/SLAM-Hive/slam_hive_results/mapping_results/3468/2430_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/5b2918a8-9d95-11ef-ab73-0242ac110002/roslaunch-52db68c91817-117.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[0m[ INFO] [1731045027.813261259]: init begins[0m
[31m[ERROR] [1731045027.814450788]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1731045027.814494197]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[1mstarted roslaunch server http://52db68c91817:37327/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [154][0m
[0m[ INFO] [1731045028.871744874]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1731045028.871970037]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
[1mROS_MASTER_URI=http://52db68c91817:11311/[0m
]2;roscore http://52db68c91817:11311/
[1msetting /run_id to 5b2918a8-9d95-11ef-ab73-0242ac110002[0m
result path /home/output/vio.csv
[33m[ WARN] [1731045028.878300725]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1731045028.878511324]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1731045028.878532064]: 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] [1731045028.878720291]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[0m[ INFO] [1731045028.948101525]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1731045028.948340129]: waiting for image and imu...[0m
[1mprocess[rosout-1]: started with pid [191][0m
started core service [/rosout]
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1731045037.735055963]: 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: 327406519.82 
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] [1731045039.102312283]: gyroscope bias initial calibration -0.00194295    0.020065   0.0779286[0m
[0m[ INFO] [1731045039.145052811]: Initialization finish![0m
time: 1403638519.127830, t: 0.000109 -0.000020 0.000354 q: -0.003994 0.832994 0.002750 0.553261 
time: 1403638519.227829, t: -0.000342 -0.000002 -0.000734 q: -0.004105 0.833027 0.002805 0.553209 
time: 1403638519.327830, t: 0.000175 0.002388 0.003310 q: -0.003692 0.833048 0.002487 0.553183 
time: 1403638519.427830, t: 0.000345 0.003267 0.002640 q: -0.003778 0.833052 0.002566 0.553176 
time: 1403638519.527829, t: 0.000215 0.003181 0.002341 q: -0.003864 0.833059 0.002627 0.553165 
time: 1403638519.627830, t: 0.000227 0.002875 0.002186 q: -0.003960 0.833071 0.002736 0.553145 
time: 1403638519.727829, t: 0.000566 0.003471 0.003615 q: -0.003890 0.833136 0.002713 0.553047 
time: 1403638519.827830, t: -0.000293 0.002889 0.001630 q: -0.003986 0.833056 0.002719 0.553168 
time: 1403638519.927830, t: 0.000381 0.003467 0.003347 q: -0.003921 0.833122 0.002678 0.553069 
time: 1403638520.027829, t: 0.000588 0.003138 0.003743 q: -0.004038 0.833142 0.002759 0.553037 
time: 1403638520.127830, t: 0.000487 0.003027 0.003636 q: -0.004027 0.833128 0.002770 0.553059 
time: 1403638520.227829, t: 0.000549 0.003442 0.003869 q: -0.003968 0.833150 0.002738 0.553026 
time: 1403638520.327830, t: 0.000560 0.003313 0.003893 q: -0.003965 0.833141 0.002780 0.553039 
time: 1403638520.427830, t: 0.000380 0.002694 0.003598 q: -0.004014 0.833128 0.002797 0.553058 
time: 1403638520.527829, t: 0.000543 0.003768 0.003683 q: -0.003896 0.833138 0.002668 0.553045 
time: 1403638520.627830, t: 0.000820 0.004896 0.003531 q: -0.003791 0.833145 0.002587 0.553036 
time: 1403638520.727829, t: 0.000728 0.003958 0.004002 q: -0.003859 0.833184 0.002634 0.552976 
time: 1403638520.827830, t: 0.000675 0.003904 0.004248 q: -0.003843 0.833193 0.002596 0.552963 
time: 1403638520.927830, t: 0.000344 0.003626 0.003544 q: -0.003805 0.833148 0.002702 0.553031 
time: 1403638521.027829, t: 0.000455 0.004593 0.002834 q: -0.003698 0.833124 0.002642 0.553068 
time: 1403638521.127830, t: -0.000321 0.003496 0.001865 q: -0.003748 0.833116 0.002532 0.553080 
time: 1403638521.227829, t: 0.000001 0.003521 0.004097 q: -0.003562 0.833169 0.002682 0.553001 
time: 1403638521.327830, t: -0.000391 0.002524 0.002633 q: -0.003428 0.833165 0.002959 0.553006 
time: 1403638521.427830, t: 0.000246 0.002918 0.003877 q: -0.003633 0.833224 0.002608 0.552918 
time: 1403638521.527829, t: 0.000265 0.002920 0.003568 q: -0.003757 0.833261 0.001964 0.552864 
time: 1403638521.627830, t: 0.000271 0.002761 0.003228 q: -0.003454 0.833216 0.002188 0.552932 
time: 1403638521.727829, t: 0.000187 0.002859 0.002838 q: -0.003827 0.833226 0.001932 0.552916 
time: 1403638521.827830, t: 0.000348 0.002812 0.003307 q: -0.003494 0.833263 0.002350 0.552860 
time: 1403638521.927830, t: 0.001057 0.003078 0.003967 q: -0.004314 0.833304 0.002215 0.552794 
time: 1403638522.027829, t: 0.002210 0.003547 0.002566 q: -0.005551 0.833639 0.004992 0.552260 
time: 1403638522.127830, t: 0.002160 0.002535 0.006124 q: -0.005372 0.836301 0.006840 0.548202 
time: 1403638522.327830, t: -0.003242 0.009611 0.047470 q: -0.021380 0.827286 0.012547 0.561234 
time: 1403638522.427830, t: 0.007860 0.007178 0.089885 q: -0.030090 0.825955 0.015541 0.562718 
time: 1403638522.527829, t: 0.011816 0.006719 0.135000 q: -0.044914 0.829138 0.018458 0.556931 
time: 1403638522.627830, t: 0.016385 0.005673 0.179108 q: -0.058942 0.830775 0.020785 0.553088 
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time: 1403638522.827830, t: 0.028647 0.010202 0.278294 q: -0.064110 0.816413 0.029439 0.573143 
time: 1403638522.927830, t: 0.025741 0.010762 0.328853 q: -0.077843 0.805350 0.025736 0.587103 
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time: 1403638523.227829, t: 0.022618 0.002423 0.403739 q: -0.053603 0.796636 0.008199 0.602022 
time: 1403638523.327830, t: 0.026671 -0.002773 0.381082 q: -0.033810 0.796550 0.000924 0.603626 
time: 1403638523.427830, t: 0.026645 -0.009259 0.342962 q: -0.030263 0.797126 0.001238 0.603053 
time: 1403638523.527829, t: 0.023822 -0.016620 0.296791 q: -0.024760 0.803338 0.004743 0.594989 
time: 1403638523.627830, t: 0.020164 -0.023595 0.248218 q: -0.015554 0.813125 0.006596 0.581844 
time: 1403638523.727829, t: 0.014905 -0.031229 0.200240 q: -0.011057 0.819860 0.009104 0.572384 
time: 1403638523.827830, t: 0.009283 -0.038299 0.154329 q: -0.014360 0.823611 0.015296 0.566767 
time: 1403638523.927830, t: 0.002671 -0.043897 0.114133 q: -0.010928 0.823879 0.022072 0.566230 
time: 1403638524.027829, t: -0.003336 -0.046552 0.088841 q: -0.003158 0.825679 0.030323 0.563316 
time: 1403638524.127830, t: -0.007065 -0.046724 0.089015 q: -0.000563 0.830011 0.038621 0.556408 
time: 1403638524.227829, t: -0.008349 -0.045778 0.119020 q: -0.003789 0.833225 0.040055 0.551469 
