Add slam_in_autonomous_driving repo

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Hang Cui
2025-11-03 09:52:30 -08:00
parent 0e874755e4
commit df731f29fa
987 changed files with 752983 additions and 0 deletions

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@@ -0,0 +1 @@
-0.0699018 -0.101214 1.02861e-07 0.999033 0.0323435 -0.0136968 -0.0264372

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@@ -0,0 +1 @@
-0.0699018 -0.101214 1.02861e-07 0.999033 0.0323435 -0.0136968 -0.0264372

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@@ -0,0 +1,205 @@
imu init done, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
=== frame 0
I1118 17:14:25.421314 209159 lio_iekf.cc:137] pred: p: 04.90454e-05 -0.000504891 08.02587e-05, v: 0.000440792 -0.00511598 0.000799364, q: 0-0.00120653 -7.59703e-05 -9.70547e-06 00000.999999, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:07.768869 209159 lio_iekf.cc:155] post: p: -0.0153191 00.0503512 -0.0341755, v: 0.000479927 00.00466279 -0.00575974, q: -0.00121657 00.00206976 00.00160879 0000.999996, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:07.775338 209159 lio_iekf.cc:136] === frame 1
I1118 17:15:07.775344 209159 lio_iekf.cc:137] pred: p: -0.0150588 00.0506864 -0.0347105, v: 0.00477512 0.00214923 -0.0051144, q: 0.000245399 00.00217255 00.00190123 0000.999996, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.890256 209159 lio_iekf.cc:155] post: p: -0.030806 0.0386739 00.021142, v: -0.0501599 -0.0260004 00.0399524, q: -0.000261551 000.00225525 000.00119186 00000.999997, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.893633 209159 lio_iekf.cc:136] === frame 2
I1118 17:15:11.893646 209159 lio_iekf.cc:137] pred: p: -0.035667 0.0359853 0.0252403, v: -0.0455922 -0.0274532 000.040713, q: 0.00225679 0.00228433 0.00164527 000.999993, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.894618 209159 lio_iekf.cc:155] post: p: -0.0277568 00.0270789 00.0295162, v: -0.0105089 -0.0578568 00.0589583, q: 00.00219828 00.00260048 0.000873066 0000.999994, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.899643 209159 lio_iekf.cc:136] === frame 3
I1118 17:15:11.899652 209159 lio_iekf.cc:137] pred: p: -0.0285529 00.0211308 00.0354642, v: -0.00535027 0-0.0607453 000.0594799, q: 0.00259265 0.00254714 0.00105252 000.999993, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.901063 209159 lio_iekf.cc:155] post: p: 00.00100406 -0.00416539 000.0161755, v: 000.0956111 00-0.156076 -0.00129277, q: 000.00738294 000.00131746 -0.000780396 00000.999972, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.904808 209159 lio_iekf.cc:136] === frame 4
I1118 17:15:11.904814 209159 lio_iekf.cc:137] pred: p: 00.0105809 -0.0201856 00.0160716, v: 0000.0983173 000-0.168396 -0.000867878, q: 000.00823418 000.00128613 -0.000717163 00000.999965, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.906029 209159 lio_iekf.cc:155] post: p: 0.00843266 0-0.014723 00.0206042, v: 0.0923196 -0.152179 0.0138562, q: 000.00789518 000.00152049 -0.000322546 00000.999968, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.908725 209159 lio_iekf.cc:136] === frame 5
I1118 17:15:11.908728 209159 lio_iekf.cc:137] pred: p: 00.0178833 -0.0306593 00.0220171, v: 0.0955118 -0.164659 0.0141552, q: 000.00763498 000.00160957 -0.000344936 00000.999969, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.909430 209159 lio_iekf.cc:155] post: p: -0.00470344 00.00639892 000.0288955, v: 00.0365583 -0.0654695 000.033711, q: 000.00457161 000.00261937 -0.000129411 00000.999986, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.912588 209159 lio_iekf.cc:136] === frame 6
