/SLAM-Hive/slam_hive_results/mapping_results/1342/995_a-loam+kitti_2011_09_30_drive_0028_synced_full.yaml... logging to /root/.ros/log/4fab168e-2e3c-11ef-bfeb-0242ac110003/roslaunch-9b265cefca29-115.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/slamhive/aloam_velodyne_HDL_64.launch
[1mstarted roslaunch server http://9b265cefca29:45605/[0m

SUMMARY
========

PARAMETERS
 * /mapping_line_resolution: 0.4
 * /mapping_plane_resolution: 0.8
 * /mapping_skip_frame: 1
 * /minimum_range: 5.0
 * /rosdistro: kinetic
 * /rosversion: 1.12.17
 * /scan_line: 64

NODES
  /
    alaserMapping (aloam_velodyne/alaserMapping)
    alaserOdometry (aloam_velodyne/alaserOdometry)
    ascanRegistration (aloam_velodyne/ascanRegistration)

auto-starting new master
[1mprocess[master]: started with pid [126][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/aloam_velodyne_HDL_64.launch http://localhost:11311
[1msetting /run_id to 4fab168e-2e3c-11ef-bfeb-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [139][0m
started core service [/rosout]
[1mprocess[ascanRegistration-2]: started with pid [142][0m
[1mprocess[alaserOdometry-3]: started with pid [157][0m
[1mprocess[alaserMapping-4]: started with pid [158][0m
Mapping 10 Hz 
line resolution 0.400000 plane resolution 0.800000 
scan line number 64 
rosbag play /slamhive/dataset/kitti_2011_09_30_drive_0028_synced_full.bag  --clock 
[0m[ INFO] [1718802213.937308364]: Saving as binary PCD[0m
[0m[ INFO] [1718802213.940548241]: Listening for incoming data on topic /laser_cloud_map[0m
[0m[ INFO] [1718802214.014483838]: Opening /slamhive/dataset/kitti_2011_09_30_drive_0028_synced_full.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1317357761.829826   Duration: 0.000000 / 538.070410   Delay: 401444452.59 
points size 81868 
prepare time 31.669069 
sort q time 3.852359 
seperate points time 12.894407 
scan registration time 48.868128 ms *************
Initialization finished 
publication time 14.455415 ms 
whole laserOdometry time 14.488165 ms 
 
map prepare time 1.900671 ms
map corner num 0  surf num 0 
points size 82933 
prepare time 12.978346 
sort q time 3.829059 
seperate points time 9.107158 
scan registration time 25.308499 ms *************
data association time 12.088284 ms 
solver time 16.358636 ms 
data association time 13.625769 ms 
solver time 12.579693 ms 
optimization twice time 55.664786 
publication time 8.883298 ms 
whole laserOdometry time 64.567148 ms 
 
map prepare time 1.708965 ms
map corner num 2457  surf num 2525 
points size 84323 
prepare time 13.637443 
mapping data assosiation time 16.347292 ms 
sort q time 3.910334 
seperate points time 9.260806 
scan registration time 26.062543 ms *************
mapping solver time 18.118817 ms 
data association time 12.820923 ms 
mapping data assosiation time 15.565373 ms 
solver time 13.084798 ms 
mapping solver time 11.996131 ms 
mapping optimization time 63.826534 
add points time 0.236842 ms
filter time 0.671299 ms 
mapping pub time 1.043848 ms 
whole mapping time 67.521188 ms +++++
data association time 13.054327 ms 
solver time 9.961649 ms 
optimization twice time 49.702699 
publication time 7.884693 ms 
whole laserOdometry time 57.604825 ms 
 
map prepare time 2.333103 ms
map corner num 3413  surf num 2877 
points size 86053 
prepare time 13.614099 
mapping data assosiation time 17.683804 ms 
sort q time 4.190643 
seperate points time 9.910275 
scan registration time 27.189092 ms *************
mapping solver time 14.203236 ms 
data association time 13.069517 ms 
mapping data assosiation time 16.724557 ms 
mapping solver time 8.139247 ms 
mapping optimization time 59.152139 
add points time 0.302929 ms
solver time 12.750862 ms 
filter time 0.736729 ms 
mapping pub time 1.074519 ms 
whole mapping time 63.646325 ms +++++
data association time 12.797690 ms 
solver time 7.491665 ms 
optimization twice time 46.920128 
publication time 6.823504 ms 
whole laserOdometry time 53.771812 ms 
 
map prepare time 1.810445 ms
map corner num 4151  surf num 3174 
build tree time 1.649003 ms 
mapping data assosiation time 15.512371 ms 
points size 87075 
prepare time 13.499880 
mapping solver time 11.492026 ms 
sort q time 4.091586 
seperate points time 9.874842 
scan registration time 26.981110 ms *************
mapping data assosiation time 17.796117 ms 
mapping solver time 8.815605 ms 
mapping optimization time 56.292081 
add points time 0.221370 ms
data association time 13.757250 ms 
filter time 1.123969 ms 
mapping pub time 1.179818 ms 
whole mapping time 60.696899 ms +++++
solver time 8.499374 ms 
data association time 12.556102 ms 
solver time 7.552407 ms 
optimization twice time 43.196471 
publication time 8.468619 ms 
whole laserOdometry time 51.682754 ms 
 
map prepare time 2.075787 ms
map corner num 4814  surf num 3384 
build tree time 1.755945 ms 
points size 89649 
mapping data assosiation time 20.475369 ms 
prepare time 14.156509 
mapping solver time 12.119952 ms 
sort q time 4.492930 
seperate points time 10.619100 
scan registration time 28.453933 ms *************
mapping data assosiation time 18.021625 ms 
mapping solver time 9.353710 ms 
mapping optimization time 62.957440 
add points time 0.215836 ms
filter time 1.180801 ms 
mapping pub time 1.171806 ms 
whole mapping time 67.646436 ms +++++
solver time 11.317452 ms 
data association time 12.595287 ms 
solver time 7.441803 ms 
optimization twice time 45.148232 
publication time 7.550244 ms 
whole laserOdometry time 52.714585 ms 
 
map prepare time 1.724701 ms
map corner num 5423  surf num 3546 
build tree time 2.086525 ms 
mapping data assosiation time 20.155357 ms 
points size 90579 
prepare time 19.252789 
mapping solver time 17.333229 ms 
sort q time 5.454097 
seperate points time 13.308055 
scan registration time 37.635147 ms *************
mapping data assosiation time 19.761247 ms 
mapping solver time 7.895953 ms 
mapping optimization time 68.465014 
data association time 13.637005 ms 
add points time 0.282393 ms
filter time 1.207925 ms 
mapping pub time 1.220993 ms 
whole mapping time 72.944038 ms +++++
solver time 8.197207 ms 
data association time 13.033188 ms 
solver time 8.536981 ms 
optimization twice time 44.294209 
publication time 8.051984 ms 
whole laserOdometry time 52.368617 ms 
 
map prepare time 2.027162 ms
map corner num 5997  surf num 3739 
build tree time 1.872062 ms 
points size 90579 
prepare time 13.848824 
mapping data assosiation time 17.758195 ms 
sort q time 4.670859 
seperate points time 11.253260 
scan registration time 28.907790 ms *************
mapping solver time 17.665167 ms 
data association time 14.628826 ms 
mapping data assosiation time 15.833342 ms 
solver time 11.583288 ms 
mapping solver time 11.321259 ms 
mapping optimization time 65.454642 
add points time 0.206319 ms
filter time 0.856064 ms 
mapping pub time 1.180701 ms 
whole mapping time 69.778963 ms +++++
data association time 15.481459 ms 
solver time 9.817626 ms 
optimization twice time 52.442134 
publication time 8.470488 ms 
whole laserOdometry time 60.934980 ms 
 
map prepare time 2.169609 ms
map corner num 6557  surf num 3923 
points size 90849 
prepare time 20.142858 
mapping data assosiation time 24.030338 ms 
sort q time 5.255383 
seperate points time 12.956025 
scan registration time 38.094090 ms *************
mapping solver time 16.269655 ms 
data association time 13.804050 ms 
mapping data assosiation time 17.180422 ms 
solver time 8.389708 ms 
mapping solver time 8.479943 ms 
mapping optimization time 69.140033 
add points time 0.261210 ms
filter time 1.008786 ms 
mapping pub time 1.117529 ms 
whole mapping time 73.731878 ms +++++
data association time 14.011724 ms 
solver time 8.075672 ms 
optimization twice time 45.247636 
publication time 8.294006 ms 
whole laserOdometry time 53.562744 ms 
 
build tree time 2.043072 ms 
points size 90931 
prepare time 14.086727 
mapping data assosiation time 17.128052 ms 
sort q time 4.884646 
seperate points time 11.609611 
mapping solver time 13.456890 ms 
scan registration time 29.422220 ms *************
data association time 13.710314 ms 
mapping data assosiation time 18.918514 ms 
solver time 8.198139 ms 
mapping solver time 9.041939 ms 
mapping optimization time 61.805553 
add points time 0.217397 ms
filter time 0.992204 ms 
mapping pub time 1.065798 ms 
whole mapping time 66.021906 ms +++++
data association time 13.651500 ms 
solver time 5.366649 ms 
optimization twice time 41.712531 
publication time 8.699191 ms 
whole laserOdometry time 50.430046 ms 
 
map prepare time 1.837009 ms
map corner num 7715  surf num 4402 
build tree time 2.419130 ms 
mapping data assosiation time 17.718945 ms 
points size 90805 
prepare time 14.837622 
mapping solver time 11.309815 ms 
sort q time 4.544741 
seperate points time 11.239312 
mapping data assosiation time 19.234750 ms 
mapping solver time 8.539763 ms 
mapping optimization time 60.347627 
add points time 0.252264 ms
filter time 1.281471 ms 
mapping pub time 1.164755 ms 
whole mapping time 64.925828 ms +++++
data association time 16.397372 ms 
solver time 10.725364 ms 
data association time 14.582893 ms 
solver time 8.545056 ms 
optimization twice time 51.200736 
publication time 9.593434 ms 
whole laserOdometry time 60.817491 ms 
 
map prepare time 2.175763 ms
map corner num 8276  surf num 4601 
build tree time 2.999328 ms 
points size 90460 
prepare time 15.349621 
mapping data assosiation time 18.535888 ms 
sort q time 4.615874 
seperate points time 11.197822 
scan registration time 31.566217 ms *************
mapping solver time 14.281733 ms 
data association time 13.594980 ms 
mapping data assosiation time 17.961863 ms 
solver time 10.393104 ms 
mapping solver time 9.030973 ms 
mapping optimization time 64.104055 
add points time 0.224455 ms
filter time 1.887436 ms 
mapping pub time 1.359733 ms 
whole mapping time 69.796133 ms +++++
data association time 15.157473 ms 
solver time 7.514714 ms 
optimization twice time 47.485219 
publication time 7.815389 ms 
whole laserOdometry time 55.319875 ms 
 
map prepare time 2.832247 ms
map corner num 8799  surf num 4786 
build tree time 3.370262 ms 
points size 87818 
prepare time 15.128845 
mapping data assosiation time 21.731157 ms 
sort q time 4.559073 
seperate points time 11.030027 
scan registration time 30.546515 ms *************
mapping solver time 12.004709 ms 
data association time 13.609555 ms 
mapping data assosiation time 18.104409 ms 
solver time 7.641460 ms 
mapping solver time 9.049335 ms 
mapping optimization time 65.352574 
add points time 0.231785 ms
filter time 1.948535 ms 
mapping pub time 1.112257 ms 
whole mapping time 71.524010 ms +++++
data association time 15.474891 ms 
solver time 9.724785 ms 
optimization twice time 47.145195 
publication time 7.933098 ms 
whole laserOdometry time 55.108582 ms 
 
map prepare time 2.479451 ms
map corner num 9325  surf num 4969 
build tree time 2.934602 ms 
points size 84809 
mapping data assosiation time 18.977005 ms 
mapping solver time 11.631310 ms 
sort q time 4.286531 
seperate points time 10.365911 
scan registration time 27.988724 ms *************
mapping data assosiation time 19.199822 ms 
data association time 15.011541 ms 
mapping solver time 8.696454 ms 
mapping optimization time 62.666417 
add points time 0.266874 ms
filter time 2.187030 ms 
mapping pub time 1.117350 ms 
whole mapping time 68.753256 ms +++++
solver time 13.655929 ms 
data association time 14.368594 ms 
solver time 8.732700 ms 
optimization twice time 52.694026 
publication time 8.893215 ms 
whole laserOdometry time 61.607073 ms 
 
map prepare time 2.180755 ms
map corner num 9866  surf num 5158 
build tree time 3.898215 ms 
points size 83607 
prepare time 18.979520 
mapping data assosiation time 24.631849 ms 
sort q time 5.216131 
seperate points time 12.998360 
scan registration time 37.068758 ms *************
mapping solver time 18.399121 ms 
data association time 15.335184 ms 
mapping data assosiation time 18.155646 ms 
solver time 8.157451 ms 
mapping solver time 9.322277 ms 
mapping optimization time 75.676220 
add points time 0.243470 ms
filter time 1.703399 ms 
mapping pub time 1.054690 ms 
whole mapping time 80.904262 ms +++++
data association time 15.374753 ms 
solver time 5.196521 ms 
publication time 7.363924 ms 
whole laserOdometry time 52.184355 ms 
 
map prepare time 2.157736 ms
map corner num 10368  surf num 5309 
points size 82328 
prepare time 12.729426 
mapping data assosiation time 19.420649 ms 
sort q time 3.526948 
seperate points time 8.835874 
scan registration time 25.220670 ms *************
mapping solver time 19.221976 ms 
data association time 25.136761 ms 
mapping data assosiation time 24.000897 ms 
solver time 14.115458 ms 
mapping solver time 10.770121 ms 
mapping optimization time 77.954284 
add points time 0.282040 ms
data association time 14.069329 ms 
solver time 8.132453 ms 
publication time 8.619463 ms 
whole laserOdometry time 70.864685 ms 
 
map prepare time 1.913141 ms
map corner num 10876  surf num 5483 
build tree time 2.669818 ms 
points size 81765 
sort q time 4.125959 
seperate points time 10.253194 
scan registration time 27.944620 ms *************
mapping data assosiation time 19.701440 ms 
mapping solver time 15.588951 ms 
data association time 19.185067 ms 
solver time 11.752361 ms 
mapping data assosiation time 20.571824 ms 
mapping solver time 11.835302 ms 
mapping optimization time 71.719914 
add points time 0.287172 ms
filter time 1.854632 ms 
data association time 21.345275 ms 
solver time 7.673076 ms 
publication time 10.387363 ms 
whole laserOdometry time 71.352987 ms 
 
map prepare time 2.383601 ms
map corner num 11359  surf num 5628 
points size 81616 
prepare time 14.659142 
sort q time 3.556938 
seperate points time 8.953126 
scan registration time 27.642018 ms *************
mapping solver time 13.246412 ms 
data association time 15.359176 ms 
solver time 11.184835 ms 
mapping data assosiation time 20.497966 ms 
mapping solver time 9.315373 ms 
data association time 14.445453 ms 
mapping optimization time 67.122471 
add points time 0.243356 ms
filter time 2.221408 ms 
mapping pub time 1.019293 ms 
whole mapping time 73.045303 ms +++++
publication time 9.519068 ms 
whole laserOdometry time 60.268308 ms 
 
map prepare time 2.221028 msbuild tree time 3.887188 ms 
points size 81236 
prepare time 12.937854 
mapping data assosiation time 20.028426 ms 
sort q time 4.301872 
seperate points time 10.335951 
scan registration time 27.095844 ms *************
mapping solver time 14.751485 ms 
data association time 15.830483 ms 
mapping data assosiation time 20.856587 ms 
mapping solver time 8.642770 ms 
mapping optimization time 69.295223 
add points time 0.238815 ms
filter time 1.494977 ms 
data association time 14.358072 ms 
solver time 7.520220 ms 
optimization twice time 48.298273 
publication time 7.252388 ms 
whole laserOdometry time 55.569068 ms 
 
map prepare time 1.932563 ms
map corner num 12290  surf num 5910 
build tree time 3.205231 ms 
mapping data assosiation time 20.857373 ms 
points size 80233 
prepare time 17.208680 
mapping solver time 19.551571 ms 
sort q time 4.506567 
seperate points time 11.346022 
mapping data assosiation time 19.831228 ms 
data association time 14.648927 ms 
mapping solver time 10.462649 ms 
mapping optimization time 75.043956 
add points time 0.269998 ms
solver time 12.400312 ms 
data association time 14.317894 ms 
solver time 8.653179 ms 
optimization twice time 50.912082 
map prepare time 2.207581 ms
map corner num 12764  surf num 6042 
points size 78502 
prepare time 13.795323 
sort q time 4.328076 
seperate points time 10.373887 
mapping data assosiation time 21.329300 ms 
mapping solver time 16.769272 ms 
data association time 24.448089 ms 
mapping data assosiation time 23.371848 ms 
solver time 12.715054 ms 
mapping solver time 16.698769 ms 
filter time 2.073923 ms 
mapping pub time 1.244629 ms 
whole mapping time 89.297122 ms +++++
data association time 19.229595 ms 
solver time 8.012404 ms 
publication time 7.449479 ms 
whole laserOdometry time 72.793107 ms 
 
points size 74971 
prepare time 12.386910 
build tree time 3.866386 ms 
sort q time 4.069945 
seperate points time 9.882473 
mapping data assosiation time 22.991558 ms 
data association time 23.830923 ms 
mapping solver time 19.576601 ms 
solver time 15.676921 ms 
mapping data assosiation time 18.711354 ms 
data association time 14.272115 ms 
mapping solver time 8.354104 ms 
mapping optimization time 74.735529 
add points time 0.251210 ms
filter time 2.271746 ms 
publication time 9.153652 ms 
whole laserOdometry time 73.367733 ms 
 
map prepare time 2.798416 ms
map corner num 13715  surf num 6306 
points size 72440 
scan registration time 24.345211 ms *************
mapping data assosiation time 21.531936 ms 
data association time 20.961412 ms 
solver time 9.808331 ms 
mapping data assosiation time 20.076324 ms 
data association time 14.094522 ms 
mapping solver time 8.368586 ms 
mapping optimization time 71.897412 
add points time 0.464879 ms
solver time 8.341004 ms 
optimization twice time 54.096420 
publication time 6.732116 ms 
whole laserOdometry time 60.846050 ms 
 
map prepare time 2.145984 ms
map corner num 14181  surf num 6421 
points size 70906 
prepare time 16.409900 
mapping data assosiation time 22.836993 ms 
sort q time 3.909324 
seperate points time 10.017527 
scan registration time 30.510195 ms *************
mapping solver time 14.475080 ms 
mapping data assosiation time 15.774042 ms 
data association time 12.877019 ms 
mapping solver time 7.665748 ms 
mapping optimization time 66.233529 
add points time 0.273579 ms
filter time 1.893755 ms 
mapping pub time 0.858045 ms 
whole mapping time 71.449243 ms +++++
solver time 11.025072 ms 
data association time 12.971692 ms 
solver time 8.119728 ms 
publication time 6.318252 ms 
whole laserOdometry time 52.063904 ms 
 
map prepare time 1.899331 ms
map corner num 14658  surf num 6544 
build tree time 4.770014 ms 
points size 70109 
prepare time 11.245427 
sort q time 3.043188 
seperate points time 7.456107 
mapping solver time 12.107135 ms 
data association time 12.801156 ms 
solver time 10.822418 ms 
filter time 2.713536 ms 
mapping pub time 0.890965 ms 
whole mapping time 68.144179 ms +++++
data association time 13.341715 ms 
solver time 7.580587 ms 
optimization twice time 45.380158 
publication time 6.530728 ms 
whole laserOdometry time 51.927875 ms 
 
map prepare time 1.591686 ms
map corner num 15085  surf num 6660 
build tree time 3.727234 ms 
mapping data assosiation time 15.669026 ms 
points size 70066 
mapping solver time 12.406631 ms 
prepare time 12.460094 
sort q time 3.512318 
seperate points time 8.795843 
scan registration time 24.376077 ms *************
mapping data assosiation time 18.253278 ms 
mapping solver time 7.351788 ms 
mapping optimization time 58.450861 
add points time 0.245415 ms
data association time 13.665168 ms 
filter time 2.200103 ms 
mapping pub time 1.019227 ms 
whole mapping time 63.554065 ms +++++
solver time 11.637688 ms 
data association time 12.890674 ms 
solver time 8.732496 ms 
publication time 6.717043 ms 
whole laserOdometry time 54.485864 ms 
 
map prepare time 1.860309 ms
map corner num 15529  surf num 6763 
build tree time 4.113309 ms 
mapping data assosiation time 17.417031 ms 
points size 71159 
prepare time 11.381737 
mapping solver time 16.064809 ms 
scan registration time 24.474294 ms *************
mapping data assosiation time 17.506534 ms 
data association time 13.637976 ms 
mapping solver time 8.054715 ms 
mapping optimization time 64.279735 
add points time 0.270271 ms
filter time 1.654569 ms 
mapping pub time 1.050840 ms 
whole mapping time 69.160166 ms +++++
solver time 13.315375 ms 
data association time 13.119650 ms 
solver time 8.749244 ms 
optimization twice time 49.750519 
publication time 7.683087 ms 
whole laserOdometry time 57.454794 ms 
 
map prepare time 1.710722 ms
map corner num 16014  surf num 6874 
build tree time 4.481930 ms 
points size 72975 
mapping data assosiation time 19.494348 ms 
prepare time 13.661346 
sort q time 4.077857 
seperate points time 10.185912 
scan registration time 28.064450 ms *************
mapping solver time 18.806140 ms 
mapping data assosiation time 18.739604 ms 
mapping solver time 10.400787 ms 
solver time 13.457870 ms 
data association time 13.389964 ms 
solver time 8.411219 ms 
publication time 6.615330 ms 
whole laserOdometry time 60.468541 ms 
 
map prepare time 1.858883 ms
map corner num 16474  surf num 7000 
build tree time 4.892225 ms 
points size 76004 
prepare time 12.007414 
mapping data assosiation time 18.191066 ms 
sort q time 4.042009 
seperate points time 9.750328 
scan registration time 25.371329 ms *************
mapping solver time 14.132681 ms 
data association time 13.434814 ms 
mapping data assosiation time 16.505509 ms 
solver time 10.765208 ms 
mapping solver time 10.283555 ms 
mapping optimization time 64.975726 
add points time 0.252705 ms
filter time 1.730057 ms 
mapping pub time 0.852474 ms 
whole mapping time 69.724650 ms +++++
data association time 13.465441 ms 
solver time 7.939694 ms 
optimization twice time 46.499504 
publication time 7.032062 ms 
whole laserOdometry time 53.548755 ms 
 
map prepare time 2.311017 ms
map corner num 16937  surf num 7120 
build tree time 4.058946 ms 
mapping data assosiation time 16.196861 ms 
points size 79318 
mapping solver time 12.113163 ms 
sort q time 3.848176 
seperate points time 9.158186 
scan registration time 25.511002 ms *************
mapping data assosiation time 16.777222 ms 
mapping solver time 7.038481 ms 
solver time 11.891110 ms 
data association time 12.309150 ms 
solver time 7.769263 ms 
optimization twice time 46.177660 
publication time 6.102105 ms 
whole laserOdometry time 52.310832 ms 
 
map prepare time 1.686451 ms
map corner num 17396  surf num 7226 
mapping data assosiation time 16.047262 ms 
points size 83489 
prepare time 12.838793 
mapping solver time 14.466010 ms 
sort q time 4.650170 
seperate points time 11.002732 
mapping data assosiation time 17.161861 ms 
mapping solver time 7.893375 ms 
solver time 10.902111 ms 
data association time 13.189856 ms 
solver time 8.481614 ms 
optimization twice time 47.948072 
publication time 7.642378 ms 
whole laserOdometry time 55.611104 ms 
 
map prepare time 1.605526 ms
map corner num 17769  surf num 7324 
build tree time 5.065328 ms 
points size 84994 
mapping data assosiation time 17.472050 ms 
sort q time 4.059977 
seperate points time 9.694058 
mapping solver time 13.221748 ms 
scan registration time 26.797924 ms *************
mapping data assosiation time 16.997394 ms 
data association time 12.494818 ms 
mapping solver time 10.815143 ms 
mapping pub time 1.339821 ms 
whole mapping time 70.197016 ms +++++
solver time 11.094500 ms 
data association time 12.264208 ms 
solver time 7.679386 ms 
optimization twice time 44.374685 
publication time 6.142646 ms 
whole laserOdometry time 50.531486 ms 
 
map prepare time 1.581062 ms
map corner num 18202  surf num 7444 
build tree time 4.096405 ms 
mapping data assosiation time 15.727519 ms 
prepare time 13.121700 
mapping solver time 11.136151 ms 
sort q time 5.030930 
seperate points time 11.549771 
scan registration time 28.513086 ms *************
mapping data assosiation time 18.839816 ms 
mapping solver time 8.261810 ms 
mapping optimization time 59.144367 
add points time 0.269688 ms
data association time 13.675395 ms 
filter time 2.240239 ms 
solver time 11.043554 ms 
data association time 12.330319 ms 
solver time 7.524959 ms 
optimization twice time 45.361067 
publication time 6.592426 ms 
whole laserOdometry time 51.970304 ms 
 
map prepare time 1.630262 ms
map corner num 18659  surf num 7557 
build tree time 4.519224 ms 
mapping data assosiation time 16.492111 ms 
points size 86958 
prepare time 13.580248 
mapping solver time 10.887664 ms 
sort q time 5.582793 
seperate points time 12.691815 
scan registration time 29.881999 ms *************
mapping data assosiation time 18.325357 ms 
mapping solver time 7.890755 ms 
filter time 2.858768 ms 
mapping pub time 1.080177 ms 
whole mapping time 65.215945 ms +++++
data association time 14.126887 ms 
solver time 9.945027 ms 
data association time 12.709563 ms 
solver time 7.577510 ms 
publication time 6.673066 ms 
whole laserOdometry time 51.901069 ms 
 
map prepare time 1.723615 ms
map corner num 19111  surf num 7639 
build tree time 4.793076 ms 
points size 87533 
mapping data assosiation time 18.740680 ms 
sort q time 5.190398 
seperate points time 11.749065 
scan registration time 29.209246 ms *************
mapping solver time 16.155160 ms 
mapping data assosiation time 16.233097 ms 
mapping solver time 10.794844 ms 
data association time 12.336214 ms 
solver time 8.334289 ms 
optimization twice time 46.526103 
publication time 8.699874 ms 
whole laserOdometry time 55.247829 ms 
 
map prepare time 1.824697 ms
map corner num 19607  surf num 7758 
build tree time 4.719212 ms 
points size 90752 
prepare time 13.952437 
mapping data assosiation time 18.010439 ms 
sort q time 4.132215 
seperate points time 9.880907 
mapping solver time 14.396687 ms 
data association time 13.852476 ms 
mapping data assosiation time 16.832933 ms 
solver time 11.404554 ms 
mapping solver time 10.624179 ms 
mapping optimization time 65.620388 
add points time 0.267672 ms
filter time 2.198390 ms 
data association time 13.912495 ms 
solver time 10.853613 ms 
optimization twice time 50.818579 
publication time 7.132823 ms 
whole laserOdometry time 57.970804 ms 
 
map prepare time 1.801177 ms
map corner num 20153  surf num 8000 
build tree time 5.305217 ms 
points size 93142 
prepare time 21.266486 
sort q time 5.277047 
seperate points time 12.855875 
scan registration time 39.511844 ms *************
mapping solver time 18.756875 ms 
mapping data assosiation time 17.719031 ms 
data association time 14.337277 ms 
mapping solver time 11.307368 ms 
mapping pub time 1.386009 ms 
whole mapping time 86.311247 ms +++++
solver time 16.547991 ms 
data association time 13.996567 ms 
solver time 9.454862 ms 
publication time 7.735603 ms 
whole laserOdometry time 63.092894 ms 
 
prepare time 15.627694 
map prepare time 2.733017 ms
map corner num 20752  surf num 8294 
build tree time 6.776322 ms 
sort q time 5.748371 
seperate points time 13.721183 
scan registration time 34.850612 ms *************
mapping data assosiation time 21.095142 ms 
data association time 15.167146 ms 
mapping solver time 12.553000 ms 
solver time 12.389750 ms 
mapping data assosiation time 19.082666 ms 
data association time 16.712568 ms 
mapping solver time 13.073449 ms 
mapping optimization time 73.713533 
add points time 0.292803 ms
filter time 2.243107 ms 
mapping pub time 1.294305 ms 
whole mapping time 80.332049 ms +++++
publication time 9.421786 ms 
whole laserOdometry time 65.377267 ms 
 
map prepare time 1.977289 ms
map corner num 21358  surf num 8614 
points size 93005 
build tree time 5.071809 ms 
sort q time 5.117060 
seperate points time 11.997693 
scan registration time 30.720444 ms *************
mapping data assosiation time 19.005410 ms 
mapping solver time 13.268115 ms 
solver time 10.120834 ms 
mapping data assosiation time 18.312026 ms 
data association time 14.185846 ms 
mapping solver time 11.870782 ms 
mapping optimization time 68.771295 
add points time 0.328620 ms
solver time 8.104129 ms 
mapping pub time 1.574877 ms 
whole mapping time 75.403921 ms +++++
optimization twice time 47.069816 
publication time 7.942980 ms 
whole laserOdometry time 55.063946 ms 
 
map prepare time 2.381883 ms
map corner num 21941  surf num 8858 
points size 93946 
prepare time 20.652910 
sort q time 5.113744 
seperate points time 12.000153 
mapping solver time 13.682078 ms 
scan registration time 36.773845 ms *************
mapping data assosiation time 19.458987 ms 
data association time 14.343060 ms 
mapping solver time 13.125966 ms 
mapping optimization time 77.742930 
add points time 0.373017 ms
data association time 13.331646 ms 
solver time 8.088123 ms 
optimization twice time 49.085128 
publication time 8.954126 ms 
whole laserOdometry time 58.059350 ms 
 
points size 93967 
map prepare time 2.287893 ms
map corner num 22553  surf num 9136 
prepare time 14.896772 
sort q time 5.344845 
seperate points time 12.366502 
mapping data assosiation time 20.300133 ms 
mapping solver time 12.958605 ms 
data association time 14.406374 ms 
solver time 11.016297 ms 
mapping data assosiation time 20.001882 ms 
mapping solver time 11.807841 ms 
mapping optimization time 71.849716 
add points time 0.312175 ms
data association time 14.260356 ms 
solver time 8.527246 ms 
optimization twice time 49.024510 
publication time 9.926234 ms 
whole laserOdometry time 58.968512 ms 
 
map prepare time 1.991387 ms
map corner num 23138  surf num 9403 
build tree time 5.520561 ms 
points size 93522 
sort q time 4.370387 
seperate points time 10.029084 
scan registration time 29.332530 ms *************
mapping data assosiation time 21.373977 ms 
mapping solver time 14.218361 ms 
data association time 13.299001 ms 
mapping data assosiation time 18.960345 ms 
solver time 13.116585 ms 
mapping solver time 13.516250 ms 
mapping optimization time 74.768409 
add points time 0.383350 ms
data association time 12.992005 ms 
filter time 2.951037 ms 
solver time 8.839265 ms 
optimization twice time 49.137719 
publication time 12.647770 ms 
whole laserOdometry time 61.806695 ms 
 
map prepare time 2.482916 ms
map corner num 23708  surf num 9620 
points size 93247 
build tree time 5.995929 ms 
prepare time 15.471644 
sort q time 4.955651 
seperate points time 11.468033 
mapping data assosiation time 22.139458 ms 
mapping solver time 15.820442 ms 
data association time 15.248284 ms 
mapping data assosiation time 24.534142 ms 
data association time 15.202456 ms 
mapping solver time 12.906796 ms 
mapping optimization time 82.839719 
add points time 0.364180 ms
mapping pub time 1.443440 ms 
whole mapping time 90.424611 ms +++++
solver time 11.367997 ms 
optimization twice time 53.835489 
publication time 10.581275 ms 
whole laserOdometry time 64.434497 ms 
 
points size 90624 
map prepare time 2.600780 ms
map corner num 24252  surf num 9840 
prepare time 15.694318 
build tree time 8.112515 ms 
sort q time 5.568201 
seperate points time 13.433932 
scan registration time 34.638316 ms *************
mapping data assosiation time 23.547991 ms 
data association time 14.406327 ms 
mapping solver time 10.703300 ms 
solver time 7.810981 ms 
mapping data assosiation time 19.239653 ms 
data association time 13.964934 ms 
mapping solver time 8.440830 ms 
mapping optimization time 71.034635 
add points time 0.296641 ms
solver time 8.596556 ms 
optimization twice time 45.636799 
filter time 3.618611 ms 
publication time 7.103999 ms 
whole laserOdometry time 52.759303 ms 
 
map prepare time 1.970933 ms
map corner num 24777  surf num 10021 
build tree time 6.454506 ms 
points size 88517 
prepare time 20.241376 
mapping data assosiation time 26.086968 ms 
scan registration time 37.442140 ms *************
mapping solver time 15.367771 ms 
mapping data assosiation time 18.540438 ms 
data association time 13.273784 ms 
mapping solver time 8.419485 ms 
mapping optimization time 76.002432 
add points time 0.321638 ms
data association time 12.775832 ms 
solver time 8.281238 ms 
optimization twice time 46.218328 
publication time 7.679767 ms 
whole laserOdometry time 53.911150 ms 
 
map prepare time 2.210804 ms
map corner num 25264  surf num 10181 
build tree time 6.265102 ms 
points size 87391 
prepare time 13.888746 
sort q time 4.414629 
seperate points time 10.331035 
scan registration time 27.958684 ms *************
mapping solver time 10.671401 ms 
data association time 13.553116 ms 
mapping data assosiation time 18.211822 ms 
solver time 10.952951 ms 
mapping solver time 8.225328 ms 
filter time 2.642343 ms 
mapping pub time 1.114786 ms 
whole mapping time 72.163683 ms +++++
solver time 7.503845 ms 
publication time 6.044689 ms 
whole laserOdometry time 53.602689 ms 
 
build tree time 7.546580 ms 
points size 85088 
prepare time 14.573422 
mapping data assosiation time 18.782906 ms 
scan registration time 28.869871 ms *************
mapping solver time 14.744910 ms 
data association time 13.813586 ms 
solver time 8.435834 ms 
data association time 12.892262 ms 
mapping solver time 10.675022 ms 
mapping optimization time 72.318933 
add points time 0.315408 ms
filter time 3.581590 ms 
mapping pub time 1.448398 ms 
whole mapping time 79.719021 ms +++++
publication time 6.945424 ms 
whole laserOdometry time 51.988809 ms 
 
map prepare time 1.672476 ms
map corner num 26177  surf num 10471 
build tree time 6.903015 ms 
mapping data assosiation time 19.410606 ms 
prepare time 15.807063 
mapping solver time 14.932652 ms 
sort q time 4.454198 
seperate points time 10.147898 
mapping data assosiation time 18.659423 ms 
data association time 13.359151 ms 
mapping solver time 9.752723 ms 
mapping optimization time 70.587138 
add points time 0.293559 ms
filter time 2.679496 ms 
mapping pub time 1.005962 ms 
whole mapping time 76.283411 ms +++++
solver time 11.059044 ms 
data association time 11.868810 ms 
solver time 8.683114 ms 
optimization twice time 45.686183 
publication time 6.065628 ms 
whole laserOdometry time 51.764288 ms 
 
map prepare time 1.722868 ms
map corner num 26587  surf num 10583 
build tree time 6.862321 ms 
points size 81076 
prepare time 12.645107 
mapping data assosiation time 15.858748 ms 
sort q time 3.976779 
seperate points time 9.313690 
scan registration time 24.961961 ms *************
data association time 12.058376 ms 
mapping data assosiation time 15.763297 ms 
mapping solver time 8.074036 ms 
mapping optimization time 58.040089 
add points time 0.314331 ms
filter time 2.590751 ms 
data association time 12.328075 ms 
solver time 8.574452 ms 
publication time 6.014204 ms 
whole laserOdometry time 54.413069 ms 
 
map prepare time 1.734913 ms
map corner num 26997  surf num 10667 
build tree time 6.459984 ms 
mapping data assosiation time 15.645186 ms 
points size 78153 
prepare time 12.158468 
mapping solver time 9.909153 ms 
sort q time 4.024452 
seperate points time 9.287728 
mapping data assosiation time 14.992991 ms 
mapping solver time 6.883334 ms 
mapping optimization time 54.780414 
add points time 0.279977 ms
data association time 11.549097 ms 
solver time 8.544504 ms 
optimization twice time 43.657175 
publication time 6.750687 ms 
whole laserOdometry time 50.430522 ms 
 
map prepare time 1.683703 ms
map corner num 27375  surf num 10755 
mapping data assosiation time 18.136445 ms 
points size 77242 
prepare time 17.118831 
mapping solver time 17.671650 ms 
sort q time 4.436667 
seperate points time 10.754002 
mapping data assosiation time 16.758492 ms 
data association time 11.844232 ms 
mapping solver time 11.150162 ms 
mapping optimization time 71.707784 
add points time 0.313818 ms
solver time 11.596191 ms 
data association time 11.262732 ms 
solver time 8.814592 ms 
optimization twice time 44.237198 
publication time 6.831980 ms 
whole laserOdometry time 51.086252 ms 
 
map prepare time 2.124834 ms
map corner num 27716  surf num 10853 
build tree time 7.300619 ms 
points size 77416 
prepare time 13.173910 
mapping data assosiation time 16.324544 ms 
sort q time 3.788030 
seperate points time 9.051156 
mapping data assosiation time 18.764072 ms 
data association time 18.722743 ms 
mapping solver time 14.592795 ms 
mapping optimization time 67.291031 
add points time 0.316271 ms
filter time 3.442612 ms 
solver time 16.571441 ms 
mapping pub time 1.705951 ms 
whole mapping time 74.920750 ms +++++
data association time 11.431618 ms 
solver time 8.846059 ms 
publication time 5.704737 ms 
whole laserOdometry time 62.314456 ms 
 
map prepare time 1.647762 ms
map corner num 28080  surf num 10956 
build tree time 7.341067 ms 
points size 78864 
prepare time 12.586556 
sort q time 3.858499 
seperate points time 8.883066 
mapping solver time 11.841364 ms 
data association time 12.215015 ms 
mapping solver time 6.966090 ms 
mapping optimization time 57.914088 
add points time 0.410988 ms
solver time 10.952943 ms 
data association time 11.896767 ms 
solver time 8.672098 ms 
publication time 6.198790 ms 
whole laserOdometry time 50.834191 ms 
 
build tree time 6.517649 ms 
mapping data assosiation time 14.628294 ms 
points size 79779 
prepare time 13.821629 
mapping solver time 14.975859 ms 
sort q time 4.046365 
seperate points time 9.279003 
scan registration time 25.984747 ms *************
mapping data assosiation time 17.444960 ms 
mapping solver time 9.356516 ms 
mapping optimization time 63.931073 
add points time 0.297650 ms
filter time 2.603020 ms 
solver time 7.645026 ms 
data association time 11.544096 ms 
solver time 7.871225 ms 
optimization twice time 40.208376 
publication time 5.824478 ms 
whole laserOdometry time 46.064603 ms 
 
map prepare time 1.628164 ms
map corner num 28800  surf num 11150 
build tree time 7.088689 ms 
mapping data assosiation time 15.564704 ms 
points size 80882 
prepare time 12.345190 
sort q time 5.233284 
seperate points time 12.096456 
scan registration time 27.327586 ms *************
mapping data assosiation time 17.926595 ms 
data association time 12.356237 ms 
mapping solver time 7.590595 ms 
mapping optimization time 59.866956 
add points time 0.318662 ms
solver time 11.139454 ms 
data association time 11.955338 ms 
solver time 7.796695 ms 
publication time 6.609916 ms 
whole laserOdometry time 50.797895 ms 
 
map prepare time 1.659598 ms
map corner num 29137  surf num 11236 
build tree time 7.063247 ms 
mapping data assosiation time 16.611200 ms 
points size 80951 
prepare time 12.761884 
mapping solver time 10.598199 ms 
sort q time 4.333227 
seperate points time 10.134613 
scan registration time 25.900454 ms *************
mapping data assosiation time 17.521998 ms 
data association time 11.881473 ms 
filter time 3.056972 ms 
mapping pub time 1.058867 ms 
whole mapping time 65.585145 ms +++++
solver time 10.329325 ms 
data association time 12.053146 ms 
solver time 7.335470 ms 
publication time 5.692597 ms 
whole laserOdometry time 48.180576 ms 
 
map prepare time 1.581839 ms
map corner num 29472  surf num 11324 
build tree time 7.090184 ms 
mapping data assosiation time 15.301539 ms 
mapping solver time 10.002647 ms 
points size 81198 
prepare time 12.795913 
sort q time 4.227987 
seperate points time 9.820207 
mapping solver time 8.042692 ms 
mapping pub time 1.204578 ms 
whole mapping time 64.141079 ms +++++
data association time 12.817638 ms 
solver time 9.929459 ms 
data association time 12.373593 ms 
solver time 7.440259 ms 
publication time 6.162473 ms 
whole laserOdometry time 49.665989 ms 
 
map prepare time 1.871174 ms
map corner num 29814  surf num 11418 
build tree time 7.134909 ms 
mapping data assosiation time 17.657995 ms 
points size 82302 
mapping solver time 10.558772 ms 
sort q time 4.641877 
seperate points time 10.813048 
scan registration time 27.790934 ms *************
mapping data assosiation time 18.822508 ms 
mapping solver time 10.111120 ms 
mapping optimization time 65.321525 
add points time 0.355668 ms
solver time 10.624023 ms 
data association time 11.941196 ms 
solver time 7.599683 ms 
optimization twice time 45.831265 
publication time 6.020709 ms 
whole laserOdometry time 51.872897 ms 
 
map prepare time 1.906679 ms
map corner num 30180  surf num 11529 
build tree time 7.483365 ms 
points size 83565 
prepare time 12.986188 
mapping data assosiation time 16.051622 ms 
sort q time 4.066642 
seperate points time 9.428152 
scan registration time 25.813967 ms *************
mapping data assosiation time 20.169411 ms 
data association time 21.979925 ms 
mapping solver time 11.377917 ms 
mapping optimization time 67.959956 
add points time 0.329517 ms
filter time 3.701585 ms 
mapping pub time 1.322487 ms 
whole mapping time 75.268473 ms +++++
data association time 13.001869 ms 
solver time 7.578676 ms 
publication time 6.312126 ms 
whole laserOdometry time 65.288866 ms 
 
map prepare time 2.616572 ms
map corner num 30547  surf num 11635 
build tree time 7.507703 ms 
points size 83024 
prepare time 12.787158 
mapping data assosiation time 19.026955 ms 
data association time 12.329439 ms 
mapping data assosiation time 16.172488 ms 
mapping solver time 10.688432 ms 
mapping pub time 1.022508 ms 
whole mapping time 73.876237 ms +++++
data association time 15.761257 ms 
solver time 8.601677 ms 
optimization twice time 48.454737 
map prepare time 1.660291 ms
map corner num 30896  surf num 11761 
points size 82416 
sort q time 3.614573 
seperate points time 8.551618 
mapping solver time 11.460348 ms 
scan registration time 25.181268 ms *************
mapping data assosiation time 16.555211 ms 
data association time 12.455007 ms 
mapping solver time 9.299834 ms 
filter time 4.533733 ms 
mapping pub time 1.116225 ms 
whole mapping time 70.100327 ms +++++
data association time 12.183613 ms 
solver time 8.236390 ms 
publication time 6.231231 ms 
whole laserOdometry time 52.057549 ms 
 
map prepare time 1.926500 ms
map corner num 31258  surf num 11895 
build tree time 7.819547 ms 
points size 81860 
prepare time 18.214054 
sort q time 4.586535 
seperate points time 11.050260 
scan registration time 33.638023 ms *************
mapping data assosiation time 15.475632 ms 
mapping solver time 11.249270 ms 
mapping optimization time 74.010555 
add points time 0.310536 ms
filter time 3.064169 ms 
data association time 12.275306 ms 
solver time 8.546353 ms 
optimization twice time 46.764619 
publication time 6.656277 ms 
whole laserOdometry time 53.434227 ms 
 
map prepare time 2.416834 ms
map corner num 31625  surf num 12062 
build tree time 10.489960 ms 
points size 82633 
sort q time 3.996608 
seperate points time 9.347658 
scan registration time 26.215622 ms *************
mapping data assosiation time 22.027020 ms 
data association time 12.916259 ms 
mapping solver time 17.779642 ms 
solver time 10.806610 ms 
mapping data assosiation time 21.584011 ms 
solver time 8.543527 ms 
mapping solver time 14.693569 ms 
mapping optimization time 87.938613 
add points time 0.446656 ms
publication time 6.737648 ms 
whole laserOdometry time 52.883303 ms 
 
filter time 3.900732 ms 
mapping pub time 1.329760 ms 
whole mapping time 96.078203 ms +++++
build tree time 10.475654 ms 
points size 82080 
prepare time 12.787327 
mapping data assosiation time 16.269949 ms 
sort q time 3.608406 
seperate points time 8.689301 
scan registration time 24.884642 ms *************
mapping data assosiation time 15.362928 ms 
data association time 12.118320 ms 
mapping solver time 8.302260 ms 
mapping optimization time 61.805144 
add points time 0.330712 ms
solver time 9.049555 ms 
filter time 3.399091 ms 
mapping pub time 0.965939 ms 
whole mapping time 68.966304 ms +++++
data association time 12.678412 ms 
solver time 8.324922 ms 
publication time 7.372746 ms 
whole laserOdometry time 50.517647 ms 
 
map prepare time 1.854160 ms
map corner num 32418  surf num 12333 
build tree time 7.532367 ms 
points size 81828 
mapping data assosiation time 17.013668 ms 
prepare time 12.462246 
mapping solver time 13.446980 ms 
scan registration time 28.511270 ms *************
mapping data assosiation time 17.084216 ms 
data association time 12.123886 ms 
mapping solver time 10.268939 ms 
mapping optimization time 66.496938 
add points time 0.307803 ms
mapping pub time 1.093874 ms 
whole mapping time 74.781064 ms +++++
data association time 13.103310 ms 
solver time 8.229835 ms 
optimization twice time 45.930787 
map prepare time 1.810165 ms
map corner num 32807  surf num 12447 
build tree time 8.434832 ms 
points size 82110 
sort q time 3.667329 
seperate points time 8.766523 
mapping solver time 13.298199 ms 
scan registration time 24.465237 ms *************
mapping data assosiation time 16.556993 ms 
data association time 12.740217 ms 
mapping solver time 10.577827 ms 
mapping optimization time 68.241781 
add points time 0.331795 ms
filter time 3.228038 ms 
mapping pub time 1.095516 ms 
whole mapping time 74.753746 ms +++++
solver time 14.204083 ms 
data association time 14.006858 ms 
solver time 8.681863 ms 
optimization twice time 50.481052 
publication time 7.632342 ms 
whole laserOdometry time 58.135189 ms 
 
map prepare time 1.732972 ms
map corner num 33169  surf num 12539 
build tree time 8.448861 ms 
points size 82726 
prepare time 12.813786 
mapping data assosiation time 19.475769 ms 
sort q time 3.717083 
seperate points time 8.802907 
mapping solver time 14.587677 ms 
data association time 12.443267 ms 
mapping data assosiation time 17.179008 ms 
mapping solver time 10.989620 ms 
solver time 12.959571 ms 
mapping optimization time 71.799718 
add points time 0.363055 ms
data association time 14.392095 ms 
solver time 8.590885 ms 
publication time 6.277772 ms 
whole laserOdometry time 55.685314 ms 
 
map prepare time 2.290449 ms
map corner num 33584  surf num 12649 
build tree time 8.658902 ms 
points size 83729 
mapping data assosiation time 17.292003 ms 
sort q time 3.559215 
seperate points time 8.606836 
mapping solver time 12.923219 ms 
data association time 12.036113 ms 
mapping data assosiation time 17.161190 ms 
mapping solver time 10.304774 ms 
filter time 3.122409 ms 
mapping pub time 1.003873 ms 
whole mapping time 74.056438 ms +++++
data association time 13.062958 ms 
solver time 7.955022 ms 
optimization twice time 44.568881 
publication time 6.913129 ms 
whole laserOdometry time 51.498702 ms 
 
map prepare time 2.014789 ms
map corner num 33958  surf num 12753 
build tree time 7.915920 ms 
mapping data assosiation time 17.411401 ms 
prepare time 13.297142 
mapping solver time 11.299699 ms 
sort q time 4.651550 
seperate points time 10.924137 
mapping data assosiation time 18.300045 ms 
mapping solver time 10.778895 ms 
mapping optimization time 66.806821 
add points time 0.296550 ms
data association time 13.153521 ms 
filter time 3.489059 ms 
mapping pub time 1.085041 ms 
whole mapping time 73.735545 ms +++++
solver time 11.129668 ms 
data association time 12.587188 ms 
solver time 8.080452 ms 
optimization twice time 45.746029 
map prepare time 1.866006 ms
map corner num 34306  surf num 12842 
build tree time 8.204287 ms 
points size 85213 
prepare time 13.345689 
sort q time 3.916118 
seperate points time 9.337819 
mapping solver time 11.661697 ms 
mapping data assosiation time 18.441788 ms 
data association time 14.466960 ms 
mapping solver time 8.310221 ms 
mapping optimization time 65.768823 
add points time 0.319642 ms
filter time 3.286296 ms 
mapping pub time 0.964686 ms 
whole mapping time 72.246924 ms +++++
data association time 12.433674 ms 
solver time 8.714343 ms 
optimization twice time 48.325411 
publication time 6.984477 ms 
whole laserOdometry time 55.326741 ms 
 
map prepare time 1.889184 ms
map corner num 34696  surf num 12956 
build tree time 8.600814 ms 
points size 85002 
mapping data assosiation time 16.603061 ms 
sort q time 3.847918 
seperate points time 9.186577 
scan registration time 25.590847 ms *************
mapping solver time 12.461728 ms 
data association time 13.085639 ms 
mapping data assosiation time 19.519530 ms 
solver time 10.446941 ms 
mapping solver time 11.502450 ms 
mapping optimization time 69.810823 
add points time 0.354363 ms
data association time 13.616931 ms 
filter time 4.962755 ms 
solver time 8.069551 ms 
optimization twice time 46.152658 
publication time 7.098530 ms 
whole laserOdometry time 53.268395 ms 
 
map prepare time 1.817154 ms
map corner num 35026  surf num 13051 
build tree time 8.268202 ms 
points size 84945 
mapping data assosiation time 16.852772 ms 
prepare time 13.260253 
mapping solver time 14.992383 ms 
scan registration time 29.676086 ms *************
mapping data assosiation time 20.629484 ms 
mapping solver time 14.042051 ms 
mapping optimization time 75.935343 
add points time 0.388433 ms
data association time 24.116496 ms 
solver time 13.820020 ms 
data association time 16.316662 ms 
optimization twice time 66.629728 
publication time 8.656688 ms 
whole laserOdometry time 75.321194 ms 
 
map prepare time 2.575801 ms
map corner num 35391  surf num 13158 
points size 85578 
build tree time 15.757890 ms 
scan registration time 46.925577 ms *************
mapping solver time 15.347357 ms 
data association time 21.248781 ms 
mapping optimization time 90.241038 
add points time 0.473329 ms
filter time 4.135653 ms points size 87990 
data association time 21.651726 ms 
solver time 11.105835 ms 
sort q time 4.264222 
seperate points time 11.098866 
publication time 9.213656 ms 
whole laserOdometry time 78.949354 ms 
 
map prepare time 2.567773 ms
map corner num 35769  surf num 13265 
build tree time 10.386577 ms 
data association time 23.099918 ms 
solver time 14.641701 ms 
data association time 22.376839 ms 
mapping data assosiation time 22.773171 ms 
prepare time 24.691820 
solver time 11.729191 ms 
optimization twice time 73.588870 
mapping solver time 13.924480 ms 
publication time 8.957185 ms 
whole laserOdometry time 82.565817 ms 
 
mapping optimization time 87.712333 
add points time 0.485772 ms
sort q time 4.557745 
seperate points time 11.880902 
map prepare time 2.683475 ms
map corner num 36207  surf num 13435 
build tree time 9.511082 ms 
data association time 13.588371 ms 
mapping data assosiation time 18.325845 ms 
solver time 12.769448 ms 
mapping solver time 13.488012 ms 
data association time 13.876203 ms 
solver time 8.343251 ms 
mapping data assosiation time 19.303505 ms 
points size 92263 
prepare time 16.006025 
mapping solver time 13.212821 ms 
mapping optimization time 74.999290 
filter time 4.377740 ms 
mapping pub time 1.357265 ms 
whole mapping time 83.869623 ms +++++
sort q time 6.000656 
seperate points time 13.903608 
scan registration time 34.097130 ms *************
build tree time 11.730095 ms 
mapping data assosiation time 16.986256 ms 
mapping solver time 14.640404 ms 
solver time 14.164334 ms 
data association time 13.747161 ms 
mapping data assosiation time 19.690771 ms 
solver time 10.612208 ms 
mapping solver time 11.552247 ms 
filter time 5.518312 ms 
mapping pub time 1.174040 ms 
whole mapping time 85.827740 ms +++++
map prepare time 2.135687 ms
map corner num 36968  surf num 13713 
points size 93870 
build tree time 9.844789 ms 
sort q time 5.744680 
seperate points time 13.116762 
scan registration time 32.823935 ms *************
mapping data assosiation time 19.609854 ms 
mapping solver time 13.369999 ms 
data association time 14.576869 ms 
solver time 13.855371 ms 
mapping data assosiation time 22.441622 ms 
mapping solver time 9.539171 ms 
mapping optimization time 75.976086 
add points time 0.400298 ms
data association time 15.269335 ms 
filter time 4.190559 ms 
mapping pub time 1.832529 ms 
whole mapping time 84.589153 ms +++++
solver time 9.135080 ms 
publication time 10.092890 ms 
whole laserOdometry time 63.925801 ms 
 
map prepare time 2.604579 ms
map corner num 37300  surf num 13792 
prepare time 14.952805 
build tree time 10.971181 ms 
sort q time 4.904634 
seperate points time 11.352964 
data association time 15.034624 ms 
mapping solver time 13.032210 ms 
solver time 10.796588 ms 
mapping data assosiation time 20.690003 ms 
mapping solver time 13.888042 ms 
filter time 3.482811 ms 
mapping pub time 1.288360 ms 
whole mapping time 86.577705 ms +++++
publication time 9.866816 ms 
whole laserOdometry time 62.568255 ms 
 
map prepare time 2.396808 ms
map corner num 37609  surf num 13901 
points size 95520 
build tree time 9.456157 ms 
sort q time 4.690451 
seperate points time 10.983340 
scan registration time 29.883440 ms *************
mapping data assosiation time 20.425847 ms 
mapping solver time 12.928854 ms 
data association time 14.171977 ms 
solver time 10.597508 ms 
mapping solver time 10.013455 ms 
filter time 3.526223 ms 
data association time 14.764806 ms 
mapping pub time 1.183811 ms 
whole mapping time 79.506078 ms +++++
solver time 8.261413 ms 
optimization twice time 48.716250 
publication time 8.184499 ms 
whole laserOdometry time 56.918539 ms 
 
map prepare time 2.661006 ms
map corner num 37914  surf num 13985 
build tree time 9.432659 ms 
prepare time 14.023126 
sort q time 4.189127 
seperate points time 9.788727 
scan registration time 27.554465 ms *************
mapping data assosiation time 20.779901 ms 
mapping solver time 13.812778 ms 
data association time 13.996299 ms 
solver time 10.453940 ms 
mapping data assosiation time 20.766659 ms 
mapping solver time 9.391401 ms 
data association time 14.721155 ms 
mapping optimization time 75.151192 
add points time 0.475292 ms
filter time 4.173543 ms 
mapping pub time 1.461383 ms 
whole mapping time 83.975134 ms +++++
publication time 7.062077 ms 
whole laserOdometry time 55.746458 ms 
 
map prepare time 2.029291 ms
map corner num 38213  surf num 14069 
build tree time 9.108181 ms 
points size 94935 
prepare time 14.497630 
mapping data assosiation time 21.347339 ms 
sort q time 4.393554 
seperate points time 10.315709 
mapping solver time 15.954746 ms 
data association time 14.947868 ms 
mapping data assosiation time 19.978071 ms 
solver time 10.298321 ms 
mapping solver time 11.389638 ms 
mapping optimization time 78.859258 
add points time 0.479880 ms
filter time 4.160267 ms 
mapping pub time 1.247472 ms 
whole mapping time 86.823880 ms +++++
solver time 7.606420 ms 
publication time 8.168795 ms 
whole laserOdometry time 56.686028 ms 
 
map prepare time 2.480095 ms
map corner num 38550  surf num 14184 
build tree time 10.304544 ms 
points size 94399 
mapping data assosiation time 18.045375 ms 
sort q time 4.750749 
seperate points time 11.248379 
scan registration time 31.926073 ms *************
mapping solver time 13.149438 ms 
data association time 14.021252 ms 
mapping data assosiation time 18.743824 ms 
mapping solver time 9.011809 ms 
mapping optimization time 70.404138 
add points time 0.364923 ms
solver time 10.778127 ms 
filter time 3.495197 ms 
mapping pub time 2.623756 ms 
whole mapping time 79.412671 ms +++++
[0m[ INFO] [1718802223.016983731]: Received 53238 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802223.017033250]: Data saved to 1317357770150990.pcd[0m
data association time 23.391859 ms 
solver time 11.765540 ms 
publication time 9.947005 ms 
whole laserOdometry time 70.924976 ms 
 
prepare time 14.729746 
map prepare time 3.551063 ms
map corner num 38905  surf num 14312 
build tree time 10.301019 ms 
scan registration time 31.241264 ms *************
mapping data assosiation time 21.121617 ms 
data association time 16.937500 ms 
solver time 11.937905 ms 
mapping data assosiation time 19.471412 ms 
data association time 17.600228 ms 
filter time 4.046743 ms 
mapping pub time 1.164746 ms 
whole mapping time 80.929975 ms +++++
publication time 8.752975 ms 
whole laserOdometry time 66.520438 ms 
 
map prepare time 2.207251 ms
map corner num 39303  surf num 14454 
points size 94153 
build tree time 11.189225 ms 
sort q time 5.171741 
seperate points time 12.080556 
scan registration time 31.285177 ms *************
mapping data assosiation time 22.405941 ms 
mapping solver time 11.445362 ms 
data association time 15.406620 ms 
solver time 10.884255 ms 
mapping data assosiation time 19.590007 ms 
mapping solver time 8.528429 ms 
mapping optimization time 74.401841 
add points time 0.401328 ms
data association time 20.038053 ms 
solver time 8.713057 ms 
publication time 10.737319 ms 
whole laserOdometry time 66.670825 ms 
 
map prepare time 3.396298 ms
map corner num 39674  surf num 14603 
points size 92609 
build tree time 11.558862 ms 
sort q time 4.723712 
seperate points time 11.661801 
mapping data assosiation time 21.284406 ms 
data association time 14.553798 ms 
mapping solver time 12.923576 ms 
solver time 10.275296 ms 
data association time 14.870160 ms 
mapping data assosiation time 20.979873 ms 
solver time 8.545501 ms 
optimization twice time 49.096769 
mapping solver time 12.634517 ms 
mapping optimization time 80.426400 
add points time 0.517615 ms
publication time 8.496857 ms 
whole laserOdometry time 57.613710 ms 
 
filter time 4.672889 ms 
mapping pub time 1.164534 ms 
whole mapping time 90.230762 ms +++++
build tree time 10.205908 ms 
points size 92097 
prepare time 14.456375 
sort q time 5.068083 
seperate points time 11.537204 
scan registration time 30.295283 ms *************
mapping data assosiation time 22.034639 ms 
mapping solver time 12.237235 ms 
data association time 14.863015 ms 
mapping data assosiation time 19.711768 ms 
solver time 11.298192 ms 
mapping solver time 8.958453 ms 
mapping optimization time 74.269661 
add points time 0.362479 ms
data association time 15.261162 ms 
solver time 7.498108 ms 
optimization twice time 49.807477 
publication time 9.758896 ms 
whole laserOdometry time 59.577315 ms 
 
map prepare time 3.391214 ms
map corner num 40384  surf num 14888 
points size 92222 
build tree time 13.823407 ms 
prepare time 18.325556 
sort q time 6.339818 
seperate points time 15.312111 
scan registration time 39.540381 ms *************
mapping data assosiation time 26.540837 ms 
mapping solver time 11.343505 ms 
data association time 15.247585 ms 
solver time 11.181339 ms 
mapping data assosiation time 20.722928 ms 
mapping solver time 8.876494 ms 
mapping optimization time 82.372532 
add points time 0.507839 ms
filter time 5.876669 ms 
mapping pub time 1.527861 ms 
whole mapping time 93.721600 ms +++++
solver time 6.142060 ms 
optimization twice time 49.717169 
publication time 8.787878 ms 
whole laserOdometry time 58.518247 ms 
 
map prepare time 3.103045 ms
map corner num 40685  surf num 15007 
points size 92330 
prepare time 17.551008 
build tree time 13.742322 ms 
sort q time 5.866641 
seperate points time 14.406687 
scan registration time 37.758100 ms *************
mapping data assosiation time 24.460538 ms 
data association time 15.168450 ms 
mapping solver time 15.101450 ms 
solver time 12.315554 ms 
mapping data assosiation time 22.367886 ms 
solver time 5.870514 ms 
optimization twice time 48.948721 
mapping solver time 10.263521 ms 
mapping optimization time 87.214469 
add points time 0.375801 ms
filter time 4.860151 ms 
map prepare time 2.880276 ms
map corner num 41031  surf num 15134 
points size 92304 
sort q time 4.242114 
seperate points time 10.643992 
mapping data assosiation time 24.209785 ms 
mapping solver time 18.639906 ms 
data association time 25.921056 ms 
solver time 17.235079 ms 
mapping data assosiation time 27.736764 ms 
mapping solver time 13.099899 ms 
filter time 4.996432 ms 
data association time 24.941248 ms 
mapping pub time 1.638069 ms 
whole mapping time 106.928042 ms +++++
points size 92328 
solver time 9.929765 ms 
optimization twice time 79.048383 
prepare time 14.384574 
publication time 8.596640 ms 
whole laserOdometry time 87.664599 ms 
 
sort q time 4.835243 
seperate points time 12.141717 
build tree time 13.724878 ms 
data association time 25.928501 ms 
mapping data assosiation time 27.012825 ms 
solver time 16.453190 ms 
mapping solver time 14.611559 ms 
data association time 14.449669 ms 
solver time 8.397683 ms 
publication time 10.641958 ms 
whole laserOdometry time 76.737171 ms 
 
points size 92366 
mapping solver time 15.707874 ms 
mapping optimization time 94.031575 
add points time 0.540983 ms
sort q time 4.573904 
seperate points time 11.230817 
map prepare time 3.120117 ms
map corner num 41768  surf num 15450 
scan registration time 30.393944 ms *************
build tree time 10.970381 ms 
data association time 14.485110 ms 
mapping data assosiation time 21.477255 ms 
mapping solver time 16.784599 ms 
data association time 17.460182 ms 
solver time 8.170757 ms 
optimization twice time 52.019622 
publication time 7.869805 ms 
whole laserOdometry time 59.906535 ms 
 
mapping data assosiation time 22.000463 ms 
points size 92357 
prepare time 14.627148 
map prepare time 2.414821 ms
map corner num 42120  surf num 15577 
sort q time 5.120155 
seperate points time 12.696588 
build tree time 11.093642 ms 
data association time 13.999629 ms 
solver time 11.751600 ms 
mapping data assosiation time 24.920678 ms 
data association time 15.173947 ms 
mapping solver time 17.909859 ms 
solver time 9.250626 ms 
optimization twice time 51.165166 
publication time 9.120322 ms 
whole laserOdometry time 60.306394 ms 
 
points size 92237 
mapping solver time 8.839612 ms 
mapping optimization time 88.937220 
add points time 0.458421 ms
prepare time 13.597973 
mapping pub time 1.536617 ms 
whole mapping time 97.477725 ms +++++
map prepare time 3.088685 ms
map corner num 42459  surf num 15701 
sort q time 5.485344 
seperate points time 12.894076 
scan registration time 31.450943 ms *************
build tree time 12.780682 ms 
data association time 15.740744 ms 
mapping data assosiation time 22.141737 ms 
solver time 12.475460 ms 
mapping solver time 15.604322 ms 
data association time 17.598326 ms 
solver time 9.988179 ms 
optimization twice time 56.878659 
publication time 10.129293 ms 
whole laserOdometry time 67.022780 ms 
 
mapping solver time 10.651793 ms 
mapping optimization time 87.328010 
add points time 0.377216 ms
filter time 4.019141 ms 
prepare time 14.466274 
map prepare time 2.472082 ms
map corner num 42845  surf num 15847 
build tree time 10.260988 ms 
sort q time 4.839133 
seperate points time 11.293179 
mapping data assosiation time 22.724269 ms 
data association time 16.619002 ms 
mapping solver time 13.951891 ms 
solver time 12.927300 ms 
mapping data assosiation time 21.250859 ms 
solver time 7.998836 ms 
mapping optimization time 79.335885 
add points time 0.420152 ms
map prepare time 2.750295 ms
map corner num 43235  surf num 15978 
points size 91819 
build tree time 11.853504 ms 
prepare time 14.519867 
sort q time 4.521560 
seperate points time 10.538456 
scan registration time 29.593777 ms *************
mapping data assosiation time 24.942945 ms 
data association time 15.024728 ms 
mapping solver time 15.767316 ms 
solver time 7.678154 ms 
data association time 15.074675 ms 
mapping data assosiation time 21.588229 ms 
solver time 8.605607 ms 
optimization twice time 47.327580 
mapping optimization time 89.249326 
add points time 0.423335 ms
publication time 7.959613 ms 
whole laserOdometry time 55.312958 ms 
 
filter time 5.215926 ms 
mapping pub time 1.064885 ms 
whole mapping time 98.749254 ms +++++
build tree time 11.154304 ms 
points size 91620 
prepare time 13.756573 
sort q time 4.171693 
seperate points time 9.820556 
scan registration time 27.905092 ms *************
mapping data assosiation time 23.418396 ms 
mapping solver time 14.184282 ms 
data association time 16.184425 ms 
solver time 10.193909 ms 
mapping data assosiation time 21.332008 ms 
mapping solver time 9.961264 ms 
mapping optimization time 81.584022 
add points time 0.438660 ms
data association time 15.033098 ms 
filter time 4.498220 ms 
solver time 8.828809 ms 
optimization twice time 51.168495 
publication time 8.225951 ms 
whole laserOdometry time 59.415781 ms 
 
map prepare time 3.276608 ms
map corner num 43920  surf num 16260 
build tree time 12.005050 ms 
points size 91715 
prepare time 16.609239 
sort q time 4.551158 
seperate points time 10.718971 
mapping data assosiation time 24.087119 ms 
data association time 13.985370 ms 
mapping solver time 12.711302 ms 
solver time 10.602125 ms 
mapping data assosiation time 21.577584 ms 
data association time 14.548256 ms 
mapping solver time 11.224254 ms 
solver time 8.434255 ms 
mapping optimization time 82.997204 
optimization twice time 48.446135 
add points time 0.400995 ms
filter time 5.137562 ms 
map prepare time 2.718725 ms
map corner num 44286  surf num 16407 
build tree time 14.892800 ms 
points size 91906 
prepare time 18.955580 
sort q time 5.993389 
seperate points time 14.614442 
mapping data assosiation time 29.685761 ms 
scan registration time 39.529276 ms *************
mapping solver time 12.754731 ms 
mapping data assosiation time 20.103672 ms 
solver time 11.795454 ms 
mapping solver time 10.074839 ms 
filter time 4.908199 ms 
mapping pub time 1.136073 ms 
whole mapping time 98.211332 ms +++++
data association time 17.483143 ms 
solver time 5.287957 ms 
publication time 7.789909 ms 
whole laserOdometry time 59.301656 ms 
 
map prepare time 2.449998 ms
map corner num 44634  surf num 16557 
prepare time 16.229563 
build tree time 11.005049 ms 
sort q time 4.850284 
seperate points time 11.411898 
mapping data assosiation time 21.449780 ms 
data association time 15.132626 ms 
mapping solver time 13.563825 ms 
solver time 11.480980 ms 
data association time 14.713227 ms 
mapping data assosiation time 21.753935 ms 
solver time 8.417698 ms 
optimization twice time 50.737657 
mapping solver time 10.245700 ms 
mapping optimization time 79.149509 
add points time 0.434454 ms
filter time 4.128373 ms 
publication time 8.444149 ms 
whole laserOdometry time 59.210852 ms 
 
mapping pub time 1.730925 ms 
whole mapping time 87.939856 ms +++++
map prepare time 2.376341 ms
map corner num 44993  surf num 16679 
build tree time 11.198544 ms 
points size 94356 
prepare time 14.435823 
sort q time 4.594968 
seperate points time 10.888876 
scan registration time 29.151911 ms *************
mapping data assosiation time 22.630536 ms 
mapping solver time 15.070767 ms 
solver time 10.457243 ms 
data association time 13.975108 ms 
mapping solver time 10.177294 ms 
mapping optimization time 80.802119 
add points time 0.421683 ms
filter time 3.821567 ms 
solver time 10.617472 ms 
optimization twice time 50.508392 
mapping pub time 1.222684 ms 
whole mapping time 88.681978 ms +++++
publication time 8.594550 ms 
whole laserOdometry time 59.122878 ms 
 
map prepare time 2.206790 ms
map corner num 45356  surf num 16806 
build tree time 10.568258 ms 
points size 94730 
mapping data assosiation time 20.170210 ms 
sort q time 5.036712 
seperate points time 11.685517 
scan registration time 32.133774 ms *************
mapping solver time 17.167160 ms 
data association time 17.120726 ms 
mapping data assosiation time 22.563216 ms 
solver time 10.317109 ms 
mapping solver time 11.253215 ms 
mapping optimization time 83.152209 
add points time 0.435152 ms
solver time 8.191753 ms 
publication time 7.077958 ms 
whole laserOdometry time 59.239902 ms 
 
map prepare time 2.807334 ms
map corner num 45669  surf num 16926 
points size 94458 
build tree time 11.788438 ms 
prepare time 14.472000 
sort q time 5.498645 
seperate points time 12.563906 
mapping solver time 12.051623 ms 
data association time 14.509138 ms 
solver time 11.896938 ms 
mapping data assosiation time 23.222113 ms 
mapping solver time 9.466767 ms 
filter time 4.881745 ms 
mapping pub time 4.227906 ms 
whole mapping time 89.455030 ms +++++
publication time 7.387875 ms 
whole laserOdometry time 58.688638 ms 
 
map prepare time 2.387262 ms
map corner num 45994  surf num 17026 
build tree time 11.613188 ms 
points size 93567 
sort q time 4.435475 
seperate points time 10.259624 
mapping data assosiation time 18.874866 ms 
scan registration time 29.023896 ms *************
mapping solver time 20.358102 ms 
data association time 24.089004 ms 
mapping data assosiation time 25.722114 ms 
mapping solver time 13.345529 ms 
mapping optimization time 91.408977 
add points time 0.471074 ms
data association time 22.921102 ms 
solver time 8.574564 ms 
publication time 8.320840 ms 
whole laserOdometry time 82.402003 ms 
 
map prepare time 2.207199 ms
map corner num 46285  surf num 17084 
build tree time 10.823378 ms 
sort q time 5.796572 
seperate points time 13.141346 
mapping data assosiation time 18.498156 ms 
data association time 14.167029 ms 
mapping solver time 11.557474 ms 
solver time 13.260959 ms 
mapping data assosiation time 18.672721 ms 
data association time 14.013967 ms 
mapping solver time 8.519985 ms 
mapping optimization time 68.966295 
add points time 0.484115 ms
filter time 4.360979 ms 
mapping pub time 1.381101 ms 
whole mapping time 77.456618 ms +++++
solver time 12.611319 ms 
optimization twice time 54.988505 
publication time 8.130152 ms 
whole laserOdometry time 63.140502 ms 
 
map prepare time 2.490776 ms
map corner num 46580  surf num 17143 
points size 92120 
prepare time 15.454912 
build tree time 14.335078 ms 
scan registration time 30.047005 ms *************
mapping data assosiation time 17.391231 ms 
mapping solver time 13.241271 ms 
data association time 14.340812 ms 
solver time 10.544135 ms 
mapping data assosiation time 18.830865 ms 
mapping solver time 8.375415 ms 
mapping optimization time 72.945757 
add points time 0.476317 ms
data association time 13.978124 ms 
filter time 3.798835 ms 
mapping pub time 1.098158 ms 
whole mapping time 80.859376 ms +++++
solver time 8.676401 ms 
optimization twice time 48.328829 
publication time 7.923485 ms 
whole laserOdometry time 56.270949 ms 
 
map prepare time 2.194325 ms
map corner num 46886  surf num 17210 
build tree time 11.133328 ms 
sort q time 4.273969 
seperate points time 9.747093 
scan registration time 27.202516 ms *************
mapping data assosiation time 17.899914 ms 
mapping solver time 11.876444 ms 
data association time 13.958108 ms 
mapping data assosiation time 16.575860 ms 
solver time 11.611609 ms 
mapping solver time 10.419949 ms 
mapping optimization time 69.015403 
add points time 0.516041 ms
data association time 18.440948 ms 
solver time 10.284572 ms 
optimization twice time 55.163336 
points size 88902 
build tree time 13.234449 ms 
sort q time 4.256145 
seperate points time 10.149638 
mapping data assosiation time 18.488873 ms 
mapping solver time 13.145860 ms 
data association time 13.948056 ms 
solver time 10.209253 ms 
mapping data assosiation time 16.673968 ms 
mapping solver time 10.100192 ms 
mapping optimization time 72.682529 
add points time 0.361474 ms
data association time 13.917346 ms 
mapping pub time 1.507517 ms 
whole mapping time 82.833950 ms +++++
solver time 8.326346 ms 
optimization twice time 47.176915 
publication time 6.189576 ms 
whole laserOdometry time 53.385665 ms 
 
map prepare time 2.003587 ms
map corner num 47542  surf num 17338 
build tree time 11.629298 ms 
points size 86877 
prepare time 14.627721 
mapping data assosiation time 17.675056 ms 
sort q time 4.620440 
seperate points time 11.021988 
scan registration time 29.749839 ms *************
mapping solver time 13.556977 ms 
data association time 13.298058 ms 
mapping data assosiation time 16.832363 ms 
mapping solver time 9.129815 ms 
mapping optimization time 69.854515 
add points time 0.381182 ms
solver time 11.852225 ms 
data association time 13.868306 ms 
solver time 7.728155 ms 
publication time 6.120180 ms 
whole laserOdometry time 53.727601 ms 
 
map prepare time 2.101134 ms
map corner num 47836  surf num 17390 
build tree time 11.274712 ms 
points size 84399 
sort q time 3.492069 
seperate points time 8.211632 
mapping solver time 13.926827 ms 
data association time 13.694953 ms 
solver time 10.921892 ms 
mapping data assosiation time 19.823060 ms 
mapping solver time 9.900889 ms 
mapping optimization time 73.225975 
add points time 0.416848 ms
data association time 13.839953 ms 
solver time 10.309615 ms 
publication time 7.149923 ms 
whole laserOdometry time 56.689498 ms 
 
map prepare time 2.037600 ms
map corner num 48171  surf num 17449 
build tree time 11.703174 ms 
points size 82554 
prepare time 13.251977 
mapping data assosiation time 17.749923 ms 
sort q time 4.034772 
seperate points time 9.489776 
scan registration time 26.319571 ms *************
mapping solver time 14.332529 ms 
data association time 13.185960 ms 
solver time 11.466150 ms 
mapping solver time 10.042029 ms 
mapping optimization time 71.813151 
add points time 0.347122 ms
filter time 4.820528 ms 
mapping pub time 1.075770 ms 
whole mapping time 80.140370 ms +++++
data association time 16.911236 ms 
solver time 11.012432 ms 
publication time 6.727081 ms 
whole laserOdometry time 60.365720 ms 
 
map prepare time 2.002929 ms
map corner num 48482  surf num 17509 
build tree time 11.749147 ms 
points size 81384 
sort q time 3.727774 
seperate points time 8.944785 
mapping solver time 12.090704 ms 
data association time 13.106135 ms 
solver time 11.041802 ms 
mapping data assosiation time 17.435312 ms 
mapping solver time 10.344075 ms 
mapping optimization time 70.670246 
add points time 0.426901 ms
data association time 13.686655 ms 
filter time 4.292292 ms 
mapping pub time 1.008482 ms 
whole mapping time 78.441433 ms +++++
solver time 10.796789 ms 
publication time 6.438880 ms 
whole laserOdometry time 56.078645 ms 
 
map prepare time 1.836123 ms
map corner num 48780  surf num 17558 
build tree time 11.354190 ms 
points size 80171 
mapping data assosiation time 16.448015 ms 
sort q time 4.012176 
seperate points time 9.417994 
scan registration time 25.602957 ms *************
mapping solver time 12.071780 ms 
mapping data assosiation time 19.721948 ms 
data association time 21.472075 ms 
mapping solver time 14.629107 ms 
mapping optimization time 75.384042 
add points time 0.409577 ms
filter time 5.718497 ms 
data association time 12.538398 ms 
solver time 10.184167 ms 
publication time 6.710341 ms 
whole laserOdometry time 67.137758 ms 
 
map prepare time 2.337572 ms
map corner num 49082  surf num 17609 
points size 78684 
prepare time 12.472708 
sort q time 5.018889 
seperate points time 11.726663 
mapping data assosiation time 16.235932 ms 
data association time 12.459328 ms 
mapping solver time 10.848945 ms 
solver time 11.073316 ms 
mapping data assosiation time 15.145515 ms 
data association time 12.378165 ms 
mapping solver time 9.527024 ms 
mapping optimization time 66.733459 
add points time 0.335161 ms
solver time 11.556052 ms 
mapping pub time 1.225996 ms 
whole mapping time 76.774759 ms +++++
optimization twice time 48.419234 
publication time 6.205933 ms 
whole laserOdometry time 54.659330 ms 
 
map prepare time 1.785973 ms
map corner num 49319  surf num 17659 
build tree time 12.654113 ms 
points size 77733 
mapping data assosiation time 17.920301 ms 
scan registration time 25.892087 ms *************
mapping solver time 12.545704 ms 
data association time 12.190609 ms 
mapping data assosiation time 15.800104 ms 
mapping solver time 10.930175 ms 
mapping optimization time 70.860063 
add points time 0.304401 ms
solver time 13.739390 ms 
data association time 13.862832 ms 
solver time 8.248410 ms 
publication time 6.703314 ms 
whole laserOdometry time 55.563160 ms 
 
map prepare time 1.943643 ms
map corner num 49582  surf num 17702 
build tree time 12.824199 ms 
points size 78178 
mapping data assosiation time 16.378971 ms 
scan registration time 24.182773 ms *************
mapping solver time 10.459828 ms 
mapping data assosiation time 15.306364 ms 
data association time 11.856916 ms 
mapping solver time 7.695235 ms 
mapping optimization time 63.527184 
add points time 0.372244 ms
filter time 4.578126 ms 
data association time 11.566034 ms 
optimization twice time 44.581612 
publication time 6.387366 ms 
whole laserOdometry time 50.985686 ms 
 
map prepare time 1.716583 ms
map corner num 49829  surf num 17751 
build tree time 12.096247 ms 
points size 78545 
prepare time 17.971017 
mapping data assosiation time 21.037723 ms 
sort q time 4.868123 
seperate points time 11.483992 
mapping solver time 9.915847 ms 
scan registration time 33.355983 ms *************
mapping data assosiation time 15.850489 ms 
mapping optimization time 68.270688 
add points time 0.302728 ms
data association time 17.716226 ms 
filter time 5.017749 ms 
mapping pub time 1.133058 ms 
whole mapping time 76.496709 ms +++++
solver time 11.095585 ms 
data association time 11.781521 ms 
solver time 10.487875 ms 
map prepare time 1.877548 ms
map corner num 50070  surf num 17801 
points size 79795 
sort q time 4.464100 
seperate points time 10.438005 
scan registration time 28.528706 ms *************
mapping solver time 10.311798 ms 
data association time 12.021933 ms 
mapping data assosiation time 14.879479 ms 
solver time 13.358869 ms 
mapping solver time 8.827783 ms 
mapping optimization time 64.400903 
add points time 0.354331 ms
filter time 4.232740 ms 
mapping pub time 1.471103 ms 
whole mapping time 72.375228 ms +++++
data association time 13.559758 ms 
solver time 8.085659 ms 
optimization twice time 47.936411 
publication time 5.933264 ms 
whole laserOdometry time 53.887594 ms 
 
map prepare time 2.009697 ms
map corner num 50323  surf num 17865 
build tree time 12.211649 ms 
points size 82141 
prepare time 12.818905 
mapping data assosiation time 15.379627 ms 
sort q time 4.257118 
seperate points time 9.600792 
scan registration time 25.654247 ms *************
mapping solver time 12.566488 ms 
data association time 12.082906 ms 
mapping data assosiation time 15.774796 ms 
solver time 11.602600 ms 
mapping solver time 10.603884 ms 
mapping optimization time 67.555580 
add points time 0.300978 ms
filter time 4.669975 ms 
solver time 10.959199 ms 
optimization twice time 48.784873 
publication time 5.853927 ms 
whole laserOdometry time 54.661181 ms 
 
build tree time 11.727872 ms 
points size 83495 
prepare time 19.195104 
mapping data assosiation time 21.324530 ms 
sort q time 4.687175 
seperate points time 11.334425 
scan registration time 35.183273 ms *************
mapping solver time 16.597797 ms 
mapping data assosiation time 13.900683 ms 
data association time 12.776984 ms 
mapping solver time 11.223904 ms 
filter time 4.320340 ms 
mapping pub time 1.066377 ms 
whole mapping time 83.272499 ms +++++
solver time 14.142021 ms 
data association time 12.087188 ms 
solver time 10.801595 ms 
map prepare time 2.656349 ms
map corner num 50921  surf num 18030 
points size 83179 
prepare time 16.494170 
build tree time 16.963609 ms 
sort q time 5.179788 
seperate points time 12.640853 
mapping data assosiation time 19.248380 ms 
data association time 12.451591 ms 
solver time 9.854274 ms 
mapping data assosiation time 15.450627 ms 
data association time 12.714483 ms 
mapping solver time 9.418857 ms 
mapping optimization time 73.543828 
add points time 0.327345 ms
mapping pub time 1.101965 ms 
whole mapping time 82.182616 ms +++++
publication time 5.878001 ms 
whole laserOdometry time 50.129431 ms 
 
map prepare time 1.759620 ms
map corner num 51260  surf num 18119 
build tree time 16.534819 ms 
points size 83092 
prepare time 18.140867 
mapping data assosiation time 20.690281 ms 
sort q time 5.089083 
seperate points time 12.151383 
scan registration time 34.818926 ms *************
mapping solver time 14.545763 ms 
mapping data assosiation time 15.024305 ms 
mapping solver time 9.293322 ms 
filter time 5.135410 ms 
mapping pub time 1.034546 ms 
whole mapping time 85.296290 ms +++++
data association time 13.082594 ms 
solver time 7.869467 ms 
optimization twice time 45.489548 
publication time 6.244339 ms 
whole laserOdometry time 51.753798 ms 
 
map prepare time 1.848915 ms
map corner num 51610  surf num 18215 
build tree time 12.561038 ms 
points size 83306 
sort q time 4.293672 
seperate points time 9.774987 
mapping data assosiation time 14.331459 ms 
mapping solver time 11.819316 ms 
data association time 12.128730 ms 
mapping data assosiation time 15.137491 ms 
solver time 10.359368 ms 
mapping solver time 10.623071 ms 
filter time 5.176409 ms 
data association time 13.271864 ms 
mapping pub time 4.376380 ms 
whole mapping time 77.409474 ms +++++
[0m[ INFO] [1718802227.176775497]: Received 70241 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802227.176809678]: Data saved to 1317357774311007.pcd[0m
solver time 9.256660 ms 
optimization twice time 45.940362 
publication time 6.671052 ms 
whole laserOdometry time 52.631562 ms 
 
map prepare time 1.774241 ms
map corner num 51942  surf num 18278 
build tree time 12.092603 ms 
points size 84252 
mapping data assosiation time 15.175817 ms 
sort q time 3.741446 
seperate points time 8.742118 
scan registration time 25.120858 ms *************
mapping data assosiation time 18.507082 ms 
data association time 19.090212 ms 
mapping solver time 10.468106 ms 
filter time 4.857964 ms 
mapping pub time 0.986544 ms 
whole mapping time 78.033873 ms +++++
solver time 15.940259 ms 
data association time 18.832899 ms 
solver time 11.588526 ms 
publication time 7.834280 ms 
whole laserOdometry time 74.347410 ms 
 
points size 85745 
prepare time 14.146681 
build tree time 14.099162 ms 
scan registration time 29.440960 ms *************
mapping data assosiation time 19.922029 ms 
data association time 13.564387 ms 
mapping solver time 12.284726 ms 
solver time 12.958119 ms 
mapping data assosiation time 16.965205 ms 
mapping solver time 6.729133 ms 
mapping optimization time 70.971116 
add points time 0.310380 ms
publication time 5.599821 ms 
whole laserOdometry time 55.138796 ms 
 
map prepare time 1.896658 ms
map corner num 52484  surf num 18416 
build tree time 12.270690 ms 
points size 86869 
mapping data assosiation time 14.972718 ms 
sort q time 4.607519 
seperate points time 10.400411 
scan registration time 27.228545 ms *************
mapping solver time 9.175342 ms 
mapping data assosiation time 15.865611 ms 
data association time 12.403446 ms 
filter time 5.039848 ms 
mapping pub time 1.015449 ms 
whole mapping time 68.699349 ms +++++
data association time 12.242103 ms 
solver time 8.698154 ms 
optimization twice time 47.181588 
map prepare time 1.706104 ms
map corner num 52761  surf num 18496 
build tree time 12.796046 ms 
prepare time 13.491707 
mapping data assosiation time 16.790168 ms 
sort q time 4.511684 
seperate points time 10.186090 
mapping solver time 13.644333 ms 
data association time 12.901969 ms 
mapping data assosiation time 16.056003 ms 
solver time 12.248607 ms 
mapping solver time 11.201725 ms 
mapping optimization time 71.606595 
add points time 0.331618 ms
data association time 17.850364 ms 
solver time 9.481151 ms 
optimization twice time 53.340525 
map prepare time 2.571608 ms
map corner num 53059  surf num 18560 
build tree time 13.944147 ms 
points size 90097 
prepare time 19.574526 
mapping data assosiation time 17.359149 ms 
sort q time 4.678626 
seperate points time 10.699428 
scan registration time 34.201808 ms *************
mapping solver time 11.752907 ms 
data association time 12.792627 ms 
solver time 10.693628 ms 
filter time 4.783210 ms 
mapping pub time 1.716918 ms 
whole mapping time 78.864349 ms +++++
data association time 13.899425 ms 
solver time 7.538769 ms 
publication time 6.473211 ms 
whole laserOdometry time 52.434175 ms 
 
map prepare time 2.056944 ms
map corner num 53343  surf num 18641 
build tree time 12.689596 ms 
points size 90760 
mapping data assosiation time 15.713810 ms 
sort q time 4.075483 
seperate points time 9.443253 
scan registration time 26.643106 ms *************
mapping solver time 12.375493 ms 
data association time 12.025244 ms 
mapping data assosiation time 14.690937 ms 
mapping solver time 9.436311 ms 
filter time 4.943462 ms 
mapping pub time 1.074597 ms 
whole mapping time 74.393707 ms +++++
publication time 6.097121 ms 
whole laserOdometry time 47.358859 ms 
 
map prepare time 1.882426 ms
map corner num 53668  surf num 18725 
build tree time 11.960719 ms 
mapping data assosiation time 14.809720 ms 
points size 91610 
prepare time 14.147339 
mapping solver time 13.516250 ms 
sort q time 4.643153 
seperate points time 10.734508 
mapping data assosiation time 15.756543 ms 
mapping solver time 9.340562 ms 
mapping optimization time 66.378594 
add points time 0.313607 ms
data association time 11.080117 ms 
solver time 7.395191 ms 
publication time 6.385784 ms 
whole laserOdometry time 48.489604 ms 
 
map prepare time 2.033186 ms
map corner num 53988  surf num 18831 
build tree time 13.053046 ms 
points size 91249 
mapping data assosiation time 17.315177 ms 
mapping solver time 11.008164 ms 
scan registration time 26.848347 ms *************
mapping data assosiation time 15.908919 ms 
mapping solver time 10.126339 ms 
filter time 5.243278 ms 
mapping pub time 1.163195 ms 
whole mapping time 77.215359 ms +++++
data association time 12.978960 ms 
solver time 10.212853 ms 
optimization twice time 47.822740 
publication time 8.375987 ms 
whole laserOdometry time 56.233137 ms 
 
map prepare time 2.082356 ms
map corner num 54328  surf num 18951 
build tree time 13.173048 ms 
points size 91127 
prepare time 14.276861 
mapping data assosiation time 16.859986 ms 
sort q time 5.000073 
seperate points time 11.575086 
scan registration time 29.806576 ms *************
data association time 11.757550 ms 
solver time 11.227203 ms 
filter time 4.501447 ms 
mapping pub time 1.193084 ms 
whole mapping time 79.721525 ms +++++
data association time 12.773771 ms 
solver time 7.787551 ms 
publication time 6.487727 ms 
whole laserOdometry time 50.804759 ms 
 
map prepare time 2.108522 ms
map corner num 54714  surf num 19076 
build tree time 14.203685 ms 
points size 91596 
prepare time 14.472616 
sort q time 4.545972 
seperate points time 10.464820 
mapping solver time 13.164902 ms 
data association time 13.846537 ms 
mapping data assosiation time 18.268898 ms 
solver time 12.099896 ms 
mapping solver time 12.211748 ms 
mapping optimization time 76.625434 
add points time 0.419010 ms
mapping pub time 1.687712 ms 
whole mapping time 86.303967 ms +++++
data association time 14.656094 ms 
solver time 8.164052 ms 
optimization twice time 49.530000 
publication time 7.230558 ms 
whole laserOdometry time 56.780427 ms 
 
map prepare time 2.054535 ms
map corner num 55131  surf num 19194 
build tree time 14.557313 ms 
points size 92384 
mapping data assosiation time 19.426468 ms 
sort q time 4.900370 
seperate points time 11.423374 
mapping solver time 15.604103 ms 
data association time 21.860952 ms 
mapping data assosiation time 20.193635 ms 
solver time 10.236700 ms 
mapping solver time 11.417321 ms 
mapping optimization time 82.536240 
add points time 0.366894 ms
filter time 6.312821 ms 
data association time 16.203552 ms 
solver time 7.875864 ms 
optimization twice time 57.012396 
publication time 8.359859 ms 
whole laserOdometry time 65.403841 ms 
 
map prepare time 2.587731 ms
map corner num 55632  surf num 19353 
points size 92071 
prepare time 14.469440 
build tree time 14.658207 ms 
sort q time 4.637246 
seperate points time 10.927902 
mapping data assosiation time 18.322952 ms 
mapping solver time 12.660478 ms 
data association time 13.979708 ms 
solver time 12.624779 ms 
data association time 14.328464 ms 
mapping solver time 12.666763 ms 
mapping optimization time 77.865076 
add points time 0.387341 ms
solver time 11.157833 ms 
optimization twice time 52.943893 
publication time 9.748623 ms 
whole laserOdometry time 62.712834 ms 
 
map prepare time 2.776868 ms
map corner num 56189  surf num 19582 
points size 91699 
prepare time 14.479469 
build tree time 14.157233 ms 
sort q time 5.022685 
seperate points time 11.633131 
scan registration time 29.612725 ms *************
mapping data assosiation time 19.713151 ms 
mapping solver time 13.763042 ms 
solver time 11.701789 ms 
mapping data assosiation time 20.178393 ms 
data association time 13.740366 ms 
mapping solver time 12.699178 ms 
mapping optimization time 81.682452 
add points time 0.419947 ms
solver time 8.746742 ms 
optimization twice time 48.605835 
publication time 9.106952 ms 
whole laserOdometry time 57.732494 ms 
 
map prepare time 3.438530 ms
map corner num 56708  surf num 19826 
points size 91599 
prepare time 14.490287 
build tree time 14.718480 ms 
sort q time 5.038304 
seperate points time 11.473799 
mapping data assosiation time 20.432038 ms 
mapping solver time 15.636815 ms 
data association time 17.733459 ms 
solver time 12.050878 ms 
mapping data assosiation time 21.739613 ms 
mapping solver time 10.840212 ms 
mapping optimization time 84.484367 
add points time 0.429686 ms
publication time 8.704412 ms 
whole laserOdometry time 65.749441 ms 
 
map prepare time 3.230843 ms
map corner num 57222  surf num 20082 
points size 90706 
build tree time 15.617145 ms 
sort q time 4.233710 
seperate points time 10.020486 
scan registration time 31.395227 ms *************
mapping data assosiation time 20.510410 ms 
data association time 12.826892 ms 
mapping solver time 14.362219 ms 
solver time 13.072854 ms 
mapping data assosiation time 21.409465 ms 
data association time 14.046540 ms 
mapping solver time 12.124799 ms 
solver time 10.931760 ms 
optimization twice time 51.729926 
mapping optimization time 85.310490 
add points time 0.478989 ms
filter time 6.518739 ms 
points size 87335 
build tree time 14.721244 ms 
sort q time 3.978190 
seperate points time 9.323864 
scan registration time 27.164749 ms *************
mapping data assosiation time 21.001299 ms 
mapping solver time 11.365460 ms 
solver time 12.298666 ms 
mapping data assosiation time 20.408052 ms 
mapping solver time 11.596345 ms 
filter time 5.927560 ms 
publication time 8.838277 ms 
whole laserOdometry time 65.022838 ms 
 
map prepare time 3.566725 ms
map corner num 58299  surf num 20517 
points size 84998 
prepare time 13.403116 
build tree time 16.518705 ms 
sort q time 4.510608 
seperate points time 10.590210 
mapping data assosiation time 20.901738 ms 
data association time 12.604016 ms 
mapping solver time 15.976942 ms 
solver time 10.572238 ms 
data association time 12.657567 ms 
mapping data assosiation time 22.038027 ms 
solver time 10.034324 ms 
optimization twice time 46.892422 
mapping solver time 12.075717 ms 
publication time 8.022759 ms 
whole laserOdometry time 54.927479 ms 
 
mapping optimization time 88.917348 
add points time 0.652238 ms
filter time 6.293908 ms 
map prepare time 2.661297 ms
map corner num 58777  surf num 20706 
points size 83511 
prepare time 13.937815 
build tree time 14.889370 ms 
scan registration time 27.618404 ms *************
mapping data assosiation time 21.436590 ms 
data association time 13.106143 ms 
mapping solver time 12.110329 ms 
solver time 12.181329 ms 
data association time 13.684696 ms 
solver time 8.857982 ms 
optimization twice time 48.562994 
filter time 6.160224 ms 
map prepare time 2.914364 ms
map corner num 59188  surf num 20872 
build tree time 14.668219 ms 
sort q time 4.122362 
seperate points time 9.637253 
scan registration time 26.465982 ms *************
mapping solver time 13.552382 ms 
data association time 13.616151 ms 
solver time 11.265384 ms 
mapping data assosiation time 21.068786 ms 
data association time 14.914300 ms 
filter time 5.271263 ms 
mapping pub time 0.983835 ms 
whole mapping time 92.874383 ms +++++
solver time 12.639836 ms 
optimization twice time 53.189103 
publication time 6.846391 ms 
whole laserOdometry time 60.051872 ms 
 
map prepare time 3.374348 ms
map corner num 59617  surf num 21031 
points size 80703 
prepare time 13.119781 
sort q time 3.756757 
seperate points time 8.903923 
scan registration time 25.267255 ms *************
mapping data assosiation time 21.923361 ms 
data association time 20.065531 ms 
mapping solver time 19.762784 ms 
solver time 16.973305 ms 
mapping data assosiation time 25.241613 ms 
data association time 21.522298 ms 
mapping solver time 17.104783 ms 
solver time 12.420063 ms 
filter time 7.254356 ms 
publication time 8.213483 ms 
whole laserOdometry time 80.317428 ms 
 
mapping pub time 4.367496 ms 
whole mapping time 118.722559 ms +++++
points size 80930 
map prepare time 2.589055 ms
map corner num 60040  surf num 21199 
sort q time 4.098208 
seperate points time 9.764075 
scan registration time 27.855436 ms *************
build tree time 17.273357 ms 
data association time 20.255467 ms 
mapping data assosiation time 24.566154 ms 
solver time 17.318967 ms 
mapping solver time 19.547489 ms 
data association time 14.447978 ms 
solver time 7.835573 ms 
publication time 6.591689 ms 
whole laserOdometry time 67.333849 ms 
 
mapping solver time 11.791690 ms 
points size 81046 
mapping optimization time 97.710425 
add points time 0.495134 ms
prepare time 13.221763 
filter time 6.028754 ms 
mapping pub time 1.213868 ms 
whole mapping time 108.084314 ms +++++
sort q time 4.661140 
seperate points time 10.933515 
scan registration time 27.722725 ms *************
build tree time 17.855163 ms 
data association time 14.052440 ms 
mapping data assosiation time 17.885062 ms 
solver time 10.584356 ms 
mapping solver time 13.500908 ms 
data association time 14.080637 ms 
solver time 7.908616 ms 
mapping data assosiation time 19.653445 ms 
publication time 8.342498 ms 
whole laserOdometry time 55.964545 ms 
 
mapping solver time 12.382749 ms 
filter time 7.410660 ms 
mapping pub time 1.012778 ms 
whole mapping time 94.089913 ms +++++
points size 80468 
sort q time 3.709142 
seperate points time 8.973393 
scan registration time 26.593215 ms *************
build tree time 16.317576 ms 
data association time 13.324997 ms 
mapping data assosiation time 18.941293 ms 
solver time 10.051567 ms 
mapping solver time 11.265207 ms 
data association time 13.733204 ms 
solver time 9.429319 ms 
optimization twice time 47.382639 
mapping data assosiation time 20.190691 ms 
publication time 6.230256 ms 
whole laserOdometry time 53.635865 ms 
 
mapping solver time 12.198044 ms 
filter time 5.382526 ms 
map prepare time 2.713284 ms
map corner num 61274  surf num 21570 
points size 80724 
build tree time 14.606162 ms 
sort q time 4.099819 
seperate points time 9.445969 
scan registration time 25.524831 ms *************
mapping data assosiation time 18.979575 ms 
mapping solver time 12.156433 ms 
data association time 16.632752 ms 
solver time 11.364476 ms 
mapping data assosiation time 19.012937 ms 
mapping solver time 10.877890 ms 
mapping optimization time 76.810148 
add points time 0.470392 ms
filter time 6.367414 ms 
mapping pub time 1.253418 ms 
whole mapping time 87.663442 ms +++++
solver time 11.557235 ms 
optimization twice time 60.573308 
map prepare time 2.836529 ms
map corner num 61644  surf num 21695 
points size 83256 
prepare time 13.827973 
build tree time 17.746132 ms 
sort q time 3.678693 
seperate points time 8.750594 
scan registration time 26.039238 ms *************
mapping data assosiation time 16.297040 ms 
mapping solver time 11.996933 ms 
data association time 13.635260 ms 
solver time 10.772075 ms 
mapping data assosiation time 17.306115 ms 
data association time 13.521629 ms 
filter time 5.289196 ms 
solver time 8.681227 ms 
mapping pub time 1.742717 ms 
whole mapping time 84.865175 ms +++++
optimization twice time 47.457465 
publication time 5.941096 ms 
whole laserOdometry time 53.417367 ms 
 
map prepare time 2.599396 ms
map corner num 62008  surf num 21798 
build tree time 18.225986 ms 
points size 84880 
prepare time 17.397510 
mapping data assosiation time 21.156371 ms 
scan registration time 34.845683 ms *************
data association time 12.675281 ms 
solver time 7.880536 ms 
mapping data assosiation time 16.333866 ms 
mapping solver time 7.327734 ms 
mapping optimization time 76.774122 
add points time 0.410522 ms
data association time 18.570317 ms 
solver time 7.680945 ms 
optimization twice time 47.658996 
publication time 7.159657 ms 
whole laserOdometry time 54.837493 ms 
 
map prepare time 1.853925 ms
map corner num 62333  surf num 21897 
build tree time 14.919617 ms 
sort q time 4.164618 
seperate points time 9.486925 
mapping data assosiation time 15.496866 ms 
scan registration time 25.685929 ms *************
mapping solver time 11.549053 ms 
data association time 12.876773 ms 
mapping data assosiation time 16.421982 ms 
solver time 11.027436 ms 
mapping solver time 12.088414 ms 
filter time 5.775080 ms 
mapping pub time 1.314360 ms 
whole mapping time 81.135481 ms +++++
solver time 8.187673 ms 
optimization twice time 46.765710 
publication time 6.662635 ms 
whole laserOdometry time 53.462984 ms 
 
map prepare time 2.401118 ms
map corner num 62658  surf num 21990 
build tree time 16.573035 ms 
points size 85736 
prepare time 19.204463 
mapping data assosiation time 21.786563 ms 
sort q time 5.188080 
seperate points time 12.407208 
mapping solver time 16.771707 ms 
data association time 14.239768 ms 
solver time 11.469689 ms 
mapping solver time 10.447301 ms 
mapping optimization time 84.136549 
add points time 0.607986 ms
data association time 15.485485 ms 
solver time 8.823324 ms 
publication time 6.478220 ms 
whole laserOdometry time 57.517115 ms 
 
map prepare time 2.705739 ms
map corner num 63017  surf num 22082 
points size 87705 
build tree time 15.760506 ms 
sort q time 3.895021 
seperate points time 9.171845 
scan registration time 26.708339 ms *************
mapping data assosiation time 17.011840 ms 
mapping solver time 12.161761 ms 
data association time 13.842510 ms 
solver time 11.298957 ms 
mapping solver time 11.816576 ms 
mapping optimization time 73.878806 
data association time 12.816487 ms 
add points time 0.372949 ms
mapping pub time 1.271300 ms 
whole mapping time 86.414503 ms +++++
solver time 10.599223 ms 
optimization twice time 49.346932 
publication time 7.808783 ms 
whole laserOdometry time 57.175822 ms 
 
map prepare time 2.416695 ms
map corner num 63394  surf num 22211 
build tree time 15.178638 ms 
points size 87706 
prepare time 13.183567 
sort q time 4.874432 
seperate points time 11.002647 
mapping solver time 10.233111 ms 
data association time 12.902788 ms 
solver time 10.831980 ms 
mapping solver time 7.998582 ms 
mapping optimization time 69.601772 
add points time 0.341897 ms
filter time 5.976408 ms 
mapping pub time 1.852182 ms 
whole mapping time 80.234081 ms +++++
solver time 9.299618 ms 
publication time 7.008135 ms 
whole laserOdometry time 54.311479 ms 
 
map prepare time 2.074725 ms
map corner num 63764  surf num 22318 
build tree time 15.631128 ms 
points size 88865 
mapping data assosiation time 18.107870 ms 
sort q time 5.539575 
seperate points time 12.379308 
scan registration time 30.898956 ms *************
mapping data assosiation time 17.204954 ms 
data association time 14.950164 ms 
mapping solver time 10.012043 ms 
mapping optimization time 75.114469 
add points time 0.434040 ms
mapping pub time 1.087974 ms 
whole mapping time 84.278352 ms +++++
solver time 13.840780 ms 
data association time 11.982090 ms 
solver time 7.554199 ms 
optimization twice time 49.155069 
map prepare time 2.097112 ms
map corner num 64149  surf num 22446 
points size 90479 
prepare time 13.878444 
build tree time 16.495843 ms 
sort q time 5.132463 
seperate points time 11.588768 
mapping solver time 9.800676 ms 
data association time 14.154390 ms 
mapping data assosiation time 16.766956 ms 
mapping solver time 9.602716 ms 
filter time 5.222324 ms 
mapping pub time 1.137440 ms 
whole mapping time 78.542628 ms +++++
solver time 10.150917 ms 
publication time 7.329970 ms 
whole laserOdometry time 61.496618 ms 
 
map prepare time 2.047624 ms
map corner num 64539  surf num 22571 
points size 92345 
prepare time 13.667020 
sort q time 5.087286 
seperate points time 11.685527 
mapping data assosiation time 18.239898 ms 
data association time 14.332340 ms 
mapping solver time 15.568656 ms 
solver time 14.133492 ms 
mapping data assosiation time 17.343710 ms 
data association time 13.790751 ms 
mapping solver time 12.221378 ms 
mapping optimization time 81.824278 
add points time 0.396304 ms
solver time 8.826985 ms 
publication time 7.076544 ms 
whole laserOdometry time 59.063130 ms 
 
map prepare time 2.066292 ms
map corner num 64960  surf num 22700 
build tree time 15.922176 ms 
points size 91895 
sort q time 4.722240 
seperate points time 10.838703 
scan registration time 28.710925 ms *************
mapping data assosiation time 19.668971 ms 
data association time 14.001919 ms 
mapping solver time 14.934133 ms 
solver time 13.319377 ms 
mapping data assosiation time 18.654686 ms 
mapping solver time 10.709554 ms 
mapping optimization time 80.972563 
add points time 0.480077 ms
solver time 11.148631 ms 
optimization twice time 53.321336 
filter time 8.431873 ms 
mapping pub time 1.254036 ms 
whole mapping time 93.243209 ms +++++
publication time 6.907818 ms 
whole laserOdometry time 60.249639 ms 
 
map prepare time 1.957601 ms
map corner num 65366  surf num 22841 
points size 90581 
build tree time 18.060632 ms 
prepare time 14.351717 
sort q time 4.281929 
seperate points time 10.291735 
mapping solver time 13.173233 ms 
data association time 13.806999 ms 
mapping data assosiation time 19.127102 ms 
solver time 11.100070 ms 
mapping solver time 10.025300 ms 
mapping optimization time 79.242909 
add points time 0.387314 ms
data association time 14.017394 ms 
solver time 10.149072 ms 
publication time 6.372726 ms 
whole laserOdometry time 56.294257 ms 
 
map prepare time 3.341847 ms
map corner num 65812  surf num 22997 
points size 91104 
prepare time 14.187808 
build tree time 16.985503 ms 
scan registration time 27.884251 ms *************
mapping data assosiation time 19.468093 ms 
mapping solver time 10.834674 ms 
solver time 10.369018 ms 
mapping data assosiation time 17.276177 ms 
data association time 13.941684 ms 
mapping solver time 8.458364 ms 
mapping optimization time 74.192874 
add points time 0.381148 ms
solver time 8.325322 ms 
optimization twice time 47.186868 
filter time 8.216211 ms 
mapping pub time 1.152550 ms 
whole mapping time 87.324688 ms +++++
publication time 7.084902 ms 
whole laserOdometry time 54.292116 ms 
 
map prepare time 3.201507 ms
map corner num 66249  surf num 23191 
build tree time 16.930379 ms 
points size 91648 
prepare time 14.919200 
mapping data assosiation time 19.224891 ms 
sort q time 4.530195 
seperate points time 10.681551 
mapping solver time 11.503868 ms 
data association time 14.674915 ms 
solver time 11.602179 ms 
filter time 5.952421 ms 
mapping pub time 1.109970 ms 
whole mapping time 87.792962 ms +++++
data association time 17.216620 ms 
solver time 9.924959 ms 
publication time 7.366696 ms 
whole laserOdometry time 61.705674 ms 
 
map prepare time 3.083243 ms
map corner num 66693  surf num 23351 
points size 92362 
build tree time 22.755935 ms 
sort q time 5.857429 
seperate points time 14.563117 
mapping data assosiation time 25.099145 ms 
data association time 14.397078 ms 
mapping solver time 13.642437 ms 
solver time 10.972717 ms 
mapping data assosiation time 19.221922 ms 
data association time 14.036920 ms 
mapping solver time 8.503083 ms 
mapping optimization time 90.443886 
add points time 0.394832 ms
solver time 9.420499 ms 
optimization twice time 49.790172 
publication time 8.562777 ms 
whole laserOdometry time 58.380274 ms 
 
map prepare time 2.545724 ms
map corner num 67149  surf num 23556 
points size 92980 
build tree time 17.665206 ms 
sort q time 4.628911 
seperate points time 10.727935 
scan registration time 30.303918 ms *************
mapping data assosiation time 21.964168 ms 
data association time 13.601895 ms 
mapping solver time 14.543279 ms 
solver time 12.925270 ms 
mapping data assosiation time 19.619630 ms 
solver time 7.817470 ms 
filter time 6.453052 ms 
points size 93896 
prepare time 14.694089 
sort q time 4.562751 
seperate points time 10.638252 
mapping data assosiation time 20.916990 ms 
data association time 21.507791 ms 
solver time 12.949158 ms 
mapping data assosiation time 21.997858 ms 
data association time 14.353869 ms 
mapping solver time 14.595177 ms 
filter time 7.295753 ms 
mapping pub time 6.797824 ms 
whole mapping time 111.175933 ms +++++
[0m[ INFO] [1718802231.371899047]: Received 92126 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802231.371934353]: Data saved to 1317357778465379.pcd[0m
map prepare time 2.803915 ms
map corner num 68095  surf num 23981 
prepare time 18.750890 
build tree time 17.709186 ms 
sort q time 5.337924 
seperate points time 12.832945 
mapping data assosiation time 21.109047 ms 
data association time 15.831918 ms 
solver time 11.445387 ms 
mapping data assosiation time 20.072707 ms 
data association time 17.396628 ms 
mapping solver time 12.792015 ms 
filter time 7.040156 ms 
mapping pub time 1.221739 ms 
whole mapping time 99.326939 ms +++++
publication time 8.462921 ms 
whole laserOdometry time 64.407591 ms 
 
