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Can someone help in connecting openvins with px4 for publishing the data? #458

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ShreyasKuntnal opened this issue Jul 22, 2024 · 2 comments
Open

Can someone help in connecting openvins with px4 for publishing the data? #458

ShreyasKuntnal opened this issue Jul 22, 2024 · 2 comments
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question Theory or implementation question user-platform User has trouble running on their own platform.

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@ShreyasKuntnal
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ShreyasKuntnal commented Jul 22, 2024 •
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I am a bit new to this. Checked out px4 documentation but was failing to find the right file to do changes in. So can someone help please?
@goldbattle goldbattle added question Theory or implementation question user-platform User has trouble running on their own platform. labels Jul 27, 2024
@goldbattle
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I know that when we tried in the past there is some issues with getting good timestamps from PX4 IMU stream. You will likely need to figure out how to get an IMU timestamp that is in the same clock as whatever camera you are using.

@ShreyasKuntnal
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@goldbattle Thank you so much for the reply and keeping this repository active.
Hey px4 is bit now far site, Can you please help in reducing the drift in d435i Camera please?

image
This is using ZUPT set to true. I am just rotating the camera in same place but still there is lot of drift.
If i set ZUPT false, This is what it looks like:
image

For your kind information I have calibration cam and imu using kalibr and alliance ros.
These are my configuration files:
estimator_config.yaml:

%YAML:1.0 # need to specify the file type at the top!

verbosity: "INFO" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT

use_fej: true # if first-estimate Jacobians should be used (enable for good consistency)
integration: "rk4" # discrete, rk4, analytical (if rk4 or analytical used then analytical covariance propagation is used)
use_stereo: false # if we have more than 1 camera, if we should try to track stereo constraints between pairs
max_cameras: 1 # how many cameras we have 1 = mono, 2 = stereo, >2 = binocular (all mono tracking)

calib_cam_extrinsics: true # if the transform between camera and IMU should be optimized R_ItoC, p_CinI
calib_cam_intrinsics: true # if camera intrinsics should be optimized (focal, center, distortion)
calib_cam_timeoffset: true # if timeoffset between camera and IMU should be optimized
calib_imu_intrinsics: false # if imu intrinsics should be calibrated (rotation and skew-scale matrix)
calib_imu_g_sensitivity: false # if gyroscope gravity sensitivity (Tg) should be calibrated

max_clones: 11 # how many clones in the sliding window
max_slam: 50 # number of features in our state vector
max_slam_in_update: 25 # update can be split into sequential updates of batches, how many in a batch
max_msckf_in_update: 40 # how many MSCKF features to use in the update
dt_slam_delay: 1 # delay before initializing (helps with stability from bad initialization...)

gravity_mag: 9.81 # magnitude of gravity in this location

feat_rep_msckf: "GLOBAL_3D"
feat_rep_slam: "ANCHORED_MSCKF_INVERSE_DEPTH"
feat_rep_aruco: "ANCHORED_MSCKF_INVERSE_DEPTH"

# zero velocity update parameters we can use
# we support either IMU-based or disparity detection.
try_zupt: false
zupt_chi2_multipler: 0.6 # set to 0 for only disp-based
zupt_max_velocity: 0.5
zupt_noise_multiplier: 10
zupt_max_disparity: 0.5 # set to 0 for only imu-based
zupt_only_at_beginning: false

# ==================================================================
# ==================================================================

init_window_time: 1.0 # how many seconds to collect initialization information
init_imu_thresh: 2.5 # threshold for variance of the accelerometer to detect a "jerk" in motion
init_max_disparity: 10.0 # max disparity to consider the platform stationary (dependent on resolution)
init_max_features: 50 # how many features to track during initialization (saves on computation)

init_dyn_use: false # if dynamic initialization should be used
init_dyn_mle_opt_calib: false # if we should optimize calibration during intialization (not recommended)
init_dyn_mle_max_iter: 50 # how many iterations the MLE refinement should use (zero to skip the MLE)
init_dyn_mle_max_time: 0.05 # how many seconds the MLE should be completed in
init_dyn_mle_max_threads: 6 # how many threads the MLE should use
init_dyn_num_pose: 6 # number of poses to use within our window time (evenly spaced)
init_dyn_min_deg: 10.0 # orientation change needed to try to init

init_dyn_inflation_ori: 10 # what to inflate the recovered q_GtoI covariance by
init_dyn_inflation_vel: 100 # what to inflate the recovered v_IinG covariance by
init_dyn_inflation_bg: 10 # what to inflate the recovered bias_g covariance by
init_dyn_inflation_ba: 100 # what to inflate the recovered bias_a covariance by
init_dyn_min_rec_cond: 1e-12 # reciprocal condition number thresh for info inversion

init_dyn_bias_g: [ 0.0, 0.0, 0.0 ] # initial gyroscope bias guess
init_dyn_bias_a: [ 0.0, 0.0, 0.0 ] # initial accelerometer bias guess

# ==================================================================
# ==================================================================

record_timing_information: false # if we want to record timing information of the method
record_timing_filepath: "/tmp/traj_timing.txt" # https://docs.openvins.com/eval-timing.html#eval-ov-timing-flame

# if we want to save the simulation state and its diagional covariance
# use this with rosrun ov_eval error_simulation
save_total_state: false
filepath_est: "/tmp/ov_estimate.txt"
filepath_std: "/tmp/ov_estimate_std.txt"
filepath_gt: "/tmp/ov_groundtruth.txt"

# ==================================================================
# ==================================================================

# our front-end feature tracking parameters
# we have a KLT and descriptor based (KLT is better implemented...)
use_klt: true # if true we will use KLT, otherwise use a ORB descriptor + robust matching
num_pts: 200 # number of points (per camera) we will extract and try to track
fast_threshold: 50 # threshold for fast extraction (warning: lower threshs can be expensive)
grid_x: 5 # extraction sub-grid count for horizontal direction (uniform tracking)
grid_y: 5 # extraction sub-grid count for vertical direction (uniform tracking)
min_px_dist: 15 # distance between features (features near each other provide less information)
knn_ratio: 0.70 # descriptor knn threshold for the top two descriptor matches
track_frequency: 31.0 # frequency we will perform feature tracking at (in frames per second / hertz)
downsample_cameras: false # will downsample image in half if true
num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE

# aruco tag tracker for the system
# DICT_6X6_1000 from https://chev.me/arucogen/
use_aruco: false
num_aruco: 1024
downsize_aruco: true

# ==================================================================
# ==================================================================

# camera noises and chi-squared threshold multipliers
up_msckf_sigma_px: 1
up_msckf_chi2_multipler: 1
up_slam_sigma_px: 1
up_slam_chi2_multipler: 1
up_aruco_sigma_px: 1
up_aruco_chi2_multipler: 1

# masks for our images
use_mask: false

# imu and camera spacial-temporal
# imu config should also have the correct noise values
relative_config_imu: "kalibr_imu_chain.yaml"
relative_config_imucam: "kalibr_imucam_chain.yaml"

Kalibr_imu_chain.yaml:

%YAML:1.0

imu0:
  T_i_b:
    - [1.0, 0.0, 0.0, 0.0]
    - [0.0, 1.0, 0.0, 0.0]
    - [0.0, 0.0, 1.0, 0.0]
    - [0.0, 0.0, 0.0, 1.0]
  # Values from allan plots
  # https://github.com/rpng/ar_table_dataset
  #accelerometer_noise_density: 0.0010382453726199955
  #accelerometer_random_walk: 4.132785219723178e-05
  #gyroscope_noise_density: 0.00010272083263292572
  #gyroscope_random_walk: 1.1106223553679963e-06
  # Inflated values (to account for unmodelled effects)
  #  - white noise multiplied by 5
  #  - bias random walk multiplied by 10
  #Accelerometer
  accelerometer_noise_density: 0.00715671792
  accelerometer_random_walk: 0.00138906472  
  #Gyroscope
  gyroscope_noise_density: 0.00074083508 
  gyroscope_random_walk: 0.00001716153  
  rostopic: /camera/imu/
  time_offset: 0.0
  update_rate: 400
  # three different modes supported:
  # "calibrated" (same as "kalibr"), "kalibr", "rpng"
  model: "kalibr"
  # how to get from Kalibr imu.yaml result file:
  #   - Tw is imu0:gyroscopes:M:
  #   - R_IMUtoGYRO: is imu0:gyroscopes:C_gyro_i:
  #   - Ta is imu0:accelerometers:M:
  #   - R_IMUtoACC not used by Kalibr
  #   - Tg is imu0:gyroscopes:A:
  Tw:
    - [0.995632955843418, 0.0, 0.0]
    - [0.00524161811892873, 0.9966459221851788, 0.0]
    - [0.008421917394456278, -0.004705530171097539, 1.0041072300569593]
  R_IMUtoGYRO:
    - [0.9999988532279747, -0.0014243830324571877, 0.0005144664347745305]
    - [0.0014214616192291497, 0.9999831132772372, 0.005634945184230455]
    - [-0.0005224840674317199, -0.005634207427941539, 0.9999839912303887]
  Ta:
    - [1.0017072510106129, 0.0, 0.0]
    - [-0.0255905130373469, 1.0002452120615022, 0.0]
    - [-0.010680566426091546, -0.000698149461768306, 0.9982362473207955]
  R_IMUtoACC:%YAML:1.0

