613.627830, t: 3.006941 8.340976 0.568023 q: -0.312756 0.690970 0.420544 0.497883 
time: 1403638613.727829, t: 2.971005 8.249689 0.549360 q: -0.316739 0.690032 0.413910 0.502206 
time: 1403638613.827830, t: 2.936146 8.160964 0.522856 q: -0.316572 0.690614 0.406553 0.507493 
time: 1403638613.927830, t: 2.898704 8.063716 0.489474 q: -0.311248 0.694900 0.397719 0.511917 
time: 1403638614.027829, t: 2.864320 7.963224 0.453028 q: -0.300760 0.702090 0.387070 0.516518 
optimize pose graph 
time: 1403638614.227829, t: 2.783889 7.743513 0.371747 q: -0.274248 0.721748 0.360732 0.523203 
time: 1403638614.327830, t: 2.741645 7.629067 0.337855 q: -0.264399 0.729746 0.349454 0.524830 
time: 1403638614.427830, t: 2.700264 7.515920 0.312182 q: -0.259194 0.735639 0.339815 0.525528 
time: 1403638614.527829, t: 2.658870 7.403689 0.296743 q: -0.256279 0.740152 0.331743 0.525778 
time: 1403638614.627830, t: 2.618485 7.292280 0.288630 q: -0.252743 0.744764 0.321740 0.527191 
time: 1403638614.727829, t: 2.581949 7.183180 0.293553 q: -0.250318 0.752427 0.307643 0.525880 
time: 1403638614.827830, t: 2.547661 7.071789 0.307021 q: -0.245161 0.763263 0.290735 0.522301 
time: 1403638614.927830, t: 2.519440 6.959923 0.330040 q: -0.234458 0.773802 0.273265 0.521139 
time: 1403638615.027829, t: 2.497823 6.847261 0.357950 q: -0.219897 0.783074 0.252716 0.523999 
time: 1403638615.127830, t: 2.483867 6.732217 0.390567 q: -0.199458 0.789735 0.231531 0.531910 
time: 1403638615.227829, t: 2.477236 6.616495 0.429740 q: -0.175373 0.791995 0.210665 0.545536 
time: 1403638615.327830, t: 2.471579 6.498538 0.466824 q: -0.153354 0.795266 0.186656 0.556052 
time: 1403638615.427830, t: 2.465963 6.379636 0.497961 q: -0.132664 0.798980 0.160820 0.564064 
time: 1403638615.527829, t: 2.460587 6.259690 0.522293 q: -0.113251 0.803142 0.135484 0.569018 
time: 1403638615.627830, t: 2.453406 6.138714 0.540067 q: -0.098209 0.805783 0.114520 0.572673 
time: 1403638615.727829, t: 2.444843 6.020410 0.558636 q: -0.088199 0.807766 0.099771 0.574265 
time: 1403638615.827830, t: 2.433561 5.904201 0.585619 q: -0.081380 0.809093 0.088866 0.575194 
time: 1403638615.927830, t: 2.419445 5.788859 0.615236 q: -0.076160 0.810197 0.076189 0.576174 
time: 1403638616.027829, t: 2.403710 5.671703 0.639265 q: -0.068041 0.811877 0.064285 0.576276 
time: 1403638616.127830, t: 2.386996 5.553629 0.653919 q: -0.058318 0.812907 0.051641 0.577160 
time: 1403638616.227829, t: 2.368055 5.436030 0.653973 q: -0.048555 0.814469 0.035179 0.577101 
time: 1403638616.327830, t: 2.349285 5.315734 0.638047 q: -0.036175 0.815579 0.016189 0.577287 
time: 1403638616.427830, t: 2.330565 5.191800 0.611644 q: -0.023394 0.816400 -0.002690 0.577006 
time: 1403638616.527829, t: 2.311516 5.066708 0.581048 q: -0.014097 0.817346 -0.018194 0.575687 
time: 1403638616.627830, t: 2.293019 4.944026 0.546336 q: -0.006310 0.820407 -0.029072 0.571006 
