frame_idx,lidar_stamp_ns,camera_stamp_ns,dt_cam_ms,dt_pose_ms
0,1784205721613869732,1784205721634751298,20.881566,1.371793
1,1784205722412885730,1784205722437095161,24.209431,0.688606
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3,1784205722912719949,1784205722936889200,24.169251,0.676779
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8,1784205744213222857,1784205744230738485,17.515628,4.27103
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1473,1784206139214745569,1784206139202127236,12.618333,3.495525
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1484,1784206142012671410,1784206141992548951,20.122459,3.847804
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1495,1784206144813112048,1784206144786325171,26.786877,2.928212
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1504,1784206147112713313,1784206147077323991,35.389322,1.093688
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1509,1784206148413003299,1784206148374104198,38.899101,2.862686
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1511,1784206148912703656,1784206148872105441,40.598215,3.82923
1512,1784206149113528528,1784206149072447887,41.080641,4.772508
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1514,1784206149712280829,1784206149671019128,41.261701,4.690136
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1542,1784206157117405607,1784206157157839416,40.433809,2.900895
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1544,1784206157613433916,1784206157651458231,38.024315,4.173782
1545,1784206157814222543,1784206157851990087,37.767544,4.885698
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1549,1784206159014185446,1784206159050425322,36.239876,2.374329
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1583,1784206167912513083,1784206167934803680,22.290597,0.46608
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1586,1784206168612901977,1784206168634726606,21.824629,1.869174
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1938,1784206259612181391,1784206259588052073,24.129318,3.598004
1939,1784206259812422522,1784206259788249746,24.172776,3.886039
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1946,1784206261712706907,1784206261686825761,25.881146,4.291847
1947,1784206261913385136,1784206261889476068,23.909068,4.808172
1948,1784206262212268064,1784206262187625483,24.642581,3.416659
1949,1784206262413338482,1784206262391251739,22.086743,4.031458
1950,1784206262615061257,1784206262588209106,26.852151,4.804543
1951,1784206262912444738,1784206262889944018,22.50072,2.146729
1952,1784206263114754138,1784206263091757270,22.996868,3.982248
1953,1784206263413096271,1784206263389505243,23.591028,1.805848
1954,1784206263613650162,1784206263590816067,22.834095,1.648957
1955,1784206263813761045,1784206263790754873,23.006172,1.550338
1956,1784206264112836775,1784206264090997209,21.839566,0.085217
1957,1784206264412781632,1784206264390569251,22.212381,0.437079
1958,1784206264613511116,1784206264592742300,20.768816,0.155329
1959,1784206264912662134,1784206264893562876,19.099258,1.435616
1960,1784206265116015953,1784206265093590614,22.425339,1.338369
1961,1784206265316264688,1784206265297536269,18.728419,1.346681
1962,1784206265613408108,1784206265593507491,19.900617,2.165121
1963,1784206265916287483,1784206265899306936,16.980547,0.153834
1964,1784206266213867717,1784206266196477549,17.390168,2.832899
1965,1784206266415492642,1784206266395570762,19.92188,1.755013
1966,1784206266713319692,1784206266695060744,18.258948,4.345754
1967,1784206267013972483,1784206266996260266,17.712217,4.094635
1968,1784206267313874126,1784206267299851613,14.022513,4.97063
1969,1784206267717565020,1784206267699468927,18.096093,1.763635
1970,1784206268013213604,1784206267998893922,14.319682,3.518439
1971,1784206268214419665,1784206268198063736,16.355929,4.368712
1972,1784206268515293700,1784206268499905388,15.388312,4.545299
1973,1784206268816118923,1784206268799323483,16.79544,4.972354
1974,1784206269113067042,1784206269096132151,16.934891,1.585506
1975,1784206269316540039,1784206269299521192,17.018847,4.458537
1976,1784206269614238926,1784206269599856261,14.382665,1.901626
1977,1784206269815028434,1784206269801822115,13.206319,2.084291
1978,1784206270015615562,1784206270001204491,14.411071,2.480677
1979,1784206270313092863,1784206270300620606,12.472257,0.411053
1980,1784206270517511584,1784206270501759701,15.751883,3.495217