imu0:
  T_i_b:
    - [1.0, 0.0, 0.0, 0.0]
    - [0.0, 1.0, 0.0, 0.0]
    - [0.0, 0.0, 1.0, 0.0]
    - [0.0, 0.0, 0.0, 1.0]
  # Values from allan plots
  # https://github.com/rpng/ar_table_dataset
  #accelerometer_noise_density: 0.0010382453726199955
  #accelerometer_random_walk: 4.132785219723178e-05
  #gyroscope_noise_density: 0.00010272083263292572
  #gyroscope_random_walk: 1.1106223553679963e-06
  # Inflated values (to account for unmodelled effects)
  #  - white noise multiplied by 2
  #  - bias random walk multiplied by 10
  # accelerometer_noise_density: 0.00207649074
  # accelerometer_random_walk: 0.00041327852
  # gyroscope_noise_density: 0.00020544166
  # gyroscope_random_walk: 0.00001110622
  #Accelerometer
  accelerometer_noise_density: 0.00715671792
  accelerometer_random_walk: 0.00138906472  
  #Gyroscope
  gyroscope_noise_density: 0.00074083508 
  gyroscope_random_walk: 0.00001716153  
  rostopic: /camera/imu/
  time_offset: 0.0
  update_rate: 400
  # three different modes supported:
  # "calibrated" (same as "kalibr"), "kalibr", "rpng"
  model: "kalibr"
  # how to get from Kalibr imu.yaml result file:
  #   - Tw is imu0:gyroscopes:M:
  #   - R_IMUtoGYRO: is imu0:gyroscopes:C_gyro_i:
  #   - Ta is imu0:accelerometers:M:
  #   - R_IMUtoACC not used by Kalibr
  #   - Tg is imu0:gyroscopes:A:
  Tw:
    - [0.995632955843418, 0.0, 0.0]
    - [0.00524161811892873, 0.9966459221851788, 0.0]
    - [0.008421917394456278, -0.004705530171097539, 1.0041072300569593]
  R_IMUtoGYRO:
    - [0.9999988532279747, -0.0014243830324571877, 0.0005144664347745305]
    - [0.0014214616192291497, 0.9999831132772372, 0.005634945184230455]
    - [-0.0005224840674317199, -0.005634207427941539, 0.9999839912303887]
  Ta:
    - [1.0017072510106129, 0.0, 0.0]
    - [-0.0255905130373469, 1.0002452120615022, 0.0]
    - [-0.010680566426091546, -0.000698149461768306, 0.9982362473207955]
  R_IMUtoACC:
    - [ 1.0, 0.0, 0.0 ]
    - [ 0.0, 1.0, 0.0 ]
    - [ 0.0, 0.0, 1.0 ]
  Tg:
    - [-0.0002039193815083739, 7.240371695112597e-05, 0.0003873994937967177]
    - [1.1039453326208642e-05, 8.965454931865112e-05, 0.0004032954552920497]
    - [1.2924866318326768e-05, 0.00012277859451103487, 0.00033192215505288943]
    - [ 1.0, 0.0, 0.0 ]
    - [ 0.0, 1.0, 0.0 ]
    - [ 0.0, 0.0, 1.0 ]
  Tg:
    - [-0.0002039193815083739, 7.240371695112597e-05, 0.0003873994937967177]
    - [1.1039453326208642e-05, 8.965454931865112e-05, 0.0004032954552920497]
    - [1.2924866318326768e-05, 0.00012277859451103487, 0.00033192215505288943]

kalibr_imu_cam_chain.yaml:

%YAML:1.0

cam0:
  T_cam_imu:
    - [0.9999555341641507, 0.006721823856602543, -0.006614134752876941, 0.018276383545265562]
    - [-0.006689733661646424, 0.9999658037169652, 0.004861981100384322, -0.005137377176718517]
    - [0.006646589954603815, -0.004817518108431822, 0.9999663066130031, -0.02029203942480155]
    - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: []
  camera_model: pinhole
  distortion_coeffs: [0.09330486196611572, -0.20935397315160473, -0.0006225167878334517, 0.000930381961978116]
  distortion_model: radtan
  intrinsics: [601.6222279475759, 600.7488593692746, 331.227196320675, 247.33514938417957]
  resolution: [640, 480]
  rostopic: /camera/color/image_raw
  timeshift_cam_imu: 0.009558007322914515

OUTPUT:

roslaunch ov_msckf subscribe.launch config_path:=/home/vt008/openvins/catkin_ws_ov/src/open_vins/config/rs_d435i_custom/estimator_config.yaml use_stereo:=false max_cameras:=1 verbosity:=DEBUG
... logging to /home/vt008/.ros/log/d5e2a3d4-4da4-11ef-9534-21b536a0be79/roslaunch-vt008-123512.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://vt008:33531/

SUMMARY
========

CLEAR PARAMETERS
 * /ov_msckf/

PARAMETERS
 * /ov_msckf/config_path: /home/vt008/openv...
 * /ov_msckf/max_cameras: 1
 * /ov_msckf/record_timing_filepath: /tmp/traj_timing.txt
 * /ov_msckf/record_timing_information: False
 * /ov_msckf/use_stereo: False
 * /ov_msckf/verbosity: DEBUG
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    ov_msckf (ov_msckf/run_subscribe_msckf)

ROS_MASTER_URI=http://localhost:11311

process[ov_msckf-1]: started with pid [123547]
overriding node verbosity with value from ROS!
Setting printing level to: DEBUG
VioManagerOptions.h:110 ESTIMATOR PARAMETERS:
opencv_yaml_parse.h:126 overriding node max_cameras with value from ROS!
StateOptions.h:158   - use_fej: 1
StateOptions.h:159   - integration: 1
StateOptions.h:160   - calib_cam_extrinsics: 1
StateOptions.h:161   - calib_cam_intrinsics: 1
StateOptions.h:162   - calib_cam_timeoffset: 1
StateOptions.h:163   - calib_imu_intrinsics: 0
StateOptions.h:164   - calib_imu_g_sensitivity: 0
StateOptions.h:165   - imu_model: 0
StateOptions.h:166   - max_clones: 11
StateOptions.h:167   - max_slam: 50
StateOptions.h:168   - max_slam_in_update: 25
StateOptions.h:169   - max_msckf_in_update: 40
StateOptions.h:170   - max_aruco: 1024
StateOptions.h:171   - max_cameras: 1
StateOptions.h:172   - feat_rep_msckf: GLOBAL_3D
StateOptions.h:173   - feat_rep_slam: ANCHORED_MSCKF_INVERSE_DEPTH
StateOptions.h:174   - feat_rep_aruco: ANCHORED_MSCKF_INVERSE_DEPTH
InertialInitializerOptions.h:125 INITIALIZATION SETTINGS:
InertialInitializerOptions.h:150   - init_window_time: 1.00
InertialInitializerOptions.h:151   - init_imu_thresh: 2.50
InertialInitializerOptions.h:152   - init_max_disparity: 10.00
InertialInitializerOptions.h:153   - init_max_features: 10.00
InertialInitializerOptions.h:171   - init_dyn_use: 0
InertialInitializerOptions.h:172   - init_dyn_mle_opt_calib: 0
InertialInitializerOptions.h:173   - init_dyn_mle_max_iter: 50
InertialInitializerOptions.h:174   - init_dyn_mle_max_threads: 6
InertialInitializerOptions.h:175   - init_dyn_mle_max_time: 0.05
InertialInitializerOptions.h:176   - init_dyn_num_pose: 6
InertialInitializerOptions.h:177   - init_dyn_min_deg: 10.00
InertialInitializerOptions.h:178   - init_dyn_inflation_ori: 1.00e+01
InertialInitializerOptions.h:179   - init_dyn_inflation_vel: 1.00e+02
InertialInitializerOptions.h:180   - init_dyn_inflation_bg: 1.00e+01
InertialInitializerOptions.h:181   - init_dyn_inflation_ba: 1.00e+02
InertialInitializerOptions.h:182   - init_dyn_min_rec_cond: 1.00e-12
InertialInitializerOptions.h:188   - init_dyn_bias_g: 0.00, 0.00, 0.00
InertialInitializerOptions.h:189   - init_dyn_bias_a: 0.00, 0.00, 0.00
InertialInitializerOptions.h:216 NOISE PARAMETERS:
InertialInitializerOptions.h:224   - gyroscope_noise_density: 0.000741
InertialInitializerOptions.h:225   - accelerometer_noise_density: 0.00716
InertialInitializerOptions.h:226   - gyroscope_random_walk: 0.0000172
InertialInitializerOptions.h:227   - accelerometer_random_walk: 0.001389
InertialInitializerOptions.h:228   - sigma_pix: 1.00
opencv_yaml_parse.h:126 overriding node max_cameras with value from ROS!
opencv_yaml_parse.h:126 overriding node use_stereo with value from ROS!
opencv_yaml_parse.h:496 parameter T_imu_cam not found, trying T_cam_imu instead (will return T_imu_cam still)!
InertialInitializerOptions.h:317 STATE PARAMETERS:
InertialInitializerOptions.h:318   - gravity_mag: 9.8100
InertialInitializerOptions.h:319   - gravity: 0.000, 0.000, 9.810
InertialInitializerOptions.h:320   - num_cameras: 1
InertialInitializerOptions.h:321   - use_stereo: 0
InertialInitializerOptions.h:322   - downsize cameras: 0
InertialInitializerOptions.h:329   - calib_camimu_dt: 0.0096
InertialInitializerOptions.h:344 cam_0_fisheye:0
cam_0_wh:
640 x 480
cam_0_intrinsic(0:3):
601.622 600.749 331.227 247.335
cam_0_intrinsic(4:7):
   0.0933049    -0.209354 -0.000622517  0.000930382
cam_0_extrinsic(0:3):
0.00241991 0.00331523 0.00335294   0.999986
cam_0_extrinsic(4:6):
  0.0182764 -0.00513738   -0.020292
T_C0toI:
   0.999956 -0.00668973  0.00664659  -0.0181751
 0.00672182    0.999966 -0.00481752  0.00491659
-0.00661413  0.00486198    0.999966   0.0204372
          0           0           0           1