I1118 17:15:11.912595 209159 lio_iekf.cc:137] pred: p: -0.000848782 -0.000381971 0000.0322354, v: 00.0416474 -0.0721619 000.034013, q: 000.00303829 000.00259847 -0.000513327 00000.999992, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.912993 209159 lio_iekf.cc:155] post: p: -0.0108165 00.0115985 00.0430028, v: 00.0178083 -0.0410502 00.0622496, q: 00.00150854 00.00396589 0.000674097 0000.999991, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.914862 209159 lio_iekf.cc:136] === frame 7
I1118 17:15:11.914866 209159 lio_iekf.cc:137] pred: p: -0.00864492 000.0073022 000.0492498, v: 00.0255669 -0.0447473 000.062585, q: -0.00036176 00.00389803 0.000664088 0000.999992, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.915254 209159 lio_iekf.cc:155] post: p: -0.00998406 000.0018454 000.0376213, v: 00.0202328 -0.0594128 00.0338251, q: 03.33809e-06 000.00321527 -2.83811e-05 00000.999995, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.917377 209159 lio_iekf.cc:136] === frame 8
I1118 17:15:11.917410 209159 lio_iekf.cc:137] pred: p: -0.00759479 -0.00440334 000.0410847, v: 00.0268193 -0.0636386 00.0343541, q: 00.000523725 000.00313919 -0.000204003 00000.999995, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.918063 209159 lio_iekf.cc:155] post: p: 0.000752396 000.0207922 000.0334292, v: 00.0477717 -0.0110044 00.0142291, q: 000.00227905 000.00266603 -5.74178e-05 00000.999994, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.919911 209159 lio_iekf.cc:136] === frame 9
I1118 17:15:11.919914 209159 lio_iekf.cc:137] pred: p: 0.00570258 00.0193502 00.0348469, v: 00.0532229 -0.0184184 00.0146345, q: 000.00206386 000.00261745 -7.93742e-06 00000.999994, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.920490 209159 lio_iekf.cc:155] post: p: 0.00191145 00.0201858 00.0180808, v: 00.0400973 -0.0187426 -0.0308192, q: 00.00149519 00.00122873 0.000768057 0000.999998, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.922688 209159 lio_iekf.cc:136] === frame 10
I1118 17:15:11.922690 209159 lio_iekf.cc:137] pred: p: 0.00649512 00.0177244 00.0147163, v: 00.0431613 0-0.025969 -0.0303075, q: 00.00203652 000.0013238 0.000903168 0000.999997, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.923228 209159 lio_iekf.cc:155] post: p: -0.00150556 0-0.0025184 -0.00414911, v: 00.0155007 -0.0860391 -0.0822575, q: 000.00599938 -0.000183419 00.000153602 00000.999982, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.924659 209159 lio_iekf.cc:136] === frame 11
I1118 17:15:11.924662 209159 lio_iekf.cc:137] pred: p: -0.000104462 00-0.0109358 00-0.0116132, v: 00.0153269 -0.0991016 -0.0819059, q: 000.00708928 -0.000185432 00.000385193 00000.999975, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.924885 209159 lio_iekf.cc:155] post: p: 00.00224026 0-0.0206669 0.000693994, v: 00.0241425 00-0.11959 -0.0453051, q: 00.00488904 0.000805058 -0.00062767 0000.999988, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.926889 209159 lio_iekf.cc:136] === frame 12
I1118 17:15:11.926892 209159 lio_iekf.cc:137] pred: p: 00.00499685 0-0.0344078 -0.00424487, v: 00.0260986 0-0.130902 -0.0447542, q: 0000.0064845 00.000871289 -0.000509421 00000.999978, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.927434 209159 lio_iekf.cc:155] post: p: -0.0013856 -0.0180147 0.00077609, v: 0.00733519 -0.0920896 -0.0286954, q: 000.00923425 00.000369769 -0.000686988 00000.999957, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.929165 209159 lio_iekf.cc:136] === frame 13
I1118 17:15:11.929169 209159 lio_iekf.cc:137] pred: p: -0.000683904 00-0.0270661 0-0.00182275, v: 00.0080873 0-0.106958 -0.0285007, q: 000.00924388 00.000358166 -0.000710999 00000.999957, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.929667 209159 lio_iekf.cc:155] post: p: -0.00578867 00.00215956 00.00700372, v: 0-0.0030371 0-0.0229413 -0.00447093, q: 00.00563486 00.00243229 5.64186e-05 0000.999981, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.931541 209159 lio_iekf.cc:136] === frame 14