time: 1403638616.727829, t: 2.275414 4.823387 0.507333 q: -0.004570 0.827691 -0.038609 0.559835 
time: 1403638616.827830, t: 2.261000 4.704713 0.464397 q: -0.009156 0.835356 -0.047795 0.547550 
time: 1403638616.927830, t: 2.253368 4.579401 0.426532 q: -0.009522 0.837495 -0.050559 0.544017 
time: 1403638617.027829, t: 2.252729 4.450413 0.399141 q: -0.002567 0.834219 -0.045745 0.549527 
time: 1403638617.127830, t: 2.257521 4.318533 0.380703 q: 0.004335 0.830292 -0.038995 0.555945 
time: 1403638617.227829, t: 2.266824 4.186872 0.368110 q: 0.007775 0.830067 -0.033348 0.556611 
time: 1403638617.327830, t: 2.279881 4.056669 0.360453 q: 0.007085 0.833210 -0.030414 0.552074 
time: 1403638617.427830, t: 2.298047 3.929732 0.359637 q: 0.007868 0.837324 -0.026778 0.545994 
time: 1403638617.527829, t: 2.322104 3.805873 0.367671 q: 0.007751 0.839053 -0.023491 0.543487 
time: 1403638617.627830, t: 2.353837 3.686635 0.384108 q: 0.007809 0.838588 -0.020733 0.544316 
time: 1403638617.727829, t: 2.392323 3.570078 0.409557 q: 0.009541 0.836838 -0.016592 0.547116 
time: 1403638617.827830, t: 2.437426 3.460051 0.441699 q: 0.009905 0.836709 -0.013972 0.547380 
time: 1403638617.927830, t: 2.486617 3.352692 0.481017 q: 0.008433 0.835514 -0.012937 0.549253 
time: 1403638618.027829, t: 2.539338 3.247038 0.518681 q: 0.007395 0.835010 -0.011759 0.550059 
time: 1403638618.127830, t: 2.596107 3.144371 0.549962 q: 0.005402 0.835100 -0.011291 0.549956 
time: 1403638618.327830, t: 2.718793 2.944908 0.595688 q: 0.005159 0.834142 -0.008608 0.551458 
time: 1403638618.427830, t: 2.787085 2.849323 0.611580 q: 0.004952 0.834042 -0.007563 0.551627 
time: 1403638618.527829, t: 2.857317 2.757831 0.627030 q: 0.004351 0.833494 -0.006402 0.552475 
time: 1403638618.627830, t: 2.930590 2.668237 0.640094 q: 0.007002 0.833147 -0.008260 0.552945 
time: 1403638618.727829, t: 3.008408 2.581527 0.654695 q: 0.011146 0.832932 -0.010443 0.553165 
time: 1403638618.827830, t: 3.090252 2.499649 0.673509 q: 0.012448 0.831799 -0.014384 0.554750 
time: 1403638618.927830, t: 3.173703 2.422257 0.698946 q: 0.017288 0.829198 -0.019745 0.558339 
time: 1403638619.027829, t: 3.260006 2.345217 0.720053 q: 0.025897 0.824850 -0.031014 0.563906 
time: 1403638619.127830, t: 3.346115 2.270578 0.734481 q: 0.039873 0.821370 -0.046865 0.567067 
time: 1403638619.227829, t: 3.432717 2.199059 0.741474 q: 0.053620 0.817917 -0.068594 0.568711 
time: 1403638619.327830, t: 3.519092 2.129716 0.741238 q: 0.069097 0.814481 -0.093497 0.568423 
time: 1403638619.427830, t: 3.602146 2.064292 0.732503 q: 0.082403 0.810043 -0.116920 0.568655 
time: 1403638619.527829, t: 3.685499 2.002080 0.721529 q: 0.090681 0.806183 -0.135287 0.568809 
time: 1403638619.627830, t: 3.767480 1.942773 0.708605 q: 0.093439 0.803295 -0.150768 0.568555 
time: 1403638619.727829, t: 3.848015 1.884095 0.693136 q: 0.087927 0.800732 -0.165619 0.568917 
time: 1403638619.827830, t: 3.925012 1.823816 0.675378 q: 0.085564 0.797980 -0.174562 0.570469 