1981,1784206270814823790,1784206270801879414,12.944376,0.565218
1982,1784206271116619766,1784206271103845231,12.774535,1.647998
1983,1784206271416855953,1784206271400435901,16.420052,1.46299
1984,1784206271618172984,1784206271602444137,15.728847,2.613252
1985,1784206271913852735,1784206271903110181,10.742554,2.201403
1986,1784206272213065122,1784206272203568268,9.496854,3.376156
1987,1784206272713446235,1784206272704288936,9.157299,3.704444
1988,1784206273113971072,1784206273104352031,9.619041,4.563723
1989,1784206273413760358,1784206273405132774,8.627584,4.418263
1990,1784206273614116653,1784206273604819392,9.297261,4.317368
1991,1784206273814376155,1784206273805642376,8.733779,4.610293
1992,1784206274115127465,1784206274107538775,7.58869,4.317381
1993,1784206274317775592,1784206274306239737,11.535855,2.1696
1994,1784206274617773683,1784206274608415607,9.358076,2.429473
1995,1784206274818980743,1784206274806833116,12.147627,1.428728
1996,1784206275114386367,1784206275107385387,7.00098,3.690088
1997,1784206275314719900,1784206275307851439,6.868461,3.787503
1998,1784206275515179757,1784206275508511895,6.667862,3.697948
1999,1784206275815634054,1784206275808765882,6.868172,3.902085
2000,1784206276215868155,1784206276209640891,6.227264,3.72893
2001,1784206276417453440,1784206276409921247,7.532193,4.858311
2002,1784206276713511746,1784206276709388822,4.122924,0.624312
2003,1784206276914504618,1784206276909723526,4.781092,1.262424
2004,1784206277212679546,1784206277210378037,2.301509,0.908895
2005,1784206277412820817,1784206277410156715,2.664102,0.966479
2006,1784206277615539662,1784206277611475148,4.064514,1.272099
2007,1784206277912720264,1784206277911218031,1.502233,1.920535
2008,1784206278113882085,1784206278114371158,0.489073,0.869583
2009,1784206278414295210,1784206278412323447,1.971763,1.098276
2010,1784206278712616540,1784206278711673949,0.942591,2.993958
2011,1784206278913329075,1784206278913817924,0.488849,2.447088
2012,1784206279115372435,1784206279116875095,1.50266,0.627553
2013,1784206279413782147,1784206279413509505,0.272642,2.709181
2014,1784206279713551334,1784206279715833539,2.282205,3.347694
2015,1784206279914852621,1784206279913808933,1.043688,2.176354
2016,1784206280212982092,1784206280215853988,2.871896,4.829237
2017,1784206280512606844,1784206280515156373,2.549529,4.913906
2018,1784206280712870866,1784206280717400028,4.529162,4.973281
2019,1784206281013989366,1784206281020223572,6.234206,4.360578
2020,1784206281313258199,1784206281323663177,10.404978,4.613311
2021,1784206281612708227,1784206281620728152,8.019925,3.708555
2022,1784206281813685977,1784206281820903304,7.217327,4.42355
2023,1784206282113083052,1784206282123271477,10.188425,3.494972
2024,1784206282412223849,1784206282423588434,11.364585,2.304049
2025,1784206282612793896,1784206282618567096,5.7732,2.657828
2026,1784206282912747120,1784206282920875815,8.128695,1.751786
2027,1784206283113040230,1784206283123491166,10.450936,2.335446
2028,1784206283413511181,1784206283429633061,16.12188,2.409088
2029,1784206283613848299,1784206283622920008,9.071709,2.448328
2030,1784206283912535698,1784206283921960471,9.424773,0.910605
2031,1784206284112925325,1784206284126124064,13.198739,1.059329
2032,1784206284313049899,1784206284321653815,8.603916,1.006516
2033,1784206284516398866,1784206284524548368,8.149502,4.07037
2034,1784206284814183471,1784206284820276086,6.092615,1.537423
2035,1784206285112625420,1784206285124878165,12.252745,0.398517
2036,1784206285313416900,1784206285329221142,15.804242,0.087508
2037,1784206285612707817,1784206285628831898,16.124081,0.848215
2038,1784206285912043366,1784206285924875570,12.832204,1.740076
2039,1784206286112707625,1784206286128614769,15.907144,1.341541
2040,1784206286314117007,1784206286329519682,15.402675,0.159786
2041,1784206286612888460,1784206286624797198,11.908738,1.676166
2042,1784206286813651556,1784206286830875150,17.223594,1.152353
2043,1784206287113430643,1784206287130746038,17.315395,1.813972
2044,1784206287413360547,1784206287428650662,15.290115,2.151062
2045,1784206287714549749,1784206287726366619,11.81687,1.359688
2046,1784206288012427085,1784206288036543453,24.116368,3.65193
2047,1784206288214138711,1784206288233505225,19.366514,2.367959
2048,1784206288513225932,1784206288531469312,18.24338,3.228146
2049,1784206288713584195,1784206288733828257,20.244062,3.111703
2050,1784206289112421414,1784206289131626070,19.204656,4.971339