points size 91539 
map prepare time 3.175754 ms
map corner num 68586  surf num 24182 
prepare time 15.355935 
sort q time 4.872915 
seperate points time 11.184213 
scan registration time 30.299215 ms *************
build tree time 22.604312 ms 
mapping data assosiation time 26.438024 ms 
mapping solver time 14.254969 ms 
data association time 14.815120 ms 
solver time 8.014230 ms 
optimization twice time 48.095293 
publication time 7.826228 ms 
whole laserOdometry time 55.943972 ms 
 
mapping data assosiation time 23.416737 ms 
mapping solver time 13.605762 ms 
mapping optimization time 101.702869 
add points time 0.459734 ms
points size 90775 
filter time 8.117020 ms 
mapping pub time 1.516054 ms 
whole mapping time 115.011196 ms +++++
map prepare time 3.136510 ms
map corner num 69145  surf num 24406 
sort q time 5.167229 
seperate points time 12.836884 
scan registration time 35.107223 ms *************
build tree time 21.871434 ms 
data association time 22.249703 ms 
mapping data assosiation time 25.792867 ms 
solver time 17.432776 ms 
mapping solver time 21.307355 ms 
data association time 21.137759 ms 
points size 89386 
mapping data assosiation time 26.267679 ms 
publication time 10.126144 ms 
whole laserOdometry time 85.990374 ms 
 
mapping solver time 12.921631 ms 
filter time 7.716109 ms 
mapping pub time 1.467354 ms 
whole mapping time 122.736878 ms +++++
data association time 13.603949 ms 
solver time 13.374262 ms 
data association time 16.478979 ms 
solver time 8.680076 ms 
optimization twice time 53.136019 
mapping solver time 17.009781 ms 
points size 89558 
prepare time 14.732640 
sort q time 4.294813 
seperate points time 9.949124 
mapping data assosiation time 21.291484 ms 
scan registration time 28.631407 ms *************
mapping solver time 12.177282 ms 
mapping optimization time 99.992650 
add points time 0.447245 ms
filter time 5.473560 ms 
mapping pub time 1.010698 ms 
whole mapping time 110.055456 ms +++++
solver time 13.184521 ms 
build tree time 16.181564 ms 
data association time 13.277023 ms 
solver time 8.313398 ms 
optimization twice time 49.388471 
mapping data assosiation time 19.280421 ms 
publication time 7.010856 ms 
whole laserOdometry time 56.416203 ms 
 
mapping solver time 16.508853 ms 
points size 90252 
mapping data assosiation time 19.333794 ms 
sort q time 4.104571 
seperate points time 10.008558 
mapping solver time 9.533518 ms 
scan registration time 29.438299 ms *************
mapping optimization time 82.262867 
add points time 0.472271 ms
filter time 6.670445 ms 
mapping pub time 2.832084 ms 
whole mapping time 94.539230 ms +++++
map prepare time 2.787098 ms
map corner num 70498  surf num 24919 
data association time 14.291395 ms 
build tree time 17.933416 ms 
solver time 10.665209 ms 
data association time 13.459111 ms 
mapping data assosiation time 18.136799 ms 
solver time 8.818669 ms 
optimization twice time 48.094747 
mapping solver time 14.664601 ms 
publication time 7.247429 ms 
whole laserOdometry time 55.359666 ms 
 
mapping data assosiation time 18.265413 ms 
prepare time 15.045399 
mapping solver time 11.923736 ms 
sort q time 5.596323 
seperate points time 12.690048 
map prepare time 2.812536 ms
map corner num 70937  surf num 25064 
build tree time 17.434973 ms 
data association time 14.276529 ms 
solver time 10.563739 ms 
mapping data assosiation time 18.053496 ms 
data association time 14.393260 ms 
solver time 8.603563 ms 
publication time 7.532422 ms 
whole laserOdometry time 56.326636 ms 
 
mapping data assosiation time 18.020352 ms 
mapping solver time 8.042160 ms 
prepare time 15.078926 
map prepare time 2.173926 ms
map corner num 71392  surf num 25226 
sort q time 5.537803 
seperate points time 12.602710 
scan registration time 31.584274 ms *************
build tree time 19.123402 ms 
data association time 13.199513 ms 
mapping data assosiation time 18.113843 ms 
mapping solver time 11.588569 ms 
data association time 11.634724 ms 
solver time 8.109772 ms 
optimization twice time 44.939242 
mapping data assosiation time 20.494254 ms 
mapping solver time 8.949304 ms 
filter time 6.648445 ms 
map prepare time 3.121347 ms
map corner num 71827  surf num 25372 
points size 90749 
sort q time 5.737148 
seperate points time 12.797590 
build tree time 20.992821 ms 
scan registration time 31.440692 ms *************
data association time 13.125960 ms 
mapping data assosiation time 18.756122 ms 
solver time 11.471348 ms 
mapping solver time 14.199382 ms 
data association time 12.567210 ms 
solver time 7.931708 ms 
mapping data assosiation time 17.179350 ms 
optimization twice time 45.905099 
mapping solver time 11.350098 ms 
filter time 6.213887 ms 
map prepare time 2.759751 ms
map corner num 72214  surf num 25486 
points size 91262 
prepare time 15.727536 
sort q time 4.439030 
seperate points time 10.336265 
mapping data assosiation time 18.499943 ms 
mapping solver time 13.662999 ms 
data association time 20.437611 ms 
solver time 12.142159 ms 
mapping solver time 10.431882 ms 
mapping optimization time 80.993142 
data association time 13.359126 ms 
add points time 0.433672 ms
filter time 7.412529 ms 
solver time 8.415411 ms 
publication time 7.296708 ms 
whole laserOdometry time 62.521362 ms 
 
map prepare time 2.447741 ms
map corner num 72585  surf num 25590 
points size 92713 
prepare time 14.024788 
sort q time 5.106800 
seperate points time 11.483324 
mapping data assosiation time 18.481910 ms 
data association time 12.849515 ms 
mapping solver time 13.153211 ms 
solver time 10.303717 ms 
mapping data assosiation time 18.069014 ms 
data association time 13.505731 ms 
mapping solver time 10.471123 ms 
mapping optimization time 80.201250 
add points time 0.362377 ms
solver time 8.356563 ms 
optimization twice time 45.947999 
filter time 7.777999 ms 
publication time 7.194907 ms 
whole laserOdometry time 53.156155 ms 
 
mapping pub time 1.680821 ms 
whole mapping time 92.523335 ms +++++
map prepare time 2.721538 ms
map corner num 72968  surf num 25699 
build tree time 19.067660 ms 
points size 94876 
mapping data assosiation time 17.175738 ms 
sort q time 4.927750 
seperate points time 11.100853 
scan registration time 29.495259 ms *************
mapping solver time 11.820416 ms 
data association time 12.413721 ms 
mapping data assosiation time 16.702063 ms 
solver time 11.304355 ms 
mapping solver time 8.457958 ms 
mapping optimization time 74.279230 
add points time 0.380420 ms
filter time 8.624516 ms 
data association time 13.388719 ms 
mapping pub time 1.475820 ms 
whole mapping time 87.532543 ms +++++
solver time 11.412959 ms 
optimization twice time 49.482047 
publication time 8.925044 ms 
whole laserOdometry time 58.426086 ms 
 
map prepare time 2.636545 ms
map corner num 73367  surf num 25805 
points size 95884 
prepare time 16.799230 
sort q time 5.141608 
seperate points time 11.797509 
scan registration time 32.374880 ms *************
mapping data assosiation time 17.675221 ms 
mapping solver time 10.729057 ms 
data association time 13.198779 ms 
mapping data assosiation time 18.311711 ms 
mapping solver time 8.406449 ms 
mapping optimization time 77.426925 
add points time 0.487845 ms
data association time 12.936677 ms 
filter time 8.192565 ms 
mapping pub time 1.181285 ms 
whole mapping time 89.971832 ms +++++
solver time 8.610007 ms 
optimization twice time 47.868488 
map prepare time 3.166501 ms
map corner num 73741  surf num 25936 
points size 95917 
prepare time 18.423131 
build tree time 24.145986 ms 
sort q time 5.766377 
seperate points time 13.651325 
scan registration time 37.344591 ms *************
mapping data assosiation time 19.362400 ms 
mapping solver time 10.171868 ms 
data association time 12.359504 ms 
solver time 10.724137 ms 
mapping data assosiation time 19.127271 ms 
data association time 13.464320 ms 
mapping optimization time 86.181627 
add points time 0.446294 ms
filter time 7.035534 ms 
mapping pub time 1.178723 ms 
whole mapping time 98.053224 ms +++++
map prepare time 2.260371 ms
map corner num 74115  surf num 26066 
points size 96511 
prepare time 16.510600 
build tree time 17.993844 ms 
sort q time 5.174695 
seperate points time 11.583037 
mapping data assosiation time 17.169663 ms 
mapping solver time 11.104360 ms 
solver time 10.727370 ms 
mapping data assosiation time 18.438934 ms 
data association time 12.744664 ms 
filter time 6.184939 ms 
solver time 8.261948 ms 
optimization twice time 45.755314 
mapping pub time 2.010109 ms 
whole mapping time 85.231757 ms +++++
publication time 7.975683 ms 
whole laserOdometry time 53.748303 ms 
 
map prepare time 2.132150 ms
map corner num 74529  surf num 26221 
points size 95991 
prepare time 14.362447 
sort q time 4.254853 
seperate points time 9.833004 
mapping data assosiation time 19.481850 ms 
mapping solver time 11.953531 ms 
data association time 12.752048 ms 
solver time 10.068893 ms 
mapping data assosiation time 18.202422 ms 
mapping solver time 10.451825 ms 
filter time 6.849648 ms 
solver time 8.010190 ms 
mapping pub time 1.314878 ms 
whole mapping time 90.873071 ms +++++
optimization twice time 43.758815 
publication time 8.621440 ms 
whole laserOdometry time 52.400810 ms 
 
map prepare time 2.902362 ms
map corner num 74942  surf num 26337 
points size 95729 
sort q time 4.252987 
seperate points time 9.824948 
scan registration time 28.659689 ms *************
mapping solver time 11.442280 ms 
data association time 15.865092 ms 
mapping data assosiation time 17.988199 ms 
solver time 11.290260 ms 
mapping solver time 12.309218 ms 
mapping optimization time 80.016532 
add points time 0.461584 ms
mapping pub time 1.148011 ms 
whole mapping time 92.881328 ms +++++
solver time 8.380890 ms 
optimization twice time 49.968059 
publication time 8.033708 ms 
whole laserOdometry time 58.022138 ms 
 
map prepare time 2.117789 ms
map corner num 75316  surf num 26455 
points size 95914 
prepare time 14.743457 
build tree time 21.287076 ms 
sort q time 4.453281 
seperate points time 10.319083 
mapping data assosiation time 17.261302 ms 
data association time 12.301769 ms 
mapping solver time 12.931845 ms 
solver time 11.262390 ms 
mapping data assosiation time 16.614241 ms 
data association time 13.231507 ms 
mapping solver time 7.064482 ms 
solver time 8.915248 ms 
optimization twice time 46.551656 
filter time 7.650239 ms 
mapping pub time 1.156479 ms 
whole mapping time 87.624255 ms +++++
map prepare time 3.174430 ms
map corner num 72753  surf num 25092 
build tree time 18.613024 ms 
points size 95636 
sort q time 4.442045 
seperate points time 10.004812 
mapping solver time 12.049205 ms 
data association time 16.130102 ms 
solver time 10.929517 ms 
filter time 5.663015 ms 
data association time 15.657209 ms 
solver time 9.799677 ms 
optimization twice time 53.352120 
points size 95114 
build tree time 17.793934 ms 
sort q time 4.652328 
seperate points time 10.929669 
mapping data assosiation time 16.426956 ms 
mapping solver time 11.227961 ms 
solver time 11.705548 ms 
mapping solver time 6.465885 ms 
data association time 16.214958 ms 
mapping pub time 4.956908 ms 
whole mapping time 84.555406 ms +++++
[0m[ INFO] [1718802233.421559777]: Received 103304 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802233.421595009]: Data saved to 1317357780542627.pcd[0m
solver time 9.929129 ms 
optimization twice time 52.548105 
publication time 7.987826 ms 
whole laserOdometry time 60.564544 ms 
 
map prepare time 2.852484 ms
map corner num 73465  surf num 25381 
points size 94331 
prepare time 14.429502 
build tree time 18.368108 ms 
sort q time 5.044762 
seperate points time 11.465146 
mapping data assosiation time 16.959528 ms 
mapping solver time 11.219076 ms 
solver time 9.938862 ms 
mapping data assosiation time 15.745074 ms 
mapping solver time 9.005602 ms 
mapping optimization time 72.164480 
add points time 0.403681 ms
data association time 13.910033 ms 
filter time 6.242629 ms 
optimization twice time 46.679045 
publication time 7.040575 ms 
whole laserOdometry time 53.736901 ms 
 
map prepare time 2.611137 ms
map corner num 73835  surf num 25582 
build tree time 17.862914 ms 
points size 94363 
mapping data assosiation time 17.712945 ms 
scan registration time 28.828523 ms *************
mapping solver time 13.550422 ms 
data association time 13.285266 ms 
mapping data assosiation time 16.951677 ms 
solver time 11.287004 ms 
mapping solver time 10.253404 ms 
mapping optimization time 77.448859 
add points time 0.416544 ms
filter time 6.518798 ms 
solver time 8.153720 ms 
publication time 8.284280 ms 
whole laserOdometry time 56.606281 ms 
 
map prepare time 2.363470 ms
map corner num 74333  surf num 25818 
points size 94037 
build tree time 19.901967 ms 
prepare time 14.645047 
sort q time 4.336093 
seperate points time 10.359294 
scan registration time 29.295044 ms *************
mapping solver time 13.274161 ms 
data association time 23.910736 ms 
mapping data assosiation time 21.784481 ms 
solver time 16.816665 ms 
filter time 8.185068 ms 
data association time 17.782104 ms 
solver time 8.892981 ms 
publication time 7.743139 ms 
whole laserOdometry time 76.090484 ms 
 
map prepare time 2.729843 ms
map corner num 74777  surf num 25994 
sort q time 6.626486 
seperate points time 15.050708 
build tree time 21.887064 ms 
data association time 15.872604 ms 
mapping data assosiation time 21.785978 ms 
data association time 14.364747 ms 
solver time 10.026066 ms 
publication time 8.078061 ms 
whole laserOdometry time 64.518993 ms 
 
mapping solver time 9.750898 ms 
mapping optimization time 91.717927 
add points time 0.458988 ms
points size 95039 
map prepare time 2.347289 ms
map corner num 75152  surf num 26124 
sort q time 5.350728 
seperate points time 12.788960 
build tree time 20.686506 ms 
data association time 13.963825 ms 
solver time 11.878566 ms 
mapping solver time 12.693465 ms 
data association time 14.910020 ms 
solver time 10.527430 ms 
optimization twice time 52.167144 
mapping solver time 8.452462 ms 
filter time 6.562860 ms 
points size 95103 
map prepare time 2.544228 ms
map corner num 75531  surf num 26242 
prepare time 15.442212 
sort q time 4.364273 
seperate points time 10.104476 
build tree time 20.798420 ms 
data association time 14.070435 ms 
solver time 11.357753 ms 
data association time 14.117565 ms 
mapping data assosiation time 17.820171 ms 
solver time 10.104798 ms 
optimization twice time 50.658310 
mapping solver time 8.227874 ms 
mapping optimization time 76.598454 
add points time 0.417781 ms
filter time 7.134549 ms 
map prepare time 3.292767 ms
map corner num 75895  surf num 26351 
points size 95323 
build tree time 22.227429 ms 
sort q time 6.950801 
seperate points time 15.489413 
scan registration time 34.799059 ms *************
mapping data assosiation time 19.210730 ms 
mapping solver time 13.327130 ms 
solver time 10.266251 ms 
mapping data assosiation time 17.227099 ms 
data association time 13.145374 ms 
mapping solver time 11.167722 ms 
mapping optimization time 84.310959 
add points time 0.458869 ms
filter time 6.929550 ms 
mapping pub time 1.489988 ms 
whole mapping time 96.524187 ms +++++
map prepare time 2.779733 ms
map corner num 76252  surf num 26470 
points size 95586 
build tree time 21.123473 ms 
sort q time 5.444914 
seperate points time 12.426243 
mapping data assosiation time 19.466277 ms 
mapping solver time 12.886208 ms 
solver time 12.667900 ms 
mapping solver time 7.965516 ms 
filter time 8.485800 ms 
publication time 7.464212 ms 
whole laserOdometry time 54.416694 ms 
 
map prepare time 3.044195 ms
map corner num 76608  surf num 26599 
points size 96185 
prepare time 14.976984 
build tree time 22.434049 ms 
sort q time 5.178435 
seperate points time 11.704985 
mapping data assosiation time 17.978748 ms 
data association time 12.062566 ms 
mapping solver time 12.450805 ms 
solver time 10.674228 ms 
mapping data assosiation time 17.737918 ms 
data association time 12.566472 ms 
solver time 8.040881 ms 
optimization twice time 44.229029 
mapping solver time 11.912631 ms 
mapping optimization time 83.748310 
add points time 0.433171 ms
publication time 7.254411 ms 
whole laserOdometry time 51.502807 ms 
 
mapping pub time 1.302131 ms 
whole mapping time 97.376456 ms +++++
map prepare time 2.848204 ms
map corner num 76949  surf num 26705 
points size 96109 
sort q time 5.238679 
seperate points time 11.660261 
mapping data assosiation time 15.669329 ms 
scan registration time 30.842263 ms *************
mapping solver time 12.038173 ms 
data association time 12.332464 ms 
mapping data assosiation time 14.708470 ms 
solver time 10.543525 ms 
mapping solver time 9.535855 ms 
mapping optimization time 72.237051 
add points time 0.467477 ms
data association time 13.192863 ms 
mapping pub time 2.432110 ms 
whole mapping time 85.687076 ms +++++
solver time 8.358834 ms 
optimization twice time 45.265299 
publication time 7.436802 ms 
whole laserOdometry time 52.720439 ms 
 
map prepare time 2.041720 ms
map corner num 77295  surf num 26795 
build tree time 18.560592 ms 
prepare time 15.922656 
mapping data assosiation time 21.249977 ms 
mapping solver time 12.103913 ms 
data association time 11.503360 ms 
mapping data assosiation time 15.002463 ms 
mapping solver time 6.523375 ms 
mapping optimization time 74.345819 
add points time 0.406225 ms
solver time 11.805870 ms 
filter time 6.235103 ms 
data association time 11.767782 ms 
solver time 8.000183 ms 
publication time 7.424619 ms 
whole laserOdometry time 51.447939 ms 
 
map prepare time 2.936644 ms
map corner num 77636  surf num 26895 
points size 94909 
build tree time 25.894183 ms 
sort q time 5.950227 
seperate points time 14.444756 
mapping data assosiation time 17.728028 ms 
mapping solver time 8.266715 ms 
data association time 14.477086 ms 
mapping data assosiation time 14.322801 ms 
mapping solver time 6.659983 ms 
mapping optimization time 73.760050 
add points time 0.423656 ms
solver time 16.374235 ms 
data association time 13.832332 ms 
solver time 8.823911 ms 
publication time 7.704733 ms 
whole laserOdometry time 62.284109 ms 
 
map prepare time 2.750822 ms
map corner num 77990  surf num 26993 
points size 95076 
prepare time 19.790377 
build tree time 25.771827 ms 
sort q time 5.650091 
seperate points time 13.337934 
scan registration time 37.405594 ms *************
mapping data assosiation time 16.170817 ms 
data association time 14.238803 ms 
mapping solver time 10.375124 ms 
solver time 16.146060 ms 
mapping data assosiation time 14.823522 ms 
mapping solver time 8.865451 ms 
mapping optimization time 77.025010 
add points time 0.429550 ms
solver time 11.626024 ms 
publication time 6.079133 ms 
whole laserOdometry time 66.787233 ms 
 
map prepare time 2.328018 ms
map corner num 78396  surf num 27098 
prepare time 14.305998 
sort q time 5.281958 
seperate points time 11.925127 
build tree time 18.896667 ms 
mapping data assosiation time 14.809562 ms 
data association time 11.991739 ms 
mapping solver time 10.945610 ms 
solver time 10.854135 ms 
mapping data assosiation time 14.450433 ms 
data association time 12.312947 ms 
mapping solver time 7.106932 ms 
filter time 6.974538 ms 
map prepare time 2.194167 ms
map corner num 78814  surf num 27243 
points size 97190 
build tree time 19.571234 ms 
prepare time 13.675478 
sort q time 4.940843 
seperate points time 11.201682 
mapping solver time 11.025298 ms 
data association time 12.461644 ms 
mapping data assosiation time 15.031134 ms 
mapping solver time 8.888481 ms 
mapping optimization time 69.706013 
add points time 0.540493 ms
solver time 13.244078 ms 
mapping pub time 2.112901 ms 
whole mapping time 80.263529 ms +++++
data association time 13.032889 ms 
solver time 10.250669 ms 
optimization twice time 49.930488 
publication time 8.486227 ms 
whole laserOdometry time 58.432609 ms 
 
map prepare time 2.919079 ms
map corner num 79262  surf num 27505 
points size 97604 
prepare time 19.570082 
build tree time 26.646119 ms 
sort q time 6.384444 
seperate points time 15.043994 
scan registration time 40.416704 ms *************
mapping solver time 8.915631 ms 
data association time 12.705815 ms 
solver time 12.942063 ms 
mapping data assosiation time 19.581962 ms 
data association time 14.645432 ms 
mapping solver time 10.286850 ms 
mapping optimization time 86.159956 
add points time 0.446756 ms
filter time 8.426236 ms 
publication time 8.657393 ms 
whole laserOdometry time 60.797322 ms 
 
map prepare time 2.307982 ms
map corner num 79698  surf num 27717 
points size 97690 
prepare time 17.442418 
sort q time 4.397772 
seperate points time 10.098021 
build tree time 23.418272 ms 
scan registration time 32.112057 ms *************
mapping data assosiation time 18.711363 ms 
data association time 12.849136 ms 
mapping solver time 14.021746 ms 
solver time 10.430401 ms 
data association time 12.176035 ms 
mapping data assosiation time 17.674736 ms 
mapping solver time 12.329151 ms 
filter time 6.947069 ms 
map prepare time 2.291470 ms
map corner num 80150  surf num 27849 
points size 98497 
prepare time 15.654015 
build tree time 20.641450 ms 
sort q time 5.442642 
seperate points time 12.437227 
scan registration time 32.408722 ms *************
mapping data assosiation time 16.809346 ms 
mapping solver time 16.528867 ms 
data association time 20.683142 ms 
mapping data assosiation time 20.756847 ms 
solver time 17.447695 ms 
mapping solver time 14.034005 ms 
data association time 15.065765 ms 
mapping pub time 1.582973 ms 
whole mapping time 102.238328 ms +++++
publication time 6.270005 ms 
whole laserOdometry time 68.755532 ms 
 
prepare time 17.502666 
sort q time 5.845629 
seperate points time 13.329077 
scan registration time 35.791314 ms *************
build tree time 22.472163 ms 
mapping data assosiation time 16.527496 ms 
data association time 13.181642 ms 
solver time 10.547097 ms 
mapping solver time 12.990539 ms 
data association time 13.543515 ms 
mapping data assosiation time 16.542908 ms 
solver time 9.054297 ms 
mapping solver time 8.282494 ms 
mapping optimization time 77.774046 
add points time 0.535060 ms
publication time 7.476125 ms 
whole laserOdometry time 54.654677 ms 
 
filter time 7.147124 ms 
map prepare time 3.141671 ms
map corner num 80927  surf num 28101 
points size 100000 
prepare time 19.475156 
build tree time 27.182284 ms 
sort q time 6.091345 
seperate points time 14.315392 
scan registration time 39.607903 ms *************
mapping data assosiation time 18.524657 ms 
data association time 14.221227 ms 
mapping solver time 11.857843 ms 
solver time 11.023284 ms 
mapping data assosiation time 16.414138 ms 
data association time 16.496409 ms 
mapping solver time 12.169605 ms 
mapping optimization time 87.179890 
add points time 0.656520 ms
solver time 10.413877 ms 
publication time 8.432465 ms 
whole laserOdometry time 61.513160 ms 
 
mapping pub time 9.443949 ms 
whole mapping time 108.395450 ms +++++
points size 100715 
prepare time 17.109676 
sort q time 4.952944 
seperate points time 11.080094 
mapping data assosiation time 15.838868 ms 
data association time 13.653920 ms 
solver time 8.465364 ms 
mapping data assosiation time 15.756756 ms 
data association time 13.912095 ms 
mapping solver time 10.365725 ms 
filter time 6.482162 ms 
map prepare time 3.386308 ms
map corner num 81666  surf num 28284 
points size 101376 
prepare time 19.973898 
build tree time 27.351350 ms 
sort q time 6.135354 
seperate points time 14.570934 
scan registration time 40.342242 ms *************
mapping data assosiation time 20.669178 ms 
data association time 15.338662 ms 
solver time 8.857418 ms 
mapping data assosiation time 16.841033 ms 
data association time 14.031113 ms 
mapping solver time 10.637390 ms 
mapping optimization time 89.817154 
add points time 0.429406 ms
solver time 8.826067 ms 
optimization twice time 48.003591 
mapping pub time 1.464678 ms 
whole mapping time 103.333043 ms +++++
map prepare time 2.462679 ms
map corner num 82096  surf num 28389 
points size 101320 
build tree time 21.846103 ms 
sort q time 6.073418 
seperate points time 13.840557 
mapping data assosiation time 18.372761 ms 
data association time 12.949338 ms 
mapping solver time 10.689283 ms 
solver time 10.849363 ms 
mapping data assosiation time 18.711463 ms 
data association time 12.627147 ms 
add points time 0.429136 ms
filter time 8.055735 ms 
publication time 8.761947 ms 
whole laserOdometry time 53.738014 ms 
 
map prepare time 3.460887 ms
map corner num 82540  surf num 28516 
points size 100799 
prepare time 15.536252 
build tree time 21.345927 ms 
sort q time 5.630317 
seperate points time 12.802805 
mapping data assosiation time 19.397070 ms 
mapping solver time 14.056164 ms 
data association time 14.586984 ms 
solver time 13.311063 ms 
mapping data assosiation time 17.692841 ms 
mapping solver time 8.066298 ms 
data association time 13.612500 ms 
solver time 11.095614 ms 
publication time 8.116560 ms 
whole laserOdometry time 61.617403 ms 
 
map prepare time 2.717982 ms
map corner num 83001  surf num 28649 
points size 100272 
prepare time 16.133511 
build tree time 20.469152 ms 
sort q time 5.469333 
seperate points time 12.116197 
scan registration time 32.553327 ms *************
mapping data assosiation time 19.953421 ms 
data association time 13.274921 ms 
mapping solver time 13.208319 ms 
solver time 10.507786 ms 
mapping data assosiation time 17.393760 ms 
data association time 13.781107 ms 
solver time 8.470605 ms 
optimization twice time 46.949262 
mapping solver time 14.256957 ms 
mapping optimization time 86.419574 
add points time 0.457182 ms
filter time 9.029345 ms 
map prepare time 3.046804 ms
map corner num 83449  surf num 28768 
points size 99571 
prepare time 20.248307 
sort q time 5.848575 
seperate points time 14.086077 
build tree time 28.887078 ms 
mapping data assosiation time 19.713913 ms 
data association time 13.851096 ms 
mapping solver time 10.867851 ms 
solver time 13.700134 ms 
mapping data assosiation time 18.646388 ms 
data association time 13.875727 ms 
mapping solver time 8.697438 ms 
mapping optimization time 88.028645 
add points time 0.397775 ms
filter time 8.182390 ms 
points size 96943 
prepare time 16.371338 
sort q time 5.041978 
seperate points time 12.096593 
data association time 13.893371 ms 
mapping data assosiation time 20.716670 ms 
solver time 13.989451 ms 
mapping solver time 13.868984 ms 
data association time 12.938876 ms 
mapping data assosiation time 17.479963 ms 
solver time 10.377925 ms 
optimization twice time 52.065403 
mapping solver time 12.322145 ms 
filter time 8.451050 ms 
map prepare time 3.633188 ms
map corner num 84309  surf num 29088 
points size 93555 
scan registration time 29.230692 ms *************
build tree time 20.520247 ms 
data association time 12.887325 ms 
mapping data assosiation time 18.881844 ms 
solver time 10.374968 ms 
mapping solver time 13.671813 ms 
data association time 13.079222 ms 
mapping data assosiation time 18.199275 ms 
publication time 8.298535 ms 
whole laserOdometry time 56.007855 ms 
 
mapping solver time 12.242143 ms 
mapping optimization time 84.616076 
add points time 0.431048 ms
mapping pub time 1.221424 ms 
whole mapping time 97.212210 ms +++++
map prepare time 2.935506 ms
map corner num 84924  surf num 29418 
points size 90873 
build tree time 21.776683 ms 
sort q time 5.479671 
seperate points time 12.382145 
mapping data assosiation time 19.825915 ms 
data association time 15.872961 ms 
mapping solver time 11.054861 ms 
solver time 16.348530 ms 
mapping solver time 9.421825 ms 
mapping optimization time 82.369278 
add points time 0.383242 ms
data association time 16.367197 ms 
filter time 10.014247 ms 
solver time 13.811434 ms 
publication time 8.156567 ms 
whole laserOdometry time 71.554255 ms 
 
map prepare time 3.243471 ms
map corner num 85535  surf num 29759 
prepare time 14.706195 
sort q time 4.927579 
seperate points time 11.351347 
build tree time 24.377677 ms 
data association time 14.431477 ms 
solver time 13.053960 ms 
mapping solver time 15.642768 ms 
data association time 14.528401 ms 
solver time 10.443827 ms 
optimization twice time 53.191630 
mapping data assosiation time 19.880315 ms 
mapping solver time 12.754925 ms 
points size 86809 
filter time 7.379330 ms 
prepare time 13.999389 
mapping pub time 2.447341 ms 
whole mapping time 107.802069 ms +++++
sort q time 4.559962 
seperate points time 10.713428 
scan registration time 28.813129 ms *************
build tree time 24.318199 ms 
data association time 15.613785 ms 
mapping data assosiation time 21.120547 ms 
mapping solver time 14.899751 ms 
data association time 19.234007 ms 
solver time 7.577105 ms 
publication time 6.523228 ms 
whole laserOdometry time 64.566663 ms 
 
mapping solver time 9.933415 ms 
prepare time 13.268725 
filter time 9.113281 ms 
mapping pub time 1.364478 ms 
whole mapping time 106.431726 ms +++++
scan registration time 26.553486 ms *************
build tree time 23.393338 ms 
data association time 13.889851 ms 
mapping data assosiation time 18.157306 ms 
solver time 13.385308 ms 
mapping solver time 12.736392 ms 
data association time 13.684927 ms 
solver time 11.894272 ms 
optimization twice time 53.788509 
mapping data assosiation time 19.041301 ms 
mapping solver time 12.041590 ms 
points size 83088 
prepare time 13.077281 
filter time 8.415627 ms 
sort q time 4.180687 
seperate points time 9.552349 
build tree time 21.290757 ms 
data association time 12.186786 ms 
mapping data assosiation time 16.801441 ms 
solver time 12.611319 ms 
mapping solver time 12.617035 ms 
data association time 11.754665 ms 
solver time 8.372011 ms 
optimization twice time 45.820182 
mapping solver time 12.548741 ms 
filter time 7.609674 ms 
mapping pub time 1.296954 ms 
whole mapping time 95.204512 ms +++++
points size 81544 
map prepare time 2.700519 ms
map corner num 87476  surf num 30497 
sort q time 3.773290 
seperate points time 8.870045 
build tree time 23.725350 ms 
data association time 11.465191 ms 
mapping data assosiation time 16.643394 ms 
solver time 13.736583 ms 
data association time 11.832522 ms 
mapping data assosiation time 15.974009 ms 
publication time 5.692539 ms 
whole laserOdometry time 55.006556 ms 
 
filter time 6.992532 ms 
points size 81174 
prepare time 13.197832 
sort q time 4.242593 
seperate points time 9.879725 
build tree time 22.851805 ms 
scan registration time 26.862064 ms *************
mapping data assosiation time 15.436099 ms 
data association time 11.825078 ms 
mapping solver time 12.693889 ms 
solver time 16.036223 ms 
data association time 11.741824 ms 
filter time 8.229952 ms 
publication time 5.297674 ms 
whole laserOdometry time 58.630084 ms 
 
map prepare time 2.548133 ms
map corner num 88166  surf num 30660 
points size 81361 
prepare time 13.050274 
sort q time 3.529097 
seperate points time 8.286933 
mapping data assosiation time 18.950499 ms 
data association time 20.460836 ms 
mapping solver time 17.904343 ms 
solver time 20.670803 ms 
mapping data assosiation time 20.423050 ms 
mapping solver time 13.797181 ms 
filter time 9.574638 ms 
solver time 14.608304 ms 
publication time 5.893029 ms 
whole laserOdometry time 82.850640 ms 
 
prepare time 15.601449 
map prepare time 2.014956 ms
map corner num 88518  surf num 30738 
sort q time 4.039108 
seperate points time 9.455055 
scan registration time 28.636220 ms *************
build tree time 29.111921 ms 
data association time 19.876427 ms 
mapping data assosiation time 20.379542 ms 
mapping solver time 17.184985 ms 
data association time 20.199133 ms 
mapping data assosiation time 20.138252 ms 
points size 82832 
publication time 7.433556 ms 
whole laserOdometry time 80.289388 ms 
 
prepare time 13.688024 
filter time 6.906173 ms 
data association time 19.334261 ms 
build tree time 29.984537 ms 
solver time 16.861371 ms 
mapping data assosiation time 20.414819 ms 
data association time 20.538290 ms 
mapping solver time 18.281173 ms 
solver time 12.998043 ms 
publication time 8.432122 ms 
whole laserOdometry time 79.397217 ms 
 
points size 84068 
mapping data assosiation time 19.126512 ms 
mapping solver time 9.689299 ms 
filter time 8.116101 ms 
map prepare time 2.308712 ms
map corner num 89228  surf num 30912 
data association time 12.290466 ms 
build tree time 23.272474 ms 
solver time 10.936382 ms 
mapping data assosiation time 15.623069 ms 
data association time 12.571235 ms 
solver time 10.967076 ms 
optimization twice time 47.688029 
mapping solver time 12.925936 ms 
publication time 6.079625 ms 
whole laserOdometry time 53.788707 ms 
 
mapping data assosiation time 17.387632 ms 
points size 84262 
add points time 0.469480 ms
filter time 9.348482 ms 
sort q time 4.247286 
seperate points time 9.848052 
mapping pub time 1.116283 ms 
whole mapping time 94.375476 ms +++++
scan registration time 27.078280 ms *************
map prepare time 2.548291 ms
map corner num 89589  surf num 31050 
data association time 17.345756 ms 
build tree time 29.772370 ms 
solver time 15.799527 ms 
mapping data assosiation time 20.932544 ms 
data association time 19.332689 ms 
mapping solver time 11.279882 ms 
publication time 5.691217 ms 
whole laserOdometry time 67.392381 ms 
 
points size 84756 
mapping solver time 7.757847 ms 
mapping optimization time 86.956648 
add points time 0.546705 ms
prepare time 13.472877 
filter time 7.941607 ms 
sort q time 3.840924 
seperate points time 9.202883 
[0m[ INFO] [1718802237.621306659]: Received 125630 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802237.621339180]: Data saved to 1317357784694147.pcd[0m
map prepare time 2.819240 ms
map corner num 89949  surf num 31223 
data association time 12.171666 ms 
build tree time 22.935914 ms 
solver time 12.466907 ms 
mapping data assosiation time 16.285282 ms 
data association time 11.418389 ms 
solver time 10.861192 ms 
publication time 6.270286 ms 
whole laserOdometry time 54.218966 ms 
 
mapping data assosiation time 17.412685 ms 
mapping optimization time 75.261840 
add points time 0.439649 ms
points size 85410 
map prepare time 2.106579 ms
map corner num 90310  surf num 31377 
sort q time 4.336438 
seperate points time 9.726615 
scan registration time 26.558991 ms *************
build tree time 24.705265 ms 
data association time 12.082776 ms 
mapping data assosiation time 16.413736 ms 
solver time 13.011243 ms 
mapping solver time 11.911143 ms 
data association time 11.529408 ms 
solver time 11.119996 ms 
optimization twice time 48.639976 
mapping data assosiation time 19.228998 ms 
mapping solver time 12.194181 ms 
filter time 7.346722 ms 
prepare time 13.711108 
sort q time 4.203683 
seperate points time 9.716434 
scan registration time 27.145302 ms *************
build tree time 22.866581 ms 
mapping data assosiation time 15.945537 ms 
data association time 12.539274 ms 
solver time 9.838214 ms 
data association time 11.573514 ms 
solver time 8.715977 ms 
optimization twice time 43.513624 
filter time 9.365811 ms 
build tree time 27.141802 ms 
points size 83743 
prepare time 16.440791 
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mapping solver time 13.420913 ms 
data association time 12.058576 ms 
solver time 7.910867 ms 
mapping data assosiation time 16.831888 ms 
mapping solver time 9.898960 ms 
mapping optimization time 89.226219 
data association time 11.995331 ms 
add points time 0.370617 ms
solver time 8.378620 ms 
publication time 6.292330 ms 
whole laserOdometry time 47.509493 ms 
 
map prepare time 2.502401 ms
map corner num 91394  surf num 31755 
points size 82874 
sort q time 3.967124 
seperate points time 9.260681 
scan registration time 26.710582 ms *************
data association time 12.159229 ms 
mapping data assosiation time 18.384338 ms 
solver time 10.743096 ms 
mapping solver time 10.490589 ms 
data association time 11.946790 ms 
solver time 7.987305 ms 
optimization twice time 43.753481 
mapping data assosiation time 17.742198 ms 
mapping solver time 9.208525 ms 
filter time 7.343503 ms 
map prepare time 2.297078 ms
map corner num 91761  surf num 31848 
points size 82685 
prepare time 13.661170 
build tree time 22.548144 ms 
sort q time 4.545650 
seperate points time 11.203933 
mapping data assosiation time 18.753764 ms 
data association time 12.523981 ms 
mapping solver time 11.848408 ms 
solver time 10.535490 ms 
mapping data assosiation time 15.154607 ms 
data association time 12.092564 ms 
solver time 8.795876 ms 
publication time 6.314164 ms 
whole laserOdometry time 51.193233 ms 
 
map prepare time 1.770495 ms
map corner num 47744  surf num 17372 
build tree time 11.353919 ms 
points size 83395 
mapping data assosiation time 17.240620 ms 
scan registration time 26.264977 ms *************
mapping solver time 11.040432 ms 
mapping data assosiation time 16.725598 ms 
data association time 12.487860 ms 
mapping optimization time 65.113664 
add points time 0.503447 ms
data association time 12.084842 ms 
optimization twice time 46.796997 
publication time 6.288428 ms 
whole laserOdometry time 53.104541 ms 
 
build tree time 10.883365 ms 
prepare time 12.692673 
mapping data assosiation time 17.281310 ms 
scan registration time 25.180799 ms *************
mapping solver time 16.303236 ms 
data association time 19.589322 ms 
mapping data assosiation time 22.031107 ms 
solver time 20.392450 ms 
mapping solver time 16.668809 ms 
mapping optimization time 84.311306 
add points time 0.530546 ms
mapping pub time 1.436077 ms 
whole mapping time 93.724339 ms +++++
data association time 16.836352 ms 
solver time 7.378856 ms 
optimization twice time 65.092049 
publication time 7.271036 ms 
whole laserOdometry time 72.374486 ms 
 
map prepare time 2.057854 ms
map corner num 48637  surf num 17765 
points size 82142 
prepare time 13.283519 
build tree time 12.857953 ms 
sort q time 3.866874 
seperate points time 9.031073 
mapping data assosiation time 17.286232 ms 
mapping solver time 12.894636 ms 
data association time 11.968656 ms 
solver time 12.294856 ms 
mapping data assosiation time 17.829552 ms 
data association time 11.632274 ms 
mapping optimization time 75.025008 
add points time 0.464262 ms
filter time 5.094742 ms 
mapping pub time 1.032940 ms 
whole mapping time 83.722586 ms +++++
solver time 10.747755 ms 
publication time 6.019125 ms 
whole laserOdometry time 53.541706 ms 
 
build tree time 11.694698 ms 
points size 84500 
sort q time 3.896857 
seperate points time 9.030295 
scan registration time 26.034958 ms *************
mapping solver time 14.622361 ms 
data association time 13.048217 ms 
solver time 10.838182 ms 
mapping data assosiation time 19.736222 ms 
data association time 12.816852 ms 
mapping solver time 13.552619 ms 
solver time 8.164963 ms 
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filter time 6.706072 ms 
map prepare time 2.898926 ms
map corner num 49656  surf num 18240 
build tree time 12.364573 ms 
points size 87218 
prepare time 14.146258 
sort q time 4.640337 
seperate points time 10.647505 
mapping solver time 15.487633 ms 
mapping data assosiation time 17.159307 ms 
data association time 13.794100 ms 
mapping solver time 11.403741 ms 
mapping optimization time 79.112706 
add points time 0.529014 ms
data association time 13.493826 ms 
solver time 12.758157 ms 
publication time 7.641986 ms 
whole laserOdometry time 65.580119 ms 
 
map prepare time 3.030537 ms
map corner num 50171  surf num 18486 
points size 88310 
build tree time 12.723012 ms 
sort q time 4.605430 
seperate points time 10.545077 
scan registration time 28.653398 ms *************
mapping data assosiation time 20.701728 ms 
data association time 13.333834 ms 
mapping solver time 14.992964 ms 
solver time 13.947510 ms 
mapping data assosiation time 18.882705 ms 
data association time 13.470874 ms 
mapping solver time 12.341197 ms 
mapping optimization time 80.999901 
add points time 0.438332 ms
optimization twice time 54.038147 
publication time 7.527012 ms 
whole laserOdometry time 61.580013 ms 
 
map prepare time 2.094257 ms
map corner num 50649  surf num 18663 
points size 87602 
prepare time 13.647819 
build tree time 13.209865 ms 
sort q time 4.907013 
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mapping data assosiation time 18.558474 ms 
mapping solver time 20.326908 ms 
solver time 10.523351 ms 
mapping data assosiation time 21.218565 ms 
data association time 13.070017 ms 
solver time 7.783169 ms 
optimization twice time 51.955194 
mapping solver time 15.854600 ms 
mapping optimization time 90.144872 
add points time 0.646824 ms
map prepare time 3.190567 ms
map corner num 51080  surf num 18822 
points size 84394 
prepare time 13.404834 
sort q time 4.144458 
seperate points time 9.418855 
mapping data assosiation time 19.791721 ms 
data association time 13.058372 ms 
solver time 10.898650 ms 
mapping data assosiation time 19.667980 ms 
solver time 8.018615 ms 
mapping optimization time 82.462996 
add points time 0.520965 ms
publication time 7.228651 ms 
whole laserOdometry time 52.948695 ms 
 
filter time 5.544435 ms 
mapping pub time 1.132980 ms 
whole mapping time 92.898052 ms +++++
build tree time 13.102802 ms 
points size 81532 
sort q time 4.543159 
seperate points time 10.444132 
scan registration time 27.250180 ms *************
mapping data assosiation time 22.294383 ms 
mapping solver time 20.909782 ms 
solver time 10.317547 ms 
mapping data assosiation time 23.266331 ms 
data association time 12.977597 ms 
solver time 8.798821 ms 
optimization twice time 45.396603 
publication time 6.648514 ms 
whole laserOdometry time 52.062325 ms 
 
filter time 5.791279 ms 
map prepare time 2.038684 ms
map corner num 51953  surf num 19056 
points size 79352 
build tree time 14.601358 ms 
prepare time 14.251928 
sort q time 4.312605 
seperate points time 9.949622 
mapping data assosiation time 17.694988 ms 
mapping solver time 16.311639 ms 
solver time 10.255544 ms 
mapping data assosiation time 17.655871 ms 
data association time 12.743279 ms 
filter time 4.191252 ms 
mapping pub time 1.043083 ms 
whole mapping time 86.389324 ms +++++
solver time 8.559426 ms 
optimization twice time 45.116752 
publication time 5.938811 ms 
whole laserOdometry time 51.076756 ms 
 
map prepare time 1.859829 ms
map corner num 52378  surf num 19165 
points size 78510 
prepare time 12.412722 
mapping data assosiation time 16.701505 ms 
mapping solver time 15.064111 ms 
data association time 14.474828 ms mapping data assosiation time 18.123422 ms 
solver time 10.988508 ms 
mapping solver time 11.080152 ms 
mapping optimization time 75.856733 
add points time 0.421101 ms
solver time 8.594823 ms 
publication time 6.697854 ms 
whole laserOdometry time 62.038003 ms 
 
map prepare time 1.821451 ms
map corner num 52821  surf num 19278 
build tree time 14.472650 ms 
points size 76394 
sort q time 3.582798 
seperate points time 8.342366 
mapping data assosiation time 17.428163 ms 
scan registration time 23.938831 ms *************
mapping solver time 13.747607 ms 
data association time 11.578068 ms 
solver time 9.998697 ms 
data association time 11.877493 ms 
mapping solver time 11.279785 ms 
mapping optimization time 74.326454 
add points time 0.415054 ms
solver time 9.012079 ms 
publication time 5.734735 ms 
whole laserOdometry time 49.190167 ms 
 
map prepare time 2.508118 ms
map corner num 53162  surf num 19347 
build tree time 13.966876 ms 
mapping data assosiation time 16.135671 ms 
points size 70023 
prepare time 11.267598 
sort q time 3.770155 
seperate points time 8.655689 
mapping solver time 14.562720 ms 
scan registration time 22.919490 ms *************
mapping data assosiation time 15.658583 ms 
data association time 11.318767 ms 
mapping solver time 11.528618 ms 
mapping optimization time 73.111272 
add points time 0.366508 ms
filter time 6.445291 ms 
mapping pub time 1.022550 ms 
whole mapping time 83.494022 ms +++++
data association time 12.174918 ms 
solver time 7.785072 ms 
optimization twice time 44.151161 
publication time 5.607316 ms 
whole laserOdometry time 49.778785 ms 
 
build tree time 12.227132 ms 
points size 63713 
sort q time 3.441623 
seperate points time 8.403598 
scan registration time 27.012551 ms *************
data association time 12.311057 ms 
mapping solver time 8.152046 ms 
filter time 6.748215 ms 
mapping pub time 7.040502 ms 
whole mapping time 84.681968 ms +++++
[0m[ INFO] [1718802239.634327536]: Received 136705 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802239.634359860]: Data saved to 1317357786771943.pcd[0m
data association time 15.100799 ms 
solver time 9.480456 ms 
publication time 5.167352 ms 
whole laserOdometry time 55.678318 ms 
 
map prepare time 2.197237 ms
map corner num 53761  surf num 19455 
build tree time 13.102130 ms 
points size 60096 
prepare time 14.454868 
sort q time 3.497817 
seperate points time 8.483009 
scan registration time 26.104525 ms *************
mapping solver time 14.237769 ms 
data association time 10.991095 ms 
mapping solver time 7.282207 ms 
filter time 6.662142 ms 
mapping pub time 0.781411 ms 
whole mapping time 78.256864 ms +++++
solver time 8.471457 ms 
publication time 4.238488 ms 
whole laserOdometry time 48.766311 ms 
 
map prepare time 1.506579 ms
map corner num 54039  surf num 19512 
build tree time 13.281773 ms 
points size 58399 
prepare time 9.790823 
mapping data assosiation time 16.079107 ms 
sort q time 2.624453 
seperate points time 6.141077 
scan registration time 18.497346 ms *************
mapping solver time 12.723208 ms 
mapping data assosiation time 13.892171 ms 
data association time 14.223522 ms 
filter time 4.322338 ms 
solver time 15.394437 ms 
data association time 13.985691 ms 
solver time 8.942276 ms 
map prepare time 1.869614 ms
map corner num 54326  surf num 19572 
build tree time 13.852456 ms 
points size 58711 
mapping data assosiation time 17.370057 ms 
sort q time 3.244173 
seperate points time 8.049782 
scan registration time 24.506913 ms *************
data association time 9.713517 ms 
mapping data assosiation time 12.956649 ms 
solver time 9.688245 ms 
mapping solver time 9.334132 ms 
mapping optimization time 67.668530 
add points time 0.368907 ms
data association time 13.834155 ms 
solver time 9.012676 ms 
map prepare time 1.760949 ms
map corner num 54625  surf num 19637 
build tree time 17.621417 ms 
points size 59046 
sort q time 3.337340 
seperate points time 8.451504 
mapping data assosiation time 15.124416 ms 
data association time 12.087793 ms 
filter time 4.839533 ms 
mapping pub time 0.904274 ms 
whole mapping time 83.426697 ms +++++
solver time 11.774846 ms 
data association time 10.278409 ms 
solver time 7.770149 ms 
optimization twice time 42.665619 
map prepare time 1.581773 ms
map corner num 54919  surf num 19710 
build tree time 15.036337 ms 
prepare time 10.070495 
sort q time 2.655951 
seperate points time 6.440113 
scan registration time 18.789268 ms *************
mapping data assosiation time 18.187603 ms 
mapping solver time 12.602916 ms 
data association time 11.343016 ms 
solver time 9.988060 ms 
data association time 10.433367 ms 
mapping solver time 7.597239 ms 
mapping optimization time 72.888958 
add points time 0.383224 ms
solver time 8.412580 ms 
mapping pub time 1.261529 ms 
whole mapping time 80.611245 ms +++++
optimization twice time 41.087066 
map prepare time 1.690335 ms
map corner num 55271  surf num 19844 
build tree time 16.151957 ms 
mapping data assosiation time 16.852635 ms 
points size 64580 
mapping solver time 12.744461 ms 
sort q time 4.121985 
seperate points time 9.738588 
scan registration time 23.131394 ms *************
mapping data assosiation time 17.651077 ms 
data association time 11.456789 ms 
mapping solver time 11.523604 ms 
solver time 11.153006 ms 
filter time 7.994458 ms 
mapping pub time 0.749101 ms 
whole mapping time 86.973720 ms +++++
data association time 12.525929 ms 
solver time 8.841896 ms 
optimization twice time 44.866587 
build tree time 13.219500 ms 
mapping data assosiation time 16.412218 ms 
points size 66265 
prepare time 11.247448 
mapping solver time 12.938894 ms 
data association time 11.744594 ms 
mapping data assosiation time 18.931290 ms 
mapping solver time 8.700824 ms 
mapping optimization time 71.303705 
solver time 12.156128 ms 
add points time 0.623037 ms
data association time 13.851356 ms 
solver time 9.760889 ms 
publication time 6.440967 ms 
whole laserOdometry time 54.997290 ms 
 
build tree time 13.139739 ms 
points size 67554 
prepare time 16.180688 
mapping data assosiation time 23.453052 ms 
sort q time 3.904932 
seperate points time 9.603733 
mapping solver time 18.079084 ms 
data association time 12.376028 ms 
solver time 11.680210 ms 
mapping solver time 11.626620 ms 
mapping optimization time 84.892614 
add points time 0.425004 ms
mapping pub time 0.822796 ms 
whole mapping time 94.022206 ms +++++
data association time 11.376534 ms 
solver time 7.824147 ms 
optimization twice time 44.074311 
publication time 4.911170 ms 
whole laserOdometry time 49.001817 ms 
 
build tree time 14.397247 ms 
points size 69497 
prepare time 12.033959 
mapping data assosiation time 20.266363 ms 
sort q time 3.923586 
seperate points time 9.742026 
scan registration time 25.168721 ms *************
mapping solver time 17.799223 ms 
data association time 12.439741 ms 
mapping data assosiation time 22.656505 ms 
data association time 11.557391 ms 
mapping solver time 11.436753 ms 
solver time 9.095948 ms 
optimization twice time 44.790896 
filter time 5.899702 ms 
mapping pub time 0.934417 ms 
whole mapping time 97.601301 ms +++++
publication time 5.876169 ms 
whole laserOdometry time 50.687817 ms 
 
build tree time 13.384735 ms 
points size 71566 
mapping data assosiation time 23.332059 ms 
mapping solver time 15.805728 ms 
data association time 20.700238 ms 
mapping data assosiation time 24.604617 ms 
solver time 17.617443 ms 
mapping solver time 17.888613 ms 
filter time 6.806193 ms 
solver time 7.795750 ms 
publication time 5.915988 ms 
whole laserOdometry time 72.497017 ms 
 
points size 73202 
prepare time 12.956317 
sort q time 3.560768 
seperate points time 8.626796 
mapping data assosiation time 23.345699 ms 
data association time 20.672453 ms 
mapping solver time 23.254526 ms 
solver time 17.141562 ms 
mapping data assosiation time 25.099530 ms 
data association time 21.555636 ms 
solver time 13.103195 ms 
mapping solver time 19.769001 ms 
mapping optimization time 107.365422 
add points time 0.589789 ms
publication time 7.613354 ms 
whole laserOdometry time 81.220287 ms 
 
points size 73810 
scan registration time 27.060530 ms *************
build tree time 16.530536 ms 
data association time 13.129840 ms 
solver time 13.463269 ms 
mapping data assosiation time 23.031972 ms 
data association time 12.743377 ms 
mapping solver time 16.968410 ms 
publication time 5.497204 ms 
whole laserOdometry time 54.195727 ms 
 
mapping solver time 9.618119 ms 
filter time 5.800194 ms 
prepare time 12.391352 
sort q time 3.462625 
seperate points time 8.364453 
scan registration time 23.985280 ms *************
build tree time 14.803342 ms 
data association time 12.130932 ms 
mapping data assosiation time 19.507572 ms 
solver time 11.221808 ms 
mapping solver time 16.588239 ms 
data association time 13.110984 ms 
solver time 8.913473 ms 
optimization twice time 46.324242 
mapping data assosiation time 22.512582 ms 
mapping solver time 9.083900 ms 
mapping optimization time 83.830053 
add points time 0.443352 ms
map prepare time 2.059724 ms
map corner num 59119  surf num 21269 
points size 75372 
prepare time 12.364568 
sort q time 4.136363 
seperate points time 9.712223 
mapping data assosiation time 20.711768 ms 
data association time 12.101905 ms 
solver time 8.245656 ms 
mapping solver time 16.048387 ms 
data association time 12.287265 ms 
solver time 7.698926 ms 
optimization twice time 41.111736 
mapping data assosiation time 20.743432 ms 
mapping solver time 10.631190 ms 
filter time 5.392549 ms 
mapping pub time 0.918495 ms 
whole mapping time 92.398830 ms +++++
map prepare time 1.961583 ms
map corner num 59632  surf num 21426 
build tree time 15.293773 ms 
points size 75720 
sort q time 3.156583 
seperate points time 7.528549 
mapping solver time 15.640267 ms 
data association time 14.849081 ms 
solver time 12.906138 ms 
data association time 14.283851 ms 
mapping solver time 13.428732 ms 
mapping optimization time 88.598380 
add points time 0.457318 ms
solver time 9.417243 ms 
optimization twice time 52.320803 
map prepare time 1.948568 ms
map corner num 60081  surf num 21595 
build tree time 14.804320 ms 
prepare time 12.184801 
sort q time 3.530733 
seperate points time 8.523489 
scan registration time 23.998911 ms *************
data association time 12.985464 ms 
mapping solver time 15.213067 ms 
solver time 10.301374 ms 
mapping data assosiation time 20.990038 ms 
data association time 13.094355 ms 
solver time 8.103908 ms 
publication time 6.337787 ms 
whole laserOdometry time 51.717870 ms 
 
filter time 6.092988 ms 
mapping pub time 0.865818 ms 
whole mapping time 96.018585 ms +++++
build tree time 14.672886 ms 
points size 77626 
mapping data assosiation time 22.320254 ms 
data association time 20.680596 ms 
solver time 11.618223 ms 
mapping data assosiation time 21.911248 ms 
mapping solver time 13.265102 ms 
mapping optimization time 96.108706 
add points time 0.487951 ms
solver time 8.787372 ms 
optimization twice time 55.185633 
filter time 7.565431 ms 
mapping pub time 1.392948 ms 
whole mapping time 107.891857 ms +++++
publication time 7.474263 ms 
whole laserOdometry time 62.672384 ms 
 
build tree time 14.840613 ms 
points size 77854 
sort q time 3.689659 
seperate points time 8.503101 
scan registration time 24.414435 ms *************
mapping solver time 13.335219 ms 
data association time 13.323738 ms 
solver time 10.581684 ms 
mapping data assosiation time 20.684334 ms 
data association time 15.733232 ms 
mapping optimization time 82.757099 
add points time 0.490596 ms
solver time 7.400435 ms 
optimization twice time 47.980772 
map prepare time 1.904725 ms
map corner num 61375  surf num 22051 
build tree time 15.067126 ms 
points size 78573 
prepare time 12.655730 
mapping data assosiation time 21.356160 ms 
sort q time 4.613520 
seperate points time 10.772730 
mapping solver time 14.161364 ms 
data association time 12.702938 ms 
solver time 10.405395 ms 
mapping optimization time 83.066970 
add points time 0.532979 ms
data association time 13.465561 ms 
filter time 5.489214 ms 
mapping pub time 0.899658 ms 
whole mapping time 91.936554 ms +++++
publication time 6.056254 ms 
whole laserOdometry time 52.705705 ms 
 
map prepare time 2.080309 ms
map corner num 61741  surf num 22164 
build tree time 14.676717 ms 
points size 79560 
mapping data assosiation time 20.110324 ms 
scan registration time 25.082135 ms *************
mapping solver time 15.310252 ms 
data association time 13.331304 ms 
solver time 8.607657 ms 
mapping data assosiation time 21.207252 ms 
data association time 12.795717 ms 
mapping solver time 12.702709 ms 
filter time 6.208366 ms 
publication time 6.711759 ms 
whole laserOdometry time 47.902848 ms 
 
[0m[ INFO] [1718802241.734772856]: Received 147953 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802241.734807119]: Data saved to 1317357788852840.pcd[0m
map prepare time 2.652749 ms
map corner num 62163  surf num 22301 
build tree time 14.907892 ms 
points size 80674 
prepare time 13.250554 
mapping data assosiation time 22.821714 ms 
mapping solver time 17.308763 ms 
data association time 12.429912 ms 
solver time 8.470633 ms 
mapping data assosiation time 23.223171 ms 
data association time 12.560233 ms 
mapping solver time 10.934489 ms 
filter time 7.190591 ms 
map prepare time 2.253937 ms
map corner num 62632  surf num 22468 
build tree time 15.215878 ms 
points size 81719 
mapping data assosiation time 21.152404 ms 
scan registration time 28.885342 ms *************
mapping solver time 14.859878 ms 
data association time 13.783239 ms 
solver time 11.873742 ms 
mapping data assosiation time 22.037196 ms 
mapping solver time 10.993196 ms 
filter time 6.788717 ms 
publication time 7.610526 ms 
whole laserOdometry time 60.221333 ms 
 
build tree time 15.233547 ms 
prepare time 13.378537 
sort q time 4.084129 
seperate points time 9.905816 
scan registration time 27.265220 ms *************
mapping data assosiation time 22.374637 ms 
mapping solver time 14.062966 ms 
data association time 13.806861 ms 
solver time 10.584615 ms 
mapping data assosiation time 23.151242 ms 
data association time 15.688763 ms 
solver time 7.465272 ms 
map prepare time 2.861954 ms
map corner num 63586  surf num 22909 
points size 82838 
build tree time 18.394232 ms 
sort q time 4.918390 
seperate points time 11.807568 
mapping data assosiation time 29.480543 ms 
data association time 23.380204 ms 
mapping solver time 20.312504 ms 
solver time 16.868575 ms 
mapping data assosiation time 28.859300 ms 
data association time 24.207987 ms 
points size 84022 
solver time 12.626170 ms 
publication time 8.519516 ms 
whole laserOdometry time 86.876141 ms 
 
sort q time 5.060909 
seperate points time 12.018338 
scan registration time 29.788600 ms *************
build tree time 15.918035 ms 
solver time 8.665872 ms 
data association time 14.067825 ms 
solver time 5.862676 ms 
mapping solver time 14.279661 ms 
publication time 8.797964 ms 
whole laserOdometry time 51.368012 ms 
 
mapping data assosiation time 28.511713 ms 
points size 85585 
mapping solver time 13.944149 ms 
sort q time 4.271450 
seperate points time 10.019996 
filter time 6.426103 ms 
scan registration time 32.725762 ms *************
data association time 15.010459 ms 
build tree time 17.640481 ms 
solver time 16.455648 ms 
mapping data assosiation time 26.336192 ms 
solver time 8.999150 ms 
mapping solver time 16.043445 ms 
points size 87543 
prepare time 19.619757 
mapping data assosiation time 31.963420 ms 
sort q time 5.212073 
seperate points time 12.946784 
scan registration time 37.466477 ms *************
mapping solver time 16.755537 ms 
mapping optimization time 110.232113 
add points time 0.592406 ms
filter time 5.830840 ms 
map prepare time 2.685153 ms
map corner num 65124  surf num 23548 
solver time 10.605856 ms 
build tree time 18.414263 ms 
data association time 14.513272 ms 
solver time 8.819537 ms 
publication time 7.690681 ms 
whole laserOdometry time 58.117229 ms 
 
points size 88625 
prepare time 17.126804 
sort q time 4.323712 
seperate points time 10.262076 
mapping data assosiation time 22.391003 ms 
data association time 17.210911 ms 
filter time 5.520495 ms 
solver time 15.697834 ms 
data association time 14.258947 ms 
solver time 8.259815 ms 
optimization twice time 56.232008 
mapping data assosiation time 26.981268 ms 
points size 89075 
prepare time 14.781123 
sort q time 4.239416 
seperate points time 10.161867 
mapping solver time 20.584686 ms 
scan registration time 29.491807 ms *************
data association time 15.065607 ms 
solver time 13.302504 ms 
mapping solver time 16.164110 ms 
filter time 6.277809 ms 
solver time 9.040685 ms 
publication time 7.773001 ms 
whole laserOdometry time 62.121167 ms 
 
build tree time 19.148957 ms 
points size 89606 
sort q time 4.817916 
seperate points time 11.226845 
mapping data assosiation time 23.899567 ms 
scan registration time 29.613269 ms *************
mapping solver time 18.678942 ms 
solver time 13.050018 ms 
mapping data assosiation time 23.491021 ms 
data association time 14.238545 ms 
mapping solver time 17.711285 ms 
filter time 6.445831 ms 
points size 90398 
sort q time 4.132649 
seperate points time 9.775689 
mapping data assosiation time 25.414198 ms 
data association time 14.757645 ms 
mapping solver time 16.419736 ms 
solver time 12.402884 ms 
data association time 13.991678 ms 
mapping data assosiation time 26.615015 ms 
solver time 11.075532 ms 
optimization twice time 53.311834 
filter time 6.110721 ms 
map prepare time 3.103496 ms
map corner num 67076  surf num 24328 
sort q time 3.898918 
seperate points time 9.417558 
data association time 12.716737 ms 
mapping data assosiation time 23.625156 ms 
solver time 12.571768 ms 
mapping solver time 20.809190 ms 
solver time 11.251870 ms 
optimization twice time 50.912253 
mapping data assosiation time 27.232079 ms 
points size 93736 
filter time 6.228349 ms 
map prepare time 3.595548 ms
map corner num 67592  surf num 24547 
build tree time 17.285229 ms 
data association time 13.667592 ms 
solver time 13.014529 ms 
mapping data assosiation time 24.733752 ms 
data association time 15.835137 ms 
mapping solver time 17.689080 ms 
solver time 11.491331 ms 
optimization twice time 54.808716 
publication time 8.727353 ms 
whole laserOdometry time 63.552505 ms 
 
mapping data assosiation time 24.924241 ms 
points size 94354 
mapping solver time 17.935155 ms 
filter time 6.103728 ms 
map prepare time 2.566871 ms
map corner num 68331  surf num 24937 
build tree time 21.139140 ms 
data association time 21.522537 ms 
solver time 18.978403 ms 
mapping data assosiation time 29.814565 ms 
data association time 14.367422 ms 
solver time 9.348279 ms 
optimization twice time 65.175979 
mapping solver time 21.333163 ms 
prepare time 16.685521 
sort q time 5.193069 
seperate points time 12.094538 
mapping data assosiation time 27.248982 ms 
data association time 13.400170 ms 
filter time 6.306751 ms 
data association time 14.025567 ms 
build tree time 17.691493 ms 
publication time 9.487504 ms 
whole laserOdometry time 57.620480 ms 
 
mapping data assosiation time 28.408791 ms 
prepare time 14.162505 
sort q time 4.694293 
seperate points time 11.259764 
data association time 13.174429 ms 
solver time 10.073570 ms 
mapping data assosiation time 26.517527 ms 
data association time 13.507536 ms 
solver time 8.100911 ms 
map prepare time 3.080335 ms
map corner num 69450  surf num 25484 
build tree time 17.383677 ms 
points size 94609 
mapping data assosiation time 27.182065 ms 
mapping solver time 19.539537 ms 
solver time 10.934135 ms 
data association time 13.650083 ms 
solver time 8.465751 ms 
optimization twice time 47.448747 
mapping solver time 19.616382 ms 
filter time 6.734719 ms 
map prepare time 3.212008 ms
map corner num 69945  surf num 25709 
points size 94868 
build tree time 17.936901 ms 
sort q time 4.855568 
seperate points time 11.267825 
mapping data assosiation time 23.902060 ms 
data association time 15.192755 ms 
mapping solver time 16.972598 ms 
solver time 11.075685 ms 
data association time 15.518681 ms 
mapping data assosiation time 25.674924 ms 
publication time 9.126971 ms 
whole laserOdometry time 63.560872 ms 
 
filter time 7.296574 ms 
mapping pub time 1.161357 ms 
whole mapping time 112.758788 ms +++++
points size 95420 
sort q time 4.421341 
seperate points time 10.396940 
data association time 14.904233 ms 
solver time 13.690475 ms 
mapping solver time 23.300923 ms 
data association time 18.368597 ms 
solver time 7.856651 ms 
mapping data assosiation time 26.389136 ms 
points size 95726 
mapping solver time 16.589431 ms 
filter time 7.631644 ms 
map prepare time 4.116518 ms
map corner num 70928  surf num 26156 
build tree time 17.985176 ms 
data association time 15.310684 ms 
solver time 13.162532 ms 
mapping data assosiation time 27.380619 ms 
data association time 15.702336 ms 
solver time 7.867708 ms 
publication time 9.092402 ms 
whole laserOdometry time 62.030712 ms 
 
prepare time 14.579290 
mapping data assosiation time 25.916631 ms 
sort q time 5.937434 
seperate points time 13.805443 
mapping solver time 11.915451 ms 
mapping optimization time 103.580047 
add points time 0.542790 ms
filter time 8.579688 ms 
mapping pub time 1.152503 ms 
whole mapping time 118.016640 ms +++++
data association time 15.259686 ms 
build tree time 17.431931 ms 
data association time 15.558403 ms 
solver time 8.500952 ms 
optimization twice time 50.612789 
mapping data assosiation time 27.488934 ms 
publication time 9.004557 ms 
whole laserOdometry time 59.640977 ms 
 
mapping solver time 20.470732 ms 
sort q time 4.865215 
seperate points time 11.318267 
scan registration time 31.762575 ms *************
mapping data assosiation time 28.093348 ms 
mapping solver time 13.604855 ms 
filter time 7.637023 ms 
data association time 25.943178 ms 
map prepare time 3.374566 ms
map corner num 71796  surf num 26492 
solver time 15.469448 ms 
build tree time 19.652225 ms 
data association time 26.225460 ms 
points size 95675 
solver time 11.803775 ms 
sort q time 5.804336 
seperate points time 13.471121 
mapping solver time 21.629764 ms 
mapping data assosiation time 26.666982 ms 
data association time 22.336069 ms 
solver time 13.274339 ms 
mapping optimization time 120.645044 
add points time 0.599834 ms
map prepare time 3.635181 ms
map corner num 72240  surf num 26642 
points size 95929 
publication time 12.736660 ms 
whole laserOdometry time 82.801995 ms 
 
build tree time 24.426288 ms 
sort q time 6.525351 
seperate points time 15.091817 
mapping data assosiation time 33.397738 ms 
data association time 16.610810 ms 
data association time 16.883631 ms 
points size 95868 
solver time 8.137593 ms 
optimization twice time 53.994048 
prepare time 12.647870 
mapping data assosiation time 28.667934 ms 
sort q time 4.734744 
seperate points time 11.479942 
mapping solver time 19.986501 ms 
filter time 8.947795 ms 
solver time 11.993752 ms 
build tree time 22.403458 ms 
solver time 8.259515 ms 
publication time 9.901876 ms 
whole laserOdometry time 62.765215 ms 
 
mapping data assosiation time 29.844242 ms 
points size 95964 
mapping solver time 15.964708 ms 
prepare time 16.479871 
sort q time 4.860927 
seperate points time 11.726803 
mapping data assosiation time 27.204011 ms 
data association time 15.439159 ms 
mapping solver time 12.494081 ms 
mapping optimization time 109.555607 
add points time 0.496164 ms
filter time 8.396370 ms 
solver time 10.496780 ms 
mapping pub time 1.207454 ms 
whole mapping time 123.047954 ms +++++
data association time 15.677582 ms 
build tree time 18.124989 ms 
publication time 8.529085 ms 
whole laserOdometry time 60.282547 ms 
 
mapping data assosiation time 31.077717 ms 
sort q time 5.378531 
seperate points time 13.657105 
data association time 14.998724 ms 
solver time 9.248397 ms 
mapping optimization time 111.598771 
add points time 0.504483 ms
map prepare time 2.867645 ms
map corner num 73397  surf num 27004 
solver time 9.739881 ms 
build tree time 19.886268 ms 
prepare time 15.472894 
sort q time 5.345598 
seperate points time 12.799215 
scan registration time 31.891895 ms *************
data association time 17.839672 ms 
solver time 10.580021 ms 
data association time 17.588024 ms 
solver time 11.473619 ms 
mapping optimization time 106.992620 
publication time 11.567577 ms 
whole laserOdometry time 70.162222 ms 
 
map prepare time 3.460338 ms
map corner num 73719  surf num 27113 
points size 94781 
prepare time 16.397693 
build tree time 22.036286 ms 
data association time 15.374119 ms 
solver time 10.868395 ms 
mapping solver time 18.077172 ms 
data association time 16.472213 ms 
solver time 8.002569 ms 
optimization twice time 51.582873 
mapping data assosiation time 30.737892 ms 
points size 93729 
mapping solver time 18.416227 ms 
scan registration time 30.315900 ms *************
map prepare time 2.571576 ms
map corner num 74081  surf num 27216 
data association time 15.076569 ms 
solver time 10.539457 ms 
data association time 15.634209 ms 
solver time 10.978403 ms 
publication time 9.565805 ms 
whole laserOdometry time 62.762467 ms 
 
points size 92677 
sort q time 5.205848 
seperate points time 11.844875 
mapping solver time 15.077771 ms 
filter time 7.570995 ms 
data association time 15.125062 ms 
mapping pub time 1.543132 ms 
whole mapping time 123.832296 ms +++++
map prepare time 3.583266 ms
map corner num 74477  surf num 27339 
build tree time 18.393657 ms 
solver time 8.674057 ms 
publication time 8.581970 ms 
whole laserOdometry time 59.102226 ms 
 
mapping data assosiation time 26.771546 ms 
points size 92199 
prepare time 18.839390 
mapping solver time 27.736854 ms 
sort q time 5.274558 
seperate points time 13.211988 
mapping data assosiation time 25.921788 ms 
data association time 15.296154 ms 
mapping solver time 15.620161 ms 
solver time 10.761173 ms 
mapping optimization time 115.962089 
add points time 0.698153 ms
filter time 9.154843 ms 
map prepare time 3.244674 ms
map corner num 74849  surf num 27457 
data association time 16.510686 ms 
solver time 8.758235 ms 
build tree time 23.707638 ms 
points size 91975 
prepare time 19.532809 
sort q time 6.009963 
seperate points time 14.663761 
scan registration time 40.312685 ms *************
mapping solver time 17.478967 ms 
solver time 12.279209 ms 
mapping data assosiation time 24.697698 ms 
data association time 15.319105 ms 
mapping solver time 14.559440 ms 
filter time 8.915830 ms 
map prepare time 3.620572 ms
map corner num 75165  surf num 27546 
points size 91507 
sort q time 5.126045 
seperate points time 12.517181 
scan registration time 36.002677 ms *************
build tree time 24.557638 ms 
data association time 16.139667 ms 
mapping data assosiation time 26.442977 ms 
solver time 15.115368 ms 
mapping solver time 18.307195 ms 
data association time 15.956668 ms 
solver time 12.286171 ms 
publication time 8.384382 ms 
whole laserOdometry time 68.776186 ms 
 
points size 90987 
mapping solver time 21.946010 ms 
filter time 7.260897 ms 
mapping pub time 1.165474 ms 
whole mapping time 133.825775 ms +++++
data association time 16.631192 ms 
solver time 13.036720 ms 
mapping data assosiation time 24.489488 ms 
data association time 15.089767 ms 
solver time 8.557657 ms 
publication time 9.003198 ms 
whole laserOdometry time 63.233220 ms 
 
mapping solver time 20.680318 ms 
sort q time 4.054742 
seperate points time 9.627108 
scan registration time 27.719293 ms *************
data association time 14.891571 ms 
add points time 0.553506 ms
solver time 13.432811 ms 
filter time 8.405868 ms 
mapping pub time 2.129397 ms 
whole mapping time 130.712471 ms +++++
data association time 15.343558 ms 
solver time 8.517447 ms 
optimization twice time 53.109415 
build tree time 19.696145 ms 
publication time 7.904619 ms 
whole laserOdometry time 61.031958 ms 
 
points size 87961 
prepare time 13.513432 
sort q time 4.436255 
seperate points time 10.592306 
mapping solver time 18.913858 ms 
data association time 14.415888 ms 
mapping data assosiation time 24.891912 ms 
solver time 12.971635 ms 
mapping solver time 15.271724 ms 
filter time 7.547981 ms 
map prepare time 3.560851 ms
map corner num 76462  surf num 27955 
publication time 8.768805 ms 
whole laserOdometry time 61.271884 ms 
 
build tree time 21.158924 ms 
points size 86910 
sort q time 4.560242 
seperate points time 10.881050 
scan registration time 28.474133 ms *************
data association time 14.546031 ms 
mapping solver time 19.182164 ms 
solver time 11.310530 ms 
data association time 14.918498 ms 
mapping data assosiation time 24.969151 ms 
solver time 8.063670 ms 
optimization twice time 49.745690 
publication time 7.640538 ms 
whole laserOdometry time 57.403261 ms 
 
mapping solver time 16.623187 ms 
mapping optimization time 111.230399 
add points time 0.521735 ms
filter time 8.256360 ms 
map prepare time 2.654621 ms
map corner num 76882  surf num 28089 
points size 85637 
prepare time 13.803157 
sort q time 4.133749 
seperate points time 9.875486 
mapping data assosiation time 25.462761 ms 
data association time 16.878170 ms 
solver time 12.909840 ms 
data association time 15.813929 ms 
solver time 9.518766 ms 
optimization twice time 56.055184 
mapping data assosiation time 25.411766 ms 
mapping solver time 16.220146 ms 
mapping optimization time 106.869795 
add points time 0.573775 ms
points size 84545 
filter time 7.246602 ms 
mapping pub time 1.072934 ms 
whole mapping time 118.461662 ms +++++
map prepare time 2.851719 ms
map corner num 77316  surf num 28231 
sort q time 4.327729 
seperate points time 10.838317 
scan registration time 28.704490 ms *************
build tree time 20.761976 ms 
data association time 14.339482 ms 
solver time 10.221728 ms 
mapping data assosiation time 24.873014 ms 
data association time 14.768475 ms 
mapping solver time 17.665107 ms 
publication time 7.557940 ms 
whole laserOdometry time 55.732077 ms 
 
mapping data assosiation time 28.873817 ms 
prepare time 18.329756 
sort q time 4.815618 
seperate points time 11.769934 
filter time 6.263844 ms 
data association time 14.507444 ms 
build tree time 18.677863 ms 
solver time 10.784731 ms 
data association time 14.677094 ms 
mapping data assosiation time 23.741413 ms 
mapping solver time 19.883077 ms 
points size 84650 
prepare time 13.408145 
sort q time 4.520862 
seperate points time 10.979099 
mapping data assosiation time 27.768427 ms 
mapping solver time 15.493868 ms 
mapping optimization time 107.154900 
add points time 0.528339 ms
data association time 15.186323 ms 
map prepare time 2.461378 ms
map corner num 78361  surf num 28585 
data association time 14.396074 ms 
build tree time 20.417987 ms 
publication time 7.164754 ms 
whole laserOdometry time 60.971591 ms 
 
mapping data assosiation time 26.751408 ms 
points size 85564 
scan registration time 26.462643 ms *************
mapping solver time 21.961702 ms 
data association time 14.562049 ms 
solver time 11.292710 ms 
mapping solver time 12.379455 ms 
data association time 16.482337 ms 
filter time 9.591027 ms 
mapping pub time 1.282545 ms 
whole mapping time 124.397238 ms +++++
solver time 8.662894 ms 
optimization twice time 51.978832 
build tree time 19.121876 ms 
points size 85517 
prepare time 15.268099 
mapping solver time 26.281936 ms 
mapping data assosiation time 28.059910 ms 
data association time 15.851719 ms 
mapping optimization time 120.671686 
filter time 9.029949 ms 
mapping pub time 1.160991 ms 
whole mapping time 134.238438 ms +++++
points size 85668 
sort q time 4.272119 
seperate points time 10.144598 
scan registration time 28.835306 ms *************
data association time 14.358214 ms 
mapping data assosiation time 21.719730 ms 
solver time 13.951338 ms 
mapping solver time 18.548904 ms 
data association time 18.245530 ms 
solver time 12.463364 ms 
mapping data assosiation time 23.581180 ms 
points size 85145 
mapping solver time 15.867493 ms 
mapping optimization time 103.588738 
add points time 0.623494 ms
prepare time 13.437090 
mapping pub time 1.099273 ms 
whole mapping time 116.166715 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 2.576751 ms
map corner num 79800  surf num 28997 
sort q time 4.227954 
seperate points time 10.207198 
data association time 14.642172 ms 
build tree time 21.458069 ms 
solver time 11.355361 ms 
mapping data assosiation time 22.018294 ms 
solver time 7.634790 ms 
mapping solver time 17.608876 ms 
publication time 7.922272 ms 
whole laserOdometry time 56.883534 ms 
 
mapping data assosiation time 23.244854 ms 
points size 84654 
prepare time 13.367978 
mapping solver time 18.198188 ms 
scan registration time 29.976324 ms *************
filter time 8.676147 ms 
map prepare time 3.794281 ms
map corner num 80279  surf num 29165 
data association time 15.173482 ms 
build tree time 20.529574 ms 
solver time 11.739890 ms 
data association time 14.872297 ms 
mapping data assosiation time 24.770415 ms 
publication time 6.845706 ms 
whole laserOdometry time 58.197351 ms 
 
mapping solver time 18.666677 ms 
points size 84763 
sort q time 3.974933 
seperate points time 9.398205 
mapping data assosiation time 22.858066 ms 
scan registration time 26.544747 ms *************
mapping solver time 18.279207 ms 
data association time 15.268408 ms 
filter time 8.408513 ms 
mapping pub time 8.005750 ms 
whole mapping time 127.314571 ms +++++
data association time 23.721261 ms 
build tree time 21.386141 ms 
solver time 11.767011 ms 
optimization twice time 65.290534 
publication time 9.292779 ms 
whole laserOdometry time 74.602181 ms 
 
mapping data assosiation time 27.184907 ms 
points size 84530 
prepare time 13.676579 
sort q time 3.985256 
seperate points time 9.348968 
data association time 14.049556 ms 
solver time 12.220156 ms 
mapping solver time 13.723367 ms 
mapping optimization time 103.281688 
add points time 0.459454 ms
filter time 8.107135 ms 
data association time 19.917787 ms 
solver time 9.164432 ms 
optimization twice time 56.299143 
points size 84188 
sort q time 4.755543 
seperate points time 11.618972 
mapping solver time 18.871788 ms 
data association time 14.189486 ms 
mapping data assosiation time 23.250366 ms 
mapping solver time 13.412827 ms 
data association time 16.620896 ms 
map prepare time 3.338292 ms
map corner num 81759  surf num 29653 
solver time 10.057862 ms 
optimization twice time 55.021297 
build tree time 23.305828 ms 
points size 83999 
prepare time 16.552969 
sort q time 4.697088 
seperate points time 11.684542 
mapping solver time 17.881901 ms 
solver time 12.071813 ms 
mapping data assosiation time 23.308734 ms 
mapping solver time 13.694596 ms 
publication time 8.301320 ms 
whole laserOdometry time 60.384151 ms 
 
points size 84057 
build tree time 22.292682 ms 
sort q time 4.319599 
seperate points time 10.649793 
mapping data assosiation time 23.331313 ms 
data association time 14.679219 ms 
solver time 9.651531 ms 
mapping solver time 17.285209 ms 
data association time 17.279746 ms 
mapping data assosiation time 22.824227 ms 
publication time 7.223962 ms 
whole laserOdometry time 59.377896 ms 
 
mapping solver time 14.334181 ms 
filter time 8.586389 ms 
mapping pub time 1.102048 ms 
whole mapping time 114.092107 ms +++++
map prepare time 2.826189 ms
map corner num 82719  surf num 29928 
prepare time 16.447614 
sort q time 4.114748 
seperate points time 10.161890 
data association time 14.344785 ms 
mapping data assosiation time 23.453005 ms 
mapping solver time 19.548850 ms 
data association time 13.559971 ms 
solver time 9.652807 ms 
publication time 6.992686 ms 
whole laserOdometry time 55.820715 ms 
 
points size 86653 
filter time 7.658681 ms 
scan registration time 29.808302 ms *************
map prepare time 3.745399 ms
map corner num 83353  surf num 30211 
data association time 13.862679 ms 
build tree time 20.632915 ms 
solver time 10.098592 ms 
data association time 14.794116 ms 
solver time 9.922385 ms 
publication time 8.665752 ms 
whole laserOdometry time 58.272309 ms 
 
mapping solver time 17.277414 ms 
points size 87273 
mapping solver time 9.933753 ms 
filter time 7.154450 ms 
map prepare time 3.440044 ms
map corner num 83943  surf num 30434 
data association time 22.507292 ms 
solver time 16.595567 ms 
mapping data assosiation time 28.239202 ms 
solver time 11.327596 ms 
points size 89137 
mapping solver time 21.792082 ms 
optimization twice time 76.380145 
prepare time 14.202157 
sort q time 4.974050 
seperate points time 12.040747 
mapping data assosiation time 23.715522 ms 
mapping solver time 15.480323 ms 
mapping optimization time 118.602424 
add points time 0.497232 ms
map prepare time 2.561359 ms
map corner num 84495  surf num 30627 
solver time 11.492711 ms 
data association time 14.124223 ms 
solver time 8.137514 ms 
publication time 9.631099 ms 
whole laserOdometry time 59.909432 ms 
 
mapping data assosiation time 26.125948 ms 
mapping solver time 15.493493 ms 
sort q time 4.334249 
seperate points time 10.045087 
scan registration time 28.661800 ms *************
data association time 14.242602 ms 
mapping data assosiation time 27.798141 ms 
solver time 13.983151 ms 
mapping solver time 12.939982 ms 
mapping optimization time 106.575902 
add points time 0.472800 ms
map prepare time 3.758919 ms
map corner num 85048  surf num 30843 
publication time 7.463234 ms 
whole laserOdometry time 60.588630 ms 
 
build tree time 23.840857 ms 
points size 91741 
prepare time 14.991127 
sort q time 4.801731 
seperate points time 11.395541 
mapping solver time 16.941941 ms 
data association time 14.878298 ms 
solver time 8.307753 ms 
mapping data assosiation time 26.132949 ms 
data association time 14.331514 ms 
solver time 8.908665 ms 
optimization twice time 47.347158 
publication time 9.129234 ms 
whole laserOdometry time 56.499622 ms 
 
drop lidar frame in mapping for real time performance 
points size 93343 
build tree time 20.704251 ms 
sort q time 4.291800 
seperate points time 10.107405 
mapping data assosiation time 22.038690 ms 
solver time 13.704838 ms 
mapping solver time 17.085403 ms 
data association time 15.120917 ms 
mapping data assosiation time 21.715208 ms 
optimization twice time 55.364770 
publication time 7.451595 ms 
whole laserOdometry time 62.834681 ms 
 
mapping solver time 16.619782 ms 
filter time 8.401629 ms 
mapping pub time 2.132582 ms 
whole mapping time 113.968014 ms +++++
points size 93189 
sort q time 4.542585 
seperate points time 10.634004 
scan registration time 29.364647 ms *************
build tree time 21.837457 ms 
data association time 14.558075 ms 
mapping data assosiation time 23.667858 ms 
solver time 12.895577 ms 
mapping solver time 15.855334 ms 
data association time 15.370526 ms 
solver time 10.899956 ms 
publication time 8.324014 ms 
whole laserOdometry time 62.872287 ms 
 
mapping data assosiation time 26.766028 ms 
points size 93968 
mapping solver time 17.004297 ms 
prepare time 14.572072 
mapping optimization time 106.777124 
add points time 0.483469 ms
filter time 9.787756 ms 
map prepare time 3.138082 ms
map corner num 86742  surf num 31538 
data association time 13.588506 ms 
solver time 11.371041 ms 
mapping data assosiation time 21.050757 ms 
solver time 9.090196 ms 
mapping solver time 16.320817 ms 
publication time 8.869566 ms 
whole laserOdometry time 59.492726 ms 
 
mapping data assosiation time 22.318422 ms 
points size 95355 
mapping solver time 10.874432 ms 
sort q time 4.891271 
seperate points time 11.369152 
filter time 7.310030 ms 
mapping pub time 1.245494 ms 
whole mapping time 105.805348 ms +++++
scan registration time 30.630474 ms *************
build tree time 22.879722 ms 
solver time 12.650361 ms 
mapping data assosiation time 20.733688 ms 
data association time 14.476045 ms 
mapping solver time 15.825297 ms 
solver time 12.020806 ms 
publication time 9.387918 ms 
whole laserOdometry time 63.558959 ms 
 
points size 96104 
mapping data assosiation time 24.080596 ms 
prepare time 15.910115 
mapping solver time 12.939338 ms 
filter time 8.749859 ms 
map prepare time 3.015436 ms
map corner num 87701  surf num 31857 
data association time 14.172432 ms 
build tree time 22.112368 ms 
solver time 13.239001 ms 
data association time 16.311620 ms 
mapping data assosiation time 24.312392 ms 
optimization twice time 53.141979 
publication time 10.505322 ms 
whole laserOdometry time 63.664585 ms 
 
points size 96582 
mapping data assosiation time 23.246827 ms 
sort q time 5.408365 
seperate points time 13.074965 
mapping optimization time 109.227053 
add points time 0.495908 ms
map prepare time 3.760783 ms
map corner num 88176  surf num 31988 
solver time 15.471206 ms 
build tree time 29.719856 ms 
data association time 25.317709 ms 
points size 96959 
mapping data assosiation time 28.229906 ms 
sort q time 4.891261 
seperate points time 11.376588 
mapping solver time 19.937343 ms 
data association time 15.865391 ms 
solver time 11.982816 ms 
mapping solver time 13.431770 ms 
mapping optimization time 113.791421 
add points time 0.449449 ms
filter time 7.964107 ms 
mapping pub time 2.401268 ms 
whole mapping time 128.429089 ms +++++
data association time 16.137529 ms 
map prepare time 2.655477 ms
map corner num 62523  surf num 23103 
points size 96931 
prepare time 14.373962 
mapping data assosiation time 22.396351 ms 
scan registration time 29.583787 ms *************
mapping solver time 14.289737 ms 
data association time 14.666568 ms 
mapping data assosiation time 21.100569 ms 
solver time 8.473447 ms 
mapping solver time 10.309948 ms 
mapping optimization time 86.745341 
add points time 0.431683 ms
map prepare time 2.636401 ms
map corner num 62990  surf num 23249 
optimization twice time 48.605249 
publication time 9.609669 ms 
whole laserOdometry time 58.236588 ms 
 
points size 95790 
mapping data assosiation time 24.599740 ms 
sort q time 4.663738 
seperate points time 10.940570 
scan registration time 30.618971 ms *************
mapping solver time 17.550714 ms 
data association time 16.969318 ms 
mapping data assosiation time 22.375729 ms 
mapping solver time 10.615402 ms 
data association time 14.909157 ms 
filter time 7.502773 ms 
mapping pub time 1.177162 ms 
whole mapping time 106.675312 ms +++++
publication time 7.614504 ms 
whole laserOdometry time 59.535323 ms 
 
build tree time 16.849326 ms 
points size 94080 
prepare time 16.524122 
sort q time 5.852480 
seperate points time 13.139726 
mapping solver time 14.284494 ms 
data association time 14.238152 ms 
mapping solver time 9.252318 ms 
filter time 6.459983 ms 
data association time 15.430236 ms 
solver time 7.844134 ms 
optimization twice time 51.338723 
points size 93535 
prepare time 14.167076 
sort q time 4.212525 
seperate points time 9.893700 
data association time 13.610346 ms 
mapping data assosiation time 20.408025 ms 
solver time 10.522917 ms 
mapping solver time 13.297353 ms 
filter time 7.138437 ms 
mapping pub time 1.195914 ms 
whole mapping time 104.054991 ms +++++
data association time 19.579118 ms 
map prepare time 3.310859 ms
map corner num 64421  surf num 23635 
solver time 9.841443 ms 
build tree time 15.728596 ms 
points size 94741 
mapping data assosiation time 23.107100 ms 
sort q time 4.513426 
seperate points time 10.518903 
scan registration time 28.756882 ms *************
mapping solver time 16.625638 ms 
data association time 13.142488 ms 
mapping data assosiation time 22.991062 ms 
solver time 11.498856 ms 
mapping solver time 13.491189 ms 
mapping optimization time 92.990649 
add points time 0.602549 ms
mapping pub time 10.490448 ms 
whole mapping time 113.237172 ms +++++
publication time 8.000801 ms 
whole laserOdometry time 59.272982 ms 
 
build tree time 17.817598 ms 
points size 95440 
mapping data assosiation time 24.052676 ms 
mapping solver time 17.347046 ms 
data association time 16.116947 ms 
mapping data assosiation time 22.655095 ms 
mapping solver time 14.514605 ms 
filter time 7.428674 ms 
publication time 8.328400 ms 
whole laserOdometry time 62.437511 ms 
 
points size 96047 
sort q time 5.660968 
seperate points time 13.368255 
data association time 15.165937 ms 
solver time 11.761844 ms 
mapping solver time 9.391850 ms 
mapping optimization time 89.939316 
add points time 0.539436 ms
data association time 14.760101 ms 
filter time 5.856674 ms 
solver time 12.374696 ms 
publication time 8.138854 ms 
whole laserOdometry time 63.190042 ms 
 
build tree time 18.720800 ms 
points size 96503 
sort q time 5.581384 
seperate points time 13.387380 
mapping data assosiation time 22.150469 ms 
scan registration time 37.162280 ms *************
mapping solver time 18.136292 ms 
data association time 15.708439 ms 
solver time 10.733229 ms 
mapping data assosiation time 22.080853 ms 
mapping solver time 9.565374 ms 
filter time 6.947057 ms 
solver time 12.840938 ms 
publication time 8.749502 ms 
whole laserOdometry time 69.245815 ms 
 
prepare time 18.984362 
sort q time 5.553736 
seperate points time 13.342270 
mapping solver time 15.848329 ms 
data association time 14.616074 ms 
solver time 10.898608 ms 
mapping data assosiation time 21.516854 ms 
data association time 15.311419 ms 
solver time 8.625624 ms 
map prepare time 3.446498 ms
map corner num 66652  surf num 24417 
points size 95172 
sort q time 5.220328 
seperate points time 11.938640 
mapping data assosiation time 22.482860 ms 
data association time 13.913925 ms 
mapping solver time 16.381065 ms 
solver time 13.171560 ms 
mapping data assosiation time 23.538435 ms 
solver time 10.813549 ms 
mapping solver time 13.885224 ms 
optimization twice time 53.095020 
mapping optimization time 96.015712 
add points time 0.457694 ms
drop lidar frame in mapping for real time performance 
map prepare time 2.656302 ms
map corner num 67107  surf num 24619 
points size 93763 
prepare time 15.118002 
sort q time 4.437071 
seperate points time 10.573189 
mapping data assosiation time 23.395572 ms 
data association time 16.110151 ms 
solver time 13.959098 ms 
mapping data assosiation time 22.053062 ms 
solver time 8.641471 ms 
publication time 8.445745 ms 
whole laserOdometry time 62.836135 ms 
 
map prepare time 2.229880 ms
map corner num 67534  surf num 24812 
points size 93495 
build tree time 16.989898 ms 
scan registration time 29.247270 ms *************
mapping data assosiation time 20.579398 ms 
data association time 13.365770 ms 
mapping solver time 15.296812 ms 
solver time 11.072652 ms 
data association time 12.408710 ms 
mapping data assosiation time 20.287026 ms 
solver time 8.690545 ms 
optimization twice time 46.328903 
mapping optimization time 88.984969 
filter time 7.689339 ms 
points size 94022 
prepare time 16.944305 
build tree time 18.343015 ms 
sort q time 4.739448 
seperate points time 11.096957 
mapping data assosiation time 21.057220 ms 
data association time 12.491446 ms 
solver time 13.069067 ms 
data association time 12.828221 ms 
mapping data assosiation time 22.063223 ms 
mapping solver time 11.531708 ms 
filter time 7.787156 ms 
points size 95554 
build tree time 18.211028 ms 
scan registration time 32.262139 ms *************
mapping data assosiation time 19.384911 ms 
data association time 12.145631 ms 
mapping solver time 12.784670 ms 
solver time 12.917618 ms 
mapping data assosiation time 18.776933 ms 
mapping solver time 9.042269 ms 
filter time 7.278531 ms 
map prepare time 2.849561 ms
map corner num 68882  surf num 25301 
points size 96182 
sort q time 4.444422 
seperate points time 10.196004 
mapping solver time 13.938805 ms 
data association time 12.841644 ms 
solver time 13.810593 ms 
mapping data assosiation time 20.273126 ms 
data association time 13.332896 ms 
mapping solver time 15.355358 ms 
optimization twice time 49.335043 
mapping optimization time 86.705687 
add points time 0.498713 ms
map prepare time 2.312860 ms
map corner num 69270  surf num 25437 
points size 96075 
build tree time 17.797876 ms 
prepare time 14.756127 
sort q time 4.400064 
seperate points time 10.180684 
mapping data assosiation time 21.049636 ms 
mapping solver time 17.415647 ms 
data association time 12.945982 ms 
mapping data assosiation time 21.699649 ms 
solver time 8.803053 ms 
publication time 7.633064 ms 
whole laserOdometry time 53.751114 ms 
 
filter time 6.739635 ms 
points size 95286 
sort q time 4.556639 
seperate points time 10.539713 
scan registration time 30.684984 ms *************
mapping data assosiation time 20.663059 ms 
mapping solver time 13.709623 ms 
solver time 9.774968 ms 
mapping data assosiation time 21.149626 ms 
data association time 16.002450 ms 
add points time 0.578534 ms
solver time 9.335889 ms 
optimization twice time 49.476733 
filter time 7.780640 ms 
map prepare time 2.387775 ms
map corner num 70153  surf num 25815 
points size 94992 
prepare time 14.828211 
build tree time 18.768440 ms 
sort q time 4.990682 
seperate points time 11.805186 
mapping data assosiation time 27.059894 ms 
data association time 21.406213 ms 
mapping solver time 17.970645 ms 
solver time 16.877697 ms 
mapping data assosiation time 26.780616 ms 
data association time 21.823291 ms 
mapping solver time 18.680910 ms 
points size 95405 
map prepare time 3.191101 ms
map corner num 70663  surf num 26087 
build tree time 21.690323 ms 
data association time 22.808445 ms 
mapping data assosiation time 28.343487 ms 
solver time 17.148558 ms 
mapping solver time 23.254705 ms 
data association time 14.951133 ms 
solver time 8.893352 ms 
publication time 8.318883 ms 
whole laserOdometry time 73.077061 ms 
 
prepare time 15.856859 
mapping data assosiation time 25.598300 ms 
mapping solver time 12.383841 ms 
filter time 7.499007 ms 
mapping pub time 1.248232 ms 
whole mapping time 125.381712 ms +++++
data association time 12.983490 ms 
build tree time 17.384375 ms 
data association time 14.777526 ms 
solver time 8.827288 ms 
optimization twice time 47.877726 
mapping data assosiation time 25.257288 ms 
mapping solver time 16.690325 ms 
points size 95710 
prepare time 15.014812 
sort q time 5.225336 
seperate points time 17.009875 
scan registration time 36.325694 ms *************
filter time 7.221707 ms 
map prepare time 3.418659 ms
map corner num 71638  surf num 26535 
data association time 14.280642 ms 
solver time 10.389490 ms 
build tree time 17.520997 ms 
data association time 15.634704 ms 
solver time 8.194428 ms 
optimization twice time 49.418395 
mapping data assosiation time 22.188966 ms 
mapping solver time 17.059489 ms 
points size 95676 
sort q time 4.745492 
seperate points time 11.050833 
scan registration time 31.019097 ms *************
mapping solver time 11.260817 ms 
mapping optimization time 97.296863 
add points time 0.615580 ms
data association time 15.232208 ms 
solver time 12.118587 ms 
data association time 14.206536 ms 
build tree time 19.147951 ms 
publication time 7.356133 ms 
whole laserOdometry time 58.325028 ms 
 
mapping data assosiation time 23.136546 ms 
points size 95380 
prepare time 15.986355 
mapping solver time 15.987833 ms 
sort q time 4.546367 
seperate points time 10.502117 
mapping data assosiation time 22.321839 ms 
mapping solver time 13.136461 ms 
mapping optimization time 95.240400 
add points time 0.561128 ms
data association time 16.107488 ms 
map prepare time 2.631475 ms
map corner num 72530  surf num 26875 
data association time 14.279777 ms 
solver time 9.051578 ms 
publication time 8.787079 ms 
whole laserOdometry time 62.703288 ms 
 
mapping data assosiation time 24.123940 ms 
points size 95541 
prepare time 15.787191 
mapping solver time 18.046749 ms 
scan registration time 30.129193 ms *************
mapping data assosiation time 22.602803 ms 
data association time 13.951655 ms 
mapping solver time 14.316502 ms 
mapping optimization time 98.918346 
add points time 0.626302 ms
solver time 9.025655 ms 
filter time 7.857410 ms 
mapping pub time 1.199836 ms 
whole mapping time 111.281458 ms +++++
solver time 7.714204 ms 
optimization twice time 46.410169 
publication time 7.960877 ms 
whole laserOdometry time 54.387507 ms 
 
points size 95702 
mapping data assosiation time 24.188157 ms 
sort q time 4.888711 
seperate points time 11.179264 
scan registration time 30.100101 ms *************
data association time 13.611879 ms 
mapping data assosiation time 22.017845 ms 
solver time 10.369351 ms 
mapping solver time 11.172930 ms 
mapping optimization time 94.477314 
add points time 0.678373 ms
filter time 7.649272 ms 
mapping pub time 1.145304 ms 
whole mapping time 107.659120 ms +++++
map prepare time 2.565837 ms
map corner num 73456  surf num 27204 
publication time 7.788861 ms 
whole laserOdometry time 55.826063 ms 
 
build tree time 20.213936 ms 
points size 95716 
prepare time 14.926339 
sort q time 4.849120 
seperate points time 11.579749 
mapping solver time 18.591322 ms 
data association time 13.530008 ms 
solver time 10.522868 ms 
data association time 13.685557 ms 
add points time 0.663763 ms
solver time 8.844092 ms 
optimization twice time 47.519096 
publication time 7.970818 ms 
whole laserOdometry time 55.506265 ms 
 
mapping pub time 14.105316 ms 
whole mapping time 127.506511 ms +++++
map prepare time 3.519201 ms
map corner num 73926  surf num 27397 
points size 95632 
prepare time 19.196317 
build tree time 25.027559 ms 
sort q time 5.772859 
seperate points time 13.852605 
mapping data assosiation time 24.564979 ms 
mapping solver time 17.224925 ms 
data association time 13.355552 ms 
mapping data assosiation time 24.589801 ms 
publication time 10.797105 ms 
whole laserOdometry time 59.531760 ms 
 
mapping optimization time 110.273531 
add points time 0.593575 ms
points size 95666 
prepare time 16.550580 
map prepare time 2.365563 ms
map corner num 74443  surf num 27613 
sort q time 4.907238 
seperate points time 11.446372 
build tree time 22.248727 ms 
solver time 11.393426 ms 
mapping data assosiation time 25.564413 ms 
data association time 13.988899 ms 
publication time 7.290936 ms 
whole laserOdometry time 55.686226 ms 
 
points size 95651 
prepare time 14.430346 
sort q time 4.600010 
seperate points time 10.650046 
filter time 11.710935 ms 
mapping pub time 1.593359 ms 
whole mapping time 121.408439 ms +++++
map prepare time 3.136073 ms
map corner num 74985  surf num 27887 
data association time 14.508707 ms 
solver time 10.796220 ms 
data association time 13.850606 ms 
solver time 8.113574 ms 
optimization twice time 48.167231 
mapping data assosiation time 26.502787 ms 
mapping solver time 17.713883 ms 
points size 95905 
sort q time 5.212409 
seperate points time 12.123760 
mapping solver time 11.015164 ms 
mapping optimization time 103.548723 
add points time 0.545271 ms
filter time 9.498476 ms 
mapping pub time 1.137045 ms 
whole mapping time 117.910362 ms +++++
solver time 9.526200 ms 
map prepare time 2.629862 ms
map corner num 75404  surf num 28065 
build tree time 19.289735 ms 
publication time 9.281262 ms 
whole laserOdometry time 53.797631 ms 
 
mapping data assosiation time 25.312147 ms 
points size 96420 
prepare time 15.428677 
sort q time 5.079191 
seperate points time 11.818234 
mapping data assosiation time 27.160367 ms 
mapping solver time 12.318391 ms 
solver time 10.207366 ms 
mapping optimization time 105.807177 
add points time 0.528732 ms
filter time 8.433249 ms 
mapping pub time 1.262325 ms 
whole mapping time 118.703278 ms +++++
solver time 7.940202 ms 
optimization twice time 48.629544 
build tree time 20.371301 ms 
points size 97460 
mapping data assosiation time 26.396730 ms 
sort q time 4.916498 
seperate points time 11.650486 
scan registration time 31.239398 ms *************
mapping solver time 20.112756 ms 
mapping data assosiation time 23.408299 ms 
mapping solver time 11.493050 ms 
data association time 13.474453 ms 
map prepare time 2.463107 ms
map corner num 76226  surf num 28390 
solver time 9.882687 ms 
optimization twice time 49.604680 
build tree time 22.849596 ms 
prepare time 14.848313 
sort q time 5.164745 
seperate points time 11.740945 
scan registration time 31.004495 ms *************
mapping solver time 14.664996 ms 
solver time 12.038913 ms 
mapping data assosiation time 23.604393 ms 
data association time 17.655119 ms 
solver time 9.571791 ms 
publication time 8.923135 ms 
whole laserOdometry time 62.598367 ms 
 
points size 100021 
prepare time 14.952277 
sort q time 5.579736 
seperate points time 12.454240 
mapping data assosiation time 25.924445 ms 
data association time 16.218149 ms 
solver time 11.680071 ms 
data association time 14.099438 ms 
mapping data assosiation time 23.613873 ms 
mapping solver time 14.627457 ms 
filter time 7.782414 ms 
points size 101216 
build tree time 18.408220 ms 
sort q time 5.019196 
seperate points time 12.504887 
mapping data assosiation time 25.155484 ms 
solver time 8.194229 ms 
mapping solver time 15.614822 ms 
solver time 5.480405 ms 
publication time 8.702238 ms 
whole laserOdometry time 51.835730 ms 
 
mapping solver time 12.688788 ms 
mapping optimization time 101.119197 
add points time 0.639902 ms
prepare time 19.706326 
sort q time 5.364543 
seperate points time 12.680303 
scan registration time 36.166760 ms *************
data association time 13.721259 ms 
mapping data assosiation time 24.114977 ms 
solver time 13.462156 ms 
mapping solver time 17.566355 ms 
data association time 17.949344 ms 
solver time 9.280006 ms 
publication time 9.475519 ms 
whole laserOdometry time 64.758380 ms 
 
mapping data assosiation time 27.753229 ms 
points size 102750 
mapping solver time 13.159655 ms 
sort q time 5.131001 
seperate points time 12.194156 
scan registration time 31.648002 ms *************
filter time 9.025908 ms 
map prepare time 2.696495 ms
map corner num 77881  surf num 29159 
data association time 13.463139 ms 
solver time 12.425762 ms 
data association time 17.851680 ms 
solver time 9.073052 ms 
mapping solver time 18.017430 ms 
points size 103030 
prepare time 16.647655 
mapping data assosiation time 26.130652 ms 
mapping solver time 13.773740 ms 
mapping optimization time 108.575793 
add points time 0.521862 ms
filter time 8.084549 ms 
data association time 15.010886 ms 
mapping pub time 3.608507 ms 
whole mapping time 123.551758 ms +++++
map prepare time 3.195502 ms
map corner num 78308  surf num 29354 
solver time 13.578537 ms 
build tree time 18.824511 ms 
solver time 7.197243 ms 
publication time 10.784087 ms 
whole laserOdometry time 60.815533 ms 
 
mapping data assosiation time 27.264751 ms 
points size 103071 
mapping solver time 19.606915 ms sort q time 6.729133 
seperate points time 16.411084 
scan registration time 36.893595 ms *************
mapping data assosiation time 28.703114 ms data association time 18.851254 ms 
filter time 6.876427 ms 
map prepare time 2.978410 ms
map corner num 78710  surf num 29520 
data association time 14.740529 ms 
build tree time 21.633728 ms 
publication time 8.661536 ms 
whole laserOdometry time 65.871802 ms 
 
mapping data assosiation time 26.447995 ms 
sort q time 5.699342 
seperate points time 13.684755 
mapping solver time 18.675431 ms 
data association time 15.472842 ms 
solver time 9.581895 ms 
mapping data assosiation time 27.761285 ms 
data association time 14.234259 ms 
mapping optimization time 109.236404 
add points time 0.584365 ms
solver time 7.587085 ms 
optimization twice time 47.651479 
filter time 8.630254 ms 
map prepare time 3.721843 ms
map corner num 79054  surf num 29704 
points size 103062 
prepare time 15.761963 
sort q time 6.251766 
seperate points time 15.048145 
scan registration time 35.266741 ms *************
mapping data assosiation time 24.881088 ms 
data association time 14.322440 ms 
solver time 10.518880 ms 
mapping solver time 20.342308 ms 
data association time 14.626090 ms 
solver time 8.566524 ms 
publication time 9.114095 ms 
whole laserOdometry time 58.074651 ms 
 
mapping solver time 17.501020 ms 
points size 103099 
mapping optimization time 115.111367 
add points time 0.629671 ms
prepare time 15.983179 
filter time 9.921872 ms 
map prepare time 3.482821 ms
map corner num 79339  surf num 29822 
sort q time 5.670657 
seperate points time 13.213457 
scan registration time 32.876655 ms *************
data association time 14.275207 ms 
build tree time 20.956729 ms 
solver time 11.792921 ms 
mapping data assosiation time 24.875567 ms 
solver time 7.492960 ms 
publication time 8.485211 ms 
whole laserOdometry time 57.233882 ms 
 
mapping solver time 21.789768 ms 
points size 102996 
mapping data assosiation time 26.425032 ms 
sort q time 5.288723 
seperate points time 12.827566 
scan registration time 31.457872 ms *************
filter time 9.531505 ms 
mapping pub time 1.389054 ms 
whole mapping time 125.095962 ms +++++
data association time 14.966371 ms 
solver time 12.151381 ms 
build tree time 19.390600 ms 
data association time 13.760800 ms 
solver time 7.355552 ms 
optimization twice time 48.902923 
mapping data assosiation time 25.706961 ms 
points size 102934 
mapping solver time 19.637478 ms 
prepare time 15.617287 
sort q time 5.097019 
seperate points time 12.363389 
mapping data assosiation time 25.304351 ms 
data association time 14.535420 ms 
mapping solver time 16.357212 ms 
solver time 11.922521 ms 
filter time 8.765336 ms 
solver time 7.845030 ms 
build tree time 20.207570 ms 
publication time 9.976756 ms 
whole laserOdometry time 60.775079 ms 
 
points size 103001 
sort q time 4.759815 
seperate points time 11.629876 
scan registration time 31.791246 ms *************
mapping solver time 17.049824 ms 
data association time 15.884648 ms 
solver time 9.944875 ms 
mapping solver time 11.974299 ms 
filter time 8.415896 ms 
map prepare time 3.713459 ms
map corner num 80441  surf num 30330 
publication time 8.894744 ms 
whole laserOdometry time 60.535091 ms 
 
build tree time 24.279960 ms 
sort q time 5.773939 
seperate points time 13.734036 
mapping solver time 15.960316 ms 
data association time 15.960752 ms 
solver time 14.214120 ms 
mapping data assosiation time 24.412179 ms 
mapping solver time 12.361619 ms 
filter time 7.545472 ms 
solver time 10.367560 ms 
points size 103110 
build tree time 23.135150 ms 
sort q time 5.782031 
seperate points time 13.575060 
scan registration time 34.509293 ms *************
mapping data assosiation time 26.275590 ms 
data association time 16.945221 ms 
solver time 10.135749 ms 
mapping solver time 21.764089 ms 
data association time 15.898901 ms 
solver time 7.949562 ms 
publication time 9.542019 ms 
whole laserOdometry time 61.445005 ms 
 