time: 1403638524.327830, t: -0.006980 -0.045278 0.168789 q: -0.012057 0.832403 0.039708 0.552615 
time: 1403638524.427830, t: -0.002989 -0.044108 0.227461 q: -0.020082 0.827905 0.037124 0.559277 
time: 1403638524.527829, t: 0.002500 -0.043382 0.288752 q: -0.031283 0.820757 0.040922 0.568951 
time: 1403638524.627830, t: 0.010226 -0.042181 0.347944 q: -0.038414 0.814218 0.041990 0.577763 
time: 1403638524.727829, t: 0.017499 -0.040179 0.396946 q: -0.036592 0.809977 0.041455 0.583849 
time: 1403638524.827830, t: 0.024031 -0.037949 0.431122 q: -0.024394 0.808328 0.036614 0.587086 
time: 1403638524.927830, t: 0.027271 -0.034481 0.450886 q: -0.029478 0.807105 0.037345 0.588488 
time: 1403638525.027829, t: 0.029387 -0.032729 0.450935 q: -0.031713 0.805037 0.039666 0.591047 
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time: 1403638526.227829, t: 0.008162 -0.107779 0.117045 q: -0.021075 0.838244 0.029041 0.544114 
time: 1403638526.327830, t: 0.002934 -0.146904 0.131709 q: -0.019063 0.835503 0.021237 0.548744 
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time: 1403638528.027829, t: 0.005437 -0.444325 0.194828 q: 0.020871 0.821694 -0.054140 0.566968 
time: 1403638528.127830, t: 0.021395 -0.385137 0.194017 q: 0.011706 0.820347 -0.045880 0.569903 
time: 1403638528.227829, t: 0.039885 -0.329794 0.190028 q: 0.001214 0.821067 -0.036520 0.569660 
time: 1403638528.327830, t: 0.066026 -0.283705 0.184865 q: -0.009416 0.821626 -0.026541 0.569331 
time: 1403638528.427830, t: 0.098237 -0.249226 0.178604 q: -0.011187 0.820212 -0.021317 0.571553 
time: 1403638528.527829, t: 0.134184 -0.223273 0.173360 q: -0.008633 0.820977 -0.021669 0.570485 
time: 1403638528.627830, t: 0.171103 -0.204249 0.169046 q: -0.008474 0.823197 -0.029386 0.566932 
time: 1403638528.727829, t: 0.204846 -0.191311 0.169164 q: -0.005906 0.823289 -0.035485 0.566482 
time: 1403638528.827830, t: 0.229036 -0.182789 0.173290 q: -0.003740 0.822304 -0.041826 0.567497 
time: 1403638528.927830, t: 0.236036 -0.177795 0.182056 q: -0.009448 0.821425 -0.050052 0.568038 
time: 1403638529.027829, t: 0.225588 -0.171576 0.197886 q: -0.014426 0.821985 -0.054805 0.566682 
time: 1403638529.127830, t: 0.200736 -0.161830 0.210778 q: -0.003001 0.822605 -0.051851 0.566236 
time: 1403638529.227829, t: 0.168871 -0.145486 0.215039 q: 0.012854 0.823743 -0.044733 0.565049 
time: 1403638529.327830, t: 0.129838 -0.123330 0.214652 q: 0.021718 0.827069 -0.040602 0.560211 
time: 1403638529.427830, t: 0.093713 -0.110250 0.193019 q: 0.023919 0.834266 -0.036965 0.549601 
time: 1403638529.527829, t: 0.062869 -0.093404 0.170386 q: 0.021231 0.845289 -0.035738 0.532691 
time: 1403638529.627830, t: 0.040399 -0.083442 0.146259 q: 0.022527 0.852478 -0.032412 0.521272 
time: 1403638529.727829, t: 0.025901 -0.072422 0.121813 q: 0.022899 0.852411 -0.030672 0.521469 
time: 1403638529.827830, t: 0.017596 -0.062586 0.099177 q: 0.021971 0.846301 -0.031726 0.531306 
optimize pose graph 
time: 1403638529.927830, t: 0.014571 -0.055804 0.080657 q: 0.022151 0.841269 -0.032305 0.539195 
time: 1403638530.027829, t: 0.020638 -0.052478 0.068183 q: 0.022677 0.841031 -0.032536 0.539532 
time: 1403638530.127830, t: 0.031955 -0.051753 0.057760 q: 0.023005 0.843167 -0.034693 0.536038 
time: 1403638530.227829, t: 0.046609 -0.052537 0.047553 q: 0.025429 0.843617 -0.040571 0.534807 
time: 1403638530.327830, t: 0.060747 -0.055004 0.037388 q: 0.027087 0.842843 -0.046938 0.535424 
time: 1403638530.427830, t: 0.073816 -0.058484 0.028196 q: 0.030859 0.842175 -0.051235 0.535876 
time: 1403638530.527829, t: 0.083910 -0.062334 0.021662 q: 0.028835 0.841948 -0.055369 0.535934 
time: 1403638530.627830, t: 0.089952 -0.066590 0.015995 q: 0.031226 0.843083 -0.058222 0.533709 
time: 1403638530.727829, t: 0.093877 -0.069424 0.010085 q: 0.032095 0.846793 -0.060708 0.527471 
time: 1403638530.827830, t: 0.096724 -0.071695 0.004465 q: 0.032625 0.848697 -0.061709 0.524252 
time: 1403638530.927830, t: 0.098369 -0.072684 0.000973 q: 0.030953 0.847703 -0.061606 0.525971 
time: 1403638531.027829, t: 0.098951 -0.072783 -0.001552 q: 0.030131 0.844962 -0.061749 0.530394 
time: 1403638531.127830, t: 0.098655 -0.071707 -0.001942 q: 0.032706 0.841351 -0.060441 0.536103 
time: 1403638531.227829, t: 0.099072 -0.070382 -0.002443 q: 0.034742 0.841080 -0.057612 0.536710 
time: 1403638531.327830, t: 0.098990 -0.069003 -0.003098 q: 0.035415 0.837567 -0.057686 0.542125 
time: 1403638531.427830, t: 0.098896 -0.069044 -0.003159 q: 0.035837 0.838456 -0.056946 0.540799 
time: 1403638531.527829, t: 0.098551 -0.069134 -0.003135 q: 0.035477 0.837638 -0.057531 0.542028 
time: 1403638531.627830, t: 0.098479 -0.069281 -0.003213 q: 0.036374 0.837705 -0.056721 0.541951 
time: 1403638531.727829, t: 0.098561 -0.069305 -0.003348 q: 0.036532 0.837785 -0.057283 0.541756 
time: 1403638531.827830, t: 0.098462 -0.069292 -0.003255 q: 0.036681 0.837741 -0.057496 0.541792 
time: 1403638531.927830, t: 0.098466 -0.069283 -0.003264 q: 0.036739 0.837671 -0.057768 0.541867 
optimize pose graph 
time: 1403638532.027829, t: 0.098472 -0.069295 -0.003284 q: 0.036885 0.837606 -0.058051 0.541928 
time: 1403638532.127830, t: 0.098502 -0.069364 -0.003267 q: 0.037167 0.837539 -0.058305 0.541985 
time: 1403638532.227829, t: 0.098465 -0.069393 -0.003281 q: 0.037372 0.837561 -0.058199 0.541949 
time: 1403638532.327830, t: 0.098484 -0.069490 -0.003267 q: 0.037746 0.837475 -0.058336 0.542041 
time: 1403638532.427830, t: 0.098477 -0.069542 -0.003266 q: 0.037911 0.837452 -0.058351 0.542062 
time: 1403638532.527829, t: 0.098484 -0.069576 -0.003261 q: 0.038061 0.837412 -0.058467 0.542101 
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time: 1403638535.927830, t: 0.098280 -0.069703 -0.003045 q: 0.038151 0.837360 -0.058701 0.542150 
time: 1403638536.027829, t: 0.098290 -0.069700 -0.003045 q: 0.038072 0.837368 -0.058667 0.542147 
time: 1403638536.127830, t: 0.098286 -0.069687 -0.003035 q: 0.038047 0.837367 -0.058648 0.542153 
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time: 1403638537.927830, t: 0.098321 -0.069663 -0.002964 q: 0.038017 0.837363 -0.058516 0.542175 
time: 1403638538.027829, t: 0.098312 -0.069651 -0.002941 q: 0.037863 0.837413 -0.058445 0.542117 
time: 1403638538.127830, t: 0.098296 -0.069647 -0.002918 q: 0.037959 0.837346 -0.058439 0.542213 
time: 1403638538.227829, t: 0.098325 -0.069665 -0.002922 q: 0.038112 0.837395 -0.058598 0.542111 
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time: 1403638538.627830, t: 0.098267 -0.069706 -0.002697 q: 0.038038 0.837110 -0.058681 0.542547 
