Add slam_in_autonomous_driving repo

2025-11-03 09:52:30 -08:00
parent 0e874755e4
commit df731f29fa
987 changed files with 752983 additions and 0 deletions
--- a/workspace/slam_in_autonomous_driving/data/ch10/.gitkeep
+++ b/workspace/slam_in_autonomous_driving/data/ch10/.gitkeep
--- a/workspace/slam_in_autonomous_driving/data/ch10/global.pcd
+++ b/workspace/slam_in_autonomous_driving/data/ch10/global.pcd
--- a/workspace/slam_in_autonomous_driving/data/ch3/10.txt
+++ b/workspace/slam_in_autonomous_driving/data/ch3/10.txt
--- a/workspace/slam_in_autonomous_driving/data/ch3/11.txt
+++ b/workspace/slam_in_autonomous_driving/data/ch3/11.txt
--- a/workspace/slam_in_autonomous_driving/data/ch3/dr.txt
+++ b/workspace/slam_in_autonomous_driving/data/ch3/dr.txt
--- a/workspace/slam_in_autonomous_driving/data/ch4/gins.txt
+++ b/workspace/slam_in_autonomous_driving/data/ch4/gins.txt
@@ -0,0 +1,892 @@
+0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426297.41856861 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426297.51855731 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426297.61857772 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426297.71855021 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426297.81854868 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426297.91858721 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426298.01854825 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426298.11854506 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426298.21854734 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426298.3185637 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426298.41855741 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426298.5185554 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426298.61854768 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426298.71856046 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426298.81854892 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426298.91856313 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426299.01855373 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426299.11854792 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426299.2185626 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426299.31856155 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426299.41854763 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426299.51855254 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426299.61856437 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426299.71856618 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426299.81854439 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426299.91855526 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426300.01856732 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426300.11854553 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426300.21855378 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426300.31856799 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426300.41856647 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426300.51855326 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426300.61855817 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426300.71860671 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426300.81854749 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426300.91854763 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426301.01855397 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426301.11855412 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426301.21857858 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426301.31854963 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426301.41855764 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426301.51856136 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426301.61854291 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426301.71858835 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426301.81855226 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426301.91856337 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426302.01854563 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426302.11859298 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426302.21855092 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426302.31856084 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426302.41858602 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426302.51856112 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426302.61855888 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426302.71855569 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426302.81854916 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426302.91855097 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426303.0185535 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426303.11855578 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426303.21856213 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426303.31855488 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426303.4185605 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426303.5185492 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426303.61857009 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426303.71855688 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426303.81856275 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426303.91855979 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426304.01856065 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426304.11855245 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426304.21855068 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426304.31855774 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426304.41855001 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426304.51854563 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426304.6185689 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426304.71856403 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426304.81855226 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426304.9185648 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426305.0185473 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426305.1185503 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426305.21870112 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426305.31854892 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426305.41855574 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426305.51854491 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426305.61856389 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426305.71855688 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426305.81855607 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426305.91855741 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426306.01855731 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426306.11854911 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426306.21855927 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426306.31854749 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426306.41855431 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426306.51854849 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426306.61854887 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426306.71854234 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426306.81855059 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426306.91854811 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426307.01855469 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426307.1185503 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426307.2185452 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426307.31855083 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426307.4185555 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426307.51856112 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426307.61855888 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426307.71859765 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426307.81854773 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426307.91854692 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426308.01856184 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426308.1185503 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426308.21856332 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426308.31856537 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426308.41854572 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426308.51855135 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426308.61856461 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426308.71854663 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426308.8185513 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426308.91855311 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426309.01854658 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426309.11856651 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426309.2185688 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426309.31855154 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426309.4185586 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426309.51855874 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426309.61854839 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426309.71855593 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426309.8185513 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426309.91856074 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426310.01854396 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426310.1185596 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426310.21855903 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426310.31856441 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426310.41855264 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426310.51855731 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426310.6185627 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426310.7185545 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426310.81854963 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426310.91855669 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426311.01855111 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426311.11854815 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426311.21856189 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426311.31856799 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426311.41855311 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426311.51856184 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426311.61855412 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426311.71858001 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426311.81855226 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426311.91855145 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426312.01855111 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426312.11855459 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426312.21855497 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426312.31856227 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426312.41855383 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426312.51855183 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426312.61856174 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426312.71856618 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426312.81856489 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426312.9186008 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426313.0185523 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426313.11852789 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426313.21855664 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426313.31855798 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426313.41855335 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426313.51858568 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426313.61859655 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426313.71855688 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426313.81855106 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426313.91855955 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426314.01867414 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426314.11855602 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426314.21856809 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426314.3185513 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426314.41854835 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426314.51856136 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426314.61855149 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426314.71855998 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426314.81854749 