mapping solver time 18.863687 ms 
filter time 9.434800 ms 
mapping pub time 1.785705 ms 
whole mapping time 132.451909 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 2.993396 ms
map corner num 81104  surf num 30639 
build tree time 28.135782 ms 
data association time 26.873034 ms 
solver time 9.854842 ms 
data association time 15.737671 ms 
solver time 8.956062 ms 
optimization twice time 62.302024 
mapping solver time 23.216894 ms 
publication time 10.624346 ms 
whole laserOdometry time 72.946438 ms 
 
prepare time 21.840805 
sort q time 4.647564 
seperate points time 11.210876 
scan registration time 36.535660 ms *************
mapping solver time 11.877977 ms 
filter time 7.217061 ms 
map prepare time 3.033555 ms
map corner num 81436  surf num 30750 
data association time 18.621484 ms 
solver time 12.604187 ms 
data association time 17.556713 ms 
solver time 9.851161 ms 
mapping data assosiation time 31.991252 ms 
prepare time 22.415555 
sort q time 6.129657 
seperate points time 15.190393 
mapping solver time 34.698672 ms 
data association time 15.184583 ms 
mapping data assosiation time 24.410773 ms 
solver time 11.362732 ms 
mapping solver time 13.441419 ms 
mapping optimization time 128.266364 
add points time 0.541412 ms
data association time 17.634965 ms 
mapping pub time 12.553196 ms 
whole mapping time 151.917015 ms +++++
points size 103225 
publication time 10.880321 ms 
whole laserOdometry time 65.530899 ms 
 
prepare time 18.962177 
sort q time 6.298238 
seperate points time 15.453258 
scan registration time 38.718286 ms *************
build tree time 28.040333 ms 
data association time 15.222019 ms 
mapping data assosiation time 25.666258 ms 
solver time 10.823222 ms 
mapping solver time 16.963085 ms 
solver time 8.816123 ms 
publication time 8.738545 ms 
whole laserOdometry time 60.826043 ms 
 
mapping data assosiation time 28.781497 ms 
prepare time 15.306396 
mapping solver time 13.783897 ms 
mapping optimization time 114.812024 
add points time 0.522901 ms
drop lidar frame in mapping for real time performance 
data association time 15.254005 ms 
build tree time 21.303508 ms 
solver time 10.866479 ms 
data association time 15.292482 ms 
mapping data assosiation time 26.906464 ms 
publication time 8.537472 ms 
whole laserOdometry time 58.720294 ms 
 
points size 103110 
sort q time 4.807127 
seperate points time 11.546575 
scan registration time 30.815475 ms *************
mapping data assosiation time 29.001290 ms 
mapping solver time 14.633693 ms 
mapping optimization time 114.685396 
add points time 0.499215 ms
data association time 16.622184 ms 
map prepare time 2.915657 ms
map corner num 82378  surf num 31157 
data association time 15.921078 ms 
solver time 8.214921 ms 
optimization twice time 53.039470 
mapping data assosiation time 28.828975 ms 
sort q time 4.795538 
seperate points time 11.459253 
data association time 15.969610 ms 
solver time 12.486521 ms 
mapping solver time 11.940278 ms 
mapping optimization time 109.919453 
add points time 0.515307 ms
filter time 8.857063 ms 
solver time 8.793095 ms 
publication time 9.587589 ms 
whole laserOdometry time 65.628124 ms 
 
points size 103065 
mapping data assosiation time 34.174761 ms 
sort q time 6.656025 
seperate points time 16.563538 
scan registration time 44.264556 ms *************
mapping solver time 20.699499 ms 
data association time 16.494112 ms 
solver time 14.207368 ms 
mapping data assosiation time 30.343086 ms 
mapping solver time 8.265833 ms 
filter time 7.522215 ms 
publication time 8.994144 ms 
whole laserOdometry time 66.689735 ms 
 
prepare time 20.385711 
build tree time 26.137561 ms 
mapping data assosiation time 29.377045 ms 
data association time 25.228317 ms 
solver time 15.250589 ms 
data association time 16.106372 ms 
solver time 9.730788 ms 
publication time 9.224965 ms 
whole laserOdometry time 76.384707 ms 
 
mapping solver time 14.109231 ms 
sort q time 7.483730 
seperate points time 17.216446 
scan registration time 37.330477 ms *************
filter time 9.787488 ms 
data association time 14.737664 ms 
build tree time 19.619735 ms 
solver time 14.128059 ms 
mapping data assosiation time 27.753710 ms 
data association time 17.920469 ms 
solver time 10.428504 ms 
points size 102771 
sort q time 5.378126 
seperate points time 12.760127 
scan registration time 32.413376 ms *************
mapping solver time 16.092225 ms 
filter time 9.022571 ms 
data association time 26.347266 ms 
map prepare time 3.741766 ms
map corner num 83786  surf num 31749 
solver time 15.133571 ms 
build tree time 28.023025 ms 
data association time 27.329665 ms 
scan registration time 36.101143 ms *************
publication time 11.151769 ms 
whole laserOdometry time 99.615629 ms 
 
mapping solver time 29.999741 ms 
data association time 26.872852 ms 
solver time 18.098180 ms 
mapping data assosiation time 33.711953 ms 
mapping solver time 17.261528 ms 
prepare time 14.860181 
filter time 9.314821 ms 
optimization twice time 85.503150 
map prepare time 3.812304 ms
map corner num 84257  surf num 31949 
publication time 11.488722 ms 
whole laserOdometry time 97.013896 ms 
 
build tree time 29.847183 ms 
data association time 26.095618 ms 
solver time 18.241329 ms 
mapping data assosiation time 33.609747 ms 
mapping solver time 21.084772 ms 
solver time 7.929907 ms 
optimization twice time 72.708289 
sort q time 6.728350 
seperate points time 16.020497 
mapping solver time 13.857330 ms 
mapping optimization time 128.427255 
add points time 0.560348 ms
filter time 10.534614 ms 
map prepare time 2.781589 ms
map corner num 84651  surf num 32075 
data association time 19.827427 ms 
solver time 10.641668 ms 
build tree time 21.076896 ms 
data association time 15.448799 ms 
solver time 7.633533 ms 
publication time 9.122548 ms 
whole laserOdometry time 63.492765 ms 
 
prepare time 15.338804 
sort q time 4.839365 
seperate points time 11.521574 
data association time 14.434431 ms 
mapping data assosiation time 23.509985 ms 
solver time 11.541880 ms 
mapping solver time 12.120325 ms 
mapping optimization time 104.658834 
add points time 0.570536 ms
filter time 6.999408 ms 
mapping pub time 1.302645 ms 
whole mapping time 116.358282 ms +++++
solver time 8.193447 ms 
publication time 8.171226 ms 
whole laserOdometry time 59.598930 ms 
 
build tree time 26.647300 ms 
points size 98019 
sort q time 4.239973 
seperate points time 10.278577 
mapping solver time 20.106368 ms 
data association time 15.472646 ms 
solver time 14.032729 ms 
mapping data assosiation time 24.296542 ms 
data association time 18.661240 ms 
mapping solver time 15.897202 ms 
mapping optimization time 115.270083 
add points time 0.569549 ms
solver time 9.463878 ms 
optimization twice time 58.549601 
filter time 9.038212 ms 
map prepare time 3.355478 ms
map corner num 85585  surf num 32406 
points size 97644 
prepare time 15.635380 
build tree time 22.028041 ms 
sort q time 4.840283 
seperate points time 11.300220 
mapping data assosiation time 24.152485 ms 
solver time 10.768887 ms 
mapping solver time 18.614009 ms 
data association time 15.362481 ms 
solver time 7.669623 ms 
mapping data assosiation time 25.533036 ms 
mapping solver time 13.458852 ms 
prepare time 14.746979 
map prepare time 2.999807 ms
map corner num 86037  surf num 32544 
sort q time 4.495257 
seperate points time 11.028417 
build tree time 26.325496 ms 
solver time 12.063587 ms 
mapping data assosiation time 24.068600 ms 
data association time 15.863659 ms 
mapping solver time 18.882728 ms 
solver time 11.614453 ms 
optimization twice time 56.928808 
points size 93492 
prepare time 12.068398 
sort q time 4.183231 
seperate points time 9.804751 
mapping solver time 15.257727 ms 
mapping optimization time 112.895654 
add points time 0.592296 ms
mapping pub time 1.172891 ms 
whole mapping time 126.023599 ms +++++
map prepare time 2.743768 ms
map corner num 86582  surf num 32729 
data association time 16.703857 ms 
solver time 10.774820 ms 
build tree time 22.939583 ms 
data association time 15.599170 ms 
solver time 10.581917 ms 
mapping data assosiation time 28.104015 ms 
points size 90617 
sort q time 5.267199 
seperate points time 12.133106 
scan registration time 27.813445 ms *************
mapping data assosiation time 28.246343 ms 
mapping solver time 11.253428 ms 
filter time 7.130323 ms 
map prepare time 3.579598 ms
map corner num 87115  surf num 32910 
solver time 13.592142 ms 
data association time 13.499974 ms 
build tree time 22.231646 ms 
publication time 6.756310 ms 
whole laserOdometry time 59.811965 ms 
 
mapping data assosiation time 25.089213 ms 
prepare time 13.734094 
sort q time 4.196766 
seperate points time 9.906868 
data association time 14.545938 ms 
mapping data assosiation time 23.729588 ms 
mapping solver time 13.036927 ms 
data association time 14.052685 ms 
solver time 8.169291 ms 
publication time 6.703616 ms 
whole laserOdometry time 55.724028 ms 
 
build tree time 24.029029 ms 
points size 85761 
mapping data assosiation time 23.373279 ms 
scan registration time 26.343743 ms *************
mapping solver time 20.232951 ms 
data association time 13.534412 ms 
solver time 10.791744 ms 
mapping data assosiation time 26.124898 ms 
data association time 16.352002 ms 
mapping solver time 14.700580 ms 
publication time 6.493348 ms 
whole laserOdometry time 58.312651 ms 
 
points size 83489 
prepare time 13.130643 
build tree time 23.450224 ms 
sort q time 4.363410 
seperate points time 10.348759 
scan registration time 27.189349 ms *************
mapping data assosiation time 19.657385 ms 
data association time 13.047648 ms 
solver time 11.718475 ms 
data association time 13.676725 ms 
solver time 8.060727 ms 
optimization twice time 47.344293 
mapping data assosiation time 22.925620 ms 
mapping solver time 12.420167 ms 
filter time 8.275924 ms 
points size 82821 
sort q time 4.125030 
seperate points time 9.684253 
data association time 12.601026 ms 
mapping data assosiation time 20.125297 ms 
solver time 10.128440 ms 
mapping solver time 16.148442 ms 
data association time 12.743173 ms 
solver time 8.611287 ms 
optimization twice time 44.828115 
mapping data assosiation time 22.145732 ms 
mapping optimization time 94.351016 
filter time 8.097268 ms 
prepare time 14.746883 
sort q time 5.082631 
seperate points time 12.231617 
build tree time 22.514181 ms 
data association time 12.771856 ms 
mapping data assosiation time 21.426939 ms 
solver time 11.140027 ms 
mapping solver time 15.829630 ms 
solver time 7.808402 ms 
mapping data assosiation time 22.008894 ms 
mapping solver time 14.113435 ms 
points size 83083 
filter time 7.968181 ms 
mapping pub time 1.109885 ms 
whole mapping time 109.773315 ms +++++
prepare time 13.628119 
sort q time 4.172070 
seperate points time 9.732116 
build tree time 23.764987 ms 
data association time 15.202876 ms 
mapping data assosiation time 19.758486 ms 
solver time 12.983423 ms 
mapping solver time 16.453957 ms 
solver time 9.140204 ms 
optimization twice time 55.426008 
mapping solver time 9.410427 ms 
mapping optimization time 91.813850 
add points time 0.485108 ms
map prepare time 2.313215 ms
map corner num 89444  surf num 33580 
sort q time 4.754178 
seperate points time 11.019092 
scan registration time 28.325825 ms *************
build tree time 23.705857 ms 
data association time 12.994718 ms 
solver time 12.544977 ms 
mapping solver time 13.097055 ms 
data association time 13.233521 ms 
solver time 8.134839 ms 
publication time 6.100481 ms 
whole laserOdometry time 53.866875 ms 
 
mapping data assosiation time 21.186909 ms 
mapping solver time 10.424271 ms 
points size 80408 
filter time 9.337206 ms 
prepare time 13.479337 
mapping pub time 10.134767 ms 
whole mapping time 111.916216 ms +++++
sort q time 4.463770 
seperate points time 10.704345 
map prepare time 2.920553 ms
map corner num 89768  surf num 33675 
scan registration time 27.086535 ms *************
[0m[ INFO] [1718802256.225881262]: Received 222104 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802256.225919489]: Data saved to 1317357803300304.pcd[0m
data association time 13.286133 ms 
solver time 10.857930 ms 
mapping data assosiation time 19.205478 ms 
data association time 13.892121 ms 
optimization twice time 47.427273 
publication time 6.634862 ms 
whole laserOdometry time 54.076753 ms 
 
mapping solver time 19.476988 ms 
mapping data assosiation time 19.684009 ms 
points size 79683 
prepare time 13.140584 
mapping solver time 12.997006 ms 
mapping optimization time 97.641943 
add points time 0.463125 ms
sort q time 4.459037 
seperate points time 10.506197 
filter time 8.737594 ms 
mapping pub time 1.025137 ms 
whole mapping time 110.846953 ms +++++
map prepare time 2.736342 ms
map corner num 90099  surf num 33815 
data association time 13.886686 ms 
build tree time 24.497088 ms 
solver time 10.800805 ms 
data association time 12.708836 ms 
optimization twice time 48.421580 
publication time 7.255925 ms 
whole laserOdometry time 55.701594 ms 
 
points size 80368 
mapping data assosiation time 21.279438 ms 
sort q time 3.650597 
seperate points time 8.615641 
scan registration time 24.152961 ms *************
mapping solver time 13.608183 ms 
mapping optimization time 99.684947 
add points time 0.730950 ms
filter time 8.462175 ms 
solver time 10.328304 ms 
build tree time 24.303921 ms 
solver time 9.019227 ms 
publication time 6.343963 ms 
whole laserOdometry time 54.732414 ms 
 
mapping data assosiation time 19.693166 ms 
mapping solver time 12.117859 ms 
points size 83284 
mapping data assosiation time 25.300576 ms 
sort q time 4.905170 
seperate points time 11.772340 
scan registration time 35.414928 ms *************
filter time 7.222539 ms 
data association time 12.776963 ms 
solver time 10.456596 ms 
build tree time 23.273845 ms 
data association time 13.135510 ms 
solver time 13.950866 ms 
mapping solver time 16.106760 ms 
mapping solver time 11.374863 ms 
filter time 9.648725 ms 
mapping pub time 0.991622 ms 
whole mapping time 110.241876 ms +++++
map prepare time 3.016774 ms
map corner num 91069  surf num 34169 
solver time 13.608981 ms 
data association time 15.005313 ms 
mapping data assosiation time 17.624503 ms 
publication time 8.002275 ms 
whole laserOdometry time 66.459877 ms 
 
points size 91575 
prepare time 17.000521 
mapping solver time 18.120545 ms 
sort q time 4.353703 
seperate points time 10.127639 
mapping solver time 12.031857 ms 
mapping optimization time 97.063223 
add points time 0.466224 ms
mapping pub time 2.603990 ms 
whole mapping time 113.747435 ms +++++
data association time 13.106456 ms 
build tree time 23.057691 ms 
publication time 8.916194 ms 
whole laserOdometry time 61.822762 ms 
 
mapping data assosiation time 21.942044 ms 
sort q time 4.743053 
seperate points time 10.938405 
mapping solver time 16.466701 ms 
scan registration time 30.270443 ms *************
mapping data assosiation time 17.834180 ms 
data association time 13.860981 ms 
add points time 0.539670 ms
solver time 11.305245 ms 
mapping pub time 1.122810 ms 
whole mapping time 103.103400 ms +++++
map prepare time 2.469720 ms
map corner num 91698  surf num 34355 
solver time 8.849263 ms 
publication time 6.515844 ms 
whole laserOdometry time 55.379125 ms 
 
build tree time 23.688612 ms 
mapping data assosiation time 17.538455 ms 
prepare time 13.940848 
mapping solver time 12.647707 ms 
scan registration time 27.967867 ms *************
mapping data assosiation time 17.600412 ms 
mapping solver time 9.131908 ms 
filter time 7.169272 ms 
solver time 12.965652 ms 
data association time 14.901701 ms 
solver time 9.753881 ms 
mapping data assosiation time 18.330918 ms 
points size 92566 
mapping solver time 11.893889 ms 
prepare time 14.208745 
sort q time 4.065969 
seperate points time 9.596330 
mapping data assosiation time 19.334150 ms 
mapping solver time 9.449897 ms 
mapping optimization time 87.002863 
add points time 0.518727 ms
filter time 8.257406 ms 
data association time 14.436828 ms 
mapping pub time 1.139148 ms 
whole mapping time 99.312731 ms +++++
map prepare time 2.674494 ms
map corner num 92413  surf num 34597 
solver time 13.624538 ms 
data association time 13.981348 ms 
build tree time 24.484377 ms 
solver time 11.034907 ms 
optimization twice time 54.001277 
publication time 8.647645 ms 
whole laserOdometry time 62.661908 ms 
 
points size 93026 
sort q time 4.196294 
seperate points time 9.728043 
mapping data assosiation time 19.053479 ms 
mapping solver time 11.606680 ms 
mapping optimization time 93.314429 
add points time 0.502003 ms
map prepare time 2.417213 ms
map corner num 92790  surf num 34706 
solver time 15.212010 ms 
data association time 13.580402 ms 
build tree time 25.652805 ms 
solver time 9.177126 ms 
publication time 6.932287 ms 
whole laserOdometry time 63.544990 ms 
 
points size 93138 
prepare time 15.552645 
sort q time 4.556957 
seperate points time 10.885871 
mapping data assosiation time 21.798766 ms 
data association time 13.843978 ms 
mapping solver time 12.678603 ms 
mapping optimization time 98.512868 
add points time 0.519824 ms
mapping pub time 2.319665 ms 
whole mapping time 112.316272 ms +++++
data association time 14.734290 ms 
solver time 8.311298 ms 
publication time 9.605263 ms 
whole laserOdometry time 64.835195 ms 
 
points size 94201 
sort q time 4.432668 
seperate points time 10.476324 
mapping data assosiation time 18.097962 ms 
data association time 16.154429 ms 
mapping solver time 12.327254 ms 
mapping optimization time 95.641543 
add points time 0.551616 ms
solver time 16.663648 ms 
data association time 16.193274 ms 
solver time 9.660883 ms 
publication time 9.675965 ms 
whole laserOdometry time 69.434856 ms 
 
points size 93505 
mapping data assosiation time 22.322028 ms 
sort q time 4.698356 
seperate points time 10.915151 
mapping solver time 16.221122 ms 
data association time 16.596603 ms 
mapping data assosiation time 19.419660 ms 
solver time 11.450565 ms 
mapping solver time 13.944238 ms 
mapping optimization time 97.387067 
add points time 0.506607 ms
data association time 20.896117 ms 
solver time 10.197879 ms 
publication time 9.011271 ms 
whole laserOdometry time 69.180438 ms 
 
points size 92347 
sort q time 4.264348 
seperate points time 10.259111 
mapping solver time 16.142186 ms 
data association time 14.965358 ms 
solver time 11.472043 ms 
mapping data assosiation time 21.733892 ms 
data association time 15.136143 ms 
solver time 8.293697 ms 
filter time 9.753971 ms 
mapping pub time 1.177113 ms 
whole mapping time 112.784163 ms +++++
publication time 9.800573 ms 
whole laserOdometry time 60.553482 ms 
 
points size 93857 
build tree time 24.840229 ms 
sort q time 4.828992 
seperate points time 11.803712 
scan registration time 32.020671 ms *************
mapping data assosiation time 21.162601 ms 
mapping solver time 16.258545 ms 
data association time 15.797524 ms 
solver time 11.432432 ms 
mapping data assosiation time 21.281492 ms 
data association time 14.924485 ms 
mapping solver time 14.023667 ms 
filter time 9.111745 ms 
map prepare time 2.834898 ms
map corner num 95230  surf num 35447 
points size 95317 
prepare time 15.821659 
sort q time 4.554799 
seperate points time 11.122647 
build tree time 28.101616 ms 
mapping data assosiation time 20.758063 ms 
data association time 15.212443 ms 
solver time 11.111471 ms 
data association time 15.372076 ms 
mapping data assosiation time 19.685142 ms 
solver time 14.220977 ms 
mapping solver time 14.543066 ms 
points size 94439 sort q time 5.300138 
seperate points time 14.225045 
build tree time 25.652573 ms 
data association time 15.125562 ms 
solver time 10.838677 ms 
data association time 15.062868 ms 
mapping solver time 16.979352 ms 
publication time 8.392924 ms 
whole laserOdometry time 59.204520 ms 
 
points size 93802 
sort q time 4.463190 
seperate points time 10.772557 
filter time 9.395250 ms 
solver time 11.203506 ms 
build tree time 24.446101 ms 
solver time 7.800978 ms 
optimization twice time 50.183128 
mapping solver time 13.346391 ms 
points size 92101 
prepare time 15.294938 
sort q time 4.061637 
seperate points time 9.934766 
mapping solver time 11.371255 ms 
filter time 9.990686 ms 
map prepare time 2.677223 ms
map corner num 96980  surf num 35953 
solver time 11.429502 ms 
build tree time 23.951083 ms 
data association time 18.524102 ms 
solver time 9.866573 ms 
publication time 8.100730 ms 
whole laserOdometry time 64.616039 ms 
 
points size 89476 
sort q time 4.580404 
seperate points time 10.957737 
scan registration time 30.263237 ms *************
mapping data assosiation time 22.982794 ms 
mapping solver time 10.142975 ms 
data association time 15.326921 ms 
mapping optimization time 97.489703 
add points time 0.513679 ms
filter time 8.135327 ms 
mapping pub time 1.237625 ms 
whole mapping time 110.094402 ms +++++
solver time 12.266616 ms 
data association time 14.920509 ms 
solver time 8.081684 ms 
publication time 8.045133 ms 
whole laserOdometry time 59.587308 ms 
 
mapping data assosiation time 22.722858 ms 
points size 85254 
mapping solver time 20.852004 ms 
mapping data assosiation time 24.003165 ms 
mapping solver time 15.204817 ms 
mapping optimization time 106.554416 
add points time 0.677293 ms
solver time 11.356740 ms 
filter time 9.783303 ms 
mapping pub time 1.439435 ms 
whole mapping time 121.347191 ms +++++
map prepare time 3.108007 ms
map corner num 87359  surf num 30614 
solver time 10.268652 ms 
build tree time 21.676287 ms 
points size 84083 
prepare time 13.667442 
mapping data assosiation time 23.238950 ms 
sort q time 4.019853 
seperate points time 9.639198 
scan registration time 27.235603 ms *************
mapping solver time 17.007291 ms 
data association time 15.666880 ms 
solver time 10.363337 ms 
mapping data assosiation time 25.402922 ms 
data association time 14.780212 ms 
mapping solver time 13.998051 ms 
mapping optimization time 102.879294 
add points time 0.577394 ms
solver time 11.850697 ms 
optimization twice time 53.446960 
mapping pub time 10.928094 ms 
whole mapping time 126.293726 ms +++++
points size 84259 
build tree time 24.983658 ms 
scan registration time 27.499270 ms *************
data association time 15.120563 ms 
mapping data assosiation time 23.627237 ms 
solver time 14.382650 ms 
data association time 15.966253 ms 
solver time 9.257217 ms 
optimization twice time 55.793816 
mapping data assosiation time 23.357403 ms 
mapping solver time 12.920294 ms 
filter time 8.156916 ms 
sort q time 4.893763 
seperate points time 12.036538 
build tree time 25.185473 ms 
data association time 16.740739 ms 
solver time 11.834237 ms 
mapping data assosiation time 21.981836 ms 
mapping solver time 17.285547 ms 
solver time 10.588615 ms 
publication time 7.203177 ms 
whole laserOdometry time 65.392287 ms 
 
points size 88474 
prepare time 14.051986 
mapping solver time 15.414606 ms 
mapping optimization time 103.765964 
add points time 0.584340 ms
filter time 10.554543 ms 
map prepare time 3.756647 ms
map corner num 88880  surf num 31015 
scan registration time 34.400068 ms *************
solver time 19.019271 ms 
mapping data assosiation time 27.928891 ms 
data association time 23.569976 ms 
solver time 16.508180 ms 
optimization twice time 83.776051 
prepare time 23.472678 
sort q time 4.628401 
seperate points time 11.359287 
add points time 0.592632 ms
filter time 8.751881 ms 
map prepare time 3.751387 ms
map corner num 89323  surf num 31139 
data association time 21.600116 ms 
solver time 11.189934 ms 
data association time 15.062907 ms 
mapping data assosiation time 21.122699 ms 
optimization twice time 63.015909 
publication time 8.783260 ms 
whole laserOdometry time 71.816557 ms 
 
mapping data assosiation time 21.631542 ms 
data association time 14.480027 ms 
mapping solver time 13.791385 ms 
mapping optimization time 95.292881 
add points time 0.523118 ms
solver time 10.978671 ms 
map prepare time 2.413105 ms
map corner num 89664  surf num 31233 
data association time 15.505678 ms 
solver time 8.869930 ms 
build tree time 21.857132 ms 
points size 89385 
mapping data assosiation time 22.107134 ms 
prepare time 14.155635 
mapping solver time 12.885702 ms 
sort q time 5.342064 
seperate points time 12.384461 
scan registration time 30.583615 ms *************
mapping data assosiation time 21.376210 ms 
data association time 22.976560 ms 
mapping solver time 10.440251 ms 
mapping optimization time 89.787739 
add points time 0.662425 ms
filter time 9.307698 ms 
mapping pub time 2.444498 ms 
whole mapping time 104.660852 ms +++++
solver time 16.739382 ms 
map prepare time 2.590884 ms
map corner num 90004  surf num 31308 
data association time 22.971965 ms 
solver time 12.145603 ms 
optimization twice time 75.975584 
build tree time 23.770250 ms 
points size 89947 
prepare time 13.734333 
sort q time 5.077677 
seperate points time 11.826615 
data association time 13.682650 ms 
mapping data assosiation time 20.084255 ms 
mapping optimization time 90.222062 
add points time 0.568619 ms
solver time 14.593461 ms 
data association time 17.596843 ms 
solver time 9.942871 ms 
optimization twice time 56.596140 
points size 91399 
sort q time 4.230482 
seperate points time 10.094176 
mapping data assosiation time 20.230162 ms 
data association time 14.675053 ms 
mapping solver time 10.549217 ms 
filter time 7.736742 ms 
data association time 14.755087 ms 
solver time 8.352522 ms 
optimization twice time 50.819364 
points size 93136 
prepare time 14.574288 
sort q time 4.253767 
seperate points time 16.604333 
mapping solver time 13.255129 ms 
scan registration time 35.723288 ms *************
mapping data assosiation time 19.804323 ms 
data association time 14.528579 ms 
mapping optimization time 93.611514 
add points time 0.587637 ms
filter time 10.410701 ms 
data association time 16.894547 ms 
solver time 9.669833 ms 
publication time 8.758155 ms 
whole laserOdometry time 62.360008 ms 
 
points size 95661 
prepare time 15.448966 
mapping data assosiation time 21.458644 ms 
sort q time 5.470872 
seperate points time 12.576139 
scan registration time 32.780529 ms *************
mapping solver time 17.084164 ms 
mapping data assosiation time 25.649057 ms 
data association time 25.661123 ms 
mapping solver time 15.398450 ms 
filter time 10.181168 ms 
map prepare time 3.486829 ms
map corner num 91658  surf num 31695 
data association time 24.154465 ms 
points size 97339 
solver time 11.470251 ms 
optimization twice time 78.942474 
build tree time 30.690057 ms 
mapping data assosiation time 23.107163 ms 
solver time 7.697780 ms 
mapping solver time 14.538212 ms 
data association time 14.451943 ms 
solver time 9.295996 ms 
publication time 7.532678 ms 
whole laserOdometry time 58.710749 ms 
 
filter time 8.534315 ms 
mapping pub time 1.295707 ms 
whole mapping time 119.777526 ms +++++
points size 98142 
drop lidar frame in mapping for real time performance 
prepare time 15.279534 
map prepare time 3.223477 ms
map corner num 92021  surf num 31797 
sort q time 4.387870 
seperate points time 10.488887 
build tree time 22.875162 ms 
data association time 15.999113 ms 
mapping data assosiation time 18.913152 ms 
solver time 13.894018 ms 
data association time 15.553233 ms 
mapping data assosiation time 19.068220 ms 
solver time 10.377326 ms 
optimization twice time 56.855663 
mapping solver time 14.110059 ms 
filter time 7.735804 ms 
sort q time 4.686900 
seperate points time 10.669268 
scan registration time 31.418334 ms *************
build tree time 24.616987 ms 
data association time 14.075765 ms 
mapping data assosiation time 19.027111 ms 
solver time 10.883853 ms 
data association time 14.520641 ms 
solver time 8.314862 ms 
optimization twice time 48.576714 
mapping solver time 13.450943 ms 
prepare time 16.466672 
sort q time 4.870948 
seperate points time 11.769326 
build tree time 22.606151 ms 
data association time 14.409195 ms 
mapping data assosiation time 19.761350 ms 
solver time 10.417838 ms 
mapping solver time 15.722351 ms 
data association time 15.070652 ms 
solver time 8.584105 ms 
optimization twice time 49.519814 
mapping solver time 10.901365 ms 
prepare time 15.835616 
sort q time 5.233811 
seperate points time 12.026435 
scan registration time 32.614718 ms *************
build tree time 24.290105 ms 
data association time 14.605346 ms 
solver time 10.511613 ms 
mapping solver time 12.634036 ms 
data association time 15.401987 ms 
solver time 8.407228 ms 
optimization twice time 49.799875 
mapping data assosiation time 22.750871 ms 
mapping solver time 9.983744 ms 
prepare time 16.041250 
filter time 9.007440 ms 
mapping pub time 2.620906 ms 
whole mapping time 105.643799 ms +++++
sort q time 5.489549 
seperate points time 12.791889 
build tree time 25.005113 ms 
solver time 11.784474 ms 
mapping data assosiation time 19.341696 ms 
data association time 14.438009 ms 
mapping solver time 12.807632 ms 
publication time 8.489900 ms 
whole laserOdometry time 59.288315 ms 
 
mapping data assosiation time 20.914098 ms 
mapping solver time 10.079504 ms 
points size 100122 
mapping optimization time 89.510703 
add points time 0.409653 ms
prepare time 15.501953 
filter time 10.231881 ms 
mapping pub time 1.676688 ms 
whole mapping time 105.646100 ms +++++
map prepare time 3.241994 ms
map corner num 93915  surf num 32414 
sort q time 5.927284 
seperate points time 13.493669 
build tree time 23.584715 ms 
data association time 15.001821 ms 
solver time 10.644825 ms 
data association time 15.980863 ms 
solver time 8.473557 ms 
publication time 8.887116 ms 
whole laserOdometry time 59.930071 ms 
 
mapping data assosiation time 23.900046 ms 
mapping solver time 10.739892 ms 
sort q time 5.223029 
seperate points time 12.292493 
filter time 7.843828 ms 
mapping pub time 1.328140 ms 
whole mapping time 109.546381 ms +++++
scan registration time 33.521773 ms *************
data association time 13.809070 ms 
solver time 11.568686 ms 
mapping data assosiation time 20.227326 ms 
data association time 14.451266 ms 
solver time 9.076403 ms 
publication time 8.580555 ms 
whole laserOdometry time 58.330832 ms 
 
points size 90668 
mapping solver time 9.369738 ms 
mapping optimization time 90.999697 
add points time 0.452220 ms
sort q time 4.727046 
seperate points time 11.094332 
mapping pub time 1.159201 ms 
whole mapping time 105.815684 ms +++++
map prepare time 3.060424 ms
map corner num 94696  surf num 32671 
data association time 14.888898 ms 
build tree time 23.655858 ms 
data association time 14.767075 ms 
mapping data assosiation time 20.892280 ms 
solver time 8.279597 ms 
optimization twice time 49.735223 
publication time 7.007965 ms 
whole laserOdometry time 56.760602 ms 
 
points size 85537 
prepare time 13.944821 
mapping data assosiation time 22.739419 ms 
sort q time 5.500536 
seperate points time 12.885709 
filter time 10.476246 ms 
solver time 13.329658 ms 
build tree time 26.153972 ms 
solver time 7.831212 ms 
mapping data assosiation time 22.490744 ms 
points size 81798 
sort q time 3.680046 
seperate points time 9.091390 
mapping solver time 9.925642 ms 
mapping optimization time 94.747767 
add points time 0.455500 ms
data association time 13.985379 ms 
map prepare time 3.110628 ms
map corner num 95466  surf num 32960 
data association time 13.515822 ms 
build tree time 24.631005 ms 
solver time 8.467378 ms 
optimization twice time 49.324368 
mapping data assosiation time 19.954555 ms 
points size 79149 
mapping solver time 13.068946 ms 
scan registration time 24.959581 ms *************
mapping data assosiation time 20.017839 ms 
mapping solver time 9.567790 ms 
data association time 20.829459 ms 
map prepare time 3.080893 ms
map corner num 95812  surf num 33045 
data association time 20.977515 ms 
solver time 21.234260 ms 
points size 75057 
publication time 9.617677 ms 
whole laserOdometry time 90.160408 ms 
 
prepare time 23.529868 
sort q time 6.739974 
seperate points time 13.946912 
mapping data assosiation time 22.001411 ms 
mapping solver time 9.762581 ms 
filter time 10.981776 ms 
mapping pub time 1.267573 ms 
whole mapping time 124.045248 ms +++++
map prepare time 3.192239 ms
map corner num 96180  surf num 33156 
data association time 20.636954 ms 
build tree time 26.717112 ms 
prepare time 16.263510 
solver time 11.544050 ms 
optimization twice time 69.643408 
sort q time 4.517103 
seperate points time 11.591284 
scan registration time 32.105716 ms *************
mapping data assosiation time 25.389074 ms 
mapping solver time 16.591921 ms 
data association time 20.080985 ms 
mapping data assosiation time 19.585153 ms 
mapping solver time 13.504282 ms 
data association time 20.070776 ms 
solver time 12.038744 ms 
publication time 7.502260 ms 
whole laserOdometry time 75.432698 ms 
 
build tree time 25.608855 ms 
mapping data assosiation time 21.907136 ms 
data association time 19.991374 ms 
solver time 18.211568 ms 
mapping data assosiation time 19.442422 ms 
mapping solver time 9.238415 ms 
solver time 7.837191 ms 
optimization twice time 64.233589 
filter time 10.148293 ms 
mapping pub time 0.894880 ms 
whole mapping time 104.362594 ms +++++
map prepare time 2.048678 ms
map corner num 77644  surf num 26809 
points size 71717 
build tree time 23.911419 ms 
mapping data assosiation time 20.299011 ms 
data association time 12.877292 ms 
mapping solver time 18.052774 ms 
data association time 13.228076 ms 
solver time 8.003960 ms 
mapping solver time 9.009067 ms 
filter time 6.365356 ms 
points size 77140 
sort q time 3.520553 
seperate points time 8.265958 
mapping data assosiation time 18.938980 ms 
data association time 15.454767 ms 
mapping solver time 15.276057 ms 
solver time 12.112431 ms 
mapping data assosiation time 18.634154 ms 
data association time 13.140816 ms 
solver time 8.163353 ms 
optimization twice time 49.753107 
map prepare time 2.221538 ms
map corner num 78609  surf num 27182 
build tree time 20.655313 ms 
mapping data assosiation time 19.287734 ms 
mapping solver time 14.623171 ms 
data association time 12.638560 ms 
mapping data assosiation time 20.436590 ms 
data association time 13.440276 ms 
solver time 8.976365 ms 
publication time 7.345272 ms 
whole laserOdometry time 53.849302 ms 
 
build tree time 19.305170 ms 
points size 86486 
sort q time 3.934961 
seperate points time 9.449385 
mapping solver time 11.775668 ms 
data association time 13.454495 ms 
mapping data assosiation time 17.584142 ms 
mapping solver time 9.031615 ms 
filter time 6.026136 ms 
data association time 13.154492 ms 
mapping pub time 1.012045 ms 
whole mapping time 87.174524 ms +++++
solver time 9.025696 ms 
optimization twice time 47.003393 
map prepare time 2.421991 ms
map corner num 79664  surf num 27573 
build tree time 18.318096 ms 
prepare time 13.396648 
sort q time 4.425124 
seperate points time 10.152562 
mapping data assosiation time 21.418707 ms 
scan registration time 27.508068 ms *************
data association time 13.381876 ms 
solver time 10.119112 ms 
mapping solver time 11.746970 ms 
filter time 6.977269 ms 
publication time 7.217791 ms 
whole laserOdometry time 52.740300 ms 
 
map prepare time 2.428792 ms
map corner num 80138  surf num 27729 
build tree time 19.286592 ms 
points size 94674 
prepare time 15.366333 
mapping data assosiation time 18.161742 ms 
mapping solver time 16.863301 ms 
data association time 14.110203 ms 
solver time 10.721003 ms 
mapping data assosiation time 20.117762 ms 
mapping solver time 9.217484 ms 
filter time 8.223766 ms 
publication time 8.497415 ms 
whole laserOdometry time 57.009628 ms 
 
points size 95532 
sort q time 4.270817 
seperate points time 10.159524 
scan registration time 29.900548 ms *************
mapping solver time 13.106899 ms 
data association time 13.829564 ms 
solver time 10.992119 ms 
mapping data assosiation time 23.094626 ms 
data association time 13.629469 ms 
mapping solver time 9.341221 ms 
mapping optimization time 85.995730 
add points time 0.448090 ms
filter time 8.134172 ms 
mapping pub time 1.257507 ms 
whole mapping time 99.463047 ms +++++
points size 96908 
prepare time 15.095928 
build tree time 20.195143 ms 
sort q time 5.119238 
seperate points time 11.575547 
mapping solver time 12.021818 ms 
data association time 15.463380 ms 
solver time 12.432131 ms 
mapping data assosiation time 20.199603 ms 
data association time 18.803486 ms 
solver time 9.531717 ms 
publication time 8.701369 ms 
whole laserOdometry time 65.909697 ms 
 
map prepare time 3.536252 ms
map corner num 81581  surf num 28227 
points size 97001 
sort q time 5.623322 
seperate points time 12.832771 
scan registration time 33.047480 ms *************
build tree time 22.322140 ms 
data association time 15.158838 ms 
solver time 12.045894 ms 
data association time 16.084075 ms 
mapping data assosiation time 19.201603 ms 
solver time 10.670561 ms 
optimization twice time 55.002694 
mapping optimization time 90.658393 
add points time 0.441329 ms
map prepare time 2.288716 ms
map corner num 81995  surf num 28365 
prepare time 14.963108 
sort q time 5.406846 
seperate points time 12.174702 
mapping data assosiation time 17.972033 ms 
solver time 10.572679 ms 
data association time 14.352362 ms 
solver time 8.546519 ms 
mapping data assosiation time 19.649352 ms 
optimization twice time 48.210525 
mapping solver time 10.376301 ms 
filter time 7.542751 ms 
map prepare time 2.521525 ms
map corner num 82415  surf num 28496 
points size 94474 
prepare time 15.176100 
build tree time 19.928528 ms 
scan registration time 31.916759 ms *************
mapping data assosiation time 18.797018 ms 
data association time 14.678982 ms 
solver time 10.191248 ms 
mapping data assosiation time 18.203357 ms 
mapping solver time 9.355741 ms 
filter time 6.856560 ms 
map prepare time 2.660114 ms
map corner num 82798  surf num 28602 
points size 93121 
build tree time 24.454231 ms 
sort q time 5.599309 
seperate points time 12.812573 
scan registration time 32.288158 ms *************
mapping data assosiation time 21.954878 ms 
data association time 14.557154 ms 
mapping solver time 14.272584 ms 
solver time 11.763060 ms 
mapping data assosiation time 17.799753 ms 
data association time 14.581384 ms 
mapping solver time 9.928675 ms 
mapping optimization time 89.571306 
add points time 0.380579 ms
optimization twice time 51.897904 
publication time 7.352552 ms 
whole laserOdometry time 59.266372 ms 
 
points size 92244 
prepare time 14.996424 
build tree time 20.172216 ms 
sort q time 5.545778 
seperate points time 12.445460 
mapping data assosiation time 19.364681 ms 
mapping solver time 11.645135 ms 
solver time 10.146832 ms 
mapping data assosiation time 16.540481 ms 
data association time 13.094404 ms 
solver time 8.578328 ms 
publication time 8.234038 ms 
whole laserOdometry time 56.496588 ms 
 
map prepare time 2.378086 ms
map corner num 83444  surf num 28750 
points size 90459 
prepare time 13.653437 
build tree time 21.063520 ms 
sort q time 6.145310 
seperate points time 13.740886 
scan registration time 31.281056 ms *************
data association time 15.828599 ms 
solver time 9.370682 ms 
mapping data assosiation time 17.118218 ms 
data association time 18.364043 ms 
mapping solver time 10.560980 ms 
mapping optimization time 80.350191 
add points time 0.521018 ms
publication time 5.995663 ms 
whole laserOdometry time 58.935425 ms 
 
map prepare time 2.339554 ms
map corner num 83809  surf num 28865 
points size 88573 
sort q time 4.097915 
seperate points time 9.683937 
scan registration time 27.877727 ms *************
mapping solver time 11.212203 ms 
data association time 13.419180 ms 
solver time 12.487555 ms 
mapping data assosiation time 18.442204 ms 
data association time 13.393641 ms 
filter time 6.841809 ms 
publication time 7.398510 ms 
whole laserOdometry time 56.002186 ms 
 
map prepare time 2.206859 ms
map corner num 84175  surf num 28968 
build tree time 20.602097 ms 
prepare time 13.966913 
sort q time 4.816598 
seperate points time 10.937959 
mapping solver time 11.512732 ms 
data association time 12.967694 ms 
mapping data assosiation time 17.601801 ms 
mapping solver time 11.281110 ms 
filter time 6.807412 ms 
mapping pub time 8.848738 ms 
whole mapping time 99.363924 ms +++++
[0m[ INFO] [1718802262.831273861]: Received 254464 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802262.831299549]: Data saved to 1317357809945010.pcd[0m
map prepare time 2.440335 ms
map corner num 84589  surf num 29078 
points size 86277 
build tree time 27.181235 ms 
sort q time 5.272606 
seperate points time 12.678079 
mapping data assosiation time 21.904677 ms 
data association time 14.871483 ms 
mapping solver time 17.820816 ms 
data association time 13.199271 ms 
mapping data assosiation time 18.842490 ms 
mapping solver time 11.203427 ms 
filter time 9.563348 ms 
map prepare time 8.972429 ms
map corner num 84973  surf num 29225 
points size 85282 
build tree time 29.387690 ms 
sort q time 4.767213 
seperate points time 12.469343 
mapping data assosiation time 23.461513 ms 
mapping solver time 14.443390 ms 
solver time 8.913949 ms 
mapping data assosiation time 19.159569 ms 
mapping solver time 10.381165 ms 
filter time 8.297444 ms 
publication time 7.085340 ms 
whole laserOdometry time 66.508124 ms 
 
scan registration time 33.727685 ms *************
data association time 13.075435 ms 
solver time 11.388042 ms 
mapping data assosiation time 19.109995 ms 
mapping solver time 11.803359 ms 
publication time 7.264653 ms 
whole laserOdometry time 55.429740 ms 
 
mapping data assosiation time 20.648707 ms 
prepare time 17.940673 
map prepare time 2.178145 ms
map corner num 85722  surf num 29426 
build tree time 20.741959 ms 
mapping data assosiation time 17.732573 ms 
mapping solver time 14.925118 ms 
solver time 8.060047 ms 
mapping data assosiation time 20.302027 ms 
mapping solver time 12.459338 ms 
mapping optimization time 87.363263 
add points time 0.406166 ms
points size 88373 
prepare time 15.869351 
sort q time 4.756489 
seperate points time 11.472305 
data association time 22.354534 ms 
mapping data assosiation time 24.017684 ms 
solver time 17.737719 ms 
mapping solver time 20.394411 ms 
data association time 22.082332 ms 
solver time 13.593929 ms 
optimization twice time 76.815197 
points size 90003 
prepare time 14.590487 
mapping solver time 10.121331 ms 
scan registration time 31.176398 ms *************
map prepare time 2.855777 ms
map corner num 86570  surf num 29697 
data association time 15.795428 ms 
build tree time 20.372704 ms 
solver time 14.055957 ms 
mapping data assosiation time 18.211281 ms 
data association time 16.267630 ms 
mapping solver time 15.847056 ms 
publication time 8.055372 ms 
whole laserOdometry time 65.676174 ms 
 
mapping data assosiation time 19.810585 ms 
mapping solver time 10.450543 ms 
sort q time 4.853131 
seperate points time 11.405213 
map prepare time 3.094809 ms
map corner num 86990  surf num 29852 
data association time 21.574077 ms 
build tree time 28.447664 ms 
solver time 15.597990 ms 
mapping data assosiation time 23.812925 ms 
data association time 23.880681 ms 
solver time 12.838844 ms 
points size 89343 
sort q time 4.108150 
seperate points time 9.635112 
mapping data assosiation time 21.536840 ms 
mapping solver time 15.608275 ms 
filter time 8.941537 ms 
map prepare time 3.310629 ms
map corner num 87405  surf num 29986 
solver time 11.510566 ms 
data association time 13.365254 ms 
solver time 8.546976 ms 
optimization twice time 56.311539 
mapping data assosiation time 22.770792 ms 
points size 86391 
prepare time 18.070292 
mapping solver time 21.307316 ms 
sort q time 5.177175 
seperate points time 12.388684 
mapping data assosiation time 19.795519 ms 
data association time 13.005377 ms 
solver time 11.628160 ms 
map prepare time 2.542386 ms
map corner num 87807  surf num 30154 
solver time 8.062947 ms 
optimization twice time 47.694366 
publication time 6.687691 ms 
whole laserOdometry time 54.404205 ms 
 
points size 82586 
mapping data assosiation time 24.414558 ms 
prepare time 18.998077 
sort q time 4.770702 
seperate points time 11.597022 
scan registration time 35.124892 ms *************
data association time 13.500731 ms 
mapping data assosiation time 17.187063 ms 
mapping solver time 12.453197 ms 
data association time 13.124578 ms 
solver time 8.863654 ms 
optimization twice time 45.782334 
build tree time 22.769239 ms 
points size 79421 
mapping data assosiation time 25.040650 ms 
sort q time 5.026623 
seperate points time 12.079084 
mapping solver time 18.008126 ms 
data association time 12.598092 ms 
solver time 8.265933 ms 
data association time 12.492674 ms 
solver time 7.810458 ms 
mapping pub time 2.198854 ms 
whole mapping time 115.083828 ms +++++
points size 77237 
sort q time 4.123847 
seperate points time 9.658659 
mapping data assosiation time 20.277295 ms 
mapping solver time 14.605815 ms 
data association time 13.903522 ms 
solver time 12.126877 ms 
mapping data assosiation time 19.392854 ms 
data association time 12.941344 ms 
mapping solver time 12.714123 ms 
solver time 10.967570 ms 
optimization twice time 50.892339 
filter time 8.644983 ms 
map prepare time 2.092948 ms
map corner num 89002  surf num 30518 
points size 76584 
prepare time 12.251186 
scan registration time 23.633500 ms *************
mapping data assosiation time 20.561084 ms 
solver time 10.083104 ms 
data association time 13.101697 ms 
solver time 7.962236 ms 
mapping solver time 12.744825 ms 
filter time 7.837948 ms 
points size 75730 
prepare time 12.609130 
build tree time 22.743728 ms 
mapping data assosiation time 18.547639 ms 
data association time 11.802841 ms 
solver time 11.488013 ms 
data association time 11.605878 ms 
solver time 8.121261 ms 
publication time 6.657687 ms 
whole laserOdometry time 50.620838 ms 
 
mapping solver time 10.758626 ms 
mapping optimization time 86.019022 
filter time 8.229260 ms 
points size 75859 
build tree time 22.821074 ms 
sort q time 4.673872 
seperate points time 11.321621 
scan registration time 26.816159 ms *************
mapping data assosiation time 22.614488 ms 
data association time 13.111682 ms 
solver time 11.111541 ms 
mapping data assosiation time 18.841886 ms 
data association time 13.000882 ms 
mapping solver time 13.369980 ms 
filter time 9.110266 ms 
points size 75376 
build tree time 24.488637 ms 
scan registration time 29.967968 ms *************
mapping data assosiation time 21.134054 ms 
data association time 13.530855 ms 
solver time 11.602663 ms 
data association time 13.270165 ms 
mapping data assosiation time 20.620126 ms 
mapping solver time 14.566453 ms 
filter time 9.551676 ms 
points size 75082 
sort q time 4.009519 
seperate points time 9.706874 
scan registration time 27.977422 ms *************
build tree time 22.785365 ms 
data association time 11.510994 ms 
mapping data assosiation time 18.699017 ms 
solver time 12.161064 ms 
mapping solver time 16.998889 ms 
data association time 11.987217 ms 
solver time 8.496018 ms 
optimization twice time 44.984659 
mapping optimization time 94.512536 
filter time 9.350744 ms 
mapping pub time 1.115813 ms 
whole mapping time 107.805141 ms +++++
sort q time 4.216734 
seperate points time 10.060010 
build tree time 24.327633 ms 
data association time 11.771540 ms 
solver time 10.571230 ms 
data association time 12.125453 ms 
solver time 12.136710 ms 
mapping data assosiation time 20.332573 ms 
mapping solver time 14.146483 ms 
filter time 7.696941 ms 
sort q time 3.824035 
seperate points time 9.469535 
build tree time 22.809830 ms 
data association time 12.307781 ms 
solver time 11.183925 ms 
mapping data assosiation time 21.151598 ms 
data association time 12.230858 ms 
mapping solver time 12.719428 ms 
publication time 7.213344 ms 
whole laserOdometry time 52.536609 ms 
 
mapping data assosiation time 20.590244 ms 
mapping solver time 13.272799 ms 
mapping optimization time 91.939745 
add points time 0.483270 ms
points size 77411 
map prepare time 2.581538 ms
map corner num 59910  surf num 20436 
scan registration time 28.413739 ms *************
build tree time 16.628197 ms 
data association time 13.720650 ms 
solver time 11.188067 ms 
mapping solver time 12.238394 ms 
solver time 8.359282 ms 
publication time 6.686290 ms 
whole laserOdometry time 53.601926 ms 
 
mapping data assosiation time 20.699629 ms 
mapping solver time 11.135812 ms 
mapping pub time 0.943112 ms 
whole mapping time 94.579555 ms +++++
prepare time 14.110829 
sort q time 3.507450 
seperate points time 8.391634 
mapping data assosiation time 19.950157 ms 
mapping solver time 12.192786 ms 
data association time 11.785806 ms 
mapping data assosiation time 20.402125 ms 
publication time 5.852420 ms 
whole laserOdometry time 52.719229 ms 
 
filter time 7.938322 ms 
mapping pub time 17.023570 ms 
whole mapping time 105.841921 ms +++++
sort q time 5.124485 
seperate points time 12.242547 
data association time 14.665790 ms 
mapping solver time 15.561683 ms 
data association time 13.515904 ms 
optimization twice time 56.587220 
filter time 6.216584 ms 
sort q time 4.340561 
seperate points time 10.283694 
build tree time 18.497133 ms 
data association time 13.418559 ms 
solver time 13.529444 ms 
mapping solver time 17.137730 ms 
data association time 14.435281 ms 
solver time 10.753582 ms 
publication time 6.866148 ms 
whole laserOdometry time 59.877200 ms 
 
mapping solver time 14.410660 ms 
filter time 6.826143 ms 
sort q time 4.330063 
seperate points time 10.084974 
build tree time 17.258039 ms 
data association time 13.866151 ms 
mapping data assosiation time 21.681279 ms 
solver time 16.659499 ms 
mapping solver time 16.940836 ms 
data association time 17.667908 ms 
mapping data assosiation time 20.447324 ms 
publication time 8.612757 ms 
whole laserOdometry time 71.993447 ms 
 
mapping solver time 19.868178 ms 
filter time 6.373464 ms 
map prepare time 3.331559 ms
map corner num 61746  surf num 21110 
sort q time 4.478367 
seperate points time 10.462329 
build tree time 17.539862 ms 
data association time 21.355925 ms 
mapping data assosiation time 21.053948 ms 
solver time 15.188949 ms 
mapping solver time 17.098481 ms 
solver time 10.457626 ms 
publication time 7.572359 ms 
whole laserOdometry time 69.295736 ms 
 
points size 86295 
prepare time 13.645714 
mapping solver time 17.048400 ms 
mapping optimization time 97.276178 
mapping pub time 0.993021 ms 
whole mapping time 106.945033 ms +++++
map prepare time 2.358661 ms
map corner num 62168  surf num 21275 
sort q time 5.417472 
seperate points time 12.491398 
build tree time 16.113705 ms 
data association time 24.369981 ms 
solver time 20.528189 ms 
mapping solver time 24.621842 ms 
data association time 23.381564 ms 
points size 89241 
mapping data assosiation time 27.772820 ms 
sort q time 5.048745 
seperate points time 11.767217 
scan registration time 29.954242 ms *************
publication time 8.786446 ms 
whole laserOdometry time 96.290654 ms 
 
mapping solver time 21.066887 ms 
filter time 7.029794 ms 
data association time 22.602756 ms 
solver time 17.806841 ms 
data association time 24.305034 ms 
points size 89702 
solver time 16.796536 ms 
optimization twice time 82.570564 
prepare time 14.112172 
sort q time 5.449635 
seperate points time 12.922748 
mapping data assosiation time 24.272026 ms 
data association time 22.744336 ms 
filter time 6.906514 ms 
solver time 19.443209 ms 
build tree time 21.151785 ms 
points size 89866 
mapping data assosiation time 28.158992 ms 
publication time 9.788129 ms 
whole laserOdometry time 89.490662 ms 
 
sort q time 5.096610 
seperate points time 11.707977 
scan registration time 30.393330 ms *************
mapping solver time 22.432129 ms 
data association time 23.716015 ms 
mapping data assosiation time 28.325719 ms 
solver time 17.628095 ms 
mapping solver time 19.779626 ms 
mapping pub time 1.155014 ms 
whole mapping time 132.562275 ms +++++
solver time 14.402318 ms 
publication time 8.739571 ms 
whole laserOdometry time 83.733667 ms 
 
build tree time 18.106181 ms 
sort q time 4.654714 
seperate points time 11.112765 
mapping data assosiation time 22.079729 ms 
data association time 13.551021 ms 
solver time 10.445747 ms 
mapping solver time 18.623935 ms 
data association time 14.463995 ms 
solver time 7.972549 ms 
publication time 7.739897 ms 
whole laserOdometry time 55.039303 ms 
 
mapping solver time 14.045338 ms 
filter time 6.840996 ms 
mapping pub time 1.167737 ms 
whole mapping time 110.536081 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 2.667539 ms
map corner num 64024  surf num 22013 
points size 90046 
build tree time 15.921775 ms 
sort q time 4.401740 
seperate points time 10.588155 
scan registration time 32.279231 ms *************
mapping data assosiation time 22.290747 ms 
data association time 12.844998 ms 
solver time 12.599830 ms 
mapping solver time 17.117872 ms 
data association time 14.133766 ms 
solver time 7.685790 ms 
optimization twice time 48.085730 
mapping data assosiation time 22.737085 ms 
mapping solver time 17.725588 ms 
mapping optimization time 96.948183 
add points time 0.635405 ms
map prepare time 2.658113 ms
map corner num 64468  surf num 22159 
sort q time 5.426594 
seperate points time 12.620778 
build tree time 17.475343 ms 
data association time 12.685072 ms 
solver time 9.750949 ms 
data association time 12.715200 ms 
solver time 8.244745 ms 
publication time 6.964454 ms 
whole laserOdometry time 51.222871 ms 
 
mapping data assosiation time 23.089839 ms 
mapping solver time 15.357507 ms 
mapping optimization time 96.785023 
points size 93757 
add points time 0.517414 ms
prepare time 14.870494 
sort q time 4.860578 
seperate points time 11.307068 
data association time 13.901958 ms 
solver time 13.211187 ms 
mapping data assosiation time 23.301818 ms 
data association time 15.270740 ms 
solver time 10.442290 ms 
mapping data assosiation time 24.818704 ms 
points size 94865 
filter time 6.030313 ms 
scan registration time 31.331140 ms *************
build tree time 16.882479 ms 
data association time 14.688448 ms 
mapping data assosiation time 21.300815 ms 
solver time 13.856760 ms 
mapping solver time 14.499823 ms 
solver time 9.912184 ms 
optimization twice time 54.175623 
publication time 9.872593 ms 
whole laserOdometry time 64.061599 ms 
 
mapping optimization time 88.547936 
add points time 0.528144 ms
points size 96031 
prepare time 14.799932 
map prepare time 3.208948 ms
map corner num 65983  surf num 22664 
scan registration time 32.028154 ms *************
build tree time 17.275342 ms 
data association time 14.981264 ms 
mapping data assosiation time 23.016638 ms 
solver time 13.512894 ms 
mapping solver time 16.642612 ms 
data association time 16.149634 ms 
solver time 11.030941 ms 
mapping data assosiation time 22.494133 ms 
points size 98024 
prepare time 15.052019 
filter time 5.487636 ms 
scan registration time 30.329837 ms *************
build tree time 18.534939 ms 
data association time 15.551921 ms 
solver time 13.138655 ms 
data association time 15.051928 ms 
mapping solver time 15.922698 ms 
solver time 11.129896 ms 
optimization twice time 55.751493 
mapping data assosiation time 22.663730 ms 
points size 100753 
filter time 7.457545 ms 
scan registration time 35.315882 ms *************
build tree time 17.975335 ms 
solver time 11.920754 ms 
data association time 14.236485 ms 
solver time 10.186135 ms 
publication time 8.577021 ms 
whole laserOdometry time 60.975886 ms 
 
points size 103192 
mapping data assosiation time 24.846429 ms 
prepare time 15.406998 
sort q time 4.856073 
seperate points time 11.349508 
filter time 7.079108 ms 
data association time 14.377535 ms 
build tree time 16.702552 ms 
solver time 13.583821 ms 
data association time 14.142920 ms 
mapping data assosiation time 22.044452 ms 
solver time 11.358560 ms 
optimization twice time 54.266209 
mapping solver time 18.594646 ms 
points size 103735 
mapping data assosiation time 23.039777 ms 
sort q time 6.137299 
seperate points time 14.229836 
filter time 5.993787 ms 
map prepare time 2.955427 ms
map corner num 67556  surf num 23153 
data association time 14.433765 ms 
solver time 12.304422 ms 
data association time 14.265744 ms 
solver time 11.959206 ms 
publication time 9.417610 ms 
whole laserOdometry time 63.227173 ms 
 
points size 103967 
sort q time 7.280366 
seperate points time 17.005765 
mapping solver time 15.589342 ms 
filter time 7.110898 ms 
mapping pub time 1.426524 ms 
whole mapping time 123.462286 ms +++++
map prepare time 2.369175 ms
map corner num 67899  surf num 23246 
data association time 14.593155 ms 
build tree time 16.362014 ms 
data association time 14.197565 ms 
solver time 8.528439 ms 
optimization twice time 50.642068 
mapping data assosiation time 27.200654 ms 
publication time 9.495459 ms 
whole laserOdometry time 60.155614 ms 
 
prepare time 22.296203 
mapping solver time 26.187765 ms 
scan registration time 44.176220 ms *************
mapping data assosiation time 24.540954 ms 
data association time 13.916259 ms 
mapping solver time 14.179700 ms 
filter time 5.581470 ms 
data association time 13.933258 ms 
solver time 8.727193 ms 
publication time 10.236986 ms 
whole laserOdometry time 58.715719 ms 
 
points size 104206 
prepare time 23.048815 
sort q time 6.427864 
seperate points time 15.645918 
mapping solver time 23.948002 ms 
data association time 18.195927 ms 
solver time 11.425359 ms 
data association time 16.059370 ms 
solver time 8.622298 ms 
publication time 8.425287 ms 
whole laserOdometry time 63.665897 ms 
 
map prepare time 3.442333 ms
map corner num 68620  surf num 23458 
prepare time 20.921351 
build tree time 23.059400 ms 
scan registration time 43.088536 ms *************
mapping data assosiation time 25.146534 ms 
data association time 14.943434 ms 
solver time 7.889360 ms 
data association time 14.488987 ms 
solver time 8.272185 ms 
publication time 8.859428 ms 
whole laserOdometry time 55.325032 ms 
 
mapping solver time 16.726851 ms 
prepare time 21.130346 
sort q time 6.752490 
seperate points time 16.934947 
[0m[ INFO] [1718802267.358886007]: Received 276200 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802267.358916304]: Data saved to 1317357814309600.pcd[0m
map prepare time 3.326571 ms
map corner num 68984  surf num 23585 
build tree time 21.834502 ms 
solver time 10.042783 ms 
data association time 15.153190 ms 
publication time 8.954512 ms 
whole laserOdometry time 56.308160 ms 
 
points size 104344 
prepare time 21.198914 
sort q time 6.980959 
seperate points time 16.804883 
mapping solver time 10.737109 ms 
mapping optimization time 111.599627 
add points time 0.533781 ms
map prepare time 2.836852 ms
map corner num 69293  surf num 23686 
solver time 10.506032 ms 
build tree time 17.468340 ms 
data association time 14.932832 ms 
solver time 8.455135 ms 
points size 104287 
publication time 10.040959 ms 
whole laserOdometry time 61.036790 ms 
 
prepare time 15.751002 
mapping solver time 20.138674 ms 
mapping data assosiation time 23.575880 ms 
data association time 15.187921 ms 
solver time 10.570525 ms 
filter time 6.506074 ms 
mapping pub time 1.271524 ms 
whole mapping time 110.165015 ms +++++
data association time 15.975616 ms 
solver time 8.518228 ms 
publication time 8.913183 ms 
whole laserOdometry time 59.995045 ms 
 
points size 104428 
sort q time 6.173545 
seperate points time 13.996990 
mapping solver time 18.899214 ms 
data association time 15.163885 ms 
mapping data assosiation time 23.818478 ms 
mapping solver time 11.927314 ms 
mapping optimization time 102.931161 
add points time 0.570072 ms
solver time 8.218417 ms 
publication time 9.842514 ms 
whole laserOdometry time 60.174234 ms 
 
build tree time 22.002237 ms 
points size 104387 
sort q time 6.007007 
seperate points time 14.249635 
mapping solver time 19.672740 ms 
data association time 15.382566 ms 
solver time 10.804166 ms 
data association time 15.001228 ms 
solver time 8.002293 ms 
map prepare time 3.419660 ms
map corner num 70468  surf num 24076 
points size 104449 
build tree time 23.232131 ms 
sort q time 6.767204 
seperate points time 15.783893 
mapping data assosiation time 27.379889 ms 
data association time 14.613121 ms 
mapping solver time 18.284939 ms 
data association time 14.740011 ms 
solver time 8.528987 ms 
publication time 10.669749 ms 
whole laserOdometry time 59.356063 ms 
 
prepare time 17.764299 
mapping pub time 2.222859 ms 
whole mapping time 125.704474 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.456251 ms
map corner num 70829  surf num 24158 
build tree time 18.145563 ms 
data association time 15.566192 ms 
mapping data assosiation time 23.777173 ms 
mapping solver time 18.610510 ms 
solver time 8.214376 ms 
points size 104231 
mapping solver time 11.323374 ms 
filter time 7.550315 ms 
data association time 15.310714 ms 
solver time 10.348671 ms 
data association time 15.190827 ms 
solver time 8.577817 ms 
publication time 8.149020 ms 
whole laserOdometry time 58.626053 ms 
 
mapping solver time 19.272027 ms 
points size 104132 
prepare time 22.547707 
mapping data assosiation time 30.407700 ms 
sort q time 6.610777 
seperate points time 15.819323 
scan registration time 44.649396 ms *************
mapping solver time 19.918605 ms 
filter time 7.471034 ms 
mapping pub time 1.278897 ms 
whole mapping time 125.975518 ms +++++
map prepare time 2.453700 ms
map corner num 71668  surf num 24418 
data association time 20.624758 ms 
solver time 11.417846 ms 
data association time 19.812048 ms 
mapping data assosiation time 27.310189 ms 
prepare time 21.307032 
mapping solver time 22.132873 ms 
sort q time 6.862712 
seperate points time 16.248915 
mapping data assosiation time 26.692455 ms 
mapping solver time 11.277585 ms 
filter time 7.762021 ms 
mapping pub time 1.266569 ms 
whole mapping time 119.141210 ms +++++
map prepare time 2.635275 ms
map corner num 72066  surf num 24526 
build tree time 18.589728 ms 
data association time 15.835586 ms 
solver time 8.521094 ms 
publication time 9.208387 ms 
whole laserOdometry time 62.983409 ms 
 
points size 103735 
mapping data assosiation time 31.690449 ms 
sort q time 6.239184 
seperate points time 15.301761 
scan registration time 44.325336 ms *************
mapping solver time 24.367195 ms 
data association time 15.166312 ms 
mapping data assosiation time 23.347678 ms 
mapping solver time 11.583263 ms 
filter time 6.061476 ms 
data association time 22.170636 ms 
solver time 7.991246 ms 
optimization twice time 56.402743 
prepare time 20.305651 
build tree time 24.168996 ms 
sort q time 6.781947 
seperate points time 16.517983 
scan registration time 43.201337 ms *************
mapping data assosiation time 29.547385 ms 
data association time 14.550642 ms 
solver time 10.813913 ms 
data association time 14.520280 ms 
solver time 8.830084 ms 
publication time 9.913875 ms 
whole laserOdometry time 59.320037 ms 
 
mapping solver time 19.684209 ms 
mapping optimization time 115.208815 
add points time 0.592979 ms
filter time 8.217281 ms 
map prepare time 3.388986 ms
map corner num 72853  surf num 24719 
sort q time 6.267134 
seperate points time 15.058541 
build tree time 22.327469 ms 
data association time 19.510435 ms 
mapping solver time 13.932503 ms 
publication time 8.708624 ms 
whole laserOdometry time 56.318918 ms 
 
mapping data assosiation time 28.193139 ms 
prepare time 21.393043 
mapping solver time 16.694853 ms 
mapping optimization time 108.454600 
add points time 0.660471 ms
mapping pub time 2.034021 ms 
whole mapping time 122.669989 ms +++++
data association time 14.337673 ms 
solver time 14.240537 ms 
mapping data assosiation time 23.506482 ms 
data association time 15.977643 ms 
solver time 8.064309 ms 
publication time 10.968397 ms 
whole laserOdometry time 64.508124 ms 
 
prepare time 21.376365 
mapping data assosiation time 30.173791 ms 
sort q time 6.539441 
seperate points time 15.345692 
scan registration time 41.871418 ms *************
mapping solver time 15.139763 ms 
filter time 7.907137 ms 
data association time 15.873793 ms 
solver time 13.088342 ms 
data association time 14.518137 ms 
mapping data assosiation time 24.824719 ms 
mapping solver time 18.983299 ms 
mapping data assosiation time 24.987384 ms 
data association time 15.166226 ms 
solver time 8.200603 ms 
filter time 8.267197 ms 
map prepare time 3.826806 ms
map corner num 74156  surf num 25102 
solver time 7.898929 ms 
publication time 8.325736 ms 
whole laserOdometry time 57.271815 ms 
 
points size 98287 
mapping data assosiation time 23.861417 ms 
scan registration time 33.455678 ms *************
mapping solver time 19.127803 ms 
data association time 17.845563 ms 
solver time 9.500176 ms 
data association time 16.932803 ms 
solver time 7.948916 ms 
optimization twice time 53.158118 
filter time 7.603902 ms 
mapping pub time 1.266892 ms 
whole mapping time 116.099908 ms +++++
build tree time 17.746384 ms 
sort q time 4.846518 
seperate points time 11.254564 
scan registration time 30.645721 ms *************
mapping solver time 15.405689 ms 
data association time 14.562039 ms 
solver time 9.861930 ms 
mapping data assosiation time 23.330844 ms 
solver time 7.856056 ms 
optimization twice time 47.552453 
mapping solver time 11.603949 ms 
mapping optimization time 92.248901 
add points time 0.469079 ms
mapping pub time 2.141006 ms 
whole mapping time 105.977173 ms +++++
points size 97630 
prepare time 15.426195 
build tree time 20.702216 ms 
mapping solver time 15.683221 ms 
data association time 17.717262 ms 
solver time 14.519389 ms 
mapping solver time 13.058576 ms 
filter time 7.354571 ms 
mapping pub time 1.673675 ms 
whole mapping time 118.818002 ms +++++
solver time 9.659107 ms 
optimization twice time 62.912432 
points size 97639 
map prepare time 2.493223 ms
map corner num 75465  surf num 25439 
scan registration time 32.416937 ms *************
build tree time 19.442943 ms 
data association time 14.911759 ms 
mapping data assosiation time 25.919937 ms 
data association time 15.707139 ms 
solver time 5.809008 ms 
publication time 8.722400 ms 
whole laserOdometry time 53.772387 ms 
 
mapping data assosiation time 22.788579 ms 
mapping solver time 12.713644 ms 
filter time 7.214283 ms 
build tree time 17.750755 ms 
data association time 15.675021 ms 
solver time 10.820425 ms 
mapping data assosiation time 22.917340 ms 
data association time 15.878872 ms 
solver time 7.896301 ms 
optimization twice time 51.196477 
points size 97882 
mapping data assosiation time 23.862558 ms 
prepare time 14.785662 
mapping solver time 10.329467 ms 
filter time 7.114217 ms 
scan registration time 31.078713 ms *************
mapping pub time 1.431580 ms 
whole mapping time 104.213878 ms +++++
map prepare time 2.806202 ms
map corner num 76451  surf num 25868 
build tree time 20.169638 ms 
solver time 8.307395 ms 
mapping data assosiation time 25.587702 ms 
data association time 17.038419 ms 
optimization twice time 51.491874 
points size 97261 
mapping data assosiation time 23.774290 ms 
sort q time 4.993507 
seperate points time 11.430373 
mapping solver time 11.309989 ms 
scan registration time 30.325914 ms *************
mapping optimization time 98.181917 
add points time 0.769343 ms
filter time 6.824699 ms 
data association time 15.284421 ms 
build tree time 19.279529 ms 
data association time 14.642524 ms 
solver time 8.499765 ms 
mapping solver time 14.815240 ms 
points size 94282 
prepare time 14.595991 
sort q time 4.928436 
seperate points time 11.483056 
mapping solver time 11.139590 ms 
mapping optimization time 93.396509 
add points time 0.456632 ms
data association time 15.181282 ms 
[0m[ INFO] [1718802269.762921691]: Received 287042 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802269.762961115]: Data saved to 1317357816799881.pcd[0m
build tree time 19.874599 ms 
solver time 8.242067 ms 
optimization twice time 51.946785 
mapping data assosiation time 25.654337 ms 
points size 92284 
mapping solver time 15.471205 ms 
sort q time 5.220032 
seperate points time 12.784079 
mapping data assosiation time 24.724006 ms 
data association time 15.118841 ms 
filter time 5.854026 ms 
data association time 15.348287 ms 
solver time 8.330724 ms 
optimization twice time 51.566219 
mapping data assosiation time 24.845707 ms 
prepare time 17.546987 
mapping solver time 16.421513 ms 
sort q time 5.287495 
seperate points time 12.851334 
mapping data assosiation time 27.954426 ms 
mapping solver time 15.300929 ms 
filter time 8.316775 ms 
map prepare time 3.316869 ms
map corner num 78044  surf num 26368 
solver time 16.146924 ms 
build tree time 25.800805 ms 
points size 88273 
prepare time 13.650682 
sort q time 5.506143 
seperate points time 12.809313 
publication time 11.716762 ms 
whole laserOdometry time 93.037517 ms 
 
data association time 24.825407 ms 
mapping solver time 24.560905 ms 
solver time 13.188696 ms 
mapping data assosiation time 29.869617 ms 
data association time 26.731539 ms 
mapping solver time 16.033036 ms 
mapping optimization time 128.988517 
add points time 0.489542 ms
solver time 12.226179 ms 
optimization twice time 77.916849 
map prepare time 3.746487 ms
map corner num 78442  surf num 26488 
sort q time 4.888220 
seperate points time 12.696382 
build tree time 21.639913 ms 
data association time 27.039611 ms 
solver time 16.826940 ms 
mapping solver time 22.413219 ms 
data association time 26.135482 ms 
prepare time 16.935808 
mapping data assosiation time 30.322196 ms 
solver time 13.744996 ms 
optimization twice time 84.900922 
mapping solver time 17.378877 ms 
filter time 8.325092 ms 
map prepare time 3.465676 ms
map corner num 78859  surf num 26598 
solver time 14.810022 ms 
build tree time 25.608592 ms 
data association time 26.058657 ms 
mapping data assosiation time 29.636036 ms 
points size 81166 
solver time 14.150063 ms 
optimization twice time 80.460310 
prepare time 14.042443 
publication time 9.452438 ms 
whole laserOdometry time 89.932505 ms 
 
mapping data assosiation time 28.453654 ms 
mapping solver time 12.857564 ms 
mapping optimization time 118.064291 
add points time 0.444392 ms
solver time 11.118956 ms 
mapping pub time 1.894867 ms 
whole mapping time 132.380370 ms +++++
solver time 9.360858 ms 
publication time 9.104603 ms 
whole laserOdometry time 70.982307 ms 
 
points size 77649 
sort q time 4.270681 
seperate points time 11.271193 
mapping solver time 17.489091 ms 
data association time 14.843153 ms 
solver time 10.461271 ms 
data association time 13.904974 ms 
mapping solver time 16.184613 ms 
publication time 6.861143 ms 
whole laserOdometry time 54.545924 ms 
 
map prepare time 3.896857 ms
map corner num 79795  surf num 26845 
points size 75819 
prepare time 15.700560 
build tree time 26.532318 ms 
data association time 14.532540 ms 
mapping data assosiation time 28.084829 ms 
mapping solver time 16.863828 ms 
solver time 8.294179 ms 
publication time 7.135892 ms 
whole laserOdometry time 62.665045 ms 
 
mapping solver time 11.196709 ms 
mapping optimization time 109.656141 
add points time 0.625781 ms
points size 75051 
map prepare time 2.391433 ms
map corner num 80299  surf num 26992 
build tree time 20.186012 ms 
data association time 12.945195 ms 
solver time 10.597736 ms 
mapping data assosiation time 23.058474 ms 
data association time 13.523488 ms 
mapping solver time 15.057283 ms 
solver time 7.935243 ms 
optimization twice time 45.820023 
mapping data assosiation time 23.231360 ms 
points size 74882 
filter time 8.004149 ms 
build tree time 18.895370 ms 
data association time 15.646903 ms 
mapping data assosiation time 21.394534 ms 
mapping solver time 12.937992 ms 
solver time 9.329354 ms 
publication time 7.965523 ms 
whole laserOdometry time 60.794639 ms 
 
mapping data assosiation time 23.026972 ms 
mapping solver time 10.824120 ms 
filter time 6.257980 ms 
sort q time 9.140302 
seperate points time 14.816541 
build tree time 20.449075 ms 
data association time 12.997792 ms 
solver time 11.253152 ms 
data association time 13.958093 ms 
mapping solver time 13.236851 ms 
publication time 7.783738 ms 
whole laserOdometry time 55.475410 ms 
 
mapping data assosiation time 22.561019 ms 
mapping solver time 10.530772 ms 
filter time 7.848622 ms 
mapping pub time 1.844483 ms 
whole mapping time 103.869162 ms +++++
map prepare time 2.580975 ms
map corner num 81840  surf num 27403 
build tree time 20.276331 ms 
data association time 13.077558 ms 
solver time 10.739780 ms 
mapping solver time 11.906771 ms 
solver time 8.851781 ms 
publication time 7.734459 ms 
whole laserOdometry time 55.080792 ms 
 
mapping solver time 15.681298 ms 
prepare time 15.213553 
map prepare time 2.991934 ms
map corner num 82284  surf num 27524 
sort q time 4.156659 
seperate points time 10.598404 
build tree time 20.873384 ms 
data association time 12.930478 ms 
solver time 11.613803 ms 
mapping data assosiation time 21.429171 ms 
mapping solver time 17.244666 ms 
points size 71148 
sort q time 3.417368 
seperate points time 8.377250 
filter time 8.653483 ms 
data association time 13.862646 ms 
solver time 13.327434 ms 
data association time 15.957863 ms 
solver time 10.171597 ms 
publication time 7.191191 ms 
whole laserOdometry time 61.393412 ms 
 
mapping solver time 19.019874 ms 
sort q time 4.413963 
seperate points time 11.203470 
mapping data assosiation time 25.120151 ms 
data association time 14.535829 ms 
map prepare time 2.787236 ms
map corner num 83165  surf num 27771 
data association time 14.012461 ms 
solver time 14.594815 ms 
optimization twice time 60.403141 
mapping data assosiation time 26.236683 ms 
points size 67684 
sort q time 3.678921 
seperate points time 9.448253 
scan registration time 29.293275 ms *************
mapping solver time 20.728027 ms 
mapping data assosiation time 18.000880 ms 
data association time 12.368774 ms 
mapping solver time 11.449476 ms 
mapping optimization time 100.776107 
add points time 0.438308 ms
map prepare time 2.393308 ms
map corner num 83593  surf num 27911 
data association time 12.346820 ms 
solver time 10.950559 ms 
optimization twice time 50.648455 
build tree time 21.982159 ms 
points size 64489 
sort q time 3.155539 
seperate points time 8.160154 
scan registration time 27.320827 ms *************
mapping data assosiation time 23.921270 ms 
data association time 22.154012 ms 
mapping solver time 15.895231 ms 
filter time 7.127010 ms 
data association time 12.915870 ms 
solver time 10.853753 ms 
points size 65610 
mapping data assosiation time 21.188774 ms 
sort q time 3.221610 
seperate points time 11.019608 
scan registration time 26.493553 ms *************
mapping solver time 14.796060 ms 
data association time 12.386171 ms 
mapping data assosiation time 19.912431 ms 
mapping solver time 10.542242 ms 
data association time 12.867211 ms 
solver time 10.511086 ms 
build tree time 22.082276 ms 
points size 68838 
prepare time 11.706402 
mapping data assosiation time 21.018377 ms 
mapping solver time 14.392260 ms 
data association time 12.028960 ms 
solver time 10.677379 ms 
data association time 12.691580 ms 
mapping solver time 11.458684 ms 
mapping optimization time 88.985007 
add points time 0.525091 ms
optimization twice time 48.833182 
publication time 7.421243 ms 
whole laserOdometry time 56.273627 ms 
 
build tree time 20.670630 ms 
points size 72704 
mapping data assosiation time 19.886148 ms 
sort q time 3.443129 
seperate points time 8.619637 
mapping solver time 15.733474 ms 
data association time 11.817122 ms 
mapping data assosiation time 19.576395 ms 
solver time 13.630046 ms 
mapping optimization time 89.719384 
add points time 0.583654 ms
map prepare time 2.260807 ms
map corner num 85693  surf num 28575 
solver time 11.328288 ms 
optimization twice time 52.367617 
build tree time 23.382197 ms 
points size 75048 
prepare time 12.243681 
sort q time 3.707780 
seperate points time 8.943049 
scan registration time 24.674806 ms *************
mapping solver time 15.372960 ms 
data association time 12.539502 ms 
mapping data assosiation time 18.293501 ms 
mapping solver time 11.206964 ms 
filter time 7.349519 ms 
publication time 6.577065 ms 
whole laserOdometry time 52.124891 ms 
 
build tree time 22.287147 ms 
points size 77317 
mapping data assosiation time 20.548372 ms 
sort q time 3.249407 
seperate points time 7.953873 
mapping solver time 13.418759 ms 
data association time 15.662869 ms 
mapping data assosiation time 21.214467 ms 
solver time 13.075023 ms 
mapping solver time 11.433509 ms 
mapping optimization time 89.964833 
filter time 6.689690 ms 
mapping pub time 10.401302 ms 
whole mapping time 110.169320 ms +++++
[0m[ INFO] [1718802272.073072886]: Received 299307 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802272.073104588]: Data saved to 1317357819085635.pcd[0m
build tree time 23.166388 ms 
prepare time 12.196778 
sort q time 3.818151 
seperate points time 9.449931 
scan registration time 24.421537 ms *************
mapping data assosiation time 22.345018 ms 
mapping solver time 12.546279 ms 
solver time 13.660884 ms 
data association time 12.954089 ms 
mapping solver time 12.069956 ms 
mapping optimization time 92.331548 
add points time 0.407854 ms
map prepare time 3.141824 ms
map corner num 87367  surf num 29048 
build tree time 23.629475 ms 
points size 82036 
prepare time 13.034357 
sort q time 3.875094 
seperate points time 9.354859 
data association time 12.883241 ms 
solver time 12.222293 ms 
mapping data assosiation time 20.954062 ms 
mapping solver time 11.624275 ms 
filter time 7.404666 ms 
build tree time 23.660957 ms 
sort q time 4.317921 
seperate points time 10.258138 
mapping solver time 16.454146 ms 
data association time 19.395384 ms 
mapping data assosiation time 21.867225 ms 
mapping solver time 11.961556 ms 
data association time 19.785454 ms 
solver time 15.810636 ms 
publication time 9.298493 ms 
whole laserOdometry time 80.266166 ms 
 
sort q time 4.618012 
seperate points time 11.108126 
mapping data assosiation time 23.789854 ms 
mapping solver time 14.821315 ms 
mapping data assosiation time 24.761812 ms 
solver time 18.615530 ms 
mapping solver time 12.183464 ms 
mapping optimization time 101.394318 
add points time 0.420894 ms
map prepare time 3.166821 ms
map corner num 88992  surf num 29490 
points size 87203 
publication time 9.300053 ms 
whole laserOdometry time 84.474572 ms 
 
mapping data assosiation time 20.082111 ms 
mapping solver time 13.164900 ms 
data association time 12.911781 ms 
solver time 10.635661 ms 
filter time 9.693075 ms 
points size 88974 
prepare time 15.494885 
sort q time 5.035339 
seperate points time 11.931701 
data association time 12.760976 ms 
mapping data assosiation time 19.329349 ms 
mapping solver time 13.728730 ms 
data association time 14.690581 ms 
solver time 12.632410 ms 
publication time 8.745296 ms 
whole laserOdometry time 66.956627 ms 
 
filter time 10.198341 ms 
mapping pub time 0.995110 ms 
whole mapping time 107.476226 ms +++++
map prepare time 2.665025 ms
map corner num 89915  surf num 29764 
prepare time 18.183241 
sort q time 5.217339 
seperate points time 12.842744 
data association time 12.498347 ms 
solver time 13.801542 ms 
mapping solver time 14.296361 ms 
data association time 12.933802 ms 
mapping data assosiation time 20.124018 ms 
publication time 7.826074 ms 
whole laserOdometry time 59.188960 ms 
 
add points time 0.497901 ms
filter time 9.472294 ms 
points size 94156 
mapping pub time 1.466212 ms 
whole mapping time 109.512075 ms +++++
prepare time 18.779429 
map prepare time 3.248842 ms
map corner num 90482  surf num 30019 
sort q time 5.389791 
seperate points time 13.097574 
scan registration time 36.919624 ms *************
mapping data assosiation time 19.233934 ms 
data association time 20.295919 ms 
mapping solver time 13.945091 ms 
mapping data assosiation time 19.455510 ms 
mapping solver time 13.788139 ms 
mapping optimization time 93.808686 
add points time 0.444308 ms
solver time 11.684626 ms 
map prepare time 2.529754 ms
map corner num 90939  surf num 30146 
build tree time 22.934703 ms 
data association time 20.329034 ms 
mapping data assosiation time 23.394729 ms 
mapping solver time 13.319532 ms 
solver time 8.089931 ms 
publication time 7.995478 ms 
whole laserOdometry time 60.991869 ms 
 
points size 97018 
mapping pub time 1.072838 ms 
whole mapping time 103.962767 ms +++++
sort q time 4.974813 
seperate points time 11.802937 
map prepare time 2.796614 ms
map corner num 59750  surf num 19957 
scan registration time 33.306208 ms *************
data association time 12.874505 ms 
mapping data assosiation time 18.833670 ms 
mapping solver time 13.760421 ms 
data association time 15.614427 ms 
solver time 10.387585 ms 
publication time 9.035290 ms 
whole laserOdometry time 62.737687 ms 
 
points size 97092 
prepare time 15.759353 
filter time 6.170450 ms 
mapping pub time 2.212308 ms 
whole mapping time 95.368096 ms +++++
scan registration time 31.294115 ms *************
build tree time 16.152575 ms 
data association time 13.166865 ms 
solver time 10.592853 ms 
mapping solver time 13.077782 ms 
data association time 14.177322 ms 
publication time 7.297825 ms 
whole laserOdometry time 54.891110 ms 
 
mapping solver time 11.940257 ms 
map prepare time 2.619845 ms
map corner num 60514  surf num 20186 
points size 97324 
build tree time 16.247890 ms 
scan registration time 32.211368 ms *************
mapping data assosiation time 20.646775 ms 
solver time 7.605697 ms 
mapping solver time 12.377265 ms 
data association time 17.902246 ms 
mapping data assosiation time 21.768484 ms 
publication time 7.768246 ms 
whole laserOdometry time 56.192963 ms 
 
filter time 5.989940 ms 
prepare time 15.474216 
sort q time 4.884869 
seperate points time 11.759258 
mapping data assosiation time 20.099550 ms 
mapping solver time 13.942454 ms 
solver time 14.669813 ms 
mapping solver time 10.008624 ms 
mapping optimization time 82.050304 
add points time 0.435477 ms
data association time 15.779179 ms 
publication time 10.504120 ms 
whole laserOdometry time 67.189258 ms 
 
points size 94295 
build tree time 16.858904 ms 
mapping data assosiation time 21.840643 ms 
data association time 13.845683 ms 
mapping solver time 17.989711 ms 
data association time 13.103698 ms 
solver time 10.540904 ms 
publication time 9.947182 ms 
whole laserOdometry time 60.810471 ms 
 
map prepare time 3.727321 ms
map corner num 61709  surf num 20468 
points size 91356 
build tree time 17.351115 ms 
sort q time 5.929960 
seperate points time 13.861019 
mapping data assosiation time 22.186009 ms 
data association time 21.472750 ms 
solver time 14.728370 ms 
mapping data assosiation time 23.126450 ms 
solver time 7.900887 ms 
mapping solver time 15.401935 ms 
mapping optimization time 99.163180 
add points time 0.571775 ms
publication time 8.579410 ms 
whole laserOdometry time 67.262808 ms 
 
prepare time 18.490394 
sort q time 4.960358 
seperate points time 12.253937 
scan registration time 35.507548 ms *************
build tree time 18.925079 ms 
data association time 13.900009 ms 
mapping data assosiation time 19.163185 ms 
solver time 15.825959 ms 
mapping solver time 18.875692 ms 
solver time 13.760598 ms 
mapping solver time 14.197409 ms 
points size 85451 
mapping optimization time 95.984662 
add points time 0.509120 ms
prepare time 14.146522 
sort q time 4.224842 
seperate points time 10.388040 
build tree time 16.466520 ms 
data association time 13.118821 ms 
solver time 10.545877 ms 
mapping data assosiation time 21.880750 ms 
data association time 13.473378 ms 
mapping solver time 15.969633 ms 
publication time 7.358440 ms 
whole laserOdometry time 56.230118 ms 
 
mapping data assosiation time 23.114377 ms 
mapping solver time 9.524965 ms 
mapping optimization time 88.323000 
add points time 0.482402 ms
points size 81306 
prepare time 12.974561 
sort q time 3.558879 
seperate points time 8.922486 
build tree time 16.289248 ms 
data association time 13.521353 ms 
mapping data assosiation time 21.492423 ms 
solver time 13.220638 ms 
mapping solver time 14.854471 ms 
data association time 13.793963 ms 
solver time 10.677906 ms 
optimization twice time 52.015794 
mapping solver time 12.549957 ms 
points size 77194 
map prepare time 2.325148 ms
map corner num 63374  surf num 21033 
sort q time 3.985133 
seperate points time 9.718103 
scan registration time 26.144400 ms *************
data association time 13.177526 ms 
mapping data assosiation time 19.945453 ms 
solver time 13.414825 ms 
mapping solver time 14.476008 ms 
data association time 14.643627 ms 
solver time 11.120486 ms 
publication time 7.360815 ms 
whole laserOdometry time 60.542400 ms 
 
mapping solver time 12.742436 ms 
mapping pub time 1.031975 ms 
whole mapping time 97.655163 ms +++++
points size 75074 
map prepare time 3.387096 ms
map corner num 63775  surf num 21130 
sort q time 3.299693 
seperate points time 8.152591 
data association time 13.430175 ms 
solver time 11.876289 ms 
mapping solver time 13.937129 ms 
data association time 14.875993 ms 
solver time 8.178467 ms 
optimization twice time 49.169080 
mapping data assosiation time 20.891284 ms 
mapping solver time 9.368292 ms 
filter time 5.455080 ms 
mapping pub time 12.972346 ms 
whole mapping time 104.660373 ms +++++
[0m[ INFO] [1718802274.182196173]: Received 311042 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802274.182245368]: Data saved to 1317357821267764.pcd[0m
scan registration time 26.226271 ms *************
build tree time 21.056131 ms 
data association time 13.481149 ms 
solver time 12.720433 ms 
data association time 15.143400 ms 
solver time 12.272420 ms 
publication time 7.985878 ms 
whole laserOdometry time 62.696384 ms 
 
mapping data assosiation time 23.860962 ms 
points size 73639 
prepare time 12.963239 
mapping solver time 12.511819 ms 
mapping optimization time 105.220699 
add points time 0.460021 ms
mapping pub time 0.895580 ms 
whole mapping time 115.655719 ms +++++
build tree time 20.617626 ms 
data association time 20.502555 ms 
solver time 18.344496 ms 
mapping solver time 17.862826 ms 
data association time 20.237642 ms 
solver time 13.407400 ms 
prepare time 12.634857 
sort q time 4.328644 
seperate points time 10.492164 
filter time 5.897557 ms 
data association time 20.408780 ms 
build tree time 21.386470 ms 
solver time 20.063374 ms 
mapping data assosiation time 26.506530 ms 
data association time 21.533083 ms 
mapping solver time 18.045405 ms 
points size 73287 
solver time 17.523672 ms 
optimization twice time 80.716763 
prepare time 14.262348 
mapping solver time 16.776971 ms 
filter time 7.505757 ms 
solver time 18.757330 ms 
build tree time 21.636561 ms 
data association time 20.638363 ms 
mapping data assosiation time 25.822521 ms 
points size 72184 
sort q time 4.381396 
seperate points time 14.628755 
mapping data assosiation time 26.234606 ms 
data association time 19.567142 ms 
filter time 7.078411 ms 
data association time 18.881245 ms 
solver time 13.420441 ms 
publication time 9.229097 ms 
whole laserOdometry time 78.104208 ms 
 
mapping data assosiation time 24.308222 ms 
sort q time 4.136073 
seperate points time 10.181116 
mapping solver time 20.773513 ms 
data association time 20.041596 ms 
mapping data assosiation time 25.792197 ms 
mapping solver time 11.907501 ms 
mapping pub time 1.582706 ms 
whole mapping time 117.049755 ms +++++
solver time 13.800363 ms 
publication time 8.210078 ms 
whole laserOdometry time 78.759091 ms 
 
points size 76205 
prepare time 12.398226 
sort q time 4.374410 
seperate points time 10.362169 
scan registration time 26.352413 ms *************
mapping solver time 12.099057 ms 
solver time 12.587387 ms 
mapping data assosiation time 19.604559 ms 
data association time 16.960433 ms 
solver time 14.624905 ms 
points size 79013 
sort q time 4.409488 
seperate points time 11.000124 
mapping solver time 15.322013 ms 
data association time 21.413553 ms 
mapping data assosiation time 24.788876 ms 
mapping solver time 13.200715 ms 
mapping optimization time 96.592980 
add points time 0.507265 ms
solver time 20.554506 ms 
map prepare time 2.756695 ms
map corner num 67287  surf num 22190 
data association time 19.357120 ms 
build tree time 22.063573 ms 
prepare time 15.766867 
sort q time 4.337567 
seperate points time 10.609918 
mapping solver time 17.115941 ms 
data association time 19.955508 ms 
mapping data assosiation time 24.500776 ms 
solver time 20.729848 ms 
mapping solver time 17.282808 ms 
filter time 7.584906 ms 
points size 83710 
publication time 8.261070 ms 
whole laserOdometry time 84.758790 ms 
 
sort q time 5.460689 
seperate points time 12.706595 
scan registration time 30.664490 ms *************
mapping data assosiation time 22.136299 ms 
data association time 20.379849 ms 
mapping solver time 21.095517 ms 
solver time 20.879931 ms 
mapping data assosiation time 24.461966 ms 
data association time 20.794098 ms 
mapping solver time 18.240877 ms 
mapping optimization time 108.935248 
add points time 0.675526 ms
solver time 16.796651 ms 
optimization twice time 80.054238 
points size 86667 
sort q time 4.901556 
seperate points time 11.494372 
scan registration time 29.442184 ms *************
mapping data assosiation time 22.650131 ms 
data association time 20.868721 ms 
mapping solver time 21.193575 ms 
data association time 21.177884 ms 
points size 91085 
prepare time 14.597517 
solver time 17.110348 ms 
optimization twice time 80.597614 
publication time 8.788425 ms 
whole laserOdometry time 89.411265 ms 
 
build tree time 21.063070 ms 
data association time 19.793401 ms 
solver time 14.527810 ms 
mapping data assosiation time 19.889513 ms 
data association time 13.431987 ms 
solver time 10.262066 ms 
publication time 7.670512 ms 
whole laserOdometry time 66.532131 ms 
 
points size 93309 
filter time 5.926122 ms 
scan registration time 29.890147 ms *************
build tree time 17.649880 ms 
data association time 13.100396 ms 
solver time 14.761995 ms 
mapping data assosiation time 24.769313 ms 
data association time 17.837357 ms 
solver time 12.573034 ms 
mapping data assosiation time 22.253106 ms 
points size 92856 
filter time 7.342803 ms 
build tree time 19.193739 ms 
solver time 8.615637 ms 
data association time 13.883149 ms 
mapping solver time 12.927440 ms 
mapping data assosiation time 18.761121 ms 
points size 93923 
filter time 8.450581 ms 
data association time 12.685219 ms 
solver time 12.360508 ms 
mapping data assosiation time 21.050931 ms 
data association time 17.636736 ms 
solver time 9.901888 ms 
publication time 8.774354 ms 
whole laserOdometry time 62.324851 ms 
 
points size 95421 
filter time 6.690571 ms 
build tree time 18.212883 ms 
solver time 10.944825 ms 
mapping data assosiation time 19.604409 ms 
solver time 7.466897 ms 
publication time 7.038669 ms 
whole laserOdometry time 52.909832 ms 
 
mapping data assosiation time 18.746730 ms 
mapping solver time 9.168953 ms 
prepare time 15.078293 
sort q time 4.439889 
seperate points time 10.819708 
build tree time 16.957188 ms 
data association time 13.488519 ms 
mapping data assosiation time 19.789312 ms 
mapping solver time 12.226607 ms 
data association time 12.766159 ms 
solver time 7.827373 ms 
mapping data assosiation time 20.202358 ms 
publication time 8.928705 ms 
whole laserOdometry time 56.868434 ms 
 
filter time 6.629277 ms 
prepare time 14.714212 
build tree time 16.965183 ms 
sort q time 5.248496 
seperate points time 12.270257 
scan registration time 31.321174 ms *************
mapping data assosiation time 18.780583 ms 
data association time 13.479212 ms 
solver time 10.323695 ms 
mapping data assosiation time 18.281229 ms 
data association time 13.940597 ms 
add points time 0.549720 ms
solver time 8.394155 ms 
optimization twice time 47.051000 
map prepare time 3.044896 ms
map corner num 71253  surf num 23272 
points size 92808 
build tree time 18.300176 ms 
sort q time 4.784897 
seperate points time 11.143133 
scan registration time 30.047393 ms *************
mapping data assosiation time 19.696349 ms 
data association time 13.448452 ms 
solver time 11.356597 ms 
mapping data assosiation time 17.520963 ms 
mapping solver time 9.200930 ms 
publication time 7.562068 ms 
whole laserOdometry time 54.509350 ms 
 
map prepare time 3.473656 ms
map corner num 71633  surf num 23341 
points size 90552 
sort q time 4.508867 
seperate points time 10.706283 
mapping solver time 13.915108 ms 
data association time 15.799434 ms 
solver time 10.775386 ms 
mapping solver time 8.559901 ms 
filter time 6.534114 ms 
solver time 10.806578 ms 
optimization twice time 53.205970 
points size 89817 
build tree time 17.174574 ms 
sort q time 4.622990 
seperate points time 10.720027 
scan registration time 28.924559 ms *************
mapping solver time 11.000041 ms 
data association time 13.746236 ms 
solver time 10.446624 ms 
mapping solver time 8.322026 ms 
filter time 6.633147 ms 
publication time 8.604035 ms 
whole laserOdometry time 58.643009 ms 
 
points size 89727 
prepare time 14.153208 
build tree time 17.622703 ms 
sort q time 5.167433 
seperate points time 11.894962 
mapping data assosiation time 20.170927 ms 
data association time 13.164939 ms 
solver time 10.358449 ms 
mapping data assosiation time 19.193509 ms 
mapping solver time 11.233298 ms 
filter time 6.950092 ms 
build tree time 20.773909 ms 
points size 89686 
prepare time 13.942772 
sort q time 4.652260 
seperate points time 10.904224 
mapping solver time 12.209730 ms 
data association time 13.664769 ms 
mapping data assosiation time 17.830164 ms 
mapping solver time 8.335175 ms 
filter time 7.707043 ms 
solver time 8.163944 ms 
publication time 7.329463 ms 
whole laserOdometry time 57.733212 ms 
 
points size 90258 
sort q time 4.372746 
seperate points time 10.346367 
scan registration time 29.412043 ms *************
mapping data assosiation time 18.589467 ms 
mapping solver time 11.652765 ms 
data association time 16.616539 ms 
mapping data assosiation time 22.027552 ms 
solver time 12.360475 ms 
filter time 6.414881 ms 
solver time 7.890418 ms 
publication time 8.195672 ms 
whole laserOdometry time 60.270078 ms 
 
points size 90976 
sort q time 4.411122 
seperate points time 10.498847 
mapping data assosiation time 17.573074 ms 
mapping solver time 13.743294 ms 
solver time 11.533579 ms 
data association time 15.742808 ms 
filter time 7.301998 ms 
mapping pub time 1.115118 ms 
whole mapping time 93.343646 ms +++++
solver time 12.909377 ms 
optimization twice time 58.058850 
map prepare time 2.482063 ms
map corner num 72537  surf num 22850 
points size 92735 
build tree time 18.119327 ms 
scan registration time 30.570389 ms *************
mapping solver time 12.853445 ms 
solver time 11.127483 ms 
data association time 14.742471 ms 
filter time 6.660911 ms 
publication time 8.371900 ms 
whole laserOdometry time 60.040469 ms 
 
points size 92385 
prepare time 18.210425 
build tree time 23.531754 ms 
sort q time 5.639218 
seperate points time 13.838248 
scan registration time 37.510656 ms *************
mapping data assosiation time 20.550697 ms 
mapping solver time 12.123664 ms 
data association time 21.957576 ms 
mapping data assosiation time 17.303692 ms 
solver time 15.548291 ms 
mapping solver time 11.767780 ms 
mapping optimization time 86.139043 
add points time 0.477812 ms
mapping pub time 1.730609 ms 
whole mapping time 100.071579 ms +++++
data association time 22.157148 ms 
points size 89281 
prepare time 15.174470 
solver time 11.816623 ms 
optimization twice time 72.511546 
publication time 8.824361 ms 
whole laserOdometry time 81.354110 ms 
 
scan registration time 32.943996 ms *************
build tree time 19.795596 ms 
solver time 12.719791 ms 
data association time 17.309081 ms 
optimization twice time 54.582081 
mapping data assosiation time 21.562680 ms 
prepare time 17.889900 
mapping solver time 11.297437 ms 
mapping optimization time 92.888819 
add points time 0.470703 ms
map prepare time 2.422749 ms
map corner num 73400  surf num 23038 
build tree time 19.357223 ms 
mapping data assosiation time 17.933623 ms 
solver time 11.462292 ms 
mapping solver time 12.651222 ms 
solver time 8.385806 ms 
mapping solver time 11.695514 ms 
mapping pub time 1.087736 ms 
whole mapping time 93.121151 ms +++++
scan registration time 32.251060 ms *************
mapping data assosiation time 16.766069 ms 
data association time 21.777396 ms 
mapping solver time 15.199527 ms 
solver time 15.813769 ms 
mapping data assosiation time 18.880167 ms 
data association time 19.092720 ms 
solver time 9.067497 ms 
points size 88032 
sort q time 4.321627 
seperate points time 10.506219 
scan registration time 31.343446 ms *************
mapping data assosiation time 16.469421 ms 
mapping solver time 14.552823 ms 
solver time 15.908530 ms 
mapping data assosiation time 18.807576 ms 
mapping solver time 10.519667 ms 
filter time 6.697513 ms 
points size 89119 
prepare time 16.302871 
mapping data assosiation time 16.908101 ms 
mapping solver time 12.760120 ms 
data association time 13.648260 ms 
solver time 10.652055 ms 
mapping data assosiation time 16.485889 ms 
mapping solver time 8.476982 ms 
filter time 6.346798 ms 
mapping pub time 1.017853 ms 
whole mapping time 83.037816 ms +++++
solver time 8.617082 ms 
optimization twice time 48.606752 
publication time 7.515279 ms 
whole laserOdometry time 56.144048 ms 
 
points size 90674 
build tree time 18.781365 ms 
sort q time 5.259163 
seperate points time 12.766779 
mapping data assosiation time 18.134232 ms 
data association time 14.497415 ms 
mapping solver time 13.491332 ms 
solver time 13.276121 ms 
mapping data assosiation time 18.616507 ms 
data association time 17.523308 ms 
filter time 9.429059 ms 
map prepare time 2.635954 ms
map corner num 74912  surf num 23428 
prepare time 18.280183 
build tree time 19.424374 ms 
mapping data assosiation time 21.307929 ms 
data association time 15.350972 ms 
solver time 11.519165 ms 
mapping data assosiation time 20.117927 ms 
data association time 18.248654 ms 
solver time 11.420891 ms 
prepare time 14.274533 
map prepare time 3.423362 ms
map corner num 75260  surf num 23526 
sort q time 5.556356 
seperate points time 12.752912 
build tree time 19.908303 ms 
mapping data assosiation time 17.773336 ms 
mapping solver time 12.570261 ms 
mapping data assosiation time 16.917372 ms 
mapping solver time 11.051674 ms 
filter time 7.871726 ms 
map prepare time 2.297897 ms
map corner num 75560  surf num 23596 
points size 85006 
sort q time 4.459270 
seperate points time 10.512431 
mapping data assosiation time 17.441643 ms 
mapping solver time 11.750981 ms 
mapping data assosiation time 17.214039 ms 
solver time 7.782934 ms 
mapping solver time 8.544131 ms 
optimization twice time 46.653700 
mapping optimization time 74.045003 
add points time 0.364777 ms
mapping pub time 1.761435 ms 
whole mapping time 87.032754 ms +++++
points size 81422 
build tree time 16.894521 ms 
sort q time 4.092104 
seperate points time 9.658306 
mapping solver time 12.582542 ms 
data association time 13.653190 ms 
solver time 8.836174 ms 
mapping solver time 9.563392 ms 
filter time 7.181048 ms 
publication time 6.846314 ms 
whole laserOdometry time 51.553031 ms 
 
build tree time 18.824739 ms 
sort q time 3.255012 
seperate points time 8.048850 
scan registration time 23.404777 ms *************
mapping data assosiation time 17.695079 ms 
mapping solver time 12.681319 ms 
solver time 10.429441 ms 
mapping solver time 7.788302 ms 
mapping pub time 1.087846 ms 
whole mapping time 86.397690 ms +++++
solver time 10.678119 ms 
optimization twice time 57.353792 
build tree time 20.921634 ms 
sort q time 4.425098 
seperate points time 11.151601 
scan registration time 30.828209 ms *************
data association time 13.190532 ms 
solver time 10.467628 ms 
mapping solver time 10.294855 ms 
solver time 8.955535 ms 
publication time 5.940581 ms 
whole laserOdometry time 52.229575 ms 
 
map prepare time 3.098258 ms
map corner num 77017  surf num 23982 
points size 68142 
sort q time 3.182041 
seperate points time 7.998615 
mapping data assosiation time 18.644888 ms 
mapping data assosiation time 17.093997 ms 
sort q time 3.155623 
seperate points time 8.119524 
mapping data assosiation time 19.051467 ms 
mapping solver time 11.349743 ms 
mapping pub time 10.169320 ms 
whole mapping time 91.912902 ms +++++
data association time 14.456074 ms 
publication time 5.739484 ms 
whole laserOdometry time 54.859081 ms 
 
build tree time 11.410295 ms 
points size 63280 
mapping data assosiation time 19.735385 ms 
mapping solver time 15.597748 ms 
solver time 11.498448 ms 
mapping solver time 10.457852 ms 
mapping pub time 0.794927 ms 
whole mapping time 85.364831 ms +++++
solver time 12.362625 ms 
optimization twice time 52.500767 
map prepare time 2.648543 ms
map corner num 50557  surf num 15442 
build tree time 12.272106 ms 
points size 62018 
mapping data assosiation time 19.445795 ms 
scan registration time 22.968199 ms *************
mapping solver time 14.121712 ms 
mapping data assosiation time 17.403321 ms 
mapping solver time 11.958555 ms 
solver time 18.587059 ms 
data association time 19.550465 ms 
optimization twice time 69.776381 
publication time 7.568383 ms 
whole laserOdometry time 77.373735 ms 
 
sort q time 2.512707 
seperate points time 6.560405 
scan registration time 20.517679 ms *************
build tree time 12.835466 ms 
mapping data assosiation time 17.453989 ms 
data association time 19.111571 ms 
mapping solver time 15.450788 ms 
mapping data assosiation time 18.259250 ms 
mapping solver time 11.114930 ms 
mapping pub time 0.768574 ms 
whole mapping time 84.351221 ms +++++
build tree time 15.498528 ms 
points size 58852 
sort q time 3.510653 
seperate points time 9.181221 
scan registration time 26.425349 ms *************
mapping data assosiation time 22.881379 ms 
mapping solver time 12.861173 ms 
solver time 10.920373 ms 
mapping data assosiation time 21.666946 ms 
mapping solver time 11.148295 ms 
mapping optimization time 85.007543 
add points time 0.506048 ms
solver time 9.083939 ms 
optimization twice time 49.942952 
map prepare time 1.893364 ms
map corner num 52092  surf num 15809 
build tree time 15.005385 ms 
points size 56924 
prepare time 14.486139 
sort q time 3.425342 
seperate points time 9.082913 
mapping solver time 14.266959 ms 
solver time 10.454698 ms 
data association time 12.285628 ms 
filter time 5.662954 ms 
publication time 6.209090 ms 
whole laserOdometry time 52.499181 ms 
 
build tree time 13.064189 ms 
points size 55734 
prepare time 10.098494 
mapping solver time 11.327912 ms 
solver time 10.404502 ms 
data association time 14.142606 ms 
solver time 9.522118 ms 
map prepare time 1.699786 ms
map corner num 52987  surf num 15988 
build tree time 13.118626 ms 
mapping data assosiation time 18.760111 ms 
sort q time 2.256974 
seperate points time 6.006973 
data association time 11.061816 ms 
solver time 11.021461 ms 
filter time 5.127715 ms 
mapping pub time 0.873024 ms 
whole mapping time 80.806833 ms +++++
data association time 12.850852 ms 
solver time 11.072725 ms 
map prepare time 1.693036 ms
map corner num 53398  surf num 16068 
build tree time 12.466711 ms 
mapping data assosiation time 20.115121 ms 
points size 56502 
sort q time 2.957961 
seperate points time 7.907769 
data association time 12.341957 ms 
mapping solver time 10.617658 ms 
data association time 14.828719 ms 
solver time 12.671491 ms 
map prepare time 1.747004 ms
map corner num 53728  surf num 16130 
build tree time 15.589999 ms 
points size 59121 
sort q time 3.533030 
seperate points time 9.270384 
scan registration time 26.673381 ms *************
mapping data assosiation time 22.154563 ms 
mapping solver time 12.851857 ms 
data association time 18.287237 ms 
mapping data assosiation time 17.448825 ms 
mapping solver time 11.159426 ms 
filter time 6.000836 ms 
mapping pub time 0.735991 ms 
whole mapping time 89.283784 ms +++++
optimization twice time 59.665040 
map prepare time 2.201313 ms
map corner num 54114  surf num 16213 
points size 60737 
sort q time 2.822769 
seperate points time 7.262961 
mapping data assosiation time 16.923353 ms 
mapping solver time 13.058315 ms 
data association time 12.280425 ms 
solver time 10.531187 ms 
mapping data assosiation time 17.651083 ms 
data association time 13.256334 ms 
filter time 5.536142 ms 
publication time 6.150849 ms 
whole laserOdometry time 54.488359 ms 
 