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time: 1403638538.827830, t: 0.099192 -0.069582 -0.002550 q: 0.037786 0.836330 -0.058283 0.543808 
time: 1403638538.927830, t: 0.101183 -0.069239 -0.000691 q: 0.037919 0.833429 -0.057480 0.548319 
time: 1403638539.027829, t: 0.106164 -0.069182 0.001752 q: 0.038783 0.828803 -0.057903 0.555184 
time: 1403638539.127830, t: 0.113401 -0.069366 0.006508 q: 0.038467 0.822148 -0.059254 0.564874 
time: 1403638539.227829, t: 0.122237 -0.069556 0.017446 q: 0.038259 0.817379 -0.058654 0.571828 
time: 1403638539.327830, t: 0.131557 -0.069945 0.036465 q: 0.037601 0.816419 -0.058330 0.573275 
time: 1403638539.427830, t: 0.140932 -0.070438 0.062681 q: 0.037403 0.818028 -0.057236 0.571100 
time: 1403638539.527829, t: 0.151441 -0.071150 0.093424 q: 0.036815 0.820041 -0.055985 0.568369 
time: 1403638539.627830, t: 0.162801 -0.072470 0.124007 q: 0.035663 0.820719 -0.054828 0.567576 
time: 1403638539.727829, t: 0.175575 -0.073979 0.145937 q: 0.034652 0.821365 -0.053650 0.566817 
time: 1403638539.827830, t: 0.188396 -0.074903 0.156387 q: 0.034432 0.822925 -0.052390 0.564681 
optimize pose graph 
time: 1403638539.927830, t: 0.202395 -0.075292 0.165264 q: 0.033310 0.826709 -0.051856 0.559243 
time: 1403638540.027829, t: 0.218471 -0.075155 0.175514 q: 0.032468 0.832059 -0.052682 0.551225 
time: 1403638540.127830, t: 0.239825 -0.075673 0.182629 q: 0.032254 0.837884 -0.052623 0.542348 
time: 1403638540.227829, t: 0.270238 -0.076307 0.193711 q: 0.032822 0.837855 -0.051495 0.542467 
time: 1403638540.327830, t: 0.305674 -0.077758 0.203730 q: 0.033606 0.831691 -0.050386 0.551926 
time: 1403638540.427830, t: 0.345961 -0.079088 0.213336 q: 0.033078 0.827185 -0.046466 0.559028 
time: 1403638540.527829, t: 0.389440 -0.078568 0.221267 q: 0.027710 0.826792 -0.037887 0.560545 
time: 1403638540.627830, t: 0.436118 -0.076661 0.228713 q: 0.018936 0.827105 -0.023903 0.561219 
time: 1403638540.727829, t: 0.485623 -0.073971 0.236813 q: 0.011843 0.826416 -0.002497 0.562930 
time: 1403638540.827830, t: 0.536751 -0.067785 0.244459 q: 0.002979 0.825888 0.023656 0.563330 
time: 1403638540.927830, t: 0.588735 -0.056865 0.250848 q: -0.008604 0.824996 0.051669 0.562706 
time: 1403638541.027829, t: 0.641142 -0.041157 0.255424 q: -0.023421 0.823311 0.074154 0.562238 
time: 1403638541.127830, t: 0.693079 -0.021477 0.257437 q: -0.035609 0.821037 0.090329 0.562557 
time: 1403638541.227829, t: 0.744172 0.000084 0.254838 q: -0.043355 0.820112 0.101432 0.561469 
time: 1403638541.327830, t: 0.796736 0.027334 0.253216 q: -0.047250 0.819452 0.107448 0.561000 
time: 1403638541.427830, t: 0.847908 0.058502 0.258516 q: -0.049834 0.819441 0.108841 0.560523 
time: 1403638541.627830, t: 0.954472 0.140803 0.287594 q: -0.049386 0.816534 0.111954 0.564181 
time: 1403638541.727829, t: 1.007873 0.191723 0.310797 q: -0.056841 0.814587 0.116490 0.565374 
time: 1403638541.827830, t: 1.058124 0.250044 0.343997 q: -0.069686 0.813414 0.123281 0.564185 
optimize pose graph 
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time: 1403638542.027829, t: 1.149286 0.370672 0.405277 q: -0.096781 0.810124 0.151731 0.557951 
time: 1403638542.127830, t: 1.190676 0.430943 0.428558 q: -0.111623 0.806922 0.171498 0.554081 
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time: 1403638542.327830, t: 1.275525 0.557521 0.459081 q: -0.142997 0.797363 0.216204 0.544995 
time: 1403638542.427830, t: 1.320755 0.622118 0.469318 q: -0.152833 0.786139 0.236444 0.550201 
time: 1403638542.527829, t: 1.363108 0.686493 0.476911 q: -0.153739 0.772596 0.255608 0.560469 
time: 1403638542.627830, t: 1.400022 0.752850 0.484466 q: -0.151476 0.764175 0.270406 0.565661 
time: 1403638542.727829, t: 1.431670 0.822701 0.495497 q: -0.155292 0.764684 0.274655 0.561879 
time: 1403638542.827830, t: 1.455947 0.895727 0.514488 q: -0.164760 0.769356 0.271781 0.554148 
time: 1403638542.927830, t: 1.475254 0.970875 0.538417 q: -0.170731 0.774944 0.268470 0.546110 
time: 1403638543.027829, t: 1.491043 1.045935 0.567891 q: -0.173776 0.779031 0.265724 0.540651 
time: 1403638543.127830, t: 1.505933 1.124284 0.595686 q: -0.175447 0.781338 0.262291 0.538453 
time: 1403638543.227829, t: 1.522742 1.203560 0.616950 q: -0.174469 0.782253 0.260456 0.538334 
time: 1403638543.327830, t: 1.537548 1.284741 0.632486 q: -0.174406 0.782896 0.257995 0.538605 
time: 1403638543.427830, t: 1.552578 1.367764 0.644187 q: -0.175287 0.782889 0.259273 0.537714 
time: 1403638543.527829, t: 1.569178 1.450891 0.650773 q: -0.179114 0.781070 0.266308 0.535657 
time: 1403638543.627830, t: 1.584707 1.536018 0.654607 q: -0.184214 0.776578 0.281719 0.532566 
time: 1403638543.727829, t: 1.598884 1.622884 0.658084 q: -0.193488 0.769547 0.300891 0.528984 
time: 1403638543.827830, t: 1.609656 1.709529 0.668148 q: -0.203787 0.759490 0.323966 0.526016 
time: 1403638543.927830, t: 1.621060 1.802262 0.687165 q: -0.217924 0.749992 0.344284 0.521047 
optimize pose graph 
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time: 1403638544.527829, t: 1.683581 2.389158 0.801309 q: -0.258476 0.734541 0.376417 0.501946 
time: 1403638544.627830, t: 1.699486 2.487497 0.811391 q: -0.262885 0.729242 0.375741 0.507855 
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time: 1403638544.827830, t: 1.729551 2.680213 0.846310 q: -0.265536 0.726451 0.378026 0.508779 
time: 1403638544.927830, t: 1.745361 2.773882 0.860059 q: -0.264482 0.729380 0.379602 0.503941 
time: 1403638545.027829, t: 1.761386 2.867409 0.867124 q: -0.265791 0.728828 0.379793 0.503907 
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time: 1403638545.227829, t: 1.793958 3.050539 0.863854 q: -0.265659 0.728022 0.382002 0.503473 
time: 1403638545.327830, t: 1.812053 3.140665 0.856028 q: -0.266461 0.725952 0.382588 0.505587 
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time: 1403638547.827830, t: 1.971330 5.611489 0.889377 q: -0.347368 0.640434 0.524896 0.440073 
time: 1403638547.927830, t: 1.954041 5.727672 0.866220 q: -0.346905 0.640251 0.524863 0.440743 
time: 1403638548.027829, t: 1.936985 5.841842 0.847959 q: -0.348472 0.639589 0.526035 0.439067 
time: 1403638548.127830, t: 1.916377 5.963044 0.836995 q: -0.351929 0.636831 0.529847 0.435723 
time: 1403638548.227829, t: 1.893450 6.083383 0.835952 q: -0.358092 0.631462 0.536481 0.430365 
time: 1403638548.327830, t: 1.866953 6.205411 0.842969 q: -0.365680 0.623430 0.546212 0.423398 
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time: 1403638597.427830, t: 8.061378 -3.256386 2.608748 q: 0.183101 0.794938 -0.110823 0.567685 
time: 1403638597.527829, t: 8.098301 -3.035092 2.614950 q: 0.171041 0.790430 -0.120033 0.575811 