time: 1403638619.927830, t: 3.997266 1.761464 0.656354 q: 0.086100 0.796469 -0.179552 0.570951 
time: 1403638620.027829, t: 4.068120 1.696229 0.632009 q: 0.088730 0.795248 -0.181558 0.571615 
time: 1403638620.127830, t: 4.132237 1.626580 0.614905 q: 0.092065 0.792487 -0.181603 0.574899 
time: 1403638620.227829, t: 4.190643 1.555608 0.603031 q: 0.094838 0.790238 -0.181084 0.577701 
time: 1403638620.327830, t: 4.242726 1.481539 0.600185 q: 0.098869 0.791931 -0.178534 0.575496 
time: 1403638620.427830, t: 4.288513 1.407380 0.603123 q: 0.100200 0.793039 -0.176787 0.574278 
time: 1403638620.527829, t: 4.331203 1.330750 0.610499 q: 0.100808 0.794366 -0.174533 0.573025 
time: 1403638620.627830, t: 4.370452 1.254405 0.613404 q: 0.098916 0.796552 -0.173750 0.570553 
time: 1403638620.727829, t: 4.406056 1.177684 0.609782 q: 0.095118 0.799761 -0.174355 0.566511 
time: 1403638620.827830, t: 4.440503 1.098650 0.602614 q: 0.093832 0.802885 -0.172775 0.562778 
time: 1403638620.927830, t: 4.474329 1.017526 0.591094 q: 0.098795 0.804729 -0.166758 0.561108 
time: 1403638621.027829, t: 4.507432 0.937758 0.576851 q: 0.103502 0.803898 -0.160931 0.563149 
time: 1403638621.127830, t: 4.537600 0.858245 0.562978 q: 0.104098 0.802801 -0.157825 0.565478 
time: 1403638621.227829, t: 4.568545 0.780683 0.556768 q: 0.103744 0.801240 -0.155472 0.568402 
time: 1403638621.327830, t: 4.600270 0.704747 0.559008 q: 0.105279 0.801758 -0.152468 0.568202 
time: 1403638621.427830, t: 4.628219 0.631785 0.558307 q: 0.105146 0.800534 -0.150454 0.570486 
time: 1403638621.527829, t: 4.652774 0.563654 0.554068 q: 0.106053 0.798532 -0.147915 0.573777 
time: 1403638621.627830, t: 4.677068 0.497095 0.542896 q: 0.105883 0.796850 -0.146528 0.576497 
time: 1403638621.727829, t: 4.695759 0.437741 0.527577 q: 0.106158 0.796007 -0.145378 0.577900 
time: 1403638621.827830, t: 4.712754 0.377944 0.507974 q: 0.107534 0.793691 -0.143797 0.581217 
time: 1403638621.927830, t: 4.724964 0.323034 0.486626 q: 0.108915 0.790247 -0.142245 0.586015 
time: 1403638622.027829, t: 4.730406 0.276967 0.462461 q: 0.108218 0.788723 -0.142258 0.588190 
time: 1403638622.127830, t: 4.735294 0.230394 0.432505 q: 0.105638 0.789366 -0.144474 0.587256 
time: 1403638622.227829, t: 4.733164 0.192116 0.403805 q: 0.103399 0.789724 -0.146178 0.586751 
time: 1403638622.327830, t: 4.726828 0.151747 0.380016 q: 0.101117 0.789718 -0.148178 0.586655 
time: 1403638622.427830, t: 4.713113 0.115860 0.366398 q: 0.103599 0.790566 -0.147582 0.585229 
time: 1403638622.527829, t: 4.692716 0.086570 0.362135 q: 0.106662 0.790613 -0.146314 0.584932 
time: 1403638622.627830, t: 4.670858 0.055121 0.362649 q: 0.111589 0.789047 -0.143833 0.586741 
time: 1403638622.727829, t: 4.642157 0.032804 0.377032 q: 0.114789 0.781098 -0.142211 0.597064 
time: 1403638622.827830, t: 4.610478 0.010579 0.395714 q: 0.116567 0.771447 -0.141829 0.609234 