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426314.91853499 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426315.01855278 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426315.11855245 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426315.21855855 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426315.31855297 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426315.41854858 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426315.51855493 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426315.61858511 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426315.71869206 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426315.81854486 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426315.91855383 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426316.01854706 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426316.11855102 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426316.21854925 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426316.31855631 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426316.41855574 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426316.51859736 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426316.61855125 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426316.71863365 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426316.81855559 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426316.91856599 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426317.01854849 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426317.11854529 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426317.21855021 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426317.31858039 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426317.41855001 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426317.51855421 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426317.6185658 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426317.71854806 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426317.81855083 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426317.9185555 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426318.01855159 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426318.11855149 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426318.21855712 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426318.31854916 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426318.41855192 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426318.51855803 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426318.61856222 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426318.71857047 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426318.81855702 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426318.91856647 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426319.0185535 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426319.1185472 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426319.21855569 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426319.31855822 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426319.41863823 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426319.51856351 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426319.61855936 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426319.71856427 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426319.81856489 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426319.91855478 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426320.01854777 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426320.11854219 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426320.21856475 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426320.31855464 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426320.41855645 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426320.51854563 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426320.61855006 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426320.71856689 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426320.81854367 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426320.91856384 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426321.0185554 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426321.11863136 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426321.21854877 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426321.31859922 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426321.41922092 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426321.5185535 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426321.61860013 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426321.71926475 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426321.81854272 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426321.91855621 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426322.01856494 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426322.11855006 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426322.21855021 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426322.3185575 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426322.41855502 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426322.51860952 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426322.61855173 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426322.71856165 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426322.81863499 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426322.91854787 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426323.01855469 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426323.1185441 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426323.21854854 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426323.31855488 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426323.4185586 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426323.51855087 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426323.61855316 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426323.71854949 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426323.81855893 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426323.91855478 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426324.01858521 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426324.11855078 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426324.21857166 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426324.31855011 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426324.41855717 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426324.51847386 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426324.61855507 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426324.7185638 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426324.81854463 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426324.91859412 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426325.01855707 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426325.11854839 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426325.21857023 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426325.3185544 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426325.41854787 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426325.51854849 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426325.61857271 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426325.71855855 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426325.8185451 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426325.91875482 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426326.01855922 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426326.11854029 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426326.21861172 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426326.31856465 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426326.41854787 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426326.51856041 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426326.61858654 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426326.71855497 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426326.81854773 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426326.91855955 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426327.01856565 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426327.11855364 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426327.21855402 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426327.31854892 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426327.41854572 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426327.51855445 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426327.6185565 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426327.71856833 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426327.81855917 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426327.91855145 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426328.01854944 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426328.11854935 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426328.21856976 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426328.31856537 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426328.41854644 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426328.51854682 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426328.61855078 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426328.71855736 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426328.81855345 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426328.91856217 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426329.01855421 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426329.11855483 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426329.21857023 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426329.31868935 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426329.4185462 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426329.51854992 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426329.61866689 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426329.7185576 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426329.91854811 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426330.0185585 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426330.11855936 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426330.21856022 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426330.31855893 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426330.41855597 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426330.51855278 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426330.61855412 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426330.71855235 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426330.81854749 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426330.91856527 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426331.01855302 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426331.11854553 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426331.21855116 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426331.31871295 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426331.41855621 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426331.51854992 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426331.61855245 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426331.71856165 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426331.81855559 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426331.91854382 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426332.01855469 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426332.11855102 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426332.2185514 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426332.31859636 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426332.41855454 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426332.51855278 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426332.61855412 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426332.71856761 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426332.81855798 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426332.91856003 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426333.01856875 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426333.11855459 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426333.21855736 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426333.31854916 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426333.41855478 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426333.51855898 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426333.61854982 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426333.7185607 