opencv_yaml_parse.h:126 overriding node record_timing_information with value from ROS!
opencv_yaml_parse.h:126 overriding node record_timing_filepath with value from ROS!
VioManagerOptions.h:123   - dt_slam_delay: 1.0
VioManagerOptions.h:124   - zero_velocity_update: 0
VioManagerOptions.h:125   - zupt_max_velocity: 0.50
VioManagerOptions.h:126   - zupt_noise_multiplier: 10.00
VioManagerOptions.h:127   - zupt_max_disparity: 0.5000
VioManagerOptions.h:128   - zupt_only_at_beginning?: 0
VioManagerOptions.h:129   - record timing?: 0
VioManagerOptions.h:130   - record timing filepath: /tmp/traj_timing.txt
opencv_yaml_parse.h:126 overriding node use_stereo with value from ROS!
opencv_yaml_parse.h:400 the node multi_threading_pubs of type [b] was not found (not required)...
opencv_yaml_parse.h:400 the node multi_threading_subs of type [b] was not found (not required)...
VioManagerOptions.h:486 FEATURE TRACKING PARAMETERS:
VioManagerOptions.h:487   - use_stereo: 0
VioManagerOptions.h:488   - use_klt: 1
VioManagerOptions.h:489   - use_aruco: 0
VioManagerOptions.h:490   - downsize aruco: 1
VioManagerOptions.h:491   - downsize cameras: 0
VioManagerOptions.h:492   - num opencv threads: 4
VioManagerOptions.h:493   - use multi-threading pubs: 1
VioManagerOptions.h:494   - use multi-threading subs: 0
VioManagerOptions.h:495   - num_pts: 200
VioManagerOptions.h:496   - fast threshold: 50
VioManagerOptions.h:497   - grid X by Y: 5 by 5
VioManagerOptions.h:498   - min px dist: 15
VioManagerOptions.h:499   - hist method: 1
VioManagerOptions.h:500   - knn ratio: 0.700
VioManagerOptions.h:501   - track frequency: 31.0
opencv_yaml_parse.h:400 the node fi_triangulate_1d of type [b] was not found (not required)...
opencv_yaml_parse.h:400 the node fi_refine_features of type [b] was not found (not required)...
opencv_yaml_parse.h:365 the node fi_max_runs of type [i] was not found (not required)...
opencv_yaml_parse.h:365 the node fi_init_lamda of type [d] was not found (not required)...
opencv_yaml_parse.h:365 the node fi_max_lamda of type [d] was not found (not required)...
opencv_yaml_parse.h:365 the node fi_min_dx of type [d] was not found (not required)...
opencv_yaml_parse.h:365 the node fi_min_dcost of type [d] was not found (not required)...
opencv_yaml_parse.h:365 the node fi_lam_mult of type [d] was not found (not required)...
opencv_yaml_parse.h:365 the node fi_min_dist of type [d] was not found (not required)...
opencv_yaml_parse.h:365 the node fi_max_dist of type [d] was not found (not required)...
opencv_yaml_parse.h:365 the node fi_max_baseline of type [d] was not found (not required)...
opencv_yaml_parse.h:365 the node fi_max_cond_number of type [d] was not found (not required)...
FeatureInitializerOptions.h:87 	- triangulate_1d: 0
FeatureInitializerOptions.h:88 	- refine_features: 1
FeatureInitializerOptions.h:89 	- max_runs: 5
FeatureInitializerOptions.h:90 	- init_lamda: 0.001
FeatureInitializerOptions.h:91 	- max_lamda: 10000000000.000
FeatureInitializerOptions.h:92 	- min_dx: 0.0000010
FeatureInitializerOptions.h:93 	- min_dcost: 0.0000010
FeatureInitializerOptions.h:94 	- lam_mult: 10.000
FeatureInitializerOptions.h:95 	- min_dist: 0.100
FeatureInitializerOptions.h:96 	- max_dist: 60.000
FeatureInitializerOptions.h:97 	- max_baseline: 40.000
FeatureInitializerOptions.h:98 	- max_cond_number: 10000.000
VioManagerOptions.h:157 NOISE PARAMETERS:
NoiseManager.h:62   - gyroscope_noise_density: 0.000741
NoiseManager.h:63   - accelerometer_noise_density: 0.00716
NoiseManager.h:64   - gyroscope_random_walk: 0.0000172
NoiseManager.h:65   - accelerometer_random_walk: 0.001389
VioManagerOptions.h:177   Updater MSCKF Feats:
UpdaterOptions.h:45     - chi2_multipler: 1.0
UpdaterOptions.h:46     - sigma_pix: 1.00
VioManagerOptions.h:179   Updater SLAM Feats:
UpdaterOptions.h:45     - chi2_multipler: 1.0
UpdaterOptions.h:46     - sigma_pix: 1.00
VioManagerOptions.h:181   Updater ARUCO Tags:
UpdaterOptions.h:45     - chi2_multipler: 1.0
UpdaterOptions.h:46     - sigma_pix: 1.00
VioManagerOptions.h:183   Updater ZUPT:
UpdaterOptions.h:45     - chi2_multipler: 0.6
UpdaterOptions.h:46     - sigma_pix: 1.00
opencv_yaml_parse.h:496 parameter T_imu_cam not found, trying T_cam_imu instead (will return T_imu_cam still)!
VioManagerOptions.h:353 STATE PARAMETERS:
VioManagerOptions.h:354   - gravity_mag: 9.8100
VioManagerOptions.h:355   - gravity: 0.000, 0.000, 9.810
VioManagerOptions.h:356   - camera masks?: 0
VioManagerOptions.h:365   - calib_camimu_dt: 0.0096
VioManagerOptions.h:366 CAMERA PARAMETERS:
VioManagerOptions.h:381 cam_0_fisheye:0
cam_0_wh:
640 x 480
cam_0_intrinsic(0:3):
601.622 600.749 331.227 247.335
cam_0_intrinsic(4:7):
   0.0933049    -0.209354 -0.000622517  0.000930382
cam_0_extrinsic(0:3):
0.00241991 0.00331523 0.00335294   0.999986
cam_0_extrinsic(4:6):
  0.0182764 -0.00513738   -0.020292
T_C0toI:
   0.999956 -0.00668973  0.00664659  -0.0181751
 0.00672182    0.999966 -0.00481752  0.00491659
-0.00661413  0.00486198    0.999966   0.0204372
          0           0           0           1

VioManagerOptions.h:383 IMU PARAMETERS:
VioManagerOptions.h:391 imu model:kalibr
Dw (columnwise):    1.00439 -0.00528233 -0.00844901     1.00337  0.00470205     0.99591
Da (columnwise):   0.998296   0.0255406   0.0106991    0.999755 0.000699212     1.00177
Tg (columnwise):-0.000203919  1.10395e-05  1.29249e-05  7.24037e-05  8.96545e-05  0.000122779  0.000387399  0.000403295  0.000331922
q_GYROtoI:  -0.0028173 0.000259239 0.000711464    0.999996
q_ACCtoI: 0 0 0 1
VioManager.cpp:53 =======================================
VioManager.cpp:54 OPENVINS ON-MANIFOLD EKF IS STARTING
VioManager.cpp:55 =======================================
VioManagerOptions.h:110 ESTIMATOR PARAMETERS:
StateOptions.h:158   - use_fej: 1
StateOptions.h:159   - integration: 1
StateOptions.h:160   - calib_cam_extrinsics: 1
StateOptions.h:161   - calib_cam_intrinsics: 1
StateOptions.h:162   - calib_cam_timeoffset: 1
StateOptions.h:163   - calib_imu_intrinsics: 0
StateOptions.h:164   - calib_imu_g_sensitivity: 0
StateOptions.h:165   - imu_model: 0
StateOptions.h:166   - max_clones: 11
StateOptions.h:167   - max_slam: 50
StateOptions.h:168   - max_slam_in_update: 25
StateOptions.h:169   - max_msckf_in_update: 40
StateOptions.h:170   - max_aruco: 1024
StateOptions.h:171   - max_cameras: 1
StateOptions.h:172   - feat_rep_msckf: GLOBAL_3D
StateOptions.h:173   - feat_rep_slam: ANCHORED_MSCKF_INVERSE_DEPTH
StateOptions.h:174   - feat_rep_aruco: ANCHORED_MSCKF_INVERSE_DEPTH
InertialInitializerOptions.h:125 INITIALIZATION SETTINGS:
InertialInitializerOptions.h:150   - init_window_time: 1.00
InertialInitializerOptions.h:151   - init_imu_thresh: 2.50
InertialInitializerOptions.h:152   - init_max_disparity: 10.00
InertialInitializerOptions.h:153   - init_max_features: 10.00
InertialInitializerOptions.h:171   - init_dyn_use: 0
InertialInitializerOptions.h:172   - init_dyn_mle_opt_calib: 0
InertialInitializerOptions.h:173   - init_dyn_mle_max_iter: 50
InertialInitializerOptions.h:174   - init_dyn_mle_max_threads: 6
InertialInitializerOptions.h:175   - init_dyn_mle_max_time: 0.05
InertialInitializerOptions.h:176   - init_dyn_num_pose: 6
InertialInitializerOptions.h:177   - init_dyn_min_deg: 10.00
InertialInitializerOptions.h:178   - init_dyn_inflation_ori: 1.00e+01
InertialInitializerOptions.h:179   - init_dyn_inflation_vel: 1.00e+02
InertialInitializerOptions.h:180   - init_dyn_inflation_bg: 1.00e+01
InertialInitializerOptions.h:181   - init_dyn_inflation_ba: 1.00e+02
InertialInitializerOptions.h:182   - init_dyn_min_rec_cond: 1.00e-12
InertialInitializerOptions.h:188   - init_dyn_bias_g: 0.00, 0.00, 0.00
InertialInitializerOptions.h:189   - init_dyn_bias_a: 0.00, 0.00, 0.00
InertialInitializerOptions.h:216 NOISE PARAMETERS:
InertialInitializerOptions.h:224   - gyroscope_noise_density: 0.000741
InertialInitializerOptions.h:225   - accelerometer_noise_density: 0.00716
InertialInitializerOptions.h:226   - gyroscope_random_walk: 0.0000172
InertialInitializerOptions.h:227   - accelerometer_random_walk: 0.001389
InertialInitializerOptions.h:228   - sigma_pix: 1.00
InertialInitializerOptions.h:317 STATE PARAMETERS:
InertialInitializerOptions.h:318   - gravity_mag: 9.8100
InertialInitializerOptions.h:319   - gravity: 0.000, 0.000, 9.810
InertialInitializerOptions.h:320   - num_cameras: 1
InertialInitializerOptions.h:321   - use_stereo: 0
InertialInitializerOptions.h:322   - downsize cameras: 0
InertialInitializerOptions.h:329   - calib_camimu_dt: 0.0096
InertialInitializerOptions.h:344 cam_0_fisheye:0
cam_0_wh:
640 x 480
cam_0_intrinsic(0:3):
601.622 600.749 331.227 247.335
cam_0_intrinsic(4:7):
   0.0933049    -0.209354 -0.000622517  0.000930382
cam_0_extrinsic(0:3):
0.00241991 0.00331523 0.00335294   0.999986
cam_0_extrinsic(4:6):
  0.0182764 -0.00513738   -0.020292
T_C0toI:
   0.999956 -0.00668973  0.00664659  -0.0181751
 0.00672182    0.999966 -0.00481752  0.00491659
-0.00661413  0.00486198    0.999966   0.0204372
          0           0           0           1