2051,1784206289313875739,1784206289330876316,17.000577,3.795216
2052,1784206289612327741,1784206289627104143,14.776402,4.800547
2053,1784206289812540707,1784206289826873263,14.332556,4.781693
2054,1784206290112449626,1784206290130932399,18.482773,4.414668
2055,1784206290312603265,1784206290327064986,14.461721,4.386494
2056,1784206290713977528,1784206290731109058,17.13153,4.699066
2057,1784206290915216064,1784206290930627878,15.411814,3.753664
2058,1784206291212611966,1784206291229906597,17.294631,3.587928
2059,1784206291412899415,1784206291434879957,21.980542,3.681405
2060,1784206291713140380,1784206291735864465,22.724085,3.620871
2061,1784206291913165614,1784206291931310387,18.144773,3.386057
2062,1784206292213999528,1784206292238429033,24.429505,3.99904
2063,1784206292512480344,1784206292531337633,18.857289,2.262582
2064,1784206292713744095,1784206292734673659,20.929564,3.250613
2065,1784206293012797633,1784206293030572764,17.775131,2.139979
2066,1784206293213378883,1784206293240712418,27.333535,2.525097
2067,1784206293513264188,1784206293535399568,22.13538,2.111661
2068,1784206293812616295,1784206293831009661,18.393366,1.203795
2069,1784206294012699176,1784206294036777667,24.078491,1.136344
2070,1784206294313525412,1784206294336852687,23.327275,1.651739
2071,1784206294513641127,1784206294533390693,19.749566,1.532147
2072,1784206294812313943,1784206294828218601,15.904658,0.043693
2073,1784206295012883161,1784206295032868643,19.985482,0.441396
2074,1784206295213556809,1784206295233076392,19.519583,0.922057
2075,1784206295413900098,1784206295433588582,19.688484,1.159872
2076,1784206295713697631,1784206295733069727,19.372096,0.676313
2077,1784206296013491083,1784206296034063012,20.571929,0.244822
2078,1784206296312597751,1784206296329693362,17.095611,0.943689
2079,1784206296512738618,1784206296529910589,17.171971,0.988097
2080,1784206296812364304,1784206296831986785,19.622481,1.546406
2081,1784206297012616603,1784206297031551517,18.934914,1.43694
2082,1784206297213251533,1784206297230891454,17.639921,0.957403
2083,1784206297512278372,1784206297531624930,19.346558,2.166288
2084,1784206297712600593,1784206297732594136,19.993543,2.031882
2085,1784206297912806843,1784206297928586101,15.779258,1.996436
2086,1784206298112962555,1784206298130912221,17.949666,1.992198
2087,1784206298413579184,1784206298437470292,23.891108,1.653898
2088,1784206298614627076,1784206298641059797,26.432721,0.789696
2089,1784206298912833021,1784206298937740708,24.907687,2.766769
2090,1784206299212615379,1784206299232007927,19.392548,3.211593
2091,1784206299412698757,1784206299434282045,21.583288,3.314995
2092,1784206299713268904,1784206299738496570,25.227666,2.997
2093,1784206300012661314,1784206300041135388,28.474074,3.921694
2094,1784206300312533991,1784206300333004078,20.470087,4.841519
2095,1784206300713329808,1784206300740259756,26.929948,3.591782
2096,1784206301113051401,1784206301143784970,30.733569,4.593065
2097,1784206301313877496,1784206301341175268,27.297772,3.550837
2098,1784206301712437390,1784206301738738678,26.301288,4.790373
2099,1784206302012528977,1784206302034408979,21.880002,4.67724
2100,1784206302412347834,1784206302437218212,24.870378,4.21691
2101,1784206302712480990,1784206302739374146,26.893156,4.088594
2102,1784206303412607864,1784206303438721703,26.113839,3.689313
2103,1784206303612683981,1784206303639427787,26.743806,3.674315
2104,1784206303812830188,1784206303838341320,25.511132,3.706836
2105,1784206304013427903,1784206304038340984,24.913081,4.155687
2106,1784206304313042730,1784206304337981672,24.938942,3.588452
2107,1784206304513306504,1784206304535381873,22.075369,3.705755
2108,1784206304813124725,1784206304840732599,27.607874,3.307084
2109,1784206305013240051,1784206305041406943,28.166892,3.261599
2110,1784206305314038922,1784206305341873006,27.834084,3.89353
2111,1784206305612592248,1784206305640657409,28.065161,2.194958
2112,1784206305912234240,1784206305939193795,26.959555,1.725906
2113,1784206306113075070,1784206306145578175,32.503105,2.34895
2114,1784206306412709427,1784206306436945789,24.236362,1.836597
2115,1784206306612889439,1784206306643761847,30.872408,1.886867
2116,1784206306813178795,1784206306840625242,27.446447,2.017881
2117,1784206307112770641,1784206307136993156,24.222515,1.465701
2118,1784206307412998374,1784206307437940636,24.942262,1.508896
2119,1784206307613122656,1784206307641206276,28.08362,1.470165