time: 1403638597.627830, t: 8.133542 -2.803814 2.616415 q: 0.161823 0.787084 -0.127510 0.581424 
time: 1403638597.727829, t: 8.166266 -2.565055 2.612020 q: 0.161397 0.786262 -0.128197 0.582501 
time: 1403638597.827830, t: 8.197966 -2.318092 2.603507 q: 0.166686 0.788854 -0.118558 0.579542 
time: 1403638597.927830, t: 8.227795 -2.062565 2.590934 q: 0.170759 0.791562 -0.107040 0.576900 
time: 1403638598.027829, t: 8.258620 -1.796084 2.580462 q: 0.168449 0.792631 -0.100340 0.577316 
time: 1403638598.127830, t: 8.288588 -1.517536 2.577921 q: 0.152982 0.793268 -0.104151 0.580065 
time: 1403638598.227829, t: 8.312883 -1.230155 2.581014 q: 0.132107 0.794381 -0.113687 0.581878 
time: 1403638598.327830, t: 8.334701 -0.939621 2.585561 q: 0.117654 0.797026 -0.120930 0.579899 
time: 1403638598.427830, t: 8.353536 -0.650020 2.585124 q: 0.110419 0.799166 -0.124334 0.577653 
time: 1403638598.527829, t: 8.368405 -0.361519 2.577684 q: 0.106499 0.800978 -0.124084 0.575931 
time: 1403638598.627830, t: 8.380690 -0.075694 2.561740 q: 0.101596 0.804346 -0.118853 0.573219 
time: 1403638598.727829, t: 8.392717 0.206928 2.543520 q: 0.095303 0.806211 -0.108534 0.573726 
time: 1403638598.827830, t: 8.404033 0.488575 2.529323 q: 0.086402 0.807440 -0.095812 0.575670 
time: 1403638598.927830, t: 8.412204 0.767091 2.519971 q: 0.076961 0.809926 -0.080262 0.575894 
time: 1403638599.027829, t: 8.419685 1.045211 2.514132 q: 0.064324 0.811644 -0.064642 0.576991 
time: 1403638599.127830, t: 8.424008 1.320342 2.517162 q: 0.053422 0.812737 -0.046417 0.578316 
time: 1403638599.227829, t: 8.425024 1.594461 2.524475 q: 0.042040 0.814235 -0.027781 0.578345 
time: 1403638599.327830, t: 8.424475 1.868382 2.538273 q: 0.029004 0.816189 -0.009615 0.576977 
time: 1403638599.427830, t: 8.419330 2.141405 2.559248 q: 0.019776 0.818953 0.006874 0.573479 
time: 1403638599.527829, t: 8.415738 2.413065 2.581307 q: 0.012981 0.821109 0.017872 0.570344 
time: 1403638599.627830, t: 8.412312 2.682309 2.596157 q: 0.007250 0.822764 0.023099 0.567867 
time: 1403638599.727829, t: 8.406127 2.948511 2.600334 q: 0.005107 0.823895 0.026268 0.566111 
time: 1403638599.827830, t: 8.405662 3.213577 2.595970 q: 0.004226 0.824486 0.025375 0.565297 
time: 1403638599.927830, t: 8.407743 3.475168 2.586133 q: 0.001555 0.825629 0.021489 0.563802 
optimize pose graph 
time: 1403638600.027829, t: 8.412162 3.734471 2.570063 q: -0.003451 0.824901 0.014951 0.565069 
time: 1403638600.127830, t: 8.420417 3.988561 2.551585 q: -0.011726 0.826959 0.005504 0.562114 
time: 1403638600.227829, t: 8.431536 4.236046 2.530388 q: -0.023564 0.829791 -0.006218 0.557542 
time: 1403638600.327830, t: 8.446971 4.473764 2.507531 q: -0.032381 0.831586 -0.015896 0.554223 
time: 1403638600.427830, t: 8.466061 4.701720 2.487736 q: -0.040230 0.832849 -0.024334 0.551499 
time: 1403638600.527829, t: 8.491203 4.912581 2.475763 q: -0.041542 0.833659 -0.027182 0.550044 
time: 1403638600.627830, t: 8.521301 5.110227 2.472438 q: -0.041142 0.835079 -0.028662 0.547840 
time: 1403638600.727829, t: 8.555779 5.295181 2.476656 q: -0.041619 0.837292 -0.029955 0.544346 
time: 1403638600.827830, t: 8.596345 5.466368 2.487641 q: -0.037985 0.841279 -0.026889 0.538594 
time: 1403638600.927830, t: 8.642889 5.623446 2.503073 q: -0.022287 0.844438 -0.014480 0.534994 
time: 1403638601.027829, t: 8.698607 5.770644 2.512443 q: -0.008751 0.845210 -0.003454 0.534352 
time: 1403638601.127830, t: 8.760896 5.911523 2.516958 q: -0.002259 0.843927 0.002583 0.536448 
time: 1403638601.227829, t: 8.829430 6.051832 2.518681 q: 0.006435 0.840898 0.009956 0.541064 
time: 1403638601.327830, t: 8.904539 6.189188 2.517128 q: 0.012507 0.833466 0.016692 0.552176 
time: 1403638601.427830, t: 8.984783 6.332034 2.516918 q: 0.001897 0.829101 0.019329 0.558762 
time: 1403638601.527829, t: 9.067931 6.476259 2.523881 q: -0.010014 0.824872 0.029036 0.564485 
time: 1403638601.627830, t: 9.153556 6.619940 2.535430 q: -0.021175 0.821424 0.046056 0.568061 
time: 1403638601.727829, t: 9.237033 6.763998 2.553836 q: -0.033437 0.818670 0.069288 0.569088 
time: 1403638601.827830, t: 9.318087 6.908077 2.580238 q: -0.047024 0.814080 0.097145 0.570636 
time: 1403638601.927830, t: 9.395201 7.054748 2.611552 q: -0.061204 0.809297 0.124910 0.570693 
time: 1403638602.027829, t: 9.468046 7.202635 2.639719 q: -0.074238 0.806709 0.145204 0.568002 
optimize pose graph 
time: 1403638602.127830, t: 9.538297 7.351010 2.661162 q: -0.082452 0.803462 0.160671 0.567305 
time: 1403638602.227829, t: 9.605883 7.501069 2.676379 q: -0.087958 0.796988 0.177483 0.570590 
time: 1403638602.327830, t: 9.667389 7.655436 2.687784 q: -0.101398 0.788211 0.193603 0.575291 
time: 1403638602.427830, t: 9.720766 7.812465 2.704349 q: -0.133616 0.772369 0.201259 0.587441 
time: 1403638602.527829, t: 9.761976 7.964693 2.733396 q: -0.169551 0.748654 0.206503 0.606734 
time: 1403638602.627830, t: 9.790599 8.106149 2.768879 q: -0.198843 0.731561 0.214524 0.615840 
time: 1403638602.727829, t: 9.803171 8.230954 2.806193 q: -0.213928 0.725153 0.231482 0.612213 
time: 1403638602.827830, t: 9.801370 8.337879 2.851331 q: -0.222011 0.721303 0.252650 0.605477 
time: 1403638602.927830, t: 9.784328 8.427311 2.898684 q: -0.236124 0.719435 0.270780 0.594421 
time: 1403638603.027829, t: 9.758165 8.507038 2.944206 q: -0.257726 0.717964 0.284242 0.580785 
time: 1403638603.127830, t: 9.722590 8.570253 2.985219 q: -0.274446 0.710050 0.298116 0.575878 
time: 1403638603.227829, t: 9.680696 8.619131 3.015745 q: -0.278834 0.709266 0.313995 0.566216 
time: 1403638603.327830, t: 9.633751 8.654629 3.035750 q: -0.272499 0.721099 0.330666 0.544445 
time: 1403638603.427830, t: 9.583601 8.679330 3.048706 q: -0.266639 0.731855 0.341850 0.525767 
time: 1403638603.527829, t: 9.533704 8.699096 3.057751 q: -0.264710 0.735290 0.347310 0.518317 
time: 1403638603.627830, t: 9.486663 8.716602 3.063669 q: -0.269167 0.729222 0.349627 0.523016 
time: 1403638603.727829, t: 9.440324 8.728428 3.064243 q: -0.266300 0.720834 0.354414 0.532798 
time: 1403638603.827830, t: 9.391855 8.736056 3.058304 q: -0.260103 0.712947 0.359591 0.542906 
time: 1403638603.927830, t: 9.336899 8.736677 3.046336 q: -0.253556 0.705585 0.364262 0.552424 
time: 1403638604.027829, t: 9.273361 8.736225 3.026781 q: -0.248297 0.700430 0.366843 0.559618 
optimize pose graph 
time: 1403638604.227829, t: 9.117256 8.726276 2.994553 q: -0.248103 0.698681 0.367129 0.561699 
time: 1403638604.327830, t: 9.021912 8.714908 2.989015 q: -0.254868 0.705161 0.363356 0.552959 