I1118 17:15:11.931545 209159 lio_iekf.cc:137] pred: p: 0-0.00583285 -0.000895607 000.00654662, v: 00.00220287 0-0.0335465 -0.00401146, q: 00.00605858 00.00232979 2.20827e-05 0000.999979, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.932104 209159 lio_iekf.cc:155] post: p: -0.00278004 00.00313029 000.0128976, v: 0.00997104 -0.0254463 00.0132513, q: 00.00821921 00.00118624 0.000199534 0000.999965, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.933557 209159 lio_iekf.cc:136] === frame 15
I1118 17:15:11.933580 209159 lio_iekf.cc:137] pred: p: 0-0.00164956 -0.000153588 0000.0142476, v: 00.0125478 -0.0399885 00.0135861, q: 00.00860753 00.00122725 0.000401781 0000.999962, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.933826 209159 lio_iekf.cc:155] post: p: 00.00919599 -0.00954942 000.0229229, v: 000.045598 -0.0595688 00.0382537, q: 0.00620488 0.00203302 0.00163873 000.999977, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.935776 209159 lio_iekf.cc:136] === frame 16
I1118 17:15:11.935781 209159 lio_iekf.cc:137] pred: p: 00.0136039 -0.0155058 00.0264916, v: 0.0494435 -0.068921 0.0386612, q: 0.00690578 0.00203102 0.00175541 000.999973, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.936312 209159 lio_iekf.cc:155] post: p: 000.0101917 0.000459489 0000.019997, v: 00.0386058 -0.0351932 00.0207056, q: 000.0101891 00.00142608 0.000216748 0000.999947, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.938040 209159 lio_iekf.cc:136] === frame 17
I1118 17:15:11.938045 209159 lio_iekf.cc:137] pred: p: 000.0144818 -0.00425185 000.0222271, v: 00.0417763 -0.0531204 00.0210255, q: 000.0106075 00.00139463 -6.4051e-05 0000.999943, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.938546 209159 lio_iekf.cc:155] post: p: -0.00199832 -0.00755048 000.0180761, v: -0.00519676 0-0.0611281 00.00960466, q: 00.00943818 00.00015313 -0.00162587 0000.999954, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.940439 209159 lio_iekf.cc:136] === frame 18
I1118 17:15:11.940443 209159 lio_iekf.cc:137] pred: p: -0.00249975 0-0.0144568 000.0190582, v: -0.00474474 0-0.0758661 00.00980882, q: 00.00890815 0.000114341 0-0.0015747 0000.999959, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.940969 209159 lio_iekf.cc:155] post: p: -0.0150766 0000.01334 00.0178194, v: 0-0.0374328 -0.00465068 00.00703531, q: 000.00740015 000.00137108 -0.000344167 00000.999972, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.942432 209159 lio_iekf.cc:136] === frame 19
I1118 17:15:11.942435 209159 lio_iekf.cc:137] pred: p: -0.0185532 00.0123449 00.0185101, v: -0.0346348 0-0.015953 0.00724182, q: 000.00627905 000.00135494 -0.000248159 00000.999979, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.942687 209159 lio_iekf.cc:155] post: p: -0.0106226 0.00490207 00.0236433, v: -0.0107037 -0.0278636 00.0203764, q: 0.00249327 0.00215172 0.00130186 000.999994, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.944468 209159 lio_iekf.cc:136] === frame 20
I1118 17:15:11.944471 209159 lio_iekf.cc:137] pred: p: -0.0114897 0.00179978 00.0257821, v: -0.00602089 00-0.031967 000.0208662, q: 0.00312941 0.00215868 0.00132527 000.999992, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.944958 209159 lio_iekf.cc:155] post: p: -0.00345185 -0.00717943 000.0165726, v: 000.0135267 0-0.0619038 -0.00248835, q: 000.00715173 000.00140423 -0.000189458 00000.999973, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.946609 209159 lio_iekf.cc:136] === frame 21