VioManagerOptions.h:123   - dt_slam_delay: 1.0
VioManagerOptions.h:124   - zero_velocity_update: 0
VioManagerOptions.h:125   - zupt_max_velocity: 0.50
VioManagerOptions.h:126   - zupt_noise_multiplier: 10.00
VioManagerOptions.h:127   - zupt_max_disparity: 0.5000
VioManagerOptions.h:128   - zupt_only_at_beginning?: 0
VioManagerOptions.h:129   - record timing?: 0
VioManagerOptions.h:130   - record timing filepath: /tmp/traj_timing.txt
VioManagerOptions.h:157 NOISE PARAMETERS:
NoiseManager.h:62   - gyroscope_noise_density: 0.000741
NoiseManager.h:63   - accelerometer_noise_density: 0.00716
NoiseManager.h:64   - gyroscope_random_walk: 0.0000172
NoiseManager.h:65   - accelerometer_random_walk: 0.001389
VioManagerOptions.h:177   Updater MSCKF Feats:
UpdaterOptions.h:45     - chi2_multipler: 1.0
UpdaterOptions.h:46     - sigma_pix: 1.00
VioManagerOptions.h:179   Updater SLAM Feats:
UpdaterOptions.h:45     - chi2_multipler: 1.0
UpdaterOptions.h:46     - sigma_pix: 1.00
VioManagerOptions.h:181   Updater ARUCO Tags:
UpdaterOptions.h:45     - chi2_multipler: 1.0
UpdaterOptions.h:46     - sigma_pix: 1.00
VioManagerOptions.h:183   Updater ZUPT:
UpdaterOptions.h:45     - chi2_multipler: 0.6
UpdaterOptions.h:46     - sigma_pix: 1.00
VioManagerOptions.h:353 STATE PARAMETERS:
VioManagerOptions.h:354   - gravity_mag: 9.8100
VioManagerOptions.h:355   - gravity: 0.000, 0.000, 9.810
VioManagerOptions.h:356   - camera masks?: 0
VioManagerOptions.h:365   - calib_camimu_dt: 0.0096
VioManagerOptions.h:366 CAMERA PARAMETERS:
VioManagerOptions.h:381 cam_0_fisheye:0
cam_0_wh:
640 x 480
cam_0_intrinsic(0:3):
601.622 600.749 331.227 247.335
cam_0_intrinsic(4:7):
   0.0933049    -0.209354 -0.000622517  0.000930382
cam_0_extrinsic(0:3):
0.00241991 0.00331523 0.00335294   0.999986
cam_0_extrinsic(4:6):
  0.0182764 -0.00513738   -0.020292
T_C0toI:
   0.999956 -0.00668973  0.00664659  -0.0181751
 0.00672182    0.999966 -0.00481752  0.00491659
-0.00661413  0.00486198    0.999966   0.0204372
          0           0           0           1