build tree time 11.723405 ms 
points size 61246 
sort q time 4.217085 
seperate points time 9.521905 
mapping solver time 12.506143 ms 
data association time 11.066224 ms 
mapping solver time 9.305635 ms 
data association time 13.758527 ms 
solver time 9.578572 ms 
map prepare time 1.691840 ms
map corner num 54933  surf num 16429 
build tree time 13.118864 ms 
points size 60878 
sort q time 2.808475 
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data association time 11.864721 ms 
solver time 10.901013 ms 
mapping solver time 9.869253 ms 
filter time 5.994496 ms 
mapping pub time 0.710034 ms 
whole mapping time 78.836665 ms +++++
publication time 5.880898 ms 
whole laserOdometry time 54.011120 ms 
 
build tree time 12.011259 ms 
mapping data assosiation time 18.645721 ms 
points size 60363 
prepare time 12.225718 
mapping data assosiation time 20.077495 ms 
mapping solver time 14.000656 ms 
mapping optimization time 82.715581 
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data association time 11.427311 ms 
solver time 10.989901 ms 
map prepare time 1.868832 ms
map corner num 55775  surf num 16627 
points size 60647 
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build tree time 12.565877 ms 
sort q time 3.652010 
seperate points time 9.033273 
mapping data assosiation time 18.463662 ms 
data association time 18.782914 ms 
mapping solver time 16.963216 ms 
solver time 17.314386 ms 
mapping data assosiation time 21.388011 ms 
data association time 17.583957 ms 
filter time 5.900930 ms 
publication time 5.216846 ms 
whole laserOdometry time 71.599701 ms 
 
points size 61748 
sort q time 3.069965 
seperate points time 7.611229 
mapping data assosiation time 15.621370 ms 
data association time 12.148962 ms 
solver time 10.326486 ms 
mapping data assosiation time 16.200741 ms 
mapping solver time 10.089178 ms 
mapping pub time 1.720651 ms 
whole mapping time 79.813145 ms +++++
build tree time 13.777111 ms 
mapping data assosiation time 17.296819 ms 
points size 63083 
prepare time 10.316621 
mapping data assosiation time 16.132160 ms 
mapping solver time 11.755407 ms 
data association time 11.629394 ms 
solver time 8.743549 ms 
optimization twice time 47.581868 
map prepare time 1.865039 ms
map corner num 56900  surf num 16970 
build tree time 12.540105 ms 
points size 64297 
mapping data assosiation time 17.540410 ms 
sort q time 2.818440 
seperate points time 7.089774 
mapping solver time 13.023990 ms 
data association time 11.253955 ms 
mapping data assosiation time 16.720692 ms 
solver time 11.436504 ms 
mapping solver time 10.359471 ms 
mapping optimization time 70.950180 
add points time 0.506918 ms
data association time 12.509563 ms 
solver time 10.025944 ms 
map prepare time 1.623910 ms
map corner num 57268  surf num 17104 
build tree time 14.021551 ms 
points size 65367 
mapping data assosiation time 20.326133 ms 
sort q time 2.747189 
seperate points time 6.942207 
scan registration time 20.974325 ms *************
data association time 11.612243 ms 
solver time 10.504956 ms 
mapping solver time 10.950906 ms 
filter time 5.374609 ms 
mapping pub time 0.852539 ms 
whole mapping time 88.394039 ms +++++
map prepare time 1.618420 ms
map corner num 57619  surf num 17237 
build tree time 14.922717 ms 
points size 66678 
sort q time 3.741855 
seperate points time 8.997537 
mapping solver time 13.096248 ms 
data association time 12.578130 ms 
solver time 10.796153 ms 
mapping solver time 10.969643 ms 
mapping pub time 1.089433 ms 
whole mapping time 88.890936 ms +++++
solver time 10.822046 ms 
map prepare time 1.855271 ms
map corner num 57987  surf num 17386 
build tree time 14.413495 ms 
points size 68805 
sort q time 3.073405 
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data association time 12.006283 ms 
mapping data assosiation time 15.930424 ms 
mapping pub time 9.698770 ms 
whole mapping time 87.556460 ms +++++
[0m[ INFO] [1718802280.473406325]: Received 340033 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802280.473438095]: Data saved to 1317357827604022.pcd[0m
solver time 10.406805 ms 
optimization twice time 53.391702 
build tree time 13.736418 ms 
prepare time 13.038778 
sort q time 3.759026 
seperate points time 9.317953 
mapping solver time 11.952996 ms 
data association time 11.976607 ms 
mapping data assosiation time 15.734101 ms 
filter time 5.594547 ms 
data association time 15.091576 ms 
solver time 8.579963 ms 
publication time 6.738978 ms 
whole laserOdometry time 54.203557 ms 
 
map prepare time 1.946483 ms
map corner num 58709  surf num 17749 
build tree time 17.307932 ms 
prepare time 15.706637 
sort q time 4.602100 
seperate points time 11.576817 
mapping solver time 11.502380 ms 
data association time 12.926753 ms 
mapping data assosiation time 15.926518 ms 
solver time 13.200716 ms 
mapping solver time 9.342767 ms 
mapping optimization time 75.824451 
add points time 0.439163 ms
data association time 12.871765 ms 
solver time 11.876582 ms 
map prepare time 2.080871 ms
map corner num 59012  surf num 17902 
points size 73231 
sort q time 4.299822 
seperate points time 10.147369 
mapping solver time 11.692499 ms 
solver time 12.920136 ms 
mapping data assosiation time 18.560807 ms 
mapping optimization time 79.461933 
mapping pub time 0.929507 ms 
whole mapping time 87.941447 ms +++++
solver time 11.867164 ms 
optimization twice time 51.797493 
map prepare time 1.979129 ms
map corner num 59338  surf num 18087 
build tree time 18.177252 ms 
points size 72914 
sort q time 4.611344 
seperate points time 11.677773 
mapping solver time 11.694522 ms 
data association time 15.468719 ms 
solver time 10.985812 ms 
mapping solver time 7.210313 ms 
mapping optimization time 76.496887 
add points time 0.530200 ms
data association time 17.652840 ms 
solver time 12.472291 ms 
map prepare time 2.067920 ms
map corner num 59656  surf num 18285 
prepare time 11.725602 
sort q time 3.456710 
seperate points time 8.622156 
build tree time 17.616086 ms 
scan registration time 23.493034 ms *************
mapping data assosiation time 20.769157 ms 
mapping solver time 11.055068 ms 
mapping data assosiation time 16.230644 ms 
data association time 14.643891 ms 
filter time 6.573042 ms 
build tree time 13.665059 ms 
points size 72529 
prepare time 12.076933 
sort q time 3.640111 
seperate points time 8.849505 
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solver time 11.485489 ms 
mapping solver time 8.845005 ms 
solver time 7.746502 ms 
map prepare time 1.919711 ms
map corner num 60286  surf num 18685 
build tree time 16.778552 ms 
sort q time 3.232695 
seperate points time 7.816574 
mapping solver time 11.891715 ms 
solver time 11.396326 ms 
data association time 13.205787 ms 
mapping solver time 9.453838 ms 
mapping optimization time 75.518032 
add points time 0.550817 ms
publication time 6.107624 ms 
whole laserOdometry time 56.033937 ms 
 
build tree time 14.116262 ms 
points size 72128 
prepare time 12.120560 
mapping data assosiation time 20.481323 ms 
mapping solver time 14.253468 ms 
data association time 13.189007 ms 
solver time 10.646787 ms 
mapping solver time 7.279776 ms 
mapping optimization time 78.104125 
add points time 0.443432 ms
filter time 5.357687 ms 
solver time 8.725863 ms 
publication time 7.706676 ms 
whole laserOdometry time 55.244925 ms 
 
build tree time 14.941759 ms 
prepare time 11.537842 
sort q time 3.922187 
seperate points time 9.408889 
mapping solver time 12.419300 ms 
mapping data assosiation time 17.514345 ms 
mapping solver time 9.301962 ms 
solver time 13.941889 ms 
filter time 7.280085 ms 
solver time 10.311988 ms 
publication time 7.365734 ms 
whole laserOdometry time 59.697848 ms 
 
build tree time 18.058521 ms 
sort q time 4.233125 
seperate points time 10.722472 
mapping data assosiation time 23.099291 ms 
mapping solver time 9.159946 ms 
mapping data assosiation time 15.863204 ms 
mapping solver time 6.857120 ms 
mapping pub time 1.407240 ms 
whole mapping time 82.860620 ms +++++
data association time 14.386839 ms 
solver time 9.891307 ms 
publication time 6.568879 ms 
whole laserOdometry time 54.051310 ms 
 
map prepare time 2.883409 ms
map corner num 61684  surf num 19734 
build tree time 15.237460 ms 
points size 67479 
prepare time 11.202471 
scan registration time 21.135813 ms *************
mapping data assosiation time 18.399761 ms 
mapping solver time 11.493953 ms 
data association time 11.964199 ms 
solver time 12.082389 ms 
data association time 12.387289 ms 
filter time 5.455587 ms 
publication time 5.810655 ms 
whole laserOdometry time 54.188255 ms 
 
build tree time 15.149535 ms 
points size 66697 
prepare time 11.008814 
mapping data assosiation time 19.060997 ms 
mapping solver time 15.349623 ms 
data association time 11.655751 ms 
solver time 10.855681 ms 
mapping data assosiation time 19.034974 ms 
add points time 0.672069 ms
data association time 12.544321 ms 
filter time 5.876841 ms 
publication time 6.892792 ms 
whole laserOdometry time 51.993793 ms 
 
build tree time 14.625660 ms 
prepare time 12.239947 
sort q time 3.479496 
seperate points time 8.896206 
mapping solver time 13.825258 ms 
solver time 12.223056 ms 
data association time 14.676773 ms 
solver time 11.115051 ms 
map prepare time 2.090424 ms
map corner num 63000  surf num 20664 
build tree time 15.574256 ms 
sort q time 2.718498 
seperate points time 6.917437 
mapping data assosiation time 22.239521 ms 
data association time 11.295244 ms 
solver time 10.313861 ms 
data association time 13.018148 ms 
solver time 9.412570 ms 
filter time 6.524729 ms 
build tree time 15.201090 ms 
points size 65418 
sort q time 2.743079 
seperate points time 7.416820 
mapping solver time 14.538422 ms 
solver time 9.839094 ms 
data association time 11.623188 ms 
solver time 7.842788 ms 
filter time 7.398805 ms 
build tree time 14.757687 ms 
points size 65709 
mapping data assosiation time 24.570025 ms 
sort q time 3.023837 
seperate points time 8.155774 
scan registration time 21.659887 ms *************
mapping solver time 18.162282 ms 
data association time 11.258216 ms 
publication time 6.175888 ms 
whole laserOdometry time 46.979036 ms 
 
mapping solver time 14.187750 ms 
mapping optimization time 95.842641 
add points time 0.566284 ms
map prepare time 3.097994 ms
map corner num 64389  surf num 21638 
build tree time 16.948362 ms 
sort q time 3.156441 
seperate points time 8.148266 
data association time 12.131523 ms 
solver time 10.326655 ms 
data association time 11.567955 ms 
publication time 6.242162 ms 
whole laserOdometry time 49.364397 ms 
 
mapping solver time 12.724214 ms 
mapping optimization time 96.361386 
add points time 0.691367 ms
mapping pub time 0.783027 ms 
whole mapping time 107.107865 ms +++++
map prepare time 3.319843 ms
map corner num 64924  surf num 22059 
build tree time 15.609546 ms 
sort q time 3.034733 
seperate points time 8.049215 
mapping data assosiation time 23.230848 ms 
data association time 11.975608 ms 
mapping solver time 15.326475 ms 
solver time 10.784273 ms 
data association time 12.097428 ms 
solver time 12.112343 ms 
optimization twice time 47.919773 
publication time 6.769512 ms 
whole laserOdometry time 54.708816 ms 
 
filter time 5.753500 ms 
points size 68091 
build tree time 17.987543 ms 
prepare time 11.001845 
mapping data assosiation time 23.419263 ms 
mapping solver time 16.227252 ms 
data association time 13.669885 ms 
solver time 12.856014 ms 
optimization twice time 52.307742 
publication time 6.548884 ms 
whole laserOdometry time 58.875394 ms 
 
filter time 7.438423 ms 
points size 69000 
sort q time 3.305190 
seperate points time 8.688567 
mapping data assosiation time 22.951924 ms 
data association time 13.559570 ms 
mapping solver time 16.569067 ms 
solver time 10.446918 ms 
data association time 12.945365 ms 
mapping data assosiation time 24.643833 ms 
publication time 7.395431 ms 
whole laserOdometry time 55.262767 ms 
 
mapping solver time 14.720548 ms 
filter time 8.360879 ms 
mapping pub time 11.036061 ms 
whole mapping time 121.353472 ms +++++
sort q time 3.432837 
seperate points time 9.293702 
build tree time 22.119315 ms 
data association time 15.705248 ms 
solver time 13.227980 ms 
mapping data assosiation time 30.709054 ms 
data association time 12.998918 ms 
solver time 10.630245 ms 
publication time 7.891342 ms 
whole laserOdometry time 61.236959 ms 
 
points size 71054 
prepare time 11.360929 
sort q time 3.807379 
seperate points time 9.937532 
mapping solver time 19.241511 ms 
mapping optimization time 128.497366 
add points time 0.578875 ms
map prepare time 3.104320 ms
map corner num 67162  surf num 23662 
solver time 16.096444 ms 
data association time 14.635687 ms 
solver time 12.139956 ms 
mapping data assosiation time 31.784911 ms 
sort q time 3.480498 
seperate points time 9.009942 
data association time 13.206377 ms 
solver time 13.644009 ms 
data association time 13.218831 ms 
mapping optimization time 123.525640 
filter time 8.248180 ms 
mapping pub time 0.849198 ms 
whole mapping time 136.367978 ms +++++
publication time 8.572002 ms 
whole laserOdometry time 62.560371 ms 
 
map prepare time 3.539933 ms
map corner num 67739  surf num 24033 
build tree time 18.926650 ms 
prepare time 13.392212 
sort q time 3.923795 
seperate points time 10.339532 
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solver time 12.560246 ms 
mapping data assosiation time 25.696301 ms 
solver time 10.294085 ms 
publication time 8.040262 ms 
whole laserOdometry time 58.025034 ms 
 
map prepare time 3.190009 ms
map corner num 68338  surf num 24452 
points size 74205 
sort q time 4.169364 
seperate points time 10.931124 
mapping data assosiation time 27.234595 ms 
solver time 10.225188 ms 
data association time 13.544898 ms 
solver time 8.944355 ms 
mapping data assosiation time 29.573739 ms 
mapping optimization time 110.369378 
map prepare time 2.594362 ms
map corner num 68936  surf num 24884 
sort q time 4.252998 
seperate points time 11.261565 
build tree time 19.116932 ms 
data association time 12.874759 ms 
solver time 10.562312 ms 
data association time 13.639653 ms 
optimization twice time 46.070470 
publication time 8.639431 ms 
whole laserOdometry time 54.728288 ms 
 
points size 76160 
sort q time 3.369362 
seperate points time 8.971989 
mapping solver time 18.123326 ms 
mapping optimization time 118.037714 
add points time 0.640347 ms
map prepare time 2.642378 ms
map corner num 69533  surf num 25347 
data association time 13.360872 ms 
publication time 7.607523 ms 
whole laserOdometry time 53.832533 ms 
 
mapping data assosiation time 28.182596 ms 
mapping solver time 15.796951 ms 
sort q time 4.160644 
seperate points time 10.715302 
scan registration time 27.081812 ms *************
mapping solver time 20.489333 ms 
filter time 7.715823 ms 
solver time 8.077447 ms 
mapping pub time 0.970223 ms 
whole mapping time 128.283973 ms +++++
map prepare time 3.121327 ms
map corner num 70046  surf num 25645 
data association time 14.035954 ms 
build tree time 18.485400 ms 
points size 77933 
mapping data assosiation time 29.503763 ms 
sort q time 3.665378 
seperate points time 9.523768 
scan registration time 24.491642 ms *************
mapping solver time 20.548274 ms 
data association time 15.513462 ms 
solver time 10.766528 ms 
mapping data assosiation time 28.307682 ms 
data association time 15.561364 ms 
solver time 7.794495 ms 
map prepare time 2.747792 ms
publication time 10.335899 ms 
map corner num 70520  surf num 25906 
whole laserOdometry time 60.918313 ms 
 
build tree time 17.097716 ms 
sort q time 3.621451 
seperate points time 9.250070 
mapping data assosiation time 29.692164 ms 
mapping solver time 16.266316 ms 
data association time 13.978002 ms 
mapping data assosiation time 29.837752 ms 
mapping solver time 14.217253 ms 
filter time 7.568140 ms 
sort q time 3.540133 
seperate points time 9.045784 
data association time 13.182268 ms 
mapping data assosiation time 27.663633 ms 
data association time 13.625556 ms 
mapping solver time 16.615804 ms 
optimization twice time 50.083278 
publication time 8.045839 ms 
whole laserOdometry time 58.150683 ms 
 
mapping data assosiation time 30.285266 ms 
points size 80417 
filter time 6.227255 ms 
build tree time 17.700031 ms 
data association time 16.379641 ms 
solver time 10.108639 ms 
data association time 16.748137 ms 
mapping solver time 16.658297 ms 
solver time 8.424313 ms 
optimization twice time 52.487220 
points size 81129 
mapping data assosiation time 33.442444 ms 
mapping solver time 20.174099 ms 
filter time 6.085084 ms 
data association time 15.438715 ms 
solver time 13.080587 ms 
build tree time 22.939281 ms 
data association time 17.321840 ms 
solver time 10.149515 ms 
publication time 10.196984 ms 
whole laserOdometry time 66.967348 ms 
 
mapping data assosiation time 32.304685 ms 
sort q time 4.294173 
seperate points time 11.056189 
data association time 13.021604 ms 
mapping data assosiation time 27.909386 ms 
mapping solver time 16.655431 ms 
filter time 9.344151 ms 
build tree time 19.966952 ms 
sort q time 3.637972 
seperate points time 9.343920 
mapping data assosiation time 32.159605 ms 
solver time 10.009064 ms 
data association time 13.851483 ms 
solver time 7.623583 ms 
publication time 7.755767 ms 
whole laserOdometry time 54.173784 ms 
 
mapping solver time 12.551883 ms 
filter time 6.767577 ms 
sort q time 3.708181 
seperate points time 9.485199 
build tree time 18.776027 ms 
data association time 13.785675 ms 
solver time 13.312295 ms 
data association time 13.786343 ms 
mapping solver time 17.686623 ms 
mapping data assosiation time 30.196700 ms 
prepare time 12.785671 
mapping solver time 14.679312 ms 
mapping optimization time 114.148788 
add points time 0.566691 ms
sort q time 4.666485 
seperate points time 12.146913 
scan registration time 28.358175 ms *************
map prepare time 2.719196 ms
map corner num 73449  surf num 27747 
data association time 15.148771 ms 
build tree time 18.772074 ms 
solver time 12.811557 ms 
data association time 15.075207 ms 
mapping data assosiation time 29.428305 ms 
publication time 9.114629 ms 
whole laserOdometry time 63.966281 ms 
 
mapping solver time 24.129268 ms 
prepare time 14.478964 
sort q time 5.471119 
seperate points time 13.876863 
data association time 14.346709 ms 
mapping solver time 20.368604 ms 
mapping optimization time 125.735660 
add points time 0.545042 ms
map prepare time 2.777174 ms
map corner num 74004  surf num 28060 
data association time 15.334951 ms 
solver time 7.471162 ms 
publication time 9.451218 ms 
whole laserOdometry time 59.368375 ms 
 
points size 85525 
mapping data assosiation time 31.657847 ms 
scan registration time 27.651731 ms *************
mapping solver time 20.616953 ms 
data association time 16.689921 ms 
solver time 13.218871 ms 
data association time 14.803422 ms 
mapping solver time 14.145232 ms 
mapping optimization time 120.475503 
add points time 0.567925 ms
filter time 8.201602 ms 
publication time 9.822131 ms 
whole laserOdometry time 67.190158 ms 
 
points size 86847 
prepare time 14.486842 
sort q time 4.422585 
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data association time 15.926716 ms 
mapping data assosiation time 30.219451 ms 
mapping solver time 23.883264 ms 
data association time 15.697326 ms 
solver time 9.983287 ms 
optimization twice time 58.128128 
mapping data assosiation time 32.698246 ms 
points size 88454 
mapping solver time 18.107137 ms 
scan registration time 29.308065 ms *************
map prepare time 2.950838 ms
map corner num 75030  surf num 28703 
data association time 18.684848 ms 
build tree time 21.187180 ms 
solver time 15.595669 ms 
mapping data assosiation time 32.286231 ms 
solver time 7.844472 ms 
publication time 11.089096 ms 
whole laserOdometry time 76.031949 ms 
 
points size 90144 
mapping solver time 29.855226 ms 
prepare time 17.547884 
sort q time 5.744298 
seperate points time 15.022015 
scan registration time 36.835031 ms *************
mapping data assosiation time 36.176258 ms 
mapping solver time 18.045795 ms 
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add points time 0.594812 ms
solver time 13.081684 ms 
filter time 6.889711 ms 
data association time 19.999581 ms 
build tree time 19.823617 ms 
publication time 11.002677 ms 
whole laserOdometry time 75.658257 ms 
 
prepare time 16.081590 
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data association time 15.077848 ms 
mapping solver time 24.153274 ms 
data association time 15.260038 ms 
solver time 11.333349 ms 
points size 93374 
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data association time 16.486705 ms 
build tree time 17.427453 ms 
data association time 18.493789 ms 
solver time 8.197295 ms 
publication time 10.019617 ms 
whole laserOdometry time 67.002719 ms 
 
points size 94996 
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solver time 10.377199 ms 
mapping solver time 20.374493 ms 
filter time 6.377031 ms 
solver time 9.861643 ms 
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points size 96207 
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mapping solver time 21.683418 ms 
solver time 12.199560 ms 
data association time 17.535018 ms 
solver time 12.182433 ms 
publication time 11.811371 ms 
whole laserOdometry time 69.112699 ms 
 
mapping solver time 28.056271 ms 
prepare time 19.288611 
sort q time 5.905726 
seperate points time 16.009644 
map prepare time 4.948944 ms
map corner num 77158  surf num 29844 
build tree time 20.316449 ms 
solver time 13.575558 ms 
mapping data assosiation time 31.296607 ms 
solver time 10.288845 ms 
optimization twice time 64.631873 
points size 96790 
mapping solver time 31.665203 ms 
sort q time 5.909958 
seperate points time 15.665915 
data association time 16.802513 ms 
mapping data assosiation time 35.092787 ms 
mapping solver time 18.587717 ms 
filter time 7.371417 ms 
mapping pub time 1.165635 ms 
whole mapping time 153.328328 ms +++++
solver time 12.038511 ms 
optimization twice time 67.687877 
build tree time 26.642149 ms 
sort q time 6.398359 
seperate points time 16.608231 
scan registration time 40.376303 ms *************
mapping data assosiation time 35.915196 ms 
data association time 17.357201 ms 
solver time 10.631313 ms 
mapping solver time 22.691056 ms 
data association time 17.462308 ms 
solver time 11.584901 ms 
mapping data assosiation time 36.041811 ms 
sort q time 5.594638 
seperate points time 13.792601 
filter time 6.829959 ms 
solver time 12.648260 ms 
data association time 18.413050 ms 
solver time 13.234553 ms 
publication time 10.519174 ms 
whole laserOdometry time 74.708116 ms 
 
prepare time 15.624194 
mapping solver time 24.013377 ms 
data association time 17.590590 ms 
mapping solver time 18.767046 ms 
filter time 9.945694 ms 
publication time 10.605612 ms 
whole laserOdometry time 65.080858 ms 
 
points size 97507 
build tree time 28.091891 ms 
prepare time 18.588047 
sort q time 6.415710 
seperate points time 16.663650 
mapping data assosiation time 36.846788 ms 
data association time 17.524734 ms 
solver time 10.631590 ms 
data association time 18.156083 ms 
solver time 11.752960 ms 
mapping data assosiation time 37.982657 ms 
sort q time 5.604289 
seperate points time 14.567357 
map prepare time 3.436648 ms
map corner num 79385  surf num 31208 
build tree time 21.764652 ms 
data association time 21.858065 ms 
solver time 13.477516 ms 
points size 97240 
solver time 8.743419 ms 
publication time 12.131440 ms 
whole laserOdometry time 78.831617 ms 
 
data association time 18.483775 ms 
solver time 10.873211 ms 
mapping data assosiation time 35.526951 ms 
data association time 23.321742 ms 
mapping optimization time 151.799423 
filter time 9.196483 ms 
prepare time 15.514020 
scan registration time 34.917649 ms *************
build tree time 22.222445 ms 
data association time 17.790336 ms 
solver time 13.135379 ms 
data association time 18.390161 ms 
solver time 8.851564 ms 
publication time 11.399967 ms 
whole laserOdometry time 70.458663 ms 
 
points size 94998 
sort q time 6.387723 
seperate points time 16.742862 
mapping data assosiation time 42.363072 ms 
data association time 19.540502 ms 
mapping solver time 23.438238 ms 
mapping optimization time 151.999300 
add points time 0.618261 ms
data association time 18.184208 ms 
solver time 10.069053 ms 
prepare time 19.528602 
sort q time 6.186928 
seperate points time 16.444293 
scan registration time 40.618030 ms *************
mapping solver time 17.953817 ms 
solver time 12.828546 ms 
data association time 19.641018 ms 
solver time 8.641986 ms 
publication time 10.276793 ms 
whole laserOdometry time 73.388266 ms 
 
points size 93871 
prepare time 18.323626 
filter time 9.428750 ms 
sort q time 5.364786 
seperate points time 14.437183 
mapping pub time 1.831984 ms 
whole mapping time 161.183161 ms +++++
drop lidar frame in mapping for real time performance 
scan registration time 37.670850 ms *************
map prepare time 3.485555 ms
map corner num 81247  surf num 32207 
data association time 16.816739 ms 
solver time 14.461041 ms 
data association time 17.731056 ms 
solver time 13.485763 ms 
points size 94444 
sort q time 4.419064 
seperate points time 11.485716 
mapping data assosiation time 33.966958 ms 
data association time 17.332319 ms 
solver time 10.061289 ms 
filter time 9.216346 ms 
map prepare time 4.815998 ms
map corner num 81899  surf num 32662 
solver time 12.450279 ms 
publication time 11.243271 ms 
whole laserOdometry time 69.896906 ms 
 
points size 95594 
sort q time 4.389185 
seperate points time 10.956507 
mapping data assosiation time 37.944130 ms 
data association time 16.949510 ms 
solver time 13.073574 ms 
data association time 17.361140 ms 
solver time 10.437568 ms 
publication time 10.979234 ms 
whole laserOdometry time 69.735501 ms 
 
points size 95926 
prepare time 15.796728 
add points time 0.746178 ms
scan registration time 32.434364 ms *************
map prepare time 3.463827 ms
map corner num 82638  surf num 33140 
data association time 17.203863 ms 
solver time 11.689480 ms 
mapping data assosiation time 35.543095 ms 
publication time 10.352553 ms 
whole laserOdometry time 71.663150 ms 
 
points size 95796 
prepare time 15.467007 
sort q time 4.462703 
seperate points time 11.506029 
scan registration time 30.393259 ms *************
mapping data assosiation time 32.732350 ms 
solver time 13.118388 ms 
mapping solver time 18.974573 ms 
mapping optimization time 135.705360 
add points time 0.559252 ms
filter time 8.131726 ms 
map prepare time 3.388074 ms
map corner num 83259  surf num 33489 
data association time 18.089094 ms 
solver time 13.731102 ms 
build tree time 21.482005 ms 
prepare time 14.730735 
sort q time 5.657160 
seperate points time 13.908134 
mapping data assosiation time 35.655916 ms 
data association time 16.462969 ms 
solver time 12.498993 ms 
data association time 16.578828 ms 
solver time 10.904605 ms 
publication time 12.623670 ms 
whole laserOdometry time 69.897692 ms 
 
points size 95866 
filter time 10.470629 ms 
sort q time 5.071530 
seperate points time 12.818031 
mapping pub time 1.250940 ms 
whole mapping time 153.222350 ms +++++
drop lidar frame in mapping for real time performance 
scan registration time 33.400038 ms *************
map prepare time 4.508901 ms
map corner num 84034  surf num 33915 
data association time 15.915013 ms 
solver time 13.396111 ms 
data association time 15.103131 ms 
mapping data assosiation time 34.584165 ms 
publication time 11.196080 ms 
whole laserOdometry time 68.518236 ms 
 
points size 95982 
sort q time 4.527184 
seperate points time 11.602359 
mapping data assosiation time 33.773825 ms 
solver time 12.632885 ms 
filter time 7.516257 ms 
solver time 10.325376 ms 
publication time 11.778608 ms 
whole laserOdometry time 67.682205 ms 
 
points size 96516 
sort q time 6.581372 
seperate points time 15.695025 
mapping data assosiation time 38.427093 ms 
data association time 16.385120 ms 
solver time 13.086135 ms 
data association time 15.927228 ms 
solver time 12.512114 ms 
publication time 13.157728 ms 
whole laserOdometry time 71.950109 ms 
 
mapping data assosiation time 41.366209 ms 
points size 96496 
sort q time 4.479498 
seperate points time 11.188308 
scan registration time 31.001928 ms *************
mapping solver time 23.865850 ms 
mapping optimization time 159.132070 
filter time 9.245523 ms 
map prepare time 3.653604 ms
map corner num 85487  surf num 34652 
solver time 11.536168 ms 
build tree time 22.617891 ms 
data association time 16.116906 ms 
solver time 10.236542 ms 
publication time 10.573483 ms 
whole laserOdometry time 65.648332 ms 
 
points size 94213 
sort q time 5.055464 
seperate points time 12.578677 
data association time 16.147590 ms 
solver time 12.269886 ms 
data association time 17.201001 ms 
solver time 9.897890 ms 
publication time 9.206808 ms 
whole laserOdometry time 65.737480 ms 
 
points size 93509 
build tree time 22.705067 ms 
sort q time 4.831095 
seperate points time 12.066688 
data association time 14.270392 ms 
solver time 14.374109 ms 
data association time 17.648170 ms 
solver time 10.080153 ms 
publication time 9.937182 ms 
whole laserOdometry time 67.314464 ms 
 
points size 93077 
mapping solver time 18.069166 ms 
sort q time 4.599678 
seperate points time 11.894478 
mapping pub time 2.251281 ms 
whole mapping time 148.104584 ms +++++
data association time 15.620358 ms 
solver time 10.974897 ms 
data association time 15.416766 ms 
solver time 8.070736 ms 
publication time 10.074560 ms 
whole laserOdometry time 61.105883 ms 
 
points size 93381 
sort q time 4.660038 
seperate points time 12.055445 
mapping data assosiation time 33.845209 ms 
solver time 12.323864 ms 
mapping optimization time 140.318378 
filter time 8.962650 ms 
solver time 11.504865 ms 
points size 93569 
sort q time 4.587316 
seperate points time 11.698014 
mapping data assosiation time 30.906764 ms 
data association time 15.760395 ms 
solver time 13.210250 ms 
data association time 15.582083 ms 
solver time 10.787839 ms 
mapping data assosiation time 31.452021 ms 
mapping solver time 16.849248 ms 
mapping optimization time 128.343911 
add points time 0.592201 ms
prepare time 14.329279 
sort q time 4.815492 
seperate points time 12.317869 
build tree time 28.245087 ms 
data association time 24.121335 ms 
solver time 18.863715 ms 
data association time 23.207384 ms 
points size 94155 
publication time 10.214125 ms 
whole laserOdometry time 90.465571 ms 
 
mapping data assosiation time 33.005599 ms 
data association time 16.637884 ms 
solver time 13.070928 ms 
filter time 10.058771 ms 
map prepare time 4.584075 ms
map corner num 88895  surf num 36016 
solver time 8.605967 ms 
optimization twice time 57.452134 
publication time 9.782472 ms 
whole laserOdometry time 67.258600 ms 
 
build tree time 26.937558 ms 
sort q time 4.444003 
seperate points time 10.785947 
mapping data assosiation time 31.805609 ms 
data association time 16.519158 ms 
mapping solver time 23.732952 ms 
solver time 13.393654 ms 
data association time 16.448925 ms 
solver time 11.058044 ms 
publication time 11.640939 ms 
whole laserOdometry time 69.910113 ms 
 
prepare time 18.322963 
filter time 7.232020 ms 
data association time 16.925609 ms 
solver time 10.982067 ms 
data association time 15.646653 ms 
solver time 8.638011 ms 
optimization twice time 52.971795 
mapping data assosiation time 31.992037 ms 
points size 99436 
sort q time 4.233255 
seperate points time 10.817764 
scan registration time 30.023050 ms *************
mapping data assosiation time 31.382581 ms 
data association time 18.366939 ms 
solver time 12.516156 ms 
mapping pub time 17.173527 ms 
whole mapping time 160.254586 ms +++++
[0m[ INFO] [1718802288.492422615]: Received 390772 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802288.492469391]: Data saved to 1317357835390320.pcd[0m
publication time 11.740825 ms 
whole laserOdometry time 73.561626 ms 
 
build tree time 28.415978 ms 
sort q time 5.192338 
seperate points time 13.086682 
scan registration time 33.717322 ms *************
mapping data assosiation time 33.317288 ms 
data association time 17.030888 ms 
solver time 11.953027 ms 
mapping solver time 24.626935 ms 
data association time 16.317145 ms 
solver time 7.992963 ms 
publication time 10.623515 ms 
whole laserOdometry time 64.717974 ms 
 
prepare time 17.290086 
mapping solver time 22.240724 ms 
filter time 9.117761 ms 
data association time 15.920777 ms 
solver time 10.705457 ms 
data association time 16.375841 ms 
mapping data assosiation time 35.732211 ms 
prepare time 16.675689 
sort q time 6.042225 
seperate points time 14.969004 
scan registration time 36.135736 ms *************
mapping data assosiation time 32.353472 ms 
solver time 10.737356 ms 
mapping optimization time 134.370959 
data association time 18.738275 ms 
solver time 10.591727 ms 
publication time 11.541132 ms 
whole laserOdometry time 67.613216 ms 
 
build tree time 27.618151 ms 
sort q time 5.670712 
seperate points time 13.842463 
mapping data assosiation time 32.381468 ms 
solver time 11.048676 ms 
mapping solver time 22.027501 ms 
solver time 7.997036 ms 
optimization twice time 51.515096 
mapping data assosiation time 32.301843 ms 
points size 99657 
mapping solver time 18.532784 ms 
scan registration time 33.597796 ms *************
data association time 15.657330 ms 
solver time 10.999829 ms 
data association time 15.763635 ms 
publication time 9.166968 ms 
whole laserOdometry time 60.112591 ms 
 
points size 100212 
sort q time 4.845036 
seperate points time 11.357882 
mapping data assosiation time 35.318618 ms 
data association time 26.576036 ms 
mapping solver time 25.847486 ms 
filter time 10.988411 ms 
mapping pub time 1.814232 ms 
whole mapping time 158.350770 ms +++++
map prepare time 4.172128 ms
map corner num 93123  surf num 37144 
data association time 25.609716 ms 
solver time 11.098142 ms 
build tree time 32.144184 ms 
publication time 12.089245 ms 
whole laserOdometry time 92.797885 ms 
 
mapping data assosiation time 36.150882 ms 
data association time 26.624709 ms 
solver time 16.229770 ms 
points size 101204 
data association time 27.655615 ms 
prepare time 16.095329 
solver time 13.449643 ms 
mapping solver time 26.320219 ms 
filter time 10.592463 ms 
map prepare time 4.144939 ms
map corner num 93897  surf num 37397 
solver time 16.116537 ms 
build tree time 32.653712 ms 
solver time 13.141959 ms 
publication time 14.121383 ms 
whole laserOdometry time 100.618363 ms 
 
data association time 28.317314 ms 
solver time 17.459475 ms 
mapping data assosiation time 37.412359 ms 
mapping solver time 10.179612 ms 
solver time 8.947357 ms 
publication time 10.709657 ms 
whole laserOdometry time 90.572961 ms 
 
scan registration time 39.029346 ms *************
data association time 17.470399 ms 
solver time 12.149852 ms 
data association time 19.102677 ms 
solver time 10.573975 ms 
publication time 12.107022 ms 
whole laserOdometry time 72.184872 ms 
 
points size 99629 
prepare time 15.387846 
mapping solver time 23.393965 ms 
sort q time 5.391429 
seperate points time 13.437428 
mapping data assosiation time 32.549545 ms 
mapping solver time 18.433864 ms 
filter time 8.858419 ms 
map prepare time 3.534282 ms
map corner num 95354  surf num 37869 
data association time 17.352078 ms 
solver time 10.803839 ms 
publication time 10.365377 ms 
whole laserOdometry time 67.592211 ms 
 
points size 98967 
sort q time 4.551811 
seperate points time 11.828069 
scan registration time 30.706632 ms *************
data association time 16.969546 ms 
solver time 11.804045 ms 
data association time 16.811760 ms 
data association time 17.246227 ms 
solver time 11.078666 ms 
mapping data assosiation time 34.332531 ms 
data association time 18.980559 ms 
solver time 11.050315 ms 
mapping solver time 25.489543 ms 
points size 95711 
sort q time 4.467352 
seperate points time 11.094409 
mapping data assosiation time 31.936732 ms 
mapping solver time 18.666567 ms 
filter time 9.911573 ms 
optimization twice time 59.310642 
publication time 9.788936 ms 
whole laserOdometry time 69.115670 ms 
 
points size 94360 
sort q time 4.213612 
seperate points time 10.829948 
mapping solver time 23.164614 ms 
solver time 11.318474 ms 
data association time 17.055192 ms 
publication time 8.530211 ms 
whole laserOdometry time 62.092511 ms 
 
mapping solver time 21.244931 ms 
prepare time 14.720214 
map prepare time 4.099613 ms
map corner num 97741  surf num 38634 
build tree time 28.488453 ms 
data association time 17.007929 ms 
mapping data assosiation time 36.432539 ms 
solver time 10.671897 ms 
publication time 12.183616 ms 
whole laserOdometry time 81.523179 ms 
 
sort q time 6.391275 
seperate points time 16.605621 
scan registration time 41.015867 ms *************
data association time 16.855696 ms 
solver time 9.927517 ms 
map prepare time 2.921231 ms
map corner num 98505  surf num 38862 
data association time 16.812624 ms 
solver time 8.288630 ms 
publication time 9.828962 ms 
whole laserOdometry time 62.369424 ms 
 
points size 95119 
prepare time 20.549378 
sort q time 6.714880 
seperate points time 16.362760 
mapping solver time 18.412200 ms 
data association time 15.316114 ms 
solver time 7.685174 ms 
mapping solver time 13.228980 ms 
points size 95211 
sort q time 4.572576 
seperate points time 11.776527 
scan registration time 32.506174 ms *************
build tree time 24.998891 ms 
data association time 15.814276 ms 
solver time 13.369817 ms 
data association time 16.770458 ms 
mapping solver time 17.244791 ms 
publication time 10.043117 ms 
whole laserOdometry time 65.201035 ms 
 
points size 94747 
mapping data assosiation time 38.706134 ms 
sort q time 5.707022 
seperate points time 14.821295 
mapping optimization time 131.153310 
filter time 10.598001 ms 
data association time 22.745712 ms 
solver time 14.683231 ms 
data association time 19.081830 ms 
solver time 10.444285 ms 
publication time 10.794650 ms 
whole laserOdometry time 78.744589 ms 
 
mapping data assosiation time 34.526328 ms 
sort q time 5.181981 
seperate points time 12.983734 
mapping solver time 21.105056 ms 
data association time 19.272009 ms 
solver time 11.131202 ms 
mapping data assosiation time 35.748718 ms 
data association time 16.605594 ms 
solver time 8.823788 ms 
filter time 11.180947 ms 
map prepare time 4.984902 ms
map corner num 100915  surf num 39716 
prepare time 19.017947 
sort q time 5.366031 
seperate points time 13.858446 
build tree time 32.590067 ms 
data association time 16.607611 ms 
mapping data assosiation time 30.405232 ms 
mapping solver time 18.871265 ms 
solver time 8.677793 ms 
publication time 9.899014 ms 
whole laserOdometry time 66.265390 ms 
 
prepare time 21.043519 
mapping data assosiation time 40.759230 ms 
scan registration time 40.116361 ms *************
mapping solver time 22.615747 ms 
mapping optimization time 147.113330 
add points time 0.664645 ms
data association time 15.410687 ms 
mapping pub time 2.936018 ms 
whole mapping time 167.278015 ms +++++
data association time 15.714319 ms 
solver time 8.844481 ms 
publication time 10.024020 ms 
whole laserOdometry time 65.094967 ms 
 
points size 92448 
sort q time 4.134005 
seperate points time 10.467202 
data association time 14.674934 ms 
solver time 12.621559 ms 
data association time 17.831089 ms 
solver time 10.100848 ms 
add points time 0.671525 ms
filter time 10.361523 ms 
mapping pub time 1.168227 ms 
whole mapping time 144.852160 ms +++++
drop lidar frame in mapping for real time performance 
points size 92482 
sort q time 4.629602 
seperate points time 11.438827 
scan registration time 28.960440 ms *************
data association time 14.677070 ms 
solver time 10.900777 ms 
mapping data assosiation time 33.291911 ms 
data association time 15.894338 ms 
solver time 9.481325 ms 
publication time 10.589385 ms 
whole laserOdometry time 62.506637 ms 
 
points size 93435 
sort q time 4.304907 
seperate points time 10.836054 
mapping solver time 19.885777 ms 
mapping optimization time 145.004605 
add points time 0.625051 ms
filter time 10.915565 ms 
data association time 15.962964 ms 
solver time 9.230252 ms 
publication time 9.271297 ms 
whole laserOdometry time 65.136822 ms 
 
points size 95063 
sort q time 4.379249 
seperate points time 11.178856 
mapping solver time 23.312730 ms 
solver time 11.686054 ms 
data association time 17.136417 ms 
mapping data assosiation time 31.765681 ms 
publication time 9.557614 ms 
whole laserOdometry time 64.774532 ms 
 
mapping solver time 24.805189 ms 
mapping optimization time 142.313423 
add points time 0.621699 ms
points size 96535 
map prepare time 3.349557 ms
map corner num 104056  surf num 41196 
scan registration time 30.567788 ms *************
build tree time 27.270810 ms 
solver time 10.544221 ms 
mapping data assosiation time 32.465959 ms 
solver time 8.122728 ms 
mapping solver time 25.623857 ms 
points size 99336 
prepare time 15.099653 
sort q time 4.857784 
seperate points time 12.349243 
mapping data assosiation time 33.952676 ms 
data association time 17.778530 ms 
solver time 12.298140 ms 
data association time 19.822923 ms 
optimization twice time 61.323485 
publication time 11.853764 ms 
whole laserOdometry time 73.196899 ms 
 
sort q time 5.583853 
seperate points time 13.620097 
mapping data assosiation time 39.106091 ms 
data association time 17.902372 ms 
mapping solver time 24.300407 ms 
solver time 14.407041 ms 
data association time 18.434560 ms 
mapping data assosiation time 33.321935 ms 
publication time 10.416808 ms 
whole laserOdometry time 70.897855 ms 
 
prepare time 16.222343 
filter time 9.605997 ms 
mapping pub time 19.469081 ms 
whole mapping time 182.399417 ms +++++
data association time 19.072797 ms 
solver time 13.232267 ms 
data association time 18.268323 ms 
solver time 8.180751 ms 
publication time 11.479224 ms 
whole laserOdometry time 71.086387 ms 
 
sort q time 5.284606 
seperate points time 12.774322 
data association time 17.060124 ms 
solver time 13.368119 ms 
data association time 17.655880 ms 
mapping solver time 22.385877 ms 
filter time 10.280984 ms 
points size 100516 
prepare time 19.572280 
sort q time 5.844049 
seperate points time 15.124009 
data association time 17.929865 ms 
mapping data assosiation time 33.556588 ms 
mapping solver time 21.973458 ms 
solver time 11.319366 ms 
publication time 10.756012 ms 
whole laserOdometry time 74.596335 ms 
 
sort q time 5.689096 
seperate points time 14.242310 
mapping solver time 19.869170 ms 
filter time 10.391745 ms 
data association time 17.609180 ms 
optimization twice time 60.197790 
publication time 13.067676 ms 
whole laserOdometry time 73.285828 ms 
 
sort q time 4.416586 
seperate points time 11.387185 
data association time 17.348992 ms 
mapping solver time 25.798538 ms 
solver time 14.679486 ms 
data association time 20.801878 ms 
solver time 13.827999 ms 
prepare time 15.154575 
mapping optimization time 156.124594 
filter time 10.923909 ms 
data association time 17.687200 ms 
build tree time 29.921706 ms 
solver time 15.908175 ms 
mapping data assosiation time 38.489413 ms 
points size 93368 
sort q time 5.224945 
seperate points time 13.841808 
data association time 17.302431 ms 
solver time 11.034929 ms 
data association time 16.608158 ms 
solver time 17.179976 ms 
publication time 11.301857 ms 
whole laserOdometry time 74.429089 ms 
 
sort q time 4.997927 
seperate points time 12.031716 
build tree time 30.554927 ms 
data association time 16.907230 ms 
solver time 13.760109 ms 
mapping data assosiation time 36.453569 ms 
solver time 10.842702 ms 
publication time 10.492038 ms 
whole laserOdometry time 70.936086 ms 
 
points size 87420 
sort q time 5.624501 
seperate points time 14.740294 
mapping data assosiation time 39.620552 ms 
data association time 16.455631 ms 
solver time 14.982772 ms 
map prepare time 5.028990 ms
map corner num 110534  surf num 43897 
solver time 10.689331 ms 
publication time 9.729360 ms 
whole laserOdometry time 69.727258 ms 
 
build tree time 38.465167 ms 
sort q time 5.304581 
seperate points time 13.855349 
mapping data assosiation time 34.571970 ms 
solver time 13.015596 ms 
mapping solver time 23.332954 ms 
data association time 22.064959 ms 
publication time 8.788168 ms 
whole laserOdometry time 84.510992 ms 
 
mapping solver time 23.389052 ms 
filter time 10.331534 ms 
data association time 22.272026 ms 
solver time 15.074287 ms 
build tree time 30.605374 ms 
data association time 15.556617 ms 
solver time 12.114078 ms 
points size 84390 
sort q time 4.371350 
seperate points time 11.308183 
mapping solver time 20.494418 ms 
data association time 19.612388 ms 
solver time 11.064697 ms 
mapping data assosiation time 30.894298 ms 
data association time 15.996057 ms 
solver time 8.572283 ms 
publication time 8.774272 ms 
whole laserOdometry time 64.964037 ms 
 
map prepare time 3.437047 ms
map corner num 112354  surf num 44548 
points size 85911 
sort q time 5.293738 
seperate points time 13.384222 
scan registration time 29.712614 ms *************
data association time 16.004500 ms 
solver time 12.620679 ms 
data association time 15.878872 ms 
mapping solver time 18.186578 ms 
publication time 8.458827 ms 
whole laserOdometry time 61.737199 ms 
 
mapping data assosiation time 29.794700 ms 
sort q time 4.125206 
seperate points time 10.666304 
mapping solver time 18.329685 ms 
scan registration time 26.905493 ms *************
mapping optimization time 129.403137 
add points time 0.822673 ms
map prepare time 3.098044 ms
map corner num 113312  surf num 44930 
data association time 19.035042 ms 
solver time 11.672232 ms 
data association time 17.106343 ms 
solver time 12.234763 ms 
publication time 10.256646 ms 
whole laserOdometry time 71.065267 ms 
 
points size 89250 
mapping solver time 23.742532 ms 
sort q time 4.429325 
seperate points time 11.011131 
mapping data assosiation time 26.881336 ms 
solver time 15.018054 ms 
filter time 9.267521 ms 
solver time 11.685417 ms 
publication time 11.507542 ms 
whole laserOdometry time 70.953573 ms 
 
points size 92059 
sort q time 5.020720 
seperate points time 12.434943 
mapping data assosiation time 29.309199 ms 
data association time 15.337117 ms 
mapping solver time 18.816692 ms 
data association time 14.889520 ms 
solver time 10.649219 ms 
mapping solver time 14.148229 ms 
points size 94316 
mapping pub time 2.912353 ms 
whole mapping time 145.314062 ms +++++
sort q time 5.275184 
seperate points time 13.366992 
data association time 14.198287 ms 
solver time 11.567134 ms 
data association time 15.268339 ms 
mapping data assosiation time 34.863989 ms 
mapping solver time 20.123508 ms 
prepare time 14.107897 
sort q time 4.446959 
seperate points time 11.398677 
mapping data assosiation time 30.031180 ms 
data association time 16.727504 ms 
mapping solver time 15.945306 ms 
mapping optimization time 134.536179 
add points time 0.726343 ms
filter time 10.460243 ms 
map prepare time 4.797959 ms
map corner num 113407  surf num 42962 
solver time 8.611138 ms 
publication time 10.071241 ms 
whole laserOdometry time 62.373677 ms 
 
build tree time 33.293165 ms 
prepare time 15.036479 
sort q time 4.674232 
seperate points time 11.889159 
data association time 15.311486 ms 
solver time 12.430382 ms 
data association time 15.198476 ms 
mapping data assosiation time 28.265622 ms 
publication time 10.300520 ms 
whole laserOdometry time 62.550241 ms 
 
mapping solver time 18.152777 ms 
filter time 11.589409 ms 
sort q time 4.811414 
seperate points time 11.907830 
scan registration time 34.385173 ms *************
data association time 16.465962 ms 
solver time 10.771397 ms 
mapping data assosiation time 29.516342 ms 
data association time 15.297759 ms 
mapping solver time 18.410240 ms 
publication time 10.453766 ms 
whole laserOdometry time 61.622411 ms 
 
points size 101522 
sort q time 4.842942 
seperate points time 12.465467 
filter time 9.864028 ms 
map prepare time 4.402082 ms
map corner num 115045  surf num 44039 
data association time 16.113191 ms 
solver time 12.827699 ms 
build tree time 31.028187 ms 
data association time 16.271334 ms 
solver time 7.993124 ms 
publication time 10.795387 ms 
whole laserOdometry time 64.775265 ms 
 
prepare time 17.608077 
mapping solver time 16.633563 ms 
mapping data assosiation time 29.761686 ms 
mapping solver time 13.414034 ms 
filter time 10.019736 ms 
mapping pub time 1.306138 ms 
whole mapping time 141.010737 ms +++++
solver time 11.200050 ms 
publication time 9.992738 ms 
whole laserOdometry time 69.638401 ms 
 
sort q time 6.048295 
seperate points time 14.332412 
scan registration time 34.136981 ms *************
mapping data assosiation time 30.119340 ms 
data association time 16.405820 ms 
mapping solver time 18.259734 ms 
data association time 16.227660 ms 
mapping data assosiation time 29.178112 ms 
publication time 11.991251 ms 
whole laserOdometry time 66.621899 ms 
 
mapping solver time 16.289114 ms 
mapping optimization time 126.945910 
add points time 0.771915 ms
points size 101614 
mapping pub time 2.921963 ms 
whole mapping time 145.030903 ms +++++
sort q time 5.839591 
seperate points time 14.334224 
data association time 16.135307 ms 
solver time 11.972004 ms 
data association time 16.636422 ms 
mapping data assosiation time 33.796446 ms 
points size 101652 
sort q time 5.896694 
seperate points time 14.526308 
mapping data assosiation time 32.599319 ms 
data association time 16.869148 ms 
mapping solver time 22.003008 ms 
filter time 10.731815 ms 
data association time 19.125030 ms 
solver time 9.896505 ms 
publication time 10.110742 ms 
whole laserOdometry time 70.489696 ms 
 
build tree time 37.008549 ms 
scan registration time 32.940331 ms *************
data association time 16.141601 ms 
mapping data assosiation time 33.842193 ms 
solver time 13.161731 ms 
mapping solver time 20.403327 ms 
data association time 17.705323 ms 
solver time 10.074143 ms 
publication time 13.470933 ms 
whole laserOdometry time 71.341927 ms 
 
mapping data assosiation time 34.385171 ms 
points size 101359 
add points time 0.794100 ms
mapping pub time 1.321309 ms 
whole mapping time 166.341003 ms +++++
data association time 23.175337 ms 
build tree time 35.478173 ms 
data association time 16.182498 ms 
solver time 12.995434 ms 
publication time 11.075136 ms 
whole laserOdometry time 78.388080 ms 
 
sort q time 5.605724 
seperate points time 13.923489 
scan registration time 32.741980 ms *************
mapping solver time 21.096796 ms 
data association time 16.388241 ms 
mapping data assosiation time 32.227843 ms 
solver time 14.349415 ms 
add points time 0.770811 ms
filter time 9.872842 ms 
mapping pub time 1.263530 ms 
whole mapping time 153.701222 ms +++++
data association time 17.778678 ms 
map prepare time 3.834716 ms
map corner num 119788  surf num 47226 
publication time 10.260957 ms 
whole laserOdometry time 71.551221 ms 
 
build tree time 33.181725 ms 
sort q time 5.373268 
seperate points time 13.277116 
scan registration time 33.780285 ms *************
data association time 16.200806 ms 
solver time 12.313572 ms 
mapping solver time 23.846043 ms 
solver time 13.096503 ms 
points size 101419 
sort q time 4.420825 
seperate points time 11.297195 
scan registration time 34.655117 ms *************
data association time 17.259845 ms 
map prepare time 3.885072 ms
map corner num 120933  surf num 47902 
solver time 12.371123 ms 
data association time 16.618846 ms 
solver time 10.651590 ms 
publication time 13.836477 ms 
whole laserOdometry time 71.602961 ms 
 
prepare time 16.749394 
mapping data assosiation time 36.321281 ms 
mapping solver time 17.480478 ms 
data association time 16.926783 ms 
solver time 11.797300 ms 
mapping data assosiation time 32.631727 ms 
data association time 17.130471 ms 
solver time 10.766175 ms 
publication time 11.348867 ms 
whole laserOdometry time 68.851941 ms 
 
points size 100655 
prepare time 16.854564 
mapping pub time 19.944370 ms 
whole mapping time 175.078410 ms +++++
[0m[ INFO] [1718802294.875194934]: Received 440278 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802294.875220890]: Data saved to 1317357841727828.pcd[0m
data association time 19.695652 ms 
solver time 15.823704 ms 
data association time 16.811940 ms 
solver time 13.711962 ms 
points size 100201 
sort q time 6.030025 
seperate points time 14.589593 
mapping data assosiation time 33.928352 ms 
data association time 20.778612 ms 
solver time 14.866708 ms 
filter time 12.279305 ms 
solver time 9.838517 ms 
points size 100106 
sort q time 5.839698 
seperate points time 15.039656 
data association time 17.807073 ms 
mapping data assosiation time 34.580453 ms 
solver time 11.392237 ms 
data association time 17.863956 ms 
solver time 10.105060 ms 
publication time 12.526351 ms 
whole laserOdometry time 70.696934 ms 
 
mapping data assosiation time 35.356595 ms 
mapping solver time 20.274981 ms 
data association time 17.247862 ms 
map prepare time 4.196236 ms
map corner num 124197  surf num 49347 
data association time 17.706865 ms 
build tree time 34.878162 ms 
prepare time 15.444207 
sort q time 5.225689 
seperate points time 12.435202 
scan registration time 32.450661 ms *************
mapping solver time 20.570722 ms 
solver time 13.483846 ms 
data association time 17.659165 ms 
solver time 11.667429 ms 
publication time 10.143254 ms 
whole laserOdometry time 70.845887 ms 
 
prepare time 18.917628 
sort q time 5.611303 
seperate points time 14.674953 
data association time 23.745857 ms 
solver time 12.058705 ms 
data association time 15.292718 ms 
publication time 9.492246 ms 
whole laserOdometry time 70.184339 ms 
 
sort q time 4.579407 
seperate points time 10.967830 
data association time 16.065645 ms 
mapping data assosiation time 33.948825 ms 
data association time 18.777253 ms 
solver time 10.526092 ms 
publication time 11.054007 ms 
whole laserOdometry time 70.381344 ms 
 
map prepare time 4.952474 ms
map corner num 126430  surf num 50247 
points size 95727 
sort q time 5.502473 
seperate points time 13.631586 
build tree time 35.335116 ms 
solver time 9.816318 ms 
mapping data assosiation time 31.276276 ms 
data association time 16.362845 ms 
mapping solver time 21.004469 ms 
points size 94813 
prepare time 14.433094 
sort q time 4.713870 
seperate points time 11.128999 
mapping solver time 22.040797 ms 
mapping optimization time 147.232338 
add points time 0.762120 ms
data association time 15.354072 ms 
mapping pub time 2.983656 ms 
whole mapping time 169.759276 ms +++++
data association time 15.660516 ms 
solver time 10.127839 ms 
publication time 10.753568 ms 
whole laserOdometry time 65.831064 ms 
 
points size 92931 
sort q time 5.343372 
seperate points time 13.075582 
mapping data assosiation time 33.648088 ms 
data association time 15.130218 ms 
mapping solver time 23.249884 ms 
data association time 14.503566 ms 
solver time 10.645501 ms 
points size 89698 
filter time 11.329952 ms 
data association time 22.036557 ms 
solver time 15.047099 ms 
mapping data assosiation time 32.552086 ms 
points size 87519 
solver time 11.183854 ms 
optimization twice time 71.056431 
prepare time 14.049360 
sort q time 4.633260 
seperate points time 11.109533 
mapping data assosiation time 33.241022 ms 
solver time 11.885592 ms 
data association time 16.540402 ms 
solver time 10.422817 ms 
points size 86193 
sort q time 4.476131 
seperate points time 11.139544 
data association time 14.382341 ms 
mapping data assosiation time 28.994774 ms 
data association time 14.002982 ms 
publication time 8.081288 ms 
whole laserOdometry time 56.920581 ms 
 
mapping data assosiation time 33.461730 ms 
mapping solver time 17.485487 ms 
filter time 13.334438 ms 
data association time 16.988879 ms 
solver time 13.463163 ms 
build tree time 34.939541 ms 
solver time 8.271580 ms 
publication time 9.665823 ms 
whole laserOdometry time 68.240542 ms 
 
points size 86951 
sort q time 4.075150 
seperate points time 9.775061 
data association time 13.817854 ms 
solver time 11.254642 ms 
data association time 13.541236 ms 
solver time 10.985214 ms 
map prepare time 4.100199 ms
map corner num 131602  surf num 52295 
points size 87971 
build tree time 38.671655 ms data association time 13.316282 ms 
solver time 8.679545 ms 
data association time 17.567566 ms 
solver time 8.434502 ms 
publication time 8.199416 ms 
whole laserOdometry time 57.155192 ms 
 
mapping data assosiation time 27.931709 ms 
points size 89090 
prepare time 14.080120 
sort q time 4.970699 
seperate points time 11.850818 
mapping pub time 5.461900 ms 
whole mapping time 157.371194 ms +++++
data association time 22.781060 ms 
solver time 14.402889 ms 
build tree time 45.889558 ms 
data association time 22.427225 ms 
solver time 13.372193 ms 
points size 90846 
sort q time 5.012465 
seperate points time 11.774646 
data association time 24.206694 ms 
solver time 16.381119 ms 
mapping solver time 20.682004 ms 
data association time 21.925074 ms 
map prepare time 4.605284 ms
map corner num 133349  surf num 52889 
publication time 10.650868 ms 
whole laserOdometry time 86.581960 ms 
 
sort q time 5.566317 
seperate points time 13.664317 
build tree time 39.585314 ms 
data association time 17.648894 ms 
mapping data assosiation time 23.681437 ms 
solver time 13.218745 ms 
mapping solver time 17.862061 ms 
solver time 11.062942 ms 
mapping data assosiation time 27.178329 ms 
sort q time 5.356063 
seperate points time 12.608750 
filter time 11.631893 ms 
data association time 15.174958 ms 
solver time 10.795823 ms 
data association time 14.739424 ms 
solver time 8.124959 ms 
optimization twice time 49.784577 
mapping data assosiation time 26.484148 ms 
prepare time 15.133837 
mapping solver time 18.175375 ms 
sort q time 6.018615 
seperate points time 13.804781 
mapping data assosiation time 25.350382 ms 
mapping solver time 13.867027 ms 
mapping optimization time 121.230380 
add points time 0.622218 ms
solver time 12.158996 ms 
mapping pub time 1.142956 ms 
whole mapping time 137.416725 ms +++++
solver time 7.541945 ms 
publication time 9.755604 ms 
whole laserOdometry time 62.369525 ms 
 
points size 100531 
sort q time 4.709308 
seperate points time 11.086509 
mapping data assosiation time 25.752672 ms 
solver time 8.029265 ms 
data association time 15.277521 ms 
mapping data assosiation time 26.711873 ms 
mapping solver time 16.605317 ms 
filter time 11.901820 ms 
sort q time 6.030797 
seperate points time 13.990000 
data association time 14.685940 ms 
build tree time 37.333230 ms 
data association time 15.165457 ms 
solver time 8.702145 ms 
publication time 9.824469 ms 
whole laserOdometry time 61.383194 ms 
 
points size 101156 
mapping data assosiation time 32.439308 ms 
scan registration time 43.568574 ms *************
mapping solver time 17.594774 ms 
mapping optimization time 134.944734 
add points time 0.568588 ms
data association time 14.856016 ms 
map prepare time 4.274436 ms
map corner num 136666  surf num 53993 
solver time 9.269845 ms 
data association time 14.770933 ms 
solver time 8.778330 ms 
publication time 11.418308 ms 
whole laserOdometry time 59.892911 ms 
 
points size 101115 
sort q time 5.263618 
seperate points time 12.078925 
data association time 14.132912 ms 
solver time 7.919425 ms 
data association time 13.977826 ms 
solver time 8.461838 ms 
publication time 8.239281 ms 
whole laserOdometry time 53.604971 ms 
 
filter time 13.807337 ms 
mapping pub time 1.790682 ms 
whole mapping time 144.944023 ms +++++
drop lidar frame in mapping for real time performance 
prepare time 19.440108 
sort q time 5.879188 
seperate points time 14.264850 
scan registration time 39.171367 ms *************
build tree time 41.832941 ms 
data association time 14.402896 ms 
solver time 10.740166 ms 
data association time 14.406777 ms 
mapping solver time 19.557229 ms 
points size 96679 
mapping data assosiation time 28.186783 ms 
mapping solver time 15.225552 ms 
mapping optimization time 132.559502 
add points time 0.656006 ms
solver time 8.334547 ms 
map prepare time 3.844464 ms
map corner num 138268  surf num 54675 
solver time 7.481945 ms 
build tree time 43.938168 ms 
prepare time 15.558500 
sort q time 5.132056 
seperate points time 11.990148 
mapping solver time 15.076401 ms 
data association time 13.524763 ms 
solver time 13.715827 ms 
mapping data assosiation time 27.838920 ms 
data association time 14.431642 ms 
add points time 0.584495 ms
solver time 8.174275 ms 
optimization twice time 50.821954 
filter time 14.708822 ms 
map prepare time 4.325242 ms
map corner num 139098  surf num 54991 
points size 93601 
prepare time 19.690207 
sort q time 5.495754 
seperate points time 13.366459 
scan registration time 38.407089 ms *************
build tree time 44.620146 ms 
data association time 14.133838 ms 
solver time 11.478272 ms 
mapping data assosiation time 27.224686 ms 
data association time 14.525077 ms 
solver time 8.276653 ms 
publication time 9.744848 ms 
whole laserOdometry time 58.964849 ms 
 
points size 92200 
mapping data assosiation time 32.667742 ms 
sort q time 5.479907 
seperate points time 13.490924 
add points time 0.580867 ms
filter time 11.405032 ms 
solver time 11.785523 ms 
data association time 16.226098 ms 
solver time 8.546464 ms 
build tree time 39.745023 ms 
points size 91117 
sort q time 4.446183 
seperate points time 10.568087 
scan registration time 30.454196 ms *************
mapping solver time 17.575672 ms 
data association time 16.781216 ms 
mapping data assosiation time 25.027704 ms 
mapping optimization time 126.494459 
add points time 0.602577 ms
data association time 15.745622 ms 
publication time 9.228544 ms 
whole laserOdometry time 67.058519 ms 
 
prepare time 15.356792 
sort q time 5.625713 
seperate points time 13.801135 
data association time 22.718508 ms 
solver time 15.207744 ms 
mapping data assosiation time 27.659355 ms 
mapping solver time 18.383846 ms 
points size 89782 
sort q time 4.884283 
seperate points time 11.988241 
mapping solver time 13.655292 ms 
mapping optimization time 128.826348 
add points time 0.710825 ms
filter time 14.439065 ms 
solver time 15.471646 ms 
data association time 18.933715 ms 
solver time 8.753184 ms 
points size 90801 
sort q time 5.304370 
seperate points time 12.605782 
mapping solver time 16.167074 ms 
solver time 11.659609 ms 
data association time 14.825844 ms 
add points time 0.908153 ms
filter time 14.466822 ms 
points size 92795 
sort q time 5.496427 
seperate points time 13.447887 
data association time 13.757671 ms 
solver time 8.417059 ms 
data association time 13.865852 ms 
publication time 8.439916 ms 
whole laserOdometry time 53.361028 ms 
 
points size 95314 
prepare time 21.215862 
mapping data assosiation time 30.949760 ms 
sort q time 5.514224 
seperate points time 13.570171 
filter time 12.134779 ms 
data association time 22.199621 ms 
solver time 15.033446 ms 
data association time 22.375198 ms 
solver time 12.121621 ms 
publication time 12.041147 ms 
whole laserOdometry time 84.871721 ms 
 
mapping data assosiation time 31.382965 ms 
data association time 23.504626 ms 
solver time 17.164370 ms 
mapping data assosiation time 30.846544 ms 
solver time 11.620720 ms 
optimization twice time 77.941191 
mapping solver time 19.965405 ms 
mapping optimization time 156.514559 
add points time 0.678397 ms
points size 99244 
filter time 15.742626 ms 
data association time 13.865929 ms 
build tree time 38.680224 ms 
solver time 7.490057 ms 
mapping data assosiation time 27.533954 ms 
mapping solver time 13.215645 ms 
sort q time 4.934862 
seperate points time 11.590355 
mapping data assosiation time 27.720460 ms 
mapping solver time 10.232245 ms 
data association time 15.877359 ms 
mapping pub time 2.968479 ms 
whole mapping time 139.265293 ms +++++
data association time 15.029332 ms 
publication time 8.420012 ms 
whole laserOdometry time 57.890150 ms 
 
build tree time 38.197481 ms 
prepare time 15.812455 
sort q time 4.465284 
seperate points time 10.842432 
mapping solver time 16.008582 ms 
data association time 14.037305 ms 
mapping data assosiation time 25.086758 ms 
mapping solver time 14.394231 ms 
publication time 9.517970 ms 
whole laserOdometry time 64.185739 ms 
 
map prepare time 3.542994 ms
map corner num 145516  surf num 57099 
sort q time 4.297786 
seperate points time 10.254988 
build tree time 41.437816 ms 
solver time 9.946997 ms 
mapping data assosiation time 25.259488 ms 
solver time 8.066557 ms 
points size 96615 
prepare time 14.776004 
mapping data assosiation time 25.956771 ms 
scan registration time 32.760831 ms *************
mapping pub time 1.567980 ms 
whole mapping time 140.948749 ms +++++
solver time 10.323411 ms 
build tree time 30.591961 ms 
solver time 8.688447 ms 
mapping data assosiation time 27.241151 ms 
points size 99477 
sort q time 5.612532 
seperate points time 13.144665 
mapping data assosiation time 26.393822 ms 
mapping solver time 10.178497 ms 
filter time 10.848703 ms 
data association time 14.897300 ms 
solver time 9.102782 ms 
publication time 9.935247 ms 
whole laserOdometry time 61.198425 ms 
 
points size 100345 
sort q time 5.088029 
seperate points time 12.598537 
data association time 15.137729 ms 
solver time 11.167415 ms 
mapping solver time 12.759696 ms 
mapping optimization time 106.720529 
add points time 0.606033 ms
data association time 15.958743 ms 
publication time 9.887567 ms 
whole laserOdometry time 61.879586 ms 
 
points size 100482 
prepare time 16.130110 
build tree time 29.961813 ms 
sort q time 5.327291 
seperate points time 12.894470 
mapping data assosiation time 25.002119 ms 
data association time 18.820897 ms 
solver time 12.371822 ms 
mapping data assosiation time 23.537094 ms 
data association time 15.329251 ms 
mapping optimization time 108.930096 
filter time 11.916000 ms 
map prepare time 2.986565 ms
map corner num 109168  surf num 42744 
sort q time 5.370418 
seperate points time 12.996885 
build tree time 29.100023 ms 
data association time 14.870521 ms 
mapping data assosiation time 23.448034 ms 
mapping solver time 15.747277 ms 
solver time 9.828609 ms 
publication time 8.703009 ms 
whole laserOdometry time 61.040111 ms 
 
points size 101939 
prepare time 16.938725 
mapping solver time 13.885839 ms 
mapping optimization time 109.872903 
add points time 0.851564 ms
sort q time 4.921373 
seperate points time 12.103606 
map prepare time 3.295980 ms
map corner num 109857  surf num 43085 
data association time 14.607981 ms 
build tree time 28.145389 ms 
data association time 16.737987 ms 
solver time 10.306172 ms 
publication time 10.755021 ms 
whole laserOdometry time 66.346475 ms 
 
points size 102153 
sort q time 5.342256 
seperate points time 13.125844 
mapping solver time 13.456747 ms 
filter time 9.376867 ms 
solver time 12.952535 ms 
data association time 14.498913 ms 
build tree time 31.200042 ms 
publication time 9.129112 ms 
whole laserOdometry time 63.584875 ms 
 
points size 102186 
sort q time 5.370887 
seperate points time 13.221027 
data association time 14.477016 ms 
solver time 10.453237 ms 
mapping solver time 17.214946 ms 
filter time 10.535588 ms 
points size 101907 
build tree time 31.258832 ms 
mapping data assosiation time 26.619635 ms 
solver time 8.104970 ms 
mapping solver time 19.027215 ms 
data association time 15.349838 ms 
mapping data assosiation time 25.556107 ms 
mapping solver time 14.317444 ms 
prepare time 15.782888 
map prepare time 4.628274 ms
map corner num 112383  surf num 44297 
data association time 14.767846 ms 
solver time 12.436620 ms 
data association time 16.766191 ms 
solver time 9.827363 ms 
mapping solver time 16.516811 ms 
points size 101447 
mapping data assosiation time 24.802052 ms 
sort q time 5.905628 
seperate points time 14.131240 
filter time 10.780004 ms 
map prepare time 4.108899 ms
map corner num 113090  surf num 44603 
solver time 11.182362 ms 
data association time 15.370531 ms 
solver time 9.010072 ms 
publication time 10.404124 ms 
whole laserOdometry time 62.454499 ms 
 
mapping data assosiation time 29.211410 ms 
points size 99714 
mapping solver time 17.736500 ms 
sort q time 4.782368 
seperate points time 11.492376 
data association time 14.514267 ms 
solver time 11.147470 ms 
filter time 9.704093 ms 
data association time 16.028325 ms 
mapping pub time 1.347175 ms 
whole mapping time 132.797160 ms +++++
map prepare time 3.400437 ms
map corner num 113990  surf num 44981 
points size 98500 
sort q time 6.373248 
seperate points time 14.939885 
mapping data assosiation time 25.221653 ms 
data association time 15.256726 ms 
solver time 13.124005 ms 
mapping data assosiation time 24.728557 ms 
solver time 8.545499 ms 
mapping solver time 18.527873 ms 
points size 97354 
sort q time 5.408502 
seperate points time 12.972346 
build tree time 28.197920 ms 
solver time 12.211883 ms 
mapping data assosiation time 24.675032 ms 
data association time 19.808311 ms 
mapping solver time 16.470178 ms 
publication time 10.072484 ms 
whole laserOdometry time 69.438989 ms 
 
points size 97343 
mapping solver time 15.259970 ms 
mapping optimization time 115.632750 
add points time 0.606592 ms
sort q time 7.101135 
seperate points time 16.711302 
scan registration time 37.032094 ms *************
mapping pub time 1.509000 ms 
whole mapping time 135.220683 ms +++++
map prepare time 3.683935 ms
map corner num 115539  surf num 45597 
data association time 25.857467 ms 
solver time 14.406098 ms 
build tree time 33.978308 ms 
data association time 21.162741 ms 
points size 97284 
publication time 9.652173 ms 
whole laserOdometry time 84.007326 ms 
 
data association time 14.160440 ms 
mapping data assosiation time 26.643669 ms 
data association time 15.049523 ms 
solver time 8.489444 ms 
points size 96836 
build tree time 30.361533 ms 
mapping data assosiation time 23.762233 ms 
mapping solver time 17.307762 ms 
data association time 15.127809 ms 
solver time 8.137016 ms 
publication time 9.069243 ms 
whole laserOdometry time 58.394149 ms 
 
mapping solver time 13.766936 ms 
prepare time 16.371118 
sort q time 4.664815 
seperate points time 11.520148 
scan registration time 33.205720 ms *************
[0m[ INFO] [1718802300.914396436]: Received 488302 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802300.914444112]: Data saved to 1317357847858052.pcd[0m
data association time 26.268179 ms 
build tree time 32.556336 ms 
solver time 15.535813 ms 
mapping data assosiation time 26.595421 ms 
points size 95103 
publication time 10.579224 ms 
whole laserOdometry time 89.929556 ms 
 
mapping data assosiation time 27.951906 ms 
data association time 17.568379 ms 
solver time 11.480768 ms 
data association time 16.590987 ms 
solver time 8.584054 ms 
publication time 9.199861 ms 
whole laserOdometry time 64.257447 ms 
 
points size 96438 
mapping data assosiation time 24.591323 ms 
sort q time 5.526830 
seperate points time 13.764119 
scan registration time 38.076770 ms *************
mapping solver time 17.884304 ms 
data association time 19.306687 ms 
solver time 11.584662 ms 
data association time 14.837071 ms 
solver time 9.064281 ms 
mapping pub time 1.236581 ms 
whole mapping time 135.387431 ms +++++
points size 98899 
prepare time 28.758068 
build tree time 33.148994 ms 
mapping data assosiation time 26.864735 ms 
data association time 16.059831 ms 
solver time 10.772729 ms 
data association time 14.878000 ms 
points size 99850 
sort q time 4.920328 
seperate points time 12.018823 
data association time 14.815000 ms 
solver time 13.794856 ms 
data association time 16.437272 ms 
mapping data assosiation time 23.575288 ms 
optimization twice time 54.187798 
points size 98598 
sort q time 4.999770 
seperate points time 12.296386 
mapping solver time 14.623510 ms 
filter time 11.093555 ms 
data association time 22.867376 ms 
mapping pub time 1.549544 ms 
whole mapping time 131.210643 ms +++++
map prepare time 3.708707 ms
map corner num 120191  surf num 47107 
solver time 12.004096 ms 
data association time 22.753699 ms 
solver time 11.716519 ms 
points size 97499 
sort q time 4.941028 
seperate points time 12.043333 
mapping solver time 17.475416 ms 
data association time 22.551919 ms 
solver time 15.182728 ms 
mapping solver time 11.070772 ms 
mapping optimization time 115.570676 
add points time 0.508321 ms
filter time 12.404793 ms 
data association time 22.976295 ms 
map prepare time 3.476775 ms
map corner num 120971  surf num 47339 
solver time 11.820269 ms 
prepare time 15.329124 
publication time 8.518531 ms 
whole laserOdometry time 57.478954 ms 
 
mapping solver time 15.879380 ms 
mapping optimization time 118.891267 
points size 97485 
add points time 0.566067 ms
prepare time 14.456472 
map prepare time 3.150713 ms
map corner num 121688  surf num 47576 
sort q time 5.649109 
seperate points time 13.373445 
scan registration time 32.175480 ms *************
data association time 19.593066 ms 
solver time 10.338748 ms 
data association time 16.458541 ms 
publication time 8.303967 ms 
whole laserOdometry time 64.707776 ms 
 
points size 96328 
mapping data assosiation time 26.084597 ms 
mapping solver time 15.828571 ms 
mapping optimization time 121.247151 
add points time 0.482544 ms
data association time 14.841847 ms 
map prepare time 3.506911 ms
map corner num 122345  surf num 47726 
data association time 17.660098 ms 
solver time 11.095816 ms 
points size 94727 
sort q time 4.572913 
seperate points time 10.910033 
mapping solver time 18.583865 ms 
data association time 14.753973 ms 
mapping data assosiation time 26.509082 ms 
data association time 14.551315 ms 
filter time 10.764853 ms 
points size 92050 
sort q time 5.066149 
seperate points time 12.058817 
build tree time 45.071145 ms 
data association time 22.011302 ms 
mapping data assosiation time 22.969433 ms 
solver time 15.747858 ms 
mapping solver time 17.889368 ms 
data association time 22.014466 ms 
solver time 11.673058 ms 
prepare time 14.597215 
publication time 10.162207 ms 
whole laserOdometry time 82.584805 ms 
 
sort q time 5.220213 
seperate points time 12.258394 
filter time 13.692591 ms 
map prepare time 4.434071 ms
map corner num 149235  surf num 55367 
data association time 22.016193 ms 
solver time 11.642060 ms 
build tree time 39.397270 ms 
data association time 22.035198 ms 
solver time 12.013662 ms 
points size 93930 
mapping solver time 14.206830 ms 
mapping data assosiation time 24.134687 ms 
data association time 22.354959 ms 
mapping solver time 18.128819 ms 
filter time 14.358078 ms 
map prepare time 3.571752 ms
map corner num 149836  surf num 55512 
solver time 12.008438 ms 
optimization twice time 73.664239 
points size 93926 
sort q time 5.287185 
seperate points time 13.073634 
mapping data assosiation time 23.393290 ms 
solver time 11.897674 ms 
data association time 16.376366 ms 
solver time 10.104212 ms 
publication time 8.743530 ms 
whole laserOdometry time 62.925577 ms 
 
prepare time 14.828464 
filter time 12.645804 ms 
data association time 14.163191 ms 
solver time 10.915216 ms 
build tree time 37.049948 ms 
data association time 15.343198 ms 
solver time 7.923922 ms 
mapping data assosiation time 23.890287 ms 
publication time 9.106663 ms 
whole laserOdometry time 58.404139 ms 
 
mapping solver time 15.232988 ms 
points size 93106 
sort q time 4.932798 
seperate points time 11.384303 
mapping solver time 10.761359 ms 
mapping optimization time 111.741816 
add points time 0.603318 ms
filter time 15.002569 ms 
data association time 13.980794 ms 
solver time 9.022340 ms 
optimization twice time 53.632462 
build tree time 41.670330 ms 
points size 94319 
mapping data assosiation time 23.504937 ms 
scan registration time 34.426563 ms *************
mapping solver time 16.612472 ms 
data association time 15.234110 ms 
solver time 13.068721 ms 
mapping solver time 20.036326 ms 
optimization twice time 59.479080 
points size 95987 
sort q time 6.644659 
seperate points time 15.553515 
build tree time 43.985357 ms 
data association time 14.566359 ms 
solver time 12.660774 ms 
data association time 16.611901 ms 
solver time 10.932764 ms 
publication time 8.343839 ms 
whole laserOdometry time 63.932143 ms 
 
mapping data assosiation time 28.161245 ms 
points size 98283 
prepare time 21.437467 
mapping solver time 17.161941 ms 
sort q time 4.566856 
seperate points time 11.239613 
filter time 12.963880 ms 
data association time 17.331577 ms 
solver time 15.048493 ms 
data association time 14.385512 ms 
solver time 7.985566 ms 
publication time 8.577046 ms 
whole laserOdometry time 64.293278 ms 
 
points size 98916 
mapping data assosiation time 24.928038 ms 
prepare time 16.086651 
mapping solver time 14.179123 ms 
scan registration time 32.832833 ms *************
data association time 14.259659 ms 
solver time 12.942028 ms 
mapping solver time 14.801746 ms 
mapping optimization time 116.617509 
add points time 0.508665 ms
data association time 14.344425 ms 
map prepare time 3.410596 ms
map corner num 153630  surf num 56542 
publication time 8.281761 ms 
whole laserOdometry time 63.453242 ms 
 
points size 99327 
build tree time 40.812643 ms 
mapping data assosiation time 23.672779 ms 
solver time 13.539670 ms 
data association time 14.518605 ms 
solver time 10.593273 ms 
mapping solver time 17.650037 ms 
prepare time 15.234407 
filter time 15.036647 ms 
scan registration time 33.001599 ms *************
data association time 15.811848 ms 
solver time 9.300711 ms 
build tree time 43.616671 ms 
solver time 8.176627 ms 
optimization twice time 49.644888 
mapping solver time 17.563265 ms 
points size 100025 
prepare time 18.074188 
sort q time 4.620080 
seperate points time 10.831179 
mapping data assosiation time 25.409766 ms 
mapping solver time 12.860887 ms 
mapping optimization time 125.385677 
add points time 0.570168 ms
filter time 11.948364 ms 
data association time 14.418025 ms 
optimization twice time 51.386993 
build tree time 45.582484 ms 
sort q time 5.270626 
seperate points time 12.533326 
mapping solver time 15.361345 ms 
solver time 10.199016 ms 
mapping data assosiation time 21.068228 ms 
data association time 15.239319 ms 
mapping solver time 16.163879 ms 
mapping optimization time 123.795740 
add points time 0.511869 ms
solver time 8.912889 ms 
optimization twice time 50.198455 
filter time 14.679992 ms 
prepare time 15.676054 
sort q time 5.296957 
seperate points time 12.339348 
build tree time 40.690030 ms 
solver time 7.543144 ms 
mapping data assosiation time 22.794822 ms 
mapping solver time 12.509480 ms 
solver time 8.024952 ms 
optimization twice time 45.864560 
mapping data assosiation time 23.386043 ms 
points size 100557 
prepare time 15.135154 
mapping solver time 12.724128 ms 
mapping optimization time 113.465730 
add points time 0.511755 ms
sort q time 5.082895 
seperate points time 12.370787 
data association time 14.054583 ms 
solver time 10.323196 ms 
data association time 14.640347 ms 
build tree time 42.290897 ms 
publication time 8.031987 ms 
whole laserOdometry time 55.935086 ms 
 
points size 100248 
sort q time 4.572655 
seperate points time 11.036859 
mapping data assosiation time 23.618331 ms 
data association time 15.589081 ms 
solver time 8.216994 ms 
data association time 21.449964 ms 
solver time 8.216080 ms 
mapping pub time 26.788702 ms 
whole mapping time 167.656202 ms +++++
[0m[ INFO] [1718802303.775334903]: Received 507224 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802303.775382798]: Data saved to 1317357850764153.pcd[0m
prepare time 16.576776 
sort q time 4.967632 
seperate points time 11.718951 
build tree time 41.668710 ms 
solver time 10.644735 ms 
mapping data assosiation time 21.896656 ms 
data association time 15.286553 ms 
solver time 8.601509 ms 
publication time 8.955074 ms 
whole laserOdometry time 58.981049 ms 
 
mapping data assosiation time 24.235120 ms 
points size 100313 
mapping optimization time 119.477038 
add points time 0.474116 ms
map prepare time 3.218277 ms
map corner num 158219  surf num 57874 
data association time 15.330380 ms 
solver time 9.202078 ms 
data association time 14.687219 ms 
mapping data assosiation time 23.903251 ms 
points size 100206 
sort q time 4.668727 
seperate points time 11.222823 
mapping data assosiation time 24.069969 ms 
mapping solver time 14.304273 ms 
filter time 13.092072 ms 
solver time 8.992842 ms 
points size 100195 
build tree time 44.317196 ms 
scan registration time 34.772368 ms *************
mapping data assosiation time 22.994329 ms 
data association time 15.188262 ms 
solver time 11.449587 ms 
mapping data assosiation time 24.019952 ms 
solver time 9.195281 ms 
publication time 9.620811 ms 
whole laserOdometry time 61.528524 ms 
 
filter time 15.562627 ms 
prepare time 20.727229 
scan registration time 39.943643 ms *************
data association time 14.729848 ms 
build tree time 44.887286 ms 
data association time 15.339181 ms 
solver time 9.278983 ms 
publication time 9.337006 ms 
whole laserOdometry time 57.702458 ms 
 
points size 101530 
sort q time 5.939421 
seperate points time 14.318193 
filter time 15.205327 ms 
solver time 10.789835 ms 
data association time 14.943028 ms 
build tree time 44.552992 ms 
points size 101730 
mapping data assosiation time 26.729302 ms 
sort q time 5.915668 
seperate points time 14.340453 
mapping solver time 16.547220 ms 
data association time 14.138722 ms 
mapping data assosiation time 23.297435 ms 
solver time 11.200287 ms 
add points time 0.476040 ms
solver time 7.543955 ms 
publication time 11.277799 ms 
whole laserOdometry time 60.417199 ms 
 
points size 101630 
sort q time 4.928579 
seperate points time 11.794810 
build tree time 42.319342 ms 
data association time 15.234284 ms 
solver time 10.684823 ms 
data association time 15.521683 ms 
solver time 9.888107 ms 
publication time 8.264838 ms 
whole laserOdometry time 60.541519 ms 
 
prepare time 19.191420 
sort q time 5.539307 
seperate points time 13.487580 
filter time 15.421622 ms 
data association time 14.343801 ms 
solver time 10.385820 ms 
data association time 14.356368 ms 
mapping data assosiation time 21.773712 ms 
publication time 10.715612 ms 
whole laserOdometry time 59.082596 ms 
 
points size 100420 
mapping data assosiation time 21.452220 ms 
mapping solver time 14.425393 ms 
filter time 9.179052 ms 
solver time 11.629030 ms 
build tree time 23.461705 ms 
data association time 18.664888 ms 
mapping data assosiation time 27.126143 ms 
points size 99463 
mapping solver time 19.867096 ms 
sort q time 5.325997 
seperate points time 13.201644 
mapping data assosiation time 27.730883 ms 
mapping solver time 14.154376 ms 
mapping pub time 1.211143 ms 
whole mapping time 126.927855 ms +++++
data association time 17.643367 ms 
build tree time 23.466093 ms 
points size 94428 
mapping data assosiation time 24.793943 ms 
sort q time 5.385348 
seperate points time 13.329094 
data association time 13.292906 ms 
mapping solver time 12.689183 ms 
filter time 7.740844 ms 
solver time 8.897536 ms 
publication time 9.435550 ms 
whole laserOdometry time 61.521560 ms 
 
points size 88820 
sort q time 5.871654 
seperate points time 14.603806 
mapping solver time 22.352898 ms 
data association time 20.728283 ms 
solver time 14.547208 ms 
mapping data assosiation time 23.563112 ms 
mapping solver time 15.645145 ms 
publication time 8.797542 ms 
whole laserOdometry time 70.705930 ms 
 
map prepare time 3.590781 ms
map corner num 80510  surf num 33394 
sort q time 4.950367 
seperate points time 12.133976 
build tree time 28.581070 ms 
data association time 14.101379 ms 
mapping data assosiation time 28.530966 ms 
data association time 13.658679 ms 
publication time 8.507301 ms 
whole laserOdometry time 59.400218 ms 
 
prepare time 18.519317 
sort q time 4.516743 
seperate points time 13.286121 
mapping solver time 18.632939 ms 
filter time 10.586418 ms 
data association time 19.832158 ms 
solver time 12.650809 ms 
data association time 15.984572 ms 
solver time 10.288616 ms 
prepare time 15.304172 
sort q time 4.928856 
seperate points time 11.962372 
mapping data assosiation time 22.643217 ms 
mapping solver time 12.592759 ms 
mapping optimization time 100.097785 
add points time 0.575380 ms
data association time 13.129170 ms 
solver time 12.529577 ms 
data association time 12.759216 ms 
build tree time 20.116463 ms 
publication time 6.551033 ms 
whole laserOdometry time 54.677027 ms 
 
points size 74031 
mapping data assosiation time 21.909019 ms 
sort q time 3.909996 
seperate points time 9.695150 
data association time 13.830066 ms 
mapping data assosiation time 21.533239 ms 
data association time 11.993600 ms 
filter time 8.439361 ms 
points size 73642 
prepare time 11.577171 
sort q time 3.540469 
seperate points time 8.973487 
mapping solver time 15.667477 ms 
data association time 12.926336 ms 
solver time 10.620905 ms 
mapping data assosiation time 21.570069 ms 
data association time 12.861000 ms 
solver time 9.095378 ms 
mapping pub time 1.068484 ms 
whole mapping time 105.471146 ms +++++
publication time 7.350637 ms 
whole laserOdometry time 53.741812 ms 
 
drop lidar frame in mapping for real time performance 
map prepare time 3.868731 ms
map corner num 83075  surf num 33989 
build tree time 20.781052 ms 
points size 77710 
mapping data assosiation time 19.708178 ms 
scan registration time 26.877322 ms *************
mapping solver time 16.306925 ms 
data association time 24.282358 ms 
solver time 16.499269 ms 
mapping optimization time 103.364422 
add points time 0.557197 ms
mapping pub time 2.492471 ms 
whole mapping time 119.472456 ms +++++
solver time 8.430146 ms 
prepare time 15.138376 
sort q time 4.165847 
seperate points time 10.529908 
build tree time 24.661396 ms 
data association time 22.481474 ms 
solver time 10.036356 ms 
mapping data assosiation time 23.872755 ms 
data association time 13.502390 ms 
solver time 7.964615 ms 
publication time 7.367951 ms 
whole laserOdometry time 62.280296 ms 
 
points size 85962 
filter time 7.186460 ms 
data association time 13.798972 ms 
build tree time 21.623700 ms 
mapping data assosiation time 21.964038 ms 
solver time 8.412523 ms 
optimization twice time 47.849081 
mapping data assosiation time 21.865767 ms 
mapping solver time 17.955811 ms 
filter time 9.225979 ms 
mapping pub time 1.423530 ms 
whole mapping time 115.878094 ms +++++
data association time 15.214016 ms 
build tree time 21.961903 ms 
solver time 11.278446 ms 
data association time 14.241730 ms 
mapping data assosiation time 21.807414 ms 
solver time 8.819398 ms 
optimization twice time 50.485562 
mapping solver time 16.999618 ms 
points size 95392 
mapping data assosiation time 24.804296 ms 
scan registration time 31.217276 ms *************
mapping optimization time 101.860801 
add points time 0.540990 ms
map prepare time 2.568258 ms
map corner num 86040  surf num 34757 
solver time 11.513155 ms 
build tree time 22.214916 ms 
solver time 9.871160 ms 
publication time 8.486983 ms 
whole laserOdometry time 61.850104 ms 
 
points size 96553 
sort q time 4.526081 
seperate points time 10.730903 
mapping data assosiation time 24.038695 ms 
mapping solver time 12.385508 ms 
filter time 7.040281 ms 
mapping pub time 1.134862 ms 
whole mapping time 111.942228 ms +++++
solver time 11.668095 ms 
data association time 14.720168 ms 
solver time 10.339150 ms 
publication time 10.283326 ms 
whole laserOdometry time 63.649066 ms 
 
mapping data assosiation time 24.908281 ms 
points size 96726 
prepare time 15.125802 
sort q time 5.747797 
seperate points time 13.478498 
mapping data assosiation time 23.080169 ms 
mapping solver time 13.693513 ms 
data association time 17.203409 ms 
solver time 10.931010 ms 
mapping pub time 34.836652 ms 
whole mapping time 148.055218 ms +++++
points size 95743 
[0m[ INFO] [1718802306.379203632]: Received 524931 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802306.379252349]: Data saved to 1317357853359674.pcd[0m
prepare time 20.395172 
sort q time 5.674988 
seperate points time 14.299867 
scan registration time 38.504806 ms *************
mapping data assosiation time 25.196993 ms 
solver time 11.897994 ms 
data association time 15.406317 ms 
mapping data assosiation time 22.486001 ms 
publication time 10.467312 ms 
whole laserOdometry time 62.510444 ms 
 
points size 94485 
filter time 8.522606 ms 
mapping pub time 1.318637 ms 
whole mapping time 118.817606 ms +++++
prepare time 18.947378 
sort q time 5.522180 
seperate points time 13.582827 
scan registration time 37.874732 ms *************
data association time 14.599980 ms 
solver time 10.534010 ms 
data association time 17.248498 ms 
solver time 8.486444 ms 
publication time 10.606779 ms 
whole laserOdometry time 62.160166 ms 
 
mapping data assosiation time 25.450997 ms 
prepare time 18.576149 
sort q time 5.356554 
seperate points time 13.159756 
map prepare time 4.194775 ms
map corner num 88912  surf num 35655 
data association time 15.549370 ms 
solver time 9.132848 ms 
build tree time 25.350986 ms 
data association time 15.837636 ms 
solver time 8.311444 ms 
mapping solver time 18.901137 ms 
sort q time 4.558687 
seperate points time 10.730520 
mapping data assosiation time 27.111914 ms 
mapping solver time 18.429162 ms 
mapping optimization time 115.893763 
add points time 0.611913 ms
data association time 22.083537 ms 
map prepare time 3.771373 ms
map corner num 89576  surf num 35908 
data association time 22.387793 ms 
build tree time 31.446083 ms 
points size 91333 
mapping data assosiation time 27.155543 ms 
scan registration time 35.793758 ms *************
data association time 24.658703 ms 
mapping data assosiation time 28.957647 ms 
solver time 17.566377 ms 
mapping solver time 15.093790 ms 
points size 90131 
build tree time 30.238495 ms 
mapping data assosiation time 28.181542 ms 
data association time 23.429640 ms 
mapping solver time 18.719694 ms 
solver time 16.944110 ms 
mapping data assosiation time 29.448322 ms 
points size 89575 
prepare time 17.551805 
sort q time 5.165948 
seperate points time 12.786046 
map prepare time 2.812231 ms
map corner num 90821  surf num 36438 
data association time 14.242861 ms 
solver time 10.900865 ms 
data association time 14.818446 ms 
solver time 8.955826 ms 
publication time 8.705203 ms 
whole laserOdometry time 58.532829 ms 
 
points size 88442 
mapping data assosiation time 24.417935 ms 
sort q time 5.155466 
seperate points time 12.666308 
scan registration time 34.656821 ms *************
filter time 7.686289 ms 
data association time 16.148348 ms 
solver time 11.430958 ms 
build tree time 24.422692 ms 
solver time 8.586149 ms 
mapping data assosiation time 30.181645 ms 
prepare time 16.385282 
mapping solver time 22.974005 ms 
mapping data assosiation time 30.245502 ms 
solver time 13.171873 ms 
filter time 9.953327 ms 
mapping pub time 1.057581 ms 
whole mapping time 142.908127 ms +++++
map prepare time 2.630482 ms
map corner num 92202  surf num 37051 
data association time 21.104065 ms 
solver time 12.653209 ms 
optimization twice time 64.631869 
prepare time 20.366175 
sort q time 5.027003 
seperate points time 12.364994 
mapping solver time 13.432135 ms 
solver time 10.728064 ms 
mapping data assosiation time 25.153987 ms 
mapping solver time 12.633427 ms 
filter time 8.636709 ms 
prepare time 15.044464 
sort q time 4.094791 
seperate points time 10.167657 
data association time 25.298181 ms 
mapping data assosiation time 29.653346 ms 
mapping solver time 19.425659 ms 
data association time 24.590643 ms 
mapping data assosiation time 29.260318 ms 
prepare time 18.016787 
sort q time 5.325872 
seperate points time 13.452337 
map prepare time 4.398444 ms
map corner num 93624  surf num 37582 
data association time 21.800150 ms 
solver time 11.872993 ms 
mapping data assosiation time 27.683931 ms 
points size 92696 
sort q time 5.076751 
seperate points time 12.206888 
scan registration time 36.456505 ms *************
mapping solver time 17.947524 ms 
mapping optimization time 125.605343 
add points time 0.480971 ms
data association time 21.949627 ms 
mapping pub time 2.870171 ms 
whole mapping time 143.670080 ms +++++
solver time 16.230429 ms 
data association time 16.916334 ms 
optimization twice time 65.378821 
sort q time 4.493570 
seperate points time 10.900968 
scan registration time 30.555386 ms *************
mapping data assosiation time 25.273149 ms 
mapping solver time 12.607079 ms 
data association time 13.989522 ms 
solver time 10.757557 ms 
data association time 14.825763 ms 
filter time 8.152999 ms 
points size 91585 
build tree time 25.803679 ms 
prepare time 18.159694 
scan registration time 36.708749 ms *************
mapping solver time 13.392505 ms 
solver time 10.223223 ms 
mapping data assosiation time 27.119639 ms 
solver time 8.433283 ms 
publication time 9.795183 ms 
whole laserOdometry time 58.134686 ms 
 
mapping pub time 1.264616 ms 
whole mapping time 122.589647 ms +++++
points size 92470 
build tree time 24.664318 ms 
mapping data assosiation time 22.704237 ms 
mapping solver time 12.579182 ms 
data association time 15.183675 ms 
solver time 10.797475 ms 
add points time 0.551821 ms
points size 91792 
sort q time 5.345630 
seperate points time 12.639327 
build tree time 25.288793 ms 
data association time 17.019607 ms 
solver time 12.723147 ms 
mapping data assosiation time 24.951681 ms 
data association time 13.198925 ms 
mapping solver time 14.993503 ms 
publication time 7.674125 ms 
whole laserOdometry time 60.468923 ms 
 
mapping data assosiation time 24.758873 ms 
prepare time 14.190358 
mapping solver time 16.015214 ms 
sort q time 5.220213 
seperate points time 12.523615 
points size 86052 
mapping data assosiation time 23.246825 ms 
mapping solver time 13.067293 ms 
filter time 9.079862 ms 
data association time 18.634943 ms 
solver time 12.825204 ms 
data association time 16.238665 ms 
solver time 8.317547 ms 
publication time 8.524563 ms 
whole laserOdometry time 65.440620 ms 
 
points size 84180 
sort q time 3.806848 
seperate points time 9.246322 
mapping data assosiation time 24.322428 ms 
data association time 15.600230 ms 
solver time 10.806653 ms 
mapping pub time 1.382730 ms 
whole mapping time 123.875226 ms +++++
solver time 8.921184 ms 
optimization twice time 51.562299 
build tree time 29.182095 ms 
points size 82155 
prepare time 14.895779 
scan registration time 28.566550 ms *************
mapping solver time 15.313878 ms 
data association time 25.512225 ms 
mapping solver time 14.239760 ms 
mapping optimization time 110.627188 
add points time 0.520252 ms
solver time 16.231006 ms 
filter time 11.061632 ms 
mapping pub time 1.488256 ms 
whole mapping time 127.820868 ms +++++
map prepare time 3.426076 ms
map corner num 99323  surf num 39502 
points size 78580 
publication time 9.388446 ms 
whole laserOdometry time 86.878923 ms 
 
data association time 12.875822 ms 
mapping data assosiation time 22.137653 ms 
mapping solver time 16.276740 ms 
data association time 16.221618 ms 
optimization twice time 52.308461 
mapping data assosiation time 24.032203 ms 
mapping optimization time 107.812987 
filter time 9.424937 ms 
sort q time 3.613610 
seperate points time 8.674070 
build tree time 31.729458 ms 
data association time 23.447235 ms 
mapping data assosiation time 23.037826 ms 
mapping solver time 11.093605 ms 
solver time 8.369151 ms 
mapping data assosiation time 20.920394 ms 
mapping solver time 9.635922 ms 
filter time 9.660986 ms 
data association time 11.831717 ms 
solver time 13.089017 ms 
data association time 13.005106 ms 
solver time 9.245439 ms 
publication time 6.351883 ms 
whole laserOdometry time 54.438588 ms 
 
mapping solver time 15.441069 ms 
mapping data assosiation time 21.625853 ms 
mapping solver time 12.662923 ms 
scan registration time 27.697091 ms *************
filter time 10.999443 ms 
data association time 13.475156 ms 
solver time 12.893096 ms 
map prepare time 3.628514 ms
map corner num 101159  surf num 39960 
[0m[ INFO] [1718802308.933631528]: Received 543500 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802308.933663272]: Data saved to 1317357855954521.pcd[0m
optimization twice time 59.370089 
publication time 8.151668 ms 
whole laserOdometry time 67.538460 ms 
 
points size 77379 
sort q time 4.755645 mapping data assosiation time 23.800127 ms 
add points time 0.653274 ms
filter time 11.550490 ms 
mapping pub time 0.929364 ms 
whole mapping time 125.999257 ms +++++
map prepare time 3.249898 ms
map corner num 101781  surf num 40103 
solver time 15.869158 ms 
points size 77924 
solver time 11.788035 ms 
mapping data assosiation time 23.945731 ms 
data association time 18.341964 ms 
solver time 14.630054 ms 
mapping data assosiation time 19.992128 ms 
data association time 18.364525 ms 
filter time 8.265496 ms 
publication time 8.567939 ms 
whole laserOdometry time 74.184527 ms 
 
points size 79833 
sort q time 4.252353 
seperate points time 10.262308 
mapping data assosiation time 20.054537 ms 
data association time 19.465032 ms 
mapping solver time 14.043810 ms 
solver time 19.190415 ms 
mapping data assosiation time 21.102466 ms 
mapping solver time 9.148098 ms 
filter time 10.692870 ms 
points size 82864 
publication time 9.779326 ms 
whole laserOdometry time 81.206540 ms 
 
prepare time 14.809642 
sort q time 4.643289 
seperate points time 10.966164 
build tree time 30.856105 ms 
data association time 22.136371 ms 
solver time 16.591745 ms 
mapping solver time 15.464932 ms 
mapping data assosiation time 20.718022 ms 
mapping solver time 12.079950 ms 
solver time 11.746737 ms 
publication time 9.161783 ms 
whole laserOdometry time 82.267951 ms 
 
map prepare time 2.893643 ms
map corner num 103636  surf num 40574 
scan registration time 28.035776 ms *************
build tree time 29.190034 ms 
mapping data assosiation time 21.133060 ms 
mapping solver time 16.932064 ms 
data association time 22.279774 ms 
mapping data assosiation time 23.101674 ms 
publication time 9.597674 ms 
whole laserOdometry time 81.869270 ms 
 
points size 80845 
mapping solver time 15.353393 ms 
filter time 11.414177 ms 
data association time 13.914311 ms 
solver time 13.658391 ms 
data association time 13.726216 ms 
solver time 12.050222 ms 
mapping data assosiation time 24.738065 ms 
points size 77679 
sort q time 3.895575 
seperate points time 9.406576 
mapping data assosiation time 22.879383 ms 
mapping solver time 14.092724 ms 
filter time 9.998619 ms 
data association time 14.249897 ms 
optimization twice time 51.647921 
build tree time 28.798194 ms 
points size 77676 
mapping data assosiation time 23.377689 ms 
mapping solver time 14.996046 ms 
data association time 15.486083 ms 
solver time 10.161514 ms 
mapping data assosiation time 20.165666 ms 
mapping solver time 11.192999 ms 
filter time 11.083252 ms 
build tree time 27.690988 ms 
sort q time 3.823581 
seperate points time 9.414696 
mapping solver time 13.056685 ms 
data association time 13.205497 ms 
solver time 10.866170 ms 
data association time 12.654419 ms 
solver time 10.992353 ms 
points size 78023 
prepare time 12.291682 
build tree time 28.251772 ms 
sort q time 3.475841 
seperate points time 8.441854 
mapping data assosiation time 20.736575 ms 
data association time 16.955658 ms 
solver time 12.779824 ms 
mapping data assosiation time 19.500681 ms 
mapping solver time 11.274951 ms 
filter time 10.106842 ms 
points size 77820 
build tree time 27.775509 ms 
mapping data assosiation time 21.002204 ms 
data association time 13.597582 ms 
data association time 13.255208 ms 
mapping data assosiation time 21.072738 ms 
mapping solver time 12.466021 ms 
filter time 12.814212 ms 
sort q time 3.735599 
seperate points time 8.864692 
data association time 13.235286 ms 
build tree time 37.687871 ms 
mapping data assosiation time 20.047598 ms 
solver time 7.864890 ms 
mapping data assosiation time 19.451344 ms 
points size 80538 
sort q time 4.567799 
seperate points time 10.778443 
build tree time 20.042866 ms 
solver time 15.229482 ms 
mapping solver time 14.492836 ms 
data association time 21.387718 ms 
solver time 11.580904 ms 
points size 85173 
sort q time 4.350063 
seperate points time 10.663542 
map prepare time 3.832115 ms
map corner num 77635  surf num 29152 
build tree time 19.001387 ms 
data association time 20.209946 ms 
mapping data assosiation time 21.203309 ms 
solver time 15.111319 ms 
mapping solver time 14.915904 ms 
solver time 11.577254 ms 
mapping solver time 13.306796 ms 
filter time 8.451095 ms 
data association time 13.460392 ms 
solver time 10.480468 ms 
data association time 13.443185 ms 
mapping data assosiation time 23.806278 ms 
publication time 8.598456 ms 
whole laserOdometry time 55.833554 ms 
 
mapping solver time 18.687355 ms 
points size 91787 
prepare time 20.499833 
sort q time 5.612986 
seperate points time 13.399491 
scan registration time 38.755438 ms *************
filter time 8.584606 ms 
data association time 15.207265 ms 
solver time 11.592446 ms 
data association time 16.799059 ms 
mapping data assosiation time 23.512837 ms 
points size 94664 
mapping solver time 21.894718 ms 
sort q time 6.062098 
seperate points time 14.435936 
mapping data assosiation time 23.882023 ms 
mapping optimization time 107.232494 
add points time 0.514821 ms
data association time 15.419350 ms 
map prepare time 2.652591 ms
map corner num 79438  surf num 29797 
data association time 13.422177 ms 
optimization twice time 49.325413 
publication time 8.079555 ms 
whole laserOdometry time 57.425372 ms 
 
mapping data assosiation time 22.320370 ms 
mapping solver time 13.397865 ms 
sort q time 5.380993 
seperate points time 11.985699 
scan registration time 31.083101 ms *************
mapping data assosiation time 20.234080 ms 
data association time 13.943727 ms 
filter time 7.243956 ms 
mapping pub time 1.241936 ms 
whole mapping time 100.040556 ms +++++
map prepare time 2.608562 ms
map corner num 79998  surf num 29987 
data association time 14.979663 ms 
solver time 8.384080 ms 
publication time 7.684367 ms 
whole laserOdometry time 53.708095 ms 
 
mapping data assosiation time 20.248815 ms 
mapping solver time 12.029641 ms 
scan registration time 30.063158 ms *************
mapping data assosiation time 22.019925 ms 
mapping solver time 13.597007 ms 
filter time 7.744642 ms 
data association time 14.332725 ms 
solver time 8.172142 ms 
optimization twice time 47.406166 
points size 96519 
mapping data assosiation time 19.389265 ms 
prepare time 14.241706 
sort q time 4.564591 
seperate points time 10.723494 
data association time 13.787923 ms 
solver time 10.275269 ms 
filter time 6.273776 ms 
solver time 7.852315 ms 
publication time 6.668795 ms 
whole laserOdometry time 54.280187 ms 
 
build tree time 21.000616 ms 
mapping data assosiation time 19.906413 ms 
sort q time 4.413066 
seperate points time 10.504155 
mapping solver time 17.054728 ms 
scan registration time 29.227696 ms *************
mapping solver time 12.970195 ms 
filter time 8.761468 ms 
data association time 22.184525 ms 
prepare time 14.735816 
sort q time 5.630764 
seperate points time 12.800403 
mapping solver time 13.696955 ms 
data association time 13.568574 ms 
mapping data assosiation time 20.123118 ms 
mapping solver time 11.474580 ms 
data association time 14.073670 ms 
filter time 7.376115 ms 
publication time 7.690022 ms 
whole laserOdometry time 57.638509 ms 
 
mapping pub time 36.352601 ms 
whole mapping time 139.186428 ms +++++
[0m[ INFO] [1718802311.264558839]: Received 559562 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802311.264605798]: Data saved to 1317357858237689.pcd[0m
build tree time 23.207668 ms 
mapping data assosiation time 24.791337 ms 
mapping solver time 20.778627 ms 
mapping data assosiation time 25.400973 ms 
data association time 24.679348 ms 
points size 91774 
sort q time 4.883596 
seperate points time 11.591167 
publication time 9.106315 ms 
whole laserOdometry time 91.931074 ms 
 
map prepare time 3.356736 ms
map corner num 82691  surf num 30962 
data association time 12.746455 ms 
solver time 12.512409 ms 
mapping data assosiation time 21.584840 ms 
solver time 9.797191 ms 
points size 91160 
mapping solver time 8.805048 ms 
filter time 10.564969 ms 
data association time 13.498077 ms 
solver time 11.001741 ms 
data association time 14.371562 ms 
publication time 6.704571 ms 
whole laserOdometry time 55.086437 ms 
 
points size 91101 
sort q time 4.087780 
seperate points time 9.578440 
filter time 7.223563 ms 
data association time 15.692060 ms 
solver time 10.262146 ms 
data association time 13.874496 ms 
mapping data assosiation time 22.103873 ms 
points size 89678 
mapping data assosiation time 20.507447 ms 
sort q time 5.318971 
seperate points time 12.135555 
filter time 8.434371 ms 
data association time 13.493373 ms 
build tree time 21.304740 ms 
solver time 7.714490 ms 
mapping data assosiation time 24.168949 ms 
mapping solver time 12.232626 ms 
points size 89463 
mapping data assosiation time 24.573989 ms 
mapping solver time 13.997948 ms 
filter time 9.644106 ms 
solver time 11.874463 ms 
data association time 13.054239 ms 
publication time 7.565772 ms 
whole laserOdometry time 55.589663 ms 
 
mapping data assosiation time 26.365327 ms 
points size 89989 
mapping solver time 19.485594 ms 
mapping data assosiation time 22.631058 ms 
data association time 14.597857 ms 
solver time 8.759000 ms 
mapping pub time 1.164375 ms 
whole mapping time 123.403332 ms +++++
optimization twice time 47.089608 
publication time 7.675088 ms 
whole laserOdometry time 54.783578 ms 
 