time: 1403638604.427830, t: 8.918424 8.698279 2.988108 q: -0.257131 0.713280 0.362162 0.542174 
time: 1403638604.527829, t: 8.809661 8.676349 2.995199 q: -0.254298 0.720393 0.364384 0.532532 
time: 1403638604.627830, t: 8.696812 8.652322 3.001397 q: -0.253411 0.723430 0.365297 0.528196 
time: 1403638604.727829, t: 8.582251 8.628764 3.001325 q: -0.257522 0.726111 0.362479 0.524456 
time: 1403638604.827830, t: 8.468186 8.604986 2.998407 q: -0.260713 0.728502 0.360017 0.521250 
time: 1403638604.927830, t: 8.354478 8.577010 2.999321 q: -0.259139 0.732670 0.360963 0.515507 
time: 1403638605.027829, t: 8.242110 8.548425 3.004684 q: -0.256216 0.739857 0.363062 0.505125 
time: 1403638605.127830, t: 8.132232 8.519049 3.019054 q: -0.253328 0.745234 0.365153 0.497106 
time: 1403638605.227829, t: 8.029529 8.493429 3.039863 q: -0.250305 0.747093 0.367463 0.494135 
time: 1403638605.327830, t: 7.932815 8.473809 3.059597 q: -0.245585 0.746078 0.370979 0.495410 
time: 1403638605.427830, t: 7.839976 8.459851 3.073930 q: -0.238859 0.738381 0.376113 0.506240 
time: 1403638605.527829, t: 7.748842 8.448557 3.084579 q: -0.232966 0.728038 0.380931 0.520173 
time: 1403638605.627830, t: 7.654510 8.441467 3.088970 q: -0.226975 0.720449 0.385616 0.529846 
time: 1403638605.727829, t: 7.554073 8.439106 3.091626 q: -0.224216 0.717058 0.387869 0.533960 
time: 1403638605.827830, t: 7.445808 8.440594 3.101778 q: -0.222757 0.717510 0.388980 0.533155 
time: 1403638605.927830, t: 7.333388 8.448935 3.119110 q: -0.219966 0.716939 0.390579 0.533911 
time: 1403638606.027829, t: 7.213325 8.462527 3.139265 q: -0.216036 0.716160 0.392386 0.535235 
time: 1403638606.127830, t: 7.086703 8.482693 3.154613 q: -0.213171 0.716182 0.393353 0.535644 
optimize pose graph 
time: 1403638606.227829, t: 6.952173 8.505767 3.160894 q: -0.210230 0.716157 0.394907 0.535696 
time: 1403638606.327830, t: 6.811810 8.537473 3.161751 q: -0.211453 0.720118 0.392945 0.531330 
time: 1403638606.427830, t: 6.664835 8.572797 3.152473 q: -0.218482 0.730360 0.387217 0.518559 
time: 1403638606.527829, t: 6.516274 8.612127 3.137659 q: -0.227130 0.740921 0.380519 0.504632 
time: 1403638606.627830, t: 6.369678 8.658256 3.119809 q: -0.232769 0.747002 0.379276 0.493920 
time: 1403638606.727829, t: 6.226779 8.712642 3.096281 q: -0.236860 0.748456 0.385841 0.484601 
time: 1403638606.827830, t: 6.088323 8.773816 3.069262 q: -0.243494 0.745897 0.396969 0.476198 
time: 1403638606.927830, t: 5.956252 8.843696 3.043893 q: -0.253237 0.739833 0.411203 0.468433 
time: 1403638607.027829, t: 5.831414 8.922351 3.026091 q: -0.266542 0.731552 0.426072 0.460706 
time: 1403638607.127830, t: 5.713666 9.007774 3.016929 q: -0.283324 0.723967 0.435560 0.453748 
time: 1403638607.227829, t: 5.603310 9.100730 3.013912 q: -0.297725 0.711424 0.441508 0.458591 
time: 1403638607.327830, t: 5.499193 9.196446 3.005245 q: -0.310565 0.699708 0.443476 0.466141 
time: 1403638607.427830, t: 5.398205 9.292871 2.988529 q: -0.319725 0.693233 0.443964 0.469148 
time: 1403638607.527829, t: 5.301636 9.386347 2.963327 q: -0.324006 0.692290 0.444577 0.467018 
time: 1403638607.627830, t: 5.209468 9.476724 2.933125 q: -0.325231 0.690970 0.445781 0.466974 
time: 1403638607.727829, t: 5.120204 9.565582 2.901319 q: -0.324890 0.688615 0.446054 0.470416 
time: 1403638607.827830, t: 5.036061 9.651569 2.865339 q: -0.324222 0.689210 0.445689 0.470352 
time: 1403638607.927830, t: 4.958379 9.734752 2.824432 q: -0.326678 0.693474 0.442295 0.465564 
time: 1403638608.027829, t: 4.884812 9.816746 2.780777 q: -0.328873 0.695265 0.438627 0.464818 
time: 1403638608.127830, t: 4.817108 9.895911 2.732823 q: -0.327374 0.692666 0.437636 0.470653 
time: 1403638608.227829, t: 4.752290 9.971523 2.679651 q: -0.323889 0.688711 0.438161 0.478317 
optimize pose graph 
time: 1403638608.327830, t: 4.692008 10.044387 2.621929 q: -0.323998 0.683784 0.436600 0.486668 
time: 1403638608.427830, t: 4.630638 10.112369 2.559696 q: -0.324583 0.680236 0.435743 0.491989 
time: 1403638608.527829, t: 4.572027 10.176652 2.490465 q: -0.322987 0.682032 0.436500 0.489877 
time: 1403638608.627830, t: 4.511998 10.235159 2.420103 q: -0.325196 0.681145 0.434259 0.491638 
time: 1403638608.827830, t: 4.394069 10.335492 2.293220 q: -0.327281 0.681016 0.433539 0.491068 
time: 1403638608.927830, t: 4.338469 10.377206 2.237698 q: -0.325629 0.684749 0.435165 0.485506 
time: 1403638609.027829, t: 4.285253 10.413171 2.188483 q: -0.325943 0.688383 0.435457 0.479861 
time: 1403638609.127830, t: 4.234287 10.446197 2.146611 q: -0.324938 0.689904 0.436095 0.477775 
time: 1403638609.227829, t: 4.184689 10.476135 2.108823 q: -0.331752 0.690001 0.431101 0.477483 
time: 1403638609.327830, t: 4.137263 10.501982 2.067140 q: -0.335525 0.690495 0.428019 0.476906 
time: 1403638609.427830, t: 4.093954 10.526145 2.017402 q: -0.332314 0.690546 0.429692 0.477575 
time: 1403638609.627830, t: 4.016852 10.559813 1.898913 q: -0.326696 0.690655 0.432395 0.478853 
time: 1403638609.727829, t: 3.982952 10.571451 1.834325 q: -0.323734 0.689395 0.434582 0.480697 
time: 1403638609.827830, t: 3.950809 10.583683 1.771665 q: -0.324118 0.690405 0.434130 0.479395 
time: 1403638609.927830, t: 3.920166 10.589959 1.718261 q: -0.324284 0.690056 0.433759 0.480120 
time: 1403638610.027829, t: 3.891939 10.597156 1.671828 q: -0.326411 0.688968 0.431890 0.481923 
time: 1403638610.127830, t: 3.869092 10.596504 1.633248 q: -0.329673 0.686094 0.429539 0.485888 
time: 1403638610.227829, t: 3.846423 10.592313 1.594560 q: -0.331042 0.683339 0.428435 0.489798 
time: 1403638610.327830, t: 3.824993 10.583895 1.548664 q: -0.332320 0.682462 0.427127 0.491296 
optimize pose graph 
time: 1403638610.427830, t: 3.802469 10.573350 1.493895 q: -0.333524 0.682180 0.425558 0.492233 
time: 1403638610.527829, t: 3.785264 10.553816 1.439561 q: -0.333289 0.679164 0.425547 0.496553 
time: 1403638610.627830, t: 3.768446 10.530606 1.384561 q: -0.338904 0.672045 0.421690 0.505645 
time: 1403638610.727829, t: 3.749079 10.499989 1.329161 q: -0.339108 0.672744 0.422095 0.504240 
time: 1403638610.827830, t: 3.728188 10.459262 1.277689 q: -0.335881 0.679982 0.425651 0.493589 
time: 1403638610.927830, t: 3.710530 10.413105 1.233806 q: -0.334348 0.682831 0.428268 0.488405 
time: 1403638611.027829, t: 3.691008 10.362367 1.191534 q: -0.337149 0.681884 0.426107 0.489691 
time: 1403638611.127830, t: 3.672445 10.307545 1.142221 q: -0.339668 0.679452 0.424723 0.492526 
time: 1403638611.227829, t: 3.654193 10.245346 1.090404 q: -0.339427 0.678953 0.425480 0.492727 
time: 1403638611.427830, t: 3.620696 10.106614 1.005564 q: -0.325904 0.673842 0.434538 0.500899 