VioManagerOptions.h:383 IMU PARAMETERS:
VioManagerOptions.h:391 imu model:kalibr
Dw (columnwise):    1.00439 -0.00528233 -0.00844901     1.00337  0.00470205     0.99591
Da (columnwise):   0.998296   0.0255406   0.0106991    0.999755 0.000699212     1.00177
Tg (columnwise):-0.000203919  1.10395e-05  1.29249e-05  7.24037e-05  8.96545e-05  0.000122779  0.000387399  0.000403295  0.000331922
q_GYROtoI:  -0.0028173 0.000259239 0.000711464    0.999996
q_ACCtoI: 0 0 0 1
VioManagerOptions.h:486 FEATURE TRACKING PARAMETERS:
VioManagerOptions.h:487   - use_stereo: 0
VioManagerOptions.h:488   - use_klt: 1
VioManagerOptions.h:489   - use_aruco: 0
VioManagerOptions.h:490   - downsize aruco: 1
VioManagerOptions.h:491   - downsize cameras: 0
VioManagerOptions.h:492   - num opencv threads: 4
VioManagerOptions.h:493   - use multi-threading pubs: 1
VioManagerOptions.h:494   - use multi-threading subs: 1
VioManagerOptions.h:495   - num_pts: 200
VioManagerOptions.h:496   - fast threshold: 50
VioManagerOptions.h:497   - grid X by Y: 5 by 5
VioManagerOptions.h:498   - min px dist: 15
VioManagerOptions.h:499   - hist method: 1
VioManagerOptions.h:500   - knn ratio: 0.700
VioManagerOptions.h:501   - track frequency: 31.0
FeatureInitializerOptions.h:87 	- triangulate_1d: 0
FeatureInitializerOptions.h:88 	- refine_features: 1
FeatureInitializerOptions.h:89 	- max_runs: 5
FeatureInitializerOptions.h:90 	- init_lamda: 0.001
FeatureInitializerOptions.h:91 	- max_lamda: 10000000000.000
FeatureInitializerOptions.h:92 	- min_dx: 0.0000010
FeatureInitializerOptions.h:93 	- min_dcost: 0.0000010
FeatureInitializerOptions.h:94 	- lam_mult: 10.000
FeatureInitializerOptions.h:95 	- min_dist: 0.100
FeatureInitializerOptions.h:96 	- max_dist: 60.000
FeatureInitializerOptions.h:97 	- max_baseline: 40.000
FeatureInitializerOptions.h:98 	- max_cond_number: 10000.000
ROS1Visualizer.cpp:49 Publishing: /ov_msckf/poseimu
ROS1Visualizer.cpp:51 Publishing: /ov_msckf/odomimu
ROS1Visualizer.cpp:53 Publishing: /ov_msckf/pathimu
ROS1Visualizer.cpp:57 Publishing: /ov_msckf/points_msckf
ROS1Visualizer.cpp:59 Publishing: /ov_msckf/points_msckf
ROS1Visualizer.cpp:61 Publishing: /ov_msckf/points_aruco
ROS1Visualizer.cpp:63 Publishing: /ov_msckf/points_sim
ROS1Visualizer.cpp:67 Publishing: /ov_msckf/trackhist
ROS1Visualizer.cpp:71 Publishing: /ov_msckf/posegt
ROS1Visualizer.cpp:73 Publishing: /ov_msckf/pathgt
ROS1Visualizer.cpp:161 subscribing to IMU: /camera/imu/
ROS1Visualizer.cpp:192 subscribing to cam (mono): /camera/color/image_raw
run_subscribe_msckf.cpp:102 done...spinning to ros
.....
.....
....
VioManager.cpp:314 [TIME]: 0.0019 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0020 seconds total (501.8 hz, 2.10 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 2.064,2.572 (10.00 thresh)
InertialInitializer.cpp:144 [init]: failed static init: no accel jerk detected
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0002 seconds
VioManager.cpp:314 [TIME]: 0.0009 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0009 seconds total (1114.8 hz, 2.26 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 2.052,2.961 (10.00 thresh)
InertialInitializer.cpp:144 [init]: failed static init: no accel jerk detected
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0001 seconds
VioManager.cpp:314 [TIME]: 0.0017 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0018 seconds total (558.7 hz, 2.42 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 1.737,2.694 (10.00 thresh)
InertialInitializer.cpp:144 [init]: failed static init: no accel jerk detected
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0001 seconds
VioManager.cpp:314 [TIME]: 0.0013 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0013 seconds total (766.3 hz, 2.57 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 1.499,1.491 (10.00 thresh)
InertialInitializer.cpp:144 [init]: failed static init: no accel jerk detected
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0001 seconds
VioManager.cpp:314 [TIME]: 0.0017 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0018 seconds total (570.1 hz, 2.23 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 1.294,0.684 (10.00 thresh)
InertialInitializer.cpp:144 [init]: failed static init: no accel jerk detected
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0002 seconds
VioManager.cpp:314 [TIME]: 0.0017 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0018 seconds total (556.2 hz, 2.39 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 1.109,1.035 (10.00 thresh)
InertialInitializer.cpp:144 [init]: failed static init: no accel jerk detected
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0002 seconds
VioManager.cpp:314 [TIME]: 0.0023 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0023 seconds total (430.3 hz, 2.55 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 1.431,1.323 (10.00 thresh)
InertialInitializer.cpp:144 [init]: failed static init: no accel jerk detected
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0002 seconds
VioManager.cpp:314 [TIME]: 0.0022 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0022 seconds total (445.0 hz, 2.21 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 1.748,1.586 (10.00 thresh)
InertialInitializer.cpp:144 [init]: failed static init: no accel jerk detected
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0002 seconds
VioManager.cpp:314 [TIME]: 0.0020 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0021 seconds total (477.8 hz, 2.37 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 1.935,1.725 (10.00 thresh)
InertialInitializer.cpp:144 [init]: failed static init: no accel jerk detected
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0002 seconds
VioManager.cpp:314 [TIME]: 0.0021 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0022 seconds total (456.2 hz, 2.53 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 2.155,1.372 (10.00 thresh)
InertialInitializer.cpp:144 [init]: failed static init: no accel jerk detected
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0001 seconds
VioManager.cpp:314 [TIME]: 0.0016 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0017 seconds total (604.2 hz, 2.69 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 2.545,0.637 (10.00 thresh)
InertialInitializer.cpp:144 [init]: failed static init: no accel jerk detected
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0002 seconds
VioManager.cpp:314 [TIME]: 0.0020 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0021 seconds total (470.4 hz, 2.35 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 2.877,0.728 (10.00 thresh)
InertialInitializer.cpp:144 [init]: failed static init: no accel jerk detected
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0002 seconds
VioManager.cpp:314 [TIME]: 0.0016 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0017 seconds total (588.2 hz, 2.51 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 2.560,1.451 (10.00 thresh)
InertialInitializer.cpp:144 [init]: failed static init: no accel jerk detected
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0002 seconds
VioManager.cpp:314 [TIME]: 0.0017 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0018 seconds total (563.4 hz, 2.66 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 2.119,2.201 (10.00 thresh)
InertialInitializer.cpp:144 [init]: failed static init: no accel jerk detected
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0002 seconds
VioManager.cpp:314 [TIME]: 0.0017 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0018 seconds total (544.1 hz, 2.32 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 2.093,2.475 (10.00 thresh)
InertialInitializer.cpp:144 [init]: failed static init: no accel jerk detected
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0002 seconds
VioManager.cpp:314 [TIME]: 0.0019 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0020 seconds total (490.4 hz, 2.48 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 2.463,2.518 (10.00 thresh)
InertialInitializer.cpp:144 [init]: failed static init: no accel jerk detected
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0002 seconds
VioManager.cpp:314 [TIME]: 0.0019 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0020 seconds total (504.0 hz, 2.64 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 2.673,4.536 (10.00 thresh)
InertialInitializer.cpp:144 [init]: failed static init: no accel jerk detected
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0002 seconds
VioManager.cpp:314 [TIME]: 0.0043 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0044 seconds total (227.9 hz, 2.80 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 1.751,15.905 (10.00 thresh)
InertialInitializer.cpp:133 [init]: USING STATIC INITIALIZER METHOD!
StaticInitializer.cpp:98 [init-s]: IMU excitation stats: 0.302,0.963
StaticInitializer.cpp:102 [init-s]: no IMU excitation, below threshold 0.963 < 2.500
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0002 seconds
VioManager.cpp:314 [TIME]: 0.0108 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0109 seconds total (91.8 hz, 2.96 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 0.415,28.968 (10.00 thresh)
InertialInitializer.cpp:133 [init]: USING STATIC INITIALIZER METHOD!
StaticInitializer.cpp:98 [init-s]: IMU excitation stats: 0.387,1.405
StaticInitializer.cpp:102 [init-s]: no IMU excitation, below threshold 1.405 < 2.500
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0002 seconds
VioManager.cpp:314 [TIME]: 0.0055 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0055 seconds total (181.4 hz, 2.62 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 0.708,39.691 (10.00 thresh)
InertialInitializer.cpp:133 [init]: USING STATIC INITIALIZER METHOD!
StaticInitializer.cpp:98 [init-s]: IMU excitation stats: 0.394,1.899
StaticInitializer.cpp:102 [init-s]: no IMU excitation, below threshold 1.899 < 2.500
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0002 seconds
VioManager.cpp:314 [TIME]: 0.0151 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0151 seconds total (66.1 hz, 3.28 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 1.397,52.103 (10.00 thresh)
InertialInitializer.cpp:133 [init]: USING STATIC INITIALIZER METHOD!
StaticInitializer.cpp:98 [init-s]: IMU excitation stats: 0.414,2.487
StaticInitializer.cpp:102 [init-s]: no IMU excitation, below threshold 2.487 < 2.500
VioManagerHelper.cpp:170 [init]: failed initialization in 0.0002 seconds
VioManager.cpp:314 [TIME]: 0.0082 seconds for tracking
ROS1Visualizer.cpp:483 [TIME]: 0.0082 seconds total (122.0 hz, 4.43 ms behind)
InertialInitializer.cpp:122 [init]: disparity is 2.192,54.504 (10.00 thresh)
InertialInitializer.cpp:133 [init]: USING STATIC INITIALIZER METHOD!
StaticInitializer.cpp:98 [init-s]: IMU excitation stats: 0.418,2.571
VioManagerHelper.cpp:136 [init]: successful initialization in 0.0002 seconds
VioManagerHelper.cpp:137 [init]: orientation = -0.5607, 0.5037, -0.4963, 0.4309
VioManagerHelper.cpp:139 [init]: bias gyro = -0.0064, 0.0023, -0.0217
VioManagerHelper.cpp:141 [init]: velocity = 0.0000, 0.0000, 0.0000
VioManagerHelper.cpp:142 [init]: bias accel = -0.0084, 0.0672, 0.0093
VioManagerHelper.cpp:144 [init]: position = 0.0000, 0.0000, 0.0000
VioManagerHelper.cpp:164 [init]: moved the state forward 0.00 seconds
VioManager.cpp:349 waiting for enough clone states (1 of 5)....
ROS1Visualizer.cpp:483 [TIME]: 0.0144 seconds total (69.6 hz, 2.26 ms behind)
VioManager.cpp:349 waiting for enough clone states (2 of 5)....
ROS1Visualizer.cpp:483 [TIME]: 0.0027 seconds total (368.5 hz, 2.41 ms behind)
VioManager.cpp:349 waiting for enough clone states (3 of 5)....
ROS1Visualizer.cpp:483 [TIME]: 0.0060 seconds total (166.6 hz, 2.07 ms behind)
VioManager.cpp:349 waiting for enough clone states (4 of 5)....
ROS1Visualizer.cpp:483 [TIME]: 0.0056 seconds total (179.8 hz, 2.23 ms behind)
VioManager.cpp:613 [TIME]: 0.0029 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0004 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0000 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0009 seconds for re-tri & marg (5 clones in state)
VioManager.cpp:628 [TIME]: 0.004366 seconds for total (camera 0)
......
......
......
ROS1Visualizer.cpp:483 [TIME]: 0.0047 seconds total (211.1 hz, 1.90 ms behind)
VioManager.cpp:613 [TIME]: 0.0017 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0001 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0008 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.002788 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.418,0.421,-0.492,0.637 | p_IinG = -127.844,-115.610,-23.866 | dist = 174.15 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0031 seconds total (321.3 hz, 1.56 ms behind)
VioManager.cpp:613 [TIME]: 0.0029 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0004 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0006 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0016 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005564 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.418,0.421,-0.493,0.637 | p_IinG = -128.717,-116.350,-24.065 | dist = 175.31 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0059 seconds total (169.1 hz, 1.72 ms behind)
VioManager.cpp:613 [TIME]: 0.0025 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0015 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0020 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006338 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.417,0.421,-0.493,0.637 | p_IinG = -129.594,-117.092,-24.265 | dist = 176.47 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0070 seconds total (142.5 hz, 1.87 ms behind)
VioManager.cpp:613 [TIME]: 0.0031 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0022 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.00608 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.417,0.421,-0.493,0.638 | p_IinG = -130.475,-117.838,-24.467 | dist = 177.65 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0067 seconds total (148.7 hz, 2.03 ms behind)
VioManager.cpp:613 [TIME]: 0.0030 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0004 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0023 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006042 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.416,0.421,-0.493,0.638 | p_IinG = -131.360,-118.587,-24.669 | dist = 178.82 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0065 seconds total (153.6 hz, 1.69 ms behind)
VioManager.cpp:613 [TIME]: 0.0026 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0004 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0017 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004885 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.416,0.421,-0.493,0.638 | p_IinG = -132.248,-119.339,-24.873 | dist = 180.00 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0055 seconds total (182.0 hz, 2.35 ms behind)
VioManager.cpp:613 [TIME]: 0.0034 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0004 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0012 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005178 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.416,0.421,-0.493,0.638 | p_IinG = -133.141,-120.095,-25.078 | dist = 181.19 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0056 seconds total (179.8 hz, 2.01 ms behind)