I1118 17:15:11.946614 209159 lio_iekf.cc:137] pred: p: -0.00211647 0-0.0132064 000.0163657, v: 000.0162605 0-0.0725589 -0.00216985, q: 000.00740939 000.00137473 -0.000170376 00000.999972, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.947124 209159 lio_iekf.cc:155] post: p: -0.00651473 -0.00215236 000.0153109, v: 00.00488036 0-0.0455272 -0.00529396, q: 00.00698527 00.00175434 0.000569922 0000.999974, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.948858 209159 lio_iekf.cc:136] === frame 22
I1118 17:15:11.948877 209159 lio_iekf.cc:137] pred: p: -0.00574653 -0.00782332 000.0147551, v: 00.00909847 0-0.0576614 -0.00485595, q: 000.0076439 00.00177245 0.000680381 0000.999969, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.949421 209159 lio_iekf.cc:155] post: p: -0.00382868 000.0130476 0000.017737, v: 000.0149043 -0.00876365 00.00267306, q: 00.00969612 00.00157242 0.000840327 0000.999951, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.951212 209159 lio_iekf.cc:136] === frame 23
I1118 17:15:11.951216 209159 lio_iekf.cc:137] pred: p: -0.00227757 000.0115498 000.0180063, v: 00.0180914 -0.0231501 0.00300576, q: 00000.01088 000.0015886 0.000719275 0000.999939, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.951570 209159 lio_iekf.cc:155] post: p: -0.0145005 00.0174192 00.0175176, v: 0-0.0158562 -0.00520393 00.00199439, q: 00.00838138 00.00142165 -0.00218195 0000.999961, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.953176 209159 lio_iekf.cc:136] === frame 24
I1118 17:15:11.953179 209159 lio_iekf.cc:137] pred: p: -0.016024 0.0162531 0.0177543, v: 0-0.012738 -0.0167324 0.00236756, q: 00.00892732 00.00137161 -0.00163546 0000.999958, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.953544 209159 lio_iekf.cc:155] post: p: 00-0.017527 0.000705961 000.0373498, v: -0.0126885 -0.0465573 00.0543639, q: 000.00589359 000.00350919 -0.000831264 00000.999976, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.955387 209159 lio_iekf.cc:136] === frame 25
I1118 17:15:11.955391 209159 lio_iekf.cc:137] pred: p: 0-0.0183067 -0.00314154 000.0416631, v: -0.00701791 0-0.0507588 000.0546663, q: 00.00594996 00.00350621 -0.00100196 0000.999976, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.955890 209159 lio_iekf.cc:155] post: p: -0.0147757 0.00129334 00.0224162, v: -0.00105843 0-0.0430689 00.00257092, q: 000.00602707 000.00175077 -0.000476096 000000.99998, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.957621 209159 lio_iekf.cc:136] === frame 26
I1118 17:15:11.957624 209159 lio_iekf.cc:137] pred: p: 0-0.0146316 -0.00430057 000.0227596, v: 0.00346116 -0.0499088 0.00308568, q: 000.00660257 000.00179712 -0.000478638 00000.999976, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.958143 209159 lio_iekf.cc:155] post: p: -0.00955999 000.0164956 000.0221032, v: 00000.018325 -0.000787753 00.000941459, q: 0.00804765 0.00199508 0.00148244 000.999965, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.960180 209159 lio_iekf.cc:136] === frame 27
I1118 17:15:11.960184 209159 lio_iekf.cc:137] pred: p: -0.00752655 000.0159748 000.0222158, v: 000.0224374 -0.00968724 00.00125442, q: 0.00751929 0.00198793 0.00124661 000.999969, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.960719 209159 lio_iekf.cc:155] post: p: -0.00960678 0000.023717 000.0129138, v: 00.0149583 0.00793828 -0.0244125, q: 0.00745896 0.00091034 0.00116203 000.999971, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.962118 209159 lio_iekf.cc:136] === frame 28
I1118 17:15:11.962121 209159 lio_iekf.cc:137] pred: p: -0.00802248 000.0240688 000.0104961, v: 0000.0168653 -0.000846577 00-0.0241823, q: 00.00610736 0.000903238 00.00135748 00000.99998, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.962345 209159 lio_iekf.cc:155] post: p: -0.013008 0.0198995 0.0130335, v: 00.00317311 -0.00774547 0-0.0173752, q: 000.00382281 000.00123227 -0.000341855 00000.999992, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.964265 209159 lio_iekf.cc:136] === frame 29