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426333.81854486 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426333.9185493 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426334.01855302 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426334.11854935 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426334.21855044 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426334.31856132 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426334.4185586 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426334.51855421 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426334.61855412 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426334.71855187 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426334.81854796 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426334.91856647 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426335.01855421 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426335.11855316 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426335.21854901 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426335.31855679 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426335.41856337 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426335.51856327 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426335.61854315 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426335.71856713 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426335.81855369 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426335.91855884 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426336.01856184 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426336.11854196 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426336.21855831 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426336.31859112 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426336.41866875 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426336.51856303 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426336.61857271 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426336.71863818 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426336.81855559 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426336.91855717 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426337.01855588 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426337.11854601 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426337.21855831 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426337.31854987 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426337.41855335 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426337.51855421 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426337.61855221 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426337.71857429 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426337.81855559 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426337.91854763 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426338.01855659 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426338.11854839 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426338.21855617 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426338.31856012 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426338.41862464 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426338.51855373 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426338.61855292 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426338.71856403 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426338.81854773 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426338.91854811 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426339.01855636 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426339.11855245 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426339.2185545 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426339.3185637 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426339.41855621 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426339.51855278 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426339.61856174 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426339.71855617 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426339.81854796 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426339.91856337 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426340.01856136 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426340.11854672 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426340.21855426 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426340.31856465 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426340.41855741 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426340.51854682 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426340.61855483 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426340.71856809 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426340.81854534 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426340.91858029 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426341.01856446 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426341.11854887 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426341.21855783 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426341.31856227 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426341.41856003 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426341.51855302 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426341.61855412 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426341.71856141 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426341.81855035 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426341.91855645 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426342.01855135 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426342.11855459 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426342.21856141 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426342.31855178 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426342.41854787 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426342.51855516 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426342.6185596 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426342.71855569 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426342.81854463 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426342.91855574 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426343.01856184 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426343.11855197 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426343.2185545 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426343.31855702 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426343.41855431 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426343.51856279 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426343.61856031 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426343.71856809 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426343.81867027 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426343.91855931 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426344.01856017 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426344.11855698 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426344.21855903 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426344.31859398 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426344.41854811 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426344.5185461 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426344.61856222 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426344.71904683 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426344.81854558 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426344.91859341 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426345.01856136 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426345.11854839 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426345.21856165 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426345.31856585 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426345.41856647 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426345.5186615 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426345.6185596 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426345.7185533 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426345.81855512 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426345.91855288 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426346.01855803 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426346.11855412 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426346.21856713 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426346.31855226 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426346.41855812 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426346.51854992 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426346.61856675 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426346.71855378 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426346.81854725 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426346.91854572 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426347.0185585 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426347.11855221 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426347.21855521 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426347.31855178 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426347.41855931 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426347.51862788 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426347.61855626 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426347.71856236 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426347.81855416 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426347.91855049 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426348.01855969 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426348.11855006 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426348.21856976 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426348.31856322 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426348.41854835 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426348.51855588 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426348.61855364 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426348.7185514 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426348.8185482 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426348.91855049 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426349.01854992 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426349.11856389 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426349.21855593 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426349.31856394 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426349.41855836 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426349.51857424 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426349.61859012 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426349.71860647 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426349.81854415 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426349.91855311 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426350.01854944 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426350.11855316 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426350.21856332 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426350.31854987 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426350.41855645 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426350.5185554 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426350.61856365 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426350.71854591 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426350.81854749 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426350.91867995 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426351.01859403 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426351.11854672 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426351.21855187 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426351.31855702 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426351.41854501 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426351.51855469 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426351.61883068 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426351.71855617 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426351.81854558 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426351.91856098 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426352.01855826 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426352.11855507 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426352.21865439 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426352.31855345 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426352.41855288 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426352.51855636 