VioManager.cpp:613 [TIME]: 0.0026 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0022 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.0056 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.415,0.420,-0.493,0.639 | p_IinG = -134.038,-120.853,-25.285 | dist = 182.38 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0060 seconds total (167.6 hz, 2.17 ms behind)
VioManager.cpp:613 [TIME]: 0.0033 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0001 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0009 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.00455 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.415,0.420,-0.493,0.639 | p_IinG = -134.938,-121.614,-25.492 | dist = 183.58 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0050 seconds total (199.4 hz, 1.33 ms behind)
VioManager.cpp:613 [TIME]: 0.0031 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0011 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004735 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.414,0.420,-0.493,0.639 | p_IinG = -135.843,-122.379,-25.701 | dist = 184.78 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0051 seconds total (196.7 hz, 1.49 ms behind)
VioManager.cpp:613 [TIME]: 0.0028 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0004 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0017 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005167 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.414,0.420,-0.493,0.640 | p_IinG = -136.751,-123.146,-25.912 | dist = 185.99 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0058 seconds total (173.3 hz, 1.65 ms behind)
VioManager.cpp:613 [TIME]: 0.0031 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0006 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0023 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006373 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.414,0.420,-0.493,0.640 | p_IinG = -137.664,-123.917,-26.123 | dist = 187.21 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0072 seconds total (138.8 hz, 1.81 ms behind)
VioManager.cpp:613 [TIME]: 0.0022 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0003 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0018 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004562 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.413,0.420,-0.493,0.640 | p_IinG = -138.580,-124.691,-26.336 | dist = 188.42 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0052 seconds total (190.5 hz, 3.96 ms behind)
VioManager.cpp:613 [TIME]: 0.0015 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0001 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0009 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.002696 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.413,0.420,-0.493,0.641 | p_IinG = -139.501,-125.468,-26.550 | dist = 189.65 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0031 seconds total (318.7 hz, 4.11 ms behind)
VioManager.cpp:613 [TIME]: 0.0033 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0004 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0013 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0017 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006661 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.412,0.419,-0.493,0.641 | p_IinG = -141.354,-127.032,-26.983 | dist = 192.11 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0073 seconds total (137.1 hz, 1.94 ms behind)
VioManager.cpp:613 [TIME]: 0.0031 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0023 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.00625 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.412,0.419,-0.493,0.642 | p_IinG = -142.287,-127.819,-27.201 | dist = 193.35 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0072 seconds total (138.3 hz, 2.10 ms behind)
VioManager.cpp:613 [TIME]: 0.0038 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0015 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005678 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.411,0.419,-0.493,0.642 | p_IinG = -143.223,-128.608,-27.420 | dist = 194.59 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0062 seconds total (162.5 hz, 1.76 ms behind)
VioManager.cpp:613 [TIME]: 0.0024 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0009 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004182 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.411,0.419,-0.493,0.642 | p_IinG = -144.164,-129.401,-27.641 | dist = 195.84 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0045 seconds total (221.2 hz, 1.42 ms behind)
VioManager.cpp:613 [TIME]: 0.0026 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0004 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0020 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005272 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.410,0.419,-0.493,0.643 | p_IinG = -145.109,-130.197,-27.863 | dist = 197.10 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0059 seconds total (170.5 hz, 1.58 ms behind)
VioManager.cpp:613 [TIME]: 0.0026 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0004 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0021 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.00555 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.410,0.419,-0.493,0.643 | p_IinG = -146.057,-130.997,-28.087 | dist = 198.36 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0063 seconds total (158.6 hz, 1.74 ms behind)
VioManager.cpp:613 [TIME]: 0.0027 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0006 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0021 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.00563 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.409,0.419,-0.493,0.643 | p_IinG = -147.010,-131.799,-28.311 | dist = 199.63 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0064 seconds total (156.2 hz, 1.90 ms behind)
VioManager.cpp:613 [TIME]: 0.0026 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0024 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005442 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.409,0.418,-0.493,0.643 | p_IinG = -147.967,-132.605,-28.538 | dist = 200.90 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0062 seconds total (161.7 hz, 2.05 ms behind)
VioManager.cpp:613 [TIME]: 0.0015 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0001 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0008 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.002582 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.409,0.418,-0.493,0.644 | p_IinG = -148.928,-133.414,-28.765 | dist = 202.17 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0032 seconds total (308.8 hz, 2.21 ms behind)
VioManager.cpp:613 [TIME]: 0.0022 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0021 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005159 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.408,0.418,-0.494,0.644 | p_IinG = -149.893,-134.226,-28.994 | dist = 203.46 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0058 seconds total (172.4 hz, 1.87 ms behind)
VioManager.cpp:613 [TIME]: 0.0031 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0004 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0007 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0014 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005571 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.408,0.418,-0.494,0.644 | p_IinG = -150.862,-135.041,-29.224 | dist = 204.74 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0060 seconds total (166.1 hz, 3.54 ms behind)
VioManager.cpp:613 [TIME]: 0.0020 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0001 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0003 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0009 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.003418 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.407,0.418,-0.494,0.645 | p_IinG = -151.839,-135.862,-29.457 | dist = 206.04 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0038 seconds total (263.2 hz, 2.20 ms behind)
VioManager.cpp:613 [TIME]: 0.0014 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0001 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0006 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0008 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.002934 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.407,0.418,-0.494,0.645 | p_IinG = -152.821,-136.688,-29.691 | dist = 207.34 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0034 seconds total (297.4 hz, 1.85 ms behind)
VioManager.cpp:613 [TIME]: 0.0029 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0024 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006217 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.407,0.418,-0.494,0.645 | p_IinG = -153.803,-137.514,-29.926 | dist = 208.65 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0070 seconds total (142.2 hz, 1.51 ms behind)
VioManager.cpp:613 [TIME]: 0.0030 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0003 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0012 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004811 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.406,0.418,-0.494,0.646 | p_IinG = -154.790,-138.343,-30.162 | dist = 209.96 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0053 seconds total (189.8 hz, 1.67 ms behind)
VioManager.cpp:613 [TIME]: 0.0032 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0023 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006384 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.406,0.417,-0.494,0.646 | p_IinG = -155.780,-139.175,-30.399 | dist = 211.27 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0071 seconds total (140.1 hz, 1.83 ms behind)
VioManager.cpp:613 [TIME]: 0.0024 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0003 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0019 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004861 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.405,0.417,-0.494,0.646 | p_IinG = -156.775,-140.010,-30.638 | dist = 212.59 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0057 seconds total (174.8 hz, 1.99 ms behind)
VioManager.cpp:613 [TIME]: 0.0026 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0004 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0021 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005422 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.405,0.417,-0.494,0.647 | p_IinG = -157.774,-140.849,-30.879 | dist = 213.92 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0061 seconds total (163.7 hz, 1.65 ms behind)
VioManager.cpp:613 [TIME]: 0.0025 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0006 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0020 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005486 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.405,0.417,-0.494,0.647 | p_IinG = -158.777,-141.691,-31.120 | dist = 215.25 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0062 seconds total (161.0 hz, 1.81 ms behind)
VioManager.cpp:613 [TIME]: 0.0028 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0017 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004962 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.404,0.417,-0.494,0.647 | p_IinG = -159.784,-142.536,-31.364 | dist = 216.59 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0054 seconds total (183.6 hz, 1.96 ms behind)
VioManager.cpp:613 [TIME]: 0.0026 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0021 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005405 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.404,0.417,-0.494,0.648 | p_IinG = -160.795,-143.385,-31.608 | dist = 217.93 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0062 seconds total (161.4 hz, 1.62 ms behind)
VioManager.cpp:613 [TIME]: 0.0024 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0004 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0015 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004411 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.403,0.417,-0.494,0.648 | p_IinG = -161.811,-144.236,-31.854 | dist = 219.28 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0052 seconds total (193.0 hz, 1.78 ms behind)
VioManager.cpp:613 [TIME]: 0.0030 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0006 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0024 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006277 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.403,0.416,-0.494,0.648 | p_IinG = -162.831,-145.092,-32.102 | dist = 220.63 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0072 seconds total (139.8 hz, 1.94 ms behind)
VioManager.cpp:613 [TIME]: 0.0027 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0004 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0016 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.00491 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.402,0.416,-0.494,0.648 | p_IinG = -163.855,-145.950,-32.351 | dist = 221.99 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0054 seconds total (183.8 hz, 1.60 ms behind)
VioManager.cpp:613 [TIME]: 0.0031 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0018 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0023 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.007536 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.402,0.416,-0.494,0.649 | p_IinG = -164.883,-146.812,-32.601 | dist = 223.36 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0083 seconds total (121.1 hz, 1.76 ms behind)
VioManager.cpp:613 [TIME]: 0.0029 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0019 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005611 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.402,0.416,-0.494,0.649 | p_IinG = -165.915,-147.677,-32.853 | dist = 224.73 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0059 seconds total (168.9 hz, 1.92 ms behind)
VioManager.cpp:613 [TIME]: 0.0032 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0003 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0025 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006426 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.401,0.416,-0.494,0.649 | p_IinG = -166.952,-148.545,-33.106 | dist = 226.10 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0071 seconds total (141.0 hz, 2.08 ms behind)
VioManager.cpp:613 [TIME]: 0.0029 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0007 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0024 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006289 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.401,0.416,-0.494,0.650 | p_IinG = -167.993,-149.417,-33.361 | dist = 227.49 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0069 seconds total (145.2 hz, 1.74 ms behind)
VioManager.cpp:613 [TIME]: 0.0030 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0004 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0026 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006271 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.400,0.416,-0.494,0.650 | p_IinG = -169.038,-150.292,-33.617 | dist = 228.87 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0068 seconds total (146.0 hz, 1.90 ms behind)