time: 1403638622.927830, t: 4.569039 -0.001006 0.419750 q: 0.116155 0.771548 -0.143041 0.608901 
time: 1403638623.027829, t: 4.516857 -0.007515 0.437326 q: 0.113616 0.777719 -0.146069 0.600757 
time: 1403638623.127830, t: 4.458555 -0.011993 0.445997 q: 0.109689 0.783446 -0.149637 0.593118 
time: 1403638623.227829, t: 4.392489 -0.010528 0.451097 q: 0.105741 0.786546 -0.152606 0.588962 
time: 1403638623.327830, t: 4.322322 -0.009414 0.451289 q: 0.103316 0.790009 -0.154487 0.584247 
time: 1403638623.427830, t: 4.249752 -0.008957 0.446777 q: 0.103458 0.792763 -0.154562 0.580460 
time: 1403638623.527829, t: 4.173398 -0.006640 0.440219 q: 0.102105 0.793285 -0.155448 0.579749 
time: 1403638623.627830, t: 4.094129 -0.004414 0.440048 q: 0.104925 0.792679 -0.154182 0.580413 
time: 1403638623.727829, t: 4.009614 -0.001162 0.446732 q: 0.106616 0.793366 -0.153795 0.579267 
time: 1403638623.827830, t: 3.922387 0.003535 0.459202 q: 0.108305 0.794229 -0.153498 0.577848 
time: 1403638623.927830, t: 3.831005 0.009589 0.475762 q: 0.109907 0.795963 -0.154123 0.574987 
time: 1403638624.027829, t: 3.738351 0.015220 0.485892 q: 0.110099 0.796662 -0.155244 0.573678 
time: 1403638624.127830, t: 3.644490 0.024355 0.493178 q: 0.107896 0.797159 -0.158138 0.572615 
time: 1403638624.227829, t: 3.552124 0.033190 0.497224 q: 0.105420 0.797173 -0.161027 0.572253 
optimize pose graph 
time: 1403638624.427830, t: 3.359845 0.052283 0.489068 q: 0.104287 0.796216 -0.164355 0.572845 
time: 1403638624.527829, t: 3.267888 0.060429 0.481419 q: 0.103178 0.793146 -0.166747 0.576602 
time: 1403638624.627830, t: 3.168117 0.068085 0.467207 q: 0.100555 0.783461 -0.169273 0.589427 
time: 1403638624.727829, t: 3.065999 0.074729 0.453046 q: 0.104874 0.785885 -0.162490 0.587353 
time: 1403638624.827830, t: 2.971295 0.080139 0.447600 q: 0.108004 0.792911 -0.152873 0.579877 
time: 1403638624.927830, t: 2.859895 0.090942 0.448113 q: 0.105354 0.797328 -0.147408 0.575707 
time: 1403638625.027829, t: 2.760261 0.101651 0.454625 q: 0.098125 0.798926 -0.145771 0.575186 
time: 1403638625.127830, t: 2.660017 0.112252 0.457852 q: 0.089918 0.800027 -0.146405 0.574837 
time: 1403638625.227829, t: 2.550331 0.123436 0.455429 q: 0.085803 0.801148 -0.145525 0.574128 
time: 1403638625.327830, t: 2.448756 0.130138 0.451436 q: 0.084481 0.801502 -0.144081 0.574194 
time: 1403638625.427830, t: 2.340116 0.136377 0.447171 q: 0.083945 0.801330 -0.142820 0.574827 
time: 1403638625.527829, t: 2.236411 0.141833 0.451606 q: 0.083918 0.801156 -0.142403 0.575177 
time: 1403638625.627830, t: 2.128121 0.146919 0.461575 q: 0.084458 0.802613 -0.142172 0.573120 
time: 1403638625.727829, t: 2.021099 0.150782 0.477655 q: 0.083368 0.805537 -0.142921 0.568975 
time: 1403638625.827830, t: 1.913840 0.153729 0.492058 q: 0.082720 0.809868 -0.143932 0.562633 
time: 1403638625.927830, t: 1.809379 0.153787 0.500595 q: 0.083914 0.810892 -0.143666 0.561045 