points size 90257 
sort q time 5.924038 
seperate points time 13.539612 
data association time 12.926738 ms 
solver time 12.670370 ms 
filter time 9.671652 ms 
solver time 9.570726 ms 
build tree time 25.620936 ms 
points size 91612 
sort q time 5.902615 
seperate points time 14.287408 
mapping solver time 15.389383 ms 
solver time 9.443252 ms 
mapping data assosiation time 24.107558 ms 
mapping solver time 12.639825 ms 
publication time 8.168173 ms 
whole laserOdometry time 60.502394 ms 
 
filter time 9.766455 ms 
points size 91794 
build tree time 22.171563 ms 
mapping data assosiation time 23.794222 ms 
solver time 7.761408 ms 
data association time 13.728005 ms 
solver time 8.785373 ms 
mapping data assosiation time 23.674415 ms 
mapping solver time 10.475571 ms 
filter time 10.176397 ms 
sort q time 4.412538 
seperate points time 10.215149 
data association time 14.174386 ms 
mapping data assosiation time 27.619735 ms 
data association time 15.062906 ms 
mapping solver time 17.058566 ms 
publication time 6.915168 ms 
whole laserOdometry time 59.272719 ms 
 
points size 90534 
filter time 7.839081 ms 
mapping pub time 2.544717 ms 
whole mapping time 123.212814 ms +++++
build tree time 24.502568 ms 
data association time 13.383117 ms 
solver time 8.881884 ms 
optimization twice time 45.040922 
mapping solver time 13.315176 ms 
publication time 8.080804 ms 
whole laserOdometry time 53.146819 ms 
 
points size 90426 
sort q time 4.730897 
seperate points time 11.207362 
filter time 7.179357 ms 
data association time 13.675355 ms 
solver time 8.419493 ms 
build tree time 22.809529 ms 
solver time 6.100458 ms 
mapping data assosiation time 25.598649 ms 
mapping solver time 16.917921 ms 
sort q time 6.617498 
seperate points time 14.945471 
mapping solver time 13.851603 ms 
filter time 8.328332 ms 
data association time 12.796408 ms 
build tree time 24.181064 ms 
points size 91405 
sort q time 4.628979 
seperate points time 10.687560 
data association time 14.400099 ms 
mapping data assosiation time 25.983552 ms 
mapping solver time 13.925237 ms 
mapping optimization time 113.260846 
add points time 0.447574 ms
data association time 16.917340 ms 
publication time 7.938059 ms 
whole laserOdometry time 64.380275 ms 
 
build tree time 24.315886 ms 
sort q time 4.569584 
seperate points time 10.423397 
mapping data assosiation time 29.084284 ms 
data association time 21.532280 ms 
solver time 11.606274 ms 
mapping data assosiation time 27.274914 ms 
solver time 8.377580 ms 
mapping optimization time 120.820182 
filter time 9.522754 ms 
sort q time 5.045974 
seperate points time 11.851779 
build tree time 25.617241 ms 
solver time 11.151725 ms 
mapping data assosiation time 26.458363 ms 
solver time 10.044134 ms 
mapping solver time 16.727374 ms 
publication time 8.208912 ms 
whole laserOdometry time 58.584992 ms 
 
points size 93394 
sort q time 4.325390 
seperate points time 10.184532 
mapping solver time 15.649430 ms 
mapping optimization time 112.440769 
scan registration time 28.775231 ms *************
add points time 0.827277 ms
map prepare time 3.221441 ms
map corner num 91203  surf num 35824 
data association time 15.697004 ms 
solver time 11.435998 ms 
build tree time 24.941702 ms 
data association time 15.309837 ms 
solver time 8.043575 ms 
points size 94027 
sort q time 5.283747 
seperate points time 12.476951 
mapping data assosiation time 28.655539 ms 
mapping solver time 23.458708 ms 
solver time 17.137556 ms 
map prepare time 3.952112 ms
map corner num 91954  surf num 36281 
data association time 17.712179 ms 
solver time 11.204247 ms 
publication time 10.336679 ms 
whole laserOdometry time 74.830059 ms 
 
sort q time 4.612536 
seperate points time 10.878173 
scan registration time 30.269686 ms *************
data association time 14.764167 ms 
mapping data assosiation time 24.745590 ms 
solver time 9.120291 ms 
mapping solver time 16.384771 ms 
filter time 8.601266 ms 
mapping pub time 1.157160 ms 
whole mapping time 135.139359 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.804729 ms
map corner num 92597  surf num 36601 
sort q time 5.425529 
seperate points time 12.549960 
data association time 15.881042 ms 
mapping data assosiation time 29.963677 ms 
mapping solver time 16.872187 ms 
publication time 8.364415 ms 
whole laserOdometry time 60.763631 ms 
 
mapping data assosiation time 27.931576 ms 
prepare time 15.130744 
sort q time 5.173547 
seperate points time 12.263175 
data association time 14.361813 ms 
build tree time 24.300430 ms 
solver time 10.941476 ms 
data association time 14.722932 ms 
publication time 7.996222 ms 
whole laserOdometry time 58.910892 ms 
 
mapping solver time 20.525000 ms 
points size 98209 
sort q time 6.623614 
seperate points time 15.162911 
mapping solver time 16.525951 ms 
data association time 14.963543 ms 
map prepare time 2.905356 ms
map corner num 94124  surf num 37400 
solver time 10.676393 ms 
data association time 14.192059 ms 
build tree time 25.403774 ms 
publication time 8.809776 ms 
whole laserOdometry time 60.133762 ms 
 
points size 98699 
prepare time 14.962980 
sort q time 5.326534 
seperate points time 12.340382 
mapping solver time 19.983702 ms 
data association time 15.694131 ms 
solver time 10.726811 ms 
mapping solver time 12.094019 ms 
solver time 7.616206 ms 
optimization twice time 49.820390 
filter time 9.869321 ms 
points size 99228 
mapping pub time 38.554376 ms 
whole mapping time 169.564239 ms +++++
[0m[ INFO] [1718802313.774462574]: Received 579429 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802313.774504059]: Data saved to 1317357860728281.pcd[0m
data association time 15.640720 ms 
data association time 14.483528 ms 
mapping data assosiation time 29.646514 ms 
publication time 9.876200 ms 
whole laserOdometry time 64.890279 ms 
 
points size 99490 
sort q time 4.478415 
seperate points time 10.590443 
mapping solver time 15.799880 ms 
filter time 10.875186 ms 
mapping pub time 1.555621 ms 
whole mapping time 140.849334 ms +++++
solver time 11.297639 ms 
map prepare time 3.702498 ms
map corner num 95785  surf num 38261 
data association time 15.578311 ms 
solver time 8.066063 ms 
publication time 10.554889 ms 
whole laserOdometry time 62.376061 ms 
 
points size 100050 
mapping data assosiation time 38.422240 ms 
scan registration time 43.256866 ms *************
mapping solver time 21.585730 ms 
data association time 15.435290 ms 
solver time 11.284089 ms 
data association time 16.240871 ms 
filter time 9.641597 ms 
points size 100745 
prepare time 19.595465 
sort q time 5.986343 
seperate points time 14.425210 
build tree time 33.037792 ms 
data association time 17.909316 ms 
mapping data assosiation time 30.473220 ms 
mapping solver time 13.161277 ms 
solver time 10.863316 ms 
points size 100995 
mapping solver time 10.725167 ms 
scan registration time 39.264079 ms *************
data association time 15.615906 ms 
solver time 11.515676 ms 
data association time 16.455641 ms 
solver time 12.191273 ms 
publication time 9.098258 ms 
whole laserOdometry time 65.793504 ms 
 
prepare time 19.751318 
mapping solver time 25.968567 ms 
sort q time 6.256041 
seperate points time 15.344921 
data association time 16.208894 ms 
mapping data assosiation time 33.099710 ms 
solver time 12.615961 ms 
filter time 8.115232 ms 
mapping pub time 1.200112 ms 
whole mapping time 148.981721 ms +++++
data association time 17.924297 ms 
map prepare time 4.084558 ms
map corner num 98327  surf num 39488 
solver time 11.966309 ms 
publication time 10.297080 ms 
whole laserOdometry time 69.942605 ms 
 
build tree time 29.392045 ms 
sort q time 4.994001 
seperate points time 11.851149 
mapping data assosiation time 35.167778 ms 
data association time 16.053181 ms 
solver time 12.895524 ms 
data association time 16.286633 ms 
solver time 10.421010 ms 
mapping data assosiation time 31.486582 ms 
mapping solver time 21.183320 ms 
scan registration time 36.048082 ms *************
map prepare time 3.010677 ms
map corner num 99256  surf num 39942 
data association time 14.827356 ms 
build tree time 24.956434 ms 
solver time 10.319062 ms 
data association time 16.167999 ms 
solver time 8.611475 ms 
publication time 11.506870 ms 
whole laserOdometry time 62.291754 ms 
 
points size 102482 
sort q time 4.766216 
seperate points time 11.342293 
mapping data assosiation time 38.621585 ms 
data association time 26.511347 ms 
mapping solver time 20.463999 ms 
filter time 11.083522 ms 
map prepare time 4.087743 ms
map corner num 100200  surf num 40385 
data association time 24.330221 ms 
points size 102773 
build tree time 34.734091 ms 
mapping data assosiation time 39.993886 ms 
solver time 12.544814 ms 
data association time 16.398306 ms 
solver time 11.378809 ms 
publication time 10.261059 ms 
whole laserOdometry time 79.071957 ms 
 
mapping data assosiation time 40.586273 ms 
sort q time 6.423438 
seperate points time 15.554173 
mapping solver time 23.227059 ms 
filter time 7.690742 ms 
solver time 12.879965 ms 
build tree time 28.589506 ms 
solver time 11.693413 ms 
sort q time 5.439505 
seperate points time 12.687299 
mapping solver time 23.119248 ms 
solver time 14.056254 ms 
data association time 16.232497 ms 
solver time 11.094152 ms 
publication time 9.623377 ms 
whole laserOdometry time 68.066089 ms 
 
points size 103220 
map prepare time 3.810265 ms
map corner num 102213  surf num 41361 
sort q time 6.275816 
seperate points time 14.325033 
build tree time 28.811350 ms 
solver time 12.891253 ms 
mapping data assosiation time 36.927559 ms 
data association time 16.657363 ms 
publication time 11.808714 ms 
whole laserOdometry time 70.654934 ms 
 
prepare time 17.281259 
sort q time 5.367593 
seperate points time 12.450695 
mapping data assosiation time 33.238143 ms 
data association time 15.865184 ms 
mapping solver time 22.793163 ms 
mapping optimization time 150.067011 
add points time 0.652653 ms
solver time 13.797120 ms 
map prepare time 3.478495 ms
map corner num 103324  surf num 41910 
data association time 17.486981 ms 
points size 103325 
sort q time 5.798569 
seperate points time 13.484441 
mapping data assosiation time 37.342896 ms 
data association time 29.563592 ms 
solver time 18.597726 ms 
mapping data assosiation time 43.855495 ms 
prepare time 28.474126 
solver time 15.732171 ms 
optimization twice time 104.835565 
scan registration time 53.384588 ms *************
build tree time 33.061499 ms 
data association time 16.708845 ms 
solver time 11.787306 ms 
publication time 10.486773 ms 
whole laserOdometry time 76.933280 ms 
 
scan registration time 43.849135 ms *************
data association time 17.335401 ms 
solver time 13.011511 ms 
mapping data assosiation time 38.941768 ms 
mapping solver time 21.563748 ms 
prepare time 19.824459 
map prepare time 4.552157 ms
map corner num 105517  surf num 43068 
sort q time 6.184135 
seperate points time 14.892009 
build tree time 28.204874 ms 
solver time 11.915593 ms 
data association time 18.238439 ms 
solver time 7.857846 ms 
publication time 11.698727 ms 
whole laserOdometry time 66.294417 ms 
 
sort q time 5.044449 
seperate points time 11.819522 
data association time 16.543944 ms 
solver time 13.036646 ms 
filter time 9.933071 ms 
solver time 9.562150 ms 
publication time 11.702660 ms 
whole laserOdometry time 72.341257 ms 
 
points size 102628 
sort q time 5.738226 
seperate points time 13.171505 
scan registration time 34.014178 ms *************
mapping data assosiation time 36.799842 ms 
solver time 11.673622 ms 
mapping solver time 23.367247 ms 
data association time 21.637240 ms 
solver time 9.981363 ms 
publication time 11.101877 ms 
whole laserOdometry time 73.940063 ms 
 
sort q time 5.135871 
seperate points time 11.906063 
mapping optimization time 151.518762 
filter time 9.850800 ms 
data association time 19.748736 ms 
solver time 12.962069 ms 
data association time 19.883360 ms 
optimization twice time 64.086633 
publication time 10.177623 ms 
whole laserOdometry time 74.282841 ms 
 
sort q time 5.303108 
seperate points time 12.218795 
mapping solver time 25.014207 ms 
data association time 15.410555 ms 
solver time 13.423962 ms 
mapping data assosiation time 36.149031 ms 
data association time 16.013246 ms 
solver time 8.103226 ms 
publication time 10.455783 ms 
whole laserOdometry time 64.178377 ms 
 
map prepare time 4.200722 ms
map corner num 108847  surf num 44647 
prepare time 18.598936 
sort q time 4.891441 
seperate points time 11.654647 
build tree time 30.094191 ms 
data association time 19.077137 ms 
solver time 13.132810 ms 
data association time 18.634989 ms 
mapping solver time 24.304927 ms 
solver time 14.321800 ms 
optimization twice time 66.198901 
points size 103752 
sort q time 4.657546 
seperate points time 10.904171 
scan registration time 36.243739 ms *************
data association time 16.729365 ms 
solver time 16.045377 ms 
map prepare time 3.295522 ms
map corner num 109981  surf num 45221 
data association time 17.684890 ms 
solver time 11.786910 ms 
build tree time 28.753901 ms 
sort q time 6.156917 
seperate points time 13.693691 
scan registration time 34.764219 ms *************
mapping data assosiation time 38.097708 ms 
data association time 16.113625 ms 
solver time 13.015554 ms 
data association time 16.893613 ms 
optimization twice time 58.364171 
publication time 12.072372 ms 
whole laserOdometry time 70.457888 ms 
 
sort q time 5.226095 
seperate points time 12.296976 
filter time 10.536202 ms 
data association time 16.724292 ms 
solver time 12.778991 ms 
build tree time 30.901199 ms 
data association time 16.840957 ms 
optimization twice time 58.062607 
publication time 11.977574 ms 
whole laserOdometry time 70.060687 ms 
 
prepare time 17.389029 
sort q time 5.910123 
seperate points time 13.604121 
scan registration time 35.900476 ms *************
mapping solver time 27.648443 ms 
data association time 15.972424 ms 
solver time 13.181248 ms 
mapping data assosiation time 34.599333 ms 
solver time 12.254678 ms 
publication time 12.401531 ms 
whole laserOdometry time 72.352728 ms 
 
prepare time 17.524584 
sort q time 6.083569 
seperate points time 14.553289 
build tree time 32.016592 ms 
data association time 19.328451 ms 
solver time 16.185361 ms 
mapping data assosiation time 41.019477 ms 
solver time 17.032311 ms 
mapping solver time 27.154218 ms 
sort q time 4.732007 
seperate points time 11.126889 
scan registration time 35.803157 ms *************
mapping data assosiation time 38.829918 ms 
data association time 17.577952 ms 
solver time 12.823640 ms 
mapping solver time 20.820515 ms 
mapping optimization time 162.140885 
add points time 0.733947 ms
filter time 10.833373 ms 
solver time 13.358415 ms 
publication time 12.685090 ms 
whole laserOdometry time 75.278638 ms 
 
build tree time 31.732338 ms 
sort q time 4.749469 
seperate points time 11.270478 
scan registration time 34.618041 ms *************
mapping data assosiation time 37.644191 ms 
data association time 15.868265 ms 
solver time 12.710316 ms 
mapping solver time 25.077144 ms 
data association time 17.092587 ms 
solver time 8.433596 ms 
publication time 10.109543 ms 
whole laserOdometry time 65.067069 ms 
 
mapping data assosiation time 39.835499 ms 
scan registration time 33.839547 ms *************
mapping solver time 27.240777 ms 
filter time 11.115020 ms 
solver time 11.460595 ms 
data association time 17.142551 ms 
solver time 7.826671 ms 
publication time 9.781676 ms 
whole laserOdometry time 65.665096 ms 
 
points size 102463 
sort q time 5.135147 
seperate points time 12.569708 
mapping data assosiation time 38.439722 ms 
scan registration time 34.527044 ms *************
mapping solver time 25.162646 ms 
solver time 11.064030 ms 
data association time 16.527346 ms 
solver time 8.427066 ms 
publication time 9.886632 ms 
whole laserOdometry time 63.062915 ms 
 
points size 102445 
filter time 10.364754 ms 
data association time 16.565444 ms 
mapping pub time 40.071519 ms 
whole mapping time 212.954801 ms +++++
[0m[ INFO] [1718802317.148089761]: Received 610344 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802317.148119134]: Data saved to 1317357863955212.pcd[0m
solver time 9.818893 ms 
publication time 12.793473 ms 
whole laserOdometry time 70.420850 ms 
 
sort q time 6.706200 
seperate points time 15.452766 
mapping data assosiation time 45.512959 ms 
data association time 27.777427 ms 
solver time 14.947955 ms 
data association time 27.508323 ms 
solver time 11.396002 ms 
sort q time 6.523938 
seperate points time 15.155189 
mapping solver time 25.407693 ms 
mapping pub time 1.314599 ms 
whole mapping time 195.214482 ms +++++
solver time 21.038678 ms 
build tree time 55.124884 ms 
solver time 15.178973 ms 
publication time 15.926081 ms 
whole laserOdometry time 109.708036 ms 
 
[33m[ WARN] [1718802317.423534925]: odometry process over 100ms[0m
mapping data assosiation time 51.700803 ms 
data association time 27.384648 ms 
mapping solver time 27.409330 ms 
points size 102953 
data association time 27.424578 ms 
scan registration time 35.748787 ms *************
publication time 12.457821 ms 
whole laserOdometry time 97.943002 ms 
 
mapping solver time 23.876296 ms 
filter time 10.376908 ms 
mapping pub time 1.292214 ms 
whole mapping time 220.421567 ms +++++
drop lidar frame in mapping for real time performance 
solver time 14.869542 ms 
build tree time 33.888617 ms 
points size 102762 
sort q time 5.621262 
seperate points time 13.057722 
solver time 11.096616 ms 
optimization twice time 83.194252 
scan registration time 33.821121 ms *************
mapping data assosiation time 45.672371 ms 
data association time 28.065910 ms 
mapping solver time 26.497036 ms 
solver time 15.228964 ms 
points size 102657 
solver time 11.187252 ms 
optimization twice time 83.396384 
sort q time 5.418494 
seperate points time 13.213224 
mapping solver time 23.519232 ms 
mapping optimization time 174.336634 
add points time 0.908791 ms
filter time 14.184032 ms 
data association time 28.788708 ms 
solver time 15.126165 ms 
build tree time 22.180076 ms 
data association time 28.425141 ms 
points size 102390 
prepare time 16.654423 
sort q time 5.498971 
seperate points time 13.979921 
mapping solver time 26.696705 ms 
data association time 28.263807 ms 
solver time 14.842753 ms 
mapping data assosiation time 39.564844 ms 
mapping solver time 20.828577 ms 
filter time 8.520721 ms 
sort q time 5.915502 
seperate points time 14.929143 
publication time 14.894492 ms 
whole laserOdometry time 98.831527 ms 
 
build tree time 24.611568 ms 
data association time 28.079631 ms 
solver time 17.090199 ms 
data association time 17.941172 ms 
mapping solver time 26.525537 ms 
publication time 10.964558 ms 
whole laserOdometry time 83.863037 ms 
 
sort q time 5.982735 
seperate points time 15.231263 
mapping data assosiation time 42.442864 ms 
solver time 12.635355 ms 
mapping optimization time 162.175542 
filter time 11.321271 ms 
publication time 10.244554 ms 
whole laserOdometry time 68.357072 ms 
 
prepare time 18.892849 
build tree time 24.770982 ms 
sort q time 5.973054 
seperate points time 15.231484 
data association time 17.423939 ms 
solver time 14.207743 ms 
data association time 17.791159 ms 
solver time 8.520400 ms 
publication time 12.186559 ms 
whole laserOdometry time 70.875727 ms 
 
mapping data assosiation time 39.674770 ms 
mapping solver time 20.758495 ms 
filter time 10.748887 ms 
mapping pub time 1.252035 ms 
whole mapping time 170.415404 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.760562 ms
map corner num 83231  surf num 38549 
data association time 16.891381 ms 
solver time 8.503035 ms 
publication time 10.882591 ms 
whole laserOdometry time 67.720321 ms 
 
points size 97429 
mapping data assosiation time 39.932404 ms 
sort q time 5.671335 
seperate points time 14.716578 
scan registration time 37.385629 ms *************
mapping solver time 26.535060 ms 
solver time 13.133597 ms 
data association time 15.799837 ms 
mapping data assosiation time 39.381467 ms 
publication time 9.113377 ms 
whole laserOdometry time 66.236466 ms 
 
mapping optimization time 154.904163 
add points time 0.723002 ms
prepare time 18.746876 
mapping pub time 1.211305 ms 
whole mapping time 171.277079 ms +++++
scan registration time 38.453143 ms *************
data association time 17.230795 ms 
solver time 14.398703 ms 
data association time 17.548164 ms 
solver time 11.075837 ms 
publication time 12.361556 ms 
whole laserOdometry time 73.472107 ms 
 
sort q time 4.670855 
seperate points time 11.163303 
data association time 14.885341 ms 
solver time 13.173310 ms 
mapping solver time 19.866198 ms 
data association time 17.614595 ms 
solver time 12.634966 ms 
publication time 12.128218 ms 
whole laserOdometry time 71.443208 ms 
 
points size 95884 
build tree time 24.580402 ms 
sort q time 5.558145 
seperate points time 13.557280 
mapping data assosiation time 39.441107 ms 
solver time 12.747115 ms 
mapping solver time 24.639070 ms 
solver time 11.471233 ms 
publication time 11.732962 ms 
whole laserOdometry time 68.537906 ms 
 
points size 96211 
sort q time 5.157066 
seperate points time 12.410325 
mapping solver time 24.001896 ms 
filter time 9.450238 ms 
solver time 12.838677 ms 
build tree time 24.378066 ms 
solver time 12.454634 ms 
points size 96217 
mapping data assosiation time 40.232461 ms 
mapping solver time 24.591964 ms 
data association time 15.423304 ms 
solver time 12.947320 ms 
mapping data assosiation time 37.280371 ms 
solver time 10.575106 ms 
mapping solver time 22.748150 ms 
filter time 10.387631 ms 
sort q time 6.017330 
seperate points time 15.392712 
build tree time 25.457823 ms 
data association time 26.703160 ms 
solver time 17.908979 ms 
mapping data assosiation time 38.584202 ms 
data association time 26.617441 ms 
solver time 15.122454 ms 
publication time 12.088796 ms 
whole laserOdometry time 99.492339 ms 
 
mapping data assosiation time 37.610040 ms 
data association time 26.729393 ms 
mapping solver time 19.578885 ms 
mapping optimization time 148.927241 
add points time 0.775840 ms
solver time 13.368978 ms 
filter time 10.810565 ms 
mapping pub time 1.114927 ms 
whole mapping time 166.617414 ms +++++
solver time 13.681896 ms 
points size 94524 
sort q time 6.297286 
seperate points time 16.091173 
mapping data assosiation time 39.842786 ms 
data association time 15.565022 ms 
solver time 12.642335 ms 
mapping solver time 20.498939 ms 
solver time 12.368839 ms 
publication time 10.443904 ms 
whole laserOdometry time 73.969218 ms 
 
sort q time 5.502304 
seperate points time 13.855125 
mapping solver time 23.827639 ms 
filter time 7.823427 ms 
data association time 19.500439 ms 
solver time 13.525351 ms 
build tree time 23.164848 ms 
data association time 15.406503 ms 
optimization twice time 60.035309 
publication time 12.705587 ms 
whole laserOdometry time 72.759870 ms 
 
mapping data assosiation time 39.149833 ms 
points size 93727 
prepare time 17.134482 
sort q time 5.228991 
seperate points time 12.781102 
mapping solver time 28.172376 ms 
data association time 14.947995 ms 
mapping data assosiation time 35.061979 ms 
data association time 17.121928 ms 
mapping solver time 22.178278 ms 
map prepare time 4.304121 ms
map corner num 91029  surf num 42533 
sort q time 5.301741 
seperate points time 14.137083 
build tree time 33.430910 ms 
data association time 18.314294 ms 
solver time 10.327222 ms 
mapping data assosiation time 35.223123 ms 
data association time 15.105485 ms 
solver time 10.881864 ms 
publication time 11.752954 ms 
whole laserOdometry time 67.345099 ms 
 
points size 92981 
sort q time 6.230305 
seperate points time 16.050654 
mapping data assosiation time 43.887377 ms 
data association time 24.475909 ms 
filter time 9.153587 ms 
data association time 16.944718 ms 
solver time 12.991722 ms 
publication time 11.011618 ms 
whole laserOdometry time 82.651154 ms 
 
sort q time 6.072639 
seperate points time 16.034643 
mapping data assosiation time 38.792761 ms 
solver time 10.505079 ms 
data association time 18.664569 ms 
solver time 10.415755 ms 
publication time 10.896190 ms 
whole laserOdometry time 69.310385 ms 
 
prepare time 20.493096 
sort q time 5.138507 
seperate points time 13.481774 
mapping solver time 29.519769 ms 
filter time 9.891107 ms 
solver time 10.523187 ms 
build tree time 26.383455 ms 
solver time 9.370756 ms 
publication time 9.344811 ms 
whole laserOdometry time 68.913188 ms 
 
points size 91522 
mapping data assosiation time 42.887983 ms 
sort q time 5.538085 
seperate points time 14.680869 
mapping solver time 29.594711 ms 
solver time 12.102996 ms 
mapping data assosiation time 31.133414 ms 
solver time 10.674000 ms 
publication time 9.758825 ms 
whole laserOdometry time 66.041030 ms 
 
filter time 11.895992 ms 
scan registration time 36.193611 ms *************
build tree time 24.686296 ms 
data association time 16.182947 ms 
solver time 11.893571 ms 
data association time 16.872321 ms 
mapping data assosiation time 33.690554 ms 
data association time 25.004235 ms 
filter time 8.662753 ms 
data association time 18.770678 ms 
solver time 13.688417 ms 
publication time 11.472763 ms 
whole laserOdometry time 82.969271 ms 
 
sort q time 5.971501 
seperate points time 15.895438 
mapping data assosiation time 36.813557 ms 
data association time 15.926815 ms 
mapping solver time 22.191894 ms 
data association time 15.790363 ms 
solver time 8.384778 ms 
points size 91239 
mapping solver time 21.196999 ms 
mapping pub time 1.335150 ms 
whole mapping time 160.624016 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.184853 ms
map corner num 96781  surf num 45059 
data association time 16.437270 ms 
solver time 10.401287 ms 
data association time 15.789438 ms 
solver time 9.254872 ms 
mapping data assosiation time 30.651800 ms 
points size 92320 
sort q time 4.606973 
seperate points time 11.560413 
mapping data assosiation time 30.014539 ms 
data association time 15.856898 ms 
mapping solver time 16.653147 ms 
mapping optimization time 125.994161 
add points time 0.707895 ms
solver time 10.672384 ms 
filter time 11.957273 ms 
map prepare time 4.626089 ms
map corner num 97885  surf num 45427 
solver time 9.324262 ms 
publication time 12.272430 ms 
whole laserOdometry time 66.383188 ms 
 
build tree time 28.392658 ms 
points size 92246 
prepare time 15.117753 
sort q time 4.530106 
seperate points time 11.494595 
mapping data assosiation time 31.060219 ms 
data association time 16.822487 ms 
mapping solver time 19.765507 ms 
solver time 10.201130 ms 
data association time 16.175584 ms 
solver time 8.475723 ms 
publication time 9.979569 ms 
whole laserOdometry time 62.656693 ms 
 
mapping solver time 17.722681 ms 
prepare time 14.754217 
filter time 14.450650 ms 
scan registration time 31.801037 ms *************
data association time 15.646213 ms 
map prepare time 4.389805 ms
map corner num 98985  surf num 45748 
[0m[ INFO] [1718802320.674254943]: Received 644016 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802320.674287545]: Data saved to 1317357867588936.pcd[0m
solver time 12.205846 ms 
publication time 11.936680 ms 
whole laserOdometry time 75.326478 ms 
 
points size 92265 
prepare time 18.499770 
mapping data assosiation time 34.823360 ms 
sort q time 5.291547 
seperate points time 14.050899 
scan registration time 36.934498 ms *************
mapping solver time 24.433131 ms 
data association time 26.799515 ms 
solver time 21.208592 ms 
points size 92325 
prepare time 14.364059 
mapping solver time 22.217510 ms 
mapping optimization time 155.170502 
sort q time 5.723267 
seperate points time 14.087351 
filter time 11.854174 ms 
mapping pub time 1.504175 ms 
whole mapping time 173.797601 ms +++++
scan registration time 32.212620 ms *************
solver time 16.024291 ms 
optimization twice time 90.443064 
build tree time 36.710956 ms 
solver time 20.707725 ms 
mapping data assosiation time 37.866488 ms 
data association time 27.112321 ms 
sort q time 5.853524 
seperate points time 14.356170 
publication time 13.694336 ms 
whole laserOdometry time 100.013649 ms 
 
[33m[ WARN] [1718802320.947996143]: odometry process over 100ms[0m
mapping data assosiation time 38.486079 ms 
data association time 28.114359 ms 
solver time 16.100584 ms 
filter time 12.331598 ms 
points size 94572 
solver time 11.354968 ms 
scan registration time 35.306609 ms *************
build tree time 37.802669 ms 
data association time 28.069461 ms 
mapping data assosiation time 38.007910 ms 
mapping solver time 21.012051 ms 
prepare time 15.166333 
solver time 13.186519 ms 
publication time 14.541593 ms 
whole laserOdometry time 100.384565 ms 
 
[33m[ WARN] [1718802321.148486190]: odometry process over 100ms[0m
mapping solver time 15.659839 ms 
mapping optimization time 153.508464 
add points time 0.762806 ms
filter time 12.057321 ms 
solver time 18.738728 ms 
data association time 25.605200 ms 
solver time 16.485651 ms 
publication time 14.821987 ms 
whole laserOdometry time 102.462373 ms 
 
[33m[ WARN] [1718802321.253719615]: odometry process over 100ms[0m
mapping data assosiation time 39.059890 ms 
data association time 26.514392 ms 
mapping solver time 26.433638 ms 
solver time 19.959995 ms 
points size 93021 
sort q time 5.146652 
seperate points time 13.258277 
add points time 0.736515 ms
publication time 13.006011 ms 
whole laserOdometry time 105.999701 ms 
 
[33m[ WARN] [1718802321.362305254]: odometry process over 100ms[0m
mapping pub time 1.569068 ms 
whole mapping time 185.105343 ms +++++
data association time 26.075261 ms 
solver time 17.501665 ms 
build tree time 36.935284 ms 
points size 93013 
sort q time 5.482243 
seperate points time 13.653088 
publication time 13.001157 ms 
whole laserOdometry time 103.484529 ms 
 
[33m[ WARN] [1718802321.468075103]: odometry process over 100ms[0m
mapping solver time 27.450630 ms 
data association time 27.837892 ms 
mapping data assosiation time 39.153954 ms 
mapping solver time 20.950292 ms 
mapping optimization time 165.209275 
add points time 0.792978 ms
points size 93323 
sort q time 5.577394 
seperate points time 14.775083 
build tree time 37.424462 ms 
data association time 26.969428 ms 
solver time 21.158271 ms 
sort q time 5.220413 
seperate points time 12.954377 
mapping solver time 26.364663 ms 
solver time 16.989402 ms 
optimization twice time 92.700449 
publication time 14.831777 ms 
whole laserOdometry time 107.563768 ms 
 
[33m[ WARN] [1718802321.693989748]: odometry process over 100ms[0m
mapping data assosiation time 40.319215 ms 
mapping solver time 15.995187 ms 
filter time 11.848463 ms 
sort q time 4.649023 
seperate points time 11.885373 
solver time 10.951135 ms 
optimization twice time 81.248511 
build tree time 35.907244 ms 
publication time 14.256564 ms 
whole laserOdometry time 95.525932 ms 
 
mapping data assosiation time 39.764815 ms 
solver time 19.764252 ms 
sort q time 5.345251 
seperate points time 13.530759 
solver time 13.027393 ms 
publication time 13.011332 ms 
whole laserOdometry time 102.753075 ms 
 
[33m[ WARN] [1718802321.897305743]: odometry process over 100ms[0m
mapping solver time 21.780848 ms 
mapping optimization time 165.045386 
add points time 0.795173 ms
filter time 11.983168 ms 
solver time 15.509675 ms 
points size 92179 
data association time 24.217128 ms 
solver time 12.507110 ms 
optimization twice time 77.691280 
publication time 14.073014 ms 
whole laserOdometry time 91.783052 ms 
 
mapping data assosiation time 40.311921 ms 
data association time 26.358661 ms 
mapping solver time 25.644562 ms 
points size 92727 
data association time 28.110321 ms 
scan registration time 31.825779 ms *************
publication time 12.668362 ms 
whole laserOdometry time 97.604764 ms 
 
filter time 8.637063 ms 
solver time 10.856876 ms 
data association time 16.102709 ms 
publication time 10.314309 ms 
whole laserOdometry time 65.856276 ms 
 
mapping data assosiation time 39.489696 ms 
mapping solver time 24.407529 ms 
data association time 17.986325 ms 
solver time 12.480100 ms 
mapping data assosiation time 34.036127 ms 
data association time 21.071667 ms 
add points time 0.789478 ms
filter time 12.686452 ms 
scan registration time 37.382058 ms *************
data association time 14.605032 ms 
build tree time 29.478500 ms 
data association time 14.364659 ms 
solver time 11.731398 ms 
publication time 13.123740 ms 
whole laserOdometry time 64.894088 ms 
 
mapping solver time 22.466831 ms 
sort q time 5.908002 
seperate points time 15.375877 
mapping data assosiation time 35.965341 ms 
mapping solver time 13.495896 ms 
filter time 10.681536 ms 
data association time 15.928668 ms 
solver time 10.009526 ms 
build tree time 32.718880 ms 
sort q time 5.421674 
seperate points time 14.025603 
mapping data assosiation time 33.560277 ms 
data association time 15.052326 ms 
mapping solver time 14.351098 ms 
solver time 12.873451 ms 
data association time 15.151439 ms 
mapping data assosiation time 29.537512 ms 
optimization twice time 55.272557 
publication time 9.676627 ms 
whole laserOdometry time 64.968167 ms 
 
filter time 11.495461 ms 
points size 87894 
mapping pub time 1.135577 ms 
whole mapping time 138.990230 ms +++++
sort q time 4.108020 
seperate points time 10.444769 
scan registration time 28.118476 ms *************
build tree time 30.071397 ms 
data association time 17.264430 ms 
solver time 13.472299 ms 
mapping data assosiation time 31.208193 ms 
data association time 15.615262 ms 
solver time 10.882625 ms 
mapping solver time 17.512934 ms 
optimization twice time 58.310923 
points size 86682 
mapping data assosiation time 33.249128 ms 
mapping solver time 14.263763 ms 
filter time 8.708261 ms 
data association time 15.080460 ms 
solver time 12.484242 ms 
build tree time 28.259483 ms 
data association time 16.098695 ms 
solver time 11.506344 ms 
publication time 10.376863 ms 
whole laserOdometry time 66.450142 ms 
 
mapping solver time 14.915693 ms 
data association time 14.825605 ms 
solver time 12.865029 ms 
add points time 0.862624 ms
data association time 15.306054 ms 
map prepare time 3.279085 ms
map corner num 109495  surf num 47578 
solver time 11.150692 ms 
optimization twice time 55.050708 
points size 87150 
sort q time 4.179677 
seperate points time 10.924508 
mapping data assosiation time 28.251707 ms 
data association time 15.373566 ms 
mapping solver time 16.343357 ms 
data association time 13.745144 ms 
mapping data assosiation time 26.560500 ms 
optimization twice time 55.695435 
mapping solver time 13.780293 ms 
points size 87915 
scan registration time 30.836760 ms *************
build tree time 29.025242 ms 
solver time 11.370975 ms 
data association time 14.228070 ms 
solver time 10.978881 ms 
publication time 10.604761 ms 
whole laserOdometry time 62.183291 ms 
 
points size 89938 
mapping data assosiation time 30.226055 ms 
sort q time 4.650232 
seperate points time 11.638033 
scan registration time 29.736910 ms *************
data association time 14.571500 ms 
filter time 11.488883 ms 
mapping pub time 2.696897 ms 
whole mapping time 136.912777 ms +++++
data association time 13.979526 ms 
solver time 7.713098 ms 
publication time 8.457818 ms 
whole laserOdometry time 57.618535 ms 
 
mapping data assosiation time 31.108445 ms 
prepare time 14.078197 
scan registration time 28.293196 ms *************
data association time 14.183791 ms 
mapping data assosiation time 28.977533 ms 
solver time 12.963820 ms 
data association time 17.008844 ms 
solver time 14.521428 ms 
publication time 11.092670 ms 
whole laserOdometry time 70.786292 ms 
 
prepare time 16.224129 
sort q time 4.528028 
seperate points time 12.058050 
mapping data assosiation time 31.024780 ms 
data association time 14.549928 ms 
solver time 13.622293 ms 
data association time 14.763473 ms 
solver time 11.708281 ms 
publication time 11.952919 ms 
whole laserOdometry time 67.665769 ms 
 
points size 91030 
filter time 10.050416 ms 
data association time 14.369378 ms 
solver time 11.032131 ms 
data association time 16.636546 ms 
solver time 7.809041 ms 
mapping data assosiation time 33.607777 ms 
points size 90422 
sort q time 4.431716 
seperate points time 11.757307 
mapping data assosiation time 31.208378 ms 
data association time 14.235332 ms 
mapping solver time 12.583719 ms 
mapping optimization time 128.035085 
add points time 0.767707 ms
filter time 12.033536 ms 
mapping pub time 1.128109 ms 
whole mapping time 146.236678 ms +++++
solver time 7.842806 ms 
publication time 12.035342 ms 
whole laserOdometry time 60.478311 ms 
 
build tree time 35.608085 ms 
points size 88633 
prepare time 14.799516 
sort q time 5.538355 
seperate points time 14.108031 
scan registration time 32.875125 ms *************
data association time 17.097661 ms 
solver time 13.624715 ms 
data association time 20.017432 ms 
solver time 11.093406 ms 
publication time 10.007676 ms 
whole laserOdometry time 72.763209 ms 
 
sort q time 4.382719 
seperate points time 11.569325 
map prepare time 3.513172 ms
map corner num 116366  surf num 52310 
data association time 14.748507 ms 
build tree time 32.430564 ms 
data association time 15.494181 ms 
solver time 10.078452 ms 
mapping data assosiation time 34.901822 ms 
points size 87522 
prepare time 13.955731 
sort q time 4.751275 
seperate points time 12.217180 
data association time 14.555007 ms 
mapping data assosiation time 32.986892 ms 
solver time 13.439260 ms 
mapping solver time 15.548023 ms 
filter time 13.847410 ms 
publication time 10.293589 ms 
whole laserOdometry time 62.948451 ms 
 
points size 87877 
map prepare time 4.206129 ms
map corner num 117491  surf num 53027 
[0m[ INFO] [1718802323.951297097]: Received 677967 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802323.951329975]: Data saved to 1317357870807105.pcd[0m
build tree time 34.808156 ms 
solver time 17.906457 ms 
mapping data assosiation time 36.099819 ms 
data association time 24.257800 ms 
mapping solver time 22.788152 ms 
points size 88298 
solver time 15.146164 ms 
optimization twice time 83.393311 
prepare time 17.535409 
sort q time 5.678006 
seperate points time 15.196884 
mapping data assosiation time 39.004647 ms 
mapping solver time 14.359213 ms 
mapping pub time 1.007417 ms 
whole mapping time 165.910239 ms +++++
solver time 15.639484 ms 
data association time 24.088138 ms 
solver time 11.444611 ms 
publication time 12.381133 ms 
whole laserOdometry time 88.516326 ms 
 
mapping data assosiation time 36.346941 ms 
data association time 23.790979 ms 
solver time 15.189768 ms 
data association time 23.448273 ms 
solver time 11.568545 ms 
optimization twice time 75.041213 
mapping data assosiation time 32.597934 ms 
points size 88034 
mapping solver time 16.607267 ms 
mapping optimization time 142.462040 
add points time 0.810610 ms
filter time 13.265645 ms 
data association time 26.833281 ms 
build tree time 35.085312 ms 
data association time 27.532942 ms 
solver time 11.920244 ms 
optimization twice time 82.886599 
data association time 22.554005 ms 
solver time 9.687596 ms 
data association time 17.063429 ms 
solver time 10.352134 ms 
publication time 11.506179 ms 
whole laserOdometry time 71.997857 ms 
 
build tree time 34.778706 ms 
data association time 15.515809 ms 
mapping data assosiation time 30.685143 ms 
mapping solver time 18.325174 ms 
solver time 9.000069 ms 
optimization twice time 52.068989 
mapping data assosiation time 32.128748 ms 
points size 90961 
prepare time 15.873566 
sort q time 5.169271 
seperate points time 12.552179 
filter time 12.099105 ms 
data association time 15.618520 ms 
solver time 11.096191 ms 
build tree time 37.530363 ms 
data association time 19.173219 ms 
publication time 10.341911 ms 
whole laserOdometry time 71.542847 ms 
 
mapping data assosiation time 41.201022 ms 
sort q time 5.350055 
seperate points time 13.933080 
data association time 16.812893 ms 
solver time 11.453359 ms 
mapping solver time 14.509866 ms 
optimization twice time 53.382768 
publication time 11.364237 ms 
whole laserOdometry time 64.768209 ms 
 
points size 92525 
prepare time 19.003276 
sort q time 5.391794 
seperate points time 14.158793 
scan registration time 37.057035 ms *************
build tree time 40.736496 ms 
data association time 20.563746 ms 
solver time 12.574113 ms 
mapping data assosiation time 31.926858 ms 
data association time 14.956704 ms 
optimization twice time 58.209339 
publication time 10.954365 ms 
whole laserOdometry time 69.186085 ms 
 
sort q time 5.384678 
seperate points time 13.168828 
mapping data assosiation time 32.065629 ms 
scan registration time 31.655905 ms *************
data association time 15.551505 ms 
solver time 13.127053 ms 
data association time 15.719405 ms 
optimization twice time 53.999421 
publication time 11.324618 ms 
whole laserOdometry time 65.344574 ms 
 
prepare time 15.187188 
sort q time 5.016492 
seperate points time 12.471314 
mapping solver time 16.449230 ms 
data association time 15.339289 ms 
solver time 11.016872 ms 
data association time 15.486376 ms 
solver time 10.158283 ms 
mapping solver time 18.052223 ms 
filter time 13.836894 ms 
sort q time 4.176843 
seperate points time 10.884217 
build tree time 35.889110 ms 
solver time 11.056777 ms 
data association time 15.841415 ms 
solver time 8.060824 ms 
publication time 11.090321 ms 
whole laserOdometry time 62.666825 ms 
 
points size 94222 
mapping data assosiation time 30.475169 ms 
mapping solver time 15.741196 ms 
filter time 11.333462 ms 
mapping pub time 1.116051 ms 
whole mapping time 152.638188 ms +++++
data association time 17.068170 ms 
map prepare time 3.444843 ms
map corner num 126957  surf num 57412 
solver time 10.349610 ms 
data association time 16.520992 ms 
solver time 10.447882 ms 
publication time 10.838912 ms 
whole laserOdometry time 66.241437 ms 
 
prepare time 21.050471 
sort q time 6.220243 
seperate points time 16.280602 
mapping solver time 20.655684 ms 
solver time 10.225988 ms 
mapping data assosiation time 31.914031 ms 
solver time 8.705555 ms 
mapping optimization time 154.302452 
filter time 13.374122 ms 
data association time 20.036471 ms 
solver time 12.885122 ms 
data association time 16.215881 ms 
solver time 8.827123 ms 
publication time 12.165118 ms 
whole laserOdometry time 71.052206 ms 
 
points size 93907 
sort q time 5.349916 
seperate points time 14.953671 
mapping data assosiation time 33.336747 ms 
data association time 18.753471 ms 
add points time 0.786255 ms
filter time 15.737656 ms 
solver time 7.855354 ms 
publication time 11.421699 ms 
whole laserOdometry time 67.905045 ms 
 
prepare time 18.453349 
build tree time 39.009295 ms 
data association time 15.166554 ms 
solver time 10.729601 ms 
data association time 20.852692 ms 
solver time 10.384223 ms 
publication time 11.914078 ms 
whole laserOdometry time 69.924755 ms 
 
points size 94059 
mapping solver time 23.498781 ms 
mapping optimization time 170.882997 
add points time 0.748644 ms
filter time 15.374433 ms 
data association time 19.416436 ms 
prepare time 12.426523 
build tree time 42.795041 ms 
data association time 15.870026 ms 
mapping data assosiation time 33.743864 ms 
mapping solver time 16.183188 ms 
data association time 16.377766 ms 
solver time 8.947236 ms 
publication time 12.182775 ms 
whole laserOdometry time 65.309877 ms 
 
points size 90854 
prepare time 13.689422 
mapping solver time 15.017237 ms 
filter time 13.440947 ms 
data association time 16.596870 ms 
solver time 10.609284 ms 
data association time 15.756805 ms 
solver time 7.945109 ms 
publication time 10.004874 ms 
whole laserOdometry time 61.734300 ms 
 
points size 88999 
sort q time 4.227561 
seperate points time 10.915995 
scan registration time 27.928808 ms *************
mapping solver time 18.133431 ms 
data association time 17.600623 ms 
solver time 10.688411 ms 
mapping data assosiation time 33.966715 ms 
data association time 16.397713 ms 
mapping solver time 17.412336 ms 
publication time 9.840913 ms 
whole laserOdometry time 64.032279 ms 
 
map prepare time 3.713124 ms
map corner num 133323  surf num 59886 
points size 88550 
prepare time 13.741591 
sort q time 4.225688 
seperate points time 10.790022 
build tree time 39.084513 ms 
data association time 15.770536 ms 
solver time 11.107855 ms 
mapping data assosiation time 31.343392 ms 
data association time 16.092034 ms 
solver time 8.188249 ms 
optimization twice time 52.067946 
points size 88395 
prepare time 13.355578 
mapping data assosiation time 33.565198 ms 
mapping solver time 17.186135 ms 
data association time 16.130478 ms 
filter time 13.913488 ms 
solver time 7.825788 ms 
publication time 9.085113 ms 
whole laserOdometry time 60.542424 ms 
 
points size 87304 
sort q time 4.399510 
seperate points time 11.349044 
mapping data assosiation time 30.985733 ms 
scan registration time 28.232583 ms *************
mapping solver time 21.174337 ms 
solver time 10.797080 ms 
data association time 15.439461 ms 
mapping data assosiation time 31.709530 ms 
mapping solver time 15.692256 ms 
mapping optimization time 136.849439 
add points time 0.982704 ms
filter time 12.649842 ms 
sort q time 4.010939 
seperate points time 10.403927 
build tree time 35.086331 ms 
solver time 7.329479 ms 
data association time 15.348837 ms 
solver time 8.175092 ms 
publication time 8.716056 ms 
whole laserOdometry time 55.563633 ms 
 
points size 85279 
mapping data assosiation time 30.909642 ms 
sort q time 4.651950 
seperate points time 12.279254 
scan registration time 29.105838 ms *************
mapping solver time 16.439507 ms 
data association time 16.315832 ms 
filter time 13.035718 ms 
mapping pub time 1.068440 ms 
whole mapping time 151.751517 ms +++++
solver time 11.175444 ms 
data association time 15.401163 ms 
solver time 7.661729 ms 
publication time 9.703982 ms 
whole laserOdometry time 61.078775 ms 
 
points size 86792 
sort q time 4.694091 
seperate points time 11.955769 
data association time 13.909958 ms 
solver time 11.390922 ms 
data association time 17.277871 ms 
solver time 10.524692 ms 
publication time 10.090531 ms 
whole laserOdometry time 64.128754 ms 
 
filter time 12.390093 ms 
mapping pub time 1.067304 ms 
whole mapping time 158.246937 ms +++++
drop lidar frame in mapping for real time performance 
points size 86864 
prepare time 13.796011 
map prepare time 3.905093 ms
map corner num 137933  surf num 61728 
sort q time 5.025340 
seperate points time 12.642851 
data association time 14.737059 ms 
solver time 12.985251 ms 
data association time 16.724406 ms 
solver time 9.778512 ms 
publication time 10.733021 ms 
whole laserOdometry time 66.023918 ms 
 
points size 89741 
sort q time 4.488366 
seperate points time 11.733364 
mapping solver time 14.437847 ms 
solver time 9.894533 ms 
data association time 15.540600 ms 
solver time 8.509481 ms 
publication time 10.442825 ms 
whole laserOdometry time 60.547616 ms 
 
build tree time 42.284626 ms 
points size 91064 
mapping data assosiation time 31.317757 ms 
publication time 9.259823 ms 
whole laserOdometry time 57.099549 ms 
 
mapping solver time 19.943829 ms 
mapping optimization time 148.169253 
add points time 0.878219 ms
points size 93883 
filter time 13.334316 ms 
scan registration time 32.071257 ms *************
data association time 26.271058 ms 
build tree time 48.941170 ms 
solver time 14.870122 ms 
data association time 17.841769 ms 
solver time 8.999332 ms 
prepare time 14.699271 
sort q time 4.541763 
seperate points time 11.862771 
data association time 17.399456 ms 
mapping data assosiation time 33.109758 ms 
mapping solver time 17.113293 ms 
mapping optimization time 157.289501 
add points time 0.806546 ms
data association time 17.340899 ms 
filter time 14.153682 ms 
points size 96914 
sort q time 6.160414 
seperate points time 15.184780 
mapping pub time 57.202199 ms 
whole mapping time 233.240453 ms +++++
data association time 19.070456 ms 
[0m[ INFO] [1718802327.309816960]: Received 711773 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802327.309851254]: Data saved to 1317357874132841.pcd[0m
data association time 17.353435 ms 
build tree time 51.340806 ms 
sort q time 4.400836 
seperate points time 11.267322 
mapping data assosiation time 43.319975 ms 
solver time 10.243962 ms 
mapping solver time 28.402756 ms 
solver time 8.877072 ms 
publication time 12.919537 ms 
whole laserOdometry time 67.207109 ms 
 
points size 94723 
prepare time 15.469568 
sort q time 4.966032 
seperate points time 12.539421 
mapping solver time 23.601588 ms 
mapping optimization time 192.292463 
add points time 0.951316 ms
data association time 18.372749 ms 
map prepare time 4.816534 ms
map corner num 141946  surf num 64099 
data association time 17.680470 ms 
solver time 10.333158 ms 
publication time 11.296876 ms 
whole laserOdometry time 70.377700 ms 
 
prepare time 15.383328 
sort q time 5.286291 
seperate points time 12.778353 
data association time 16.257630 ms 
mapping data assosiation time 45.391066 ms 
data association time 16.648536 ms 
solver time 8.355690 ms 
optimization twice time 51.103177 
mapping solver time 30.208689 ms 
points size 96334 
sort q time 4.729588 
seperate points time 12.346334 
data association time 16.362545 ms 
mapping optimization time 204.757114 
add points time 0.955897 ms
solver time 13.341731 ms 
mapping pub time 1.475022 ms 
whole mapping time 228.145741 ms +++++
data association time 17.328824 ms 
drop lidar frame in mapping for real time performance 
map prepare time 4.806252 ms
map corner num 143035  surf num 64951 
publication time 9.862971 ms 
whole laserOdometry time 69.142648 ms 
 
points size 98126 
sort q time 5.591456 
seperate points time 14.052640 
data association time 31.162559 ms 
solver time 17.358609 ms 
mapping solver time 30.681900 ms 
sort q time 4.500845 
seperate points time 11.810988 
publication time 14.023098 ms 
whole laserOdometry time 105.165806 ms 
 
[33m[ WARN] [1718802327.907208569]: odometry process over 100ms[0m
mapping data assosiation time 46.116155 ms 
data association time 28.423498 ms 
mapping solver time 24.900571 ms 
mapping optimization time 199.910917 
add points time 0.910380 ms
solver time 15.472784 ms 
filter time 17.144027 ms 
map prepare time 5.067219 ms
map corner num 144111  surf num 65733 
points size 100902 
solver time 8.646383 ms 
optimization twice time 80.276639 
build tree time 46.434405 ms 
data association time 18.253728 ms 
solver time 10.657308 ms 
mapping data assosiation time 37.875259 ms 
solver time 7.850258 ms 
publication time 11.329935 ms 
whole laserOdometry time 66.797558 ms 
 
sort q time 6.130814 
seperate points time 15.659024 
scan registration time 39.651954 ms *************
mapping solver time 24.327642 ms 
mapping optimization time 177.615454 
add points time 0.916350 ms
data association time 27.998383 ms 
solver time 15.144738 ms 
points size 101112 
data association time 28.607973 ms 
solver time 11.003786 ms 
build tree time 41.986781 ms 
data association time 28.840285 ms 
mapping data assosiation time 48.417924 ms 
data association time 25.103678 ms 
solver time 12.639978 ms 
sort q time 6.137222 
seperate points time 15.309317 
mapping data assosiation time 48.055064 ms 
solver time 16.156533 ms 
mapping solver time 21.763589 ms 
mapping optimization time 195.418144 
add points time 0.977308 ms
filter time 14.059536 ms 
data association time 26.293318 ms 
prepare time 19.890407 
publication time 12.558290 ms 
whole laserOdometry time 95.836768 ms 
 
sort q time 6.163532 
seperate points time 15.627294 
scan registration time 40.334834 ms *************
build tree time 40.729314 ms 
data association time 28.024392 ms 
solver time 17.169798 ms 
mapping data assosiation time 47.588255 ms 
points size 101553 
solver time 8.151590 ms 
sort q time 6.138092 
seperate points time 15.649024 
mapping data assosiation time 47.058084 ms 
solver time 12.299532 ms 
mapping optimization time 196.171439 
points size 101467 
publication time 10.940333 ms 
whole laserOdometry time 83.664373 ms 
 
sort q time 6.355984 
seperate points time 16.049228 
data association time 17.206553 ms 
solver time 11.242759 ms 
data association time 17.416604 ms 
publication time 11.019796 ms 
whole laserOdometry time 65.932916 ms 
 
points size 101385 
mapping solver time 31.709417 ms 
sort q time 6.087900 
seperate points time 15.528929 
data association time 15.007158 ms 
mapping data assosiation time 41.302528 ms 
data association time 16.919784 ms 
filter time 12.116713 ms 
points size 101302 
sort q time 5.884930 
seperate points time 15.142760 
build tree time 37.474209 ms 
solver time 12.168077 ms 
data association time 16.334594 ms 
publication time 9.886950 ms 
whole laserOdometry time 65.142666 ms 
 
points size 101594 
prepare time 19.083753 
sort q time 5.621028 
seperate points time 14.350489 
mapping data assosiation time 40.336249 ms 
mapping solver time 16.355529 ms 
mapping optimization time 162.316909 
data association time 25.134577 ms 
add points time 0.966940 ms
filter time 13.274741 ms 
map prepare time 4.573277 ms
map corner num 110484  surf num 50927 
data association time 25.869622 ms 
build tree time 32.314450 ms 
publication time 12.532382 ms 
whole laserOdometry time 91.984254 ms 
 
scan registration time 35.970802 ms *************
mapping data assosiation time 42.837524 ms 
data association time 25.307022 ms 
solver time 15.214485 ms 
data association time 25.206866 ms 
prepare time 16.613009 
publication time 12.416940 ms 
whole laserOdometry time 90.829935 ms 
 
sort q time 5.652871 
seperate points time 14.131634 
mapping data assosiation time 42.858356 ms 
mapping solver time 17.962405 ms 
mapping optimization time 168.304755 
add points time 1.049145 ms
filter time 12.967917 ms 
solver time 15.260301 ms 
build tree time 31.229785 ms 
data association time 27.662429 ms 
solver time 11.359456 ms 
sort q time 7.312039 
seperate points time 18.351522 
publication time 12.630860 ms 
whole laserOdometry time 96.458024 ms 
 
scan registration time 38.994205 ms *************
data association time 15.045076 ms 
solver time 8.161314 ms 
data association time 15.565598 ms 
solver time 8.525024 ms 
optimization twice time 48.118061 
mapping data assosiation time 43.196565 ms 
points size 100007 
prepare time 15.357535 
sort q time 4.974399 
seperate points time 12.338421 
filter time 13.274037 ms 
mapping pub time 3.142507 ms 
whole mapping time 193.378958 ms +++++
drop lidar frame in mapping for real time performance 
solver time 12.309869 ms 
data association time 15.823345 ms 
optimization twice time 53.859751 
publication time 11.027774 ms 
whole laserOdometry time 64.902777 ms 
 
prepare time 15.397234 
sort q time 4.984424 
seperate points time 12.744227 
mapping data assosiation time 49.214386 ms 
mapping solver time 17.183164 ms 
solver time 10.817536 ms 
data association time 15.326739 ms 
points size 100515 
mapping solver time 21.482065 ms 
scan registration time 35.294211 ms *************
map prepare time 3.653846 ms
map corner num 114257  surf num 53227 
data association time 17.408960 ms 
build tree time 30.101396 ms 
data association time 16.462043 ms 
solver time 9.959512 ms 
publication time 10.946621 ms 
whole laserOdometry time 68.654717 ms 
 
sort q time 6.013293 
seperate points time 15.368009 
data association time 15.198349 ms 
solver time 11.483276 ms 
mapping data assosiation time 41.085506 ms 
data association time 16.187497 ms 
mapping solver time 12.805764 ms 
publication time 12.731559 ms 
whole laserOdometry time 65.451069 ms 
 
points size 100739 
sort q time 4.929093 
seperate points time 12.779699 
build tree time 31.682610 ms 
data association time 14.864687 ms 
solver time 10.255373 ms 
mapping data assosiation time 41.967357 ms 
solver time 8.382569 ms 
publication time 10.659331 ms 
whole laserOdometry time 60.402014 ms 
 
mapping solver time 27.975678 ms 
prepare time 16.025853 
sort q time 6.015621 
seperate points time 15.105448 
mapping data assosiation time 47.232223 ms 
data association time 25.308406 ms 
mapping solver time 26.678056 ms 
filter time 17.128340 ms 
map prepare time 4.664853 ms
map corner num 116637  surf num 54658 
publication time 10.100160 ms 
whole laserOdometry time 85.757639 ms 
 
sort q time 6.565216 
seperate points time 15.898382 
build tree time 31.525015 ms 
data association time 14.803858 ms 
solver time 10.326586 ms 
mapping data assosiation time 41.643964 ms 
solver time 7.795183 ms 
publication time 10.646642 ms 
whole laserOdometry time 59.916070 ms 
 
points size 101038 
prepare time 16.591173 
sort q time 4.985857 
seperate points time 12.796574 
mapping data assosiation time 43.718562 ms 
data association time 17.932698 ms 
solver time 9.914735 ms 
mapping solver time 25.352698 ms 
mapping optimization time 171.151153 
data association time 15.794218 ms 
map prepare time 3.817816 ms
map corner num 117815  surf num 55422 
publication time 11.465255 ms 
whole laserOdometry time 65.621938 ms 
 
prepare time 15.767904 
build tree time 34.346298 ms 
data association time 15.845676 ms 
solver time 10.659787 ms 
data association time 15.212514 ms 
solver time 8.367038 ms 
optimization twice time 50.823151 
mapping solver time 23.978162 ms 
points size 101248 
sort q time 5.184799 
seperate points time 12.089498 
data association time 15.071002 ms 
solver time 11.166423 ms 
filter time 11.534076 ms 
data association time 18.663800 ms 
solver time 8.527567 ms 
publication time 9.650943 ms 
whole laserOdometry time 63.986940 ms 
 
build tree time 36.434892 ms 
points size 101385 
prepare time 15.420108 
sort q time 5.215312 
seperate points time 12.376727 
data association time 16.252643 ms 
solver time 9.626230 ms 
data association time 15.492358 ms 
mapping solver time 29.585997 ms 
publication time 9.359507 ms 
whole laserOdometry time 60.377964 ms 
 
points size 101353 
sort q time 4.596100 
seperate points time 10.903337 
mapping data assosiation time 44.685105 ms 
scan registration time 31.749949 ms *************
data association time 16.318924 ms 
solver time 13.374847 ms 
data association time 17.717724 ms 
optimization twice time 57.941372 
publication time 10.361033 ms 
whole laserOdometry time 68.319973 ms 
 
points size 101419 
prepare time 15.719280 
sort q time 4.777953 
seperate points time 11.369734 
mapping data assosiation time 44.078468 ms 
solver time 11.593101 ms 
data association time 17.185719 ms 
solver time 12.574321 ms 
publication time 8.902380 ms 
whole laserOdometry time 69.059619 ms 
 
points size 102591 
mapping data assosiation time 45.181986 ms 
sort q time 6.191512 
seperate points time 14.321338 
mapping solver time 28.111418 ms 
data association time 20.809893 ms 
map prepare time 3.615620 ms
map corner num 120839  surf num 57075 
data association time 16.914716 ms 
solver time 10.233613 ms 
points size 102758 
sort q time 5.268086 
seperate points time 12.538943 
mapping data assosiation time 47.543627 ms 
solver time 10.028956 ms 
data association time 14.794080 ms 
publication time 9.615745 ms 
whole laserOdometry time 59.908042 ms 
 
points size 102732 
sort q time 4.900603 
seperate points time 11.751120 
mapping solver time 20.547029 ms 
filter time 13.646917 ms 
data association time 18.329356 ms 
solver time 10.190196 ms 
publication time 12.600019 ms 
whole laserOdometry time 70.125331 ms 
 
points size 102717 
sort q time 5.579045 
seperate points time 12.842404 
mapping data assosiation time 41.719899 ms 
solver time 13.064272 ms 
mapping solver time 32.336956 ms 
solver time 10.595021 ms 
publication time 11.423190 ms 
whole laserOdometry time 72.683597 ms 
 
points size 102735 
mapping data assosiation time 48.233504 ms 
data association time 14.954741 ms 
mapping solver time 28.776723 ms 
mapping optimization time 192.649630 
add points time 1.060034 ms
filter time 13.206232 ms 
mapping pub time 1.301741 ms 
whole mapping time 212.665246 ms +++++
drop lidar frame in mapping for real time performance 
data association time 15.176914 ms 
solver time 7.935052 ms 
publication time 11.205394 ms 
whole laserOdometry time 60.740990 ms 
 
points size 102707 
sort q time 4.745310 
seperate points time 11.344145 
scan registration time 32.141921 ms *************
data association time 15.615128 ms 
solver time 10.479007 ms 
data association time 14.624208 ms 
solver time 7.828876 ms 
publication time 9.406108 ms 
whole laserOdometry time 58.736042 ms 
 
points size 102694 
sort q time 6.254781 
seperate points time 14.598373 
mapping solver time 27.071846 ms 
filter time 14.587517 ms 
data association time 15.948839 ms 
publication time 12.467753 ms 
whole laserOdometry time 77.484213 ms 
 
sort q time 6.828918 
seperate points time 15.930016 
[0m[ INFO] [1718802331.462645580]: Received 747986 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802331.462681439]: Data saved to 1317357878187115.pcd[0m
solver time 15.012153 ms 
data association time 24.280545 ms 
points size 102388 
sort q time 4.953210 
seperate points time 11.710535 
mapping solver time 34.641711 ms 
solver time 14.644888 ms 
data association time 17.267292 ms 
mapping data assosiation time 48.591807 ms 
sort q time 5.782940 
seperate points time 13.647578 
filter time 12.676058 ms 
map prepare time 4.669710 ms
map corner num 124788  surf num 59044 
solver time 10.946875 ms 
data association time 15.289408 ms 
solver time 10.314941 ms 
publication time 11.120226 ms 
whole laserOdometry time 63.572250 ms 
 
prepare time 16.657324 
sort q time 5.562120 
seperate points time 13.235737 
mapping data assosiation time 51.747270 ms 
data association time 15.534139 ms 
mapping solver time 35.346245 ms 
solver time 8.231979 ms 
publication time 11.491586 ms 
whole laserOdometry time 60.064433 ms 
 
points size 102187 
sort q time 5.022556 
seperate points time 12.125440 
mapping solver time 27.115608 ms 
solver time 11.162500 ms 
map prepare time 3.897404 ms
map corner num 125600  surf num 59430 
solver time 7.462370 ms 
publication time 10.683721 ms 
whole laserOdometry time 61.426887 ms 
 
points size 102115 
prepare time 16.572675 
build tree time 40.476297 ms 
sort q time 5.844545 
seperate points time 13.606628 
scan registration time 35.244117 ms *************
data association time 20.970059 ms 
data association time 15.451850 ms 
publication time 12.242039 ms 
whole laserOdometry time 67.091035 ms 
 
mapping solver time 44.967614 ms 
prepare time 22.745925 
sort q time 6.896985 
seperate points time 16.870865 
mapping data assosiation time 53.033580 ms 
data association time 15.901674 ms 
solver time 12.634458 ms 
mapping solver time 33.924169 ms 
mapping pub time 1.500198 ms 
whole mapping time 249.730818 ms +++++
sort q time 6.203269 
seperate points time 14.440023 
scan registration time 36.584344 ms *************
build tree time 34.779572 ms 
data association time 23.363531 ms 
solver time 9.389426 ms 
data association time 15.596490 ms 
points size 101931 
mapping solver time 29.248513 ms 
data association time 15.125621 ms 
mapping data assosiation time 43.766930 ms 
data association time 15.396869 ms 
mapping solver time 20.609745 ms 
filter time 15.861697 ms 
map prepare time 4.989960 ms
map corner num 127148  surf num 60097 
sort q time 6.004002 
seperate points time 14.984802 
build tree time 41.061523 ms 
solver time 10.351741 ms 
data association time 15.453324 ms 
solver time 8.835810 ms 
publication time 11.465581 ms 
whole laserOdometry time 61.661463 ms 
 
points size 101860 
sort q time 6.013850 
seperate points time 14.865033 
mapping solver time 45.005407 ms 
data association time 15.130980 ms 
solver time 8.597388 ms 
data association time 15.009662 ms 
publication time 10.654745 ms 
whole laserOdometry time 58.290234 ms 
 
points size 101695 
prepare time 19.721177 
sort q time 6.080812 
seperate points time 15.116139 
scan registration time 40.626472 ms *************
mapping pub time 4.235696 ms 
whole mapping time 248.174975 ms +++++
solver time 15.229361 ms 
data association time 14.808766 ms 
build tree time 38.315259 ms 
publication time 11.569427 ms 
whole laserOdometry time 67.758039 ms 
 
points size 101505 
sort q time 6.892545 
seperate points time 16.742002 
data association time 14.944922 ms 
solver time 12.398398 ms 
mapping solver time 35.385060 ms 
data association time 18.180673 ms 
solver time 9.274958 ms 
points size 101461 
sort q time 5.228996 
seperate points time 12.238344 
data association time 15.058521 ms 
solver time 11.824691 ms 
filter time 14.015450 ms 
solver time 7.854395 ms 
publication time 11.416307 ms 
whole laserOdometry time 63.201573 ms 
 
prepare time 16.040415 
build tree time 41.270719 ms 
data association time 14.576299 ms 
solver time 11.343703 ms 
data association time 16.052601 ms 
mapping solver time 36.712684 ms 
points size 100788 
prepare time 15.862642 
sort q time 4.757103 
seperate points time 11.337213 
mapping data assosiation time 45.218614 ms 
solver time 10.374657 ms 
mapping solver time 30.866441 ms 
data association time 15.828025 ms 
mapping optimization time 203.779630 
add points time 0.948407 ms
filter time 14.637040 ms 
points size 98913 
sort q time 5.011160 
seperate points time 12.137655 
build tree time 37.555788 ms 
data association time 15.187698 ms 
solver time 13.561396 ms 
data association time 14.529635 ms 
solver time 10.287743 ms 
publication time 11.386605 ms 
whole laserOdometry time 65.846460 ms 
 
prepare time 15.732424 
scan registration time 35.122788 ms *************
data association time 14.147305 ms 
mapping data assosiation time 45.677070 ms 
data association time 15.556286 ms 
mapping solver time 27.879308 ms 
filter time 13.848537 ms 
sort q time 5.048480 
seperate points time 11.894546 
scan registration time 31.812020 ms *************
data association time 15.449050 ms 
solver time 12.290657 ms 
data association time 15.610539 ms 
publication time 9.187953 ms 
whole laserOdometry time 62.758991 ms 
 
points size 95343 
sort q time 5.734408 
seperate points time 13.404357 
mapping solver time 35.121914 ms 
data association time 14.964631 ms 
data association time 15.476888 ms 
solver time 8.185424 ms 
publication time 9.109276 ms 
whole laserOdometry time 58.824582 ms 
 
points size 95197 
mapping solver time 28.178255 ms 
mapping optimization time 201.382214 
prepare time 14.276089 
add points time 1.144314 ms
sort q time 5.446758 
seperate points time 13.198702 
map prepare time 3.844927 ms
map corner num 130732  surf num 61610 
data association time 15.117572 ms 
solver time 12.105701 ms 
build tree time 37.480090 ms 
solver time 10.965521 ms 
publication time 12.508691 ms 
whole laserOdometry time 66.910399 ms 
 
points size 95318 
sort q time 4.429213 
seperate points time 10.585009 
scan registration time 29.789539 ms *************
mapping solver time 33.282172 ms 
solver time 12.979135 ms 
data association time 16.664177 ms 
optimization twice time 55.570119 
points size 95198 
mapping solver time 28.624605 ms 
scan registration time 31.447271 ms *************
mapping pub time 3.079093 ms 
whole mapping time 215.746592 ms +++++
data association time 17.771265 ms 
solver time 14.535690 ms 
data association time 16.461166 ms 
build tree time 39.702679 ms 
publication time 9.838975 ms 
whole laserOdometry time 67.885277 ms 
 
points size 95021 
sort q time 4.393182 
seperate points time 10.331191 
data association time 15.814358 ms 
solver time 13.103095 ms 
data association time 15.720538 ms 
solver time 8.479246 ms 
publication time 10.292914 ms 
whole laserOdometry time 64.280137 ms 
 
points size 95623 
sort q time 5.129847 
seperate points time 12.090330 
scan registration time 31.773303 ms *************
mapping solver time 27.136525 ms 
filter time 12.052619 ms 
mapping pub time 1.202117 ms 
whole mapping time 214.690581 ms +++++
drop lidar frame in mapping for real time performance 
solver time 10.382787 ms 
data association time 15.748132 ms 
build tree time 36.319916 ms 
publication time 9.572025 ms 
whole laserOdometry time 60.698504 ms 
 
points size 96575 
prepare time 16.632224 
sort q time 4.409878 
seperate points time 10.603985 
data association time 17.580524 ms 
mapping solver time 34.400198 ms 
solver time 16.746215 ms 
data association time 18.106490 ms 
solver time 12.045758 ms 
publication time 12.046039 ms 
whole laserOdometry time 77.461205 ms 
 
sort q time 5.176434 
seperate points time 12.349955 
mapping solver time 32.610610 ms 
data association time 14.465233 ms 
solver time 12.331543 ms 
data association time 15.027003 ms 
optimization twice time 50.977725 
publication time 10.271148 ms 
whole laserOdometry time 61.264784 ms 
 
prepare time 15.914794 
sort q time 4.928300 
seperate points time 12.070774 
data association time 16.096238 ms 
solver time 12.713774 ms 
data association time 16.578664 ms 
solver time 10.672674 ms 
points size 99952 
sort q time 5.366951 
seperate points time 12.569444 
mapping data assosiation time 49.689938 ms 
data association time 15.137172 ms 
solver time 13.474895 ms 
data association time 14.980093 ms 
map prepare time 4.549048 ms
map corner num 133892  surf num 62823 
publication time 10.617532 ms 
whole laserOdometry time 66.200969 ms 
 
prepare time 15.039796 
sort q time 4.535743 
seperate points time 11.104091 
build tree time 41.806695 ms 
data association time 17.197751 ms 
solver time 12.351407 ms 
mapping data assosiation time 42.582851 ms 
data association time 14.853773 ms 
solver time 10.619022 ms 
publication time 11.207213 ms 
whole laserOdometry time 66.989806 ms 
 
points size 100197 
sort q time 4.674278 
seperate points time 11.527475 
mapping data assosiation time 42.166934 ms 
data association time 16.677193 ms 
solver time 12.931875 ms 
mapping optimization time 189.005833 
data association time 18.132722 ms 
mapping pub time 1.368062 ms 
whole mapping time 212.793385 ms +++++
publication time 10.892554 ms 
whole laserOdometry time 68.717426 ms 
 
prepare time 16.140142 
sort q time 4.967664 
seperate points time 12.067414 
build tree time 39.906082 ms 
data association time 15.023228 ms 
solver time 10.065799 ms 
data association time 14.734709 ms 
mapping data assosiation time 45.693551 ms 
publication time 8.763886 ms 
whole laserOdometry time 60.302923 ms 
 
points size 100650 
sort q time 5.460225 
seperate points time 13.320490 
data association time 14.585608 ms 
mapping data assosiation time 46.842577 ms 
data association time 15.403909 ms 
add points time 1.078360 ms
filter time 14.293881 ms 
prepare time 17.333370 
sort q time 4.592479 
seperate points time 11.051315 
build tree time 35.588161 ms 
solver time 9.461703 ms 
data association time 14.809014 ms 
solver time 8.077757 ms 
optimization twice time 47.548200 
points size 100901 
prepare time 15.409587 
sort q time 4.905168 
seperate points time 11.736705 
data association time 16.155284 ms 
mapping data assosiation time 46.251927 ms 
data association time 16.088093 ms 
solver time 7.703203 ms 
optimization twice time 50.899189 
filter time 17.799672 ms 
points size 101110 
mapping pub time 2.031624 ms 
whole mapping time 215.820007 ms +++++
drop lidar frame in mapping for real time performance 
prepare time 20.226945 
sort q time 5.996588 
seperate points time 15.478309 
scan registration time 41.266249 ms *************
build tree time 40.350036 ms 
data association time 14.617393 ms 
solver time 12.721924 ms 
data association time 14.580931 ms 
solver time 10.860236 ms 
publication time 9.930024 ms 
whole laserOdometry time 63.719266 ms 
 
points size 101083 
sort q time 5.950009 
seperate points time 15.280891 
mapping solver time 40.990494 ms 
data association time 14.688779 ms 
solver time 13.285658 ms 
mapping data assosiation time 41.677118 ms 
data association time 15.390313 ms 
solver time 8.987814 ms 
publication time 10.126727 ms 
whole laserOdometry time 63.540605 ms 
 
prepare time 19.826117 
mapping solver time 37.103574 ms 
mapping optimization time 206.219546 
add points time 1.090888 ms
sort q time 6.001469 
seperate points time 15.522787 
drop lidar frame in mapping for real time performance 
data association time 17.122958 ms 
solver time 10.794993 ms 
build tree time 38.176470 ms 
data association time 14.549444 ms 
publication time 10.546777 ms 
whole laserOdometry time 62.344225 ms 
 
points size 101078 
mapping data assosiation time 53.501892 ms 
data association time 14.102494 ms 
mapping solver time 28.849223 ms 
solver time 9.820627 ms 
data association time 14.079523 ms 
solver time 7.222295 ms 
publication time 9.791115 ms 
whole laserOdometry time 55.885277 ms 
 
mapping data assosiation time 43.360660 ms 
prepare time 17.581627 
sort q time 5.502296 
seperate points time 13.696351 
add points time 1.673269 ms
mapping pub time 2.868807 ms 
whole mapping time 224.591448 ms +++++
solver time 14.892911 ms 
data association time 23.134538 ms 
solver time 11.219832 ms 
publication time 11.942327 ms 
whole laserOdometry time 86.600760 ms 
 
sort q time 6.164268 
seperate points time 15.220949 
data association time 14.462538 ms 
mapping data assosiation time 45.328445 ms 
data association time 14.231717 ms 
mapping solver time 29.269022 ms 
publication time 10.946578 ms 
whole laserOdometry time 58.764695 ms 
 
points size 100982 
prepare time 17.187730 
sort q time 5.619807 
seperate points time 13.857903 
data association time 16.569920 ms 
solver time 10.179338 ms 
filter time 13.973790 ms 
map prepare time 4.539287 ms
map corner num 140085  surf num 65946 
data association time 15.156899 ms 
publication time 10.254139 ms 
whole laserOdometry time 61.215306 ms 
 
points size 100962 
build tree time 41.035922 ms 
sort q time 6.188599 
seperate points time 14.463183 
mapping data assosiation time 42.924023 ms 
solver time 14.992220 ms 
mapping solver time 32.971002 ms 
solver time 11.781289 ms 
points size 100906 
prepare time 18.856988 
publication time 12.813032 ms 
whole laserOdometry time 82.865907 ms 
 
sort q time 4.623050 
seperate points time 11.603236 
mapping data assosiation time 49.127064 ms 
data association time 14.558027 ms 
mapping solver time 23.922121 ms 
data association time 14.888389 ms 
filter time 16.408677 ms 
publication time 9.293985 ms 
whole laserOdometry time 60.331725 ms 
 
points size 100317 
sort q time 6.395949 
seperate points time 17.471630 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 5.417212 ms
map corner num 141107  surf num 66478 
data association time 18.900652 ms 
[0m[ INFO] [1718802336.036893506]: Received 773073 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802336.036929152]: Data saved to 1317357882756611.pcd[0m
build tree time 39.825145 ms 
solver time 5.889085 ms 
publication time 10.231356 ms 
whole laserOdometry time 63.195829 ms 
 
prepare time 21.524958 
sort q time 6.644703 
seperate points time 17.208618 
mapping data assosiation time 55.827780 ms 
data association time 15.713448 ms 
mapping solver time 31.795846 ms 
solver time 13.804858 ms 
data association time 21.790322 ms 
publication time 14.050763 ms 
whole laserOdometry time 79.021314 ms 
 
scan registration time 42.067402 ms *************
mapping solver time 27.100820 ms 
solver time 10.784121 ms 
data association time 17.570350 ms 
publication time 11.943092 ms 
whole laserOdometry time 65.737309 ms 
 
build tree time 41.065178 ms 
sort q time 5.943552 
seperate points time 14.426013 
mapping data assosiation time 41.874155 ms 
data association time 14.234243 ms 
publication time 9.717181 ms 
whole laserOdometry time 58.856732 ms 
 
points size 98517 
sort q time 4.851384 
seperate points time 11.844294 
scan registration time 30.872917 ms *************
data association time 15.978006 ms 
mapping solver time 28.589865 ms 
mapping optimization time 190.130651 
solver time 11.355972 ms 
add points time 1.119840 ms
filter time 15.390970 ms 
publication time 11.800342 ms 
whole laserOdometry time 65.825213 ms 
 
prepare time 15.793262 
sort q time 4.669777 
seperate points time 11.657154 
data association time 16.315536 ms 
solver time 13.039734 ms 
mapping data assosiation time 42.575295 ms 
data association time 16.481155 ms 
solver time 10.786326 ms 
publication time 10.378634 ms 
whole laserOdometry time 67.893502 ms 
 
points size 96679 
prepare time 15.230466 
sort q time 5.426857 
seperate points time 13.290134 
mapping data assosiation time 47.648009 ms 
solver time 12.235626 ms 
mapping solver time 28.087005 ms 
solver time 10.193365 ms 
publication time 10.663956 ms 
whole laserOdometry time 64.668399 ms 
 
points size 96162 
sort q time 5.461244 
seperate points time 13.160674 
data association time 15.340135 ms 
solver time 14.952822 ms 
mapping data assosiation time 43.352735 ms 
solver time 12.413472 ms 
mapping solver time 29.926203 ms 
sort q time 4.594383 
seperate points time 11.212304 
data association time 16.013841 ms 
solver time 12.734978 ms 
mapping solver time 25.662744 ms 
solver time 9.789529 ms 
map prepare time 4.662102 ms
map corner num 145265  surf num 68523 
points size 96444 
sort q time 4.778106 
seperate points time 11.389730 
build tree time 42.653601 ms 
data association time 16.671685 ms 
solver time 12.851447 ms 
data association time 15.773430 ms 
solver time 12.290086 ms 
publication time 8.898101 ms 
whole laserOdometry time 67.263750 ms 
 
points size 96701 
mapping solver time 29.348022 ms 
prepare time 14.650157 
sort q time 5.020490 
seperate points time 11.897461 
data association time 15.062638 ms 
solver time 13.531518 ms 
mapping solver time 23.454237 ms 
solver time 10.399363 ms 
drop lidar frame in mapping for real time performance 
points size 97605 
sort q time 5.038729 
seperate points time 12.364087 
build tree time 45.245247 ms 
solver time 12.133407 ms 
data association time 14.969282 ms 
mapping data assosiation time 43.538152 ms 
publication time 11.618888 ms 
whole laserOdometry time 71.898481 ms 
 
mapping solver time 29.248186 ms 
sort q time 5.395596 
seperate points time 12.868878 
data association time 13.697629 ms 
mapping data assosiation time 45.535342 ms 
data association time 15.034943 ms 
mapping solver time 24.347429 ms 
filter time 15.669025 ms 
prepare time 16.713410 
sort q time 5.936406 
seperate points time 14.570256 
build tree time 47.924803 ms 
data association time 26.271486 ms 
solver time 18.305046 ms 
mapping data assosiation time 50.047508 ms 
prepare time 17.800079 
solver time 18.183549 ms 
optimization twice time 89.309897 
publication time 11.355991 ms 
whole laserOdometry time 100.686242 ms 
 
[33m[ WARN] [1718802337.464279203]: odometry process over 100ms[0m
data association time 25.343318 ms 
mapping data assosiation time 46.422677 ms 
solver time 18.051163 ms 
points size 90414 
mapping solver time 31.064677 ms 
mapping optimization time 209.602068 
add points time 1.075368 ms
prepare time 15.346504 
optimization twice time 88.574375 
data association time 25.580090 ms 
solver time 18.064547 ms 
points size 88269 
mapping data assosiation time 41.811186 ms 
scan registration time 31.579446 ms *************
solver time 15.331981 ms 
optimization twice time 85.509409 
publication time 11.244086 ms 
whole laserOdometry time 96.771303 ms 
 
mapping solver time 31.335155 ms 
data association time 25.332115 ms 
solver time 18.407966 ms 
mapping data assosiation time 45.059492 ms 
data association time 25.535870 ms 
mapping solver time 29.360773 ms 
scan registration time 32.288309 ms *************
filter time 17.605718 ms 
data association time 24.454513 ms 
solver time 17.776008 ms 
build tree time 40.589830 ms 
data association time 24.653930 ms 
points size 86256 
publication time 10.817038 ms 
whole laserOdometry time 93.240037 ms 
 
scan registration time 38.410449 ms *************
data association time 13.937318 ms 
solver time 12.309534 ms 
data association time 13.905547 ms 
solver time 11.102133 ms 
points size 87278 
sort q time 4.919904 
seperate points time 13.048572 
data association time 14.661620 ms 
map prepare time 4.463276 ms
map corner num 150536  surf num 71020 
data association time 14.534330 ms 
optimization twice time 49.809483 
publication time 10.550020 ms 
whole laserOdometry time 60.379762 ms 
 
build tree time 46.138607 ms 
sort q time 4.521292 
seperate points time 10.750490 
data association time 14.100304 ms 
solver time 12.667472 ms 
data association time 14.548993 ms 
solver time 10.713849 ms 
points size 88612 
sort q time 5.003875 
seperate points time 12.012229 
data association time 14.195078 ms 
mapping solver time 33.752073 ms 
data association time 15.876100 ms 
solver time 14.575332 ms 
publication time 12.703119 ms 
whole laserOdometry time 71.187299 ms 
 
points size 90589 
sort q time 5.307426 
seperate points time 13.071891 
data association time 14.808766 ms 
solver time 12.785438 ms 
mapping data assosiation time 50.109536 ms 
solver time 10.669776 ms 
publication time 10.773062 ms 
whole laserOdometry time 65.030538 ms 
 
prepare time 15.158589 
mapping solver time 34.323426 ms 
sort q time 6.148425 
seperate points time 14.279943 
data association time 14.906155 ms 
mapping data assosiation time 44.824628 ms 
data association time 14.514953 ms 
mapping optimization time 207.037379 
publication time 10.842220 ms 
whole laserOdometry time 67.127267 ms 
 
map prepare time 5.484987 ms
map corner num 152790  surf num 71932 
prepare time 15.500790 
sort q time 5.136967 
seperate points time 12.065343 
build tree time 47.510743 ms 
solver time 13.018916 ms 
data association time 17.256765 ms 
solver time 12.629856 ms 
publication time 10.702656 ms 
whole laserOdometry time 70.769086 ms 
 
mapping solver time 30.585429 ms 
data association time 18.022351 ms 
mapping data assosiation time 46.476960 ms 
solver time 12.271147 ms 
data association time 16.293476 ms 
mapping solver time 26.136294 ms 
publication time 9.652920 ms 
whole laserOdometry time 67.942956 ms 
 
mapping pub time 1.985816 ms 
whole mapping time 219.600718 ms +++++
sort q time 5.358146 
seperate points time 12.998370 
data association time 15.284929 ms 
solver time 12.982429 ms 
data association time 17.966539 ms 
mapping data assosiation time 47.666614 ms 
prepare time 16.598776 
sort q time 5.105016 
seperate points time 12.988409 
mapping solver time 36.635556 ms 
data association time 16.100650 ms 
solver time 13.767887 ms 
data association time 15.549920 ms 
solver time 10.936885 ms 
points size 102492 
mapping solver time 31.895585 ms 
scan registration time 34.819885 ms *************
filter time 15.126608 ms 
map prepare time 3.893654 ms
map corner num 155251  surf num 73295 
data association time 16.298302 ms 
solver time 12.763221 ms 
build tree time 39.565003 ms 
solver time 7.519003 ms 
publication time 13.114668 ms 
whole laserOdometry time 66.531012 ms 
 
sort q time 4.889999 
seperate points time 11.750829 
data association time 14.580296 ms 
solver time 12.202774 ms 
data association time 15.488959 ms 
publication time 10.213616 ms 
whole laserOdometry time 63.175962 ms 
 
points size 103813 
sort q time 4.935489 
seperate points time 11.916518 
mapping solver time 33.734660 ms 
data association time 15.581963 ms 
mapping pub time 1.882056 ms 
whole mapping time 222.774119 ms +++++
data association time 16.102162 ms 
solver time 12.727847 ms 
publication time 11.606171 ms 
whole laserOdometry time 73.467051 ms 
 
build tree time 44.512846 ms 
sort q time 5.436595 
seperate points time 13.227119 
data association time 15.129792 ms 
solver time 11.131148 ms 
data association time 15.894841 ms 
solver time 8.218868 ms 
publication time 10.731549 ms 
whole laserOdometry time 61.970593 ms 
 
points size 103877 
prepare time 15.614968 
mapping data assosiation time 46.385680 ms 
scan registration time 33.544071 ms *************
mapping solver time 25.898123 ms 
data association time 16.557287 ms 
solver time 11.300117 ms 
mapping pub time 4.913048 ms 
whole mapping time 219.132208 ms +++++
data association time 16.473502 ms 
solver time 11.788349 ms 
publication time 9.712625 ms 
whole laserOdometry time 66.899406 ms 
 
build tree time 44.151001 ms 
scan registration time 33.570536 ms *************
data association time 15.392426 ms 
mapping data assosiation time 48.141060 ms 
data association time 15.857147 ms 
solver time 8.557413 ms 
mapping solver time 33.324165 ms 
points size 104190 
sort q time 5.923550 
seperate points time 13.881155 
scan registration time 34.168703 ms *************
sort q time 5.631224 
seperate points time 13.330221 
build tree time 43.682679 ms 
data association time 16.030300 ms 
solver time 10.200878 ms 
data association time 16.001141 ms 
solver time 8.501582 ms 
publication time 13.655783 ms 
whole laserOdometry time 65.049152 ms 
 
points size 103841 
sort q time 6.146077 
seperate points time 15.126782 
data association time 17.447915 ms 
solver time 10.066076 ms 
mapping data assosiation time 42.524807 ms 
data association time 16.338185 ms 
solver time 8.270419 ms 
publication time 10.303273 ms 
whole laserOdometry time 63.280408 ms 
 
add points time 1.330776 ms
prepare time 20.104905 
filter time 19.395193 ms 
sort q time 5.220253 
seperate points time 13.121612 
mapping pub time 1.500637 ms 
whole mapping time 237.870946 ms +++++
data association time 15.427380 ms 
solver time 10.047894 ms 
data association time 15.821085 ms 
publication time 10.662193 ms 
whole laserOdometry time 59.900591 ms 
 
points size 103681 
sort q time 5.414300 
seperate points time 12.626401 
data association time 15.220133 ms 
solver time 12.046472 ms 
data association time 15.582831 ms 
solver time 10.162713 ms 
publication time 11.228710 ms 
whole laserOdometry time 65.080696 ms 
 
mapping data assosiation time 45.732554 ms 
sort q time 4.938033 
seperate points time 11.777244 
mapping optimization time 202.648803 
filter time 15.592464 ms 
solver time 12.005280 ms 
data association time 17.624776 ms 
solver time 10.604270 ms 
publication time 12.373852 ms 
whole laserOdometry time 72.634778 ms 
 
build tree time 50.414970 ms 
points size 104096 
sort q time 5.127982 
seperate points time 12.205422 
scan registration time 32.804284 ms *************
mapping data assosiation time 47.095064 ms 
solver time 14.996796 ms 
mapping solver time 31.734880 ms 
data association time 23.393235 ms 
solver time 12.310598 ms 
publication time 11.257428 ms 
whole laserOdometry time 82.882144 ms 
 
sort q time 5.521842 
seperate points time 13.293955 
mapping data assosiation time 52.150090 ms 
data association time 16.558558 ms 
add points time 1.248656 ms
solver time 12.151800 ms 
filter time 17.694086 ms 
solver time 9.693660 ms 
optimization twice time 57.325821 
points size 104407 
sort q time 7.137517 
seperate points time 17.010831 
build tree time 64.325042 ms 
data association time 20.194137 ms 
data association time 16.994662 ms 
solver time 10.543664 ms 
publication time 10.360273 ms 
whole laserOdometry time 69.028193 ms 
 
sort q time 5.094619 
seperate points time 12.809418 
data association time 17.189417 ms 
mapping data assosiation time 46.065755 ms 
solver time 8.339249 ms 
publication time 11.395591 ms 
whole laserOdometry time 64.442201 ms 
 
mapping optimization time 227.069927 
points size 104718 
prepare time 16.451655 
filter time 21.449786 ms 
data association time 16.609353 ms 
solver time 12.837872 ms 
mapping pub time 51.900038 ms 
whole mapping time 307.582454 ms +++++
solver time 7.902791 ms 
[0m[ INFO] [1718802340.650867969]: Received 806187 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802340.650901313]: Data saved to 1317357887335375.pcd[0m
points size 103885 
sort q time 5.109048 
seperate points time 12.822336 
build tree time 66.439212 ms 
solver time 12.258715 ms 
data association time 21.797954 ms 
publication time 10.810512 ms 
whole laserOdometry time 75.520606 ms 
 
sort q time 6.032620 
seperate points time 14.503897 
data association time 31.249611 ms 
solver time 16.972371 ms 
points size 103420 
data association time 27.763523 ms 
prepare time 15.942462 
sort q time 6.536592 
seperate points time 15.121972 
filter time 23.215472 ms 
map prepare time 4.848185 ms
map corner num 132842  surf num 68048 
solver time 17.058231 ms 
build tree time 48.481181 ms 
solver time 10.548030 ms 
publication time 9.775848 ms 
whole laserOdometry time 86.531211 ms 
 
sort q time 6.704126 
seperate points time 15.639200 
mapping data assosiation time 43.536121 ms 
data association time 22.059645 ms 
solver time 13.627759 ms 
data association time 16.987198 ms 
solver time 11.643287 ms 
prepare time 15.963367 
mapping optimization time 178.900945 
filter time 16.548861 ms 
data association time 20.583358 ms 
solver time 12.861631 ms 
build tree time 38.165868 ms 
solver time 9.927902 ms 
points size 103496 
mapping data assosiation time 44.281032 ms 
data association time 17.104085 ms 
mapping solver time 28.679239 ms 
solver time 13.684346 ms 
data association time 17.182050 ms 
solver time 7.742539 ms 
publication time 10.765836 ms 
whole laserOdometry time 67.218190 ms 
 
prepare time 17.996488 
sort q time 5.269246 
seperate points time 13.021436 
filter time 16.365703 ms 
map prepare time 5.449912 ms
map corner num 135176  surf num 69170 
data association time 16.984492 ms 
solver time 10.588903 ms 
build tree time 37.866062 ms 
data association time 17.449481 ms 
solver time 8.391151 ms 
publication time 9.760052 ms 
whole laserOdometry time 64.032328 ms 
 
prepare time 18.661939 
mapping data assosiation time 43.461766 ms 
scan registration time 39.365651 ms *************
mapping solver time 28.784404 ms 
data association time 17.600730 ms 
solver time 12.375355 ms 
data association time 17.159209 ms 
solver time 9.273472 ms 
publication time 10.652639 ms 
whole laserOdometry time 67.784913 ms 
 
mapping solver time 32.344565 ms 
mapping optimization time 185.512724 
add points time 1.351277 ms
scan registration time 40.847877 ms *************
map prepare time 4.197139 ms
map corner num 136278  surf num 69704 
data association time 21.737972 ms 
solver time 15.353468 ms 
build tree time 46.989275 ms 
solver time 12.634121 ms 
optimization twice time 71.487799 
points size 101655 
sort q time 6.712862 
seperate points time 17.311915 
mapping data assosiation time 52.007157 ms 
mapping solver time 30.199333 ms 
solver time 14.749525 ms 
points size 100982 
data association time 27.843368 ms 
scan registration time 34.614954 ms *************
mapping solver time 27.151202 ms 
filter time 16.457687 ms 
map prepare time 3.830107 ms
map corner num 137368  surf num 70202 
solver time 15.273839 ms 
points size 100957 
data association time 27.551673 ms 
solver time 11.652688 ms 
sort q time 6.063670 
seperate points time 14.772451 
mapping data assosiation time 40.966191 ms 
mapping solver time 25.087492 ms 
solver time 15.332407 ms 
points size 101518 
data association time 27.391890 ms 
prepare time 14.844095 
mapping data assosiation time 40.043364 ms 
solver time 11.403474 ms 
scan registration time 33.078851 ms *************
add points time 1.213666 ms
filter time 16.064593 ms 
solver time 11.200155 ms 
data association time 17.767278 ms 
solver time 8.105052 ms 
optimization twice time 58.544302 
build tree time 44.036087 ms 
points size 100543 
prepare time 21.143063 
sort q time 6.917046 
seperate points time 20.290469 
mapping data assosiation time 47.672463 ms 
data association time 17.202951 ms 
solver time 11.752046 ms 
data association time 19.620185 ms 
points size 98010 
sort q time 5.770762 
seperate points time 15.004572 
mapping optimization time 194.337750 
add points time 1.310552 ms
filter time 15.763194 ms 
data association time 27.984237 ms 
solver time 15.003640 ms 
points size 96936 
solver time 11.287547 ms 
scan registration time 39.798708 ms *************
mapping data assosiation time 42.452205 ms 
data association time 26.898321 ms 
mapping solver time 27.031903 ms 
solver time 15.262810 ms 
data association time 26.381458 ms 
solver time 12.484591 ms 
optimization twice time 82.060773 
publication time 15.910719 ms 
whole laserOdometry time 97.997281 ms 
 
sort q time 12.430201 
seperate points time 28.054694 
mapping data assosiation time 117.488966 ms 
points size 95482 
sort q time 10.514909 scan registration time 71.971872 ms *************
map prepare time 6.484740 ms
map corner num 140374  surf num 71580 
points size 94045 sort q time 5.402639 
seperate points time 14.101946 
data association time 49.141891 ms solver time 16.958456 ms 
publication time 17.134592 ms mapping solver time 33.266892 ms 

solver time 25.656717 ms 
data association time 27.816995 ms 
prepare time 12.480635 
sort q time 4.828248 
seperate points time 11.531881 
data association time 21.547366 ms 
solver time 10.410832 ms 
build tree time 42.768811 ms 
data association time 17.132886 ms 
solver time 10.726194 ms 
publication time 11.971182 ms 
whole laserOdometry time 72.622394 ms 
 
prepare time 17.670812 
data association time 16.897548 ms 
sort q time 5.340096 
seperate points time 13.488021 
mapping solver time 27.843934 ms 
data association time 16.034092 ms 
solver time 10.248986 ms 
publication time 11.558177 ms 
whole laserOdometry time 67.844618 ms 
 
data association time 18.539039 ms 
mapping solver time 26.091481 ms 
filter time 15.240072 ms 
solver time 9.938609 ms 
publication time 11.465524 ms 
whole laserOdometry time 71.181047 ms 
 
data association time 17.241251 ms 
solver time 11.259807 ms 
data association time 19.266702 ms 
solver time 10.802861 ms 
points size 94763 
sort q time 5.506322 
seperate points time 14.564027 
solver time 13.184260 ms 
data association time 15.791726 ms 
solver time 10.087363 ms 
publication time 9.446914 ms 
whole laserOdometry time 66.855756 ms 
 
data association time 16.680644 ms 
points size 95670 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
scan registration time 31.552112 ms *************
solver time 9.640630 ms 
publication time 11.700080 ms 
whole laserOdometry time 74.869358 ms 
 
build tree time 44.732255 ms 
solver time 10.161531 ms 
data association time 16.478440 ms 
solver time 7.728083 ms 
publication time 10.156933 ms 
whole laserOdometry time 62.380698 ms 
 
mapping solver time 25.089609 ms 
sort q time 5.357389 
seperate points time 13.583855 
data association time 15.756318 ms 
mapping data assosiation time 37.834951 ms 
data association time 18.920726 ms 
solver time 10.179429 ms 
publication time 12.509996 ms 
whole laserOdometry time 70.467248 ms 
 
prepare time 17.032215 
sort q time 5.189270 
seperate points time 13.032922 
data association time 15.803998 ms 
solver time 11.709630 ms 
data association time 16.599474 ms 
solver time 7.446274 ms 
publication time 9.656329 ms 
whole laserOdometry time 62.078385 ms 
 
points size 99717 
sort q time 4.673236 
seperate points time 11.862798 
mapping data assosiation time 35.632374 ms 
data association time 16.087842 ms 
mapping solver time 20.863777 ms 
data association time 16.824593 ms 
solver time 7.435414 ms 
publication time 9.685717 ms 
whole laserOdometry time 62.038392 ms 
 
points size 101109 
sort q time 5.646313 
seperate points time 14.107525 
build tree time 45.836551 ms 
solver time 9.375502 ms 
mapping data assosiation time 37.755875 ms 
solver time 7.710650 ms 
publication time 12.542025 ms 
whole laserOdometry time 65.439225 ms 
 
points size 102137 
sort q time 4.829422 
seperate points time 12.242967 
mapping data assosiation time 36.715999 ms 
data association time 16.603174 ms 
solver time 11.331964 ms 
filter time 15.067646 ms 
solver time 7.480275 ms 
publication time 11.111074 ms 
whole laserOdometry time 65.282911 ms 
 
points size 101035 
sort q time 5.031419 
seperate points time 12.898053 
build tree time 47.130713 ms 
scan registration time 35.143781 ms *************
data association time 16.237084 ms 
mapping data assosiation time 38.338835 ms 
solver time 11.080754 ms 
data association time 17.559704 ms 
mapping solver time 25.687411 ms 
publication time 11.249199 ms 
whole laserOdometry time 65.237515 ms 
 
sort q time 4.883911 
seperate points time 12.259950 
data association time 16.437373 ms 
solver time 11.195121 ms 
filter time 14.099305 ms 
map prepare time 4.013947 ms
map corner num 148547  surf num 75420 
solver time 7.411646 ms 
publication time 10.628630 ms 
whole laserOdometry time 66.319760 ms 
 
points size 97774 
build tree time 44.295750 ms 
sort q time 4.625550 
seperate points time 11.712739 
mapping data assosiation time 38.928499 ms 
solver time 10.278239 ms 
mapping solver time 25.838303 ms 
data association time 17.884577 ms 
solver time 8.091706 ms 
points size 96279 
publication time 12.473746 ms 
whole laserOdometry time 72.824047 ms 
 
prepare time 15.230063 
mapping data assosiation time 40.910095 ms 
mapping solver time 22.173290 ms 
data association time 19.720444 ms 
map prepare time 3.858512 ms
map corner num 149840  surf num 76047 
data association time 18.847511 ms 
solver time 10.511848 ms 
publication time 10.739790 ms 
whole laserOdometry time 74.171151 ms 
 
sort q time 4.676684 
seperate points time 12.066240 
data association time 16.460996 ms 
mapping data assosiation time 39.664828 ms 
data association time 16.649123 ms 
mapping solver time 25.501543 ms 
solver time 8.205574 ms 
optimization twice time 53.188013 
points size 94587 
sort q time 4.719803 
seperate points time 11.897000 
mapping solver time 20.241559 ms 
solver time 11.320010 ms 
filter time 15.833830 ms 
mapping pub time 1.229211 ms 
whole mapping time 202.658476 ms +++++
drop lidar frame in mapping for real time performance 
data association time 16.361241 ms 
solver time 7.907222 ms 
publication time 9.458452 ms 
whole laserOdometry time 62.281197 ms 
 
points size 94595 
sort q time 4.718309 
seperate points time 11.823913 
mapping data assosiation time 36.232021 ms 
data association time 16.389302 ms 
mapping solver time 24.683850 ms 
solver time 8.208097 ms 
publication time 9.123547 ms 
whole laserOdometry time 61.071177 ms 
 
points size 92682 
sort q time 4.565417 
seperate points time 11.472274 
filter time 13.122236 ms 
solver time 11.062144 ms 
data association time 18.137687 ms 
solver time 10.846358 ms 
optimization twice time 57.153746 
build tree time 52.145453 ms 
prepare time 16.677404 
scan registration time 35.419864 ms *************
mapping data assosiation time 45.715777 ms 
data association time 17.337312 ms 
solver time 11.023473 ms 
mapping solver time 31.439051 ms 
solver time 7.584574 ms 
points size 93109 
mapping data assosiation time 44.137957 ms 
mapping solver time 23.074098 ms 
mapping optimization time 199.149830 
add points time 0.824396 ms
data association time 16.691415 ms 
solver time 11.747517 ms 
map prepare time 3.982783 ms
map corner num 153693  surf num 77698 
data association time 16.822258 ms 
solver time 8.969596 ms 
optimization twice time 55.197636 
points size 93526 
sort q time 4.948180 
seperate points time 12.447758 
data association time 15.409087 ms 
solver time 12.292546 ms 
mapping solver time 26.360645 ms 
solver time 5.050775 ms 
points size 94352 
sort q time 4.532035 
seperate points time 11.816588 
mapping solver time 22.537219 ms 
data association time 19.299728 ms 
solver time 13.510552 ms 
data association time 18.640926 ms 
drop lidar frame in mapping for real time performance 
publication time 12.244077 ms 
whole laserOdometry time 75.610413 ms 
 
points size 93032 
prepare time 18.534512 
[0m[ INFO] [1718802345.030202514]: Received 840115 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802345.030237221]: Data saved to 1317357891801909.pcd[0m
sort q time 4.750255 
seperate points time 12.329489 
build tree time 51.654022 ms 
solver time 11.205312 ms 
data association time 17.814605 ms 
solver time 9.656953 ms 
publication time 10.549222 ms 
whole laserOdometry time 66.186592 ms 
 
prepare time 14.551367 
sort q time 4.988421 
seperate points time 12.402495 
data association time 16.141651 ms 
solver time 10.992097 ms 
mapping solver time 22.681585 ms 
publication time 8.905062 ms 
whole laserOdometry time 61.969112 ms 
 
points size 94292 
sort q time 4.900271 
seperate points time 11.953920 
build tree time 48.122793 ms 
data association time 15.783354 ms 
data association time 15.534589 ms 
solver time 7.713073 ms 
publication time 9.629698 ms 
whole laserOdometry time 60.496855 ms 
 
points size 95313 
sort q time 4.473685 
seperate points time 11.292183 
data association time 17.269840 ms 
solver time 11.101417 ms 
mapping solver time 21.768401 ms 
data association time 16.265098 ms 
mapping optimization time 180.801466 
add points time 0.850705 ms
filter time 16.219123 ms 
map prepare time 5.222224 ms
map corner num 157333  surf num 79262 
points size 96538 
prepare time 13.884958 
sort q time 5.081420 
seperate points time 12.827533 
build tree time 46.224037 ms 
solver time 10.540459 ms 
data association time 20.391589 ms 
solver time 9.399741 ms 
optimization twice time 57.380819 
mapping solver time 25.774679 ms 
sort q time 4.525887 
seperate points time 11.694814 
scan registration time 31.220947 ms *************
mapping data assosiation time 38.148421 ms 
data association time 21.072136 ms 
solver time 13.099995 ms 
data association time 19.307967 ms 
solver time 11.048307 ms 
publication time 10.991676 ms 
whole laserOdometry time 76.408363 ms 
 
points size 95874 
prepare time 18.174767 
sort q time 5.564209 
seperate points time 14.440138 
scan registration time 37.716422 ms *************
build tree time 51.086296 ms 
data association time 21.708430 ms 
solver time 10.843776 ms 
mapping data assosiation time 37.479107 ms 
solver time 8.713699 ms 
publication time 11.306059 ms 
whole laserOdometry time 70.179555 ms 
 
sort q time 4.453984 
seperate points time 11.336689 
mapping data assosiation time 37.912414 ms 
solver time 9.809592 ms 
mapping solver time 20.368748 ms 
data association time 16.694081 ms 
solver time 8.135810 ms 
map prepare time 4.944036 ms
map corner num 159914  surf num 80479 
points size 95630 
sort q time 5.879920 
seperate points time 14.267729 
build tree time 52.322907 ms 
data association time 17.345040 ms 
solver time 10.653766 ms 
mapping data assosiation time 36.163257 ms 
solver time 9.174124 ms 
optimization twice time 54.112076 
publication time 12.869014 ms 
whole laserOdometry time 67.012451 ms 
 
sort q time 4.480663 
seperate points time 11.152981 
mapping data assosiation time 41.252406 ms 
solver time 9.948021 ms 
data association time 17.309118 ms 
solver time 10.808799 ms 
publication time 11.478321 ms 
whole laserOdometry time 73.487571 ms 
 
points size 95653 
sort q time 5.682781 
seperate points time 14.758819 
build tree time 57.763584 ms 
solver time 13.441372 ms 
data association time 15.968033 ms 
solver time 8.366566 ms 
points size 93449 
prepare time 18.207467 
mapping solver time 35.283319 ms 
data association time 15.740657 ms 
solver time 10.760491 ms 
data association time 16.298472 ms 
solver time 10.129485 ms 
publication time 11.101321 ms 
whole laserOdometry time 64.707484 ms 
 
points size 93126 
sort q time 5.609992 
seperate points time 14.292086 
data association time 16.382636 ms 
solver time 10.148319 ms 
data association time 15.807067 ms 
solver time 7.876975 ms 
publication time 10.058850 ms 
whole laserOdometry time 61.096199 ms 
 
prepare time 19.300124 
sort q time 5.546460 
seperate points time 14.329199 
mapping solver time 34.737190 ms 
data association time 17.195233 ms 
solver time 12.830550 ms 
data association time 18.593437 ms 
solver time 10.586312 ms 
prepare time 14.541426 
publication time 11.674811 ms 
whole laserOdometry time 71.793279 ms 
 
sort q time 5.449097 
seperate points time 13.664877 
build tree time 26.874940 ms 
solver time 13.522275 ms 
data association time 15.863531 ms 
solver time 8.987151 ms 
mapping solver time 26.082487 ms 
sort q time 5.097545 
seperate points time 12.769673 
mapping data assosiation time 41.145155 ms 
data association time 28.070986 ms 
solver time 16.334891 ms 
mapping solver time 34.767278 ms 
mapping optimization time 166.517446 
add points time 0.958603 ms
filter time 11.656231 ms 
data association time 27.529931 ms 
solver time 21.168616 ms 
scan registration time 43.191602 ms *************data association time 17.719084 ms 
mapping data assosiation time 37.045967 ms 
solver time 9.887323 ms 
data association time 15.068549 ms 
optimization twice time 51.277080 
publication time 10.827233 ms 
whole laserOdometry time 62.136031 ms 
 
sort q time 5.890210 
seperate points time 14.563669 
mapping solver time 18.593696 ms 
filter time 11.714830 ms 
data association time 18.043082 ms 
solver time 10.434168 ms 
publication time 10.583739 ms 
whole laserOdometry time 69.737485 ms 
 
sort q time 4.987579 
seperate points time 12.129426 
mapping solver time 22.518313 ms 
data association time 24.737917 ms 
solver time 17.917747 ms 
mapping data assosiation time 31.809759 ms 
data association time 24.912196 ms 
points size 92387 
map prepare time 3.185801 ms
map corner num 91929  surf num 50017 
optimization twice time 74.507147 
prepare time 17.708601 
sort q time 5.329971 
seperate points time 13.325821 
mapping solver time 18.496184 ms 
data association time 25.064570 ms 
map prepare time 3.377511 ms
map corner num 92962  surf num 50610 
solver time 15.754834 ms 
build tree time 28.703081 ms 
points size 93517 
publication time 10.912173 ms 
whole laserOdometry time 89.341050 ms 
 