I1118 17:15:11.964282 209159 lio_iekf.cc:137] pred: p: -0.0126156 00.0190335 00.0114875, v: 0.00553383 0-0.011468 -0.0170193, q: 000.00397387 000.00114611 -0.000728046 00000.999991, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.964799 209159 lio_iekf.cc:155] post: p: -0.0204661 0.00885791 00.0107593, v: -0.0168295 -0.0401255 -0.0182122, q: 00.00567619 000.0011173 -0.00140513 0000.999982, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.966563 209159 lio_iekf.cc:136] === frame 30
I1118 17:15:11.966567 209159 lio_iekf.cc:137] pred: p: -0.0221681 0.00400176 0.00878148, v: -0.0141208 -0.0482997 -0.0178408, q: 00.00524587 00.00125018 -0.00112132 0000.999985, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.967144 209159 lio_iekf.cc:155] post: p: -0.0308646 00.0273728 0.00321953, v: -0.0392401 0.00365444 0-0.032642, q: 000.00804325 04.84804e-05 -9.67534e-05 00000.999968, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.969038 209159 lio_iekf.cc:136] === frame 31
I1118 17:15:11.969040 209159 lio_iekf.cc:137] pred: p: 00-0.0348125 0000.0270795 -5.76973e-05, v: 0-0.0390182 -0.00944722 0-0.0323957, q: 000.00806638 000.00010777 -0.000151537 00000.999967, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.969590 209159 lio_iekf.cc:155] post: p: -0.0275045 00.0168235 00.0158835, v: -0.0159905 -0.0285702 00.0117468, q: 00.00628074 00.00183553 -0.00171256 0000.999977, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.971078 209159 lio_iekf.cc:136] === frame 32
I1118 17:15:11.971081 209159 lio_iekf.cc:137] pred: p: -0.0289343 00.0134623 00.0170917, v: -0.0123124 -0.0380222 00.0121408, q: 00.00663759 00.00190125 -0.00125578 0000.999975, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.971312 209159 lio_iekf.cc:155] post: p: -0.0335291 000.011422 00.0223288, v: -0.0248202 -0.0431123 00.0269799, q: 00.00706802 00.00210039 -0.00271434 0000.999969, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.973183 209159 lio_iekf.cc:136] === frame 33
I1118 17:15:11.973186 209159 lio_iekf.cc:137] pred: p: -0.0353633 0.00768912 00.0244735, v: -0.0216154 -0.0514039 00.0272669, q: 00.00723896 00.00212892 -0.00285546 0000.999967, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.973711 209159 lio_iekf.cc:155] post: p: -0.0406646 0.00223471 00.0242756, v: 0-0.036042 -0.0627385 00.0266659, q: 0.00573758 0.00235501 -0.0025138 000.999978, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.975383 209159 lio_iekf.cc:136] === frame 34
I1118 17:15:11.975385 209159 lio_iekf.cc:137] pred: p: 0-0.0446373 -0.00579038 000.0274872, v: -0.0306631 -0.0720615 00.0272026, q: 000.0065722 00.00245001 -0.00270113 0000.999972, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.975878 209159 lio_iekf.cc:155] post: p: 0-0.032354 0.00698154 00.0176309, v: -0.000250842 00-0.0473594 000.00104029, q: 000.0099747 00.00066549 -0.00199537 0000.999948, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.977705 209159 lio_iekf.cc:136] === frame 35
I1118 17:15:11.977710 209159 lio_iekf.cc:137] pred: p: -0.0323301 0.00138484 00.0177552, v: 0.000730281 0-0.0625483 000.0013314, q: 000.0103759 0.000646453 -0.00159964 0000.999945, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.978232 209159 lio_iekf.cc:155] post: p: -0.0337782 0.00874701 00.0137585, v: -0.00282612 00-0.047824 -0.00861813, q: 00.0121455 0.00113379 -0.0016715 000.999924, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.979840 209159 lio_iekf.cc:136] === frame 36