time: 1403638611.527829, t: 3.604825 10.028573 0.976520 q: -0.315299 0.670866 0.441617 0.505470 
time: 1403638611.727829, t: 3.545719 9.868192 0.929363 q: -0.311650 0.677199 0.442031 0.498883 
time: 1403638611.827830, t: 3.512801 9.785205 0.903431 q: -0.317842 0.683075 0.437097 0.491255 
time: 1403638611.927830, t: 3.483110 9.701930 0.870620 q: -0.321550 0.687868 0.433605 0.485211 
time: 1403638612.027829, t: 3.450443 9.620607 0.836739 q: -0.323001 0.690593 0.432004 0.481793 
time: 1403638612.127830, t: 3.423906 9.539457 0.806043 q: -0.324372 0.692447 0.430529 0.479526 
time: 1403638612.227829, t: 3.398915 9.455302 0.783533 q: -0.323499 0.693014 0.430662 0.479176 
time: 1403638612.327830, t: 3.376534 9.372445 0.768054 q: -0.322956 0.692703 0.430809 0.479860 
time: 1403638612.427830, t: 3.358525 9.288301 0.754318 q: -0.322112 0.691685 0.430692 0.481996 
time: 1403638612.527829, t: 3.340209 9.204030 0.733960 q: -0.320079 0.689643 0.430611 0.486329 
time: 1403638612.627830, t: 3.321342 9.119148 0.708342 q: -0.315298 0.688005 0.432440 0.490135 
time: 1403638612.727829, t: 3.303062 9.034858 0.676408 q: -0.311085 0.686202 0.433529 0.494374 
time: 1403638612.827830, t: 3.282376 8.948707 0.641238 q: -0.310081 0.685263 0.431926 0.497698 
time: 1403638612.927830, t: 3.255376 8.862811 0.609118 q: -0.310827 0.684935 0.429369 0.499894 
time: 1403638613.027829, t: 3.227850 8.777014 0.582722 q: -0.310574 0.687358 0.428348 0.497595 
time: 1403638613.127830, t: 3.197850 8.690571 0.564980 q: -0.310708 0.688883 0.427439 0.496181 
time: 1403638613.227829, t: 3.163709 8.604656 0.556284 q: -0.310377 0.690681 0.427152 0.494132 
time: 1403638613.327830, t: 3.134129 8.518893 0.553040 q: -0.309374 0.691214 0.427763 0.493487 
time: 1403638613.427830, t: 3.099161 8.434007 0.553812 q: -0.308491 0.690604 0.428218 0.494499 
time: 1403638613.527829, t: 3.065860 8.346831 0.547206 q: -0.309647 0.690528 0.424732 0.496884 
time: 1403638613.627830, t: 3.032259 8.259686 0.535127 q: -0.311496 0.692122 0.418587 0.498721 
time: 1403638613.727829, t: 2.993694 8.173073 0.516374 q: -0.315264 0.691203 0.411895 0.503179 
time: 1403638613.827830, t: 2.957511 8.083841 0.491639 q: -0.315051 0.691825 0.404513 0.508419 
time: 1403638613.927830, t: 2.917631 7.989391 0.456911 q: -0.309553 0.696098 0.395536 0.513006 
time: 1403638614.027829, t: 2.881012 7.888711 0.419569 q: -0.299001 0.703216 0.384772 0.517721 
time: 1403638614.127830, t: 2.838039 7.784126 0.375153 q: -0.285942 0.712700 0.371506 0.521804 
time: 1403638614.227829, t: 2.793863 7.676512 0.334898 q: -0.272266 0.722767 0.357993 0.524710 
time: 1403638614.327830, t: 2.749633 7.567198 0.300416 q: -0.262296 0.730786 0.346502 0.526392 
time: 1403638614.427830, t: 2.708328 7.457331 0.273699 q: -0.257132 0.736575 0.336856 0.527132 
optimize pose graph 
time: 1403638614.527829, t: 2.667370 7.345958 0.259628 q: -0.254363 0.741012 0.328897 0.527284 
time: 1403638614.627830, t: 2.625979 7.234396 0.251407 q: -0.250897 0.745571 0.318754 0.528744 
time: 1403638614.727829, t: 2.588619 7.123301 0.256286 q: -0.248580 0.753105 0.304633 0.527484 
time: 1403638614.827830, t: 2.552703 7.008279 0.268843 q: -0.243524 0.763865 0.287704 0.523862 
time: 1403638614.927830, t: 2.521509 6.889712 0.290599 q: -0.232830 0.774353 0.270231 0.522632 
time: 1403638615.027829, t: 2.497115 6.769706 0.319351 q: -0.218228 0.783635 0.249655 0.525324 
time: 1403638615.227829, t: 2.470684 6.518835 0.394137 q: -0.173682 0.792481 0.207624 0.546535 
time: 1403638615.327830, t: 2.463163 6.390838 0.433038 q: -0.151636 0.795676 0.183722 0.556912 
time: 1403638615.427830, t: 2.454963 6.263850 0.465914 q: -0.130821 0.799343 0.157881 0.564810 
time: 1403638615.527829, t: 2.446067 6.135450 0.492453 q: -0.111316 0.803431 0.132501 0.569694 
time: 1403638615.627830, t: 2.435962 6.008613 0.511710 q: -0.096271 0.806083 0.111313 0.573211 
time: 1403638615.727829, t: 2.424248 5.884450 0.532180 q: -0.086280 0.808038 0.096374 0.574755 
time: 1403638615.827830, t: 2.410005 5.762565 0.559931 q: -0.079402 0.809385 0.085320 0.575597 
time: 1403638615.927830, t: 2.392699 5.642531 0.590249 q: -0.074111 0.810465 0.072622 0.576524 
time: 1403638616.027829, t: 2.375003 5.519403 0.614948 q: -0.065989 0.812167 0.060669 0.576498 
time: 1403638616.127830, t: 2.357720 5.396784 0.631351 q: -0.056253 0.813250 0.047960 0.577200 
time: 1403638616.227829, t: 2.338406 5.272352 0.632153 q: -0.046692 0.814800 0.031435 0.577004 
time: 1403638616.327830, t: 2.319587 5.148347 0.615443 q: -0.034317 0.815830 0.012429 0.577139 
time: 1403638616.427830, t: 2.300329 5.024730 0.587551 q: -0.021415 0.816583 -0.006661 0.576792 
time: 1403638616.527829, t: 2.279976 4.901348 0.554490 q: -0.011984 0.817447 -0.022347 0.575446 
time: 1403638616.627830, t: 2.260483 4.778091 0.517919 q: -0.004336 0.820513 -0.033378 0.570636 
time: 1403638616.727829, t: 2.242004 4.656338 0.478362 q: -0.002601 0.827835 -0.043018 0.559314 
time: 1403638616.827830, t: 2.225969 4.533234 0.433738 q: -0.007426 0.835471 -0.052251 0.546995 
time: 1403638616.927830, t: 2.216567 4.406894 0.394679 q: -0.007787 0.837612 -0.055067 0.543427 
time: 1403638617.027829, t: 2.214347 4.276479 0.366052 q: -0.000785 0.834343 -0.050358 0.548940 
time: 1403638617.127830, t: 2.217494 4.144653 0.346053 q: 0.006308 0.830430 -0.043695 0.555372 
time: 1403638617.227829, t: 2.225034 4.012668 0.332154 q: 0.009917 0.830184 -0.038107 0.556097 
time: 1403638617.327830, t: 2.236815 3.882199 0.323273 q: 0.009311 0.833274 -0.035181 0.551661 
time: 1403638617.427830, t: 2.253429 3.754040 0.321339 q: 0.010130 0.837318 -0.031524 0.545712 
time: 1403638617.527829, t: 2.276099 3.627843 0.328584 q: 0.010041 0.838997 -0.028122 0.543316 
time: 1403638617.627830, t: 2.306130 3.504953 0.344925 q: 0.010113 0.838528 -0.025325 0.544175 
time: 1403638617.727829, t: 2.343595 3.383778 0.369507 q: 0.011879 0.836777 -0.021230 0.547003 
time: 1403638617.827830, t: 2.389188 3.268508 0.401936 q: 0.012300 0.836703 -0.018739 0.547199 
time: 1403638617.927830, t: 2.438610 3.154776 0.441617 q: 0.010836 0.835518 -0.017780 0.549069 
time: 1403638618.027829, t: 2.491707 3.044807 0.480122 q: 0.009843 0.835037 -0.016688 0.549853 
time: 1403638618.127830, t: 2.548537 2.937352 0.512474 q: 0.007866 0.835129 -0.016296 0.549757 
time: 1403638618.227829, t: 2.608820 2.831674 0.538358 q: 0.007312 0.834874 -0.015126 0.550184 
time: 1403638618.327830, t: 2.671916 2.730319 0.560755 q: 0.007805 0.834245 -0.013760 0.551167 
time: 1403638618.427830, t: 2.740048 2.630817 0.577586 q: 0.007664 0.834140 -0.012701 0.551354 