mapping solver time 24.664381 ms 
solver time 17.884107 ms 
mapping data assosiation time 35.486326 ms 
data association time 25.211329 ms 
points size 94199 
mapping optimization time 154.012624 
add points time 0.814408 ms
map prepare time 4.123729 ms
map corner num 93860  surf num 51078 
data association time 19.333460 ms 
build tree time 31.473934 ms 
data association time 16.058319 ms 
mapping data assosiation time 34.061078 ms 
publication time 11.371210 ms 
points size 95826 
whole laserOdometry time 75.851312 ms 
 
mapping solver time 24.681470 ms 
data association time 15.988053 ms 
solver time 11.288480 ms 
data association time 16.391158 ms 
filter time 10.327875 ms 
points size 97034 
sort q time 4.543265 
seperate points time 11.292372 
build tree time 27.029539 ms 
mapping data assosiation time 32.637875 ms 
data association time 15.691988 ms 
publication time 10.663243 ms 
whole laserOdometry time 61.517812 ms 
 
points size 99920 
mapping data assosiation time 34.463856 ms 
prepare time 15.011258 
sort q time 5.378907 
seperate points time 13.155052 
mapping solver time 22.816645 ms 
filter time 10.600841 ms 
mapping pub time 1.256138 ms 
whole mapping time 159.998441 ms +++++
drop lidar frame in mapping for real time performance 
data association time 16.957597 ms 
map prepare time 3.368404 ms
map corner num 93436  surf num 49679 
solver time 13.442420 ms 
build tree time 30.613360 ms 
solver time 10.332287 ms 
publication time 10.979315 ms 
whole laserOdometry time 70.857487 ms 
 
prepare time 15.096447 
sort q time 5.962945 
seperate points time 14.726176 
mapping solver time 23.602951 ms 
data association time 16.938679 ms 
mapping data assosiation time 34.671254 ms 
data association time 17.346353 ms 
solver time 7.656258 ms 
publication time 12.400398 ms 
whole laserOdometry time 64.871268 ms 
 
prepare time 16.920396 
sort q time 4.587982 
seperate points time 11.746524 
build tree time 27.028648 ms 
data association time 15.962385 ms 
solver time 11.047379 ms 
mapping data assosiation time 32.010732 ms 
solver time 7.743268 ms 
mapping solver time 23.415608 ms 
points size 98591 
prepare time 14.303228 
sort q time 5.667557 
seperate points time 13.824378 
mapping data assosiation time 32.872815 ms 
scan registration time 32.467409 ms *************
mapping solver time 19.909080 ms 
filter time 9.915373 ms 
data association time 16.882437 ms 
build tree time 26.299791 ms 
publication time 10.778314 ms 
whole laserOdometry time 68.482587 ms 
 
points size 98717 
sort q time 5.327480 
seperate points time 12.936692 
mapping data assosiation time 35.150148 ms 
scan registration time 29.748065 ms *************
mapping solver time 22.555946 ms 
solver time 10.529003 ms 
data association time 16.690812 ms 
solver time 8.065479 ms 
publication time 9.721080 ms 
whole laserOdometry time 62.145881 ms 
 
points size 98907 
filter time 9.499408 ms 
mapping pub time 1.163736 ms 
whole mapping time 154.518050 ms +++++
drop lidar frame in mapping for real time performance 
prepare time 15.165725 
map prepare time 3.882642 ms
map corner num 96619  surf num 51467 
sort q time 4.971882 
seperate points time 12.495132 
build tree time 28.339924 ms 
solver time 10.592366 ms 
mapping data assosiation time 33.502606 ms 
solver time 7.786490 ms 
publication time 11.213982 ms 
whole laserOdometry time 71.147289 ms 
 
points size 99250 
sort q time 6.177778 
seperate points time 15.032404 
mapping data assosiation time 38.040697 ms 
mapping solver time 18.786596 ms 
mapping optimization time 145.090938 
add points time 0.722921 ms
data association time 16.946886 ms 
mapping pub time 1.230757 ms 
whole mapping time 162.613624 ms +++++
data association time 18.463616 ms 
solver time 10.907680 ms 
points size 96891 
sort q time 4.918927 
seperate points time 12.687673 
mapping data assosiation time 36.577387 ms 
data association time 16.903108 ms 
solver time 10.753985 ms 
data association time 16.849494 ms 
solver time 7.684213 ms 
publication time 9.960389 ms 
whole laserOdometry time 62.999118 ms 
 
points size 95026 
filter time 9.673286 ms 
build tree time 26.376613 ms 
data association time 16.003224 ms 
data association time 16.237843 ms 
mapping data assosiation time 35.331816 ms 
publication time 10.035702 ms 
whole laserOdometry time 62.511976 ms 
 
prepare time 16.998426 
sort q time 4.815609 
seperate points time 12.145377 
mapping data assosiation time 32.609099 ms 
data association time 17.520047 ms 
solver time 12.827952 ms 
data association time 17.927769 ms 
publication time 10.709216 ms 
whole laserOdometry time 65.759228 ms 
 
mapping pub time 44.303792 ms 
whole mapping time 195.897436 ms +++++
sort q time 5.585712 
seperate points time 14.625880 
[0m[ INFO] [1718802348.690092826]: Received 873092 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802348.690128475]: Data saved to 1317357895538737.pcd[0m
build tree time 34.188700 ms 
solver time 18.566731 ms 
data association time 27.399916 ms prepare time 24.589232 
sort q time 5.983475 
seperate points time 15.060357 
mapping data assosiation time 41.642111 ms 
data association time 20.034118 ms 
solver time 12.800657 ms 
map prepare time 3.811139 ms
map corner num 101032  surf num 53515 
points size 94890 
solver time 9.201491 ms 
publication time 11.861296 ms 
whole laserOdometry time 78.483734 ms 
 
data association time 18.643432 ms 
solver time 10.453767 ms 
data association time 18.890552 ms 
mapping solver time 24.169475 ms 
publication time 10.325173 ms 
whole laserOdometry time 66.583452 ms 
 
points size 96231 
mapping data assosiation time 36.352483 ms 
sort q time 5.742226 
seperate points time 14.360823 
scan registration time 35.671616 ms *************
mapping solver time 14.911660 ms 
mapping optimization time 141.643982 
add points time 0.730000 ms
filter time 10.377728 ms 
data association time 27.534903 ms 
build tree time 29.162909 ms 
data association time 27.592423 ms 
solver time 7.839570 ms 
optimization twice time 79.194130 
sort q time 6.665371 
seperate points time 16.591612 
data association time 26.922039 ms 
mapping data assosiation time 32.389822 ms 
mapping solver time 16.715898 ms 
solver time 20.439946 ms 
mapping optimization time 138.538617 
add points time 0.586063 ms
filter time 13.921461 ms 
points size 99806 
solver time 11.512421 ms 
publication time 12.373471 ms 
whole laserOdometry time 99.801662 ms 
 
data association time 25.254402 ms 
mapping data assosiation time 34.023479 ms 
solver time 10.263820 ms 
data association time 17.263154 ms 
mapping solver time 25.188400 ms 
publication time 11.089919 ms 
whole laserOdometry time 72.783931 ms 
 
points size 99985 
sort q time 6.643774 
seperate points time 17.432377 
mapping solver time 18.642223 ms 
filter time 11.596636 ms 
data association time 17.526381 ms 
optimization twice time 57.165410 
build tree time 34.766569 ms 
points size 99679 
sort q time 5.858215 
seperate points time 15.094906 
mapping data assosiation time 39.293714 ms 
data association time 17.535913 ms 
solver time 10.792062 ms 
mapping solver time 24.858800 ms 
data association time 18.087522 ms 
publication time 9.869250 ms 
whole laserOdometry time 65.289177 ms 
 
prepare time 18.926700 
mapping solver time 19.797658 ms 
sort q time 5.817979 
seperate points time 14.866307 
mapping optimization time 158.607087 
add points time 0.730777 ms
scan registration time 38.971664 ms *************
filter time 12.784724 ms 
map prepare time 3.842992 ms
map corner num 105160  surf num 55412 
data association time 18.139902 ms 
solver time 10.725028 ms 
data association time 19.075416 ms 
points size 99627 
mapping data assosiation time 37.893453 ms 
mapping solver time 26.193216 ms 
solver time 12.830490 ms 
data association time 16.944789 ms 
mapping solver time 21.020070 ms 
prepare time 19.187175 
map prepare time 5.490798 ms
map corner num 106230  surf num 55936 
build tree time 32.647816 ms 
data association time 16.278781 ms 
publication time 10.454907 ms 
whole laserOdometry time 59.562597 ms 
 
points size 100282 
mapping solver time 25.918789 ms 
sort q time 5.921716 
seperate points time 15.105032 
mapping data assosiation time 37.314564 ms 
solver time 10.123565 ms 
mapping solver time 23.751265 ms 
filter time 10.755791 ms 
publication time 9.970469 ms 
whole laserOdometry time 64.622118 ms 
 
points size 101226 
build tree time 31.583399 ms 
data association time 15.891149 ms 
solver time 11.127278 ms 
mapping solver time 19.472304 ms 
data association time 16.679969 ms 
publication time 10.782569 ms 
whole laserOdometry time 60.701660 ms 
 
prepare time 19.091292 
sort q time 5.940944 
seperate points time 15.286904 
mapping solver time 14.862295 ms 
scan registration time 38.602058 ms *************
mapping optimization time 140.341972 
add points time 0.686638 ms
filter time 11.188785 ms 
data association time 19.191274 ms 
solver time 12.899643 ms 
build tree time 32.181411 ms 
data association time 16.847569 ms 
points size 101010 
mapping data assosiation time 37.818764 ms 
scan registration time 36.227128 ms *************
mapping solver time 22.573059 ms 
data association time 16.577703 ms 
solver time 11.055154 ms 
mapping data assosiation time 34.006971 ms 
data association time 20.494356 ms 
filter time 12.751485 ms 
prepare time 19.322254 
sort q time 5.238220 
seperate points time 13.241331 
build tree time 33.232730 ms 
data association time 17.165576 ms 
solver time 10.950229 ms 
mapping data assosiation time 36.414342 ms 
data association time 17.008352 ms 
publication time 9.784868 ms 
whole laserOdometry time 63.995485 ms 
 
prepare time 15.798063 
sort q time 5.115640 
seperate points time 12.809477 
mapping data assosiation time 37.039130 ms 
solver time 10.964852 ms 
mapping solver time 21.741784 ms 
data association time 19.206713 ms 
map prepare time 4.498705 ms
map corner num 110417  surf num 58231 
publication time 11.099632 ms 
whole laserOdometry time 68.987688 ms 
 
points size 101431 
build tree time 34.186068 ms 
data association time 16.924246 ms 
mapping data assosiation time 36.329270 ms 
mapping solver time 21.259700 ms 
data association time 18.198829 ms 
publication time 10.252498 ms 
whole laserOdometry time 68.421842 ms 
 
points size 101642 
mapping data assosiation time 37.800127 ms 
prepare time 19.380502 
mapping solver time 17.813010 ms 
filter time 12.295777 ms 
data association time 17.863637 ms 
solver time 13.392413 ms 
build tree time 39.341875 ms 
solver time 8.262225 ms 
sort q time 5.627352 
seperate points time 13.904896 
data association time 17.188412 ms 
solver time 10.634048 ms 
data association time 17.351586 ms 
solver time 11.300458 ms 
points size 100280 
mapping solver time 22.699334 ms 
sort q time 6.354122 
seperate points time 15.544650 
map prepare time 5.081249 ms
map corner num 112602  surf num 59506 
data association time 17.932860 ms 
solver time 13.184740 ms 
data association time 17.639674 ms 
solver time 13.493833 ms 
sort q time 5.833280 
seperate points time 15.502347 
mapping solver time 32.935413 ms 
data association time 21.068878 ms 
solver time 12.608037 ms 
mapping data assosiation time 44.201531 ms 
data association time 22.100092 ms 
mapping solver time 22.281125 ms 
scan registration time 33.617055 ms *************
data association time 16.390574 ms 
solver time 12.882244 ms 
data association time 19.317365 ms 
publication time 8.761778 ms 
whole laserOdometry time 67.317829 ms 
 
mapping data assosiation time 39.373441 ms 
points size 97981 
sort q time 4.732348 
seperate points time 11.563781 
scan registration time 30.709785 ms *************
mapping solver time 26.307862 ms 
data association time 18.987978 ms 
solver time 10.016259 ms 
mapping data assosiation time 35.479861 ms 
data association time 16.085683 ms 
solver time 7.617675 ms 
publication time 9.510970 ms 
whole laserOdometry time 63.030134 ms 
 
mapping pub time 1.612600 ms 
whole mapping time 176.534927 ms +++++
sort q time 4.641250 
seperate points time 11.527077 
build tree time 35.531818 ms 
solver time 10.224852 ms 
data association time 15.828392 ms 
solver time 7.926838 ms 
publication time 10.122995 ms 
whole laserOdometry time 61.622822 ms 
 
mapping solver time 24.305338 ms 
points size 97203 
prepare time 14.530013 
sort q time 5.386469 
seperate points time 13.143429 
scan registration time 31.132326 ms *************
data association time 15.976652 ms 
solver time 10.281815 ms 
filter time 12.291039 ms 
mapping pub time 2.761658 ms 
whole mapping time 178.254257 ms +++++
data association time 22.113265 ms 
map prepare time 3.627581 ms
map corner num 116057  surf num 61357 
solver time 8.939586 ms 
publication time 10.799562 ms 
whole laserOdometry time 68.989194 ms 
 
points size 97538 
build tree time 38.054518 ms 
sort q time 5.464000 
seperate points time 13.481828 
mapping data assosiation time 34.715102 ms 
data association time 16.212363 ms 
solver time 10.947000 ms 
mapping solver time 23.222660 ms 
data association time 15.833378 ms 
solver time 8.227594 ms 
publication time 10.697243 ms 
whole laserOdometry time 62.844699 ms 
 
points size 97993 
mapping data assosiation time 37.016505 ms 
prepare time 15.600267 
sort q time 5.219721 
seperate points time 12.705640 
filter time 10.981343 ms 
solver time 10.964708 ms 
data association time 18.260875 ms 
solver time 7.481858 ms 
mapping data assosiation time 36.749397 ms 
points size 97702 
sort q time 4.896814 
seperate points time 12.272892 
mapping solver time 25.428694 ms 
scan registration time 31.816022 ms *************
data association time 15.849134 ms 
mapping data assosiation time 35.515533 ms 
data association time 16.074005 ms 
solver time 8.253120 ms 
publication time 9.386500 ms 
whole laserOdometry time 62.893484 ms 
 
points size 97341 
prepare time 15.952297 
build tree time 20.011540 ms 
sort q time 4.943149 
seperate points time 12.651744 
data association time 16.383475 ms 
solver time 14.829907 ms 
mapping solver time 25.138828 ms 
data association time 21.612513 ms 
solver time 11.105849 ms 
publication time 10.028770 ms 
whole laserOdometry time 74.885215 ms 
 
points size 96723 
prepare time 14.860758 
sort q time 4.959576 
seperate points time 12.456035 
mapping solver time 19.504187 ms 
mapping optimization time 145.904287 
add points time 1.196472 ms
filter time 9.170901 ms 
mapping pub time 1.711988 ms 
whole mapping time 162.526405 ms +++++
drop lidar frame in mapping for real time performance 
data association time 26.895299 ms 
build tree time 24.724284 ms 
data association time 29.832853 ms 
solver time 13.210759 ms 
publication time 11.989622 ms 
whole laserOdometry time 97.465941 ms 
 
mapping solver time 33.549288 ms 
solver time 16.450612 ms 
mapping data assosiation time 45.873443 ms 
data association time 29.519815 ms 
solver time 12.032241 ms 
sort q time 4.696354 
seperate points time 11.668423 
mapping solver time 36.481407 ms 
filter time 8.745029 ms 
solver time 12.782610 ms 
data association time 17.202369 ms 
solver time 11.019952 ms 
publication time 9.411933 ms 
whole laserOdometry time 78.284922 ms 
 
points size 96139 
mapping data assosiation time 46.349440 ms 
sort q time 5.530327 
seperate points time 13.867106 
mapping solver time 30.365521 ms 
data association time 16.731768 ms 
solver time 10.996064 ms 
mapping data assosiation time 36.867390 ms 
solver time 8.285896 ms 
publication time 10.126012 ms 
whole laserOdometry time 64.118167 ms 
 
prepare time 18.950073 
filter time 9.079979 ms 
scan registration time 39.778577 ms *************
data association time 17.047628 ms 
solver time 11.191274 ms 
data association time 18.848357 ms 
solver time 8.973028 ms 
publication time 11.710744 ms 
whole laserOdometry time 68.808412 ms 
 
points size 95582 
sort q time 6.330476 
seperate points time 15.862987 
scan registration time 43.430590 ms *************
data association time 22.525971 ms 
data association time 16.157888 ms 
points size 93994 
sort q time 5.488263 
seperate points time 12.892518 
mapping optimization time 165.818422 
mapping pub time 1.252854 ms 
whole mapping time 180.186784 ms +++++
solver time 10.429218 ms 
build tree time 22.664595 ms 
data association time 22.595447 ms 
solver time 9.927136 ms 
points size 92442 
sort q time 4.869552 
seperate points time 11.663650 
mapping solver time 28.409336 ms 
data association time 17.101496 ms 
solver time 10.532756 ms 
data association time 17.454068 ms 
solver time 10.911110 ms 
mapping solver time 22.672214 ms 
prepare time 14.871669 
scan registration time 33.916161 ms *************
build tree time 22.397514 ms 
data association time 16.808149 ms 
solver time 10.188727 ms 
mapping data assosiation time 37.787803 ms 
solver time 7.633155 ms 
publication time 9.193487 ms 
whole laserOdometry time 61.071482 ms 
 
points size 91057 
sort q time 5.550401 
seperate points time 13.210743 
mapping data assosiation time 38.493443 ms 
data association time 17.515698 ms 
mapping optimization time 151.113912 
filter time 8.939821 ms 
data association time 16.979752 ms 
solver time 10.639115 ms 
publication time 10.397581 ms 
whole laserOdometry time 68.304537 ms 
 
sort q time 4.503569 
seperate points time 10.795852 
mapping data assosiation time 41.055111 ms 
data association time 17.035765 ms 
solver time 10.467100 ms 
data association time 16.423073 ms 
publication time 9.274742 ms 
whole laserOdometry time 62.172032 ms 
 
points size 91486 
sort q time 6.149214 
seperate points time 14.264476 
filter time 9.486545 ms 
data association time 21.491352 ms 
build tree time 25.217881 ms 
data association time 18.804962 ms 
points size 92297 
sort q time 4.797311 
seperate points time 11.540212 
mapping solver time 22.002659 ms 
data association time 16.854749 ms 
solver time 11.057780 ms 
mapping data assosiation time 37.454832 ms 
solver time 7.420755 ms 
publication time 9.400567 ms 
whole laserOdometry time 63.226136 ms 
 
filter time 8.629125 ms 
prepare time 18.042757 
sort q time 5.421178 
seperate points time 13.455060 
data association time 17.046930 ms 
mapping data assosiation time 38.297791 ms 
data association time 16.950016 ms 
solver time 12.147916 ms 
points size 94711 
sort q time 5.061184 
seperate points time 12.052397 
data association time 16.413146 ms 
solver time 12.600551 ms 
data association time 17.019592 ms 
solver time 10.361431 ms 
points size 95920 
sort q time 4.933010 
seperate points time 12.395280 
data association time 16.127172 ms 
solver time 10.883728 ms 
data association time 16.595256 ms 
solver time 7.493134 ms 
mapping data assosiation time 38.949367 ms 
points size 97558 
filter time 8.352435 ms 
build tree time 20.522131 ms 
solver time 10.388242 ms 
data association time 16.641102 ms 
publication time 9.118284 ms 
whole laserOdometry time 61.064583 ms 
 
points size 98258 
sort q time 4.835550 
seperate points time 12.565696 
data association time 16.108067 ms 
solver time 10.699305 ms 
data association time 16.282098 ms 
add points time 0.776118 ms
publication time 10.997169 ms 
whole laserOdometry time 63.256922 ms 
 
points size 98959 
build tree time 21.256551 ms 
scan registration time 37.253790 ms *************
data association time 17.195669 ms 
solver time 10.664203 ms 
mapping solver time 26.367617 ms 
data association time 17.395220 ms 
publication time 10.619024 ms 
whole laserOdometry time 65.726263 ms 
 
sort q time 5.280773 
seperate points time 13.063450 
mapping solver time 23.505112 ms 
filter time 8.177817 ms 
data association time 16.871155 ms 
build tree time 21.413745 ms 
publication time 11.553997 ms 
whole laserOdometry time 66.191715 ms 
 
prepare time 16.807159 
sort q time 5.076200 
seperate points time 12.792809 
mapping solver time 24.664378 ms 
solver time 11.246197 ms 
data association time 16.246249 ms 
solver time 8.806792 ms 
publication time 10.715959 ms 
whole laserOdometry time 66.052603 ms 
 
prepare time 15.465311 
filter time 7.481471 ms 
data association time 16.436884 ms 
solver time 12.374571 ms 
data association time 19.969212 ms 
mapping data assosiation time 40.435838 ms 
publication time 11.376022 ms 
whole laserOdometry time 71.299269 ms 
 
mapping solver time 29.508466 ms 
sort q time 5.762515 
seperate points time 13.887518 
data association time 16.824741 ms 
solver time 10.862842 ms 
data association time 16.654937 ms 
mapping solver time 25.192101 ms 
publication time 14.703767 ms 
whole laserOdometry time 68.128522 ms 
 
points size 101727 
sort q time 5.118947 
seperate points time 12.236018 
data association time 17.051297 ms 
solver time 10.792240 ms 
mapping data assosiation time 39.274310 ms 
data association time 18.701831 ms 
mapping solver time 22.362989 ms 
publication time 16.194238 ms 
whole laserOdometry time 73.060972 ms 
 
sort q time 5.020866 
seperate points time 12.522505 
mapping solver time 22.401140 ms 
filter time 10.540590 ms 
data association time 18.353085 ms 
build tree time 24.160075 ms 
points size 100127 
sort q time 5.737371 
seperate points time 14.305320 
mapping data assosiation time 44.365269 ms 
data association time 17.456645 ms 
solver time 9.895919 ms 
mapping solver time 33.926755 ms 
solver time 7.472243 ms 
publication time 11.931574 ms 
whole laserOdometry time 65.024066 ms 
 
prepare time 15.996137 
sort q time 5.783215 
seperate points time 14.167283 
scan registration time 34.705078 ms *************
mapping optimization time 176.836148 
filter time 10.823924 ms 
solver time 10.568779 ms 
build tree time 22.220707 ms 
solver time 8.206484 ms 
publication time 10.620722 ms 
whole laserOdometry time 70.877177 ms 
 
sort q time 4.849189 
seperate points time 12.267562 
data association time 17.217960 ms 
solver time 12.097739 ms 
data association time 19.846945 ms 
solver time 8.514648 ms 
publication time 11.448011 ms 
whole laserOdometry time 70.006771 ms 
 
prepare time 18.832408 
mapping solver time 25.337520 ms 
sort q time 5.815062 
seperate points time 15.194212 
mapping pub time 1.922956 ms 
whole mapping time 186.637055 ms +++++
data association time 16.828008 ms 
solver time 13.175612 ms 
data association time 20.440864 ms 
points size 99406 
publication time 13.336791 ms 
whole laserOdometry time 74.214648 ms 
 
scan registration time 35.105637 ms *************
mapping solver time 30.371264 ms 
data association time 19.937875 ms 
solver time 11.924643 ms 
mapping data assosiation time 43.476176 ms 
data association time 18.574443 ms 
mapping solver time 23.891732 ms 
filter time 10.809837 ms 
mapping pub time 2.605014 ms 
whole mapping time 191.400566 ms +++++
drop lidar frame in mapping for real time performance 
sort q time 5.846334 
seperate points time 14.391302 
map prepare time 4.365998 ms
map corner num 84060  surf num 44836 
build tree time 28.740050 ms 
solver time 14.918291 ms 
data association time 17.076501 ms 
solver time 8.435486 ms 
optimization twice time 70.461463 
points size 99836 
prepare time 15.024702 
sort q time 6.038725 
seperate points time 15.471157 
data association time 28.269572 ms 
mapping data assosiation time 47.177189 ms 
solver time 17.304618 ms 
mapping solver time 26.047524 ms 
filter time 10.812660 ms 
sort q time 5.857198 
seperate points time 14.406449 
build tree time 26.267489 ms 
data association time 19.663052 ms 
solver time 14.292202 ms 
mapping data assosiation time 42.656376 ms 
solver time 10.916545 ms 
prepare time 15.836783 
mapping solver time 35.666618 ms 
data association time 16.969810 ms 
solver time 12.573312 ms 
data association time 16.884781 ms 
solver time 11.177663 ms 
mapping optimization time 182.000426 
points size 101276 
sort q time 5.798440 
seperate points time 14.343158 
build tree time 26.012851 ms 
data association time 17.600976 ms 
solver time 13.404636 ms 
mapping data assosiation time 41.447236 ms 
data association time 16.979274 ms 
solver time 11.545615 ms 
points size 101555 
sort q time 6.061842 
seperate points time 14.380419 
data association time 16.021698 ms 
solver time 10.970584 ms 
mapping solver time 21.359384 ms 
filter time 10.525948 ms 
publication time 11.261585 ms 
whole laserOdometry time 64.600399 ms 
 
prepare time 15.754294 
build tree time 26.525381 ms 
data association time 16.517886 ms 
solver time 10.992737 ms 
data association time 16.921204 ms 
mapping solver time 30.040079 ms 
points size 101272 
sort q time 5.765730 
seperate points time 13.546390 
mapping data assosiation time 47.562420 ms 
data association time 16.959173 ms 
solver time 11.563003 ms 
filter time 8.659952 ms 
publication time 10.227084 ms 
whole laserOdometry time 69.014965 ms 
 
prepare time 16.483673 
sort q time 5.248032 
seperate points time 12.576348 
mapping data assosiation time 39.346952 ms 
data association time 16.415377 ms 
mapping solver time 30.495692 ms 
data association time 21.501029 ms 
publication time 11.822392 ms 
whole laserOdometry time 70.084817 ms 
 
prepare time 14.896694 
mapping data assosiation time 43.539255 ms 
scan registration time 33.648193 ms *************
mapping solver time 26.256248 ms 
filter time 9.269202 ms 
solver time 13.008893 ms 
data association time 16.798973 ms 
mapping pub time 45.798945 ms 
whole mapping time 228.164296 ms +++++
sort q time 4.761865 
seperate points time 12.288982 
[0m[ INFO] [1718802355.943197596]: Received 937963 data points in frame /camera_init with the following fields: x y z intensity[0m
scan registration time 33.551392 ms *************
[0m[ INFO] [1718802355.943301656]: Data saved to 1317357902701765.pcd[0m
data association time 18.027305 ms 
solver time 12.822128 ms 
mapping data assosiation time 40.959427 ms 
data association time 18.014487 ms 
solver time 10.785041 ms 
publication time 9.928971 ms 
whole laserOdometry time 70.332947 ms 
 
sort q time 5.185375 
seperate points time 12.927222 
mapping data assosiation time 42.206839 ms 
solver time 11.456548 ms 
mapping solver time 28.457377 ms 
filter time 11.292405 ms 
solver time 9.180963 ms 
publication time 10.693393 ms 
whole laserOdometry time 73.545644 ms 
 
data association time 17.739573 ms 
solver time 12.162364 ms 
mapping data assosiation time 52.499792 ms 
data association time 20.014773 ms 
solver time 8.286344 ms 
publication time 12.326678 ms 
whole laserOdometry time 71.574846 ms 
 
mapping solver time 39.887182 ms 
sort q time 5.287152 
seperate points time 13.074345 
data association time 18.202451 ms 
mapping data assosiation time 50.062367 ms 
mapping solver time 22.315494 ms 
solver time 8.712052 ms 
map prepare time 4.050312 ms
map corner num 86379  surf num 44892 
sort q time 5.110825 
seperate points time 12.576102 
data association time 16.842877 ms 
solver time 10.717437 ms 
data association time 17.010696 ms 
mapping solver time 29.420551 ms 
points size 100395 
sort q time 4.818961 
seperate points time 11.985565 
mapping data assosiation time 45.566821 ms 
solver time 11.431049 ms 
data association time 17.460514 ms 
publication time 9.876772 ms 
whole laserOdometry time 65.216664 ms 
 
points size 100595 
sort q time 4.686647 
seperate points time 11.901350 
mapping data assosiation time 39.294680 ms 
data association time 27.947818 ms 
mapping solver time 27.114772 ms 
data association time 28.112971 ms 
mapping data assosiation time 40.174033 ms 
sort q time 5.224609 
seperate points time 13.136628 
publication time 13.083186 ms 
whole laserOdometry time 97.500332 ms 
 
scan registration time 32.591971 ms *************
filter time 9.882454 ms 
data association time 27.836742 ms 
solver time 11.613442 ms 
data association time 27.674227 ms 
points size 99810 
mapping data assosiation time 40.089092 ms 
sort q time 5.304124 
seperate points time 13.036469 
publication time 12.737981 ms 
whole laserOdometry time 92.470291 ms 
 
mapping solver time 23.806397 ms 
data association time 27.532345 ms 
solver time 15.115635 ms 
mapping data assosiation time 37.350986 ms 
mapping solver time 22.913787 ms 
prepare time 17.108483 
map prepare time 3.741313 ms
map corner num 89816  surf num 46229 
publication time 13.339499 ms 
whole laserOdometry time 96.986660 ms 
 
build tree time 27.885226 ms 
data association time 27.354414 ms 
solver time 15.588334 ms 
mapping data assosiation time 39.034113 ms 
data association time 28.098099 ms 
points size 99288 
solver time 15.571298 ms 
scan registration time 32.945594 ms *************
mapping data assosiation time 36.654032 ms 
data association time 27.062672 ms 
mapping solver time 18.283580 ms 
solver time 15.645959 ms 
drop lidar frame in mapping for real time performance 
map prepare time 4.588328 ms
map corner num 90852  surf num 46607 
data association time 28.180095 ms 
points size 99617 
prepare time 15.752861 
build tree time 28.697948 ms 
solver time 11.741994 ms 
optimization twice time 83.665773 
sort q time 4.974935 
seperate points time 12.487389 
mapping data assosiation time 38.894286 ms data association time 26.468794 ms 
solver time 15.188207 ms 
data association time 23.009447 ms 
points size 99759 
mapping data assosiation time 41.555543 ms 
mapping solver time 23.052189 ms 
mapping pub time 1.208224 ms 
whole mapping time 183.976847 ms +++++
solver time 11.239320 ms 
build tree time 27.783353 ms 
optimization twice time 57.252266 
publication time 10.740210 ms 
whole laserOdometry time 68.011377 ms 
 
prepare time 21.999171 
mapping data assosiation time 43.966992 ms 
sort q time 6.432230 
seperate points time 16.714821 
scan registration time 43.150941 ms *************
mapping solver time 25.615201 ms 
data association time 27.196784 ms 
solver time 15.517370 ms 
mapping data assosiation time 38.516877 ms 
points size 100370 
publication time 10.743226 ms 
whole laserOdometry time 83.060030 ms 
 
drop lidar frame in mapping for real time performance 
data association time 18.789232 ms 
solver time 13.706854 ms 
data association time 19.771471 ms 
solver time 10.690228 ms 
publication time 10.917246 ms 
whole laserOdometry time 74.780494 ms 
 
points size 101131 
prepare time 19.533427 
sort q time 6.601932 
seperate points time 16.640972 
scan registration time 41.058093 ms *************
mapping data assosiation time 36.619067 ms 
solver time 11.931887 ms 
filter time 10.369942 ms 
data association time 21.504110 ms 
solver time 9.183309 ms 
prepare time 19.146298 
sort q time 6.463986 
seperate points time 16.787608 
mapping data assosiation time 37.895374 ms 
data association time 20.302709 ms 
solver time 12.864292 ms 
data association time 19.065401 ms 
solver time 10.862497 ms 
publication time 12.058204 ms 
whole laserOdometry time 76.097322 ms 
 
sort q time 5.829614 
seperate points time 15.080615 
mapping optimization time 149.009258 
filter time 9.160566 ms 
data association time 17.887700 ms 
solver time 10.342734 ms 
data association time 18.689838 ms 
solver time 10.553779 ms 
points size 99498 
sort q time 5.836448 
seperate points time 14.892011 
data association time 18.066890 ms 
solver time 11.168019 ms 
data association time 16.315448 ms 
mapping solver time 19.209591 ms 
mapping optimization time 137.479253 
add points time 0.677449 ms
filter time 8.774288 ms 
points size 99217 
prepare time 16.405153 
sort q time 4.708882 
seperate points time 11.881137 
mapping data assosiation time 38.020674 ms 
data association time 29.673356 ms 
solver time 15.970869 ms 
mapping solver time 30.972280 ms 
data association time 28.212598 ms 
points size 99141 
optimization twice time 88.242502 
mapping data assosiation time 39.098592 ms 
mapping solver time 21.718670 ms 
filter time 8.944793 ms 
data association time 26.368128 ms 
solver time 14.667297 ms 
build tree time 25.477029 ms 
data association time 27.788537 ms 
solver time 13.323858 ms 
optimization twice time 83.228353 
sort q time 5.694883 
seperate points time 13.890086 
mapping data assosiation time 39.191172 ms 
scan registration time 32.845364 ms *************
mapping solver time 30.113503 ms 
solver time 16.758714 ms 
mapping data assosiation time 39.138188 ms 
points size 99709 
mapping solver time 25.846261 ms 
scan registration time 35.507098 ms *************
filter time 9.954356 ms 
data association time 16.521700 ms 
solver time 11.392915 ms 
data association time 16.261345 ms 
publication time 9.994737 ms 
whole laserOdometry time 65.056795 ms 
 
prepare time 15.435031 
sort q time 5.025272 
seperate points time 12.429259 
mapping data assosiation time 36.056651 ms 
data association time 26.964765 ms 
mapping solver time 29.113115 ms 
filter time 9.223836 ms 
data association time 25.902925 ms 
points size 101895 
publication time 12.824576 ms 
whole laserOdometry time 93.608540 ms 
 
scan registration time 36.028577 ms *************
mapping data assosiation time 35.786206 ms 
data association time 27.858512 ms 
solver time 14.811143 ms 
data association time 16.009860 ms 
solver time 9.658538 ms 
publication time 10.567489 ms 
whole laserOdometry time 79.829527 ms 
 
mapping solver time 21.854491 ms 
mapping optimization time 142.716723 
add points time 0.820000 ms
sort q time 5.958677 
seperate points time 15.184488 
map prepare time 3.596317 ms
map corner num 72044  surf num 36565 
data association time 16.372403 ms 
solver time 11.410957 ms 
data association time 19.530376 ms 
solver time 10.960725 ms 
publication time 11.564960 ms 
whole laserOdometry time 70.882864 ms 
 
mapping solver time 30.679284 ms 
sort q time 6.426325 
seperate points time 16.419847 
scan registration time 40.970447 ms *************
mapping data assosiation time 33.728022 ms 
solver time 10.324718 ms 
mapping solver time 17.115439 ms 
mapping optimization time 135.965710 
add points time 0.656847 ms
data association time 22.945614 ms 
solver time 8.700889 ms 
optimization twice time 62.050357 
sort q time 5.487404 
seperate points time 13.463249 
mapping data assosiation time 34.058123 ms 
data association time 20.121988 ms 
mapping solver time 20.279426 ms 
data association time 18.694503 ms 
solver time 7.595946 ms 
publication time 11.053148 ms 
whole laserOdometry time 71.441451 ms 
 
points size 103200 
filter time 9.500530 ms 
mapping pub time 1.342192 ms 
whole mapping time 145.918943 ms +++++
drop lidar frame in mapping for real time performance 
sort q time 6.429675 
seperate points time 15.855396 
build tree time 23.884110 ms 
data association time 17.706363 ms 
solver time 7.855778 ms 
data association time 16.974042 ms 
mapping data assosiation time 31.104828 ms 
publication time 10.609430 ms 
whole laserOdometry time 62.281102 ms 
 
mapping solver time 18.275736 ms 
sort q time 4.699409 
seperate points time 11.742846 
mapping data assosiation time 34.110125 ms 
data association time 17.693919 ms 
mapping solver time 18.383163 ms 
mapping optimization time 127.787804 
filter time 8.846470 ms 
map prepare time 4.492191 ms
map corner num 75040  surf num 38150 
data association time 18.121642 ms 
solver time 9.058680 ms 
publication time 10.502988 ms 
whole laserOdometry time 64.815558 ms 
 
points size 103386 
prepare time 15.334913 
mapping data assosiation time 33.940124 ms 
mapping solver time 21.888948 ms 
data association time 17.113087 ms 
data association time 16.505416 ms 
mapping data assosiation time 33.282294 ms 
solver time 5.674686 ms 
optimization twice time 48.160067 
publication time 10.318786 ms 
whole laserOdometry time 58.498173 ms 
 
mapping solver time 20.924131 ms 
filter time 9.500698 ms 
map prepare time 4.349618 ms
map corner num 76124  surf num 38637 
sort q time 5.673201 
seperate points time 14.203820 
build tree time 24.183725 ms 
solver time 12.161189 ms 
data association time 19.174991 ms 
solver time 12.011639 ms 
optimization twice time 64.661682 
publication time 13.035298 ms 
whole laserOdometry time 77.721760 ms 
 
sort q time 6.206513 
seperate points time 14.860447 
mapping data assosiation time 40.684316 ms 
data association time 17.511386 ms 
solver time 10.846392 ms 
data association time 17.560581 ms 
solver time 11.850673 ms 
points size 103152 
drop lidar frame in mapping for real time performance 
sort q time 6.106894 
seperate points time 15.634375 
[0m[ INFO] [1718802359.393513419]: Received 966997 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802359.393537675]: Data saved to 1317357906231883.pcd[0m
data association time 17.971916 ms 
solver time 8.161588 ms 
mapping data assosiation time 34.033340 ms 
solver time 5.949487 ms 
publication time 10.299450 ms 
whole laserOdometry time 60.643981 ms 
 
prepare time 19.833576 
sort q time 6.901159 
seperate points time 17.438654 
mapping data assosiation time 36.938103 ms 
solver time 10.334104 ms 
filter time 8.334529 ms 
solver time 8.898647 ms 
publication time 11.071480 ms 
whole laserOdometry time 65.789010 ms 
 
solver time 8.611379 ms 
publication time 9.925169 ms 
whole laserOdometry time 61.950841 ms 
 
sort q time 5.980726 
seperate points time 15.329933 
filter time 8.159455 ms 
solver time 11.167158 ms 
data association time 18.349225 ms 
publication time 9.673790 ms 
whole laserOdometry time 67.841914 ms 
 
sort q time 5.406682 
seperate points time 13.568378 
data association time 17.188998 ms 
solver time 14.194456 ms 
data association time 17.829299 ms 
filter time 10.604570 ms 
points size 100576 
sort q time 5.831769 
seperate points time 14.984345 
data association time 18.402831 ms 
solver time 11.240772 ms 
mapping solver time 21.889801 ms 
solver time 10.912414 ms 
points size 99526 
mapping data assosiation time 35.809472 ms 
mapping solver time 20.622472 ms 
filter time 8.808517 ms 
solver time 10.633986 ms 
data association time 18.069910 ms 
publication time 10.467939 ms 
whole laserOdometry time 68.754154 ms 
 
mapping data assosiation time 36.953011 ms 
mapping solver time 23.612468 ms 
solver time 8.147307 ms 
data association time 17.509962 ms 
publication time 9.808596 ms 
whole laserOdometry time 63.326565 ms 
 
mapping solver time 22.941732 ms 
filter time 9.373378 ms 
sort q time 5.685560 
seperate points time 14.407532 
build tree time 25.823857 ms 
solver time 10.788276 ms 
data association time 16.784486 ms 
solver time 9.447723 ms 
publication time 10.733616 ms 
whole laserOdometry time 65.617085 ms 
 
points size 99439 
sort q time 4.639571 
seperate points time 11.709307 
mapping data assosiation time 36.921396 ms 
solver time 11.712499 ms 
filter time 8.597586 ms 
solver time 8.295791 ms 
publication time 11.936908 ms 
whole laserOdometry time 69.665660 ms 
 
sort q time 5.386673 
seperate points time 13.585115 
mapping data assosiation time 38.159315 ms 
solver time 8.118401 ms 
mapping solver time 26.618271 ms 
solver time 5.471761 ms 
points size 99601 
sort q time 5.051872 
seperate points time 12.917605 
filter time 8.793142 ms 
data association time 20.788083 ms 
build tree time 23.606650 ms 
data association time 17.533140 ms 
solver time 8.076249 ms 
publication time 10.552377 ms 
whole laserOdometry time 65.753268 ms 
 
points size 100492 
prepare time 17.391405 
mapping solver time 26.465734 ms 
data association time 17.853813 ms 
mapping data assosiation time 35.928373 ms 
data association time 17.647338 ms 
solver time 9.190821 ms 
points size 102231 
sort q time 5.021618 
seperate points time 12.592558 
mapping data assosiation time 37.148149 ms 
solver time 14.370891 ms 
data association time 21.715893 ms 
solver time 10.317710 ms 
publication time 11.672869 ms 
whole laserOdometry time 78.058459 ms 
 
scan registration time 34.467851 ms *************
mapping solver time 20.214288 ms 
filter time 11.667012 ms 
solver time 12.973424 ms 
build tree time 29.475878 ms 
solver time 10.238462 ms 
publication time 12.435311 ms 
whole laserOdometry time 77.649000 ms 
 
sort q time 5.765655 
seperate points time 14.365556 
data association time 16.670806 ms 
solver time 13.069482 ms 
data association time 18.869783 ms 
mapping data assosiation time 39.044837 ms 
mapping solver time 16.481594 ms 
filter time 10.091755 ms 
scan registration time 36.208973 ms *************
build tree time 25.606224 ms 
data association time 21.034292 ms 
solver time 12.468998 ms 
mapping data assosiation time 38.445102 ms 
data association time 23.576837 ms 
solver time 10.694539 ms 
publication time 12.209689 ms 
whole laserOdometry time 80.946554 ms 
 
sort q time 6.332932 
seperate points time 15.491965 
mapping data assosiation time 41.547704 ms 
solver time 10.170379 ms 
mapping optimization time 158.269811 
data association time 18.080937 ms 
publication time 10.125854 ms 
whole laserOdometry time 67.213696 ms 
 
points size 98683 
prepare time 15.154117 
build tree time 25.321819 ms 
sort q time 5.711306 
seperate points time 13.738749 
scan registration time 32.943407 ms *************
data association time 19.499457 ms 
solver time 14.900680 ms 
data association time 27.772348 ms 
points size 95902 
prepare time 20.823517 
sort q time 6.836846 
seperate points time 17.009134 
mapping solver time 21.380785 ms 
filter time 9.025317 ms 
solver time 10.908493 ms 
data association time 17.608405 ms 
solver time 10.699078 ms 
publication time 11.913840 ms 
whole laserOdometry time 69.745348 ms 
 
scan registration time 32.567727 ms *************
mapping data assosiation time 39.885549 ms 
data association time 18.486225 ms 
solver time 14.352392 ms 
data association time 18.929143 ms 
solver time 13.119612 ms 
publication time 11.879794 ms 
whole laserOdometry time 77.740521 ms 
 
sort q time 5.097777 
seperate points time 12.973035 
mapping pub time 1.588907 ms 
whole mapping time 168.741663 ms +++++
data association time 16.822248 ms 
build tree time 25.110931 ms 
data association time 17.057353 ms 
solver time 10.882863 ms 
publication time 10.877239 ms 
whole laserOdometry time 69.663318 ms 
 
sort q time 4.333099 
seperate points time 10.347843 
data association time 15.909294 ms 
solver time 12.344795 ms 
mapping data assosiation time 37.152672 ms 
data association time 16.748133 ms 
mapping optimization time 150.892808 
filter time 8.571769 ms 
points size 90801 
sort q time 5.785409 
seperate points time 13.954522 
data association time 16.018879 ms 
mapping data assosiation time 37.651839 ms 
data association time 16.276649 ms 
mapping solver time 27.886779 ms 
points size 91495 
sort q time 4.622857 
seperate points time 11.142269 
mapping solver time 24.368383 ms 
solver time 10.457724 ms 
map prepare time 3.289470 ms
map corner num 94306  surf num 48810 
data association time 17.529210 ms 
solver time 8.408506 ms 
publication time 10.115214 ms 
whole laserOdometry time 66.095854 ms 
 
build tree time 30.118072 ms 
sort q time 5.599555 
seperate points time 14.240611 
mapping data assosiation time 37.829628 ms 
data association time 16.764360 ms 
solver time 11.665346 ms 
data association time 16.180719 ms 
mapping data assosiation time 38.041614 ms 
mapping solver time 21.890573 ms 
filter time 11.881053 ms 
mapping pub time 1.415971 ms 
whole mapping time 172.624228 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.649400 ms
map corner num 95446  surf num 49330 
data association time 17.689767 ms 
solver time 10.817721 ms 
build tree time 28.113135 ms 
data association time 17.636538 ms 
solver time 8.341209 ms 
optimization twice time 55.315871 
points size 94447 
sort q time 4.819918 
seperate points time 12.249776 
scan registration time 31.001449 ms *************
mapping solver time 28.558470 ms 
data association time 17.506593 ms 
solver time 12.000780 ms 
mapping data assosiation time 41.699960 ms 
solver time 8.063663 ms 
mapping solver time 25.672921 ms 
filter time 12.699876 ms 
scan registration time 31.306140 ms *************
data association time 16.878841 ms 
solver time 10.161875 ms 
data association time 16.713094 ms 
solver time 10.138454 ms 
publication time 12.054578 ms 
whole laserOdometry time 66.830752 ms 
 
points size 96852 
sort q time 4.839825 
seperate points time 12.127727 
scan registration time 32.490325 ms *************
mapping data assosiation time 35.909897 ms 
solver time 7.977576 ms 
mapping optimization time 156.264946 
mapping pub time 1.645481 ms 
whole mapping time 175.050355 ms +++++
publication time 12.663726 ms 
whole laserOdometry time 71.290494 ms 
 
prepare time 18.664259 
sort q time 5.715178 
seperate points time 14.855215 
data association time 16.733992 ms 
mapping data assosiation time 35.866683 ms 
data association time 17.449202 ms 
prepare time 15.211599 
sort q time 5.401269 
seperate points time 13.476748 
mapping solver time 21.284094 ms 
filter time 10.754580 ms 
data association time 17.094010 ms 
publication time 9.885898 ms 
whole laserOdometry time 64.197027 ms 
 
points size 100015 
sort q time 5.479377 
seperate points time 13.597008 
mapping data assosiation time 37.064772 ms 
data association time 16.958768 ms 
solver time 8.820754 ms 
data association time 17.619548 ms 
solver time 5.511984 ms 
optimization twice time 49.881757 
publication time 11.002689 ms 
whole laserOdometry time 60.900502 ms 
 
points size 101208 
add points time 0.826048 ms
sort q time 5.316702 
seperate points time 13.447541 
data association time 17.861484 ms 
solver time 10.405926 ms 
map prepare time 4.372005 ms
map corner num 100117  surf num 51732 
data association time 20.909859 ms 
[0m[ INFO] [1718802362.869624989]: Received 1002582 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802362.869665952]: Data saved to 1317357909656666.pcd[0m
points size 102966 
sort q time 6.807794 
seperate points time 17.628875 
mapping data assosiation time 44.850008 ms 
data association time 17.998509 ms 
mapping solver time 26.490004 ms 
data association time 18.920231 ms 
solver time 9.718166 ms 
points size 103162 
mapping data assosiation time 41.879070 ms 
sort q time 6.010165 
seperate points time 15.652791 
mapping solver time 22.593438 ms 
filter time 11.050609 ms 
solver time 11.166927 ms 
solver time 8.921138 ms 
optimization twice time 60.168768 
mapping data assosiation time 40.687025 ms 
sort q time 5.961922 
seperate points time 15.455205 
mapping solver time 26.503109 ms 
data association time 22.373185 ms 
solver time 12.385395 ms 
mapping data assosiation time 41.712299 ms 
data association time 20.571468 ms 
points size 103684 
filter time 9.816630 ms 
scan registration time 39.075188 ms *************
build tree time 19.917773 ms 
data association time 19.420985 ms 
solver time 12.389521 ms 
mapping data assosiation time 39.824326 ms 
data association time 19.691538 ms 
publication time 10.008533 ms 
whole laserOdometry time 71.275661 ms 
 
sort q time 4.981936 
seperate points time 12.016866 
mapping data assosiation time 45.189784 ms 
data association time 31.222113 ms 
solver time 12.821782 ms 
add points time 0.741626 ms
filter time 9.286859 ms 
mapping pub time 1.767361 ms 
whole mapping time 182.827136 ms +++++
points size 104221 publication time 13.802271 ms 
whole laserOdometry time 95.607580 ms 
 
scan registration time 57.305146 ms *************
data association time 18.321556 ms 
mapping data assosiation time 50.891725 ms 
solver time 13.071480 ms 
data association time 17.268421 ms 
solver time 8.407049 ms 
optimization twice time 57.774462 
prepare time 20.310910 
sort q time 6.870101 
seperate points time 17.935834 
mapping data assosiation time 44.990330 ms 
data association time 17.390262 ms 
solver time 10.797322 ms 
filter time 8.490993 ms 
solver time 8.194426 ms 
publication time 11.658524 ms 
whole laserOdometry time 66.676984 ms 
 
sort q time 5.891724 
seperate points time 14.595140 
mapping data assosiation time 38.050197 ms 
data association time 16.989167 ms 
solver time 8.513349 ms 
mapping solver time 25.871162 ms 
data association time 17.554665 ms 
solver time 7.708827 ms 
publication time 12.861609 ms 
whole laserOdometry time 64.446182 ms 
 
mapping data assosiation time 42.047887 ms 
sort q time 5.269554 
seperate points time 13.021108 
mapping solver time 23.371165 ms 
filter time 9.754294 ms 
data association time 22.844253 ms 
solver time 11.131115 ms 
data association time 17.777836 ms 
solver time 11.867256 ms 
publication time 13.057275 ms 
whole laserOdometry time 77.695354 ms 
 
sort q time 5.341113 
seperate points time 13.309342 
mapping solver time 27.575069 ms 
data association time 22.458185 ms 
solver time 10.550668 ms 
data association time 17.293792 ms 
solver time 10.162369 ms 
publication time 10.982658 ms 
whole laserOdometry time 72.397264 ms 
 
points size 102708 
prepare time 19.801088 
mapping solver time 32.087807 ms 
scan registration time 39.579287 ms *************
data association time 17.963034 ms 
solver time 10.988720 ms 
data association time 17.755104 ms 
solver time 10.295247 ms 
publication time 10.805037 ms 
whole laserOdometry time 68.703204 ms 
 
sort q time 6.288951 
seperate points time 15.826885 
data association time 16.691003 ms 
solver time 13.211462 ms 
mapping solver time 19.811128 ms 
optimization twice time 59.886550 
map prepare time 4.791210 ms
map corner num 74809  surf num 38388 
sort q time 6.123815 
seperate points time 15.759260 
scan registration time 40.486266 ms *************
data association time 17.095915 ms 
solver time 11.756730 ms 
data association time 17.151581 ms 
solver time 9.223923 ms 
optimization twice time 56.162170 
mapping solver time 28.534089 ms 
prepare time 21.200421 
sort q time 7.176810 
seperate points time 18.348580 
mapping data assosiation time 45.895138 ms 
data association time 19.766199 ms 
solver time 10.954784 ms 
data association time 16.958092 ms 
solver time 10.229574 ms 
prepare time 24.104603 
sort q time 7.273633 
seperate points time 18.437405 
mapping data assosiation time 45.707601 ms 
mapping solver time 19.233846 ms 
solver time 8.348460 ms 
data association time 17.145294 ms 
mapping data assosiation time 38.025248 ms 
points size 102659 
mapping solver time 22.632892 ms 
sort q time 6.002166 
seperate points time 15.542206 
map prepare time 3.107367 ms
map corner num 76878  surf num 39349 
build tree time 20.865677 ms 
solver time 12.452067 ms 
data association time 16.752592 ms 
solver time 9.601288 ms 
publication time 12.044800 ms 
whole laserOdometry time 71.124005 ms 
 
sort q time 6.006488 
seperate points time 15.566035 
data association time 16.741569 ms 
mapping data assosiation time 38.625370 ms 
data association time 18.440073 ms 
solver time 9.312162 ms 
mapping pub time 2.819515 ms 
whole mapping time 176.141109 ms +++++
sort q time 5.928818 
seperate points time 15.371835 
build tree time 27.708135 ms 
data association time 17.312786 ms 
solver time 11.164393 ms 
mapping data assosiation time 36.238146 ms 
data association time 22.970557 ms 
solver time 9.249755 ms 
optimization twice time 61.530449 
mapping solver time 28.459059 ms 
sort q time 6.861627 
seperate points time 17.496605 
mapping data assosiation time 45.716898 ms 
data association time 16.989583 ms 
mapping solver time 15.963846 ms 
filter time 8.452998 ms 
map prepare time 4.426276 ms
map corner num 79165  surf num 40445 
solver time 8.963686 ms 
publication time 11.196028 ms 
whole laserOdometry time 65.267930 ms 
 
build tree time 26.038141 ms 
scan registration time 42.588021 ms *************
mapping data assosiation time 44.147014 ms 
data association time 20.947660 ms 
solver time 12.531300 ms 
data association time 16.858385 ms 
points size 101819 
sort q time 5.689883 
seperate points time 13.807147 
filter time 8.263921 ms 
data association time 20.277818 ms 
solver time 10.507735 ms 
data association time 18.904542 ms 
publication time 11.810946 ms 
whole laserOdometry time 69.089878 ms 
 
mapping data assosiation time 41.277847 ms 
points size 102714 
sort q time 6.144128 
seperate points time 15.921316 
mapping solver time 34.197737 ms 
data association time 27.379888 ms 
mapping data assosiation time 34.739367 ms 
solver time 14.934728 ms 
mapping solver time 22.639492 ms 
data association time 27.554549 ms 
map prepare time 4.422895 ms
map corner num 81273  surf num 41504 
sort q time 6.105403 
seperate points time 15.669111 
build tree time 27.903271 ms 
data association time 27.775488 ms 
mapping data assosiation time 36.090315 ms 
solver time 14.920391 ms 
data association time 20.141218 ms 
solver time 8.900098 ms 
publication time 11.244055 ms 
whole laserOdometry time 83.889397 ms 
 
mapping data assosiation time 41.038191 ms 
solver time 10.859414 ms 
mapping solver time 21.546990 ms 
data association time 19.663508 ms 
optimization twice time 57.563080 
publication time 12.393895 ms 
whole laserOdometry time 69.978324 ms 
 
prepare time 19.114028 
sort q time 6.439650 
seperate points time 16.299335 
data association time 16.917793 ms 
solver time 12.902527 ms 
mapping solver time 26.325417 ms 
solver time 11.540801 ms 
points size 96973 
scan registration time 43.052287 ms *************
mapping solver time 20.730902 ms 
filter time 9.985939 ms 
mapping pub time 2.893391 ms 
whole mapping time 190.195417 ms +++++
solver time 12.416391 ms 
build tree time 27.647336 ms 
prepare time 20.902424 
publication time 10.733055 ms 
whole laserOdometry time 84.936197 ms 
 
sort q time 6.572264 
seperate points time 16.977726 
mapping data assosiation time 46.205118 ms 
data association time 17.614345 ms 
solver time 12.847339 ms 
data association time 20.539515 ms 
solver time 10.100667 ms 
publication time 12.614968 ms 
whole laserOdometry time 74.685715 ms 
 
sort q time 5.308366 
seperate points time 14.277875 
mapping solver time 34.439152 ms 
filter time 9.156086 ms 
solver time 8.594042 ms 
build tree time 23.540759 ms 
data association time 16.566148 ms 
publication time 9.857397 ms 
whole laserOdometry time 63.031883 ms 
 
points size 93596 
mapping data assosiation time 47.850499 ms 
scan registration time 41.422965 ms *************
mapping solver time 28.008878 ms 
solver time 10.948428 ms 
data association time 16.055029 ms 
solver time 8.013109 ms 
publication time 11.764457 ms 
whole laserOdometry time 63.590436 ms 
 
points size 95177 
prepare time 18.637594 
mapping solver time 32.996040 ms 
scan registration time 37.340425 ms *************
map prepare time 3.114369 ms
map corner num 86027  surf num 44145 
data association time 18.477320 ms 
solver time 10.832501 ms 
data association time 16.195519 ms 
solver time 8.602572 ms 
publication time 9.620860 ms 
whole laserOdometry time 64.510568 ms 
 
points size 96894 
sort q time 5.508584 
seperate points time 14.157564 
data association time 16.864345 ms 
solver time 12.473197 ms 
data association time 19.204847 ms 
solver time 10.976261 ms 
publication time 10.597797 ms 
whole laserOdometry time 70.986889 ms 
 
points size 97446 
prepare time 19.296212 
sort q time 5.746412 
seperate points time 14.763965 
scan registration time 38.321077 ms *************
build tree time 32.283072 ms 
data association time 15.968724 ms 
solver time 10.094606 ms 
mapping data assosiation time 34.662416 ms 
mapping solver time 24.183421 ms 
publication time 9.378394 ms 
whole laserOdometry time 61.854022 ms 
 
sort q time 4.218372 
seperate points time 10.596284 
mapping data assosiation time 38.969875 ms 
data association time 16.364208 ms 
solver time 10.482673 ms 
map prepare time 3.672999 ms
map corner num 88296  surf num 45270 
data association time 17.018395 ms 
solver time 8.241461 ms 
optimization twice time 52.973447 
points size 86510 
sort q time 5.114841 
seperate points time 13.343903 
scan registration time 30.542860 ms *************
data association time 17.088271 ms 
mapping solver time 20.553940 ms 
data association time 17.125245 ms 
solver time 8.389095 ms 
publication time 8.759606 ms 
whole laserOdometry time 63.431985 ms 
 
points size 82766 
filter time 10.253390 ms 
data association time 30.695766 ms 
map prepare time 4.793150 ms
map corner num 89261  surf num 45755 
solver time 21.898247 ms 
[0m[ INFO] [1718802366.501293071]: Received 1036722 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802366.501317226]: Data saved to 1317357913287913.pcd[0m
prepare time 12.984487 
sort q time 3.848144 
seperate points time 9.807600 
publication time 11.365672 ms 
whole laserOdometry time 102.921399 ms 
 
[33m[ WARN] [1718802366.536587728]: odometry process over 100ms[0m
mapping data assosiation time 43.088605 ms 
data association time 25.463043 ms 
solver time 12.233761 ms 
mapping solver time 33.701504 ms 
data association time 24.677026 ms 
points size 75115 
sort q time 3.814093 
seperate points time 9.925077 
mapping solver time 25.574268 ms 
mapping optimization time 181.253641 
add points time 0.760961 ms
data association time 22.708442 ms 
mapping pub time 1.454313 ms 
whole mapping time 199.104622 ms +++++
data association time 19.807209 ms 
build tree time 29.535357 ms 
scan registration time 24.125922 ms *************
mapping data assosiation time 35.861076 ms 
solver time 10.774665 ms 
data association time 16.925860 ms 
publication time 7.245732 ms 
whole laserOdometry time 58.341026 ms 
 
mapping data assosiation time 33.236329 ms 
points size 79645 
prepare time 12.840692 
scan registration time 26.568666 ms *************
map prepare time 3.079933 ms
map corner num 91352  surf num 46634 
data association time 16.868025 ms 
solver time 12.259592 ms 
data association time 13.931766 ms 
mapping data assosiation time 34.197725 ms 
points size 86042 
sort q time 3.887686 
seperate points time 9.298182 
scan registration time 27.310890 ms *************
mapping data assosiation time 33.263027 ms 
solver time 15.211605 ms 
filter time 9.641942 ms 
data association time 15.178060 ms 
mapping solver time 30.743440 ms 
mapping data assosiation time 27.773935 ms 
points size 93381 
prepare time 13.904941 
sort q time 4.908423 
seperate points time 11.607050 
filter time 9.099426 ms 
mapping pub time 0.998762 ms 
whole mapping time 162.540292 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.402047 ms
map corner num 93567  surf num 47358 
data association time 15.649329 ms 
solver time 11.331807 ms 
build tree time 27.695523 ms 
data association time 15.803653 ms 
optimization twice time 48.845727 
mapping data assosiation time 33.315643 ms 
points size 97359 
mapping solver time 23.352025 ms 
scan registration time 35.029785 ms *************
data association time 15.677496 ms 
solver time 11.138615 ms 
mapping solver time 18.287060 ms 
filter time 12.706947 ms 
publication time 10.590985 ms 
whole laserOdometry time 62.968351 ms 
 
points size 98988 
build tree time 30.290641 ms 
sort q time 5.226357 
seperate points time 13.032129 
mapping data assosiation time 36.209864 ms 
data association time 28.872058 ms 
solver time 16.120942 ms 
data association time 29.485885 ms 
solver time 13.479706 ms 
publication time 11.713984 ms 
whole laserOdometry time 100.785450 ms 
 
[33m[ WARN] [1718802367.466592534]: odometry process over 100ms[0m
mapping solver time 25.592922 ms 
filter time 11.170119 ms 
solver time 15.220231 ms 
build tree time 35.711158 ms 
points size 99868 
publication time 14.195507 ms mapping solver time 28.292187 ms 
solver time 12.282940 ms 
data association time 23.231414 ms 
solver time 9.481108 ms 
optimization twice time 72.991144 
publication time 10.978247 ms 
whole laserOdometry time 83.993968 ms 
 
mapping solver time 28.136079 ms 
filter time 12.691153 ms 
map prepare time 4.664406 ms
map corner num 96747  surf num 48801 
sort q time 6.045746 
seperate points time 14.749258 
scan registration time 54.589327 ms *************
build tree time 28.573405 ms 
data association time 26.467053 ms 
solver time 15.329912 ms 
points size 101931 
data association time 26.689048 ms 
scan registration time 43.366593 ms *************
mapping solver time 29.211733 ms 
data association time 26.565840 ms 
mapping solver time 22.152049 ms 
prepare time 16.435424 
data association time 26.476359 ms 
scan registration time 35.341406 ms *************
publication time 11.709399 ms 
whole laserOdometry time 92.714638 ms 
 
data association time 26.753355 ms 
mapping data assosiation time 31.612631 ms 
mapping solver time 22.720214 ms 
points size 101507 
solver time 11.269468 ms 
publication time 11.869474 ms 
whole laserOdometry time 93.264856 ms 
 
mapping solver time 21.357753 ms 
filter time 9.166935 ms 
mapping pub time 1.538402 ms 
whole mapping time 158.788350 ms +++++
drop lidar frame in mapping for real time performance 
solver time 12.893923 ms 
map prepare time 4.231796 ms
map corner num 99011  surf num 49758 
data association time 17.720481 ms 
prepare time 19.194452 
sort q time 6.090496 
seperate points time 14.286970 
scan registration time 38.446022 ms *************
mapping data assosiation time 36.478599 ms 
data association time 17.911610 ms 
solver time 10.667360 ms 
data association time 16.717576 ms 
publication time 9.604659 ms 
whole laserOdometry time 63.979120 ms 
 
points size 101378 
mapping solver time 17.863121 ms 
sort q time 6.126527 
seperate points time 14.814486 
map prepare time 4.103738 ms
map corner num 66748  surf num 34694 
data association time 17.210074 ms 
solver time 13.463835 ms 
data association time 17.740038 ms 
solver time 11.866334 ms 
publication time 9.808438 ms 
whole laserOdometry time 70.949368 ms 
 
sort q time 4.924451 
seperate points time 11.631689 
mapping data assosiation time 32.447419 ms 
data association time 16.836987 ms 
solver time 14.972248 ms 
data association time 16.921402 ms 
build tree time 21.001742 ms 
publication time 10.297042 ms 
whole laserOdometry time 73.568005 ms 
 
points size 101025 
prepare time 16.604831 
sort q time 6.022400 
seperate points time 14.463855 
mapping data assosiation time 33.141413 ms 
scan registration time 35.053167 ms *************
mapping solver time 27.465268 ms 
data association time 28.010712 ms 
solver time 17.546889 ms 
points size 101256 
solver time 12.027081 ms 
filter time 8.725936 ms 
data association time 26.811594 ms 
solver time 20.157158 ms 
mapping data assosiation time 38.783933 ms 
data association time 29.366156 ms 
sort q time 5.248428 
seperate points time 13.423138 
scan registration time 32.654496 ms *************
solver time 16.781324 ms 
optimization twice time 94.213493 
data association time 30.616796 ms 
solver time 19.780680 ms 
add points time 0.955426 ms
filter time 8.734304 ms 
data association time 27.635462 ms 
sort q time 6.618008 
seperate points time 15.791179 
build tree time 25.629364 ms 
data association time 30.896637 ms 
points size 103062 
data association time 28.589896 ms 
sort q time 5.785003 
seperate points time 13.734563 
optimization twice time 90.811658 
publication time 13.912024 ms 
whole laserOdometry time 104.743299 ms 
 
[33m[ WARN] [1718802368.833861179]: odometry process over 100ms[0m
mapping solver time 24.620353 ms 
filter time 8.930562 ms 
map prepare time 3.953490 ms
map corner num 70643  surf num 36397 
points size 102992 
build tree time 26.066472 ms 
sort q time 5.973802 
seperate points time 14.161871 
publication time 13.848599 ms 
whole laserOdometry time 98.743754 ms 
 
data association time 28.676458 ms 
mapping solver time 30.836494 ms 
points size 101639 
data association time 31.793230 ms 
solver time 12.642854 ms 
optimization twice time 90.647617 
mapping solver time 27.910903 ms 
filter time 9.138805 ms 
data association time 28.792010 ms 
solver time 14.778700 ms 
points size 101458 
data association time 30.604163 ms 
mapping data assosiation time 39.503364 ms 
publication time 11.900388 ms 
whole laserOdometry time 100.824166 ms 
 
[33m[ WARN] [1718802369.144454762]: odometry process over 100ms[0m
mapping solver time 31.336897 ms 
data association time 29.022042 ms 
solver time 17.889726 ms 
mapping data assosiation time 40.322679 ms 
prepare time 18.881476 
data association time 28.689814 ms 
mapping optimization time 165.689331 
filter time 9.927502 ms 
build tree time 26.363223 ms 
solver time 17.081157 ms 
points size 101054 
data association time 30.418390 ms 
scan registration time 39.521573 ms *************
solver time 12.703265 ms 
optimization twice time 89.307670 
mapping solver time 31.370722 ms 
mapping data assosiation time 41.065658 ms 
data association time 32.175659 ms 
points size 101070 
filter time 10.712356 ms 
solver time 14.976960 ms 
optimization twice time 93.375735 
publication time 12.471956 ms 
whole laserOdometry time 105.866292 ms 
 
[33m[ WARN] [1718802369.461802165]: odometry process over 100ms[0m
data association time 31.441805 ms 
solver time 17.240575 ms 
prepare time 15.397482 
mapping solver time 31.736754 ms 
data association time 29.379670 ms 
solver time 13.160179 ms 
optimization twice time 92.432365 
publication time 14.051656 ms 
whole laserOdometry time 106.503454 ms 
 
[33m[ WARN] [1718802369.571056179]: odometry process over 100ms[0m
mapping solver time 18.037110 ms 
mapping optimization time 162.315410 
add points time 0.876494 ms
filter time 11.215463 ms 
solver time 16.097559 ms 
sort q time 4.894806 
seperate points time 11.880166 
data association time 29.265962 ms 
solver time 13.145627 ms 
publication time 13.988157 ms 
whole laserOdometry time 102.513721 ms 
 
[33m[ WARN] [1718802369.676470709]: odometry process over 100ms[0m
data association time 28.973135 ms 
mapping solver time 30.501848 ms 
points size 101652 
sort q time 5.248410 
seperate points time 12.757809 
mapping data assosiation time 40.977019 ms 
solver time 11.893037 ms 
mapping solver time 25.842169 ms 
filter time 10.371368 ms 
mapping pub time 1.815505 ms 
whole mapping time 186.590521 ms +++++
drop lidar frame in mapping for real time performance 
data association time 29.125455 ms 
points size 101664 
sort q time 5.502921 
seperate points time 13.273067 
data association time 32.460441 ms 
solver time 16.455754 ms 
optimization twice time 98.374971 
publication time 12.853132 ms 
whole laserOdometry time 111.245487 ms 
 
[33m[ WARN] [1718802369.900720987]: odometry process over 100ms[0m
points size 101508 
sort q time 5.820116 
seperate points time 13.426558 
mapping solver time 18.812464 ms 
filter time 9.030865 ms 
publication time 11.768137 ms 
whole laserOdometry time 93.952375 ms 
 
data association time 17.903424 ms 
mapping pub time 50.141029 ms 
whole mapping time 231.200910 ms +++++
data association time 20.128848 ms 
sort q time 6.677991 
seperate points time 16.929771 
build tree time 23.891637 ms 
publication time 9.698982 ms 
whole laserOdometry time 78.634274 ms 
 
data association time 17.380478 ms 
solver time 12.854688 ms 
mapping solver time 27.809585 ms 
solver time 12.070682 ms 
publication time 10.369164 ms 
whole laserOdometry time 71.996765 ms 
 
mapping data assosiation time 37.594092 ms 
scan registration time 39.598234 ms *************
mapping solver time 24.174244 ms 
filter time 8.065518 ms 
solver time 13.839636 ms 
data association time 16.996795 ms 
solver time 12.736244 ms 
prepare time 14.977457 
sort q time 6.173465 
seperate points time 15.133553 
mapping solver time 25.000432 ms 
solver time 12.620679 ms 
data association time 17.450861 ms 
solver time 9.590675 ms 
publication time 10.788358 ms 
whole laserOdometry time 69.259943 ms 
 
filter time 8.301453 ms 
mapping pub time 1.317209 ms 
whole mapping time 164.486844 ms +++++
drop lidar frame in mapping for real time performance 
sort q time 6.229664 
seperate points time 14.413104 
build tree time 22.764790 ms 
data association time 17.387976 ms 
solver time 12.326113 ms 
data association time 16.916974 ms 
solver time 12.164794 ms 
publication time 9.954125 ms 
whole laserOdometry time 69.642162 ms 
 
sort q time 4.878299 
seperate points time 11.576359 
mapping data assosiation time 35.773145 ms 
solver time 10.022515 ms 
filter time 7.639592 ms 
map prepare time 4.807095 ms
map corner num 80066  surf num 40487 
publication time 10.402682 ms 
whole laserOdometry time 64.592616 ms 
 
build tree time 26.815270 ms 
sort q time 5.017394 
seperate points time 12.381609 
mapping data assosiation time 40.698668 ms 
solver time 15.391528 ms 
data association time 17.380732 ms 
solver time 10.888900 ms 
prepare time 15.525100 
sort q time 5.847205 
seperate points time 15.804065 
mapping solver time 25.303230 ms 
filter time 9.907810 ms 
solver time 12.720608 ms 
build tree time 23.776833 ms 
solver time 10.522441 ms 
publication time 11.209216 ms 
whole laserOdometry time 72.098268 ms 
 
mapping data assosiation time 42.301266 ms 
sort q time 6.138291 
seperate points time 15.021184 
mapping solver time 21.452762 ms 
data association time 19.846754 ms 
solver time 12.367710 ms 
mapping data assosiation time 37.622525 ms 
mapping solver time 15.042356 ms 
publication time 9.345991 ms 
whole laserOdometry time 70.282650 ms 
 
prepare time 18.976797 
map prepare time 4.761321 ms
map corner num 82385  surf num 41813 
scan registration time 37.701812 ms *************
data association time 18.562268 ms 
solver time 13.947896 ms 
mapping data assosiation time 38.089750 ms 
data association time 17.341304 ms 
solver time 10.710401 ms 
publication time 9.663049 ms 
whole laserOdometry time 71.144686 ms 
 
points size 98355 
sort q time 5.689899 
seperate points time 14.632509 
mapping solver time 17.868796 ms 
filter time 8.488933 ms 
solver time 15.650522 ms 
data association time 17.106795 ms 
solver time 11.875260 ms 
optimization twice time 63.343515 
sort q time 5.680014 
seperate points time 14.653797 
mapping solver time 23.077577 ms 
solver time 10.547594 ms 
data association time 16.724247 ms 
solver time 10.656860 ms 
mapping solver time 15.768629 ms 
filter time 9.731009 ms 
mapping pub time 1.231561 ms 
whole mapping time 160.585719 ms +++++
drop lidar frame in mapping for real time performance 
scan registration time 38.450070 ms *************
build tree time 24.050362 ms 
data association time 17.000584 ms 
solver time 10.606445 ms 
data association time 17.122579 ms 
solver time 7.840742 ms 
publication time 11.039014 ms 
whole laserOdometry time 64.538149 ms 
 
points size 99130 
sort q time 6.713476 
seperate points time 17.128481 
data association time 17.054648 ms 
solver time 13.587977 ms 
mapping solver time 15.196561 ms 
mapping optimization time 155.809854 
add points time 0.679466 ms
filter time 10.024161 ms 
solver time 8.876476 ms 
publication time 11.923065 ms 
whole laserOdometry time 69.887978 ms 
 
build tree time 32.202692 ms 
sort q time 6.371378 
seperate points time 16.661759 
data association time 16.504905 ms 
solver time 11.081500 ms 
data association time 16.752806 ms 
publication time 10.878693 ms 
whole laserOdometry time 63.689675 ms 
 
points size 99892 
mapping data assosiation time 48.176595 ms 
scan registration time 45.413718 ms *************
mapping solver time 24.787077 ms 
mapping optimization time 173.127213 
add points time 0.747725 ms
map prepare time 3.814197 ms
map corner num 86559  surf num 44730 
data association time 17.241223 ms 
solver time 8.656665 ms 
optimization twice time 55.966821 
publication time 10.962821 ms 
whole laserOdometry time 66.950297 ms 
 
prepare time 22.789833 
sort q time 6.972681 
seperate points time 16.931411 
mapping data assosiation time 50.429960 ms 
mapping solver time 19.701128 ms 
solver time 14.589069 ms 
data association time 19.585330 ms 
solver time 11.178180 ms 
publication time 12.006747 ms 
whole laserOdometry time 79.146448 ms 
 
sort q time 5.933212 
seperate points time 14.903709 
filter time 11.302249 ms 
mapping pub time 2.865284 ms 
whole mapping time 187.086358 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.305684 ms
map corner num 87500  surf num 45331 solver time 12.199128 ms 
data association time 19.818664 ms 
solver time 11.058292 ms 
prepare time 23.088079 
mapping data assosiation time 50.893953 ms 
sort q time 6.773886 
seperate points time 16.494165 
mapping solver time 28.350948 ms 
data association time 28.157762 ms 
solver time 14.764862 ms 
mapping data assosiation time 41.609360 ms 
prepare time 15.544360 
mapping solver time 25.093420 ms 
filter time 10.525252 ms 
build tree time 27.390858 ms 
solver time 15.441079 ms 
points size 102701 
mapping data assosiation time 50.738893 ms 
scan registration time 36.176903 ms *************
publication time 14.542355 ms 
whole laserOdometry time 97.342689 ms 
 
data association time 24.942602 ms 
mapping solver time 57.095012 ms 
solver time 17.106792 ms 
data association time 17.084198 ms 
prepare time 14.446417 
mapping data assosiation time 47.988910 ms 
mapping solver time 25.367717 ms 
filter time 11.590663 ms 
mapping pub time 1.838156 ms 
whole mapping time 230.465041 ms +++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
solver time 17.310336 ms 
build tree time 33.972975 ms 
prepare time 16.121949 
sort q time 6.132763 
seperate points time 14.867090 
publication time 14.558847 ms 
whole laserOdometry time 109.253049 ms 
 
[33m[ WARN] [1718802372.262973068]: odometry process over 100ms[0m
mapping solver time 35.657289 ms 
points size 102605 
data association time 32.132072 ms 
sort q time 6.551195 
seperate points time 16.244849 
solver time 17.281605 ms 
publication time 12.442278 ms 
whole laserOdometry time 111.373758 ms 
 
[33m[ WARN] [1718802372.377215852]: odometry process over 100ms[0m
mapping solver time 30.743902 ms 
filter time 11.756757 ms 
map prepare time 4.537868 ms
map corner num 90416  surf num 47444 
solver time 17.908527 ms 
points size 102669 
build tree time 34.339215 ms 
sort q time 6.693620 
seperate points time 15.839430 
solver time 17.223435 ms 
publication time 14.505084 ms 
whole laserOdometry time 108.763451 ms 
 
[33m[ WARN] [1718802372.488423698]: odometry process over 100ms[0m
mapping data assosiation time 51.307059 ms 
data association time 28.876152 ms 
mapping solver time 35.862627 ms 
prepare time 14.902067 
scan registration time 32.707835 ms *************
data association time 31.973418 ms 
solver time 13.178368 ms 
publication time 13.037673 ms 
whole laserOdometry time 104.006089 ms 
 
[33m[ WARN] [1718802372.595282478]: odometry process over 100ms[0m
mapping solver time 35.554224 ms 
filter time 10.258826 ms 
points size 103072 
sort q time 6.162700 
seperate points time 15.701975 
solver time 8.643055 ms 
publication time 9.746022 ms 
whole laserOdometry time 89.722563 ms 
 
data association time 17.513749 ms 
solver time 10.139848 ms 
data association time 21.376639 ms 
solver time 11.392582 ms 
publication time 12.428921 ms 
whole laserOdometry time 73.921133 ms 
 
mapping data assosiation time 45.919521 ms 
data association time 17.333978 ms 
mapping solver time 24.798611 ms 
filter time 10.039504 ms 
mapping pub time 2.572038 ms 
whole mapping time 192.680548 ms +++++
drop lidar frame in mapping for real time performance 
data association time 18.802967 ms 
map prepare time 3.824490 ms
map corner num 92689  surf num 49125 
solver time 11.171733 ms 
points size 103669 
build tree time 30.621162 ms 
sort q time 4.741579 
seperate points time 12.100047 
data association time 17.329501 ms 
data association time 16.849556 ms 
publication time 12.768564 ms 
whole laserOdometry time 66.365890 ms 
 
points size 103679 
sort q time 5.562468 
seperate points time 13.719082 
mapping solver time 19.062772 ms 
filter time 12.619831 ms 
map prepare time 3.904235 ms
map corner num 93763  surf num 49822 
data association time 28.474149 ms 
build tree time 31.836235 ms 
points size 103612 
data association time 28.437117 ms 
prepare time 16.430613 
sort q time 5.236076 
seperate points time 13.043760 
mapping data assosiation time 47.000531 ms 
mapping solver time 27.321616 ms 
solver time 18.144118 ms 
points size 103677 
solver time 15.154682 ms 
publication time 13.225521 ms 
whole laserOdometry time 103.720522 ms 
 
[33m[ WARN] [1718802373.190587751]: odometry process over 100ms[0m
mapping pub time 1.220068 ms 
whole mapping time 194.325431 ms +++++
data association time 28.366338 ms 
solver time 17.669537 ms 
data association time 16.775912 ms 
optimization twice time 74.337388 
sort q time 6.574965 
seperate points time 15.133472 
mapping solver time 25.518545 ms 
solver time 12.458833 ms 
data association time 17.205054 ms 
solver time 11.722354 ms 
points size 104050 
mapping optimization time 165.849739 
scan registration time 34.094714 ms *************
data association time 17.431906 ms 
solver time 11.392026 ms 
data association time 17.785531 ms 
mapping data assosiation time 40.982593 ms 
prepare time 15.593052 
sort q time 5.026826 
seperate points time 11.820239 
data association time 16.607814 ms 
solver time 12.884738 ms 
data association time 17.458254 ms 
solver time 10.835044 ms 
publication time 10.814697 ms 
whole laserOdometry time 69.519394 ms 
 
map prepare time 4.401963 ms
map corner num 97025  surf num 51725 
sort q time 5.212026 
seperate points time 12.668957 
build tree time 27.591925 ms 
data association time 18.010360 ms 
solver time 10.187473 ms 
data association time 17.516078 ms 
mapping data assosiation time 39.820325 ms 
solver time 8.373803 ms 
publication time 10.861464 ms 
whole laserOdometry time 65.791786 ms 
 
points size 102575 
sort q time 5.569574 
seperate points time 13.644644 
data association time 27.929390 ms 
mapping solver time 30.676121 ms 
mapping optimization time 159.127407 
add points time 0.728177 ms
filter time 11.944206 ms 
data association time 25.114943 ms 
publication time 9.218291 ms 
whole laserOdometry time 88.261285 ms 
 
map prepare time 5.618144 ms
map corner num 98175  surf num 52331 
[0m[ INFO] [1718802373.846331011]: Received 1100861 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802373.846372845]: Data saved to 1317357920666933.pcd[0m
solver time 17.359415 ms 
data association time 20.224197 ms 
prepare time 22.827387 
sort q time 5.880398 
seperate points time 14.645446 
data association time 16.662956 ms 
mapping data assosiation time 37.591835 ms 
solver time 14.514965 ms 
mapping solver time 19.085004 ms 
filter time 11.049782 ms 
publication time 10.864254 ms 
whole laserOdometry time 73.999189 ms 
 
build tree time 30.448243 ms 
solver time 15.091577 ms 
data association time 20.270203 ms 
mapping data assosiation time 40.214174 ms 
publication time 12.966001 ms 
whole laserOdometry time 78.904976 ms 
 
sort q time 4.526983 
seperate points time 10.685340 
mapping data assosiation time 35.500732 ms 
data association time 17.529195 ms 
mapping solver time 20.339589 ms 
filter time 10.660167 ms 
data association time 17.898046 ms 
solver time 11.517706 ms 
publication time 12.629692 ms 
whole laserOdometry time 73.807167 ms 
 
sort q time 5.233173 
seperate points time 12.440691 
mapping data assosiation time 35.610845 ms 
data association time 20.531374 ms 
mapping solver time 23.998105 ms 
data association time 17.317866 ms 
mapping data assosiation time 36.811097 ms 
prepare time 18.390337 
filter time 10.008309 ms 
data association time 17.181254 ms 
solver time 11.531492 ms 
data association time 17.016405 ms 
solver time 8.317777 ms 
prepare time 15.011604 
sort q time 4.905054 
seperate points time 11.791724 
data association time 17.061874 ms 
mapping data assosiation time 36.266512 ms 
data association time 17.449267 ms 
filter time 13.584065 ms 
points size 95964 
sort q time 5.586978 
seperate points time 14.036345 
build tree time 39.029739 ms 
data association time 31.813402 ms 
mapping data assosiation time 42.646062 ms 
points size 95393 
prepare time 18.747669 
mapping solver time 31.652973 ms 
sort q time 5.764651 
seperate points time 14.192838 
publication time 13.473904 ms 
whole laserOdometry time 109.812323 ms 
 
[33m[ WARN] [1718802374.655580068]: odometry process over 100ms[0m
data association time 19.520552 ms 
solver time 12.730817 ms 
map prepare time 3.723866 ms
map corner num 103645  surf num 54337 
solver time 8.340552 ms 
publication time 11.563197 ms 
whole laserOdometry time 72.709792 ms 
 
scan registration time 38.174325 ms *************
data association time 17.294568 ms 
solver time 10.830198 ms 
data association time 18.645465 ms 
publication time 12.487664 ms 
whole laserOdometry time 69.903477 ms 
 
mapping data assosiation time 34.299019 ms 
mapping solver time 22.175043 ms 
filter time 12.609583 ms 
map prepare time 4.498041 ms
map corner num 104559  surf num 54573 
solver time 14.576937 ms 
build tree time 39.691945 ms 
sort q time 5.106809 
seperate points time 12.126054 
publication time 14.042372 ms 
whole laserOdometry time 99.529929 ms 
 
mapping solver time 31.784491 ms 
solver time 12.298015 ms 
points size 91672 
mapping data assosiation time 42.681297 ms 
publication time 11.889333 ms 
whole laserOdometry time 98.732263 ms 
 
mapping solver time 27.139367 ms 
mapping optimization time 187.282243 
add points time 0.752204 ms
filter time 12.879162 ms 
map prepare time 4.509309 ms
map corner num 105633  surf num 54873 
solver time 15.798675 ms 
data association time 27.701048 ms 
solver time 12.853895 ms 
scan registration time 33.023388 ms *************
mapping data assosiation time 42.744768 ms 
data association time 29.463845 ms 
solver time 15.965116 ms 
data association time 26.745672 ms 
mapping data assosiation time 36.755175 ms 
mapping solver time 20.376657 ms 
data association time 16.426331 ms 
map prepare time 3.310384 ms
map corner num 106722  surf num 55216 
data association time 16.446937 ms 
build tree time 32.862410 ms 
points size 88574 
mapping data assosiation time 36.575150 ms 
mapping solver time 19.191651 ms 
solver time 9.946976 ms 
data association time 16.742011 ms 
mapping data assosiation time 34.991824 ms 
mapping solver time 15.553417 ms 
filter time 12.629160 ms 
sort q time 4.918324 
seperate points time 11.586301 
scan registration time 30.288025 ms *************
build tree time 32.716554 ms 
solver time 10.751222 ms 
mapping data assosiation time 33.534442 ms 
solver time 8.373700 ms 
mapping solver time 26.994457 ms 
points size 87543 
prepare time 14.164430 
sort q time 4.351117 
seperate points time 10.640713 
mapping data assosiation time 32.634775 ms 
data association time 16.333928 ms 
solver time 11.076512 ms 
filter time 13.909784 ms 
data association time 18.160330 ms 
solver time 7.910348 ms 
optimization twice time 54.386444 
build tree time 34.493722 ms 
sort q time 4.553635 
seperate points time 11.055820 
scan registration time 29.580452 ms *************
mapping data assosiation time 33.172297 ms 
data association time 18.242718 ms 
solver time 10.453291 ms 
data association time 16.205132 ms 
mapping data assosiation time 30.744716 ms 
points size 88494 
filter time 13.341643 ms 
data association time 26.811627 ms 
solver time 13.753451 ms 
data association time 18.398615 ms 
points size 84913 
mapping solver time 21.784846 ms 
data association time 22.927070 ms 
mapping data assosiation time 37.353758 ms 
filter time 11.630312 ms 
optimization twice time 64.845902 
points size 81239 
sort q time 4.739273 
seperate points time 11.306747 
data association time 15.750175 ms 
solver time 11.437083 ms 
data association time 16.279467 ms 
publication time 11.069321 ms 
whole laserOdometry time 63.749138 ms 
 
points size 78011 
sort q time 4.697026 
seperate points time 11.623423 
mapping solver time 19.733053 ms 
filter time 10.526654 ms 
data association time 25.225415 ms 
solver time 11.541565 ms 
build tree time 32.040406 ms 
data association time 25.208408 ms 
solver time 7.998891 ms 
points size 74473 
mapping data assosiation time 34.682925 ms 
sort q time 3.654759 
seperate points time 8.979644 
scan registration time 26.189982 ms *************
mapping solver time 19.406586 ms 
data association time 24.324465 ms 
solver time 11.731563 ms 
mapping data assosiation time 34.785257 ms 
mapping solver time 17.729616 ms 
solver time 12.021504 ms 
publication time 9.802377 ms 
whole laserOdometry time 83.508244 ms 
 
sort q time 3.604033 
seperate points time 8.949518 
build tree time 25.391246 ms 
data association time 23.746485 ms 
mapping data assosiation time 31.230365 ms 
mapping solver time 21.860035 ms 
data association time 23.558414 ms 
solver time 11.860363 ms 
mapping data assosiation time 33.465167 ms 
mapping optimization time 135.003554 
add points time 0.961419 ms
map prepare time 2.618448 ms
map corner num 78095  surf num 39347 
build tree time 22.427707 ms 
solver time 7.619053 ms 
optimization twice time 65.215727 
mapping data assosiation time 29.160952 ms 
prepare time 12.583765 
sort q time 3.718705 
seperate points time 9.458633 
data association time 20.914265 ms 
mapping data assosiation time 27.968171 ms 
solver time 14.932272 ms 
mapping solver time 17.947221 ms 
data association time 20.557549 ms 
solver time 11.487236 ms 
publication time 8.274133 ms 
whole laserOdometry time 77.170260 ms 
 
points size 67372 
build tree time 28.466708 ms 
prepare time 16.852541 
mapping data assosiation time 34.924122 ms 
data association time 22.001781 ms 
solver time 12.448002 ms 
data association time 23.600859 ms 
mapping data assosiation time 35.420970 ms 
sort q time 3.977143 
seperate points time 10.032416 
filter time 8.402296 ms 
solver time 8.742082 ms 
build tree time 22.011692 ms 
publication time 6.626432 ms 
whole laserOdometry time 49.872139 ms 
 
mapping data assosiation time 24.933932 ms 
points size 74591 
sort q time 4.348314 
seperate points time 10.600742 
mapping data assosiation time 28.502127 ms 
data association time 14.877592 ms 
mapping solver time 16.274461 ms 
filter time 8.898412 ms 
solver time 7.669782 ms 
build tree time 22.508357 ms 
points size 78489 
mapping data assosiation time 28.198341 ms 
mapping solver time 21.600138 ms 
solver time 10.717973 ms 
mapping data assosiation time 26.012001 ms 
solver time 10.338117 ms 
mapping solver time 24.991286 ms 
filter time 9.458092 ms 
prepare time 13.725980 
sort q time 4.996421 
seperate points time 18.329021 
data association time 15.285625 ms 
mapping data assosiation time 29.389045 ms 
data association time 14.677579 ms 
publication time 8.220019 ms 
whole laserOdometry time 59.440300 ms 
 
points size 84784 
sort q time 3.729428 
seperate points time 9.135082 
mapping solver time 20.818281 ms 
filter time 8.925079 ms 
solver time 8.698645 ms 
data association time 15.880260 ms 
publication time 9.351473 ms 
whole laserOdometry time 60.297392 ms 
 
points size 87639 
build tree time 25.009169 ms 
data association time 16.640123 ms 
solver time 11.669618 ms 
mapping solver time 23.250293 ms 
publication time 8.895030 ms 
whole laserOdometry time 61.944740 ms 
 
mapping data assosiation time 29.998625 ms 
mapping solver time 17.567423 ms 
filter time 10.609869 ms 
data association time 19.225495 ms 
build tree time 23.427053 ms 
data association time 18.789572 ms 
solver time 10.150475 ms 
publication time 10.170350 ms 
whole laserOdometry time 71.341130 ms 
 
prepare time 13.936906 
sort q time 4.065711 
seperate points time 10.069749 
mapping data assosiation time 29.150694 ms 
data association time 15.657778 ms 
mapping optimization time 121.156977 
filter time 8.642176 ms 
data association time 16.790842 ms 
solver time 8.361408 ms 
publication time 8.922047 ms 
whole laserOdometry time 61.828374 ms 
 
points size 88834 
mapping data assosiation time 30.906020 ms 
mapping solver time 22.817913 ms 
solver time 11.059338 ms 
data association time 17.042905 ms 
mapping data assosiation time 31.946697 ms 
solver time 8.650606 ms 
optimization twice time 53.936488 
mapping solver time 21.950315 ms 
filter time 9.379544 ms 
sort q time 4.349286 
seperate points time 10.557295 
build tree time 25.324442 ms 
data association time 16.024032 ms 
solver time 12.037927 ms 
data association time 17.345487 ms 
solver time 8.369631 ms 
publication time 8.893843 ms 
whole laserOdometry time 63.549286 ms 
 
points size 88514 
sort q time 5.610457 
seperate points time 13.227116 
filter time 8.914043 ms 
mapping pub time 1.090693 ms 
whole mapping time 135.081053 ms +++++
map prepare time 3.051131 ms
map corner num 85234  surf num 41120 
solver time 10.549070 ms 
data association time 17.267470 ms 
solver time 12.165278 ms 
publication time 9.574350 ms 
whole laserOdometry time 67.715743 ms 
 
points size 88817 
mapping solver time 20.378792 ms 
mapping data assosiation time 29.271476 ms 
solver time 10.492552 ms 
mapping solver time 18.040183 ms 
mapping optimization time 128.808730 
add points time 0.583822 ms
filter time 9.213869 ms 
solver time 8.304186 ms 
publication time 11.818522 ms sort q time 4.740295 
seperate points time 11.353319 
mapping solver time 22.216994 ms 
solver time 15.603650 ms 
mapping data assosiation time 36.593256 ms 
mapping solver time 21.244047 ms 
map prepare time 5.740219 ms
map corner num 86801  surf num 41482 
data association time 27.276014 ms 
build tree time 24.357395 ms 
solver time 15.949766 ms 
mapping data assosiation time 33.739787 ms 
points size 89691 
mapping solver time 21.193378 ms 
publication time 11.429164 ms 
whole laserOdometry time 94.735062 ms 
 
mapping data assosiation time 31.760009 ms 
data association time 27.146992 ms 
mapping solver time 18.827194 ms 
filter time 10.742423 ms 
data association time 22.217056 ms 
optimization twice time 75.676308 
sort q time 4.891767 
seperate points time 11.633296 
mapping data assosiation time 32.163445 ms 
mapping solver time 20.646468 ms 
data association time 16.427021 ms 
solver time 9.981430 ms 
publication time 11.204154 ms 
whole laserOdometry time 69.969932 ms 
 
mapping optimization time 131.466551 
filter time 10.075949 ms 
build tree time 26.635328 ms 
data association time 26.708314 ms 
solver time 18.116761 ms 
mapping solver time 20.616667 ms 
prepare time 16.328403 
sort q time 4.810624 
seperate points time 11.674237 
mapping data assosiation time 35.405059 ms 
mapping solver time 18.138626 ms 
data association time 26.531040 ms 
map prepare time 3.415254 ms
map corner num 89011  surf num 42041 
data association time 16.942767 ms 
solver time 11.875745 ms 
points size 98073 
mapping data assosiation time 33.008045 ms 
mapping solver time 20.719986 ms 
solver time 12.367866 ms 
mapping data assosiation time 31.085446 ms 
data association time 22.804872 ms 
mapping optimization time 131.239236 
filter time 10.161964 ms 
sort q time 4.819944 
seperate points time 11.459027 
build tree time 24.142800 ms 
data association time 20.734652 ms 
solver time 10.380134 ms 
data association time 17.446462 ms 
solver time 10.945278 ms 
publication time 10.717997 ms 
whole laserOdometry time 70.973880 ms 
 
points size 103879 
mapping data assosiation time 37.488833 ms 
sort q time 6.374660 
seperate points time 15.426237 
scan registration time 44.513892 ms *************
filter time 10.539700 ms 
data association time 20.701970 ms 
solver time 15.258086 ms 
data association time 20.109745 ms 
solver time 13.958339 ms 
prepare time 22.566736 
publication time 9.835802 ms 
whole laserOdometry time 80.759055 ms 
 
sort q time 6.580008 
seperate points time 16.096073 
mapping solver time 25.500294 ms 
data association time 17.506291 ms 
solver time 10.028147 ms 
mapping data assosiation time 31.535273 ms 
solver time 8.550993 ms 
publication time 10.940361 ms 
whole laserOdometry time 64.819899 ms 
 
filter time 11.978592 ms 
sort q time 6.061395 
seperate points time 15.122957 
build tree time 27.194867 ms 
solver time 11.035274 ms 
mapping data assosiation time 29.595881 ms 
solver time 13.046104 ms 
publication time 11.740870 ms 
whole laserOdometry time 71.892051 ms 
 
sort q time 5.468565 
seperate points time 12.713159 
mapping solver time 19.658049 ms 
mapping optimization time 130.991967 
add points time 0.597954 ms
solver time 10.798850 ms 
build tree time 23.953343 ms 
solver time 8.938698 ms 
optimization twice time 57.618900 
prepare time 22.683400 
mapping data assosiation time 38.486076 ms 
sort q time 6.554127 
seperate points time 16.028909 
mapping solver time 25.469713 ms 
data association time 17.623087 ms 
solver time 12.081207 ms 
mapping data assosiation time 28.838770 ms 
solver time 9.258955 ms 
publication time 10.438569 ms 
whole laserOdometry time 67.307607 ms 
 
points size 104003 
map prepare time 4.120622 ms
map corner num 92979  surf num 43277 
scan registration time 41.414186 ms *************
build tree time 28.829506 ms 
data association time 18.083496 ms 
solver time 12.706001 ms 
data association time 17.700898 ms 
publication time 10.114085 ms 
whole laserOdometry time 68.741979 ms 
 
points size 103852 
prepare time 22.556810 
mapping data assosiation time 38.609185 ms 
mapping solver time 15.021792 ms 
filter time 11.217363 ms 
solver time 13.405393 ms 
data association time 14.725706 ms 
solver time 11.990461 ms 
publication time 10.225123 ms 
whole laserOdometry time 70.156500 ms 
 
prepare time 22.978353 
mapping data assosiation time 39.441937 ms 
data association time 14.958401 ms 
solver time 10.531510 ms 
data association time 15.568122 ms 
optimization twice time 51.114581 
publication time 10.492419 ms 
whole laserOdometry time 61.623543 ms 
 
map prepare time 4.146915 ms
map corner num 93164  surf num 42339 
sort q time 6.167422 
seperate points time 15.424077 
scan registration time 41.549690 ms *************
build tree time 29.534608 ms 
data association time 16.506757 ms 
solver time 10.634797 ms 
mapping data assosiation time 29.473814 ms 
data association time 15.765298 ms 
publication time 9.868300 ms 
whole laserOdometry time 62.049398 ms 
 
mapping solver time 22.358509 ms 
sort q time 4.687401 
seperate points time 11.074761 
mapping solver time 13.411540 ms 
solver time 10.982925 ms 
data association time 16.102511 ms 
solver time 8.265322 ms 
publication time 10.687663 ms 
whole laserOdometry time 62.768142 ms 
 
points size 104056 
sort q time 5.270750 
seperate points time 12.475280 
scan registration time 33.554574 ms *************
data association time 16.246093 ms 
mapping data assosiation time 28.876335 ms 
mapping solver time 17.111231 ms 
mapping optimization time 125.192497 
add points time 0.602729 ms
data association time 16.371245 ms 
map prepare time 4.808872 ms
map corner num 94551  surf num 42934 
publication time 10.493893 ms 
whole laserOdometry time 69.402795 ms 
 
prepare time 19.499075 
sort q time 6.212812 
seperate points time 14.948993 
mapping data assosiation time 30.648339 ms 
data association time 27.542456 ms 
mapping solver time 22.934199 ms 
data association time 27.268627 ms 
scan registration time 36.770599 ms *************
publication time 11.991499 ms 
whole laserOdometry time 101.857385 ms 
 
data association time 27.464528 ms 
build tree time 30.545176 ms 
points size 103366 
solver time 11.250288 ms 
mapping solver time 26.202501 ms 
data association time 27.159773 ms 
mapping pub time 54.359277 ms 
whole mapping time 211.689433 ms +++++
data association time 28.231932 ms 
solver time 11.465952 ms 
build tree time 28.581855 ms 
data association time 27.816119 ms 
mapping data assosiation time 33.926493 ms 
scan registration time 35.319804 ms *************
mapping solver time 22.977192 ms 
data association time 19.327273 ms 
solver time 12.889900 ms 
data association time 18.970598 ms 
filter time 11.564717 ms 
sort q time 5.285372 
seperate points time 11.866803 
data association time 25.766616 ms 
solver time 11.159115 ms 
mapping solver time 19.991024 ms 
solver time 5.127019 ms 
points size 102205 
[0m[ INFO] [1718802380.557536323]: Received 1145656 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802380.557561690]: Data saved to 1317357927107431.pcd[0m
add points time 0.716855 ms
filter time 10.695450 ms 
solver time 10.679261 ms 
data association time 18.951803 ms 
solver time 10.866300 ms 
publication time 11.676030 ms 
whole laserOdometry time 71.015708 ms 
 
points size 102379 
mapping data assosiation time 33.160132 ms 
sort q time 5.608949 
seperate points time 12.880790 
mapping solver time 22.449823 ms 
data association time 29.884188 ms 
mapping data assosiation time 36.320400 ms 
mapping solver time 18.736505 ms 
filter time 11.846525 ms 
map prepare time 4.139402 ms
map corner num 97998  surf num 44431 
solver time 11.040830 ms 
scan registration time 33.952800 ms *************
build tree time 36.372152 ms 
data association time 28.379837 ms 
solver time 17.617642 ms 
mapping solver time 23.649827 ms 
data association time 26.361972 ms 
points size 100761 
solver time 13.324419 ms 
scan registration time 34.191571 ms *************
mapping data assosiation time 37.210592 ms 
mapping solver time 17.546468 ms 
mapping pub time 1.631163 ms 
whole mapping time 171.634064 ms +++++
drop lidar frame in mapping for real time performance 
solver time 15.893105 ms 
map prepare time 4.146898 ms
map corner num 98588  surf num 44683 
data association time 26.471612 ms 
build tree time 35.530249 ms 
sort q time 5.691442 
seperate points time 13.373277 
mapping data assosiation time 36.335030 ms 
data association time 26.696103 ms 
mapping solver time 23.463774 ms 
solver time 20.758727 ms 
points size 97296 
mapping solver time 19.545488 ms 
filter time 11.756833 ms 
map prepare time 5.750295 ms
map corner num 99166  surf num 44877 
data association time 25.513143 ms 
build tree time 35.051878 ms 
points size 96224 
solver time 8.690331 ms 
publication time 9.750792 ms 
whole laserOdometry time 85.694011 ms 
 
data association time 15.804026 ms 
mapping data assosiation time 27.164136 ms 
solver time 10.872315 ms 
mapping solver time 18.221134 ms 
mapping pub time 1.272124 ms 
whole mapping time 158.119022 ms +++++
publication time 10.574362 ms 
whole laserOdometry time 68.000122 ms 
 
prepare time 14.897553 
sort q time 4.638980 
seperate points time 10.998677 
data association time 15.520691 ms 
solver time 10.278748 ms 
data association time 16.101413 ms 
mapping solver time 22.752613 ms 
publication time 9.332279 ms 
whole laserOdometry time 60.654065 ms 
 
points size 93212 
sort q time 4.190413 
seperate points time 10.058023 
filter time 10.905439 ms 
data association time 16.028306 ms 
solver time 10.680979 ms 
build tree time 27.043159 ms 
solver time 8.758161 ms 
optimization twice time 53.406000 
mapping data assosiation time 29.997304 ms 
prepare time 15.946927 
sort q time 5.664297 
seperate points time 13.600486 
data association time 15.688084 ms 
mapping data assosiation time 28.762082 ms 
mapping optimization time 126.895515 
filter time 11.552548 ms 
solver time 10.944089 ms 
publication time 10.628755 ms 
whole laserOdometry time 70.358755 ms 
 
build tree time 28.533055 ms 
sort q time 5.225618 
seperate points time 12.294386 
mapping data assosiation time 30.260181 ms 
solver time 13.235703 ms 
data association time 15.835733 ms 
solver time 10.895761 ms 
mapping solver time 17.566942 ms 
filter time 9.673135 ms 
sort q time 5.543314 
seperate points time 13.198187 
build tree time 36.703391 ms 
solver time 12.344298 ms 
mapping data assosiation time 26.979293 ms 
solver time 8.403680 ms 
sort q time 4.792874 
seperate points time 11.445848 
mapping data assosiation time 28.877978 ms 
data association time 21.142716 ms 
solver time 11.017824 ms 
data association time 18.772790 ms 
solver time 10.492696 ms 
publication time 9.905045 ms 
whole laserOdometry time 72.375645 ms 
 
points size 90848 
prepare time 14.946040 
sort q time 4.319804 
seperate points time 10.250751 
mapping solver time 20.646711 ms 
solver time 11.381712 ms 
mapping data assosiation time 27.845945 ms 
solver time 8.171354 ms 
add points time 0.793085 ms
filter time 13.371422 ms 
prepare time 18.590646 
sort q time 5.358787 
seperate points time 13.143503 
build tree time 33.628259 ms 
data association time 17.030062 ms 
solver time 13.104998 ms 
data association time 18.111843 ms 
solver time 11.069017 ms 
publication time 9.777985 ms 
whole laserOdometry time 70.135859 ms 
 
prepare time 20.602249 
sort q time 5.352034 
seperate points time 13.353858 
mapping solver time 21.263476 ms 
filter time 11.314525 ms 
solver time 14.870954 ms 
data association time 17.559413 ms 
build tree time 34.856785 ms 
points size 94054 
scan registration time 33.906047 ms *************
mapping solver time 25.142404 ms 
data association time 16.685070 ms 
solver time 10.925717 ms 
mapping data assosiation time 26.474981 ms 
data association time 16.323455 ms 
optimization twice time 52.794525 
filter time 10.783922 ms 
sort q time 4.686055 
seperate points time 11.230358 
build tree time 30.248232 ms 
data association time 17.199316 ms 
solver time 12.392685 ms 
mapping data assosiation time 29.740759 ms 
data association time 15.867496 ms 
mapping solver time 18.025579 ms 
points size 98280 
prepare time 15.165227 
mapping data assosiation time 25.975476 ms 
sort q time 5.199955 
seperate points time 12.023381 
filter time 9.993130 ms 
mapping pub time 1.186549 ms 
whole mapping time 137.836621 ms +++++
data association time 16.106795 ms 
solver time 11.395920 ms 
build tree time 30.757142 ms 
data association time 16.238326 ms 
solver time 8.443872 ms 
publication time 10.909175 ms 
whole laserOdometry time 63.878460 ms 
 
points size 99483 
mapping solver time 20.775218 ms 
scan registration time 31.670351 ms *************
mapping data assosiation time 25.949012 ms 
solver time 12.382065 ms 
data association time 16.159889 ms 
publication time 8.091947 ms 
whole laserOdometry time 64.864898 ms 
 
build tree time 31.839863 ms 
sort q time 5.508751 
seperate points time 12.553020 
mapping solver time 15.022166 ms 
solver time 11.151833 ms 
mapping data assosiation time 27.059613 ms 
solver time 8.585294 ms 
filter time 10.840572 ms 
sort q time 5.239775 
seperate points time 11.914852 
build tree time 30.485133 ms 
solver time 10.416994 ms 
mapping data assosiation time 27.596134 ms 
solver time 8.941546 ms 
points size 94472 
mapping data assosiation time 27.216950 ms 
mapping solver time 15.764711 ms 
mapping optimization time 124.657943 
add points time 0.705546 ms
solver time 11.522285 ms 
build tree time 28.760621 ms 
data association time 18.122536 ms 
publication time 10.334941 ms 
whole laserOdometry time 70.510203 ms 
 
prepare time 14.953165 
sort q time 4.751599 
seperate points time 11.222132 
data association time 15.968865 ms 
solver time 10.521808 ms 
mapping solver time 12.815626 ms 
mapping optimization time 113.270019 
add points time 0.558260 ms
solver time 10.750648 ms 
publication time 7.929938 ms 
whole laserOdometry time 62.562501 ms 
 
points size 90643 
sort q time 4.453771 
seperate points time 10.405097 
mapping data assosiation time 27.918172 ms 
solver time 11.750178 ms 
data association time 15.138984 ms 
mapping data assosiation time 24.453835 ms 
publication time 8.331380 ms 
whole laserOdometry time 60.201443 ms 
 
mapping solver time 20.139921 ms 
mapping optimization time 127.733710 
add points time 0.535560 ms
filter time 11.661864 ms 
scan registration time 29.639302 ms *************
build tree time 30.904923 ms 
solver time 12.687886 ms 
data association time 14.487438 ms 
publication time 7.629501 ms 
whole laserOdometry time 59.275922 ms 
 
points size 90863 
mapping solver time 11.081484 ms 
filter time 11.805903 ms 
data association time 15.149015 ms 
solver time 12.534042 ms 
data association time 14.570545 ms 
map prepare time 2.897445 ms
map corner num 109265  surf num 48078 
points size 91263 
build tree time 33.287354 ms 
mapping data assosiation time 20.358432 ms 
solver time 8.584464 ms 
data association time 14.865857 ms 
solver time 7.985234 ms 
publication time 8.746027 ms 
whole laserOdometry time 55.013482 ms 
 
filter time 10.182343 ms 
sort q time 4.405277 
seperate points time 10.271159 
build tree time 35.833456 ms 
data association time 24.304118 ms 
mapping data assosiation time 25.591019 ms 
solver time 17.708516 ms 
mapping solver time 21.958333 ms 
data association time 23.817832 ms 
prepare time 13.704850 
sort q time 4.660414 
seperate points time 10.914008 
mapping optimization time 125.980016 
filter time 12.982898 ms 
data association time 23.157638 ms 
solver time 14.994406 ms 
build tree time 39.339873 ms 
solver time 13.767180 ms 
optimization twice time 75.751263 
points size 83023 
prepare time 13.833721 
sort q time 5.130258 
seperate points time 11.973586 
scan registration time 29.380763 ms *************
mapping solver time 15.623219 ms 
mapping data assosiation time 23.217345 ms 
data association time 23.903876 ms 
mapping solver time 18.004708 ms 
solver time 15.778679 ms 
mapping pub time 1.560566 ms 
whole mapping time 140.515609 ms +++++
map prepare time 3.671406 ms
map corner num 146164  surf num 66725 
data association time 22.644031 ms 
points size 81584 
publication time 8.501367 ms 
whole laserOdometry time 83.331779 ms 
 
build tree time 52.630834 ms 
data association time 23.208676 ms 
mapping data assosiation time 24.767903 ms 
mapping solver time 20.342224 ms 
solver time 8.990231 ms 
points size 82063 
sort q time 4.481373 
seperate points time 10.916957 
drop lidar frame in mapping for real time performance 
data association time 21.442214 ms 
solver time 15.171241 ms 
build tree time 45.325317 ms 
solver time 8.957805 ms 
points size 82772 
mapping solver time 15.873836 ms 
scan registration time 27.927238 ms *************
mapping data assosiation time 23.339556 ms 
data association time 22.314124 ms 
solver time 15.440422 ms 
map prepare time 3.763947 ms
map corner num 146977  surf num 66907 
data association time 22.539542 ms 
solver time 11.409398 ms 
prepare time 15.943867 
sort q time 5.702274 
seperate points time 13.316480 
mapping data assosiation time 19.996984 ms 
data association time 16.759082 ms 
solver time 12.648352 ms 
mapping data assosiation time 19.311445 ms 
solver time 8.789903 ms 
points size 86073 
filter time 14.236176 ms 
mapping pub time 1.056756 ms 
whole mapping time 140.940122 ms +++++
drop lidar frame in mapping for real time performance 
prepare time 15.243828 
sort q time 11.148995 
seperate points time 17.644426 
data association time 22.096192 ms 
build tree time 50.852591 ms 
solver time 17.514996 ms 
data association time 22.782380 ms 
publication time 10.724312 ms 
whole laserOdometry time 83.093431 ms 
 