I1118 17:15:11.979858 209159 lio_iekf.cc:137] pred: p: -0.0339622 0.00314178 00.0129249, v: -0.000910109 00-0.0662699 0-0.00838114, q: 00.0127904 0.00112578 -0.0016166 000.999916, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.980145 209159 lio_iekf.cc:155] post: p: -0.0470016 00.0168451 00.0147551, v: 0-0.0365023 0-0.0275621 -0.00325529, q: 00.00927839 00.00127644 -0.00159512 0000.999955, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.981890 209159 lio_iekf.cc:136] === frame 37
I1118 17:15:11.981894 209159 lio_iekf.cc:137] pred: p: -0.0507362 000.013244 00.0144328, v: 0-0.0340429 0-0.0405466 -0.00290648, q: 0.00998882 0.00136084 -0.0015252 000.999948, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.982342 209159 lio_iekf.cc:155] post: p: -0.0253281 00.0107317 00.0289837, v: 0.0373826 -0.043742 0.0349919, q: 0000.0106274 000.00246312 -2.56926e-05 000000.99994, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.984136 209159 lio_iekf.cc:136] === frame 38
I1118 17:15:11.984139 209159 lio_iekf.cc:137] pred: p: -0.0216145 00.0060108 000.032282, v: 00.0417066 -0.0568265 00.0351998, q: 0000.0100201 000.00245466 -0.000286008 00000.999947, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.984676 209159 lio_iekf.cc:155] post: p: -0.0224169 00.0115669 00.0327741, v: 00.0402784 -0.0394379 00.0357205, q: 000.00776671 0000.0027215 -0.000371586 00000.999966, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.986378 209159 lio_iekf.cc:136] === frame 39
I1118 17:15:11.986382 209159 lio_iekf.cc:137] pred: p: -0.0181039 0.00710886 00.0363843, v: 00.0453899 -0.0491096 00.0358994, q: 000.00627731 000.00267927 -0.000191602 00000.999977, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.986899 209159 lio_iekf.cc:155] post: p: -0.0072182 00.0117463 00.0271725, v: 00.073863 -0.040899 0.0106082, q: 00.00807588 00.00184913 0.000308965 0000.999966, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.988760 209159 lio_iekf.cc:136] === frame 40
I1118 17:15:11.988763 209159 lio_iekf.cc:137] pred: p: 0.000428815 00.00693913 000.0282592, v: 0.0773209 -0.054111 0.0108618, q: 00.00714625 00.00178196 0.000468223 0000.999973, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.989274 209159 lio_iekf.cc:155] post: p: -0.00274461 -0.00475901 000.0343976, v: 00.0697324 -0.0743786 00.0272192, q: 000.0017629 00.00290237 0.000580373 0000.999994, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.990716 209159 lio_iekf.cc:136] === frame 41
I1118 17:15:11.990720 209159 lio_iekf.cc:137] pred: p: 0.00512994 -0.0129419 00.0373723, v: 00.0757732 -0.0768013 00.0276777, q: 00.00176315 00.00295099 0.000712146 0000.999994, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.990968 209159 lio_iekf.cc:155] post: p: 0.00382828 -0.0119629 00.0286474, v: 0000.07057 -0.0802147 0.00467209, q: 00.00465419 00.00240829 0.000473393 0000.999986, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.992880 209159 lio_iekf.cc:136] === frame 42
I1118 17:15:11.992884 209159 lio_iekf.cc:137] pred: p: 00.0111183 -0.0203906 00.0291311, v: 00.0751165 -0.0882057 0.00495365, q: 00.00368231 00.00244324 0.000759635 00000.99999, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.993322 209159 lio_iekf.cc:155] post: p: 00.0142869 -0.0046058 00.0252783, v: 000.0836109 0-0.0527855 -0.00587547, q: 0.00539567 00.0022904 0.00113727 000.999982, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.995007 209159 lio_iekf.cc:136] === frame 43
I1118 17:15:11.995010 209159 lio_iekf.cc:137] pred: p: 00.0229552 -0.0105195 00.0247032, v: 000.0879199 0-0.0642372 -0.00554224, q: 0.00516391 0.00231061 0.00124638 000.999983, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.995541 209159 lio_iekf.cc:155] post: p: -0.00125801 00.00602515 0000.029749, v: 00.0240558 -0.0155837 0.00774458, q: -0.000774922 000.00317774 00.000926218 00000.999994, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.997438 209159 lio_iekf.cc:136] === frame 44