time: 1403638618.527829, t: 2.811704 2.536089 0.594698 q: 0.007302 0.833671 -0.011651 0.552090 
time: 1403638618.627830, t: 2.885651 2.441239 0.608789 q: 0.009848 0.833335 -0.013395 0.552519 
time: 1403638618.727829, t: 2.966324 2.350913 0.623908 q: 0.014069 0.833164 -0.015613 0.552626 
time: 1403638618.827830, t: 3.050596 2.264982 0.644267 q: 0.015487 0.832026 -0.019521 0.554177 
time: 1403638618.927830, t: 3.137067 2.182000 0.671029 q: 0.020316 0.829407 -0.024782 0.557724 
time: 1403638619.027829, t: 3.225427 2.098936 0.694069 q: 0.028907 0.825008 -0.035922 0.563237 
time: 1403638619.127830, t: 3.313704 2.018422 0.709538 q: 0.042827 0.821415 -0.051692 0.566367 
time: 1403638619.227829, t: 3.402464 1.942039 0.717618 q: 0.056522 0.817857 -0.073347 0.567923 
time: 1403638619.327830, t: 3.490242 1.869989 0.718554 q: 0.072117 0.814324 -0.098216 0.567475 
time: 1403638619.427830, t: 3.574051 1.803060 0.709886 q: 0.085533 0.809740 -0.121583 0.567646 
time: 1403638619.527829, t: 3.657012 1.739624 0.699511 q: 0.093946 0.805757 -0.139908 0.567763 
time: 1403638619.627830, t: 3.737786 1.679036 0.686265 q: 0.096746 0.802787 -0.155303 0.567498 
time: 1403638619.727829, t: 3.816670 1.618535 0.671505 q: 0.091164 0.800197 -0.170053 0.567853 
time: 1403638619.827830, t: 3.893705 1.555489 0.655535 q: 0.088703 0.797541 -0.178857 0.569271 
time: 1403638619.927830, t: 3.967216 1.490130 0.637398 q: 0.089119 0.796142 -0.183742 0.569609 
time: 1403638620.027829, t: 4.037726 1.422052 0.613552 q: 0.091696 0.794925 -0.185719 0.570258 
time: 1403638620.127830, t: 4.100940 1.348081 0.598861 q: 0.094810 0.792335 -0.185600 0.573384 
time: 1403638620.227829, t: 4.160313 1.275641 0.586054 q: 0.097690 0.790091 -0.185089 0.576155 
time: 1403638620.327830, t: 4.211777 1.197391 0.585649 q: 0.101493 0.791927 -0.182456 0.573813 
time: 1403638620.427830, t: 4.258435 1.121233 0.588425 q: 0.102880 0.793062 -0.180641 0.572570 
time: 1403638620.527829, t: 4.300380 1.040779 0.597788 q: 0.103303 0.794507 -0.178259 0.571237 
time: 1403638620.627830, t: 4.339363 0.962581 0.600854 q: 0.101420 0.796679 -0.177478 0.568786 
time: 1403638620.727829, t: 4.375685 0.884729 0.597667 q: 0.097698 0.799889 -0.178098 0.564724 
time: 1403638620.827830, t: 4.408672 0.803529 0.591661 q: 0.096335 0.803087 -0.176432 0.560930 
time: 1403638620.927830, t: 4.443226 0.722075 0.580078 q: 0.101382 0.804945 -0.170490 0.559212 
time: 1403638621.127830, t: 4.502014 0.562453 0.550155 q: 0.106777 0.802987 -0.161363 0.563713 
time: 1403638621.227829, t: 4.532583 0.483900 0.544273 q: 0.106493 0.801439 -0.158948 0.566648 
time: 1403638621.327830, t: 4.561963 0.408746 0.546262 q: 0.108180 0.801913 -0.156032 0.566469 
time: 1403638621.427830, t: 4.589150 0.333975 0.545307 q: 0.108118 0.800723 -0.153931 0.568734 
time: 1403638621.527829, t: 4.613149 0.267617 0.540364 q: 0.109250 0.798661 -0.151512 0.572057 
time: 1403638621.627830, t: 4.637395 0.199735 0.529455 q: 0.109081 0.797001 -0.150093 0.574772 
time: 1403638621.727829, t: 4.657439 0.140245 0.513481 q: 0.109558 0.796141 -0.149018 0.576151 
time: 1403638621.827830, t: 4.676488 0.078518 0.494637 q: 0.110975 0.793890 -0.147440 0.579383 
time: 1403638621.927830, t: 4.689199 0.021906 0.473124 q: 0.112385 0.790457 -0.145842 0.584190 
time: 1403638622.027829, t: 4.696921 -0.024472 0.449766 q: 0.111957 0.788975 -0.146058 0.586217 
time: 1403638622.127830, t: 4.701763 -0.073608 0.418478 q: 0.109291 0.789597 -0.148205 0.585343 
time: 1403638622.227829, t: 4.700019 -0.114992 0.390318 q: 0.106996 0.790010 -0.149945 0.584767 
time: 1403638622.327830, t: 4.694203 -0.157093 0.366893 q: 0.104653 0.790019 -0.151952 0.584661 
time: 1403638622.427830, t: 4.680094 -0.194851 0.352926 q: 0.107054 0.790856 -0.151289 0.583265 
time: 1403638622.527829, t: 4.659515 -0.228803 0.349658 q: 0.109930 0.790945 -0.150066 0.582924 
optimize pose graph 
time: 1403638622.627830, t: 4.637511 -0.260369 0.350329 q: 0.114824 0.789391 -0.147470 0.584748 
time: 1403638622.727829, t: 4.609483 -0.286351 0.365506 q: 0.117955 0.781516 -0.145783 0.595034 
time: 1403638622.827830, t: 4.577318 -0.308394 0.384359 q: 0.119810 0.771910 -0.145288 0.607199 
time: 1403638622.927830, t: 4.533475 -0.323198 0.409135 q: 0.119321 0.772042 -0.146599 0.606813 
time: 1403638623.027829, t: 4.479014 -0.331043 0.427309 q: 0.116725 0.778189 -0.149790 0.598632 
time: 1403638623.127830, t: 4.419328 -0.336363 0.435233 q: 0.112667 0.783857 -0.153358 0.591063 
time: 1403638623.227829, t: 4.349509 -0.336135 0.441308 q: 0.108725 0.786851 -0.156461 0.586996 
time: 1403638623.327830, t: 4.275884 -0.334835 0.442336 q: 0.106325 0.790240 -0.158549 0.582304 
time: 1403638623.427830, t: 4.202158 -0.333854 0.438115 q: 0.106442 0.793001 -0.158624 0.578497 
time: 1403638623.527829, t: 4.122069 -0.331766 0.430702 q: 0.105092 0.793441 -0.159506 0.577896 
time: 1403638623.627830, t: 4.041798 -0.329049 0.431235 q: 0.107916 0.792873 -0.158216 0.578510 
time: 1403638623.727829, t: 3.954019 -0.326093 0.435704 q: 0.109612 0.793502 -0.157762 0.577453 
time: 1403638623.827830, t: 3.866333 -0.320853 0.449045 q: 0.111308 0.794387 -0.157449 0.575994 
time: 1403638623.927830, t: 3.774896 -0.313973 0.466129 q: 0.112869 0.796056 -0.158048 0.573216 
time: 1403638624.027829, t: 3.683146 -0.305684 0.476327 q: 0.113164 0.796660 -0.159226 0.571991 
time: 1403638624.127830, t: 3.590785 -0.295430 0.485025 q: 0.111030 0.797100 -0.162160 0.570971 
time: 1403638624.227829, t: 3.500167 -0.283578 0.489008 q: 0.108649 0.797038 -0.165142 0.570661 
time: 1403638624.327830, t: 3.404798 -0.273726 0.487709 q: 0.107558 0.796286 -0.167117 0.571342 
time: 1403638624.427830, t: 3.310832 -0.262977 0.482381 q: 0.107506 0.796051 -0.168503 0.571273 
time: 1403638624.527829, t: 3.221127 -0.252143 0.473013 q: 0.106509 0.792983 -0.170952 0.574986 
time: 1403638624.627830, t: 3.123448 -0.243654 0.459348 q: 0.104024 0.783344 -0.173446 0.587765 
optimize pose graph 
time: 1403638624.727829, t: 3.023436 -0.235718 0.445214 q: 0.108367 0.785808 -0.166725 0.585632 
time: 1403638624.827830, t: 2.928046 -0.227249 0.438765 q: 0.111584 0.792876 -0.157264 0.578070 
time: 1403638624.927830, t: 2.818606 -0.215430 0.439965 q: 0.108917 0.797307 -0.151875 0.573910 
time: 1403638625.027829, t: 2.716706 -0.197368 0.448013 q: 0.101981 0.798874 -0.150522 0.573361 
time: 1403638625.127830, t: 2.614068 -0.181488 0.451994 q: 0.093996 0.799942 -0.151264 0.573041 
time: 1403638625.227829, t: 2.507361 -0.169276 0.449713 q: 0.089912 0.801089 -0.150352 0.572334 