sort q time 4.648018 
seperate points time 10.988013 
filter time 15.079876 ms 
solver time 15.506124 ms 
data association time 22.356368 ms 
solver time 11.960015 ms 
scan registration time 27.373773 ms *************
mapping solver time 18.674347 ms 
data association time 23.474501 ms 
mapping data assosiation time 24.071798 ms 
mapping solver time 16.179952 ms 
data association time 22.039165 ms 
points size 90801 
publication time 9.497932 ms 
whole laserOdometry time 89.424324 ms 
 
data association time 22.335155 ms 
build tree time 52.522885 ms 
solver time 16.244750 ms 
mapping data assosiation time 24.256172 ms 
mapping solver time 20.884486 ms 
publication time 10.522025 ms 
whole laserOdometry time 87.537101 ms 
 
mapping data assosiation time 22.313447 ms 
mapping solver time 16.630402 ms 
data association time 22.296292 ms 
filter time 15.854123 ms 
mapping pub time 1.507823 ms 
whole mapping time 159.672472 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.959735 ms
map corner num 148799  surf num 67345 
solver time 11.584553 ms 
optimization twice time 73.260202 
points size 92735 
prepare time 17.961990 
sort q time 5.351729 
seperate points time 13.174831 
mapping data assosiation time 19.217662 ms 
data association time 14.392513 ms 
solver time 12.418694 ms 
mapping data assosiation time 20.938268 ms 
mapping solver time 11.937735 ms 
publication time 8.459255 ms 
whole laserOdometry time 58.842913 ms 
 
map prepare time 3.266989 ms
map corner num 149221  surf num 67451 
sort q time 4.190422 
seperate points time 9.920613 
data association time 20.244925 ms 
solver time 17.370483 ms 
mapping data assosiation time 24.556917 ms 
data association time 21.325449 ms 
mapping solver time 20.687390 ms 
points size 91968 
prepare time 14.943490 
publication time 10.780041 ms 
whole laserOdometry time 84.050993 ms 
 
scan registration time 31.533757 ms *************
mapping solver time 17.111527 ms 
filter time 15.864443 ms 
solver time 14.992269 ms 
data association time 22.996814 ms 
solver time 11.779419 ms 
publication time 10.057686 ms 
whole laserOdometry time 84.494069 ms 
 
sort q time 5.341763 
seperate points time 13.120982 
mapping solver time 14.307679 ms 
mapping data assosiation time 19.857130 ms 
data association time 14.958702 ms 
publication time 7.130134 ms 
whole laserOdometry time 55.831445 ms 
 
map prepare time 3.414281 ms
map corner num 150212  surf num 67686 
sort q time 4.127182 
seperate points time 10.037098 
build tree time 45.778703 ms 
data association time 22.964855 ms 
solver time 15.457496 ms 
mapping solver time 14.505378 ms 
data association time 23.240084 ms 
mapping data assosiation time 21.665956 ms 
solver time 11.790106 ms 
prepare time 16.933305 
publication time 9.791918 ms 
whole laserOdometry time 84.118259 ms 
 
sort q time 5.539930 
seperate points time 12.712682 
map prepare time 3.438958 ms
map corner num 150627  surf num 67786 
data association time 16.293083 ms 
solver time 11.372827 ms 
data association time 13.294186 ms 
build tree time 41.458266 ms 
publication time 7.980036 ms 
whole laserOdometry time 58.145495 ms 
 
points size 88809 
sort q time 5.142922 
seperate points time 12.520295 
mapping solver time 11.347699 ms 
mapping optimization time 109.304804 
add points time 0.398800 ms
mapping pub time 1.087156 ms 
whole mapping time 126.634468 ms +++++
data association time 13.837534 ms 
publication time 8.297349 ms 
whole laserOdometry time 58.314131 ms 
 
points size 86544 
prepare time 17.402247 
mapping data assosiation time 20.707141 ms 
scan registration time 34.173078 ms *************
mapping solver time 15.201562 ms 
data association time 15.900620 ms 
solver time 10.767748 ms 
data association time 15.632237 ms 
mapping pub time 3.395799 ms 
whole mapping time 134.660433 ms +++++
publication time 7.824331 ms 
whole laserOdometry time 61.950455 ms 
 
points size 84449 
sort q time 4.769976 
seperate points time 11.891945 
scan registration time 33.441845 ms *************
data association time 15.147408 ms 
solver time 10.411093 ms 
data association time 14.828588 ms 
solver time 8.395807 ms 
optimization twice time 49.583581 
mapping data assosiation time 18.424989 ms 
filter time 12.055110 ms 
points size 83511 
sort q time 4.800879 
seperate points time 11.707624 
data association time 14.219387 ms 
solver time 11.395035 ms 
data association time 14.510933 ms 
publication time 7.769539 ms 
whole laserOdometry time 57.331494 ms 
 
points size 85030 
mapping data assosiation time 18.729475 ms 
prepare time 16.744725 
mapping solver time 13.532061 ms 
filter time 13.526597 ms 
mapping pub time 1.078116 ms 
whole mapping time 131.713523 ms +++++
map prepare time 3.189029 ms
map corner num 152406  surf num 68344 
solver time 12.683771 ms 
data association time 14.981711 ms 
solver time 7.858325 ms 
publication time 7.584459 ms 
whole laserOdometry time 59.706658 ms 
 
mapping data assosiation time 21.035328 ms 
points size 85574 
mapping solver time 15.696054 ms 
scan registration time 32.991582 ms *************
mapping data assosiation time 21.191485 ms 
mapping solver time 16.202511 ms 
solver time 15.076813 ms 
filter time 15.820670 ms 
mapping pub time 1.445474 ms 
whole mapping time 139.341070 ms +++++
data association time 23.370624 ms 
solver time 11.422659 ms 
prepare time 17.146969 
sort q time 4.931973 
seperate points time 12.581439 
mapping data assosiation time 20.224427 ms 
data association time 14.339700 ms 
mapping solver time 13.559452 ms 
data association time 14.140652 ms 
solver time 10.547864 ms 
mapping solver time 14.764431 ms 
points size 88945 
sort q time 5.075349 
seperate points time 12.708517 
data association time 14.345166 ms 
build tree time 46.138752 ms 
data association time 15.030741 ms 
solver time 8.533972 ms 
publication time 7.513548 ms 
whole laserOdometry time 55.527283 ms 
 
mapping solver time 14.144887 ms 
points size 88205 
mapping data assosiation time 20.162996 ms 
scan registration time 29.960342 ms *************
filter time 16.408860 ms 
solver time 14.509660 ms 
data association time 28.977433 ms 
solver time 9.955263 ms 
optimization twice time 78.422991 
mapping pub time 61.771659 ms 
whole mapping time 199.387465 ms +++++
points size 84781 
map prepare time 4.590161 ms
map corner num 153809  surf num 68689 
prepare time 16.566123 
sort q time 5.033271 
seperate points time 12.465499 
data association time 22.913191 ms 
build tree time 52.147255 ms 
solver time 16.966844 ms 
mapping data assosiation time 24.252469 ms 
data association time 19.548312 ms 
solver time 12.066651 ms 
prepare time 16.496798 
mapping optimization time 137.796302 
add points time 0.474346 ms
data association time 15.365700 ms 
solver time 13.151024 ms 
data association time 19.492919 ms 
solver time 9.248734 ms 
publication time 9.076135 ms 
whole laserOdometry time 67.342683 ms 
 
build tree time 49.599797 ms 
mapping data assosiation time 20.826803 ms 
solver time 10.600278 ms 
data association time 13.674642 ms 
publication time 7.197231 ms 
whole laserOdometry time 54.357577 ms 
 
filter time 14.429196 ms 
sort q time 4.434621 
seperate points time 10.498059 
build tree time 48.401511 ms 
mapping data assosiation time 20.960774 ms 
publication time 7.336496 ms 
whole laserOdometry time 55.055559 ms 
 
mapping solver time 16.406337 ms 
points size 85972 
sort q time 4.909883 
seperate points time 12.198303 
mapping solver time 16.890591 ms 
mapping optimization time 127.665548 
add points time 0.662820 ms
scan registration time 33.656038 ms *************
filter time 16.630159 ms 
mapping pub time 1.345014 ms 
whole mapping time 149.801261 ms +++++
data association time 15.664232 ms 
map prepare time 3.929330 ms
map corner num 155185  surf num 69059 
solver time 11.788109 ms 
data association time 16.921568 ms 
solver time 10.708015 ms 
points size 86405 
sort q time 4.948753 
seperate points time 12.490931 
scan registration time 36.619401 ms *************
mapping solver time 19.775908 ms 
data association time 25.723341 ms 
solver time 17.303875 ms 
filter time 16.624553 ms 
points size 86027 
publication time 9.179473 ms 
whole laserOdometry time 88.428210 ms 
 
data association time 22.435888 ms 
build tree time 57.160809 ms 
mapping data assosiation time 24.980731 ms 
data association time 24.055536 ms 
points size 84173 
sort q time 4.381872 
seperate points time 10.812082 
scan registration time 29.165228 ms *************
filter time 17.453177 ms 
data association time 23.229699 ms 
solver time 15.464565 ms 
data association time 22.587649 ms 
solver time 11.477544 ms 
sort q time 4.146392 
seperate points time 10.242321 
mapping data assosiation time 20.578247 ms 
mapping solver time 11.795688 ms 
solver time 7.621362 ms 
mapping data assosiation time 19.490075 ms 
data association time 13.505825 ms 
solver time 8.127613 ms 
optimization twice time 44.900619 
drop lidar frame in mapping for real time performance 
points size 81727 
prepare time 12.722825 
sort q time 5.284937 
seperate points time 12.530636 
build tree time 44.972962 ms 
data association time 24.390146 ms 
solver time 12.990499 ms 
mapping solver time 20.259140 ms 
data association time 23.010798 ms 
solver time 9.244121 ms 
optimization twice time 70.773354 
mapping data assosiation time 24.297958 ms 
points size 81351 
mapping solver time 13.422571 ms 
scan registration time 31.430004 ms *************
filter time 15.866828 ms 
map prepare time 4.048116 ms
map corner num 156979  surf num 69513 
data association time 22.931305 ms 
solver time 11.594238 ms 
data association time 21.605353 ms 
solver time 12.032163 ms 
publication time 9.990597 ms 
whole laserOdometry time 79.268027 ms 
 
points size 81894 
prepare time 15.911535 
sort q time 4.667457 
seperate points time 11.460492 
mapping solver time 13.601108 ms 
points size 83964 
publication time 8.791950 ms 
whole laserOdometry time 82.997372 ms 
 
data association time 21.417519 ms 
solver time 16.689932 ms 
mapping data assosiation time 24.108708 ms 
data association time 22.903296 ms 
solver time 13.143205 ms 
optimization twice time 75.342492 
points size 86376 
sort q time 4.627868 
seperate points time 11.102766 
mapping solver time 8.427135 ms 
mapping optimization time 131.307549 
scan registration time 27.893765 ms *************
add points time 0.644298 ms
filter time 17.778660 ms 
data association time 22.611302 ms 
solver time 11.488017 ms 
data association time 21.852710 ms 
solver time 11.535472 ms 
points size 88050 
publication time 10.548172 ms 
whole laserOdometry time 79.204881 ms 
 
prepare time 14.387384 
mapping data assosiation time 21.058246 ms 
mapping solver time 15.743371 ms 
data association time 23.117540 ms 
mapping data assosiation time 22.332516 ms 
mapping solver time 9.112849 ms 
data association time 14.308488 ms 
filter time 15.222230 ms 
solver time 8.656649 ms 
optimization twice time 58.864934 
mapping pub time 3.203468 ms 
whole mapping time 150.081115 ms +++++
points size 88826 
sort q time 5.053615 
seperate points time 11.973783 
build tree time 46.980064 ms 
data association time 14.308526 ms 
mapping data assosiation time 20.349417 ms 
mapping solver time 13.746162 ms 
data association time 13.904573 ms 
publication time 8.243544 ms 
whole laserOdometry time 55.524259 ms 
 
mapping solver time 12.256179 ms 
filter time 13.727497 ms 
data association time 13.929623 ms 
solver time 13.237831 ms 
data association time 16.950730 ms 
solver time 10.322433 ms 
points size 91280 
mapping data assosiation time 21.462698 ms 
mapping solver time 14.844241 ms 
mapping optimization time 117.543314 
add points time 0.536861 ms
filter time 15.400630 ms 
data association time 14.812755 ms 
solver time 8.597177 ms 
publication time 8.142878 ms 
whole laserOdometry time 58.892496 ms 
 
build tree time 43.476818 ms 
points size 93022 
mapping data assosiation time 25.483005 ms 
mapping solver time 15.797249 ms 
data association time 26.699822 ms 
solver time 16.711300 ms 
mapping solver time 19.027806 ms 
mapping optimization time 132.610604 
add points time 0.725975 ms
filter time 17.076172 ms 
prepare time 15.109458 
publication time 10.166199 ms 
whole laserOdometry time 89.708990 ms 
 
data association time 15.030042 ms 
solver time 10.455484 ms 
mapping data assosiation time 22.357312 ms 
solver time 10.248581 ms 
points size 91871 
sort q time 5.330697 
seperate points time 12.458079 
filter time 17.565522 ms 
map prepare time 4.201122 ms
map corner num 160924  surf num 70736 
data association time 23.597475 ms 
solver time 15.134745 ms 
data association time 23.210577 ms 
solver time 11.360670 ms 
publication time 10.411441 ms 
whole laserOdometry time 84.851472 ms 
 
prepare time 15.244419 
scan registration time 31.174235 ms *************
solver time 12.079606 ms 
mapping data assosiation time 28.245550 ms 
data association time 22.736389 ms 
solver time 11.927815 ms 
filter time 16.766437 ms 
sort q time 4.506947 
seperate points time 10.678330 
build tree time 44.423041 ms 
solver time 12.805985 ms 
data association time 20.734824 ms 
optimization twice time 66.101441 
points size 90911 
prepare time 20.340860 
mapping data assosiation time 27.197268 ms 
scan registration time 39.042882 ms *************
add points time 0.540938 ms
data association time 15.478215 ms 
solver time 12.512975 ms 
data association time 15.366448 ms 
publication time 8.826250 ms 
whole laserOdometry time 61.405737 ms 
 
points size 87637 
prepare time 17.745404 
sort q time 5.391545 
seperate points time 13.170662 
scan registration time 35.820937 ms *************
mapping data assosiation time 23.986581 ms 
mapping solver time 15.015974 ms 
data association time 22.445092 ms 
solver time 11.458031 ms 
mapping solver time 12.056081 ms 
data association time 22.694803 ms 
solver time 8.080466 ms 
optimization twice time 65.751454 
filter time 16.989893 ms 
mapping pub time 1.568271 ms 
whole mapping time 151.500956 ms +++++
points size 85614 
sort q time 4.882800 
seperate points time 12.052169 
scan registration time 33.742088 ms *************
data association time 14.336567 ms 
solver time 10.888353 ms 
data association time 14.970125 ms 
mapping data assosiation time 20.350923 ms 
publication time 6.820620 ms 
whole laserOdometry time 56.612578 ms 
 
mapping solver time 18.872627 ms 
points size 84616 
prepare time 18.869866 
sort q time 5.206837 
seperate points time 12.311203 
mapping solver time 14.059779 ms 
filter time 15.819175 ms 
mapping pub time 1.152749 ms 
whole mapping time 150.826125 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.896286 ms
map corner num 163416  surf num 71681 
data association time 21.769179 ms 
data association time 21.941681 ms 
points size 82132 
sort q time 4.849159 
seperate points time 11.396922 
mapping data assosiation time 24.161027 ms 
mapping solver time 14.092312 ms 
solver time 15.840217 ms 
mapping solver time 9.935531 ms 
filter time 14.546878 ms 
publication time 8.750241 ms 
whole laserOdometry time 81.555351 ms 
 
sort q time 3.964396 
seperate points time 9.349344 
data association time 13.821183 ms 
solver time 12.143847 ms 
data association time 13.405125 ms 
publication time 7.346357 ms 
whole laserOdometry time 56.376988 ms 
 
mapping data assosiation time 20.984690 ms 
points size 81625 
prepare time 14.362844 
scan registration time 28.759095 ms *************
filter time 18.687077 ms 
solver time 9.054006 ms 
data association time 16.553890 ms 
solver time 10.487891 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
points size 80619 
sort q time 4.576236 
seperate points time 10.830088 
data association time 13.091530 ms 
solver time 10.541765 ms 
mapping data assosiation time 21.394694 ms 
publication time 6.264624 ms 
whole laserOdometry time 53.751684 ms 
 
mapping data assosiation time 19.477982 ms 
mapping solver time 11.933757 ms 
scan registration time 27.164689 ms *************
map prepare time 3.538477 ms
map corner num 142378  surf num 55713 
data association time 21.190112 ms 
solver time 14.903674 ms 
build tree time 50.385710 ms 
solver time 13.429182 ms 
mapping data assosiation time 23.185871 ms 
sort q time 3.866783 
seperate points time 9.288373 
mapping solver time 16.137970 ms 
scan registration time 26.295756 ms *************
mapping data assosiation time 19.583064 ms 
solver time 9.234898 ms 
data association time 14.062726 ms 
filter time 11.418048 ms 
mapping pub time 0.966318 ms 
whole mapping time 140.127972 ms +++++
map prepare time 2.628016 ms
map corner num 143004  surf num 55885 
publication time 7.506867 ms 
whole laserOdometry time 55.775881 ms 
 
points size 79603 
build tree time 39.680144 ms 
prepare time 12.417521 
sort q time 4.631860 
seperate points time 10.883619 
mapping data assosiation time 20.091893 ms 
mapping solver time 18.297110 ms 
solver time 10.657613 ms 
data association time 13.227202 ms 
optimization twice time 55.683123 
map prepare time 3.162681 ms
map corner num 143437  surf num 55994 
prepare time 12.179656 
scan registration time 24.046432 ms *************
build tree time 42.668228 ms 
data association time 21.385465 ms 
solver time 13.435563 ms 
data association time 21.306190 ms 
publication time 5.900114 ms 
whole laserOdometry time 70.066903 ms 
 
mapping data assosiation time 19.703840 ms 
mapping solver time 11.974740 ms 
filter time 13.381918 ms 
solver time 7.742275 ms 
data association time 13.167033 ms 
solver time 8.297583 ms 
mapping data assosiation time 16.891888 ms 
mapping solver time 12.879418 ms 
points size 64013 
mapping data assosiation time 18.220689 ms 
sort q time 3.468134 
seperate points time 8.878344 
mapping optimization time 101.797578 
data association time 12.050054 ms 
solver time 8.615778 ms 
data association time 18.734910 ms 
solver time 11.990356 ms 
build tree time 42.321781 ms 
points size 62376 
sort q time 3.488731 
seperate points time 8.622958 
scan registration time 24.313454 ms *************
mapping solver time 15.620751 ms 
data association time 12.272013 ms 
solver time 11.337454 ms 
data association time 14.234498 ms 
optimization twice time 48.009864 
points size 63985 
sort q time 3.370227 
seperate points time 8.640397 
mapping data assosiation time 21.406489 ms 
data association time 20.539162 ms 
mapping solver time 19.169201 ms 
solver time 17.067682 ms 
mapping data assosiation time 22.287734 ms 
mapping solver time 15.569262 ms 
publication time 7.922929 ms 
whole laserOdometry time 79.069715 ms 
 
map prepare time 2.656706 ms
map corner num 145163  surf num 56429 
prepare time 12.354857 
data association time 12.840542 ms 
solver time 11.622072 ms 
mapping data assosiation time 18.340908 ms 
mapping solver time 11.879297 ms 
publication time 6.793348 ms 
whole laserOdometry time 58.488610 ms 
 
points size 69264 
sort q time 3.160069 
seperate points time 7.657408 
map prepare time 3.362712 ms
map corner num 145552  surf num 56538 
data association time 12.808986 ms 
solver time 10.692487 ms 
data association time 12.708036 ms 
build tree time 40.455343 ms 
publication time 6.682512 ms 
whole laserOdometry time 51.434802 ms 
 
mapping data assosiation time 20.776991 ms 
mapping solver time 15.605403 ms 
prepare time 11.561279 
scan registration time 22.864468 ms *************
mapping solver time 15.000928 ms 
filter time 14.652670 ms 
data association time 20.046190 ms 
mapping pub time 1.036400 ms 
whole mapping time 133.125599 ms +++++
map prepare time 3.418098 ms
map corner num 146102  surf num 56681 
solver time 15.379438 ms 
data association time 19.623587 ms 
solver time 11.658090 ms 
points size 72690 
prepare time 13.064245 
scan registration time 27.444468 ms *************
mapping solver time 13.333122 ms 
mapping data assosiation time 16.245921 ms 
data association time 20.293504 ms 
solver time 15.376397 ms 
filter time 12.134926 ms 
data association time 20.287844 ms 
solver time 11.902907 ms 
publication time 7.906323 ms 
whole laserOdometry time 76.782291 ms 
 
prepare time 13.314612 
scan registration time 26.120923 ms *************
mapping data assosiation time 19.107284 ms 
data association time 20.443054 ms 
mapping solver time 13.017441 ms 
solver time 12.690301 ms 
mapping data assosiation time 18.017284 ms 
mapping solver time 10.166764 ms 
publication time 6.495627 ms 
whole laserOdometry time 62.870066 ms 
 
filter time 14.585241 ms 
[0m[ INFO] [1718802390.809033586]: Received 1189112 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802390.809067342]: Data saved to 1317357936242157.pcd[0m
sort q time 4.181904 
seperate points time 10.107604 
build tree time 40.448722 ms 
solver time 9.855164 ms 
data association time 13.808639 ms 
solver time 8.391212 ms 
mapping data assosiation time 19.012773 ms 
mapping solver time 11.764548 ms 
points size 81320 
prepare time 16.495412 
map prepare time 3.758976 ms
map corner num 147467  surf num 57034 
data association time 20.891988 ms 
build tree time 41.311172 ms 
mapping data assosiation time 18.112964 ms 
mapping solver time 13.515989 ms 
publication time 8.589118 ms 
whole laserOdometry time 78.969779 ms 
 
sort q time 4.655290 
seperate points time 11.391468 
filter time 12.508892 ms 
solver time 9.990110 ms 
data association time 13.734457 ms 
publication time 7.057220 ms 
whole laserOdometry time 54.591637 ms 
 
points size 86330 
mapping data assosiation time 18.925865 ms 
scan registration time 27.517182 ms *************
data association time 14.873186 ms 
mapping data assosiation time 19.518085 ms 
mapping solver time 12.316606 ms 
solver time 9.149359 ms 
publication time 8.414569 ms 
whole laserOdometry time 59.578010 ms 
 
points size 89171 
sort q time 5.206578 
seperate points time 12.523244 
build tree time 53.557239 ms 
data association time 14.813278 ms 
mapping solver time 16.146537 ms 
data association time 15.974545 ms 
publication time 6.817510 ms 
whole laserOdometry time 57.236397 ms 
 
mapping solver time 16.661453 ms 
sort q time 5.261352 
seperate points time 13.282154 
map prepare time 3.282882 ms
map corner num 181373  surf num 72033 
data association time 16.497504 ms 
solver time 10.939907 ms 
data association time 14.819903 ms 
points size 96909 
mapping solver time 16.451569 ms 
sort q time 6.135005 
seperate points time 14.852272 
mapping data assosiation time 21.983135 ms 
mapping optimization time 122.289296 
add points time 0.496181 ms
data association time 14.652092 ms 
filter time 15.669427 ms 
data association time 16.060638 ms 
solver time 11.425504 ms 
points size 98117 
scan registration time 38.603107 ms *************
data association time 15.299448 ms 
solver time 10.717289 ms 
data association time 20.572484 ms 
solver time 10.436344 ms 
add points time 0.655059 ms
points size 97584 
sort q time 4.702884 
seperate points time 11.251153 
scan registration time 46.774807 ms *************
data association time 15.260334 ms 
solver time 11.273154 ms 
data association time 13.805419 ms 
solver time 8.492236 ms 
publication time 13.243251 ms 
whole laserOdometry time 62.910841 ms 
 
points size 96873 
mapping solver time 15.904202 ms 
prepare time 16.370043 
sort q time 5.719668 
seperate points time 13.056067 
mapping solver time 11.896601 ms 
mapping optimization time 121.286350 
add points time 0.537436 ms
data association time 14.788805 ms 
filter time 18.178559 ms 
data association time 15.006103 ms 
publication time 7.339497 ms 
whole laserOdometry time 55.354423 ms 
 
points size 95539 
build tree time 51.649948 ms 
scan registration time 30.552326 ms *************
mapping data assosiation time 20.593192 ms 
mapping solver time 15.173625 ms 
data association time 16.565844 ms 
solver time 10.290841 ms 
filter time 16.861993 ms 
prepare time 14.805469 
sort q time 4.871441 
seperate points time 11.760104 
data association time 14.405675 ms 
solver time 11.414268 ms 
data association time 14.991636 ms 
mapping data assosiation time 19.854249 ms 
publication time 9.774719 ms 
whole laserOdometry time 62.523571 ms 
 
points size 95087 
sort q time 5.040990 
seperate points time 12.259500 
filter time 19.037308 ms 
solver time 12.685703 ms 
data association time 18.114156 ms 
solver time 10.703310 ms 
mapping pub time 56.754230 ms 
whole mapping time 201.019154 ms +++++
points size 94464 
scan registration time 35.041335 ms *************
data association time 15.601548 ms 
solver time 10.470207 ms 
mapping data assosiation time 19.706336 ms 
solver time 8.104440 ms 
publication time 7.721480 ms 
whole laserOdometry time 58.185740 ms 
 
points size 94032 
mapping solver time 13.664353 ms 
filter time 17.514098 ms 
data association time 17.160126 ms 
solver time 9.004686 ms 
data association time 16.251236 ms 
publication time 7.584579 ms 
whole laserOdometry time 60.006771 ms 
 
build tree time 55.990847 ms 
points size 93500 
mapping data assosiation time 19.453182 ms 
sort q time 5.423809 
seperate points time 13.099963 
mapping solver time 15.606844 ms 
mapping data assosiation time 20.045815 ms 
solver time 8.789082 ms 
data association time 14.752753 ms 
filter time 15.891239 ms 
mapping pub time 1.337853 ms 
whole mapping time 146.870725 ms +++++
points size 92013 
sort q time 4.852937 
seperate points time 11.533863 
scan registration time 30.728087 ms *************
build tree time 54.715771 ms 
data association time 15.083574 ms 
mapping data assosiation time 20.489612 ms 
mapping solver time 13.954149 ms 
data association time 14.503007 ms 
publication time 8.577408 ms 
whole laserOdometry time 54.511911 ms 
 
points size 90932 
sort q time 4.500566 
seperate points time 10.626210 
map prepare time 4.063262 ms
map corner num 184792  surf num 73056 
data association time 18.157793 ms 
solver time 13.153829 ms 
solver time 8.362474 ms 
mapping data assosiation time 23.666960 ms 
mapping solver time 13.687836 ms 
mapping data assosiation time 22.419725 ms 
mapping solver time 11.521822 ms 
solver time 10.761657 ms 
filter time 15.801691 ms 
mapping pub time 1.150307 ms 
whole mapping time 150.392068 ms +++++
data association time 14.875823 ms 
solver time 8.372401 ms 
publication time 15.685383 ms 
whole laserOdometry time 67.787662 ms 
 
points size 88255 
prepare time 14.987224 
sort q time 4.670018 
seperate points time 11.110674 
data association time 14.404931 ms 
solver time 11.685674 ms 
data association time 17.010275 ms 
solver time 9.990727 ms 
filter time 16.685472 ms 
map prepare time 3.709389 ms
map corner num 185684  surf num 73252 
sort q time 4.612226 
seperate points time 11.003672 
scan registration time 29.580473 ms *************
data association time 13.838222 ms 
solver time 10.645308 ms 
build tree time 52.195680 ms 
solver time 7.998844 ms 
mapping solver time 12.750337 ms 
points size 93920 
sort q time 5.265303 
seperate points time 12.602961 
filter time 17.066054 ms 
solver time 9.243721 ms 
data association time 15.035149 ms 
publication time 6.907133 ms 
whole laserOdometry time 54.529339 ms 
 
build tree time 54.656726 ms 
prepare time 16.115062 
mapping data assosiation time 19.990417 ms 
scan registration time 32.845443 ms *************
mapping solver time 17.232975 ms 
data association time 25.639418 ms 
solver time 12.795069 ms 
data association time 23.077632 ms 
map prepare time 4.264668 ms
map corner num 186614  surf num 73429 
prepare time 18.322429 
sort q time 5.038939 
seperate points time 12.202131 
build tree time 50.170167 ms 
solver time 7.549787 ms 
mapping data assosiation time 19.027322 ms 
data association time 15.154951 ms 
solver time 7.786664 ms 
mapping data assosiation time 20.730071 ms 
prepare time 14.121063 
sort q time 6.602363 
seperate points time 14.915259 
map prepare time 4.004598 ms
map corner num 187042  surf num 73528 
data association time 22.563774 ms 
solver time 11.597787 ms 
build tree time 52.341757 ms 
solver time 12.004162 ms 
mapping solver time 11.882489 ms 
mapping data assosiation time 20.586899 ms 
mapping solver time 9.237827 ms 
solver time 11.703266 ms 
data association time 22.372818 ms 
solver time 12.264663 ms 
prepare time 14.761034 
sort q time 4.193026 
seperate points time 9.804333 
mapping data assosiation time 18.837977 ms 
data association time 21.361990 ms 
solver time 11.690428 ms 
mapping data assosiation time 18.302121 ms 
mapping solver time 11.038847 ms 
publication time 8.862928 ms 
whole laserOdometry time 75.694712 ms 
 
points size 84302 
map prepare time 4.024194 ms
map corner num 187865  surf num 73726 
scan registration time 34.072045 ms *************
data association time 21.292359 ms 
solver time 14.989253 ms 
build tree time 68.166186 ms 
solver time 13.562672 ms 
sort q time 4.691827 
seperate points time 11.691608 
mapping data assosiation time 23.285737 ms 
mapping solver time 16.406046 ms 
filter time 18.899256 ms 
map prepare time 4.027786 ms
map corner num 188219  surf num 73831 
solver time 11.621760 ms 
publication time 8.206984 ms 
whole laserOdometry time 81.466303 ms 
 
sort q time 4.888015 
seperate points time 11.697760 
build tree time 60.963024 ms 
solver time 10.551436 ms 
data association time 12.781810 ms 
mapping solver time 13.774144 ms 
publication time 6.959190 ms 
whole laserOdometry time 60.366539 ms 
 
mapping data assosiation time 18.758889 ms 
prepare time 12.202744 
sort q time 3.753355 
seperate points time 9.108412 
filter time 15.895966 ms 
data association time 13.394057 ms 
solver time 11.398663 ms 
data association time 13.300642 ms 
optimization twice time 48.423640 
mapping data assosiation time 18.247467 ms 
mapping solver time 11.607695 ms 
scan registration time 25.534351 ms *************
mapping data assosiation time 18.169143 ms 
mapping solver time 11.571310 ms 
mapping optimization time 111.376734 
add points time 0.419162 ms
data association time 13.627997 ms 
solver time 11.279813 ms 
map prepare time 3.046259 ms
map corner num 189005  surf num 74063 
data association time 14.702763 ms 
points size 74118 
prepare time 12.123083 
mapping data assosiation time 18.167258 ms 
data association time 20.402042 ms 
solver time 15.490899 ms 
mapping data assosiation time 20.025174 ms 
mapping solver time 10.897934 ms 
solver time 11.551286 ms 
points size 75773 
sort q time 4.083752 
seperate points time 9.532099 
data association time 12.652621 ms 
solver time 12.158541 ms 
[0m[ INFO] [1718802394.299191229]: Received 1200721 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802394.299241426]: Data saved to 1317357939046617.pcd[0m
mapping data assosiation time 19.726963 ms 
solver time 7.497090 ms 
optimization twice time 46.964546 
mapping solver time 14.431415 ms 
prepare time 14.647520 
sort q time 4.235734 
seperate points time 10.099307 
filter time 15.160749 ms 
map prepare time 3.006063 ms
map corner num 189917  surf num 74303 
solver time 11.691738 ms 
data association time 16.057346 ms 
solver time 8.684587 ms 
points size 74099 
sort q time 3.776811 
seperate points time 9.272262 
data association time 12.622687 ms 
solver time 10.182077 ms 
data association time 12.755643 ms 
filter time 17.101537 ms 
publication time 6.690009 ms 
whole laserOdometry time 51.692387 ms 
 
points size 75628 
sort q time 3.334982 
seperate points time 7.983187 
build tree time 54.145006 ms 
data association time 13.089025 ms 
mapping data assosiation time 17.871999 ms 
mapping solver time 13.951433 ms 
data association time 16.584642 ms 
solver time 8.636264 ms 
publication time 6.271997 ms 
whole laserOdometry time 57.080319 ms 
 
mapping solver time 15.316268 ms 
filter time 14.802970 ms 
sort q time 4.027825 
seperate points time 9.953049 
data association time 18.902063 ms 
build tree time 55.186231 ms 
data association time 18.005744 ms 
mapping solver time 16.755037 ms 
mapping data assosiation time 22.526636 ms 
mapping solver time 14.451108 ms 
filter time 16.330848 ms 
solver time 14.959554 ms 
data association time 19.787918 ms 
solver time 11.591930 ms 
build tree time 53.031118 ms 
scan registration time 27.680004 ms *************
mapping solver time 12.489509 ms 
mapping data assosiation time 18.447876 ms 
solver time 15.026835 ms 
mapping solver time 13.438335 ms 
filter time 17.201460 ms 
publication time 8.331223 ms 
whole laserOdometry time 76.725158 ms 
 
prepare time 14.170882 
sort q time 3.902613 
seperate points time 9.475295 
data association time 11.266237 ms 
build tree time 53.695085 ms 
data association time 12.022436 ms 
solver time 8.164132 ms 
publication time 7.200870 ms 
whole laserOdometry time 50.427048 ms 
 
mapping solver time 15.799048 ms 
mapping data assosiation time 23.417321 ms 
sort q time 3.555847 
seperate points time 8.590408 
filter time 18.096170 ms 
solver time 11.705310 ms 
data association time 14.536767 ms 
publication time 6.440760 ms 
whole laserOdometry time 53.927405 ms 
 
mapping pub time 54.989487 ms 
whole mapping time 207.063925 ms +++++
points size 82056 
sort q time 4.207024 
seperate points time 9.983628 
data association time 12.798069 ms 
build tree time 55.801489 ms 
solver time 11.381472 ms 
mapping data assosiation time 19.814154 ms 
mapping solver time 14.548882 ms 
mapping data assosiation time 22.788414 ms 
mapping solver time 16.924553 ms 
filter time 15.718469 ms 
data association time 12.137000 ms 
solver time 11.067691 ms 
data association time 12.156008 ms 
solver time 10.185873 ms 
publication time 6.936197 ms 
whole laserOdometry time 53.320533 ms 
 
build tree time 59.031133 ms 
sort q time 4.083263 
seperate points time 9.661998 
scan registration time 27.092071 ms *************
mapping data assosiation time 19.498704 ms 
data association time 11.632465 ms 
mapping data assosiation time 16.764712 ms 
mapping solver time 14.428789 ms 
publication time 6.520968 ms 
whole laserOdometry time 52.357969 ms 
 
map prepare time 3.045741 ms
map corner num 192927  surf num 75171 
points size 84388 
sort q time 4.959745 
seperate points time 11.907746 
scan registration time 32.884076 ms *************
build tree time 60.963298 ms 
solver time 15.434621 ms 
mapping data assosiation time 17.984540 ms 
mapping solver time 14.199127 ms 
solver time 11.172330 ms 
mapping data assosiation time 20.675314 ms 
publication time 8.500373 ms 
whole laserOdometry time 72.657289 ms 
 
mapping solver time 16.856929 ms 
sort q time 4.878245 
seperate points time 12.022480 
filter time 19.221116 ms 
data association time 20.757043 ms 
solver time 15.490983 ms 
data association time 13.782900 ms 
build tree time 49.593723 ms 
points size 84994 
sort q time 4.793730 
seperate points time 11.854573 
scan registration time 36.066320 ms *************
mapping solver time 18.741059 ms 
mapping data assosiation time 17.452438 ms 
mapping solver time 10.374115 ms 
data association time 13.477912 ms 
filter time 16.122994 ms 
mapping pub time 0.997936 ms 
whole mapping time 143.030819 ms +++++
solver time 5.764548 ms 
map prepare time 3.495827 ms
map corner num 193932  surf num 75500 
optimization twice time 44.610666 
points size 85634 
sort q time 5.085308 
seperate points time 12.104097 
build tree time 61.248554 ms 
data association time 12.328200 ms 
mapping data assosiation time 18.181149 ms 
mapping solver time 13.283050 ms 
optimization twice time 41.320612 
mapping data assosiation time 20.566904 ms 
mapping solver time 13.889345 ms 
prepare time 17.025755 
filter time 19.170193 ms 
map prepare time 4.478615 ms
map corner num 194357  surf num 75617 
data association time 12.578857 ms 
solver time 10.781250 ms 
data association time 13.043668 ms 
solver time 8.583049 ms 
mapping data assosiation time 21.576399 ms 
mapping solver time 19.220787 ms 
sort q time 5.022704 
seperate points time 12.460052 
scan registration time 36.843373 ms *************
mapping data assosiation time 20.054926 ms 
data association time 13.944380 ms 
solver time 14.001836 ms 
filter time 14.961708 ms 
solver time 11.608579 ms 
points size 88917 
sort q time 5.344463 
seperate points time 12.726657 
build tree time 66.777008 ms 
data association time 22.092512 ms 
solver time 14.858564 ms 
data association time 21.808585 ms 
solver time 12.186918 ms 
sort q time 4.475333 
seperate points time 10.948373 
filter time 18.458237 ms 
data association time 14.628888 ms 
solver time 11.015384 ms 
solver time 8.043886 ms 
publication time 7.701045 ms 
whole laserOdometry time 57.212052 ms 
 
points size 91103 
sort q time 4.332724 
seperate points time 10.252595 
mapping data assosiation time 19.796413 ms 
data association time 14.502821 ms 
data association time 14.768384 ms 
mapping pub time 1.140409 ms 
whole mapping time 143.901406 ms +++++
map prepare time 3.228762 ms
map corner num 195819  surf num 76038 
publication time 9.811714 ms 
whole laserOdometry time 64.031820 ms 
 
points size 91699 
sort q time 4.373905 
seperate points time 10.404365 
scan registration time 28.977966 ms *************
data association time 14.381535 ms 
mapping solver time 13.013652 ms 
data association time 17.655183 ms 
solver time 10.811324 ms 
points size 91297 
map prepare time 3.599757 ms
map corner num 196487  surf num 76273 
data association time 13.918413 ms 
solver time 11.777886 ms 
build tree time 54.810274 ms 
mapping data assosiation time 21.911925 ms 
mapping solver time 16.027108 ms 
sort q time 4.362154 
seperate points time 10.354548 
scan registration time 29.372073 ms *************
mapping data assosiation time 21.405113 ms 
add points time 0.478931 ms
data association time 16.460953 ms 
filter time 20.861824 ms 
map prepare time 3.869341 ms
map corner num 197020  surf num 76436 
data association time 16.326790 ms 
publication time 8.916044 ms 
whole laserOdometry time 60.573260 ms 
 
points size 94033 
build tree time 56.374790 ms 
mapping data assosiation time 21.921453 ms 
mapping solver time 13.955911 ms 
data association time 15.687382 ms 
solver time 10.851673 ms 
publication time 12.101682 ms 
whole laserOdometry time 63.831654 ms 
 
points size 94126 
build tree time 65.085676 ms 
solver time 14.976782 ms 
mapping data assosiation time 26.995994 ms 
prepare time 20.181142 
sort q time 6.051290 
seperate points time 14.929908 
mapping data assosiation time 23.207819 ms 
mapping solver time 11.192296 ms 
data association time 17.432006 ms 
mapping pub time 1.123238 ms 
whole mapping time 166.119480 ms +++++
data association time 18.240857 ms 
solver time 13.556089 ms 
publication time 11.401267 ms 
whole laserOdometry time 75.355533 ms 
 
sort q time 6.367793 
seperate points time 15.259381 
build tree time 70.147091 ms 
data association time 17.810876 ms 
solver time 10.307303 ms 
mapping solver time 14.156692 ms 
solver time 7.733221 ms 
mapping data assosiation time 26.174151 ms 
mapping solver time 13.439870 ms 
scan registration time 30.501323 ms *************
filter time 18.363717 ms 
solver time 10.782031 ms 
data association time 15.774452 ms 
solver time 10.637389 ms 
publication time 10.214440 ms 
whole laserOdometry time 64.932497 ms 
 
points size 92810 
sort q time 4.552625 
seperate points time 11.145012 
mapping solver time 15.475371 ms 
data association time 16.066420 ms 
solver time 11.893779 ms 
mapping data assosiation time 22.762894 ms 
mapping solver time 12.492357 ms 
solver time 9.692541 ms 
publication time 11.685289 ms 
whole laserOdometry time 66.906151 ms 
 
points size 92341 
sort q time 5.030401 
seperate points time 18.652542 
scan registration time 42.133545 ms *************
data association time 15.203422 ms 
solver time 9.421820 ms 
data association time 14.847043 ms 
publication time 8.808157 ms 
whole laserOdometry time 55.544129 ms 
 
points size 92484 
sort q time 5.867733 
seperate points time 13.639979 
mapping solver time 12.556487 ms 
data association time 23.147963 ms 
map prepare time 3.455869 ms
map corner num 200853  surf num 77839 
data association time 23.086635 ms 
solver time 11.892725 ms 
optimization twice time 72.263609 
sort q time 5.055296 
seperate points time 11.818732 
mapping data assosiation time 22.240170 ms 
mapping solver time 14.219214 ms 
solver time 14.939332 ms 
mapping data assosiation time 23.227300 ms 
mapping solver time 13.641703 ms 
solver time 12.116197 ms 
map prepare time 4.677177 ms
map corner num 201644  surf num 78167 
sort q time 5.336915 
seperate points time 13.191187 
data association time 23.300367 ms 
solver time 15.637484 ms 
build tree time 60.279773 ms 
mapping data assosiation time 28.051726 ms 
solver time 11.722343 ms 
optimization twice time 75.102945 
points size 91203 
sort q time 4.475796 
seperate points time 10.903177 
mapping data assosiation time 28.037731 ms 
data association time 22.906191 ms 
mapping solver time 17.992818 ms 
mapping optimization time 157.635195 
add points time 0.547619 ms
solver time 15.627219 ms 
filter time 18.675807 ms 
points size 90909 
solver time 11.528483 ms 
optimization twice time 74.020654 
prepare time 14.076403 
scan registration time 27.991435 ms *************
data association time 14.076021 ms 
solver time 8.457846 ms 
data association time 14.292914 ms 
solver time 8.854412 ms 
[0m[ INFO] [1718802397.964775879]: Received 1211391 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802397.964800414]: Data saved to 1317357942059421.pcd[0m
mapping data assosiation time 22.858670 ms 
mapping solver time 11.871467 ms 
filter time 18.367230 ms 
solver time 11.159219 ms 
data association time 13.827281 ms 
solver time 8.345468 ms 
publication time 7.867913 ms 
whole laserOdometry time 55.934457 ms 
 
build tree time 57.693007 ms 
prepare time 14.156194 
sort q time 4.504557 
seperate points time 10.833960 
mapping solver time 17.893346 ms 
data association time 14.751557 ms 
solver time 13.643281 ms 
mapping solver time 11.616471 ms 
solver time 9.321612 ms 
publication time 7.108314 ms 
whole laserOdometry time 64.232836 ms 
 
points size 87489 
sort q time 5.059248 
seperate points time 12.060823 
data association time 17.688081 ms 
solver time 7.626427 ms 
data association time 14.177067 ms 
optimization twice time 48.169962 
mapping solver time 13.320144 ms 
points size 87463 
sort q time 5.431993 
seperate points time 12.835903 
filter time 16.316886 ms 
solver time 12.362387 ms 
data association time 15.442557 ms 
publication time 6.586795 ms 
whole laserOdometry time 57.908130 ms 
 
mapping pub time 60.887625 ms 
whole mapping time 208.771563 ms +++++
points size 88873 
prepare time 18.558077 
sort q time 4.070885 
seperate points time 9.693212 
scan registration time 32.781145 ms *************
data association time 14.787397 ms 
solver time 12.959155 ms 
data association time 16.019010 ms 
mapping data assosiation time 20.634212 ms 
publication time 8.083977 ms 
whole laserOdometry time 64.008680 ms 
 
points size 91129 
mapping data assosiation time 19.851293 ms 
mapping solver time 14.060012 ms 
data association time 14.108968 ms 
solver time 11.057951 ms 
data association time 14.349444 ms 
publication time 7.858477 ms 
whole laserOdometry time 57.110666 ms 
 
points size 94329 
sort q time 5.968699 
seperate points time 13.601929 
mapping solver time 13.226633 ms 
solver time 11.328340 ms 
data association time 15.081312 ms 
solver time 11.508569 ms 
publication time 10.139346 ms 
whole laserOdometry time 63.163226 ms 
 
map prepare time 3.694413 ms
map corner num 208104  surf num 84344 
sort q time 4.690828 
seperate points time 11.036488 
data association time 14.641664 ms 
solver time 11.026107 ms 
build tree time 60.925394 ms 
solver time 7.978363 ms 
mapping solver time 16.006055 ms 
prepare time 17.086602 
mapping data assosiation time 22.553048 ms 
mapping solver time 11.723142 ms 
filter time 16.726301 ms 
solver time 12.219525 ms 
data association time 16.677230 ms 
solver time 10.524350 ms 
publication time 9.933139 ms 
whole laserOdometry time 65.662647 ms 
 
mapping data assosiation time 24.078322 ms 
sort q time 5.535959 
seperate points time 13.540635 
data association time 16.251113 ms 
solver time 13.421211 ms 
data association time 15.907923 ms 
solver time 9.049517 ms 
points size 98869 
sort q time 5.785590 
seperate points time 13.844031 
build tree time 42.543139 ms 
data association time 14.416531 ms 
mapping solver time 16.765978 ms 
solver time 8.153987 ms 
mapping data assosiation time 24.947279 ms 
points size 98092 
sort q time 5.382272 
seperate points time 12.282044 
map prepare time 4.196204 ms
map corner num 149360  surf num 59742 
data association time 13.828377 ms 
solver time 11.487975 ms 
data association time 13.975607 ms 
publication time 7.304525 ms 
whole laserOdometry time 56.316137 ms 
 
points size 98414 
sort q time 4.908281 
seperate points time 11.450276 
mapping solver time 9.321548 ms 
data association time 13.911156 ms 
map prepare time 3.177208 ms
map corner num 149756  surf num 59915 
data association time 14.275957 ms 
solver time 10.652271 ms 
points size 98460 
prepare time 19.102413 
sort q time 5.755325 
seperate points time 13.787069 
mapping solver time 16.068294 ms 
mapping data assosiation time 25.307222 ms 
mapping solver time 18.075616 ms 
mapping pub time 1.785838 ms 
whole mapping time 147.118413 ms +++++
map prepare time 4.002205 ms
map corner num 150224  surf num 60087 
prepare time 19.275161 
sort q time 5.735203 
seperate points time 14.032592 
build tree time 52.313477 ms 
mapping data assosiation time 25.341396 ms 
mapping solver time 16.769094 ms 
data association time 24.423251 ms 
points size 98913 
solver time 13.823299 ms 
sort q time 5.801725 
seperate points time 13.840768 
filter time 12.199341 ms 
data association time 15.712717 ms 
solver time 8.754429 ms 
data association time 17.888062 ms 
build tree time 43.572743 ms 
points size 99159 
mapping data assosiation time 24.197255 ms 
scan registration time 38.520434 ms *************
data association time 14.683184 ms 
solver time 11.713760 ms 
data association time 15.617299 ms 
publication time 7.916351 ms 
whole laserOdometry time 60.120846 ms 
 
points size 97778 
sort q time 5.593077 
seperate points time 13.685598 
data association time 15.013909 ms 
data association time 14.747104 ms 
build tree time 42.652388 ms 
data association time 14.634561 ms 
solver time 10.865538 ms 
sort q time 4.517364 
seperate points time 10.826195 
mapping data assosiation time 22.400328 ms 
mapping solver time 12.964349 ms 
data association time 17.239912 ms 
map prepare time 3.343082 ms
map corner num 152078  surf num 60830 
data association time 16.919504 ms 
publication time 8.452825 ms 
whole laserOdometry time 67.539988 ms 
 
sort q time 5.004517 
seperate points time 11.782821 
mapping solver time 13.884636 ms 
solver time 10.920854 ms 
mapping data assosiation time 24.880436 ms 
mapping solver time 12.740324 ms 
publication time 8.657893 ms 
whole laserOdometry time 60.307195 ms 
 
points size 91120 
sort q time 4.220221 
seperate points time 10.385970 
scan registration time 29.566306 ms *************
build tree time 43.404098 ms 
solver time 9.530618 ms 
mapping data assosiation time 23.514810 ms 
data association time 20.277301 ms 
solver time 10.874049 ms 
points size 89651 
prepare time 13.579919 
sort q time 5.093277 
seperate points time 12.284826 
filter time 14.125095 ms 
data association time 16.915061 ms 
solver time 10.808794 ms 
data association time 14.955975 ms 
build tree time 42.763142 ms 
publication time 7.978377 ms 
whole laserOdometry time 60.316673 ms 
 
mapping data assosiation time 27.373341 ms 
sort q time 4.098387 
seperate points time 10.220000 
data association time 15.185761 ms 
solver time 14.157704 ms 
mapping solver time 15.223911 ms 
mapping optimization time 129.666724 
add points time 0.461540 ms
filter time 15.725532 ms 
solver time 9.311632 ms 
publication time 10.131012 ms 
whole laserOdometry time 67.775942 ms 
 
prepare time 14.572704 
sort q time 4.763606 
seperate points time 11.845093 
build tree time 49.778345 ms 
data association time 15.838068 ms 
mapping data assosiation time 28.185060 ms 
data association time 15.632593 ms 
solver time 7.737546 ms 
mapping data assosiation time 25.153091 ms 
mapping solver time 15.359360 ms 
filter time 15.934919 ms 
data association time 16.939235 ms 
solver time 13.402403 ms 
data association time 16.526115 ms 
solver time 10.753649 ms 
points size 90734 
sort q time 4.524975 
seperate points time 11.509479 
data association time 13.820798 ms 
solver time 10.986646 ms 
mapping solver time 10.970468 ms 
solver time 8.912555 ms 
publication time 8.792594 ms 
whole laserOdometry time 57.931149 ms 
 
points size 92300 
sort q time 5.131442 
seperate points time 11.909068 
build tree time 45.506807 ms 
data association time 17.734842 ms 
mapping data assosiation time 25.592710 ms 
data association time 15.809746 ms 
mapping solver time 17.869472 ms 
mapping data assosiation time 28.835272 ms 
points size 93914 
prepare time 14.776279 
mapping solver time 15.104174 ms 
filter time 13.642207 ms 
mapping pub time 1.373826 ms 
whole mapping time 154.959181 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.426846 ms
map corner num 156048  surf num 62602 
data association time 14.355802 ms 
solver time 13.287361 ms 
data association time 14.705155 ms 
solver time 7.967005 ms 
publication time 8.582532 ms 
whole laserOdometry time 59.737697 ms 
 
mapping data assosiation time 29.536794 ms 
scan registration time 38.918552 ms *************
mapping solver time 26.539027 ms 
mapping data assosiation time 30.301512 ms 
solver time 17.406559 ms 
data association time 16.821051 ms 
solver time 13.300729 ms 
sort q time 5.726993 
seperate points time 14.067672 
build tree time 48.104808 ms 
solver time 12.218484 ms 
mapping data assosiation time 24.871356 ms 
mapping solver time 18.721807 ms 
publication time 8.296462 ms 
whole laserOdometry time 65.680224 ms 
 
mapping data assosiation time 27.899771 ms 
sort q time 5.486660 
seperate points time 13.201292 
scan registration time 34.699114 ms *************
mapping solver time 17.715917 ms 
data association time 20.692173 ms 
solver time 13.465367 ms 
data association time 14.673992 ms 
solver time 10.511823 ms 
points size 101670 
sort q time 5.355587 
seperate points time 12.665494 
mapping solver time 17.473190 ms 
solver time 11.510597 ms 
mapping data assosiation time 28.070000 ms 
data association time 16.490424 ms 
publication time 10.797217 ms 
whole laserOdometry time 65.350117 ms 
 
points size 101961 
filter time 16.115716 ms 
prepare time 16.688124 
sort q time 5.388242 
seperate points time 12.712024 
data association time 18.513441 ms 
map prepare time 4.548692 ms
map corner num 158042  surf num 63378 
data association time 18.766125 ms 
solver time 11.689137 ms 
publication time 11.949794 ms 
whole laserOdometry time 77.544270 ms 
 
build tree time 45.001334 ms 
sort q time 5.766815 
seperate points time 13.310316 
mapping data assosiation time 26.369798 ms 
data association time 20.152034 ms 
solver time 10.757168 ms 
data association time 16.524076 ms 
mapping solver time 12.579457 ms 
points size 103029 
map prepare time 3.742555 ms
map corner num 158757  surf num 63696 
scan registration time 34.568858 ms *************
data association time 16.234911 ms 
solver time 12.225083 ms 
build tree time 47.689522 ms 
data association time 16.789693 ms 
solver time 8.250748 ms 
points size 103615 
sort q time 7.062243 
seperate points time 16.884731 
mapping data assosiation time 32.782649 ms 
data association time 17.042230 ms 
solver time 11.481158 ms 
filter time 17.150693 ms 
solver time 8.854827 ms 
points size 103865 
sort q time 6.168190 
seperate points time 14.940070 
build tree time 55.047763 ms 
data association time 16.718824 ms 
solver time 12.505674 ms 
data association time 16.642222 ms 
solver time 10.433304 ms 
publication time 9.913438 ms 
whole laserOdometry time 67.115443 ms 
 
points size 103833 
sort q time 6.176783 
seperate points time 15.013700 
filter time 12.191568 ms 
data association time 17.232253 ms 
solver time 10.803290 ms 
data association time 17.673730 ms 
build tree time 44.204135 ms 
solver time 11.687444 ms 
optimization twice time 58.247188 
publication time 11.729538 ms 
whole laserOdometry time 69.995099 ms 
 
sort q time 5.744776 
seperate points time 14.380153 
mapping solver time 17.015418 ms 
solver time 10.304949 ms 
mapping data assosiation time 28.127987 ms 
solver time 8.423208 ms 
publication time 10.124147 ms 
whole laserOdometry time 62.492497 ms 
 
points size 103614 
map prepare time 3.611167 ms
map corner num 160892  surf num 64702 
sort q time 7.339056 
seperate points time 17.722542 
scan registration time 38.507812 ms *************
data association time 17.515575 ms 
solver time 11.591261 ms 
data association time 16.612893 ms 
solver time 7.951463 ms 
publication time 11.732760 ms 
whole laserOdometry time 66.257701 ms 
 
mapping solver time 22.079509 ms 
sort q time 5.501830 
seperate points time 13.459698 
mapping data assosiation time 31.227248 ms 
mapping solver time 16.054987 ms 
filter time 13.734618 ms 
solver time 9.315416 ms 
publication time 10.848753 ms 
whole laserOdometry time 67.163824 ms 
 
points size 103729 
build tree time 47.499831 ms 
data association time 16.509229 ms 
solver time 11.627037 ms 
mapping solver time 20.606578 ms 
data association time 22.251842 ms 
solver time 11.790369 ms 
optimization twice time 63.231753 
prepare time 20.079512 
mapping solver time 20.620265 ms 
filter time 18.011905 ms 
map prepare time 4.967335 ms
map corner num 162312  surf num 65399 
data association time 26.125081 ms 
solver time 14.698259 ms 
build tree time 48.800409 ms 
prepare time 17.340222 
sort q time 5.463379 
seperate points time 13.518200 
mapping solver time 17.776134 ms 
data association time 26.498326 ms 
solver time 15.281212 ms 
mapping data assosiation time 31.606507 ms 
mapping solver time 14.002872 ms 
points size 103925 
map prepare time 4.857065 ms
map corner num 162838  surf num 65572 
sort q time 6.469864 
seperate points time 16.694419 
scan registration time 40.257864 ms *************
build tree time 46.606698 ms 
solver time 10.139653 ms 
mapping data assosiation time 30.526782 ms 
solver time 8.201260 ms 
points size 104010 
sort q time 6.408154 
seperate points time 15.227083 
mapping data assosiation time 30.423986 ms 
data association time 19.291324 ms 
solver time 12.537228 ms 
map prepare time 4.210354 ms
map corner num 163461  surf num 65879 
data association time 22.756420 ms 
solver time 10.394865 ms 
optimization twice time 65.850679 
points size 103992 
sort q time 6.314930 
seperate points time 15.246665 
data association time 23.322112 ms 
solver time 11.475549 ms 
mapping solver time 21.338286 ms 
solver time 8.511154 ms 
publication time 10.086320 ms 
whole laserOdometry time 71.914460 ms 
 
mapping data assosiation time 33.063606 ms 
mapping solver time 13.034209 ms 
mapping optimization time 149.631111 
sort q time 6.244999 
seperate points time 15.267254 
add points time 0.657706 ms
scan registration time 41.415197 ms *************
filter time 16.371621 ms 
data association time 17.203358 ms 
solver time 11.883386 ms 
data association time 17.296146 ms 
solver time 8.543345 ms 
points size 104020 
sort q time 5.292437 
seperate points time 12.348810 
data association time 25.986271 ms 
solver time 12.362414 ms 
data association time 21.715715 ms 
solver time 9.037094 ms 
points size 103923 
publication time 11.170023 ms 
whole laserOdometry time 81.287103 ms 
 
mapping solver time 24.197266 ms 
sort q time 6.274175 
seperate points time 15.928233 
scan registration time 41.358317 ms *************
map prepare time 3.958162 ms
map corner num 164568  surf num 66361 
data association time 17.232695 ms 
solver time 10.718835 ms 
data association time 16.131144 ms 
build tree time 43.416799 ms 
publication time 10.985443 ms 
whole laserOdometry time 64.428155 ms 
 
points size 103991 
prepare time 20.036271 
mapping data assosiation time 33.098303 ms 
sort q time 6.359497 
seperate points time 16.048235 
mapping solver time 19.884101 ms 
data association time 19.489910 ms 
solver time 11.363402 ms 
data association time 19.357768 ms 
points size 104049 
map prepare time 4.395414 ms
map corner num 165165  surf num 66620 
scan registration time 35.798456 ms *************
data association time 26.639518 ms 
solver time 19.558733 ms 
points size 104054 
solver time 12.154536 ms 
scan registration time 41.047136 ms *************
mapping solver time 33.817843 ms 
data association time 30.018143 ms 
mapping data assosiation time 38.596059 ms 
solver time 17.433276 ms 
mapping solver time 20.440446 ms 
points size 104033 
filter time 17.649952 ms 
map prepare time 4.872589 ms
map corner num 165830  surf num 66919 
sort q time 6.373504 
seperate points time 15.619618 
data association time 17.058055 ms 
solver time 10.988431 ms 
build tree time 46.776110 ms 
data association time 17.945392 ms 
solver time 8.618901 ms 
points size 104223 
sort q time 5.204264 
seperate points time 12.186183 
data association time 16.715963 ms 
solver time 13.207726 ms 
mapping solver time 18.322419 ms 
solver time 10.408097 ms 
points size 104328 
sort q time 6.401246 
seperate points time 14.546391 
build tree time 45.619264 ms 
data association time 14.994107 ms 
solver time 13.665565 ms 
mapping solver time 17.285060 ms 
publication time 9.418788 ms 
whole laserOdometry time 66.103949 ms 
 
prepare time 20.063171 
sort q time 6.407681 
seperate points time 15.118150 
filter time 15.322991 ms 
data association time 15.442268 ms 
solver time 11.257893 ms 
data association time 15.749086 ms 
solver time 10.475608 ms 
publication time 10.307195 ms 
whole laserOdometry time 64.188183 ms 
 
prepare time 20.143344 
sort q time 6.187455 
seperate points time 15.004074 
data association time 16.782288 ms 
solver time 13.166338 ms 
data association time 18.726704 ms 
solver time 12.946356 ms 
points size 104371 
sort q time 6.210492 
seperate points time 15.617967 
map prepare time 3.516582 ms
map corner num 167589  surf num 67635 
data association time 17.406750 ms 
solver time 11.205604 ms 
data association time 16.530539 ms 
solver time 11.992524 ms 
points size 102713 
sort q time 6.123011 
seperate points time 15.508669 
scan registration time 39.717980 ms *************
mapping solver time 21.251600 ms 
data association time 16.642330 ms 
mapping data assosiation time 29.821677 ms 
mapping solver time 13.725328 ms 
solver time 8.406352 ms 
publication time 9.843737 ms 
whole laserOdometry time 62.972586 ms 
 
points size 101383 
prepare time 19.946397 
sort q time 5.977968 
seperate points time 15.219612 
build tree time 47.913843 ms 
solver time 10.134264 ms 
data association time 14.700830 ms 
publication time 10.455000 ms 
whole laserOdometry time 59.353881 ms 
 
points size 100837 
sort q time 6.051240 
seperate points time 15.050039 
mapping solver time 17.480319 ms 
data association time 14.952936 ms 
filter time 15.950094 ms 
solver time 11.054329 ms 
mapping pub time 1.240640 ms 
whole mapping time 171.425080 ms +++++
drop lidar frame in mapping for real time performance 
data association time 17.353180 ms 
solver time 8.897896 ms 
points size 99972 
build tree time 49.606896 ms 
sort q time 5.864978 
seperate points time 14.870660 
mapping data assosiation time 27.904673 ms 
data association time 16.180558 ms 
solver time 13.021477 ms 
data association time 18.086316 ms 
publication time 10.014862 ms 
whole laserOdometry time 72.605222 ms 
 
mapping solver time 16.104030 ms 
mapping optimization time 147.054051 
add points time 0.747022 ms
points size 100308 
prepare time 19.655177 
filter time 15.452287 ms 
mapping pub time 1.250948 ms 
whole mapping time 168.092473 ms +++++
drop lidar frame in mapping for real time performance 
sort q time 5.994637 
seperate points time 15.176111 
map prepare time 3.870628 ms
map corner num 169462  surf num 68353 
data association time 15.531913 ms 
solver time 11.117733 ms 
build tree time 46.048787 ms 
solver time 8.492494 ms 
mapping data assosiation time 28.732791 ms 
sort q time 4.972733 
seperate points time 11.917002 
data association time 15.866008 ms 
solver time 13.275675 ms 
mapping solver time 18.848694 ms 
solver time 11.088832 ms 
map prepare time 4.559759 ms
map corner num 170103  surf num 68566 
prepare time 16.549363 
sort q time 5.819983 
seperate points time 13.661707 
build tree time 49.504378 ms 
solver time 13.119585 ms 
mapping data assosiation time 29.179988 ms 
data association time 16.004247 ms 
solver time 11.954959 ms 
publication time 14.811867 ms 
whole laserOdometry time 73.461559 ms 
 
points size 101116 
mapping data assosiation time 30.490539 ms 
sort q time 6.178808 
seperate points time 14.361703 
mapping solver time 20.061252 ms 
mapping optimization time 149.576604 
add points time 0.653137 ms
solver time 12.871564 ms 
data association time 17.326530 ms 
solver time 12.460090 ms 
points size 100875 
map prepare time 5.277813 ms
map corner num 170713  surf num 68772 
data association time 13.978499 ms 
solver time 11.527132 ms 
build tree time 50.869095 ms 
solver time 8.752938 ms 
[0m[ INFO] [1718802405.131618984]: Received 1261068 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802405.131644778]: Data saved to 1317357951922367.pcd[0m
points size 100972 
mapping solver time 19.236474 ms 
sort q time 7.541060 
seperate points time 17.730195 
mapping data assosiation time 33.427476 ms 
data association time 16.237333 ms 
solver time 15.013674 ms 
add points time 0.728044 ms
data association time 20.975607 ms 
solver time 12.196873 ms 
points size 100596 
sort q time 5.915296 
seperate points time 14.165151 
build tree time 54.861049 ms 
data association time 17.816077 ms 
solver time 12.789339 ms 
data association time 17.170769 ms 
solver time 10.864969 ms 
prepare time 21.661400 
mapping data assosiation time 33.614859 ms 
mapping solver time 19.629906 ms 
filter time 14.294621 ms 
solver time 18.447461 ms 
points size 98964 
build tree time 56.237435 ms 
publication time 10.882886 ms 
whole laserOdometry time 92.762092 ms 
 
mapping data assosiation time 31.776806 ms 
mapping solver time 19.960765 ms 
data association time 23.458472 ms 
mapping data assosiation time 29.510387 ms 
prepare time 20.669390 
publication time 10.780878 ms 
whole laserOdometry time 88.837815 ms 
 
scan registration time 40.528120 ms *************
filter time 15.864593 ms 
data association time 23.404153 ms 
solver time 15.532852 ms 
build tree time 44.888557 ms 
data association time 23.634024 ms 
points size 99765 
mapping data assosiation time 34.330543 ms 
publication time 10.655425 ms 
whole laserOdometry time 86.244759 ms 
 
mapping solver time 21.646070 ms 
data association time 22.856602 ms 
mapping data assosiation time 26.205779 ms 
data association time 14.235379 ms 
solver time 12.359090 ms 
filter time 17.879062 ms 
map prepare time 4.764828 ms
map corner num 173279  surf num 69541 
scan registration time 40.984043 ms *************
data association time 14.663987 ms 
solver time 12.724558 ms 
data association time 15.032817 ms 
solver time 11.002461 ms 
publication time 10.512777 ms 
whole laserOdometry time 64.903228 ms 
 
mapping solver time 20.645959 ms 
scan registration time 34.410002 ms *************
mapping data assosiation time 27.855112 ms 
mapping solver time 14.780120 ms 
mapping optimization time 145.715917 
add points time 0.745586 ms
solver time 10.882767 ms 
filter time 14.218731 ms 
solver time 10.380317 ms 
publication time 9.256162 ms 
whole laserOdometry time 65.174311 ms 
 
points size 100134 
sort q time 6.023675 
seperate points time 14.480142 
data association time 15.286862 ms 
mapping data assosiation time 26.682187 ms 
solver time 13.072431 ms 
mapping solver time 17.091530 ms 
solver time 11.255188 ms 
mapping data assosiation time 28.003809 ms 
points size 100252 
sort q time 4.785504 
seperate points time 11.915870 
data association time 14.670651 ms 
solver time 10.748967 ms 
data association time 15.042281 ms 
solver time 8.768175 ms 
publication time 11.349626 ms 
whole laserOdometry time 61.455312 ms 
 
prepare time 16.241981 
mapping data assosiation time 29.382917 ms 
scan registration time 35.885182 ms *************
data association time 15.299100 ms 
solver time 12.168109 ms 
mapping solver time 15.522516 ms 
solver time 8.427730 ms 
mapping pub time 1.380471 ms 
whole mapping time 165.236885 ms +++++
points size 100317 
sort q time 5.232423 
seperate points time 12.269809 
data association time 15.070690 ms 
build tree time 49.792482 ms 
data association time 14.586647 ms 
mapping data assosiation time 27.498200 ms 
publication time 8.898566 ms 
whole laserOdometry time 59.768681 ms 
 
mapping solver time 22.556507 ms 
sort q time 4.868774 
seperate points time 11.363656 
data association time 14.624710 ms 
mapping solver time 14.425639 ms 
solver time 10.962067 ms 
drop lidar frame in mapping for real time performance 
solver time 7.842423 ms 
optimization twice time 50.119412 
points size 101289 
sort q time 5.358478 
seperate points time 12.837176 
scan registration time 33.034146 ms *************
mapping data assosiation time 28.320518 ms 
mapping solver time 16.762437 ms 
solver time 18.829607 ms 
mapping solver time 15.181444 ms 
points size 102070 
mapping pub time 1.537566 ms 
whole mapping time 161.811816 ms +++++
sort q time 6.144891 
seperate points time 15.498040 
data association time 24.015476 ms 
build tree time 46.035982 ms 
solver time 15.591193 ms 
mapping data assosiation time 25.675443 ms 
points size 102662 
publication time 11.333103 ms 
whole laserOdometry time 87.712351 ms 
 
mapping data assosiation time 27.539624 ms 
data association time 24.009740 ms 
mapping solver time 17.253278 ms 
mapping optimization time 139.162965 
add points time 0.572116 ms
solver time 19.012351 ms 
filter time 16.298157 ms 
mapping pub time 3.567097 ms 
whole mapping time 164.503360 ms +++++
drop lidar frame in mapping for real time performance 
data association time 24.193484 ms 
points size 103382 
publication time 11.491399 ms 
whole laserOdometry time 95.730334 ms 
 
build tree time 54.227546 ms 
data association time 15.781131 ms 
solver time 13.168008 ms 
data association time 15.074534 ms 
solver time 11.222111 ms 

 
points size 103331 
sort q time 4.848523 
seperate points time 11.703503 
filter time 15.132747 ms 
solver time 12.122320 ms 
data association time 17.071018 ms 
solver time 10.352576 ms 
build tree time 50.522878 ms 
points size 103509 
mapping data assosiation time 26.210503 ms 
mapping solver time 16.722073 ms 
data association time 15.830271 ms 
solver time 13.268335 ms 
mapping data assosiation time 26.886121 ms 
data association time 14.562666 ms 
solver time 10.843301 ms 
publication time 10.943966 ms 
whole laserOdometry time 66.375739 ms 
 
mapping data assosiation time 26.847454 ms 
data association time 21.635836 ms 
points size 104049 
publication time 11.351575 ms 
whole laserOdometry time 89.895073 ms 
 
mapping solver time 17.833100 ms 
data association time 15.977878 ms 
mapping pub time 1.669612 ms 
whole mapping time 175.585547 ms +++++
solver time 14.377468 ms 
map prepare time 4.627800 ms
map corner num 179668  surf num 71803 
publication time 21.527039 ms 
whole laserOdometry time 91.813456 ms 
 
build tree time 72.386810 ms 
data association time 28.324544 ms 
solver time 16.725927 ms 
mapping solver time 23.912574 ms 
prepare time 16.582056 
sort q time 5.473075 
seperate points time 12.564557 
publication time 11.777168 ms 
whole laserOdometry time 96.155892 ms 
 
mapping solver time 20.210246 ms 
data association time 22.998161 ms 
mapping pub time 1.683954 ms 
whole mapping time 208.078057 ms +++++
data association time 23.280353 ms 
points size 103573 
solver time 14.538755 ms 
sort q time 6.098164 
seperate points time 14.060247 
build tree time 62.496780 ms 
data association time 26.587891 ms 
solver time 16.584274 ms 
mapping solver time 23.557285 ms 
data association time 22.724972 ms 
prepare time 19.910245 
sort q time 5.828911 
seperate points time 14.269289 
mapping solver time 15.086859 ms 
scan registration time 39.297463 ms *************
mapping optimization time 161.884547 
add points time 0.776201 ms
filter time 17.504026 ms 
map prepare time 4.537533 ms
map corner num 181152  surf num 72468 
solver time 11.311933 ms 
data association time 14.474506 ms 
solver time 10.490905 ms 
build tree time 49.804983 ms 
points size 102350 
sort q time 5.031767 
seperate points time 11.855257 
scan registration time 33.511491 ms *************
data association time 14.326494 ms 
solver time 12.513588 ms 
mapping data assosiation time 23.709980 ms 
solver time 9.656750 ms 
filter time 17.166123 ms 
sort q time 5.419505 
seperate points time 12.648133 
data association time 22.791670 ms 
build tree time 60.960478 ms 
data association time 26.084303 ms 
mapping data assosiation time 31.806264 ms 
publication time 10.893282 ms 
whole laserOdometry time 89.228691 ms 
 
mapping data assosiation time 30.449958 ms 
data association time 27.974470 ms 
mapping solver time 20.431770 ms 
filter time 15.591736 ms 
solver time 8.361887 ms 
sort q time 4.845009 
seperate points time 11.726297 
build tree time 50.667774 ms 
solver time 13.291351 ms 
mapping data assosiation time 25.159024 ms 
data association time 21.802147 ms 
publication time 8.553962 ms 
whole laserOdometry time 69.597730 ms 
 
mapping data assosiation time 28.578582 ms 
mapping solver time 15.689526 ms 
data association time 14.777156 ms 
drop lidar frame in mapping for real time performance 
data association time 14.696851 ms 
solver time 9.778798 ms 
points size 99485 
prepare time 16.112726 
build tree time 52.615086 ms 
sort q time 5.329088 
seperate points time 13.151331 
mapping data assosiation time 26.188807 ms 
mapping solver time 15.887605 ms 
data association time 17.906364 ms 
publication time 8.150053 ms 
whole laserOdometry time 62.593713 ms 
 
points size 99295 
drop lidar frame in mapping for real time performance 
sort q time 5.370565 
seperate points time 13.247158 
data association time 13.978700 ms 
solver time 12.533172 ms 
data association time 14.013225 ms 
solver time 8.742524 ms 
mapping solver time 18.500274 ms 
sort q time 4.658326 
seperate points time 11.275651 
mapping data assosiation time 27.752195 ms 
mapping solver time 18.465377 ms 
filter time 17.462107 ms 
data association time 28.706524 ms 
prepare time 15.876949 
publication time 9.285961 ms 
whole laserOdometry time 96.185184 ms 
 
sort q time 5.997956 
seperate points time 13.863713 
data association time 17.954682 ms 
build tree time 28.606859 ms 
mapping data assosiation time 24.579723 ms 
solver time 9.026907 ms 
prepare time 15.316380 
sort q time 5.557689 
seperate points time 13.005271 
mapping data assosiation time 30.225721 ms 
data association time 15.938731 ms 
solver time 11.566076 ms 
map prepare time 3.398599 ms
map corner num 91988  surf num 34983 
solver time 7.893200 ms 
publication time 8.518229 ms 
whole laserOdometry time 61.578094 ms 
 
points size 98183 
prepare time 14.715371 
sort q time 5.705212 
seperate points time 13.172617 
mapping solver time 18.297837 ms 
data association time 15.697186 ms 
solver time 12.871177 ms 
add points time 0.786918 ms
data association time 21.195590 ms 
solver time 11.106983 ms 
points size 98154 
build tree time 30.074941 ms 
sort q time 5.426735 
seperate points time 12.547340 
mapping data assosiation time 25.567278 ms 
data association time 17.363339 ms 
solver time 13.399019 ms 
data association time 14.658819 ms 
mapping solver time 12.381818 ms 
mapping pub time 1.162373 ms 
whole mapping time 126.498606 ms +++++
sort q time 4.877238 
seperate points time 11.428046 
build tree time 24.883794 ms 
data association time 15.198497 ms 
mapping data assosiation time 26.476450 ms 
data association time 14.337654 ms 
mapping solver time 18.218661 ms 
publication time 8.647346 ms 
whole laserOdometry time 59.237629 ms 
 
mapping data assosiation time 31.407886 ms 
prepare time 20.977334 
mapping solver time 21.470898 ms 
mapping pub time 1.533450 ms 
whole mapping time 141.450236 ms +++++
map prepare time 2.997229 ms
map corner num 93810  surf num 35566 
data association time 15.067904 ms 
solver time 11.449701 ms 
data association time 14.179376 ms 
optimization twice time 50.448481 
points size 96872 
mapping solver time 18.164452 ms 
scan registration time 33.408655 ms *************
mapping data assosiation time 27.648957 ms 
mapping solver time 16.451101 ms 
filter time 9.313770 ms 
solver time 8.097123 ms 
build tree time 26.985583 ms 
sort q time 5.171367 
seperate points time 11.935486 
data association time 14.928157 ms 
data association time 14.751368 ms 
mapping solver time 12.344475 ms 
points size 96599 
sort q time 5.673341 
seperate points time 13.760595 
data association time 19.785852 ms 
solver time 13.056630 ms 
data association time 16.875692 ms 
solver time 10.701578 ms 
publication time 10.471112 ms 
whole laserOdometry time 71.808439 ms 
 
mapping solver time 12.263954 ms 
map prepare time 2.985108 ms
map corner num 95680  surf num 36143 
data association time 14.848599 ms 
data association time 14.944373 ms 
publication time 9.299115 ms 
whole laserOdometry time 61.767752 ms 
 
prepare time 15.544636 
sort q time 5.111822 
seperate points time 12.117680 
mapping data assosiation time 29.439879 ms 
data association time 23.100491 ms 
mapping solver time 25.654278 ms 
solver time 16.156437 ms 
filter time 10.921779 ms 
data association time 22.795994 ms 
solver time 11.235027 ms 
publication time 10.875223 ms 
whole laserOdometry time 85.203649 ms 
 
sort q time 6.281318 
seperate points time 14.210935 
mapping data assosiation time 27.764839 ms 
mapping solver time 17.870152 ms 
solver time 14.506307 ms 
mapping data assosiation time 27.591161 ms 
mapping solver time 15.519652 ms 
filter time 10.108683 ms 
sort q time 4.460004 
seperate points time 10.550485 
build tree time 27.350564 ms 
solver time 12.562376 ms 
mapping data assosiation time 27.205684 ms 
mapping solver time 18.577441 ms 
publication time 10.126558 ms 
whole laserOdometry time 70.410508 ms 
 
prepare time 17.266675 
sort q time 5.479826 
seperate points time 12.733733 
filter time 8.891109 ms 
map prepare time 3.621494 ms
map corner num 97526  surf num 36785 
data association time 23.937619 ms 
solver time 13.881616 ms 
data association time 14.517050 ms 
mapping data assosiation time 27.168296 ms 
mapping solver time 19.112245 ms 
mapping data assosiation time 26.861036 ms 
data association time 14.749870 ms 
mapping solver time 15.193610 ms 
filter time 9.067282 ms 
solver time 9.949356 ms 
build tree time 26.957994 ms 
sort q time 4.827728 
seperate points time 11.355123 
mapping solver time 24.913534 ms 
solver time 21.495974 ms 
data association time 25.538053 ms 
solver time 15.820991 ms 
scan registration time 39.007541 ms *************
publication time 11.241291 ms 
whole laserOdometry time 99.840418 ms 
 
data association time 24.639386 ms 
solver time 16.592784 ms 
mapping data assosiation time 34.369695 ms 
data association time 27.123126 ms 
solver time 12.468357 ms 
mapping solver time 27.204928 ms 
mapping data assosiation time 31.882435 ms 
data association time 25.769373 ms 
mapping solver time 22.455740 ms 
filter time 11.242787 ms 
data association time 24.638598 ms 
points size 100179 
publication time 11.452962 ms 
whole laserOdometry time 90.670917 ms 
 
build tree time 34.717864 ms 
sort q time 5.938796 
seperate points time 14.581967 
scan registration time 39.409418 ms *************
mapping data assosiation time 33.440456 ms 
solver time 20.698156 ms 
points size 101070 
mapping data assosiation time 34.282198 ms 
sort q time 5.254829 
seperate points time 12.443269 
scan registration time 33.129549 ms *************
publication time 11.197780 ms 
whole laserOdometry time 105.072024 ms 
 
[33m[ WARN] [1718802410.582369160]: odometry process over 100ms[0m
filter time 10.895027 ms 
data association time 24.780407 ms 
solver time 17.942171 ms 
build tree time 34.929968 ms 
points size 102135 
sort q time 5.035214 
seperate points time 12.300565 
solver time 17.784031 ms 
optimization twice time 87.314097 
scan registration time 33.136188 ms *************
mapping data assosiation time 34.985546 ms 
mapping solver time 27.497641 ms 
data association time 28.233266 ms 
solver time 21.160122 ms 
points size 102575 
prepare time 15.947252 
data association time 27.816687 ms 
filter time 10.892023 ms 
data association time 16.230335 ms 
build tree time 26.946718 ms 
solver time 14.096108 ms 
data association time 16.355342 ms 
solver time 11.099875 ms 
points size 102459 
mapping solver time 24.982153 ms 
mapping data assosiation time 32.138568 ms 
data association time 17.774337 ms 
solver time 10.983629 ms 
add points time 0.819996 ms
filter time 10.439147 ms 
optimization twice time 59.674869 
publication time 11.933985 ms 
whole laserOdometry time 71.627220 ms 
 
sort q time 5.802192 
seperate points time 13.492791 
mapping data assosiation time 29.637893 ms 
data association time 16.181032 ms 
mapping solver time 19.276305 ms 
data association time 16.993994 ms 
solver time 8.969248 ms 
publication time 10.538389 ms 
whole laserOdometry time 64.128621 ms 
 
points size 102578 
filter time 10.356206 ms 
data association time 16.398565 ms 
solver time 11.342832 ms 
data association time 19.047623 ms 
publication time 12.086602 ms 
whole laserOdometry time 68.021232 ms 
 
prepare time 17.534999 
sort q time 6.633568 
seperate points time 15.337936 
mapping data assosiation time 32.412379 ms 
data association time 17.014365 ms 
solver time 11.145216 ms 
filter time 10.648496 ms 
optimization twice time 55.107452 
publication time 11.630277 ms 
whole laserOdometry time 66.756806 ms 
 
prepare time 16.536388 
sort q time 6.040391 
seperate points time 14.004072 
mapping data assosiation time 30.699738 ms 
mapping solver time 21.081755 ms 
solver time 15.231245 ms 
mapping data assosiation time 32.932322 ms 
mapping solver time 12.260192 ms 
solver time 11.900407 ms 
sort q time 6.105360 
seperate points time 14.650603 
build tree time 28.072763 ms 
solver time 11.573290 ms 
data association time 19.726056 ms 
solver time 10.318640 ms 
publication time 12.892514 ms 
whole laserOdometry time 73.240381 ms 
 
points size 102703 
mapping data assosiation time 37.687096 ms 
mapping solver time 17.723054 ms 
filter time 11.680102 ms 
solver time 10.916081 ms 
data association time 18.265723 ms 
solver time 9.337188 ms 
optimization twice time 57.701674 
points size 102788 
sort q time 6.920785 
seperate points time 17.307987 
map prepare time 3.847858 ms
map corner num 104453  surf num 39660 
data association time 19.929423 ms 
build tree time 27.509459 ms 
data association time 20.447147 ms 
points size 102912 
publication time 11.446361 ms 
whole laserOdometry time 76.679908 ms 
 
data association time 17.277473 ms 
solver time 14.595193 ms 
filter time 9.203097 ms 
mapping pub time 1.262419 ms 
whole mapping time 138.211030 ms +++++
data association time 17.624876 ms 
map prepare time 4.559114 ms
map corner num 104997  surf num 39846 
publication time 8.769827 ms 
whole laserOdometry time 70.410382 ms 
 
build tree time 29.710164 ms 
sort q time 5.884629 
seperate points time 14.127102 
mapping data assosiation time 33.773577 ms 
data association time 29.576488 ms 
solver time 16.775460 ms 
data association time 20.481992 ms 
points size 102737 
mapping solver time 23.529891 ms 
scan registration time 40.701166 ms *************
data association time 18.845110 ms 
solver time 9.932569 ms 
data association time 16.605966 ms 
solver time 8.076174 ms 
publication time 11.109793 ms 
whole laserOdometry time 65.267690 ms 
 
mapping data assosiation time 31.730029 ms 
points size 102853 
mapping solver time 16.507657 ms 
data association time 15.819241 ms 
mapping solver time 12.639629 ms 
filter time 12.210191 ms 
solver time 10.336773 ms 
points size 102829 
build tree time 28.777086 ms 
prepare time 15.924007 
sort q time 5.281886 
seperate points time 12.575380 
mapping data assosiation time 31.769219 ms 
data association time 16.711842 ms 
solver time 11.275301 ms 
data association time 17.155202 ms 
solver time 8.543690 ms 
publication time 10.904555 ms 
whole laserOdometry time 65.370403 ms 
 
points size 102737 
filter time 10.241253 ms 
scan registration time 34.948272 ms *************
data association time 16.298974 ms 
solver time 12.126576 ms 
data association time 18.059248 ms 
optimization twice time 56.314916 
publication time 11.489484 ms 
whole laserOdometry time 67.826662 ms 
 
prepare time 16.764183 
sort q time 5.219065 
seperate points time 12.250309 
mapping data assosiation time 31.994345 ms 
mapping solver time 13.115156 ms 
filter time 13.143397 ms 
map prepare time 3.161030 ms
map corner num 107606  surf num 40941 
solver time 14.019620 ms 
data association time 16.081062 ms 
solver time 9.820744 ms 
publication time 9.785679 ms 
whole laserOdometry time 74.531924 ms 
 
sort q time 6.093799 
seperate points time 14.059688 
mapping data assosiation time 30.422845 ms 
scan registration time 34.708267 ms *************
mapping solver time 20.094833 ms 
solver time 10.896683 ms 
mapping data assosiation time 29.530602 ms 
solver time 8.381255 ms 
publication time 10.375535 ms 
whole laserOdometry time 63.835023 ms 
 
points size 102241 
sort q time 5.504348 
seperate points time 12.741496 
[0m[ INFO] [1718802412.551705664]: Received 1298246 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802412.551743062]: Data saved to 1317357958469728.pcd[0m
build tree time 31.383748 ms 
data association time 26.693451 ms 
mapping data assosiation time 28.960658 ms 
data association time 26.086477 ms 
points size 102097 
publication time 11.198302 ms 
whole laserOdometry time 92.027715 ms 
 
scan registration time 44.355461 ms *************
mapping solver time 20.403034 ms 
filter time 10.167198 ms 
data association time 26.784676 ms 
solver time 18.423853 ms 
points size 102110 
prepare time 15.383495 
sort q time 6.281301 
seperate points time 14.819271 
mapping data assosiation time 29.882579 ms 
scan registration time 33.860567 ms *************
solver time 15.435685 ms 
optimization twice time 87.731470 
publication time 11.610797 ms 
whole laserOdometry time 99.366187 ms 
 
mapping solver time 19.110492 ms 
data association time 25.976915 ms 
solver time 15.058800 ms 
mapping pub time 1.366941 ms 
whole mapping time 141.001837 ms +++++
points size 102092 
solver time 11.395102 ms 
publication time 10.260570 ms 
whole laserOdometry time 90.111984 ms 
 
data association time 16.553659 ms 
solver time 10.836229 ms 
mapping solver time 15.132533 ms 
solver time 7.689320 ms 
publication time 10.805355 ms 
whole laserOdometry time 62.925893 ms 
 
mapping data assosiation time 31.831616 ms 
mapping solver time 13.851418 ms 
filter time 10.341829 ms 
data association time 16.619358 ms 
solver time 11.373655 ms 
data association time 19.198125 ms 
solver time 8.629664 ms 
publication time 10.815398 ms 
whole laserOdometry time 67.604040 ms 
 
prepare time 17.969768 
sort q time 6.928627 
seperate points time 16.433436 
mapping data assosiation time 28.480220 ms 
mapping solver time 12.293764 ms 
filter time 10.067734 ms 
map prepare time 3.101686 ms
map corner num 110565  surf num 42117 
data association time 15.624741 ms 
build tree time 30.264625 ms 
sort q time 5.427089 
seperate points time 13.231321 
mapping solver time 17.296486 ms 
data association time 16.746914 ms 
solver time 13.896036 ms 
mapping data assosiation time 27.803833 ms 
data association time 16.839675 ms 
solver time 9.508081 ms 
publication time 10.372936 ms 
whole laserOdometry time 68.331123 ms 
 
prepare time 16.512156 
sort q time 4.806982 
seperate points time 11.248561 
build tree time 34.324455 ms 
solver time 10.545020 ms 
data association time 15.820223 ms 
publication time 8.597562 ms 
whole laserOdometry time 61.060684 ms 
 
points size 98336 
sort q time 4.815812 
seperate points time 11.371713 
filter time 11.645768 ms 
solver time 13.249180 ms 
data association time 16.954001 ms 
solver time 11.199476 ms 
mapping data assosiation time 28.404455 ms 
points size 95183 
mapping solver time 17.463084 ms 
sort q time 5.680903 
seperate points time 13.736098 
mapping data assosiation time 26.714484 ms 
mapping solver time 17.541940 ms 
filter time 10.611877 ms 
mapping pub time 1.289437 ms 
whole mapping time 141.138758 ms +++++
map prepare time 3.326826 ms
map corner num 112565  surf num 42822 
data association time 16.544399 ms 
solver time 8.642766 ms 
publication time 9.347323 ms 
whole laserOdometry time 65.430183 ms 
 
build tree time 35.296840 ms 
prepare time 18.585297 
sort q time 5.321934 
seperate points time 13.604470 
mapping data assosiation time 28.583205 ms 
data association time 19.478729 ms 
solver time 14.988092 ms 
mapping data assosiation time 25.719015 ms 
solver time 9.942317 ms 
points size 90753 
filter time 12.212962 ms 
scan registration time 36.073132 ms *************
map prepare time 4.426660 ms
map corner num 113214  surf num 43022 
data association time 14.703286 ms 
solver time 12.953887 ms 
mapping data assosiation time 23.416317 ms 
solver time 11.560492 ms 
publication time 9.811849 ms 
whole laserOdometry time 64.926352 ms 
 
points size 89974 
mapping data assosiation time 28.103029 ms 
mapping solver time 10.895100 ms 
data association time 15.369974 ms 
solver time 11.547196 ms 
data association time 14.824267 ms 
solver time 7.785931 ms 
optimization twice time 50.385230 
build tree time 32.609049 ms 
points size 89714 
sort q time 4.511399 
seperate points time 10.651604 
data association time 14.663195 ms 
mapping data assosiation time 24.952369 ms 
data association time 14.676922 ms 
filter time 10.275315 ms 
points size 90489 
sort q time 4.360998 
seperate points time 10.345092 
mapping data assosiation time 23.912677 ms 
mapping solver time 13.408928 ms 
data association time 23.499623 ms 
solver time 15.392813 ms 
mapping optimization time 101.486765 
add points time 0.694592 ms
data association time 23.703210 ms 
solver time 12.426920 ms 
prepare time 18.482123 
sort q time 5.150629 
seperate points time 12.535396 
build tree time 39.031336 ms 
data association time 18.067055 ms 
mapping data assosiation time 24.037791 ms 
mapping solver time 14.344064 ms 
solver time 8.285706 ms 
publication time 8.526895 ms 
whole laserOdometry time 61.233990 ms 
 
points size 89399 
sort q time 5.080617 
seperate points time 12.382614 
data association time 14.018151 ms 
solver time 8.132102 ms 
build tree time 28.334482 ms 
data association time 14.830001 ms 
solver time 8.584799 ms 
publication time 8.160670 ms 
whole laserOdometry time 54.588517 ms 
 
mapping solver time 18.840483 ms 
points size 89036 
sort q time 5.928204 
seperate points time 14.144095 
mapping solver time 15.348018 ms 
filter time 11.150696 ms 
solver time 12.119707 ms 
build tree time 29.488875 ms 
solver time 11.835727 ms 
publication time 9.091549 ms 
whole laserOdometry time 79.576136 ms 
 
sort q time 4.787586 
seperate points time 11.487626 
mapping solver time 16.212610 ms 
mapping data assosiation time 21.030651 ms 
mapping solver time 12.580271 ms 
filter time 11.142883 ms 
data association time 13.930856 ms 
solver time 8.845780 ms 
points size 89680 
sort q time 6.307045 
seperate points time 15.859462 
data association time 14.483786 ms 
solver time 18.475007 ms 
data association time 14.727477 ms 
publication time 9.157241 ms 
whole laserOdometry time 66.363749 ms 
 
mapping data assosiation time 25.229904 ms 
mapping solver time 17.838502 ms 
data association time 15.045988 ms 
solver time 11.652217 ms 
mapping solver time 14.443158 ms 
filter time 11.433308 ms 
points size 86618 
sort q time 4.828151 
seperate points time 11.814955 
data association time 13.745614 ms 
solver time 10.553127 ms 
data association time 14.019981 ms 
solver time 10.632330 ms 
mapping solver time 12.173089 ms 
filter time 10.987590 ms 
mapping pub time 1.169007 ms 
whole mapping time 120.622405 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.123791 ms
map corner num 117882  surf num 44168 
points size 85550 
sort q time 4.759156 
seperate points time 11.709554 
build tree time 34.967719 ms 
data association time 23.922095 ms 
solver time 13.121980 ms 
mapping solver time 20.615726 ms 
data association time 22.857885 ms 
solver time 13.592161 ms 
publication time 8.886712 ms 
whole laserOdometry time 83.547459 ms 
 
sort q time 5.007076 
seperate points time 12.225777 
mapping pub time 1.118740 ms 
whole mapping time 133.605488 ms +++++
data association time 21.572965 ms 
solver time 15.104403 ms 
data association time 24.147260 ms 
solver time 13.131899 ms 
sort q time 4.661733 
seperate points time 11.136106 
scan registration time 31.777145 ms *************
mapping data assosiation time 19.904530 ms 
mapping solver time 11.781293 ms 
filter time 11.302922 ms 
data association time 13.476927 ms 
build tree time 33.511282 ms 
prepare time 14.518422 
mapping data assosiation time 21.335491 ms 
scan registration time 29.671983 ms *************
mapping solver time 15.512919 ms 
mapping data assosiation time 23.603449 ms 
data association time 24.713099 ms 
solver time 16.957602 ms 
filter time 12.729881 ms 
solver time 11.495610 ms 
sort q time 5.261372 
seperate points time 12.522626 
scan registration time 33.497232 ms *************
build tree time 35.838979 ms 
mapping data assosiation time 22.520680 ms 
solver time 10.044878 ms 
mapping solver time 12.952708 ms 
data association time 13.785244 ms 
solver time 11.521105 ms 
filter time 11.719032 ms 
sort q time 4.408061 
seperate points time 10.807530 
build tree time 33.468625 ms 
data association time 14.280646 ms 
solver time 11.220472 ms 
mapping solver time 10.905163 ms 
solver time 8.344400 ms 
mapping data assosiation time 19.794632 ms 
mapping optimization time 94.070816 
filter time 12.955817 ms 
data association time 13.241775 ms 
solver time 10.689829 ms 
data association time 13.246206 ms 
publication time 6.951997 ms 
whole laserOdometry time 53.567317 ms 
 
mapping data assosiation time 18.570658 ms 
mapping solver time 13.811075 ms 
filter time 15.597959 ms 
mapping pub time 1.513889 ms 
whole mapping time 123.011107 ms +++++
map prepare time 3.395117 ms
map corner num 120300  surf num 44701 
data association time 23.113784 ms 
solver time 18.395654 ms 
build tree time 42.089224 ms 
data association time 20.891285 ms 
mapping data assosiation time 22.740889 ms 
publication time 9.639936 ms 
whole laserOdometry time 86.455048 ms 
 
sort q time 5.504281 
seperate points time 13.968369 
mapping solver time 7.925826 ms 
map prepare time 3.955000 ms
map corner num 196023  surf num 73249 
solver time 16.306803 ms 
solver time 9.755387 ms 
prepare time 18.212490 
sort q time 5.335537 
seperate points time 13.106977 
mapping data assosiation time 17.170649 ms 
solver time 12.704382 ms 
data association time 13.098709 ms 
solver time 11.834206 ms 
points size 94196 
map prepare time 3.526084 ms
map corner num 196384  surf num 73334 
data association time 12.737552 ms 
solver time 11.154752 ms 
data association time 13.792901 ms 
mapping data assosiation time 19.744970 ms 
mapping solver time 15.092631 ms 
sort q time 4.940299 
seperate points time 11.502685 
mapping solver time 10.032726 ms 
data association time 13.810773 ms 
solver time 10.493676 ms 
data association time 13.616246 ms 
solver time 8.262650 ms 
publication time 9.487305 ms 
whole laserOdometry time 56.407258 ms 
 
points size 97028 
sort q time 6.752066 
seperate points time 16.159116 
mapping data assosiation time 24.284191 ms 
mapping solver time 12.874600 ms 
data association time 20.554374 ms 
mapping data assosiation time 19.083739 ms 
solver time 15.318912 ms 
filter time 17.392560 ms 
points size 96302 
publication time 10.218920 ms 
whole laserOdometry time 80.375789 ms 
 
data association time 21.101993 ms 
solver time 15.428994 ms 
mapping data assosiation time 20.742546 ms 
data association time 21.323409 ms 
solver time 15.680460 ms 
publication time 10.430810 ms 
whole laserOdometry time 84.986146 ms 
 
sort q time 5.173020 
seperate points time 12.783424 
scan registration time 33.534481 ms *************
filter time 20.002465 ms 
data association time 24.141645 ms 
solver time 16.166580 ms 
data association time 24.119283 ms 
points size 94072 
publication time 10.160887 ms 
whole laserOdometry time 87.725045 ms 
 
mapping solver time 15.682333 ms 
data association time 23.395881 ms 
mapping data assosiation time 21.418145 ms 
mapping solver time 13.345690 ms 
mapping optimization time 136.202929 
add points time 0.532347 ms
filter time 17.969138 ms 
mapping pub time 1.737712 ms 
whole mapping time 161.029203 ms +++++
prepare time 18.789883 
sort q time 5.497541 
seperate points time 14.034813 
scan registration time 38.129808 ms *************
data association time 21.146793 ms 
build tree time 59.206808 ms 
solver time 15.790565 ms 
mapping data assosiation time 20.766098 ms 
data association time 21.129914 ms 
solver time 11.670170 ms 
optimization twice time 70.764279 
points size 90739 
prepare time 14.120302 
sort q time 5.132306 
seperate points time 12.257852 
mapping solver time 12.766391 ms 
data association time 14.524064 ms 
map prepare time 3.750498 ms
map corner num 199067  surf num 74255 
data association time 13.308139 ms 
publication time 9.358409 ms 
whole laserOdometry time 58.634375 ms 
 
points size 89319 
sort q time 3.984542 
seperate points time 9.678847 
mapping data assosiation time 22.346510 ms 
data association time 21.891103 ms 
solver time 17.289716 ms 
mapping data assosiation time 26.235735 ms 
data association time 23.037135 ms 
mapping solver time 21.833025 ms 
publication time 7.704126 ms 
whole laserOdometry time 83.705198 ms 
 
sort q time 5.158358 
seperate points time 12.390219 
data association time 13.584994 ms 
solver time 11.110297 ms 
data association time 14.349876 ms 
publication time 7.613361 ms 
whole laserOdometry time 55.436668 ms 
 
points size 90710 
sort q time 4.116149 
seperate points time 9.790708 
mapping solver time 9.188687 ms 
solver time 8.306483 ms 
mapping pub time 1.322907 ms 
whole mapping time 137.687950 ms +++++
solver time 7.765992 ms 
optimization twice time 45.353455 
publication time 7.489873 ms 
whole laserOdometry time 52.873471 ms 
 
points size 91630 
sort q time 5.088323 
seperate points time 12.033485 
mapping solver time 14.109453 ms 
data association time 13.255246 ms 
mapping data assosiation time 20.380484 ms 
solver time 8.177190 ms 
publication time 9.825272 ms 
whole laserOdometry time 54.994575 ms 
 
filter time 16.060888 ms 
points size 93327 
prepare time 14.519878 
sort q time 5.251982 
seperate points time 12.377027 
build tree time 44.850155 ms 
solver time 7.746645 ms 
data association time 13.353482 ms 
mapping solver time 13.298076 ms 
publication time 8.844713 ms 
whole laserOdometry time 54.216682 ms 
 
mapping data assosiation time 22.824540 ms 
mapping solver time 12.547323 ms 
filter time 17.792112 ms 
data association time 13.937444 ms 
solver time 12.933290 ms 
data association time 18.019528 ms 
publication time 8.475234 ms 
whole laserOdometry time 60.733217 ms 
 
mapping data assosiation time 24.941322 ms 
prepare time 16.461917 
sort q time 5.196255 
seperate points time 12.216585 
mapping data assosiation time 25.397278 ms 
data association time 20.982945 ms 
data association time 15.225416 ms 
publication time 8.705045 ms 
whole laserOdometry time 59.403604 ms 
 
points size 97638 
sort q time 5.477956 
seperate points time 13.058006 
data association time 13.503807 ms 
solver time 13.719526 ms 
data association time 25.887352 ms 
solver time 12.400068 ms 
optimization twice time 66.590689 
map prepare time 3.527381 ms
map corner num 169268  surf num 60358 
sort q time 5.007983 
seperate points time 11.813909 
build tree time 48.353078 ms 
solver time 11.145306 ms 
data association time 14.129838 ms 
publication time 8.213002 ms 
whole laserOdometry time 56.607417 ms 
 
points size 94681 
sort q time 4.720868 
seperate points time 11.083190 
drop lidar frame in mapping for real time performance 
data association time 12.882352 ms 
solver time 11.010112 ms 
data association time 14.621841 ms 
solver time 13.038634 ms 
mapping data assosiation time 21.066745 ms 
points size 94038 
sort q time 4.995078 
seperate points time 11.854372 
mapping data assosiation time 22.338214 ms 
solver time 9.427155 ms 
map prepare time 4.193945 ms
map corner num 170350  surf num 60613 
publication time 11.682366 ms 
whole laserOdometry time 68.617627 ms 
 
sort q time 4.996765 
seperate points time 11.824492 
mapping data assosiation time 19.313635 ms 
solver time 11.034280 ms 
data association time 14.561181 ms 
publication time 7.323877 ms 
whole laserOdometry time 56.557269 ms 
 
filter time 14.859965 ms 
sort q time 4.773162 
seperate points time 11.054425 
data association time 14.649053 ms 
build tree time 44.240668 ms 
data association time 14.292229 ms 
mapping solver time 11.462592 ms 
points size 86202 
sort q time 4.271212 
seperate points time 10.314925 
data association time 12.482982 ms 
solver time 10.950004 ms 
data association time 13.308875 ms 
solver time 8.465111 ms 
publication time 7.050029 ms 
whole laserOdometry time 53.196973 ms 
 
mapping data assosiation time 19.162240 ms 
mapping solver time 13.515121 ms 
sort q time 4.110990 
seperate points time 9.785582 
mapping solver time 12.733741 ms 
filter time 14.923495 ms 
data association time 14.381916 ms 
solver time 8.732949 ms 
points size 78028 
sort q time 4.103118 
seperate points time 9.873941 
mapping data assosiation time 22.370284 ms 
mapping solver time 14.652362 ms 
data association time 12.598106 ms 
publication time 7.923018 ms 
whole laserOdometry time 55.270044 ms 
 
filter time 16.225367 ms 
points size 77603 
sort q time 3.681704 
seperate points time 8.982312 
data association time 12.842218 ms 
build tree time 50.644682 ms 
data association time 13.362180 ms 
publication time 6.649545 ms 
whole laserOdometry time 53.681765 ms 
 
mapping data assosiation time 19.276788 ms 
prepare time 12.599018 
sort q time 4.073121 
seperate points time 9.855679 
filter time 13.792382 ms 
mapping pub time 1.183072 ms 
whole mapping time 135.789472 ms +++++
map prepare time 3.937532 ms
map corner num 172750  surf num 61187 
data association time 20.898177 ms 
solver time 15.061405 ms 
build tree time 46.921583 ms 
solver time 11.503016 ms 
points size 74474 
sort q time 3.673547 
seperate points time 9.168941 
scan registration time 25.910114 ms *************
mapping solver time 10.452082 ms 
data association time 18.447031 ms 
filter time 18.026704 ms 
data association time 18.401109 ms 
solver time 11.609126 ms 
points size 74519 
sort q time 4.115142 
seperate points time 11.442249 
mapping data assosiation time 21.004806 ms 
mapping solver time 14.733883 ms 
solver time 14.936662 ms 
mapping data assosiation time 17.429424 ms 
data association time 18.144778 ms 
filter time 15.544358 ms 
points size 73883 
sort q time 3.870352 
seperate points time 9.568038 
build tree time 50.526609 ms 
mapping data assosiation time 18.471058 ms 
mapping solver time 10.892191 ms 
data association time 17.776343 ms 
mapping data assosiation time 17.888080 ms 
mapping optimization time 108.748751 
filter time 15.172924 ms 
map prepare time 4.262543 ms
map corner num 174101  surf num 61494 
data association time 19.442436 ms 
solver time 15.090126 ms 
data association time 19.577111 ms 
solver time 11.409789 ms 
points size 66289 
sort q time 3.373418 
seperate points time 8.387395 
mapping solver time 7.913937 ms 
solver time 7.976052 ms 
filter time 14.857950 ms 
mapping pub time 0.998148 ms 
whole mapping time 129.109302 ms +++++
map prepare time 3.669068 ms
map corner num 174539  surf num 61597 
solver time 8.067400 ms 
build tree time 47.853429 ms 
points size 61897 
mapping data assosiation time 17.162643 ms 
sort q time 3.021501 
seperate points time 7.578474 
scan registration time 20.195046 ms *************
data association time 14.176272 ms 
mapping data assosiation time 16.216877 ms 
mapping solver time 10.312011 ms 
solver time 7.922444 ms 
map prepare time 2.965840 ms
map corner num 174934  surf num 61759 
points size 58568 
sort q time 3.333874 
seperate points time 8.025124 
mapping data assosiation time 21.303528 ms 
data association time 19.583216 ms 
mapping solver time 18.192137 ms 
solver time 16.460913 ms 
mapping data assosiation time 21.262728 ms 
data association time 19.827737 ms 
solver time 8.593146 ms 
points size 61973 
sort q time 2.839300 
seperate points time 7.123864 
scan registration time 19.556680 ms *************
data association time 11.203324 ms 
solver time 10.319116 ms 
build tree time 45.721507 ms 
solver time 8.347351 ms 
mapping solver time 12.665035 ms 
mapping data assosiation time 16.706891 ms 
prepare time 11.049325 
sort q time 3.805684 
seperate points time 9.236114 
filter time 16.399599 ms 
data association time 12.262034 ms 
solver time 11.553481 ms 
data association time 12.476897 ms 
solver time 8.670198 ms 
build tree time 48.859628 ms 
mapping data assosiation time 16.090644 ms 
mapping solver time 10.211244 ms 
sort q time 3.054812 
seperate points time 7.369652 
mapping data assosiation time 18.512243 ms 
mapping solver time 14.725944 ms 
mapping optimization time 109.590183 
add points time 0.455812 ms
data association time 19.108786 ms 
filter time 18.149880 ms 
solver time 16.165678 ms 
mapping pub time 3.660918 ms 
whole mapping time 135.023457 ms +++++
data association time 19.399819 ms 
solver time 11.416998 ms 
publication time 7.374546 ms 
whole laserOdometry time 74.614115 ms 
 
points size 68287 
build tree time 54.632501 ms 
mapping data assosiation time 19.028442 ms 
mapping solver time 15.330306 ms 
data association time 12.551550 ms 
publication time 6.009745 ms 
whole laserOdometry time 51.325918 ms 
 
filter time 17.160689 ms 
sort q time 4.733894 
seperate points time 11.318357 
data association time 18.182459 ms 
build tree time 48.882055 ms 
data association time 12.999950 ms 
mapping data assosiation time 16.827596 ms 
mapping solver time 12.703095 ms 
mapping data assosiation time 17.282103 ms 
points size 70666 
sort q time 3.300350 
seperate points time 8.158670 
filter time 17.378286 ms 
data association time 14.170859 ms 
solver time 15.202673 ms 
data association time 17.493454 ms 
build tree time 55.474172 ms 
mapping data assosiation time 20.953098 ms 
mapping solver time 14.267864 ms 
sort q time 4.053246 
seperate points time 10.043983 
scan registration time 28.085940 ms *************
mapping data assosiation time 19.167458 ms 
data association time 13.906398 ms 
mapping solver time 14.546245 ms 
mapping optimization time 125.488329 
add points time 0.425091 ms
filter time 14.838530 ms 
solver time 10.785119 ms 
mapping solver time 16.085125 ms 
solver time 7.945513 ms 
mapping solver time 10.260314 ms 
points size 78057 
map prepare time 2.880733 ms
map corner num 178200  surf num 62684 
data association time 12.919367 ms 
solver time 10.946896 ms 
data association time 13.857754 ms 
solver time 10.725216 ms 
mapping solver time 13.074499 ms 
points size 80442 
sort q time 4.646847 
seperate points time 11.419297 
filter time 12.687818 ms 
data association time 21.589816 ms 
solver time 10.605530 ms 
data association time 12.925321 ms 
optimization twice time 55.055456 
points size 80291 
mapping pub time 79.919870 ms 
whole mapping time 214.661514 ms +++++
data association time 17.982242 ms 
data association time 13.420171 ms 
publication time 6.476036 ms 
whole laserOdometry time 56.152784 ms 
 
mapping solver time 12.398996 ms 
sort q time 4.180204 
seperate points time 10.133665 
mapping solver time 11.381383 ms 
filter time 14.432882 ms 
solver time 7.537749 ms 
build tree time 44.402464 ms 
points size 79379 
mapping data assosiation time 20.012441 ms 
sort q time 4.905797 
seperate points time 11.526202 
mapping solver time 14.770805 ms 
data association time 14.249597 ms 
mapping data assosiation time 18.095027 ms 
mapping solver time 13.166661 ms 
data association time 13.401290 ms 
mapping pub time 0.990580 ms 
whole mapping time 130.801441 ms +++++
points size 79675 
sort q time 3.915177 
seperate points time 9.780789 
build tree time 51.037471 ms 
mapping data assosiation time 16.768453 ms 
solver time 11.612455 ms 
data association time 13.381826 ms 
mapping data assosiation time 17.765059 ms 
publication time 7.744547 ms 
whole laserOdometry time 55.067816 ms 
 