2120,1784206307912607463,1784206307940460615,27.853152,0.701226
2121,1784206308112769996,1784206308138636282,25.866286,0.708144
2122,1784206308412530014,1784206308439373909,26.843895,0.346535
2123,1784206308612730089,1784206308644460365,31.730276,0.428411
2124,1784206308912416402,1784206308939152193,26.735791,0.09248
2125,1784206309112596884,1784206309144976715,32.379831,0.109238
2126,1784206309412054795,1784206309440490387,28.435592,0.766158
2127,1784206309612626148,1784206309639345860,26.719712,0.27167
2128,1784206309812693791,1784206309838362580,25.668789,0.334485
2129,1784206310112795012,1784206310139102622,26.30761,0.377633
2130,1784206310313123918,1784206310344895486,31.771568,0.201051
2131,1784206310515580732,1784206310540196423,24.615691,2.11084
2132,1784206310813447732,1784206310843036178,29.588446,0.201748
2133,1784206311113418196,1784206311140974767,27.556571,0.463269
2134,1784206311412154892,1784206311444511455,32.356563,1.986316
2135,1784206311612354716,1784206311641619065,29.264349,1.698304
2136,1784206311812576291,1784206311843004940,30.428649,1.670916
2137,1784206312013100167,1784206312044383882,31.283715,1.279234
2138,1784206312312532157,1784206312339542225,27.010068,1.956189
2139,1784206312612383450,1784206312641370500,28.98705,2.341794
2140,1784206312812517590,1784206312844046628,31.529038,2.314468
2141,1784206313112587392,1784206313141017698,28.430306,2.33723
2142,1784206313312601705,1784206313341060527,28.458822,2.458216
2143,1784206313612398884,1784206313642406355,30.007471,2.922549
2144,1784206313812683887,1784206313842934193,30.250306,2.655132
2145,1784206314012988686,1784206314043177151,30.188465,2.482697
2146,1784206314312800866,1784206314341483891,28.683025,2.82636
2147,1784206314512876620,1784206314541588513,28.711893,2.870273
2148,1784206314713092491,1784206314741665667,28.573176,2.781593
2149,1784206315013180307,1784206315045370328,32.190021,2.824649
2150,1784206315412319154,1784206315445339627,33.020473,4.095888
2151,1784206315615896991,1784206315650537571,34.64058,0.691565
2152,1784206315912688503,1784206315941590746,28.902243,3.884825
2153,1784206316614296086,1784206316646668688,32.372602,2.759679
2154,1784206316912441921,1784206316943636690,31.194769,4.913721
2155,1784206317412308113,1784206317444085198,31.777085,4.966216
2156,1784206317812863667,1784206317843083752,30.220085,4.603735
2157,1784206318013189069,1784206318044211517,31.022448,4.694566
2158,1784206318412779934,1784206318444698037,31.918103,4.966725
2159,1784206318913187567,1784206318943631119,30.443552,4.924586
2160,1784206319212334327,1784206319244169252,31.834925,4.171754
2161,1784206319513184803,1784206319545207214,32.022411,4.908534
2162,1784206319812618822,1784206319844359476,31.740654,4.127434
2163,1784206320013458175,1784206320044804946,31.346771,4.867836
2164,1784206320312570734,1784206320345088331,32.517597,3.81672
2165,1784206320512635113,1784206320547132158,34.497045,3.782599
2166,1784206320713079436,1784206320744889334,31.809898,4.100378
2167,1784206321012427239,1784206321046082934,33.655695,3.339622
2168,1784206321212564976,1784206321245886697,33.321721,3.40971
2169,1784206321412593848,1784206321445232169,32.638321,3.287048
2170,1784206321712440025,1784206321746044916,33.604891,3.097685
2171,1784206321912595782,1784206321945020856,32.425074,3.104773
2172,1784206322112793201,1784206322144968507,32.175306,3.209104
2173,1784206322412428652,1784206322446556990,34.128338,2.700449
2174,1784206322612675799,1784206322644795718,32.119919,2.845743
2175,1784206322812780753,1784206322847652746,34.871993,2.874192
2176,1784206323113213732,1784206323145404862,32.19113,3.003957
2177,1784206323313732581,1784206323349015927,35.283346,3.56129
2178,1784206323613074598,1784206323645955866,32.881268,2.755097
2179,1784206323912745950,1784206323946276075,33.530125,2.284148
2180,1784206324113217689,1784206324145852232,32.634543,2.62778
2181,1784206324412228184,1784206324446594788,34.366604,1.509424
2182,1784206324612336837,1784206324647019592,34.682755,1.587368
2183,1784206324812605893,1784206324847119863,34.51397,1.704788
2184,1784206325013251372,1784206325049459808,36.208436,2.282005
2185,1784206325312815524,1784206325348341454,35.52593,1.766098
2186,1784206326812369573,1784206326849058805,36.689232,0.623645
2187,1784206327112732875,1784206327147226115,34.49324,0.83984
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