time: 1403638625.327830, t: 2.405819 -0.159647 0.445789 q: 0.088737 0.801449 -0.148914 0.572390 
time: 1403638625.427830, t: 2.298871 -0.151299 0.441935 q: 0.088263 0.801293 -0.147682 0.573000 
time: 1403638625.527829, t: 2.195173 -0.144055 0.444972 q: 0.088250 0.801110 -0.147222 0.573376 
time: 1403638625.627830, t: 2.087674 -0.137399 0.455057 q: 0.088805 0.802540 -0.147006 0.571343 
time: 1403638625.727829, t: 1.980173 -0.130662 0.470938 q: 0.087732 0.805429 -0.147787 0.567227 
time: 1403638625.827830, t: 1.873215 -0.123787 0.485769 q: 0.087054 0.809768 -0.148856 0.560838 
time: 1403638625.927830, t: 1.769958 -0.122229 0.494867 q: 0.088209 0.810793 -0.148620 0.559237 
time: 1403638626.027829, t: 1.667738 -0.119396 0.499267 q: 0.088191 0.811533 -0.149679 0.557882 
time: 1403638626.127830, t: 1.568912 -0.121028 0.498078 q: 0.086471 0.811971 -0.151542 0.557011 
time: 1403638626.227829, t: 1.473500 -0.121444 0.491995 q: 0.088163 0.811829 -0.150949 0.557114 
time: 1403638626.327830, t: 1.380765 -0.127461 0.483109 q: 0.094406 0.809934 -0.147052 0.559883 
time: 1403638626.427830, t: 1.289809 -0.132061 0.471895 q: 0.100014 0.807800 -0.142906 0.563057 
time: 1403638626.527829, t: 1.200082 -0.134792 0.456670 q: 0.101459 0.809134 -0.141454 0.561248 
time: 1403638626.627830, t: 1.113805 -0.138560 0.440933 q: 0.100183 0.811255 -0.142187 0.558222 
time: 1403638626.727829, t: 1.029203 -0.140409 0.426147 q: 0.098442 0.814084 -0.142884 0.554220 
time: 1403638626.827830, t: 0.947444 -0.143212 0.419008 q: 0.096641 0.817325 -0.143750 0.549524 
optimize pose graph 
time: 1403638626.927830, t: 0.875724 -0.146188 0.419279 q: 0.096555 0.819637 -0.143245 0.546218 
time: 1403638627.027829, t: 0.805363 -0.148358 0.421869 q: 0.095834 0.819754 -0.142977 0.546239 
time: 1403638627.127830, t: 0.743502 -0.152463 0.420972 q: 0.095037 0.819581 -0.142736 0.546700 
time: 1403638627.227829, t: 0.685213 -0.156776 0.415945 q: 0.094411 0.819513 -0.142484 0.546977 
time: 1403638627.327830, t: 0.627286 -0.155423 0.404655 q: 0.097157 0.819462 -0.140284 0.547141 
time: 1403638627.427830, t: 0.581569 -0.160445 0.395949 q: 0.098245 0.819389 -0.139186 0.547337 
time: 1403638627.527829, t: 0.538958 -0.163807 0.382713 q: 0.097943 0.819038 -0.139468 0.547844 
time: 1403638627.627830, t: 0.500590 -0.167040 0.368365 q: 0.101127 0.817019 -0.137925 0.550664 
time: 1403638627.727829, t: 0.466889 -0.169605 0.353801 q: 0.102050 0.814015 -0.137644 0.554995 
time: 1403638627.827830, t: 0.433541 -0.167242 0.340492 q: 0.103375 0.812730 -0.137426 0.556685 
time: 1403638627.927830, t: 0.404213 -0.166614 0.326129 q: 0.104122 0.813915 -0.137413 0.554815 
time: 1403638628.027829, t: 0.376762 -0.162921 0.312701 q: 0.105449 0.815467 -0.137484 0.552260 
time: 1403638628.127830, t: 0.353505 -0.160995 0.299377 q: 0.105950 0.816434 -0.137953 0.550617 
time: 1403638628.227829, t: 0.332021 -0.152511 0.289181 q: 0.106478 0.816562 -0.138866 0.550096 
time: 1403638628.327830, t: 0.317881 -0.143878 0.278993 q: 0.106267 0.817200 -0.140015 0.548897 
time: 1403638628.427830, t: 0.308201 -0.134545 0.272150 q: 0.103830 0.816765 -0.142095 0.549475 
time: 1403638628.527829, t: 0.302873 -0.124855 0.268973 q: 0.095564 0.811002 -0.148464 0.557766 
time: 1403638628.627830, t: 0.298695 -0.116197 0.268516 q: 0.089304 0.804290 -0.153173 0.567169 
time: 1403638628.727829, t: 0.288509 -0.107794 0.265589 q: 0.086899 0.803769 -0.154897 0.567812 
time: 1403638628.827830, t: 0.277207 -0.102693 0.258389 q: 0.090497 0.805138 -0.152762 0.565887 
time: 1403638628.927830, t: 0.267393 -0.100513 0.247170 q: 0.094908 0.805161 -0.150262 0.565800 
optimize pose graph 
time: 1403638629.027829, t: 0.259079 -0.099250 0.237323 q: 0.099851 0.806170 -0.146770 0.564427 
time: 1403638629.127830, t: 0.251772 -0.098121 0.229520 q: 0.103272 0.807490 -0.143796 0.562688 
time: 1403638629.227829, t: 0.243538 -0.096121 0.223990 q: 0.104884 0.808470 -0.142308 0.561359 
time: 1403638629.327830, t: 0.233200 -0.091756 0.222388 q: 0.106010 0.809332 -0.141509 0.560105 
time: 1403638629.427830, t: 0.226710 -0.085182 0.220924 q: 0.105540 0.813391 -0.142419 0.554051 
time: 1403638629.527829, t: 0.220531 -0.077037 0.219960 q: 0.102679 0.818056 -0.144896 0.547035 
time: 1403638629.627830, t: 0.219755 -0.068398 0.221107 q: 0.095561 0.818371 -0.150231 0.546414 
time: 1403638629.727829, t: 0.224043 -0.061229 0.223523 q: 0.085538 0.814370 -0.158125 0.551798 
time: 1403638629.827830, t: 0.231402 -0.058658 0.225970 q: 0.081615 0.808399 -0.161414 0.560157 
time: 1403638629.927830, t: 0.237036 -0.059182 0.222125 q: 0.086701 0.802286 -0.158748 0.568876 
time: 1403638630.027829, t: 0.241302 -0.062888 0.209237 q: 0.097551 0.796482 -0.151577 0.577170 
time: 1403638630.127830, t: 0.242664 -0.066206 0.185150 q: 0.104026 0.796852 -0.146936 0.576729 
time: 1403638630.227829, t: 0.241131 -0.067878 0.153540 q: 0.106448 0.800983 -0.144796 0.571077 
time: 1403638630.327830, t: 0.238303 -0.068176 0.116284 q: 0.108710 0.807596 -0.144286 0.561384 
time: 1403638630.427830, t: 0.248362 -0.065084 0.114872 q: 0.093979 0.813755 -0.150717 0.553403 
time: 1403638630.527829, t: 0.260839 -0.064861 0.123716 q: 0.102940 0.804213 -0.143333 0.567539 
time: 1403638630.627830, t: 0.272113 -0.063894 0.112269 q: 0.103653 0.803427 -0.143579 0.568460 
time: 1403638630.727829, t: 0.278467 -0.066119 0.094304 q: 0.094156 0.829530 -0.136745 0.533212 
time: 1403638630.827830, t: 0.275789 -0.075722 0.092627 q: 0.098224 0.827066 -0.138511 0.535844 
time: 1403638630.927830, t: 0.272203 -0.066527 0.085259 q: 0.097699 0.827772 -0.136957 0.535248 
time: 1403638631.027829, t: 0.287529 -0.081614 0.109799 q: 0.096908 0.828491 -0.137083 0.534246 
optimize pose graph 
time: 1403638631.127830, t: 0.276420 -0.074341 0.109251 q: 0.096618 0.828362 -0.137492 0.534395 
time: 1403638631.227829, t: 0.276908 -0.074167 0.109053 q: 0.096857 0.828375 -0.137356 0.534366 
time: 1403638631.327830, t: 0.282534 -0.073394 0.108534 q: 0.097031 0.828396 -0.137587 0.534242 
time: 1403638631.427830, t: 0.281333 -0.073336 0.108170 q: 0.097257 0.828268 -0.137312 0.534471 
time: 1403638631.527829, t: 0.283246 -0.073117 0.107602 q: 0.097374 0.828342 -0.137295 0.534339 
time: 1403638631.627830, t: 0.283578 -0.073238 0.107373 q: 0.097598 0.828376 -0.137090 0.534298 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731045153.433679987]: Shutdown request received.[0m
[33m[ WARN] [1731045153.433712135]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731045153.434532813]: Shutdown request received.[0m
[33m[ WARN] [1731045153.434553680]: Reason given for shutdown: [user request][0m
killed