VioManager.cpp:613 [TIME]: 0.0033 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0005 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0008 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0015 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.00603 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.400,0.416,-0.494,0.650 | p_IinG = -170.088,-151.170,-33.875 | dist = 230.26 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0066 seconds total (151.8 hz, 6.04 ms behind)
VioManager.cpp:613 [TIME]: 0.0020 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0004 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0009 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.003568 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.400,0.415,-0.494,0.651 | p_IinG = -171.141,-152.052,-34.134 | dist = 231.66 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0039 seconds total (255.0 hz, 4.70 ms behind)
VioManager.cpp:613 [TIME]: 0.0028 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0004 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0021 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005525 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.399,0.415,-0.495,0.651 | p_IinG = -173.261,-153.825,-34.658 | dist = 234.48 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0060 seconds total (166.1 hz, 2.03 ms behind)
VioManager.cpp:613 [TIME]: 0.0030 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0004 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0017 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005329 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.398,0.415,-0.495,0.652 | p_IinG = -174.328,-154.717,-34.921 | dist = 235.89 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0061 seconds total (164.3 hz, 2.19 ms behind)
VioManager.cpp:613 [TIME]: 0.0030 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0001 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0008 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004135 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.398,0.415,-0.495,0.652 | p_IinG = -175.399,-155.612,-35.187 | dist = 237.31 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0044 seconds total (226.0 hz, 1.35 ms behind)
VioManager.cpp:613 [TIME]: 0.0023 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0003 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0015 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004366 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.397,0.415,-0.495,0.652 | p_IinG = -176.474,-156.510,-35.453 | dist = 238.74 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0049 seconds total (205.4 hz, 1.51 ms behind)
VioManager.cpp:613 [TIME]: 0.0026 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0006 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0020 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.00546 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.397,0.415,-0.495,0.652 | p_IinG = -177.553,-157.412,-35.722 | dist = 240.17 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0062 seconds total (161.7 hz, 1.67 ms behind)
VioManager.cpp:613 [TIME]: 0.0026 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0016 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0021 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.00664 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.397,0.414,-0.495,0.653 | p_IinG = -178.637,-158.317,-35.992 | dist = 241.61 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0072 seconds total (139.0 hz, 1.33 ms behind)
VioManager.cpp:613 [TIME]: 0.0027 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0023 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005807 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.396,0.414,-0.495,0.653 | p_IinG = -179.725,-159.226,-36.263 | dist = 243.05 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0066 seconds total (150.4 hz, 1.49 ms behind)
VioManager.cpp:613 [TIME]: 0.0028 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0003 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0024 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005776 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.396,0.414,-0.495,0.653 | p_IinG = -180.818,-160.138,-36.536 | dist = 244.50 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0064 seconds total (156.1 hz, 1.64 ms behind)
VioManager.cpp:613 [TIME]: 0.0021 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0001 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0008 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.003237 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.395,0.414,-0.495,0.654 | p_IinG = -181.914,-161.053,-36.811 | dist = 245.95 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0035 seconds total (281.9 hz, 1.80 ms behind)
VioManager.cpp:613 [TIME]: 0.0031 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0004 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0023 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006106 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.395,0.414,-0.495,0.654 | p_IinG = -183.015,-161.972,-37.087 | dist = 247.42 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0069 seconds total (144.7 hz, 1.46 ms behind)
VioManager.cpp:613 [TIME]: 0.0031 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0001 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0004 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0019 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005673 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.395,0.414,-0.495,0.654 | p_IinG = -184.121,-162.894,-37.364 | dist = 248.88 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0061 seconds total (162.7 hz, 5.63 ms behind)
VioManager.cpp:613 [TIME]: 0.0014 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0001 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0012 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.002891 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.394,0.414,-0.495,0.655 | p_IinG = -185.234,-163.823,-37.645 | dist = 250.36 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0034 seconds total (294.4 hz, 3.79 ms behind)
VioManager.cpp:613 [TIME]: 0.0037 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0007 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0003 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0028 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.007648 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.393,0.413,-0.495,0.655 | p_IinG = -187.474,-165.691,-38.210 | dist = 253.33 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0082 seconds total (121.3 hz, 1.60 ms behind)
VioManager.cpp:613 [TIME]: 0.0023 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0019 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004999 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.393,0.413,-0.495,0.655 | p_IinG = -188.598,-166.627,-38.494 | dist = 254.82 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0057 seconds total (174.6 hz, 1.76 ms behind)
VioManager.cpp:613 [TIME]: 0.0025 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0022 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005536 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.392,0.413,-0.495,0.656 | p_IinG = -189.726,-167.567,-38.779 | dist = 256.31 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0063 seconds total (159.2 hz, 1.92 ms behind)
VioManager.cpp:613 [TIME]: 0.0018 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0001 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0008 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.002773 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.392,0.413,-0.495,0.656 | p_IinG = -190.858,-168.510,-39.067 | dist = 257.82 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0031 seconds total (325.4 hz, 2.08 ms behind)
VioManager.cpp:613 [TIME]: 0.0014 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0001 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0009 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.002634 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.392,0.413,-0.495,0.656 | p_IinG = -191.995,-169.457,-39.356 | dist = 259.32 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0030 seconds total (335.0 hz, 1.74 ms behind)
VioManager.cpp:613 [TIME]: 0.0022 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0012 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0016 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005154 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.391,0.413,-0.495,0.657 | p_IinG = -193.136,-170.407,-39.646 | dist = 260.84 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0057 seconds total (176.1 hz, 1.89 ms behind)
VioManager.cpp:613 [TIME]: 0.0019 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0004 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0017 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004156 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.391,0.413,-0.495,0.657 | p_IinG = -194.282,-171.360,-39.938 | dist = 262.35 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0048 seconds total (207.3 hz, 2.05 ms behind)
VioManager.cpp:613 [TIME]: 0.0025 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0003 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0021 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005144 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.390,0.412,-0.495,0.657 | p_IinG = -195.432,-172.317,-40.232 | dist = 263.88 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0059 seconds total (170.1 hz, 2.21 ms behind)
VioManager.cpp:613 [TIME]: 0.0025 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0004 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0018 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004981 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.390,0.412,-0.495,0.658 | p_IinG = -196.586,-173.278,-40.527 | dist = 265.41 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0057 seconds total (175.4 hz, 1.87 ms behind)
VioManager.cpp:613 [TIME]: 0.0026 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0003 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0018 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004878 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.390,0.412,-0.495,0.658 | p_IinG = -197.745,-174.242,-40.824 | dist = 266.95 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0053 seconds total (187.0 hz, 2.03 ms behind)
VioManager.cpp:613 [TIME]: 0.0030 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0001 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0003 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0014 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005049 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.389,0.412,-0.495,0.658 | p_IinG = -198.908,-175.209,-41.123 | dist = 268.49 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0054 seconds total (184.8 hz, 1.69 ms behind)
VioManager.cpp:613 [TIME]: 0.0034 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0006 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0015 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005756 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.389,0.412,-0.495,0.659 | p_IinG = -200.076,-176.180,-41.423 | dist = 270.04 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0061 seconds total (164.4 hz, 1.35 ms behind)
VioManager.cpp:613 [TIME]: 0.0032 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0003 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0008 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004587 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.388,0.412,-0.496,0.659 | p_IinG = -201.248,-177.155,-41.725 | dist = 271.59 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0050 seconds total (199.6 hz, 1.51 ms behind)
VioManager.cpp:613 [TIME]: 0.0027 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0004 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0017 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005056 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.388,0.412,-0.496,0.659 | p_IinG = -202.425,-178.133,-42.029 | dist = 273.15 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0056 seconds total (177.5 hz, 1.67 ms behind)
VioManager.cpp:613 [TIME]: 0.0030 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0006 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0025 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.0064 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.387,0.412,-0.496,0.659 | p_IinG = -203.607,-179.114,-42.334 | dist = 274.72 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0071 seconds total (141.5 hz, 1.83 ms behind)
VioManager.cpp:613 [TIME]: 0.0028 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0024 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006035 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.387,0.411,-0.496,0.660 | p_IinG = -204.792,-180.099,-42.641 | dist = 276.29 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0069 seconds total (145.6 hz, 1.49 ms behind)
VioManager.cpp:613 [TIME]: 0.0027 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0018 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005189 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.387,0.411,-0.496,0.660 | p_IinG = -205.983,-181.088,-42.950 | dist = 277.87 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0058 seconds total (171.4 hz, 5.63 ms behind)
VioManager.cpp:613 [TIME]: 0.0022 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0010 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0008 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004157 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.386,0.411,-0.496,0.660 | p_IinG = -207.177,-182.080,-43.260 | dist = 279.45 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0046 seconds total (219.7 hz, 2.30 ms behind)
VioManager.cpp:613 [TIME]: 0.0016 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0009 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.002876 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.385,0.411,-0.496,0.661 | p_IinG = -210.789,-185.077,-44.201 | dist = 284.24 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0032 seconds total (310.4 hz, 1.78 ms behind)
VioManager.cpp:613 [TIME]: 0.0028 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0018 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005104 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.385,0.411,-0.496,0.662 | p_IinG = -212.002,-186.083,-44.518 | dist = 285.84 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0058 seconds total (173.6 hz, 1.94 ms behind)
VioManager.cpp:613 [TIME]: 0.0036 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0006 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0024 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006895 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.384,0.410,-0.496,0.662 | p_IinG = -213.220,-187.093,-44.837 | dist = 287.46 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0077 seconds total (129.8 hz, 2.10 ms behind)