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426352.61857724 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426352.7185545 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426352.81854463 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426352.91856647 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426353.01856351 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426353.11854982 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426353.21854591 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426353.31859183 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426353.41856599 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426353.51855278 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426353.61856079 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426353.71856833 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426353.8185575 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426353.9185586 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426354.01855946 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426354.11855197 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426354.21858573 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426354.31854939 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426354.41856408 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426354.51855445 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426354.61855125 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426354.71855426 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426354.81855488 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426354.91857147 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426355.01857066 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426355.11855054 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426355.21856165 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426355.31855631 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426355.41854978 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426355.51855493 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426355.61856461 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426355.71855092 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426355.81855249 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426355.91859174 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426356.01856661 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426356.1185503 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426356.21854973 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426356.31855059 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426356.41855693 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426356.51855421 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426356.61855483 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426356.71856308 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426356.81855488 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426356.91855145 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426357.01855421 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426357.11855197 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426357.21857595 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426357.31854749 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426357.41855717 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426357.51855063 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426357.61857462 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426357.7185638 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426357.81855106 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426357.91855979 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426358.01855612 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426358.11855698 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426358.21855402 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426358.31859875 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426358.41855836 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426358.51854897 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426358.6185534 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426358.7185638 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426358.81854939 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426358.91854906 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426359.01856112 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426359.11854982 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426359.21855545 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426359.31855488 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426359.41855478 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426359.51855779 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426359.6185534 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426359.71856713 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426359.81855369 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426359.91855836 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426360.01855111 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426360.1185472 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426360.21856236 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426360.31854868 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426360.41855788 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426360.51855206 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426360.61854887 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426360.71856451 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426360.81855345 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426360.91854882 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426361.01856041 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426361.11855936 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426361.21855712 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426361.31856132 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426361.41856337 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426361.51855111 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426361.61855912 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426361.71858287 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426361.81854224 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426361.91858959 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426362.01855898 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426362.11854267 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426362.21856284 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426362.31856132 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426362.41854906 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426362.51856685 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426362.61854553 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426362.71856356 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426362.81854534 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426362.91855121 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426363.01860404 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426363.11862469 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426363.2185514 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426363.3185544 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426363.41860628 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426363.51854849 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426363.61855245 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426363.71855164 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426363.81882358 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426363.91855311 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426364.01855397 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426364.11854672 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426364.2185955 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426364.31856561 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426364.41854811 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426364.51855516 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426364.61855626 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426364.71855545 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426364.81861258 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426364.91855145 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426365.01855612 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426365.11857772 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426365.2185607 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426365.3186028 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426365.4186058 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426365.51855135 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426365.61855507 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426365.71856785 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426365.81855226 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426365.91856098 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426366.01854801 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426366.11855578 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426366.21855998 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426366.31857276 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426366.41854739 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426366.51854968 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426366.61856246 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426366.71855164 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426366.81859517 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426366.91856432 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426367.01854873 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426367.11856437 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426367.21855974 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426367.31856012 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426367.41855526 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426367.51855111 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426367.6185894 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426367.71854472 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426367.8185432 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426367.91856122 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426368.0185349 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426368.11853671 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426368.2185483 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426368.31854463 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426368.41854525 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426368.51864409 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426368.61855292 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426368.71856165 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426368.8185389 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426368.91857791 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426369.01856041 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426369.11853957 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426369.21854734 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426369.31854296 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426369.41854811 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426369.51855636 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426369.61855125 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426369.71855092 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426369.81854701 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426369.91867042 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426370.01858425 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426370.11854553 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426370.21857929 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426370.31854725 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426370.41854906 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426370.5185535 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426370.61854744 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426370.71854782 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426370.81854486 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426370.91855645 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426371.01855302 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426371.11853552 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426371.21856117 