time: 1403638626.027829, t: 1.705956 0.154148 0.504009 q: 0.083913 0.811631 -0.144736 0.559701 
time: 1403638626.127830, t: 1.605929 0.151720 0.502332 q: 0.082223 0.812056 -0.146644 0.558839 
time: 1403638626.227829, t: 1.511772 0.148590 0.494945 q: 0.083875 0.811922 -0.146058 0.558940 
time: 1403638626.327830, t: 1.418011 0.142760 0.485176 q: 0.090211 0.809976 -0.142219 0.561761 
optimize pose graph 
time: 1403638626.427830, t: 1.326522 0.136334 0.472565 q: 0.095812 0.807797 -0.138102 0.564989 
time: 1403638626.527829, t: 1.233847 0.132733 0.456627 q: 0.097301 0.809067 -0.136699 0.563256 
time: 1403638626.627830, t: 1.147488 0.127808 0.440305 q: 0.096076 0.811164 -0.137432 0.560263 
time: 1403638626.727829, t: 1.066515 0.123622 0.425493 q: 0.094370 0.814016 -0.138136 0.556229 
time: 1403638626.827830, t: 0.986704 0.121637 0.417499 q: 0.092702 0.817240 -0.139087 0.551525 
time: 1403638626.927830, t: 0.913598 0.118382 0.417603 q: 0.092700 0.819496 -0.138591 0.548293 
time: 1403638627.027829, t: 0.844560 0.116506 0.419819 q: 0.092094 0.819566 -0.138397 0.548340 
time: 1403638627.127830, t: 0.780181 0.112435 0.419110 q: 0.091320 0.819350 -0.138216 0.548838 
time: 1403638627.227829, t: 0.719719 0.107175 0.414153 q: 0.090673 0.819249 -0.137985 0.549154 
time: 1403638627.327830, t: 0.664610 0.105249 0.402179 q: 0.093377 0.819253 -0.135715 0.549261 
time: 1403638627.427830, t: 0.618212 0.100308 0.393108 q: 0.094518 0.819140 -0.134665 0.549491 
time: 1403638627.527829, t: 0.576252 0.096417 0.380299 q: 0.094223 0.818808 -0.134952 0.549967 
time: 1403638627.627830, t: 0.539074 0.093360 0.365659 q: 0.097465 0.816753 -0.133457 0.552815 
time: 1403638627.727829, t: 0.507612 0.090663 0.349834 q: 0.098356 0.813709 -0.133229 0.557184 
time: 1403638627.827830, t: 0.479305 0.091029 0.332094 q: 0.099574 0.812422 -0.132907 0.558920 
time: 1403638627.927830, t: 0.445948 0.090796 0.317376 q: 0.100340 0.813568 -0.132877 0.557120 
time: 1403638628.027829, t: 0.421270 0.091738 0.301573 q: 0.101569 0.815172 -0.132834 0.554557 
time: 1403638628.127830, t: 0.397568 0.093476 0.288488 q: 0.102115 0.816126 -0.133347 0.552928 
time: 1403638628.227829, t: 0.374922 0.099252 0.276474 q: 0.102533 0.816266 -0.134114 0.552458 
time: 1403638628.327830, t: 0.361751 0.107999 0.265545 q: 0.102314 0.816931 -0.135299 0.551226 
time: 1403638628.427830, t: 0.353390 0.117205 0.259022 q: 0.099845 0.816520 -0.137400 0.551767 
time: 1403638628.527829, t: 0.350067 0.127548 0.256253 q: 0.091526 0.810757 -0.143797 0.560017 
optimize pose graph 
time: 1403638628.627830, t: 0.347982 0.137730 0.256622 q: 0.085230 0.804025 -0.148562 0.569394 
time: 1403638628.727829, t: 0.348135 0.146218 0.256435 q: 0.082866 0.803599 -0.150376 0.569867 
time: 1403638628.827830, t: 0.337871 0.150875 0.249766 q: 0.086527 0.805018 -0.148390 0.567838 
time: 1403638628.927830, t: 0.326932 0.153456 0.238720 q: 0.090969 0.805064 -0.145984 0.567701 