VioManager.cpp:613 [TIME]: 0.0022 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0003 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0017 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004422 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.384,0.410,-0.496,0.662 | p_IinG = -214.442,-188.106,-45.158 | dist = 289.08 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0049 seconds total (203.3 hz, 1.76 ms behind)
VioManager.cpp:613 [TIME]: 0.0027 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0027 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006198 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.383,0.410,-0.496,0.662 | p_IinG = -215.668,-189.123,-45.480 | dist = 290.70 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0069 seconds total (144.0 hz, 1.91 ms behind)
VioManager.cpp:613 [TIME]: 0.0031 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0009 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004824 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.383,0.410,-0.496,0.663 | p_IinG = -216.900,-190.143,-45.804 | dist = 292.33 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0052 seconds total (192.9 hz, 2.07 ms behind)
VioManager.cpp:613 [TIME]: 0.0016 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0001 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0001 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0017 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.003483 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.383,0.410,-0.496,0.663 | p_IinG = -218.136,-191.167,-46.130 | dist = 293.97 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0043 seconds total (230.3 hz, 2.23 ms behind)
VioManager.cpp:613 [TIME]: 0.0024 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0021 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.00538 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.382,0.410,-0.496,0.663 | p_IinG = -219.376,-192.195,-46.457 | dist = 295.62 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0060 seconds total (165.4 hz, 1.89 ms behind)
VioManager.cpp:613 [TIME]: 0.0027 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0017 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005199 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.382,0.410,-0.496,0.664 | p_IinG = -220.621,-193.226,-46.787 | dist = 297.27 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0055 seconds total (180.8 hz, 2.05 ms behind)
VioManager.cpp:613 [TIME]: 0.0031 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0001 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0009 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004259 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.381,0.410,-0.496,0.664 | p_IinG = -221.871,-194.261,-47.117 | dist = 298.92 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0046 seconds total (216.1 hz, 5.71 ms behind)
VioManager.cpp:613 [TIME]: 0.0028 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0008 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0023 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006311 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.381,0.409,-0.496,0.664 | p_IinG = -223.126,-195.300,-47.451 | dist = 300.59 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0067 seconds total (149.6 hz, 4.38 ms behind)
VioManager.cpp:613 [TIME]: 0.0030 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0005 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0018 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0020 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.007267 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.380,0.409,-0.496,0.665 | p_IinG = -225.657,-197.395,-48.124 | dist = 303.94 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0077 seconds total (129.4 hz, 1.69 ms behind)
VioManager.cpp:613 [TIME]: 0.0029 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0024 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006089 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.380,0.409,-0.496,0.665 | p_IinG = -226.926,-198.445,-48.462 | dist = 305.62 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0066 seconds total (151.0 hz, 1.35 ms behind)
VioManager.cpp:613 [TIME]: 0.0032 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0003 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0022 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006049 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.379,0.409,-0.496,0.665 | p_IinG = -228.200,-199.498,-48.802 | dist = 307.31 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0068 seconds total (148.1 hz, 2.01 ms behind)
VioManager.cpp:613 [TIME]: 0.0024 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0013 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004412 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.379,0.409,-0.496,0.666 | p_IinG = -229.478,-200.555,-49.144 | dist = 309.00 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0048 seconds total (208.5 hz, 1.67 ms behind)
VioManager.cpp:613 [TIME]: 0.0024 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0003 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0019 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004923 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.378,0.409,-0.496,0.666 | p_IinG = -230.761,-201.616,-49.488 | dist = 310.70 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0057 seconds total (176.7 hz, 1.82 ms behind)
VioManager.cpp:613 [TIME]: 0.0030 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0005 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0008 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0028 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.007135 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.378,0.408,-0.496,0.666 | p_IinG = -232.049,-202.680,-49.833 | dist = 312.41 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0079 seconds total (127.1 hz, 1.48 ms behind)
VioManager.cpp:613 [TIME]: 0.0025 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0006 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0019 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005279 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.378,0.408,-0.496,0.667 | p_IinG = -233.341,-203.748,-50.180 | dist = 314.12 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0059 seconds total (169.3 hz, 1.64 ms behind)
VioManager.cpp:613 [TIME]: 0.0027 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0021 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005295 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.377,0.408,-0.496,0.667 | p_IinG = -234.638,-204.820,-50.530 | dist = 315.84 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0058 seconds total (173.0 hz, 1.80 ms behind)
VioManager.cpp:613 [TIME]: 0.0027 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0020 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005446 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.377,0.408,-0.496,0.667 | p_IinG = -235.939,-205.895,-50.881 | dist = 317.56 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0060 seconds total (165.6 hz, 1.96 ms behind)
VioManager.cpp:613 [TIME]: 0.0015 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0009 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.002791 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.376,0.408,-0.497,0.667 | p_IinG = -237.246,-206.974,-51.233 | dist = 319.29 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0032 seconds total (315.7 hz, 1.62 ms behind)
VioManager.cpp:613 [TIME]: 0.0027 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0001 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0008 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.003771 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.376,0.408,-0.497,0.668 | p_IinG = -238.557,-208.057,-51.588 | dist = 321.03 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0041 seconds total (244.5 hz, 1.78 ms behind)
VioManager.cpp:613 [TIME]: 0.0026 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0004 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0017 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004848 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.375,0.408,-0.497,0.668 | p_IinG = -239.873,-209.143,-51.944 | dist = 322.77 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0055 seconds total (183.4 hz, 1.94 ms behind)
VioManager.cpp:613 [TIME]: 0.0036 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0015 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0008 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006221 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.375,0.407,-0.497,0.668 | p_IinG = -241.193,-210.233,-52.303 | dist = 324.52 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0066 seconds total (152.0 hz, 2.10 ms behind)
VioManager.cpp:613 [TIME]: 0.0031 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0024 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.00635 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.375,0.407,-0.497,0.669 | p_IinG = -242.518,-211.326,-52.663 | dist = 326.28 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0072 seconds total (139.8 hz, 1.76 ms behind)
VioManager.cpp:613 [TIME]: 0.0036 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0003 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0024 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006712 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.374,0.407,-0.497,0.669 | p_IinG = -243.848,-212.424,-53.025 | dist = 328.04 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0075 seconds total (133.6 hz, 1.91 ms behind)
VioManager.cpp:613 [TIME]: 0.0033 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0006 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0020 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006227 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.374,0.407,-0.497,0.669 | p_IinG = -245.183,-213.525,-53.389 | dist = 329.81 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0066 seconds total (150.4 hz, 2.07 ms behind)
VioManager.cpp:613 [TIME]: 0.0035 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0004 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0027 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006895 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.373,0.407,-0.497,0.670 | p_IinG = -246.523,-214.629,-53.754 | dist = 331.58 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0076 seconds total (131.3 hz, 2.23 ms behind)
VioManager.cpp:613 [TIME]: 0.0035 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0004 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0003 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0010 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.005194 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.373,0.407,-0.497,0.670 | p_IinG = -247.867,-215.738,-54.122 | dist = 333.36 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0056 seconds total (178.3 hz, 4.38 ms behind)
VioManager.cpp:613 [TIME]: 0.0013 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0001 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0009 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.00255 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.373,0.407,-0.497,0.670 | p_IinG = -249.216,-216.850,-54.492 | dist = 335.15 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0030 seconds total (338.6 hz, 3.05 ms behind)
VioManager.cpp:613 [TIME]: 0.0021 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0004 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0001 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0014 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004101 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.372,0.406,-0.497,0.671 | p_IinG = -251.928,-219.085,-55.236 | dist = 338.74 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0047 seconds total (214.5 hz, 1.37 ms behind)
VioManager.cpp:613 [TIME]: 0.0030 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0010 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004719 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.371,0.406,-0.497,0.671 | p_IinG = -253.292,-220.209,-55.612 | dist = 340.55 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0050 seconds total (198.3 hz, 1.53 ms behind)
VioManager.cpp:613 [TIME]: 0.0037 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0019 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006536 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.371,0.406,-0.497,0.671 | p_IinG = -254.660,-221.336,-55.989 | dist = 342.36 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0070 seconds total (143.5 hz, 1.69 ms behind)
VioManager.cpp:613 [TIME]: 0.0028 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0001 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0002 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0008 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.003889 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.371,0.406,-0.497,0.672 | p_IinG = -256.033,-222.466,-56.368 | dist = 344.18 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0042 seconds total (236.0 hz, 1.85 ms behind)
VioManager.cpp:613 [TIME]: 0.0026 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0003 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0005 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0012 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.004615 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.370,0.406,-0.497,0.672 | p_IinG = -257.411,-223.601,-56.749 | dist = 346.00 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0050 seconds total (201.3 hz, 2.00 ms behind)
^C[ov_msckf-1] killing on exit
VioManager.cpp:613 [TIME]: 0.0026 seconds for tracking
VioManager.cpp:614 [TIME]: 0.0002 seconds for propagation
VioManager.cpp:615 [TIME]: 0.0000 seconds for MSCKF update (0 feats)
VioManager.cpp:617 [TIME]: 0.0000 seconds for SLAM update (0 feats)
VioManager.cpp:618 [TIME]: 0.0015 seconds for SLAM delayed init (0 feats)
VioManager.cpp:620 [TIME]: 0.0017 seconds for re-tri & marg (11 clones in state)
VioManager.cpp:628 [TIME]: 0.006005 seconds for total (camera 0)
VioManager.cpp:654 q_GtoI = -0.370,0.406,-0.497,0.672 | p_IinG = -258.793,-224.739,-57.132 | dist = 347.83 (meters)
VioManager.cpp:657 bg = -0.0273,0.0002,-0.0131 | ba = -0.0086,0.0704,0.0089
VioManager.cpp:662 camera-imu timeoffset = 0.01640
VioManager.cpp:669 cam0 intrinsics = 601.606,600.750,331.221,247.343 | 0.093,-0.209,-0.001,0.001
VioManager.cpp:678 cam0 extrinsics = 0.002,0.003,0.003,1.000 | 0.019,-0.004,-0.009
ROS1Visualizer.cpp:483 [TIME]: 0.0066 seconds total (152.5 hz, 1.66 ms behind)
ROS1Visualizer.cpp:356 camera-imu timeoffset = 0.01640

ROS1Visualizer.cpp:363 cam0 intrinsics:
ROS1Visualizer.cpp:364 601.606,600.750,331.221,247.343
ROS1Visualizer.cpp:365 0.09326,-0.20936,-0.00071,0.00136

ROS1Visualizer.cpp:376 T_C0toI:
ROS1Visualizer.cpp:377 1.000,-0.007,0.007,-0.019,
ROS1Visualizer.cpp:378 0.007,1.000,-0.005,0.004,
ROS1Visualizer.cpp:379 -0.007,0.005,1.000,0.009,
ROS1Visualizer.cpp:380 0.000,0.000,0.000,1.000

ROS1Visualizer.cpp:435 TIME: 18.510 seconds

You can find my calibration files here:
Calibration Files Folder

@ShreyasKuntnal ShreyasKuntnal mentioned this issue Aug 5, 2024
Closed
@ShreyasKuntnal ShreyasKuntnal mentioned this issue Aug 13, 2024
Closed
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@goldbattle @ShreyasKuntnal