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426371.31856132 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426371.41853929 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426371.51856351 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426371.61855984 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426371.71855426 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426371.81854296 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426371.91860223 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426372.01856399 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426372.11853671 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426372.21855378 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426372.31854582 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426372.41855121 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426372.51853585 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426372.61859322 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426372.71854854 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426372.81853557 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426372.91855764 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426373.01853395 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426373.11854625 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426373.21855354 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426373.31854558 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426373.41854453 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426373.51854086 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426373.61861444 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426373.71853971 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426373.8185482 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426373.91854811 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426374.01854467 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426374.11854696 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426374.21853638 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426374.31853914 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426374.41856647 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426374.51854062 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426374.61854362 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426374.71855307 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426374.81853628 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426374.91855359 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426375.01860213 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426375.11854076 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426375.21855998 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426375.31856036 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426375.41853666 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426375.51855016 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426375.61856508 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426375.71855593 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426375.81854296 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426375.91855049 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426376.01854134 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426376.11853242 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426376.21854353 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426376.31854987 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426376.41856289 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426376.51854229 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426376.6185894 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426376.71854305 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426376.8185358 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426376.91854644 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426377.01854277 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426377.118541 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426377.21854424 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426377.31857657 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426377.41853714 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426377.51853752 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426377.61854482 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426377.71855617 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426377.81853938 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426377.91855025 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426378.01854229 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426378.11853838 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426378.21854472 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426378.31854057 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426378.41863561 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426378.51853681 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426378.61853743 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426378.71854901 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426378.81854486 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426378.91854215 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426379.0185523 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426379.11853576 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426379.2185421 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426379.31853247 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426379.41854405 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426379.51854873 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426379.6185329 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426379.71854115 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426379.81854248 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426379.91853881 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426380.01853871 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426380.11854458 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426380.2185421 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426380.31853676 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426380.41854191 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426380.51854277 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426380.61854577 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426380.71854997 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426380.8185358 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426380.91853642 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426381.01854539 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426381.11854386 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426381.21854186 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426381.31853032 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426381.41855454 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426381.51854014 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426381.61854076 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426381.71855807 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426381.81853437 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426381.91854286 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426382.0185504 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426382.11854362 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426382.21854687 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426382.31854057 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426382.4186058 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426382.51854825 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426382.6185441 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426382.71853685 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426382.81854057 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426382.91854453 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426383.01854277 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426383.11854076 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426383.21854591 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426383.31854296 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426383.41853595 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426383.51853752 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426383.61855292 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426383.71854401 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426383.81853437 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426383.91853595 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426384.01853657 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426384.11853576 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426384.21854115 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426384.31855249 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426384.41854906 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426384.51854014 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426384.61856055 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426384.71854377 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426384.81855416 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426384.91855121 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426385.01853657 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426385.11854577 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426385.21854925 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426385.31853652 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426385.41854119 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426385.51855206 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426385.61854172 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426385.71854877 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426385.81853604 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426385.91853547 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426386.018538 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426386.11854219 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426386.21853709 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426386.31855249 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426386.41854024 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 
+1624426386.51855063 455342.536 4413646.58 37.7136002 -0.972287965 0 0 0.233786468 0 0 0 0 0 0 0 0 0 
--- a/workspace/slam_in_autonomous_driving/data/ch5/first.pcd
+++ b/workspace/slam_in_autonomous_driving/data/ch5/first.pcd
--- a/workspace/slam_in_autonomous_driving/data/ch5/map_example.pcd
+++ b/workspace/slam_in_autonomous_driving/data/ch5/map_example.pcd
--- a/workspace/slam_in_autonomous_driving/data/ch5/scan_example.pcd
+++ b/workspace/slam_in_autonomous_driving/data/ch5/scan_example.pcd
--- a/workspace/slam_in_autonomous_driving/data/ch5/second.pcd
+++ b/workspace/slam_in_autonomous_driving/data/ch5/second.pcd
--- a/workspace/slam_in_autonomous_driving/data/ch7/EPFL/aquarius_pose.txt
+++ b/workspace/slam_in_autonomous_driving/data/ch7/EPFL/aquarius_pose.txt
@@ -0,0 +1 @@
+-0.0699018 -0.101214 1.02861e-07 0.999033 0.0323435 -0.0136968 -0.0264372
--- a/workspace/slam_in_autonomous_driving/data/ch7/EPFL/aquarius_source.pcd
+++ b/workspace/slam_in_autonomous_driving/data/ch7/EPFL/aquarius_source.pcd
--- a/workspace/slam_in_autonomous_driving/data/ch7/EPFL/aquarius_target.pcd
+++ b/workspace/slam_in_autonomous_driving/data/ch7/EPFL/aquarius_target.pcd
--- a/workspace/slam_in_autonomous_driving/data/ch7/EPFL/kneeling_lady_pose.txt
+++ b/workspace/slam_in_autonomous_driving/data/ch7/EPFL/kneeling_lady_pose.txt
@@ -0,0 +1 @@
+-0.0699018 -0.101214 1.02861e-07 0.999033 0.0323435 -0.0136968 -0.0264372
--- a/workspace/slam_in_autonomous_driving/data/ch7/EPFL/kneeling_lady_source.pcd
+++ b/workspace/slam_in_autonomous_driving/data/ch7/EPFL/kneeling_lady_source.pcd
--- a/workspace/slam_in_autonomous_driving/data/ch7/EPFL/kneeling_lady_target.pcd
+++ b/workspace/slam_in_autonomous_driving/data/ch7/EPFL/kneeling_lady_target.pcd
--- a/workspace/slam_in_autonomous_driving/data/ch8/after_undist.pcd
+++ b/workspace/slam_in_autonomous_driving/data/ch8/after_undist.pcd
--- a/workspace/slam_in_autonomous_driving/data/ch8/before_undist.pcd
+++ b/workspace/slam_in_autonomous_driving/data/ch8/before_undist.pcd
--- a/workspace/slam_in_autonomous_driving/data/ch9/.gitkeep
+++ b/workspace/slam_in_autonomous_driving/data/ch9/.gitkeep
--- a/workspace/slam_in_autonomous_driving/data/log_lio_iekf_nclt.txt
+++ b/workspace/slam_in_autonomous_driving/data/log_lio_iekf_nclt.txt
@@ -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
				`@@ -0,0 +1 @@`
				`-0.0699018 -0.101214 1.02861e-07 0.999033 0.0323435 -0.0136968 -0.0264372`