time: 1403638629.027829, t: 0.316711 0.155404 0.228598 q: 0.095968 0.806047 -0.142541 0.566357 
time: 1403638629.127830, t: 0.308775 0.156663 0.220921 q: 0.099479 0.807344 -0.139739 0.564600 
time: 1403638629.227829, t: 0.297704 0.161206 0.214663 q: 0.101212 0.808303 -0.138185 0.563301 
time: 1403638629.327830, t: 0.287224 0.166407 0.213731 q: 0.102515 0.809126 -0.137463 0.562058 
time: 1403638629.427830, t: 0.281509 0.172187 0.211554 q: 0.102068 0.813173 -0.138358 0.556048 
time: 1403638629.527829, t: 0.277261 0.179576 0.211554 q: 0.099316 0.817829 -0.140872 0.549042 
time: 1403638629.627830, t: 0.278018 0.187321 0.213290 q: 0.092256 0.818167 -0.146286 0.548355 
time: 1403638629.727829, t: 0.283245 0.193365 0.216448 q: 0.082123 0.814205 -0.154025 0.553717 
time: 1403638629.827830, t: 0.289774 0.196312 0.218954 q: 0.078183 0.808224 -0.157291 0.562068 
time: 1403638629.927830, t: 0.295504 0.195585 0.215193 q: 0.083302 0.802056 -0.154651 0.570833 
time: 1403638630.027829, t: 0.299683 0.192680 0.201803 q: 0.094175 0.796137 -0.147555 0.579245 
time: 1403638630.127830, t: 0.300749 0.190208 0.177340 q: 0.100774 0.796498 -0.142957 0.578791 
time: 1403638630.227829, t: 0.299001 0.188821 0.145689 q: 0.103316 0.800598 -0.140832 0.573180 
time: 1403638630.327830, t: 0.296187 0.188892 0.107871 q: 0.105740 0.807266 -0.140323 0.563428 
time: 1403638630.427830, t: 0.306025 0.192415 0.105559 q: 0.091079 0.813527 -0.146724 0.555294 
time: 1403638630.527829, t: 0.318021 0.193172 0.113465 q: 0.100067 0.803926 -0.139463 0.569420 
time: 1403638630.627830, t: 0.328688 0.194580 0.101223 q: 0.100831 0.803134 -0.139797 0.570321 
optimize pose graph 
time: 1403638630.727829, t: 0.334490 0.192954 0.082487 q: 0.091550 0.829288 -0.132816 0.535033 
time: 1403638630.827830, t: 0.329827 0.185644 0.078493 q: 0.095666 0.826831 -0.134629 0.537655 
time: 1403638630.927830, t: 0.325354 0.192438 0.071645 q: 0.095111 0.827590 -0.133061 0.536976 
time: 1403638631.027829, t: 0.341845 0.176577 0.101657 q: 0.094005 0.828291 -0.133137 0.536070 
time: 1403638631.127830, t: 0.318875 0.176488 0.082323 q: 0.093253 0.828070 -0.133136 0.536544 
time: 1403638631.227829, t: 0.309422 0.197649 0.057020 q: 0.094448 0.827837 -0.133670 0.536561 
time: 1403638631.327830, t: 0.303697 0.197687 0.051640 q: 0.094357 0.827755 -0.133680 0.536700 
time: 1403638631.427830, t: 0.297331 0.197790 0.047157 q: 0.094525 0.827780 -0.133476 0.536683 
time: 1403638631.527829, t: 0.292298 0.197421 0.042277 q: 0.094507 0.827893 -0.133546 0.536496 
time: 1403638631.627830, t: 0.286702 0.196143 0.037893 q: 0.094694 0.827981 -0.133345 0.536377 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731042548.527829190]: Shutdown request received.[0m
[33m[ WARN] [1731042548.527870250]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731042548.528743810]: Shutdown request received.[0m
[33m[ WARN] [1731042548.528765214]: Reason given for shutdown: [user request][0m
killed