I1118 17:15:11.997442 209159 lio_iekf.cc:137] pred: p: 0.00145917 00.0044732 00.0305545, v: 00.0300416 0-0.015309 0.00828491, q: 0.000186713 00.00325627 0.000800919 0000.999994, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.997939 209159 lio_iekf.cc:155] post: p: 0.00409701 -0.0103695 00.0280371, v: 00.0348392 -0.0608119 0.00215272, q: 000.00559483 000.00244804 -0.000129847 00000.999981, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:11.999414 209159 lio_iekf.cc:136] === frame 45
I1118 17:15:11.999418 209159 lio_iekf.cc:137] pred: p: 0.00761241 -0.0166219 00.0282709, v: 00.0390343 0-0.070634 0.00270157, q: 00.00832741 00.00252936 0.000170725 0000.999962, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:11.999653 209159 lio_iekf.cc:155] post: p: 0.00852682 -0.0219793 00.0325859, v: 00.0422356 -0.0823777 00.0143882, q: 00.00764677 00.00296251 -0.00063212 0000.999966, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:12.001551 209159 lio_iekf.cc:136] === frame 46
I1118 17:15:12.001555 209159 lio_iekf.cc:137] pred: p: 00.0131904 -0.0310293 00.0341103, v: 00.0477363 -0.0924026 00.0149382, q: 000.00978727 000.00303871 -0.000357891 00000.999947, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:12.002097 209159 lio_iekf.cc:155] post: p: -0.00571204 -0.00826453 0000.017529, v: -0.00684843 0-0.0381937 0-0.0281482, q: 00.00882581 00.00140222 0.000619265 00000.99996, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:12.003772 209159 lio_iekf.cc:136] === frame 47
I1118 17:15:12.003774 209159 lio_iekf.cc:137] pred: p: -0.00624681 0-0.0120631 0000.015004, v: -0.00501371 0-0.0460501 0-0.0278583, q: 00.00944439 00.00136209 0.000965105 0000.999954, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:12.004245 209159 lio_iekf.cc:155] post: p: -0.00217722 0.000370151 00.00765073, v: 0.00408428 -0.0184988 -0.0479597, q: 0000.0110169 -0.000504146 000.00151735 00000.999938, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:12.006052 209159 lio_iekf.cc:136] === frame 48
I1118 17:15:12.006054 209159 lio_iekf.cc:137] pred: p: -0.00182268 0-0.0023869 00.00241462, v: 0.00241319 -0.0318412 -0.0475872, q: 00.0125397 -0.0004074 0.00128603 0000.99992, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:12.006580 209159 lio_iekf.cc:155] post: p: 00.00712729 0.000455928 000.0108929, v: 00.0305433 -0.0181527 0-0.024302, q: 0.00981948 0.00130322 0.00107983 0000.99995, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:12.008213 209159 lio_iekf.cc:136] === frame 49
I1118 17:15:12.008215 209159 lio_iekf.cc:137] pred: p: 00.00994338 -0.00146657 00.00872675, v: 00.0322507 -0.0247646 -0.0240732, q: 00.00928355 00.00125963 0.000998656 0000.999956, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:12.008530 209159 lio_iekf.cc:155] post: p: 000.0147639 2.52168e-05 000.0175967, v: 000.0469827 00-0.017585 0.000277126, q: 00.00804375 00.00144093 0.000434819 0000.999967, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
Failed to find match for field 'intensity'.
I1118 17:15:12.010309 209159 lio_iekf.cc:136] === frame 50
I1118 17:15:12.010313 209159 lio_iekf.cc:137] pred: p: 000.0201475 -0.00226075 000.0176451, v: 000.0493982 0-0.0233594 0.000536465, q: 000.0062863 000.0013803 0.000230497 0000.999979, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014
I1118 17:15:12.010778 209159 lio_iekf.cc:155] post: p: 00.0148923 -0.0203415 000.016958, v: 0000.0345795 00-0.0711472 -5.14172e-05, q: 00.00817267 00.00122795 6.93271e-05 0000.999966, bg: 0.000293669 00.00302745 -0.00353565, ba: 6.72201e-05 2.65046e-06 -0.00493014