filter time 16.653151 ms 
sort q time 4.547464 
seperate points time 10.701265 
data association time 13.572941 ms 
solver time 8.219655 ms 
build tree time 48.570793 ms 
data association time 13.483076 ms 
mapping data assosiation time 17.690471 ms 
mapping solver time 12.420426 ms 
mapping data assosiation time 16.416315 ms 
prepare time 12.634599 
sort q time 4.397312 
seperate points time 10.297450 
map prepare time 3.830821 ms
map corner num 180286  surf num 63342 
data association time 13.785843 ms 
solver time 10.621974 ms 
data association time 13.865232 ms 
solver time 10.882786 ms 
mapping data assosiation time 21.644691 ms 
points size 82866 
sort q time 5.149580 
seperate points time 12.951498 
mapping data assosiation time 21.343398 ms 
mapping solver time 10.864468 ms 
solver time 10.091080 ms 
data association time 13.877047 ms 
publication time 6.636726 ms 
whole laserOdometry time 54.740377 ms 
 
points size 84386 
build tree time 55.406955 ms 
mapping data assosiation time 21.815026 ms 
data association time 13.303575 ms 
data association time 13.631514 ms 
mapping solver time 12.836052 ms 
filter time 18.535112 ms 
prepare time 16.595245 
sort q time 4.788580 
seperate points time 11.777294 
data association time 16.120977 ms 
build tree time 52.449713 ms 
mapping data assosiation time 18.523466 ms 
mapping solver time 11.943698 ms 
points size 82785 
sort q time 4.539896 
seperate points time 11.643726 
mapping solver time 17.099372 ms 
mapping optimization time 124.981037 
scan registration time 35.159263 ms *************
add points time 0.686613 ms
filter time 13.428938 ms 
solver time 7.965251 ms 
data association time 13.738796 ms 
publication time 7.865250 ms 
whole laserOdometry time 53.633076 ms 
 
build tree time 49.736780 ms 
points size 81990 
sort q time 3.789128 
seperate points time 8.995103 
mapping data assosiation time 18.110816 ms 
solver time 10.570383 ms 
filter time 14.417591 ms 
solver time 10.346618 ms 
points size 81142 
sort q time 3.827284 
seperate points time 9.288408 
build tree time 50.707678 ms 
data association time 17.418512 ms 
solver time 12.581552 ms 
data association time 16.515914 ms 
publication time 6.775913 ms 
whole laserOdometry time 62.053914 ms 
 
filter time 16.006249 ms 
mapping pub time 1.107987 ms 
whole mapping time 135.426975 ms +++++
points size 82121 
drop lidar frame in mapping for real time performance 
prepare time 13.916447 
map prepare time 3.980565 ms
map corner num 182490  surf num 63973 
sort q time 4.389559 
seperate points time 10.542386 
data association time 13.058731 ms 
solver time 13.220423 ms 
data association time 15.500083 ms 
mapping data assosiation time 18.624933 ms 
publication time 6.406036 ms 
whole laserOdometry time 56.727247 ms 
 
points size 83180 
mapping solver time 9.233116 ms 
filter time 16.840453 ms 
solver time 10.864726 ms 
data association time 14.228398 ms 
solver time 10.837669 ms 
publication time 7.987168 ms 
whole laserOdometry time 58.815932 ms 
 
mapping data assosiation time 17.505171 ms 
points size 85214 
prepare time 13.795988 
mapping solver time 14.499353 ms 
mapping data assosiation time 17.891411 ms 
mapping solver time 10.871297 ms 
solver time 12.413720 ms 
data association time 14.223530 ms 
publication time 6.521617 ms 
whole laserOdometry time 59.810145 ms 
 
points size 88857 
sort q time 3.889022 
seperate points time 9.374117 
mapping data assosiation time 19.792933 ms 
mapping solver time 14.895800 ms 
data association time 21.317150 ms 
mapping solver time 13.893532 ms 
data association time 21.443869 ms 
mapping optimization time 119.895830 
add points time 0.625433 ms
points size 89918 
prepare time 17.973566 
scan registration time 35.369202 ms *************
data association time 14.645027 ms 
solver time 11.489630 ms 
mapping data assosiation time 18.421931 ms 
solver time 7.767160 ms 
points size 90280 
sort q time 5.092412 
seperate points time 12.654785 
filter time 14.481730 ms 
solver time 12.022733 ms 
data association time 13.945153 ms 
optimization twice time 50.985844 
build tree time 54.324631 ms 
sort q time 6.014179 
seperate points time 14.352492 
mapping data assosiation time 23.672395 ms 
scan registration time 38.188886 ms *************
mapping solver time 14.079599 ms 
data association time 13.984286 ms 
mapping data assosiation time 19.171120 ms 
data association time 14.158460 ms 
solver time 8.634330 ms 
publication time 8.219131 ms 
whole laserOdometry time 57.223100 ms 
 
points size 90565 
sort q time 5.194730 
seperate points time 12.662577 
build tree time 59.154131 ms 
data association time 20.250501 ms 
solver time 13.591225 ms 
mapping solver time 15.531473 ms 
solver time 8.359636 ms 
points size 90653 
mapping solver time 18.423213 ms 
sort q time 5.156978 
seperate points time 12.693896 
filter time 18.052458 ms 
map prepare time 3.085298 ms
map corner num 184819  surf num 64575 
data association time 21.154279 ms 
solver time 10.027398 ms 
data association time 15.414074 ms 
optimization twice time 56.771675 
points size 91657 
sort q time 5.335579 
seperate points time 13.257073 
data association time 14.140821 ms 
mapping data assosiation time 19.360493 ms 
data association time 13.788481 ms 
solver time 9.455640 ms 
publication time 7.994044 ms 
whole laserOdometry time 57.650278 ms 
 
points size 91808 
scan registration time 31.671387 ms *************
data association time 25.085074 ms 
solver time 16.445199 ms 
mapping solver time 21.586151 ms 
data association time 24.450562 ms 
solver time 9.045646 ms 
publication time 9.085537 ms 
whole laserOdometry time 85.138453 ms 
 
sort q time 5.663508 
seperate points time 13.491364 
filter time 17.254178 ms 
data association time 22.950269 ms 
solver time 15.015751 ms 
data association time 21.764666 ms 
build tree time 63.830945 ms 
prepare time 14.141572 
sort q time 5.175299 
seperate points time 12.322492 
mapping solver time 16.765899 ms 
data association time 24.870354 ms 
solver time 12.661767 ms 
mapping optimization time 141.400059 
data association time 22.475000 ms 
map prepare time 4.144201 ms
map corner num 185995  surf num 64899 
prepare time 15.331339 
sort q time 4.729147 
seperate points time 11.422958 
data association time 22.343384 ms 
solver time 12.686637 ms 
mapping data assosiation time 24.698501 ms 
data association time 24.581998 ms 
mapping solver time 22.138983 ms 
sort q time 4.727424 
seperate points time 11.075071 
mapping solver time 16.032941 ms 
mapping optimization time 143.703928 
add points time 0.520538 ms
data association time 22.842872 ms 
map prepare time 4.037754 ms
map corner num 186466  surf num 65011 
data association time 22.679547 ms 
solver time 11.363324 ms 
points size 96339 
prepare time 17.120121 
publication time 11.553047 ms 
whole laserOdometry time 85.273382 ms 
 
sort q time 5.355686 
seperate points time 12.383733 
mapping data assosiation time 23.140483 ms 
mapping solver time 13.461489 ms 
solver time 12.012692 ms 
mapping data assosiation time 22.571767 ms 
mapping solver time 12.317281 ms 
solver time 11.786759 ms 
publication time 10.122723 ms 
whole laserOdometry time 83.690930 ms 
 
sort q time 5.545335 
seperate points time 13.597329 
data association time 23.018663 ms 
solver time 15.696601 ms 
data association time 23.029455 ms 
points size 98705 
sort q time 6.907782 
seperate points time 16.643727 
data association time 22.998459 ms 
solver time 14.858618 ms 
mapping data assosiation time 21.251669 ms 
data association time 23.568880 ms 
points size 99006 
publication time 9.947207 ms 
whole laserOdometry time 83.753025 ms 
 
mapping solver time 14.305333 ms 
data association time 23.688236 ms 
solver time 15.424721 ms 
data association time 23.303115 ms 
points size 98981 
sort q time 4.627094 
seperate points time 11.123889 
data association time 15.401773 ms 
solver time 11.512835 ms 
mapping data assosiation time 21.619097 ms 
solver time 8.531480 ms 
filter time 16.500955 ms 
sort q time 5.007230 
seperate points time 11.650894 
data association time 14.590274 ms 
build tree time 51.446073 ms 
solver time 8.094137 ms 
mapping solver time 12.756729 ms 
points size 98511 
sort q time 6.033303 
seperate points time 13.891719 
filter time 19.576115 ms 
solver time 10.118885 ms 
data association time 14.835920 ms 
publication time 7.938200 ms 
whole laserOdometry time 64.625772 ms 
 
points size 97218 
sort q time 5.006951 
seperate points time 12.036541 
mapping solver time 16.747798 ms 
solver time 8.291561 ms 
mapping data assosiation time 22.488447 ms 
data association time 15.347458 ms 
mapping optimization time 129.745015 
filter time 16.690643 ms 
points size 96937 
sort q time 4.621071 
seperate points time 10.874658 
scan registration time 31.890571 ms *************
data association time 14.562984 ms 
solver time 10.019715 ms 
data association time 21.830853 ms 
mapping solver time 13.724482 ms 
mapping data assosiation time 24.742546 ms 
mapping solver time 12.006989 ms 
scan registration time 37.990637 ms *************filter time 20.502795 ms 
map prepare time 2.928144 ms
map corner num 129013  surf num 42863 
data association time 23.849959 ms 
solver time 11.568951 ms 
build tree time 32.585442 ms 
data association time 23.622367 ms 
points size 95286 
mapping solver time 15.984071 ms 
scan registration time 34.483086 ms *************
mapping data assosiation time 21.646016 ms 
mapping solver time 12.433293 ms 
solver time 10.067876 ms 
data association time 18.513116 ms 
publication time 7.750832 ms 
whole laserOdometry time 68.596378 ms 
 
points size 93165 
mapping data assosiation time 23.423964 ms 
mapping solver time 16.624126 ms 
data association time 14.205602 ms 
mapping solver time 12.416354 ms 
data association time 15.118155 ms 
publication time 8.565043 ms 
whole laserOdometry time 54.922364 ms 
 
points size 91175 
sort q time 5.243932 
seperate points time 12.671654 
mapping data assosiation time 18.211397 ms 
solver time 8.379368 ms 
data association time 14.279195 ms 
solver time 5.898284 ms 
publication time 8.171592 ms 
whole laserOdometry time 51.764893 ms 
 
points size 90064 
scan registration time 30.655328 ms *************
data association time 13.716780 ms 
build tree time 35.188924 ms 
data association time 14.485355 ms 
mapping data assosiation time 19.220755 ms 
mapping solver time 13.392333 ms 
mapping data assosiation time 20.506399 ms 
prepare time 13.917719 
mapping solver time 17.863507 ms 
filter time 12.161886 ms 
data association time 16.211977 ms 
solver time 10.571296 ms 
data association time 14.403180 ms 
build tree time 34.923648 ms 
publication time 8.325798 ms 
whole laserOdometry time 57.992331 ms 
 
mapping solver time 15.395666 ms 
sort q time 4.673453 
seperate points time 11.200549 
mapping solver time 12.578466 ms 
mapping optimization time 105.424651 
add points time 0.657412 ms
filter time 10.981813 ms 
solver time 12.286468 ms 
data association time 14.672844 ms 
solver time 8.824231 ms 
optimization twice time 51.065542 
build tree time 32.884963 ms 
mapping data assosiation time 20.613881 ms 
points size 91182 
mapping solver time 14.955813 ms 
mapping data assosiation time 19.464655 ms 
data association time 14.078709 ms 
solver time 11.514056 ms 
filter time 13.841655 ms 
solver time 8.024797 ms 
publication time 9.387732 ms 
whole laserOdometry time 58.616433 ms 
 
points size 93053 
sort q time 4.410191 
seperate points time 10.473026 
mapping data assosiation time 18.681923 ms 
data association time 21.988050 ms 
solver time 15.113412 ms 
mapping data assosiation time 17.196620 ms 
mapping solver time 9.410952 ms 
solver time 11.779260 ms 
publication time 9.274389 ms 
whole laserOdometry time 81.351790 ms 
 
sort q time 4.920616 
seperate points time 11.689190 
scan registration time 33.358966 ms *************
build tree time 50.688716 ms 
data association time 22.050173 ms 
solver time 11.384337 ms 
data association time 16.109501 ms 
solver time 8.780183 ms 
publication time 9.336326 ms 
whole laserOdometry time 68.541229 ms 
 
prepare time 18.629440 
sort q time 5.532815 
seperate points time 13.483076 
filter time 18.809165 ms 
data association time 13.472306 ms 
solver time 13.895665 ms 
data association time 16.589462 ms 
publication time 7.604120 ms 
whole laserOdometry time 59.664697 ms 
 
points size 93567 
mapping solver time 13.300345 ms 
sort q time 5.564017 
seperate points time 13.428478 
scan registration time 36.595051 ms *************
mapping data assosiation time 21.270592 ms 
data association time 14.567645 ms 
mapping solver time 12.066185 ms 
mapping optimization time 119.804471 
add points time 0.495778 ms
filter time 18.438475 ms 
solver time 8.812815 ms 
points size 88774 
sort q time 4.114430 
seperate points time 9.605028 
build tree time 55.076135 ms 
data association time 14.437071 ms 
mapping data assosiation time 18.166602 ms 
mapping solver time 13.986167 ms 
publication time 6.520921 ms 
whole laserOdometry time 54.863700 ms 
 
mapping solver time 8.841206 ms 
points size 87098 
mapping pub time 3.776070 ms 
whole mapping time 142.665059 ms +++++
data association time 13.769723 ms 
solver time 8.953542 ms 
data association time 14.683331 ms 
solver time 10.247171 ms 
publication time 8.846419 ms 
whole laserOdometry time 57.496331 ms 
 
mapping solver time 13.737085 ms 
prepare time 13.022957 
sort q time 4.276246 
seperate points time 10.145097 
mapping solver time 11.293498 ms 
mapping optimization time 117.812516 
add points time 0.431033 ms
data association time 21.568940 ms 
map prepare time 4.041670 ms
map corner num 196176  surf num 64855 
data association time 21.556840 ms 
solver time 11.849024 ms 
publication time 8.368828 ms 
whole laserOdometry time 80.754117 ms 
 
build tree time 62.202405 ms 
sort q time 4.367497 
seperate points time 10.074631 
scan registration time 28.165313 ms *************
mapping data assosiation time 22.626011 ms 
mapping solver time 20.188603 ms 
mapping data assosiation time 23.090096 ms 
solver time 12.286584 ms 
prepare time 15.344176 
mapping pub time 1.158105 ms 
whole mapping time 170.990313 ms +++++
data association time 20.798777 ms 
solver time 11.508921 ms 
data association time 20.626568 ms 
solver time 7.672001 ms 
publication time 9.429073 ms 
whole laserOdometry time 71.189223 ms 
 
points size 81139 
sort q time 4.082150 
seperate points time 9.995945 
mapping data assosiation time 19.487301 ms 
data association time 13.156557 ms 
solver time 11.191209 ms 
filter time 16.770923 ms 
solver time 8.192458 ms 
publication time 7.842723 ms 
whole laserOdometry time 55.408478 ms 
 
points size 78964 
sort q time 3.681703 
seperate points time 8.907651 
mapping data assosiation time 17.463655 ms 
data association time 20.809805 ms 
mapping solver time 15.761333 ms 
solver time 15.721271 ms 
mapping data assosiation time 18.281841 ms 
mapping solver time 12.021085 ms 
solver time 12.222590 ms 
points size 78822 
filter time 19.426329 ms 
publication time 8.302937 ms 
whole laserOdometry time 79.596082 ms 
 
mapping pub time 1.362735 ms 
whole mapping time 140.570663 ms +++++
drop lidar frame in mapping for real time performance 
prepare time 13.700703 
map prepare time 3.736384 ms
map corner num 197411  surf num 65249 
scan registration time 26.403143 ms *************
data association time 20.539602 ms 
solver time 14.716041 ms 
build tree time 65.385705 ms 
data association time 21.198027 ms 
solver time 13.555340 ms 
optimization twice time 70.924080 
mapping data assosiation time 23.491042 ms 
points size 78635 
sort q time 5.139061 
seperate points time 12.283628 
scan registration time 32.151639 ms *************
mapping solver time 16.485056 ms 
solver time 11.207834 ms 
data association time 23.399787 ms 
optimization twice time 66.461694 
prepare time 12.699380 
sort q time 4.537148 
seperate points time 10.870549 
data association time 13.743818 ms 
solver time 7.598398 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
points size 79651 
sort q time 3.693176 
seperate points time 8.971547 
build tree time 54.255933 ms 
solver time 10.971678 ms 
data association time 16.767203 ms 
publication time 6.940981 ms 
whole laserOdometry time 57.392943 ms 
 
mapping data assosiation time 21.167398 ms 
points size 81277 
sort q time 4.658633 
seperate points time 11.439416 
map prepare time 3.711536 ms
map corner num 198258  surf num 65602 
data association time 13.359492 ms 
solver time 12.596806 ms 
data association time 13.624192 ms 
solver time 8.109222 ms 
publication time 7.375023 ms 
whole laserOdometry time 56.024272 ms 
 
mapping data assosiation time 20.498327 ms 
mapping solver time 14.002223 ms 
mapping data assosiation time 20.021309 ms 
solver time 10.507229 ms 
data association time 14.512926 ms 
map prepare time 3.579956 ms
map corner num 198884  surf num 65807 
points size 82297 
sort q time 4.757755 
seperate points time 11.686479 
data association time 13.996574 ms 
solver time 11.725213 ms 
data association time 13.798099 ms 
solver time 10.146585 ms 
mapping solver time 12.055676 ms 
points size 82589 
map prepare time 3.299029 ms
map corner num 199317  surf num 65980 
data association time 21.188494 ms 
solver time 14.494673 ms 
build tree time 64.267551 ms 
solver time 8.605213 ms 
mapping data assosiation time 22.900033 ms 
points size 82418 
mapping solver time 19.546892 ms 
data association time 13.241298 ms 
mapping data assosiation time 20.782193 ms 
solver time 10.416200 ms 
data association time 14.035306 ms 
filter time 19.745945 ms 
points size 82569 
sort q time 4.446824 
seperate points time 10.853762 
scan registration time 28.069005 ms *************
data association time 15.171659 ms 
solver time 13.580774 ms 
data association time 16.546055 ms 
solver time 10.230870 ms 
mapping solver time 16.788817 ms 
points size 82123 
prepare time 13.644148 
drop lidar frame in mapping for real time performance 
data association time 13.154715 ms 
solver time 10.442342 ms 
data association time 16.132386 ms 
solver time 7.555946 ms 
mapping data assosiation time 21.338164 ms 
points size 84543 
sort q time 5.022436 
seperate points time 11.526828 
scan registration time 28.312137 ms *************
data association time 14.231045 ms 
mapping solver time 12.479423 ms 
mapping optimization time 123.599036 
add points time 0.414545 ms
filter time 17.564221 ms 
solver time 9.298956 ms 
publication time 7.233797 ms 
whole laserOdometry time 59.260612 ms 
 
points size 86170 
sort q time 4.271784 
seperate points time 10.358210 
data association time 12.784018 ms 
solver time 12.002471 ms 
mapping solver time 17.616929 ms 
data association time 21.526756 ms 
solver time 9.660652 ms 
mapping solver time 13.745202 ms 
mapping data assosiation time 18.659876 ms 
mapping solver time 12.462382 ms 
publication time 9.250233 ms 
whole laserOdometry time 82.215800 ms 
 
points size 89797 
mapping data assosiation time 21.421781 ms 
sort q time 4.516565 
seperate points time 10.806242 
filter time 17.107995 ms 
solver time 15.595848 ms 
data association time 23.117208 ms 
solver time 14.026899 ms 
prepare time 18.450558 
sort q time 5.357028 
seperate points time 13.106826 
mapping solver time 16.555073 ms 
data association time 17.381922 ms 
solver time 13.865323 ms 
mapping data assosiation time 25.355243 ms 
data association time 20.650737 ms 
points size 92403 
map prepare time 3.777257 ms
map corner num 202145  surf num 66904 
data association time 16.127705 ms 
solver time 13.833639 ms 
build tree time 56.863825 ms 
solver time 9.806282 ms 
mapping data assosiation time 22.730558 ms 
points size 90725 
mapping solver time 15.112667 ms 
sort q time 5.299916 
seperate points time 12.956718 
mapping data assosiation time 21.462154 ms 
mapping solver time 17.088816 ms 
data association time 23.045044 ms 
filter time 20.069273 ms 
map prepare time 4.367460 ms
map corner num 202564  surf num 67035 
data association time 23.741587 ms 
points size 89410 
publication time 9.532652 ms 
whole laserOdometry time 84.882528 ms 
 
build tree time 61.773135 ms 
solver time 11.132652 ms 
data association time 14.367501 ms 
solver time 8.498594 ms 
mapping data assosiation time 20.944562 ms 
mapping solver time 13.772583 ms 
points size 90078 
mapping optimization time 132.638637 
add points time 0.474735 ms
prepare time 16.701900 
sort q time 5.554072 
seperate points time 13.263152 
map prepare time 3.475156 ms
map corner num 203043  surf num 67184 
data association time 23.044928 ms 
solver time 16.109921 ms 
build tree time 54.579945 ms 
solver time 8.619977 ms 
mapping data assosiation time 22.754630 ms 
mapping solver time 13.984485 ms 
mapping data assosiation time 20.146386 ms 
data association time 13.084148 ms 
solver time 11.480808 ms 
filter time 19.240048 ms 
points size 95650 
prepare time 18.722021 
sort q time 5.369574 
seperate points time 13.058596 
mapping data assosiation time 23.804913 ms 
solver time 11.625196 ms 
mapping solver time 15.869338 ms 
data association time 13.505224 ms 
mapping data assosiation time 20.829232 ms 
mapping solver time 14.304996 ms 
filter time 17.561732 ms 
data association time 12.883553 ms 
solver time 11.371586 ms 
data association time 13.534191 ms 
build tree time 54.040252 ms 
mapping data assosiation time 22.539015 ms 
mapping solver time 16.398393 ms 
data association time 12.511052 ms 
solver time 7.832863 ms 
mapping solver time 12.539266 ms 
mapping optimization time 127.371873 
add points time 0.561084 ms
data association time 13.721599 ms 
solver time 9.125409 ms 
publication time 8.771625 ms 
whole laserOdometry time 52.775450 ms 
 
points size 99009 
sort q time 6.104957 
seperate points time 14.377920 
data association time 14.545845 ms 
solver time 11.148345 ms 
mapping solver time 15.956971 ms 
solver time 9.236055 ms 
mapping data assosiation time 23.809443 ms 
mapping solver time 13.382968 ms 
filter time 16.704060 ms 
data association time 23.521346 ms 
solver time 14.663909 ms 
build tree time 66.401259 ms 
prepare time 13.003378 
solver time 13.210046 ms 
scan registration time 31.523586 ms *************
mapping solver time 18.340584 ms 
data association time 25.472239 ms 
mapping data assosiation time 25.576368 ms 
solver time 17.040362 ms 
mapping solver time 13.550250 ms 
data association time 23.503047 ms 
map prepare time 4.724260 ms
map corner num 204979  surf num 67768 
points size 100882 
sort q time 5.836954 
seperate points time 14.223978 
data association time 14.585623 ms 
solver time 10.647220 ms 
data association time 14.618304 ms 
mapping solver time 13.918328 ms 
points size 101043 
sort q time 6.428995 
seperate points time 14.765909 
filter time 14.116560 ms 
solver time 11.485085 ms 
data association time 14.336435 ms 
publication time 8.171766 ms 
whole laserOdometry time 59.290198 ms 
 
build tree time 56.408831 ms 
sort q time 4.794015 
seperate points time 11.168964 
mapping solver time 15.960744 ms 
solver time 8.280246 ms 
mapping data assosiation time 21.048510 ms 
data association time 15.546997 ms 
solver time 8.554471 ms 
publication time 9.536230 ms 
whole laserOdometry time 58.277065 ms 
 
drop lidar frame in mapping for real time performance 
points size 97307 
sort q time 5.728051 
seperate points time 13.834371 
data association time 15.270268 ms 
solver time 11.394844 ms 
data association time 16.891732 ms 
mapping data assosiation time 21.064657 ms 
solver time 11.306564 ms 
points size 95416 
mapping data assosiation time 24.338364 ms 
mapping solver time 14.561619 ms 
data association time 15.360642 ms 
mapping pub time 1.307724 ms 
whole mapping time 164.184318 ms +++++
data association time 15.283263 ms 
publication time 9.247572 ms 
whole laserOdometry time 62.107063 ms 
 
points size 93854 
build tree time 64.277378 ms 
mapping data assosiation time 23.600465 ms 
mapping solver time 16.340008 ms 
data association time 14.064936 ms 
mapping solver time 13.643425 ms 
points size 93501 
sort q time 5.426807 
seperate points time 13.846443 
data association time 13.814527 ms 
solver time 13.118470 ms 
data association time 17.357703 ms 
mapping pub time 84.428589 ms 
whole mapping time 248.813830 ms +++++
points size 93312 
sort q time 5.409923 
seperate points time 13.041709 
scan registration time 37.389083 ms *************
data association time 14.190087 ms 
solver time 11.511857 ms 
data association time 14.537809 ms 
mapping data assosiation time 19.952353 ms 
mapping solver time 16.052857 ms 
points size 92534 
mapping data assosiation time 26.466763 ms 
scan registration time 38.941404 ms *************
data association time 13.469651 ms 
map prepare time 3.404857 ms
map corner num 207022  surf num 68484 
data association time 14.285835 ms 
solver time 8.737196 ms 
publication time 7.951858 ms 
whole laserOdometry time 57.082894 ms 
 
points size 92975 
sort q time 4.875015 
seperate points time 11.180496 
scan registration time 30.857288 ms *************
data association time 17.374242 ms 
solver time 12.507055 ms 
mapping data assosiation time 21.414350 ms 
data association time 20.429873 ms 
solver time 11.017940 ms 
publication time 9.707729 ms 
whole laserOdometry time 71.926079 ms 
 
prepare time 15.525639 
sort q time 5.334930 
seperate points time 12.312057 
data association time 13.707729 ms 
solver time 11.078958 ms 
build tree time 53.742911 ms 
data association time 14.646049 ms 
solver time 8.471120 ms 
publication time 8.706558 ms 
whole laserOdometry time 57.424202 ms 
 
mapping solver time 12.950874 ms 
points size 94849 
mapping data assosiation time 23.196191 ms 
mapping solver time 14.115822 ms 
mapping optimization time 127.997615 
add points time 0.545183 ms
filter time 19.087266 ms 
data association time 14.566837 ms 
solver time 8.779702 ms 
publication time 8.532557 ms 
whole laserOdometry time 60.204827 ms 
 
points size 93573 
sort q time 4.916297 
seperate points time 11.584028 
mapping data assosiation time 22.037588 ms 
mapping solver time 16.103773 ms 
data association time 15.110644 ms 
mapping data assosiation time 20.951306 ms 
mapping solver time 14.801701 ms 
publication time 9.935773 ms 
whole laserOdometry time 62.330854 ms 
 
map prepare time 3.493354 ms
map corner num 208440  surf num 69075 
points size 93674 
prepare time 15.708208 
sort q time 5.886076 
seperate points time 13.359166 
scan registration time 33.369579 ms *************
data association time 14.250699 ms 
solver time 11.494584 ms 
data association time 14.829393 ms 
solver time 10.343665 ms 
mapping solver time 22.092902 ms 
sort q time 6.211502 
seperate points time 15.001897 
filter time 16.584542 ms 
solver time 12.106212 ms 
data association time 15.266365 ms 
solver time 11.695708 ms 
publication time 9.869885 ms 
whole laserOdometry time 74.584091 ms 
 
sort q time 5.938381 
seperate points time 14.316407 
data association time 14.888083 ms 
solver time 13.449013 ms 
data association time 16.986514 ms 
solver time 8.430034 ms 
publication time 8.984764 ms 
whole laserOdometry time 63.581270 ms 
 
mapping solver time 17.229858 ms 
sort q time 4.935573 
seperate points time 11.833372 
map prepare time 3.885910 ms
map corner num 209431  surf num 69615 
data association time 18.735780 ms 
data association time 14.489565 ms 
publication time 8.749893 ms 
whole laserOdometry time 59.060303 ms 
 
points size 100085 
sort q time 4.599741 
seperate points time 10.720682 
mapping data assosiation time 27.447076 ms 
data association time 25.922064 ms 
add points time 0.565121 ms
solver time 13.039865 ms 
filter time 20.970690 ms 
map prepare time 4.815994 ms
map corner num 209856  surf num 69885 
points size 100740 
publication time 10.346699 ms 
whole laserOdometry time 86.510980 ms 
 
sort q time 5.853969 
seperate points time 14.324069 
build tree time 67.351393 ms 
mapping data assosiation time 28.430171 ms 
mapping solver time 17.190143 ms 
solver time 13.264204 ms 
scan registration time 35.594162 ms *************
mapping solver time 17.200149 ms 
mapping optimization time 160.801184 
add points time 0.763596 ms
data association time 23.583397 ms 
solver time 15.224633 ms 
map prepare time 4.467815 ms
map corner num 210389  surf num 70313 
data association time 24.776419 ms 
solver time 11.420888 ms 
sort q time 6.438322 
seperate points time 15.038377 
scan registration time 36.441822 ms *************
build tree time 66.728603 ms 
data association time 15.951826 ms 
mapping data assosiation time 22.657326 ms 
solver time 13.420950 ms 
data association time 15.411606 ms 
solver time 7.881215 ms 
publication time 9.857258 ms 
whole laserOdometry time 63.437669 ms 
 
prepare time 15.914593 
sort q time 5.734096 
seperate points time 12.976997 
filter time 21.961205 ms 
map prepare time 5.971367 ms
map corner num 210843  surf num 70578 
data association time 24.297179 ms 
solver time 14.829651 ms 
data association time 23.885476 ms 
prepare time 16.964792 
build tree time 72.731278 ms 
solver time 15.890791 ms 
optimization twice time 79.959982 
sort q time 5.963046 
seperate points time 13.578162 
mapping data assosiation time 28.741164 ms 
mapping solver time 22.236333 ms 
solver time 20.880743 ms 
mapping data assosiation time 29.650787 ms 
data association time 25.036555 ms 
solver time 15.421608 ms 
scan registration time 39.197286 ms *************
data association time 23.845721 ms 
solver time 17.571559 ms 
points size 98879 
sort q time 6.300989 
seperate points time 14.400982 
publication time 11.674022 ms 
whole laserOdometry time 95.257811 ms 
 
data association time 23.867299 ms 
solver time 20.356345 ms 
mapping data assosiation time 30.637914 ms 
data association time 25.635502 ms 
points size 98645 
mapping solver time 20.484469 ms 
prepare time 19.144145 
sort q time 5.782009 
seperate points time 13.896878 
drop lidar frame in mapping for real time performance 
map prepare time 5.024018 ms
map corner num 211964  surf num 71343 
data association time 24.044625 ms 
solver time 14.555380 ms 
data association time 24.437263 ms 
solver time 11.543031 ms 
optimization twice time 75.622246 
build tree time 73.968513 ms 
mapping data assosiation time 31.205343 ms 
mapping solver time 23.435340 ms 
solver time 16.671584 ms 
mapping data assosiation time 31.996652 ms 
points size 99227 
solver time 12.244232 ms 
publication time 10.637456 ms 
whole laserOdometry time 92.969923 ms 
 
filter time 21.100722 ms 
data association time 25.173441 ms 
solver time 17.936204 ms 
data association time 21.511045 ms 
prepare time 15.732505 
publication time 9.546616 ms 
whole laserOdometry time 88.865228 ms 
 
mapping data assosiation time 26.983205 ms 
data association time 19.015676 ms 
solver time 12.804072 ms 
mapping data assosiation time 26.591053 ms 
publication time 9.631651 ms 
whole laserOdometry time 69.080670 ms 
 
prepare time 17.293815 
mapping pub time 1.602877 ms 
whole mapping time 184.613717 ms +++++
data association time 15.517547 ms 
solver time 11.039211 ms 
data association time 15.661359 ms 
mapping data assosiation time 26.602273 ms 
publication time 11.344718 ms 
whole laserOdometry time 62.351537 ms 
 
mapping solver time 19.905939 ms 
sort q time 5.796330 
seperate points time 13.346276 
mapping solver time 16.786002 ms 
filter time 11.389938 ms 
data association time 16.075959 ms 
solver time 11.355589 ms 
build tree time 35.748002 ms 
sort q time 5.067216 
seperate points time 12.009455 
mapping data assosiation time 31.505179 ms 
data association time 16.563830 ms 
solver time 12.957726 ms 
mapping data assosiation time 28.505793 ms 
solver time 11.252133 ms 
mapping solver time 22.603871 ms 
prepare time 18.184372 
mapping pub time 3.157654 ms 
whole mapping time 160.905849 ms +++++
scan registration time 36.373404 ms *************
[0m[ INFO] [1718802432.218125017]: Received 1373090 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802432.218174069]: Data saved to 1317357976455066.pcd[0m
build tree time 35.693290 ms 
data association time 16.439123 ms 
mapping data assosiation time 30.167843 ms 
publication time 10.971226 ms 
whole laserOdometry time 68.585743 ms 
 
points size 103309 
sort q time 6.020959 
seperate points time 15.041376 
mapping data assosiation time 29.206456 ms 
mapping solver time 16.009954 ms 
filter time 14.167709 ms 
data association time 21.456179 ms 
solver time 12.091112 ms 
publication time 12.694236 ms 
whole laserOdometry time 78.198628 ms 
 
sort q time 7.063773 
mapping data assosiation time 39.124384 ms 
mapping solver time 24.482934 ms 
points size 103237 
mapping data assosiation time 37.823785 ms 
publication time 9.405479 ms 
whole laserOdometry time 93.219542 ms 
 
filter time 12.645926 ms 
solver time 13.973711 ms 
data association time 20.958091 ms 
solver time 14.010170 ms 
publication time 11.749343 ms 
whole laserOdometry time 79.364752 ms 
 
sort q time 6.057587 
seperate points time 14.606450 
mapping data assosiation time 38.191430 ms 
data association time 17.578644 ms 
solver time 11.981149 ms 
data association time 15.747473 ms 
optimization twice time 54.153771 
mapping solver time 14.665713 ms 
filter time 13.103780 ms 
mapping pub time 1.275517 ms 
whole mapping time 168.022392 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.802187 ms
map corner num 133957  surf num 46479 
data association time 16.544566 ms 
data association time 15.978786 ms 
mapping data assosiation time 32.942535 ms 
publication time 11.436539 ms 
whole laserOdometry time 66.166175 ms 
 
mapping solver time 23.629465 ms 
sort q time 6.626813 
seperate points time 15.130179 
mapping data assosiation time 36.482494 ms 
mapping solver time 16.844965 ms 
filter time 14.325917 ms 
solver time 8.264301 ms 
publication time 12.503883 ms 
whole laserOdometry time 64.377925 ms 
 
points size 103141 
build tree time 39.925900 ms 
sort q time 6.018981 
seperate points time 14.653748 
data association time 14.475478 ms 
solver time 12.553365 ms 
mapping solver time 23.440365 ms 
solver time 7.879003 ms 
publication time 10.721822 ms 
whole laserOdometry time 62.413133 ms 
 
mapping data assosiation time 36.129208 ms 
sort q time 5.393271 
seperate points time 12.559284 
mapping solver time 23.380527 ms 
data association time 16.100106 ms 
solver time 13.181502 ms 
data association time 18.701931 ms 
publication time 12.080400 ms 
whole laserOdometry time 74.910089 ms 
 
prepare time 20.684785 
sort q time 6.006081 
seperate points time 14.765305 
data association time 16.021394 ms 
solver time 10.891548 ms 
data association time 16.519254 ms 
solver time 11.439758 ms 
points size 102877 
sort q time 6.063232 
seperate points time 14.673654 
mapping solver time 24.182457 ms 
data association time 18.588311 ms 
solver time 13.125069 ms 
mapping data assosiation time 37.735554 ms 
data association time 16.513537 ms 
solver time 11.817063 ms 
points size 103038 
sort q time 6.089005 
seperate points time 14.915100 
build tree time 38.781225 ms 
solver time 12.777571 ms 
data association time 15.072900 ms 
mapping data assosiation time 35.444570 ms 
solver time 11.263223 ms 
publication time 11.004756 ms 
whole laserOdometry time 65.807659 ms 
 
sort q time 5.410379 
seperate points time 13.447088 
scan registration time 37.756235 ms *************
mapping data assosiation time 37.849243 ms 
data association time 16.646905 ms 
solver time 13.077125 ms 
mapping solver time 20.620518 ms 
mapping optimization time 161.881314 
add points time 0.918724 ms
data association time 16.096952 ms 
map prepare time 3.604907 ms
map corner num 137726  surf num 48870 
publication time 10.371444 ms 
whole laserOdometry time 68.077272 ms 
 
sort q time 5.135100 
seperate points time 12.740401 
data association time 16.670344 ms 
solver time 12.504231 ms 
mapping data assosiation time 35.155324 ms 
mapping solver time 23.764201 ms 
publication time 11.023748 ms 
whole laserOdometry time 68.748560 ms 
 
prepare time 16.331964 
sort q time 5.174900 
seperate points time 12.852362 
mapping solver time 20.571012 ms 
data association time 17.378936 ms 
map prepare time 3.797029 ms
map corner num 138478  surf num 49273 
data association time 16.978145 ms 
solver time 12.174422 ms 
publication time 12.661801 ms 
whole laserOdometry time 73.413278 ms 
 
sort q time 5.512561 
seperate points time 13.361270 
mapping data assosiation time 36.986038 ms 
data association time 15.839882 ms 
mapping solver time 24.372658 ms 
solver time 14.476802 ms 
data association time 15.937684 ms 
solver time 11.762276 ms 
publication time 11.291367 ms 
whole laserOdometry time 70.119541 ms 
 
add points time 0.896730 ms
sort q time 6.028633 
seperate points time 15.156987 
map prepare time 4.877265 ms
map corner num 139346  surf num 49629 
data association time 18.097504 ms 
solver time 15.580100 ms 
data association time 22.686727 ms 
solver time 13.665894 ms 
publication time 11.538782 ms 
whole laserOdometry time 82.416546 ms 
 
scan registration time 37.843526 ms *************
mapping solver time 28.464955 ms 
data association time 17.864678 ms 
solver time 12.598164 ms 
mapping data assosiation time 37.582139 ms 
solver time 10.812898 ms 
points size 103564 
filter time 15.031047 ms 
scan registration time 37.561325 ms *************
data association time 16.776104 ms 
solver time 13.815739 ms 
data association time 17.599901 ms 
solver time 11.275074 ms 
sort q time 5.503201 
seperate points time 13.059773 
data association time 17.324691 ms 
data association time 17.421946 ms 
filter time 13.230473 ms 
prepare time 17.510897 
sort q time 5.762637 
seperate points time 13.319744 
build tree time 41.318553 ms 
solver time 10.508517 ms 
data association time 16.626623 ms 
publication time 10.248572 ms 
whole laserOdometry time 64.102008 ms 
 
points size 103748 
sort q time 5.150572 
seperate points time 12.086154 
mapping data assosiation time 35.392021 ms 
data association time 18.177714 ms 
mapping solver time 20.907406 ms 
filter time 11.889815 ms 
solver time 8.299842 ms 
publication time 10.932396 ms 
whole laserOdometry time 67.943956 ms 
 
prepare time 17.024139 
build tree time 42.137067 ms 
scan registration time 41.563758 ms *************
mapping data assosiation time 46.141526 ms 
solver time 15.328320 ms 
points size 103650 
mapping data assosiation time 43.523803 ms 
mapping solver time 24.570278 ms 
data association time 18.581562 ms 
drop lidar frame in mapping for real time performance 
data association time 18.071088 ms 
points size 103776 
publication time 10.632415 ms 
whole laserOdometry time 74.394325 ms 
 
scan registration time 34.722131 ms *************
mapping data assosiation time 35.099400 ms 
data association time 27.507286 ms 
mapping solver time 25.752584 ms 
solver time 18.283630 ms 
data association time 28.057879 ms 
mapping data assosiation time 43.520348 ms 
solver time 15.008997 ms 
optimization twice time 89.849261 
mapping solver time 28.064381 ms 
filter time 12.068841 ms 
data association time 22.593170 ms 
solver time 14.492369 ms 
data association time 17.101883 ms 
solver time 11.130993 ms 
publication time 10.650263 ms 
whole laserOdometry time 76.788535 ms 
 
sort q time 6.902161 
seperate points time 17.262240 
mapping data assosiation time 44.562861 ms 
data association time 18.873986 ms 
mapping solver time 27.416572 ms 
data association time 17.047650 ms 
solver time 11.806726 ms 
publication time 10.842041 ms 
whole laserOdometry time 72.293747 ms 
 
sort q time 5.486604 
seperate points time 13.274849 
mapping optimization time 172.251524 
filter time 14.003967 ms 
data association time 23.705529 ms 
solver time 15.688744 ms 
build tree time 37.185745 ms 
solver time 10.991180 ms 
sort q time 4.833985 
seperate points time 11.781566 
data association time 16.942141 ms 
data association time 16.720716 ms 
solver time 10.961650 ms 
publication time 11.324855 ms 
whole laserOdometry time 67.438407 ms 
 
prepare time 16.108407 
sort q time 5.079704 
seperate points time 12.068508 
map prepare time 3.963533 ms
map corner num 145616  surf num 52025 
data association time 16.574081 ms 
solver time 13.467126 ms 
data association time 17.104598 ms 
solver time 13.010594 ms 
publication time 11.434022 ms 
whole laserOdometry time 72.459832 ms 
 
points size 103910 
sort q time 5.914615 
seperate points time 14.324350 
data association time 15.165236 ms 
solver time 13.116491 ms 
data association time 16.034544 ms 
mapping solver time 24.586965 ms 
prepare time 15.406500 
sort q time 6.280582 
seperate points time 15.223343 
build tree time 36.720306 ms 
solver time 13.226414 ms 
data association time 17.950766 ms 
solver time 11.369330 ms 
points size 103951 
sort q time 5.669927 
seperate points time 13.093108 
mapping data assosiation time 33.858151 ms 
data association time 17.515521 ms 
mapping solver time 19.872197 ms 
filter time 12.092476 ms 
mapping pub time 1.246418 ms 
whole mapping time 169.999416 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.875839 ms
map corner num 147631  surf num 52728 
data association time 17.777972 ms 
solver time 13.508393 ms 
publication time 11.960545 ms 
whole laserOdometry time 75.172823 ms 
 
build tree time 41.900837 ms 
sort q time 6.120167 
seperate points time 14.942377 
data association time 17.109326 ms 
mapping data assosiation time 34.785166 ms 
solver time 13.811549 ms 
mapping solver time 26.142650 ms 
data association time 23.329173 ms 
solver time 12.908601 ms 
publication time 11.189341 ms 
whole laserOdometry time 79.330511 ms 
 
scan registration time 32.384813 ms *************
mapping solver time 20.288862 ms 
data association time 17.109806 ms 
solver time 13.521369 ms 
data association time 17.518652 ms 
solver time 11.586417 ms 
build tree time 43.919695 ms 
prepare time 18.431513 
sort q time 5.021292 
seperate points time 11.728721 
mapping data assosiation time 36.049350 ms 
data association time 17.293760 ms 
mapping solver time 24.175843 ms 
solver time 13.223870 ms 
data association time 17.124722 ms 
solver time 11.209357 ms 
publication time 11.108763 ms 
whole laserOdometry time 70.908238 ms 
 
points size 104096 
prepare time 16.248205 
sort q time 6.642385 
seperate points time 15.031710 
mapping pub time 3.884102 ms 
whole mapping time 187.519939 ms +++++
data association time 17.177065 ms 
solver time 13.499133 ms 
build tree time 39.184250 ms 
solver time 11.193045 ms 
points size 104521 
publication time 10.741841 ms 
whole laserOdometry time 72.685148 ms 
 
sort q time 6.419537 
seperate points time 14.892544 
mapping solver time 26.011201 ms 
solver time 12.240825 ms 
data association time 15.895241 ms 
solver time 11.637453 ms 
publication time 10.440766 ms 
whole laserOdometry time 67.639042 ms 
 
filter time 12.629990 ms 
scan registration time 35.655478 ms *************
data association time 15.889473 ms 
solver time 12.980732 ms 
data association time 15.994791 ms 
solver time 10.743312 ms 
mapping data assosiation time 36.764108 ms 
points size 105023 
mapping solver time 25.988986 ms 
data association time 15.930139 ms 
mapping solver time 20.043138 ms 
solver time 8.228055 ms 
publication time 11.072580 ms 
whole laserOdometry time 62.843474 ms 
 
prepare time 16.635335 
sort q time 6.071716 
seperate points time 14.020682 
build tree time 43.218449 ms 
data association time 19.213191 ms 
solver time 13.892613 ms 
mapping data assosiation time 35.616458 ms 
solver time 7.551621 ms 
publication time 9.706541 ms 
whole laserOdometry time 67.568763 ms 
 
points size 104671 
sort q time 6.992677 
seperate points time 17.367427 
mapping data assosiation time 43.744466 ms 
data association time 21.639090 ms 
solver time 9.300619 ms 
filter time 15.308232 ms 
solver time 12.299023 ms 
prepare time 19.819335 
sort q time 5.530423 
seperate points time 13.681267 
data association time 16.079147 ms 
solver time 13.087961 ms 
mapping solver time 33.867084 ms 
publication time 21.294745 ms 
whole laserOdometry time 90.031657 ms 
 
mapping data assosiation time 47.791013 ms 
data association time 16.450738 ms 
filter time 11.487428 ms 
publication time 9.685315 ms 
whole laserOdometry time 61.242550 ms 
 
points size 104443 
sort q time 6.124146 
seperate points time 14.870908 
data association time 15.315182 ms 
solver time 10.308794 ms 
data association time 15.632706 ms 
mapping solver time 24.247945 ms 
prepare time 19.603353 
mapping data assosiation time 38.189127 ms 
mapping solver time 21.838139 ms 
data association time 15.197171 ms 
solver time 11.282612 ms 
data association time 15.390605 ms 
publication time 10.577912 ms 
whole laserOdometry time 61.665255 ms 
 
points size 104460 
sort q time 6.238508 
seperate points time 15.181067 
data association time 15.306640 ms 
map prepare time 4.541209 ms
map corner num 154001  surf num 54754 
data association time 17.302577 ms 
solver time 11.951164 ms 
optimization twice time 63.992052 
points size 104323 
sort q time 5.472670 
seperate points time 13.094593 
mapping data assosiation time 37.193976 ms 
solver time 9.992138 ms 
mapping solver time 25.582469 ms 
solver time 7.499152 ms 
optimization twice time 49.162736 
points size 104330 
sort q time 5.488012 
seperate points time 13.103824 
filter time 12.101989 ms 
solver time 11.591819 ms 
data association time 15.629195 ms 
solver time 8.233123 ms 
optimization twice time 51.741098 
publication time 13.187442 ms 
whole laserOdometry time 64.947248 ms 
 
points size 104435 
sort q time 7.197348 
seperate points time 16.242278 
data association time 15.473575 ms 
solver time 10.639430 ms 
data association time 19.490001 ms 
solver time 9.272610 ms 
publication time 11.555282 ms 
whole laserOdometry time 67.335708 ms 
 
mapping solver time 21.313504 ms 
scan registration time 35.276466 ms *************
map prepare time 3.780219 ms
map corner num 156055  surf num 55424 
data association time 20.558781 ms 
solver time 12.519772 ms 
build tree time 41.106445 ms 
publication time 11.155522 ms 
whole laserOdometry time 68.836254 ms 
 
prepare time 16.280676 
sort q time 5.899024 
seperate points time 13.560247 
mapping solver time 26.826022 ms 
data association time 15.904990 ms 
solver time 10.082614 ms 
mapping data assosiation time 36.673280 ms 
solver time 7.675326 ms 
publication time 12.934352 ms 
whole laserOdometry time 64.336841 ms 
 
prepare time 17.032388 
scan registration time 36.963474 ms *************
data association time 14.968909 ms 
solver time 10.667285 ms 
data association time 15.696682 ms 
publication time 11.149685 ms 
whole laserOdometry time 61.130179 ms 
 
mapping data assosiation time 37.744596 ms 
prepare time 21.435296 
sort q time 6.085081 
seperate points time 15.002037 
data association time 14.924177 ms 
solver time 12.314194 ms 
data association time 16.506170 ms 
mapping solver time 22.046907 ms 
filter time 16.303986 ms 
sort q time 5.155957 
seperate points time 11.985424 
build tree time 40.650665 ms 
data association time 24.227494 ms 
solver time 14.594106 ms 
mapping data assosiation time 35.615679 ms 
data association time 24.700825 ms 
points size 102535 
mapping solver time 34.771322 ms 
mapping data assosiation time 36.110369 ms 
data association time 23.886115 ms 
solver time 15.276847 ms 
filter time 14.623545 ms 
map prepare time 3.736199 ms
map corner num 159220  surf num 56569 
sort q time 5.681448 
seperate points time 13.253533 
build tree time 44.214883 ms 
data association time 24.133367 ms 
solver time 14.927587 ms 
mapping data assosiation time 37.388999 ms 
data association time 24.124800 ms 
solver time 11.447930 ms 
mapping solver time 32.676640 ms 
publication time 12.479301 ms 
whole laserOdometry time 88.203810 ms 
 
sort q time 6.622380 
seperate points time 16.425212 
mapping data assosiation time 38.139632 ms 
data association time 23.245599 ms 
mapping solver time 20.869292 ms 
mapping optimization time 175.680686 
solver time 11.405654 ms 
add points time 0.813313 ms
filter time 15.239849 ms 
points size 101165 
publication time 12.312989 ms 
whole laserOdometry time 83.325254 ms 
 
build tree time 45.590215 ms 
data association time 24.167286 ms 
solver time 14.807287 ms 
mapping data assosiation time 35.613265 ms 
data association time 23.969980 ms 
solver time 11.546108 ms 
publication time 12.204438 ms 
whole laserOdometry time 87.775026 ms 
 
sort q time 5.439775 
seperate points time 13.288839 
data association time 16.779383 ms 
mapping solver time 15.311639 ms 
mapping optimization time 158.828592 
add points time 0.699978 ms
filter time 14.198223 ms 
solver time 7.852444 ms 
publication time 10.766720 ms 
whole laserOdometry time 63.790332 ms 
 
points size 99949 
prepare time 14.856915 
sort q time 5.349938 
seperate points time 12.887019 
data association time 15.241422 ms 
solver time 13.332307 ms 
mapping solver time 22.426187 ms 
solver time 7.355846 ms 
publication time 10.710752 ms 
whole laserOdometry time 66.261151 ms 
 
points size 99129 
sort q time 6.083192 
seperate points time 14.076666 
add points time 0.756898 ms
filter time 14.293901 ms 
solver time 10.682448 ms 
data association time 17.435953 ms 
solver time 8.139055 ms 
points size 98238 
prepare time 25.420188 
sort q time 4.672921 
seperate points time 11.378248 
data association time 15.523117 ms 
solver time 10.671884 ms 
data association time 18.100884 ms 
optimization twice time 54.821364 
mapping data assosiation time 39.786417 ms 
publication time 30.329829 ms 
whole laserOdometry time 85.173601 ms 
 
filter time 16.251742 ms map prepare time 5.906311 ms
map corner num 162995  surf num 57874 
data association time 23.194956 ms 
solver time 15.101745 ms 
build tree time 57.416990 ms 
data association time 24.801865 ms 
solver time 13.383226 ms 
publication time 13.436629 ms 
whole laserOdometry time 91.092791 ms 
 
data association time 24.043390 ms 
mapping solver time 34.115983 ms 
solver time 16.475747 ms 
points size 97857 
prepare time 16.585788 
sort q time 4.716277 
seperate points time 11.406659 
publication time 11.740719 ms 
whole laserOdometry time 92.924373 ms 
 
mapping solver time 28.156153 ms 
data association time 26.598710 ms 
filter time 16.884003 ms 
map prepare time 4.632724 ms
map corner num 163959  surf num 58237 
solver time 19.358215 ms 
points size 97538 
data association time 26.692601 ms 
sort q time 5.671396 
seperate points time 13.145704 
build tree time 56.464987 ms 
data association time 26.263576 ms 
mapping data assosiation time 41.541660 ms 
solver time 16.967138 ms 
mapping solver time 31.614180 ms 
solver time 13.218385 ms 
publication time 13.387143 ms 
whole laserOdometry time 93.892533 ms 
 
mapping data assosiation time 41.378477 ms 
data association time 28.231689 ms 
mapping solver time 26.526059 ms 
filter time 16.954626 ms 
map prepare time 4.916393 ms
map corner num 164891  surf num 58592 
points size 96888 
solver time 15.098817 ms 
scan registration time 32.543017 ms *************
build tree time 58.577605 ms 
solver time 17.187389 ms 
mapping data assosiation time 40.594624 ms 
data association time 29.186468 ms 
solver time 12.338845 ms 
mapping solver time 32.942384 ms 
mapping data assosiation time 41.076014 ms 
solver time 14.612336 ms 
data association time 17.578279 ms 
filter time 17.961988 ms 
mapping pub time 1.679804 ms 
whole mapping time 224.138800 ms +++++
points size 96895 
drop lidar frame in mapping for real time performance 
solver time 11.404034 ms 
optimization twice time 74.421402 
prepare time 18.751080 
sort q time 5.685926 
seperate points time 14.173720 
data association time 17.084911 ms 
solver time 13.663161 ms 
data association time 16.244720 ms 
solver time 12.880955 ms 
publication time 9.378249 ms 
whole laserOdometry time 69.983664 ms 
 
mapping solver time 31.429844 ms 
sort q time 5.987176 
seperate points time 14.706706 
mapping data assosiation time 33.119392 ms 
data association time 16.071744 ms 
solver time 12.618573 ms 
data association time 16.787088 ms 
optimization twice time 57.781019 
prepare time 15.054981 
sort q time 4.959908 
seperate points time 12.201196 
build tree time 45.038833 ms 
data association time 16.208575 ms 
solver time 12.434286 ms 
data association time 16.029212 ms 
solver time 16.386142 ms 
points size 97260 
mapping data assosiation time 42.334582 ms 
scan registration time 43.032255 ms *************
mapping solver time 21.678693 ms 
data association time 16.451190 ms 
map prepare time 3.635117 ms
map corner num 167861  surf num 59488 
data association time 17.521822 ms 
solver time 11.293056 ms 
prepare time 18.706878 
build tree time 51.428191 ms 
sort q time 6.101730 
seperate points time 15.030608 
data association time 16.243113 ms 
solver time 13.005922 ms 
mapping solver time 22.128192 ms 
data association time 19.417881 ms 
solver time 13.050791 ms 
publication time 9.886741 ms 
whole laserOdometry time 72.509178 ms 
 
mapping data assosiation time 37.558108 ms 
points size 97784 
sort q time 5.759471 
seperate points time 13.945221 
mapping solver time 29.515126 ms 
data association time 18.770201 ms 
filter time 17.764609 ms 
mapping pub time 3.315079 ms 
whole mapping time 200.682348 ms +++++
solver time 14.658548 ms 
data association time 19.019306 ms 
build tree time 34.147541 ms 
points size 98085 
publication time 9.740384 ms 
whole laserOdometry time 77.864363 ms 
 
prepare time 21.190621 
sort q time 6.627579 
seperate points time 16.230101 
mapping solver time 19.894023 ms 
solver time 12.587699 ms 
mapping data assosiation time 29.686493 ms 
solver time 14.317234 ms 
optimization twice time 59.917248 
add points time 0.828425 ms
filter time 13.532200 ms 
data association time 16.016690 ms 
build tree time 32.151606 ms 
data association time 16.781666 ms 
solver time 13.259658 ms 
publication time 10.129394 ms 
whole laserOdometry time 70.087551 ms 
 
prepare time 19.496340 
mapping solver time 29.559255 ms 
scan registration time 40.366272 ms *************
data association time 18.212685 ms 
solver time 13.556408 ms 
mapping solver time 22.182847 ms 
mapping optimization time 152.943804 
add points time 0.750228 ms
data association time 17.191436 ms 
solver time 11.618212 ms 
filter time 13.566991 ms 
publication time 10.102328 ms 
whole laserOdometry time 71.656445 ms 
 
prepare time 19.586977 
sort q time 6.921957 
seperate points time 16.485292 
[0m[ INFO] [1718802440.428878619]: Received 1419181 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802440.428917196]: Data saved to 1317357983733314.pcd[0m
data association time 16.736621 ms 
solver time 13.085745 ms 
data association time 16.819746 ms 
solver time 13.963895 ms 
optimization twice time 61.486772 
mapping data assosiation time 39.634734 ms 
mapping solver time 25.557769 ms 
filter time 11.635459 ms 
data association time 16.045765 ms 
data association time 17.432054 ms 
solver time 12.002956 ms 
publication time 10.641499 ms 
whole laserOdometry time 73.451366 ms 
 
mapping solver time 25.581384 ms 
sort q time 5.925884 
seperate points time 14.585641 
filter time 15.146032 ms 
data association time 17.137623 ms 
solver time 11.113995 ms 
data association time 15.684625 ms 
mapping data assosiation time 37.228967 ms 
prepare time 37.382527 
sort q time 6.047381 data association time 17.010810 ms 
mapping data assosiation time 34.360394 ms 
data association time 16.499339 ms 
publication time 9.418552 ms 
filter time 13.968973 ms 
whole laserOdometry time 63.565204 ms 
 
data association time 15.923809 ms 
data association time 20.395803 ms 
solver time 8.695591 ms 
publication time 9.412138 ms 
whole laserOdometry time 65.260352 ms 
 
points size 102157 
mapping pub time 110.586357 ms 
whole mapping time 295.792875 ms +++++
scan registration time 43.826351 ms *************
data association time 18.478350 ms 
data association time 16.229252 ms 
solver time 8.616637 ms 
publication time 11.394819 ms 
whole laserOdometry time 63.659377 ms 
 
prepare time 19.328200 
sort q time 5.519662 
seperate points time 12.755304 
scan registration time 36.840844 ms *************
mapping data assosiation time 31.078419 ms 
solver time 12.689499 ms 
mapping solver time 20.841544 ms 
data association time 19.782719 ms 
solver time 11.240860 ms 
publication time 11.395650 ms 
whole laserOdometry time 74.947309 ms 
 
prepare time 19.923936 
build tree time 37.224115 ms 
data association time 16.506080 ms 
mapping data assosiation time 33.023085 ms 
solver time 14.341523 ms 
mapping solver time 20.455246 ms 
solver time 9.511224 ms 
prepare time 17.429958 
sort q time 5.814202 
seperate points time 13.301104 
mapping optimization time 150.498826 
filter time 12.848095 ms 
solver time 11.369735 ms 
data association time 16.552139 ms 
solver time 8.804788 ms 
publication time 9.615934 ms 
whole laserOdometry time 64.317150 ms 
 
points size 101618 
sort q time 4.715008 
seperate points time 10.989929 
mapping solver time 23.188372 ms 
solver time 9.927907 ms 
data association time 15.038622 ms 
solver time 7.783634 ms 
optimization twice time 49.594869 
points size 100996 
sort q time 6.390159 
seperate points time 15.079314 
build tree time 35.847791 ms 
data association time 25.324301 ms 
solver time 14.898888 ms 
mapping solver time 22.713211 ms 
solver time 11.509964 ms 
publication time 11.399987 ms 
whole laserOdometry time 89.762202 ms 
 
mapping data assosiation time 35.449747 ms 
mapping solver time 16.503113 ms 
filter time 12.380574 ms 
solver time 11.470059 ms 
prepare time 19.200680 
sort q time 5.138933 
seperate points time 12.214964 
mapping data assosiation time 34.230244 ms 
solver time 10.255769 ms 
data association time 15.743421 ms 
publication time 7.994611 ms 
whole laserOdometry time 59.063177 ms 
 
points size 98718 
mapping solver time 17.908590 ms 
scan registration time 34.449334 ms *************
filter time 16.524989 ms 
data association time 16.412837 ms 
solver time 10.922559 ms 
data association time 15.356842 ms 
publication time 8.804044 ms 
whole laserOdometry time 60.730984 ms 
 
points size 97412 
mapping data assosiation time 30.999206 ms 
prepare time 14.214089 
sort q time 4.740602 
seperate points time 11.577629 
data association time 14.793582 ms 
mapping data assosiation time 29.937986 ms 
mapping solver time 13.846778 ms 
filter time 12.615350 ms 
mapping pub time 1.522779 ms 
whole mapping time 151.318059 ms +++++
solver time 12.463719 ms 
optimization twice time 57.589887 
map prepare time 3.662681 ms
map corner num 136400  surf num 49505 
points size 96472 
sort q time 5.350803 
seperate points time 12.479339 
data association time 14.726716 ms 
solver time 13.548143 ms 
data association time 14.887965 ms 
mapping solver time 20.860947 ms 
publication time 9.065386 ms 
whole laserOdometry time 64.236834 ms 
 
points size 95303 
prepare time 14.867594 
mapping data assosiation time 32.706995 ms 
scan registration time 32.733666 ms *************
filter time 11.882166 ms 
solver time 12.887493 ms 
data association time 15.491086 ms 
solver time 10.669789 ms 
points size 94226 
scan registration time 31.645502 ms *************
data association time 15.465736 ms 
solver time 13.463759 ms 
data association time 15.240393 ms 
solver time 12.723394 ms 
publication time 10.030745 ms 
whole laserOdometry time 67.780256 ms 
 
filter time 15.060771 ms 
points size 94419 
sort q time 4.983920 
seperate points time 11.650927 
build tree time 36.492796 ms 
data association time 15.396600 ms 
solver time 10.855505 ms 
data association time 15.026461 ms 
mapping solver time 20.341618 ms 
publication time 7.828902 ms 
whole laserOdometry time 58.567613 ms 
 
points size 96261 
prepare time 15.795963 
mapping data assosiation time 30.392066 ms 
sort q time 5.947989 
seperate points time 13.601993 
scan registration time 33.966301 ms *************
data association time 14.498538 ms 
solver time 12.783782 ms 
data association time 18.508568 ms 
solver time 10.218310 ms 
publication time 11.596704 ms 
whole laserOdometry time 68.464297 ms 
 
points size 97943 
sort q time 6.045187 
seperate points time 13.902224 
data association time 16.748129 ms 
solver time 11.998222 ms 
mapping solver time 15.221615 ms 
filter time 11.173430 ms 
publication time 9.553752 ms 
whole laserOdometry time 65.016861 ms 
 
points size 98629 
prepare time 15.894113 
sort q time 5.988890 
seperate points time 14.055195 
build tree time 42.086111 ms 
data association time 15.332065 ms 
mapping data assosiation time 29.106648 ms 
solver time 13.854948 ms 
data association time 15.795899 ms 
solver time 11.265081 ms 
points size 99440 
sort q time 5.368204 
seperate points time 12.602176 
mapping optimization time 142.944083 
filter time 12.303529 ms 
solver time 11.348048 ms 
data association time 15.365381 ms 
solver time 8.999463 ms 
publication time 8.069512 ms 
whole laserOdometry time 59.990339 ms 
 
points size 100867 
scan registration time 33.705693 ms *************
mapping solver time 24.119423 ms 
solver time 13.220471 ms 
data association time 15.444289 ms 
solver time 11.320869 ms 
filter time 15.578621 ms 
points size 101359 
mapping pub time 1.303935 ms 
whole mapping time 162.841410 ms +++++
drop lidar frame in mapping for real time performance 
prepare time 16.607728 
map prepare time 3.400058 ms
map corner num 140645  surf num 51028 
sort q time 5.414414 
seperate points time 12.948117 
build tree time 36.399159 ms 
solver time 11.417687 ms 
mapping data assosiation time 29.844882 ms 
data association time 18.518521 ms 
mapping solver time 18.929427 ms 
points size 101791 
mapping data assosiation time 27.194853 ms 
mapping solver time 20.711278 ms 
data association time 17.112487 ms 
solver time 13.518985 ms 
data association time 15.499697 ms 
solver time 10.972951 ms 
publication time 9.654961 ms 
whole laserOdometry time 67.672954 ms 
 
mapping data assosiation time 27.123072 ms 
mapping solver time 18.926166 ms 
data association time 16.688688 ms 
solver time 12.183708 ms 
data association time 15.588575 ms 
mapping solver time 18.225724 ms 
publication time 9.774500 ms 
whole laserOdometry time 66.503544 ms 
 
points size 101483 
sort q time 6.496701 
seperate points time 15.227382 
build tree time 40.311906 ms 
data association time 25.672192 ms 
solver time 15.263028 ms 
mapping solver time 17.516189 ms 
data association time 25.072804 ms 
points size 100562 
mapping data assosiation time 27.620075 ms 
publication time 10.996755 ms 
whole laserOdometry time 89.581684 ms 
 
mapping solver time 17.112053 ms 
mapping optimization time 130.236213 
add points time 0.706635 ms
filter time 15.727177 ms 
map prepare time 3.250433 ms
map corner num 142602  surf num 51902 
solver time 15.349053 ms 
build tree time 37.382469 ms 
points size 98857 
prepare time 16.557616 
solver time 11.852716 ms 
optimization twice time 78.408474 
sort q time 5.285313 
seperate points time 12.680134 
mapping solver time 18.865405 ms 
data association time 16.065801 ms 
solver time 11.276086 ms 
mapping solver time 17.321980 ms 
publication time 8.268699 ms 
whole laserOdometry time 61.219997 ms 
 
points size 96989 
sort q time 5.157528 
seperate points time 12.105179 
build tree time 43.462615 ms 
data association time 15.179044 ms 
solver time 10.714754 ms 
mapping data assosiation time 25.504143 ms 
solver time 8.424880 ms 
points size 93155 
mapping data assosiation time 25.417588 ms 
sort q time 5.462533 
seperate points time 12.641512 
filter time 12.348959 ms 
solver time 10.319275 ms 
data association time 15.502189 ms 
solver time 12.058707 ms 
mapping data assosiation time 26.001077 ms 
sort q time 4.514270 
seperate points time 10.749655 
data association time 14.384417 ms 
solver time 10.768016 ms 
mapping solver time 22.687339 ms 
filter time 12.480069 ms 
publication time 7.814317 ms 
whole laserOdometry time 66.889606 ms 
 
points size 90469 
sort q time 4.198105 
seperate points time 10.025943 
build tree time 42.791815 ms 
data association time 14.636876 ms 
solver time 10.642357 ms 
data association time 14.427429 ms 
mapping solver time 16.008792 ms 
mapping data assosiation time 22.297590 ms 
mapping solver time 14.052285 ms 
sort q time 3.980049 
seperate points time 9.407108 
data association time 21.951165 ms 
solver time 14.655943 ms 
build tree time 48.623753 ms 
data association time 24.220474 ms 
mapping data assosiation time 28.519071 ms 
solver time 13.341214 ms 
optimization twice time 75.093815 
mapping solver time 20.781752 ms 
data association time 23.766648 ms 
solver time 12.398529 ms 
filter time 15.832256 ms 
solver time 15.290508 ms 
scan registration time 30.132890 ms *************
data association time 14.266530 ms 
solver time 11.959143 ms 
data association time 14.608572 ms 
publication time 7.307520 ms 
whole laserOdometry time 57.335447 ms 
 
map prepare time 4.267747 ms
map corner num 145837  surf num 52923 
sort q time 5.271007 
seperate points time 12.394545 
build tree time 41.732480 ms 
data association time 14.162672 ms 
solver time 8.344434 ms 
data association time 13.869463 ms 
publication time 6.665553 ms 
whole laserOdometry time 49.975684 ms 
 
mapping data assosiation time 22.597257 ms 
mapping solver time 16.984826 ms 
filter time 15.394197 ms 
solver time 10.796568 ms 
data association time 13.713236 ms 
publication time 7.543964 ms 
whole laserOdometry time 54.624060 ms 
 
mapping data assosiation time 22.223904 ms 
mapping solver time 14.284135 ms 
mapping data assosiation time 22.936647 ms 
data association time 22.720333 ms 
solver time 19.316746 ms 
data association time 21.990897 ms 
solver time 11.418878 ms 
publication time 8.519242 ms 
whole laserOdometry time 85.137425 ms 
 
sort q time 4.343694 
seperate points time 10.217941 
mapping data assosiation time 21.547454 ms 
data association time 20.962003 ms 
solver time 15.205383 ms 
mapping data assosiation time 22.942324 ms 
data association time 20.893213 ms 
solver time 11.839124 ms 
map prepare time 5.037674 ms
map corner num 147634  surf num 53553 
scan registration time 30.513233 ms *************data association time 21.076135 ms 
solver time 15.231440 ms 
data association time 21.063446 ms 
solver time 12.268108 ms 
mapping data assosiation time 23.466561 ms 
scan registration time 26.740077 ms *************
filter time 11.649973 ms 
mapping pub time 1.378469 ms 
whole mapping time 137.091668 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.997586 ms
map corner num 148128  surf num 53716 
solver time 11.468475 ms 
data association time 20.935098 ms 
solver time 11.379666 ms 
mapping data assosiation time 19.949954 ms 
mapping solver time 18.212589 ms 
sort q time 4.515669 
seperate points time 10.761559 
scan registration time 38.346782 ms *************
mapping data assosiation time 24.979757 ms 
mapping solver time 17.607547 ms 
mapping optimization time 123.675574 
add points time 0.643776 ms
data association time 20.724256 ms 
solver time 16.142800 ms 
data association time 21.318509 ms 
solver time 11.779975 ms 
optimization twice time 71.005179 
mapping data assosiation time 19.230034 ms 
mapping solver time 14.587432 ms 
mapping data assosiation time 19.546207 ms 
data association time 18.738128 ms 
add points time 0.665545 ms
publication time 8.705729 ms 
whole laserOdometry time 70.136730 ms 
 
filter time 15.302420 ms 
sort q time 5.179901 
seperate points time 12.028753 
data association time 13.944975 ms 
solver time 10.609178 ms 
build tree time 42.677765 ms 
data association time 13.792414 ms 
mapping data assosiation time 18.378051 ms 
solver time 8.316199 ms 
optimization twice time 47.516491 
mapping solver time 16.024321 ms 
points size 92108 
mapping data assosiation time 26.422330 ms 
sort q time 5.424261 
seperate points time 12.985246 
data association time 13.151226 ms 
data association time 15.498131 ms 
solver time 8.208146 ms 
build tree time 40.922410 ms 
points size 94127 
mapping data assosiation time 19.905600 ms 
sort q time 5.247808 
seperate points time 12.074839 
mapping data assosiation time 25.584273 ms 
solver time 16.279791 ms 
filter time 16.664458 ms 
solver time 11.641366 ms 
publication time 9.224061 ms 
whole laserOdometry time 85.826239 ms 
 
sort q time 4.852146 
seperate points time 11.225820 
build tree time 45.420362 ms 
data association time 25.172151 ms 
solver time 15.756438 ms 
mapping solver time 20.190868 ms 
solver time 8.720679 ms 
points size 92575 
mapping data assosiation time 22.606320 ms 
prepare time 14.586683 
mapping solver time 12.836484 ms 
filter time 16.185698 ms 
data association time 23.680244 ms 
solver time 15.390594 ms 
build tree time 42.907552 ms 
data association time 23.050541 ms 
mapping data assosiation time 23.480023 ms 
publication time 9.523638 ms 
whole laserOdometry time 84.419021 ms 
 
scan registration time 30.128180 ms *************
mapping data assosiation time 21.744291 ms 
mapping solver time 15.607338 ms 
filter time 14.128833 ms 
data association time 22.812605 ms 
solver time 11.832260 ms 
points size 89147 
publication time 9.330172 ms 
whole laserOdometry time 83.251944 ms 
 
prepare time 14.780491 
sort q time 5.999218 
seperate points time 13.617440 
mapping data assosiation time 19.807365 ms 
data association time 17.408292 ms 
solver time 14.906750 ms 
mapping data assosiation time 21.288689 ms 
mapping solver time 16.256803 ms 
points size 90119 
map prepare time 3.274275 ms
map corner num 152513  surf num 55415 
data association time 14.067290 ms 
solver time 13.446755 ms 
data association time 14.573545 ms 
solver time 8.744649 ms 
publication time 8.013253 ms 
whole laserOdometry time 59.742510 ms 
 
prepare time 15.065393 
sort q time 4.814083 
seperate points time 11.771621 
mapping optimization time 116.146633 
filter time 14.852536 ms 
data association time 22.479912 ms 
solver time 15.818651 ms 
data association time 19.673445 ms 
points size 90086 
sort q time 4.445955 
seperate points time 10.591349 
mapping solver time 16.922796 ms 
data association time 22.626076 ms 
solver time 10.853404 ms 
mapping solver time 12.239778 ms 
data association time 18.176836 ms 
solver time 11.056551 ms 
points size 93679 
sort q time 4.671026 
seperate points time 10.670557 
data association time 14.004804 ms 
mapping data assosiation time 22.246049 ms 
solver time 10.994249 ms 
mapping solver time 13.296996 ms 
solver time 8.656162 ms 
mapping data assosiation time 22.314318 ms 
mapping solver time 10.272578 ms 
points size 94658 
map prepare time 3.963037 ms
map corner num 154690  surf num 56122 
sort q time 5.561797 
seperate points time 13.446949 
data association time 13.830631 ms 
solver time 11.424666 ms 
mapping data assosiation time 21.257150 ms 
solver time 9.099305 ms 
publication time 9.545115 ms 
whole laserOdometry time 62.126084 ms 
 
points size 94620 
mapping data assosiation time 26.996689 ms 
scan registration time 39.937938 ms *************
mapping solver time 16.168475 ms 
mapping optimization time 129.021221 
add points time 1.330409 ms
filter time 13.968266 ms 
solver time 10.799582 ms 
data association time 13.770262 ms 
solver time 8.258065 ms 
build tree time 42.947311 ms 
sort q time 5.324649 
seperate points time 12.791639 
mapping data assosiation time 21.738037 ms 
mapping solver time 17.869555 ms 
solver time 10.524043 ms 
data association time 15.483495 ms 
optimization twice time 51.085278 
mapping pub time 1.958356 ms 
whole mapping time 141.906791 ms +++++
points size 94374 
sort q time 4.693318 
seperate points time 11.022004 
scan registration time 35.021994 ms *************
build tree time 44.740092 ms 
solver time 7.928756 ms 
mapping data assosiation time 20.347273 ms 
data association time 14.853980 ms 
solver time 10.859851 ms 
publication time 9.486486 ms 
whole laserOdometry time 58.068361 ms 
 
points size 92739 
filter time 15.685067 ms 
data association time 14.047016 ms 
solver time 11.124474 ms 
build tree time 40.708035 ms 
solver time 8.819153 ms 
publication time 9.640208 ms 
whole laserOdometry time 59.335399 ms 
 
points size 91404 
sort q time 5.324962 
seperate points time 12.776096 
scan registration time 35.486262 ms *************
mapping data assosiation time 23.080041 ms 
mapping solver time 12.544752 ms 
data association time 14.748108 ms 
map prepare time 3.533059 ms
map corner num 157054  surf num 56910 
data association time 13.965026 ms 
optimization twice time 51.686301 
publication time 10.030806 ms 
whole laserOdometry time 61.737578 ms 
 
prepare time 15.368624 
sort q time 4.270353 
seperate points time 10.366642 
mapping data assosiation time 24.573064 ms 
mapping solver time 16.726847 ms 
data association time 17.554796 ms 
mapping data assosiation time 22.600989 ms 
mapping solver time 12.428486 ms 
filter time 13.559202 ms 
points size 92225 
prepare time 18.220175 
sort q time 5.361520 
seperate points time 12.928366 
build tree time 43.500263 ms 
data association time 17.173351 ms 
points size 94398 
mapping solver time 10.610185 ms 
filter time 13.430088 ms 
data association time 15.383646 ms 
solver time 11.394123 ms 
data association time 14.566318 ms 
publication time 7.776017 ms 
whole laserOdometry time 58.955034 ms 
 
points size 94198 
sort q time 5.054654 
seperate points time 11.998545 
mapping pub time 113.335223 ms 
whole mapping time 251.124926 ms +++++
solver time 11.816487 ms 
data association time 23.138324 ms 
build tree time 55.175658 ms 
prepare time 16.755918 
mapping data assosiation time 22.257235 ms 
sort q time 5.659696 
seperate points time 13.743044 
scan registration time 35.537970 ms *************
data association time 25.181787 ms 
mapping data assosiation time 25.812041 ms 
solver time 20.984800 ms 
mapping solver time 18.630705 ms 
data association time 17.801980 ms 
publication time 8.247076 ms 
whole laserOdometry time 83.235287 ms 
 
data association time 14.180280 ms 
build tree time 42.804292 ms 
data association time 13.974781 ms 
solver time 7.933678 ms 
mapping solver time 17.127496 ms 
points size 92550 
sort q time 4.658854 
seperate points time 11.006628 
mapping solver time 11.800309 ms 
mapping optimization time 116.681909 
add points time 0.597625 ms
scan registration time 29.752770 ms *************
filter time 14.636492 ms 
data association time 15.928132 ms 
solver time 13.972165 ms 
data association time 14.512276 ms 
build tree time 41.225833 ms 
publication time 7.180949 ms 
whole laserOdometry time 60.748393 ms 
 
mapping data assosiation time 21.920068 ms 
mapping solver time 15.352788 ms 
mapping data assosiation time 20.683672 ms 
mapping solver time 13.503659 ms 
filter time 13.566414 ms 
solver time 8.318408 ms 
points size 90587 
sort q time 5.917978 
seperate points time 13.614799 
mapping data assosiation time 21.961167 ms 
data association time 15.061485 ms 
solver time 11.285346 ms 
data association time 14.383018 ms 
publication time 7.051234 ms 
whole laserOdometry time 57.434730 ms 
 
filter time 14.134660 ms 
sort q time 4.857861 
seperate points time 11.639129 
data association time 14.325671 ms 
solver time 15.051630 ms 
mapping data assosiation time 23.215621 ms 
solver time 13.509996 ms 
points size 93584 
sort q time 4.419273 
seperate points time 10.515720 
mapping solver time 16.608868 ms 
mapping optimization time 122.716063 
add points time 0.554103 ms
scan registration time 34.586576 ms *************
filter time 16.444864 ms 
mapping data assosiation time 25.781964 ms 
data association time 13.448960 ms 
mapping solver time 20.729076 ms 
data association time 14.584596 ms 
solver time 9.058583 ms 
publication time 20.529278 ms 
whole laserOdometry time 70.787702 ms 
 
map prepare time 3.837846 ms
map corner num 116992  surf num 40450 
sort q time 5.103867 
seperate points time 12.426580 
build tree time 31.067450 ms 
data association time 14.287721 ms 
solver time 14.849512 ms 
mapping solver time 14.541224 ms 
solver time 9.870984 ms 
publication time 9.546845 ms 
whole laserOdometry time 66.395322 ms 
 
prepare time 14.448104 
sort q time 4.350280 
seperate points time 10.641643 
map prepare time 3.721491 ms
map corner num 117478  surf num 40601 
data association time 14.423207 ms 
solver time 9.835274 ms 
build tree time 33.958377 ms 
data association time 14.682649 ms 
solver time 12.083055 ms 
publication time 9.578586 ms 
whole laserOdometry time 61.605934 ms 
 
mapping solver time 15.836234 ms 
points size 91004 
sort q time 3.884603 
seperate points time 9.315496 
mapping solver time 12.669654 ms 
data association time 13.120554 ms 
solver time 8.673420 ms 
data association time 14.189347 ms 
publication time 7.124465 ms 
whole laserOdometry time 53.164697 ms 
 
build tree time 49.841583 ms 
points size 88812 
sort q time 4.333593 
seperate points time 10.688793 
data association time 12.873435 ms 
solver time 10.975258 ms 
data association time 14.615565 ms 
map prepare time 3.436740 ms
map corner num 174697  surf num 59285 
points size 88613 
sort q time 5.260182 
seperate points time 12.398712 
build tree time 52.229566 ms 
data association time 13.653175 ms 
solver time 11.677651 ms 
mapping solver time 17.535175 ms 
publication time 7.417411 ms 
whole laserOdometry time 55.892094 ms 
 
points size 90446 
sort q time 4.460580 
seperate points time 10.563418 
map prepare time 3.784333 ms
map corner num 175179  surf num 59398 
data association time 13.712820 ms 
solver time 11.977581 ms 
data association time 14.559919 ms 
optimization twice time 49.962638 
build tree time 49.037913 ms 
mapping data assosiation time 22.819806 ms 
points size 94798 
prepare time 14.403075 
sort q time 4.432791 
seperate points time 10.418424 
mapping data assosiation time 22.169576 ms 
data association time 16.085108 ms 
solver time 12.929327 ms 
data association time 15.584972 ms 
solver time 10.493387 ms 
points size 96362 
build tree time 44.797497 ms 
sort q time 5.373637 
seperate points time 12.546429 
mapping data assosiation time 21.232390 ms 
mapping solver time 14.396777 ms 
solver time 11.608412 ms 
data association time 13.925746 ms 
solver time 11.553091 ms 
filter time 15.822844 ms 
points size 95692 
sort q time 4.942675 
seperate points time 11.697985 
build tree time 44.458517 ms 
data association time 13.016097 ms 
solver time 8.292287 ms 
mapping data assosiation time 21.532577 ms 
solver time 8.721166 ms 
mapping data assosiation time 20.181763 ms 
mapping solver time 12.270806 ms 
scan registration time 30.414602 ms *************
filter time 16.169786 ms 
data association time 15.351005 ms 
solver time 11.391710 ms 
data association time 24.599598 ms 
publication time 10.846462 ms 
whole laserOdometry time 74.577197 ms 
 
sort q time 5.121412 
seperate points time 12.289779 
mapping data assosiation time 22.025883 ms 
data association time 15.909373 ms 
mapping solver time 13.441875 ms 
data association time 13.054646 ms 
solver time 9.396456 ms 
points size 91282 
sort q time 4.769526 
seperate points time 11.184224 
data association time 14.175508 ms 
solver time 12.555746 ms 
data association time 13.515356 ms 
solver time 10.874676 ms 
mapping solver time 13.544137 ms 
prepare time 14.258818 
filter time 17.108819 ms 
map prepare time 4.213666 ms
map corner num 177618  surf num 59968 
data association time 13.573210 ms 
solver time 11.770030 ms 
build tree time 46.613431 ms 
data association time 13.527384 ms 
publication time 7.078935 ms 
whole laserOdometry time 55.909383 ms 
 
mapping solver time 12.362661 ms 
sort q time 4.411313 
seperate points time 10.501797 
mapping solver time 12.205130 ms 
data association time 14.073209 ms 
solver time 8.395883 ms 
data association time 14.166312 ms 
solver time 8.931613 ms 
publication time 8.312034 ms 
whole laserOdometry time 54.750556 ms 
 
build tree time 47.181613 ms 
prepare time 14.107739 
sort q time 4.258182 
seperate points time 9.850613 
mapping solver time 16.160740 ms 
solver time 10.814878 ms 
mapping solver time 9.919152 ms 
solver time 8.093857 ms 
points size 91577 
sort q time 5.090893 
seperate points time 11.747001 
build tree time 47.311915 ms 
data association time 12.867324 ms 
solver time 10.240845 ms 
data association time 13.249127 ms 
solver time 7.980192 ms 
publication time 8.112496 ms 
whole laserOdometry time 53.333213 ms 
 
mapping data assosiation time 21.722880 ms 
mapping solver time 12.819092 ms 
filter time 16.706672 ms 
data association time 12.835947 ms 
solver time 11.261581 ms 
data association time 12.610195 ms 
build tree time 45.130470 ms 
publication time 7.070731 ms 
whole laserOdometry time 53.287891 ms 
 
mapping solver time 12.206568 ms 
prepare time 14.192729 
sort q time 4.605408 
mapping data assosiation time 19.881226 ms 
seperate points time 10.557941 
mapping solver time 9.951877 ms 
filter time 13.663394 ms 
solver time 10.422098 ms 
data association time 14.371967 ms 
solver time 8.156369 ms 
publication time 9.510936 ms 
whole laserOdometry time 59.916799 ms 
 
points size 97326 
mapping data assosiation time 19.970779 ms 
sort q time 5.011738 
seperate points time 11.686883 
data association time 13.767029 ms 
solver time 11.233666 ms 
add points time 0.600851 ms
solver time 8.346227 ms 
points size 100433 
sort q time 7.071264 
seperate points time 16.843476 
data association time 13.598719 ms 
solver time 10.590583 ms 
data association time 12.992462 ms 
mapping pub time 116.472283 ms 
whole mapping time 252.830356 ms +++++
publication time 11.044395 ms 
whole laserOdometry time 63.320503 ms 
 
sort q time 6.329966 
seperate points time 14.617812 
scan registration time 39.095825 ms *************
data association time 17.410529 ms 
mapping data assosiation time 20.861885 ms 
mapping solver time 14.198018 ms 
data association time 13.078931 ms 
publication time 8.307491 ms 
whole laserOdometry time 63.242022 ms 
 
points size 100946 
sort q time 6.119940 
seperate points time 13.873397 
filter time 17.922029 ms 
data association time 13.411172 ms 
solver time 13.454735 ms 
data association time 13.295539 ms 
build tree time 50.952391 ms 
mapping data assosiation time 21.241188 ms 
mapping solver time 16.876808 ms 
scan registration time 39.135788 ms *************
mapping data assosiation time 22.200209 ms 
data association time 13.967978 ms 
mapping optimization time 126.191124 
filter time 14.236932 ms 
solver time 8.725525 ms 
points size 101402 
prepare time 19.723302 
sort q time 5.940746 
seperate points time 14.390923 
mapping data assosiation time 23.112915 ms 
solver time 10.107278 ms 
data association time 16.491748 ms 
publication time 8.505821 ms 
whole laserOdometry time 60.158771 ms 
 
mapping optimization time 131.155616 
filter time 13.672531 ms 
data association time 13.506522 ms 
solver time 10.092158 ms 
data association time 16.307147 ms 
solver time 10.624181 ms 
mapping data assosiation time 23.706425 ms 
prepare time 19.349593 
sort q time 5.855758 
seperate points time 14.083613 
mapping data assosiation time 22.208519 ms 
mapping solver time 13.961703 ms 
solver time 12.406034 ms 
map prepare time 3.350024 ms
map corner num 182436  surf num 61309 
solver time 7.516381 ms 
points size 100000 
prepare time 15.464145 
sort q time 5.802546 
seperate points time 14.014045 
mapping data assosiation time 22.174011 ms 
data association time 14.995018 ms 
mapping solver time 16.545621 ms 
data association time 15.338022 ms 
solver time 8.976731 ms 
mapping solver time 13.580114 ms 
points size 99787 
drop lidar frame in mapping for real time performance 
scan registration time 35.534616 ms *************
build tree time 47.544712 ms 
mapping data assosiation time 20.550626 ms 
mapping solver time 17.014070 ms 
publication time 10.289179 ms 
whole laserOdometry time 82.920506 ms 
 
scan registration time 35.747357 ms *************
mapping solver time 13.398367 ms 
data association time 24.209046 ms 
map prepare time 4.378917 ms
map corner num 183437  surf num 61512 
solver time 16.481840 ms 
data association time 24.261394 ms 
prepare time 15.803240 
publication time 10.100192 ms 
whole laserOdometry time 88.426499 ms 
 
mapping data assosiation time 24.955864 ms 
data association time 26.212374 ms 
mapping solver time 22.797095 ms 
mapping data assosiation time 25.668190 ms 
data association time 26.706433 ms 
mapping optimization time 155.490414 
prepare time 17.393272 
filter time 19.073386 ms 
scan registration time 37.968740 ms *************
data association time 27.247045 ms 
solver time 17.233542 ms 
points size 101384 
data association time 26.113465 ms 
solver time 13.255157 ms 
optimization twice time 84.890970 
mapping solver time 22.768356 ms 
data association time 26.915039 ms 
solver time 9.887662 ms 
data association time 18.087476 ms 
prepare time 19.643740 
sort q time 5.966102 
seperate points time 14.839768 
data association time 14.226542 ms 
solver time 8.497346 ms 
data association time 14.915148 ms 
publication time 8.559063 ms 
whole laserOdometry time 52.731091 ms 
 
mapping solver time 19.211250 ms 
points size 98716 
prepare time 21.369231 
mapping data assosiation time 26.015017 ms 
sort q time 6.445298 
seperate points time 15.679012 
mapping solver time 16.326478 ms 
filter time 15.249241 ms 
data association time 16.032307 ms 
mapping pub time 1.256092 ms 
whole mapping time 156.207414 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.418592 ms
map corner num 184895  surf num 61830 
data association time 15.660875 ms 
optimization twice time 51.370403 
publication time 9.154364 ms 
whole laserOdometry time 60.547494 ms 
 
points size 97521 
sort q time 6.290980 
seperate points time 20.321815 
scan registration time 50.911090 ms *************
mapping solver time 15.078078 ms 
data association time 23.531383 ms 
mapping data assosiation time 21.378409 ms 
mapping solver time 10.899798 ms 
solver time 12.357659 ms 
mapping pub time 4.378273 ms 
whole mapping time 164.584928 ms +++++
sort q time 5.437198 
seperate points time 15.186215 
data association time 24.410107 ms 
solver time 15.589782 ms 
build tree time 62.577776 ms 
data association time 23.935171 ms 
solver time 11.700832 ms 
sort q time 4.998613 
seperate points time 12.226031 
mapping solver time 22.758587 ms 
mapping data assosiation time 18.882520 ms 
data association time 23.886547 ms 
solver time 11.853962 ms 
filter time 13.959390 ms 
data association time 24.134755 ms 
points size 91119 
publication time 9.953973 ms 
whole laserOdometry time 82.904642 ms 
 
build tree time 51.548077 ms 
data association time 15.059690 ms 
solver time 10.693925 ms 
mapping data assosiation time 20.211982 ms 
data association time 15.811844 ms 
solver time 7.591256 ms 
mapping data assosiation time 20.858013 ms 
mapping solver time 18.171767 ms 
sort q time 4.849224 
seperate points time 11.932106 
map prepare time 3.485068 ms
map corner num 186319  surf num 62134 
data association time 23.191997 ms 
solver time 15.791017 ms 
build tree time 51.422154 ms 
data association time 23.241830 ms 
mapping data assosiation time 20.365480 ms 
publication time 9.612540 ms 
whole laserOdometry time 84.532443 ms 
 
mapping solver time 16.209714 ms 
sort q time 5.226432 
seperate points time 12.366202 
mapping data assosiation time 21.060045 ms 
mapping solver time 10.780699 ms 
filter time 14.616027 ms 
mapping pub time 1.136433 ms 
whole mapping time 140.732755 ms +++++
data association time 16.369383 ms 
map prepare time 4.343342 ms
map corner num 186849  surf num 62249 
publication time 7.773636 ms 
whole laserOdometry time 58.001748 ms 
 
points size 86087 
build tree time 51.753556 ms 
mapping data assosiation time 20.962843 ms 
data association time 15.333326 ms 
solver time 14.381066 ms 
mapping data assosiation time 18.461180 ms 
add points time 0.604425 ms
publication time 8.285120 ms 
whole laserOdometry time 66.769814 ms 
 
filter time 18.446718 ms 
prepare time 17.486393 
sort q time 4.973761 
seperate points time 12.398421 
data association time 15.526807 ms 
solver time 12.011644 ms 
data association time 14.319016 ms 
mapping data assosiation time 19.766134 ms 
publication time 8.866299 ms 
whole laserOdometry time 62.575645 ms 
 
points size 86392 
sort q time 4.896166 
seperate points time 11.853351 
mapping solver time 14.317180 ms 
data association time 15.249218 ms 
map prepare time 3.719445 ms
map corner num 187867  surf num 62488 
data association time 16.835847 ms 
solver time 14.040228 ms 
points size 86090 
build tree time 62.215393 ms 
mapping data assosiation time 22.457700 ms 
data association time 15.135486 ms 
mapping data assosiation time 18.152719 ms 
solver time 8.231822 ms 
filter time 18.428431 ms 
prepare time 16.978080 
sort q time 4.798363 
seperate points time 12.301866 
data association time 19.156729 ms 
build tree time 52.348440 ms 
data association time 13.955051 ms 
solver time 10.599193 ms 
points size 84181 
mapping data assosiation time 19.350302 ms 
scan registration time 28.973150 ms *************
filter time 15.083170 ms 
solver time 11.082231 ms 
data association time 14.563444 ms 
publication time 7.000963 ms 
whole laserOdometry time 56.125721 ms 
 
build tree time 53.708455 ms 
prepare time 12.962171 
sort q time 4.722523 
seperate points time 11.513708 
mapping solver time 17.059018 ms 
solver time 10.761385 ms 
data association time 14.844985 ms 
mapping solver time 10.993515 ms 
mapping optimization time 128.241137 
add points time 0.448068 ms
publication time 7.452303 ms 
whole laserOdometry time 57.941352 ms 
 
points size 81357 
sort q time 5.254295 
seperate points time 12.751018 
build tree time 51.059237 ms 
data association time 24.559047 ms 
mapping data assosiation time 23.898695 ms 
solver time 14.740105 ms 
mapping solver time 16.075811 ms 
data association time 14.270497 ms 
solver time 8.846292 ms 
points size 81368 
sort q time 4.580236 
seperate points time 10.851188 
filter time 16.334439 ms 
data association time 16.867284 ms 
solver time 10.338757 ms 
data association time 16.533699 ms 
solver time 10.553812 ms 
publication time 8.368116 ms 
whole laserOdometry time 63.534245 ms 
 
mapping data assosiation time 20.535059 ms 
prepare time 12.749405 
mapping solver time 14.998933 ms 
sort q time 4.434131 
seperate points time 10.778235 
scan registration time 27.176187 ms *************
mapping data assosiation time 19.779488 ms 
mapping solver time 11.483441 ms 
mapping optimization time 118.443156 
data association time 16.817108 ms 
add points time 0.450048 ms
filter time 16.038982 ms 
solver time 10.507717 ms 
[0m[ INFO] [1718802453.365700271]: Received 1494887 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802453.365736964]: Data saved to 1317357997133316.pcd[0msort q time 6.707576 
seperate points time 15.345989 
data association time 19.819379 ms 
data association time 14.574172 ms 
publication time 9.502636 ms 
whole laserOdometry time 66.425042 ms 
 
prepare time 18.111200 
sort q time 5.125492 
seperate points time 12.928924 
build tree time 58.208705 ms 
solver time 12.373417 ms 
data association time 17.842133 ms 
solver time 10.364609 ms 
mapping data assosiation time 21.633218 ms 
mapping solver time 12.027295 ms 
sort q time 4.480473 
seperate points time 10.954260 
map prepare time 3.520048 ms
map corner num 191010  surf num 63270 
data association time 18.111019 ms 
solver time 10.420837 ms 
data association time 17.213174 ms 
build tree time 50.580463 ms 
mapping data assosiation time 23.435354 ms 
prepare time 19.197376 
mapping solver time 21.389331 ms 
mapping data assosiation time 19.959708 ms 
mapping solver time 14.717006 ms 
filter time 17.723395 ms 
solver time 10.636590 ms 
points size 87527 
prepare time 17.123558 
sort q time 5.049408 
seperate points time 12.614459 
build tree time 55.734856 ms 
data association time 20.424499 ms 
mapping data assosiation time 20.575006 ms 
mapping solver time 13.125003 ms 
solver time 8.713708 ms 
mapping solver time 12.653269 ms 
prepare time 14.592617 
filter time 17.229744 ms 
data association time 14.701655 ms 
solver time 10.707026 ms 
build tree time 47.735248 ms 
publication time 7.663489 ms 
whole laserOdometry time 57.243350 ms 
 
mapping solver time 15.070479 ms 
sort q time 4.655460 
seperate points time 11.741306 
mapping solver time 11.500907 ms 
data association time 14.218816 ms 
map prepare time 3.306825 ms
map corner num 192776  surf num 63734 
data association time 16.693402 ms 
solver time 10.239627 ms 
points size 81938 
prepare time 16.654295 
sort q time 4.655475 
seperate points time 11.752886 
mapping data assosiation time 20.141527 ms 
data association time 15.459240 ms 
solver time 12.409450 ms 
mapping data assosiation time 22.343354 ms 
solver time 10.411565 ms 
filter time 17.147009 ms 
mapping pub time 3.391591 ms 
whole mapping time 150.121793 ms +++++
points size 83140 
drop lidar frame in mapping for real time performance 
prepare time 13.314064 
sort q time 4.997895 
seperate points time 12.360291 
scan registration time 29.422645 ms *************
data association time 14.127188 ms 
solver time 10.833353 ms 
data association time 13.951734 ms 
solver time 8.385646 ms 
publication time 8.756282 ms 
whole laserOdometry time 56.878690 ms 
 
mapping solver time 15.972730 ms 
points size 83452 
mapping data assosiation time 18.882158 ms 
mapping solver time 13.326109 ms 
data association time 15.699399 ms 
solver time 12.112754 ms 
data association time 14.796331 ms 
solver time 8.535430 ms 
optimization twice time 51.962199 
build tree time 53.025420 ms 
sort q time 3.843349 
seperate points time 9.403771 
mapping solver time 18.874773 ms 
solver time 10.611765 ms 
mapping solver time 11.260372 ms 
solver time 8.061335 ms 
filter time 16.201231 ms 
publication time 7.328053 ms 
whole laserOdometry time 59.937933 ms 
 
points size 82495 
scan registration time 27.340178 ms *************
build tree time 51.323921 ms 
solver time 10.568115 ms 
data association time 17.389392 ms 
publication time 7.295261 ms 
whole laserOdometry time 59.989878 ms 
 
mapping data assosiation time 20.683322 ms 
mapping solver time 12.642914 ms 
sort q time 3.645278 
seperate points time 9.142315 
map prepare time 3.821566 ms
map corner num 194788  surf num 64309 
data association time 14.478555 ms 
solver time 13.578174 ms 
build tree time 50.488641 ms 
solver time 9.225281 ms 
mapping data assosiation time 23.654664 ms 
prepare time 12.713930 
sort q time 4.051407 
seperate points time 9.899608 
mapping data assosiation time 21.357555 ms 
mapping solver time 12.529873 ms 
data association time 14.044461 ms 
publication time 6.716200 ms 
whole laserOdometry time 56.757901 ms 
 
points size 74034 
sort q time 3.510110 
seperate points time 8.724262 
data association time 12.016990 ms 
solver time 13.437612 ms 
data association time 12.459567 ms 
mapping data assosiation time 19.626295 ms 
solver time 8.834782 ms 
optimization twice time 47.576294 
mapping solver time 11.229345 ms 
filter time 18.541108 ms 
sort q time 3.689281 
seperate points time 9.162523 
data association time 13.662982 ms 
data association time 13.900198 ms 
mapping data assosiation time 18.156333 ms 
mapping solver time 10.550181 ms 
points size 73716 
sort q time 3.622320 
seperate points time 8.780097 
mapping optimization time 116.915435 
data association time 13.875803 ms 
map prepare time 2.987049 ms
map corner num 196194  surf num 64707 
data association time 15.610060 ms 
solver time 8.823345 ms 
optimization twice time 50.168560 
publication time 6.536010 ms 
whole laserOdometry time 56.722717 ms 
 
build tree time 51.073920 ms 
points size 75150 
mapping data assosiation time 19.736975 ms 
scan registration time 24.510775 ms *************
mapping solver time 17.598698 ms 
data association time 22.951299 ms 
mapping data assosiation time 23.737858 ms 
mapping solver time 16.458838 ms 
data association time 20.549667 ms 
filter time 18.911743 ms 
publication time 8.311683 ms 
whole laserOdometry time 78.067371 ms 
 
prepare time 13.090625 
sort q time 3.533594 
seperate points time 8.456378 
build tree time 56.499412 ms 
solver time 17.234795 ms 
data association time 20.971453 ms 
solver time 13.181056 ms 
optimization twice time 73.423977 
points size 75996 
sort q time 4.213490 
seperate points time 10.189737 
mapping solver time 10.808344 ms 
mapping optimization time 132.747982 
scan registration time 26.427363 ms *************
add points time 0.994019 ms
filter time 18.662995 ms 
solver time 8.519049 ms 
data association time 13.119301 ms 
solver time 9.017153 ms 
publication time 7.203485 ms 
whole laserOdometry time 54.243421 ms 
 
build tree time 52.871853 ms 
points size 76035 
mapping data assosiation time 23.750975 ms 
mapping solver time 16.415910 ms 
data association time 21.498069 ms 
map prepare time 3.998274 ms
map corner num 197541  surf num 65020 
publication time 8.533621 ms 
whole laserOdometry time 83.705420 ms 
 
data association time 14.220744 ms 
solver time 11.438735 ms 
build tree time 59.734304 ms 
publication time 6.654244 ms 
whole laserOdometry time 55.220418 ms 
 
mapping solver time 14.545511 ms 
points size 76317 
sort q time 3.607185 
seperate points time 8.936863 
mapping solver time 14.118142 ms 
data association time 14.667097 ms 
mapping pub time 3.496801 ms 
whole mapping time 158.888228 ms +++++
data association time 14.460973 ms 
publication time 6.748402 ms 
whole laserOdometry time 54.081703 ms 
 
build tree time 50.429025 ms 
sort q time 4.032142 
seperate points time 10.010101 
mapping solver time 12.005697 ms 
solver time 8.289270 ms 
mapping data assosiation time 20.331104 ms 
mapping solver time 12.053111 ms 
filter time 14.635609 ms 
points size 76466 
sort q time 3.292796 
seperate points time 8.005690 
data association time 12.437521 ms 
solver time 8.876544 ms 
data association time 12.248284 ms 
publication time 7.139158 ms 
whole laserOdometry time 50.125431 ms 
 
mapping data assosiation time 18.060702 ms 
mapping optimization time 120.682215 
sort q time 3.366143 
seperate points time 8.309823 
map prepare time 3.689885 ms
map corner num 223603  surf num 72876 
data association time 11.719318 ms 
solver time 10.511790 ms 
data association time 11.867461 ms 
publication time 7.324546 ms 
whole laserOdometry time 50.662165 ms 
 
build tree time 59.510129 ms 
points size 76692 
mapping solver time 12.556399 ms 
mapping data assosiation time 18.211437 ms 
mapping solver time 10.272075 ms 
data association time 12.241742 ms 
optimization twice time 44.451382 
points size 78782 
sort q time 3.842612 
seperate points time 9.358506 
data association time 12.586088 ms 
solver time 10.322345 ms 
mapping solver time 10.544315 ms 
data association time 12.852386 ms 
solver time 10.924535 ms 
filter time 17.886178 ms 
points size 80486 
prepare time 13.303003 
sort q time 4.130032 
seperate points time 9.620136 
data association time 12.765833 ms 
solver time 10.170793 ms 
data association time 16.309648 ms 
solver time 7.723472 ms 
mapping solver time 11.035405 ms 
points size 80524 
mapping optimization time 118.304494 
filter time 20.139666 ms 
data association time 11.882442 ms 
solver time 8.000908 ms 
data association time 12.278434 ms 
solver time 9.180389 ms 
points size 80064 
prepare time 13.002143 
scan registration time 25.391836 ms *************
mapping pub time 109.430681 ms 
whole mapping time 252.070692 ms +++++
data association time 21.379117 ms 
solver time 15.288385 ms 
data association time 20.227754 ms 
solver time 11.627381 ms 
points size 80960 
sort q time 4.730308 
seperate points time 11.206613 
mapping solver time 17.891731 ms 
data association time 19.443619 ms 
mapping data assosiation time 22.584528 ms 
mapping solver time 15.336978 ms 
mapping optimization time 139.043814 
add points time 0.537073 ms
data association time 17.882242 ms 
solver time 11.205166 ms 
drop lidar frame in mapping for real time performance 
sort q time 4.015889 
seperate points time 9.546763 
data association time 18.427585 ms 
solver time 10.137105 ms 
data association time 12.639387 ms 
solver time 8.729122 ms 
points size 82685 
sort q time 4.043947 
seperate points time 9.408280 
mapping solver time 16.267987 ms 
solver time 11.286335 ms 
filter time 21.958128 ms 
map prepare time 4.248301 ms
map corner num 225742  surf num 73376 
data association time 18.731892 ms 
solver time 7.637201 ms 
optimization twice time 57.128444 
points size 83162 
sort q time 4.087683 
seperate points time 10.186807 
build tree time 63.727243 ms 
data association time 14.740474 ms 
solver time 10.296169 ms 
mapping solver time 13.638994 ms 
publication time 6.033969 ms 
whole laserOdometry time 51.714176 ms 
 
mapping solver time 10.791432 ms 
points size 83695 
drop lidar frame in mapping for real time performance 
data association time 13.901076 ms 
data association time 13.232201 ms 
solver time 8.674421 ms 
optimization twice time 44.959295 
publication time 6.731638 ms 
whole laserOdometry time 51.708692 ms 
 
build tree time 61.073900 ms 
mapping data assosiation time 18.674503 ms 
mapping solver time 11.174525 ms 
sort q time 4.126387 
seperate points time 9.824351 
mapping solver time 8.174981 ms 
solver time 8.962142 ms 
map prepare time 3.237771 ms
map corner num 226510  surf num 73591 
solver time 9.401795 ms 
points size 86824 
sort q time 4.446528 
seperate points time 10.794912 
mapping data assosiation time 19.687291 ms 
mapping solver time 14.777727 ms 
solver time 8.401730 ms 
data association time 12.237504 ms 
publication time 6.865438 ms 
whole laserOdometry time 52.835179 ms 
 
points size 88488 
sort q time 4.610692 
seperate points time 10.817237 
data association time 13.404490 ms 
solver time 9.526935 ms 
data association time 13.969622 ms 
build tree time 62.897590 ms 
publication time 7.041586 ms 
whole laserOdometry time 55.068694 ms 
 
mapping solver time 12.019450 ms 
sort q time 4.483410 
seperate points time 10.617415 
mapping solver time 9.890417 ms 
data association time 13.585076 ms 
solver time 8.462974 ms 
data association time 14.277631 ms 
optimization twice time 42.960117 
publication time 7.503244 ms 
whole laserOdometry time 50.484037 ms 
 
points size 92175 
sort q time 6.515584 
seperate points time 14.966523 
mapping solver time 14.784237 ms 
solver time 11.976124 ms 
data association time 16.623265 ms 
optimization twice time 55.585537 
filter time 20.778239 ms 
sort q time 4.223532 
seperate points time 10.068697 
data association time 13.943979 ms 
solver time 12.300216 ms 
data association time 14.799079 ms 
solver time 10.987583 ms 
mapping solver time 12.800277 ms 
points size 90419 
mapping data assosiation time 20.913487 ms 
filter time 19.905421 ms 
solver time 12.868094 ms 
data association time 17.036308 ms 
solver time 8.621362 ms 
publication time 7.856364 ms 
whole laserOdometry time 61.010643 ms 
 
points size 89462 
sort q time 5.077444 
seperate points time 12.508143 
mapping solver time 11.608558 ms 
solver time 7.916162 ms 
data association time 12.901036 ms 
publication time 7.433152 ms 
whole laserOdometry time 49.551086 ms 
 
filter time 18.709437 ms 
points size 89022 
prepare time 17.980597 
sort q time 5.085880 
seperate points time 12.566547 
scan registration time 35.128310 ms *************
data association time 12.487653 ms 
mapping data assosiation time 21.125004 ms 
data association time 13.466050 ms 
publication time 7.988024 ms 
whole laserOdometry time 51.823158 ms 
 
mapping solver time 8.965310 ms 
points size 89145 
filter time 14.553794 ms 
prepare time 22.578985 
mapping pub time 4.049128 ms 
whole mapping time 125.581866 ms +++++
sort q time 5.052275 
seperate points time 12.528094 
data association time 14.371530 ms 
solver time 9.410187 ms 
mapping data assosiation time 18.572127 ms 
solver time 8.836513 ms 
publication time 8.616564 ms 
whole laserOdometry time 56.476791 ms 
 
points size 88805 
prepare time 20.117322 
sort q time 5.094580 
seperate points time 12.603255 
filter time 11.906639 ms 
solver time 9.645409 ms 
data association time 18.122446 ms 
publication time 7.865887 ms 
whole laserOdometry time 64.062516 ms 
 
points size 87712 
mapping solver time 13.298201 ms 
sort q time 4.946673 
seperate points time 12.092413 
scan registration time 33.592151 ms *************
mapping data assosiation time 20.270046 ms 
solver time 9.406852 ms 
map prepare time 3.497601 ms
map corner num 145672  surf num 46477 
solver time 15.239146 ms 
points size 85678 
sort q time 4.825350 
seperate points time 11.688511 
mapping solver time 11.552107 ms 
data association time 13.539164 ms 
solver time 10.728201 ms 
data association time 12.890024 ms 
solver time 9.270993 ms 
mapping pub time 1.159001 ms 
whole mapping time 117.904540 ms +++++
points size 83357 
sort q time 4.629194 
seperate points time 11.455840 
mapping data assosiation time 19.396312 ms 
solver time 8.042270 ms 
data association time 13.297889 ms 
solver time 10.098520 ms 
filter time 15.064685 ms 
points size 80999 
sort q time 4.513821 
seperate points time 11.233886 
scan registration time 32.120745 ms *************
data association time 14.086618 ms 
solver time 10.631109 ms 
mapping data assosiation time 21.229712 ms 
mapping solver time 11.571306 ms 
mapping data assosiation time 20.704783 ms 
add points time 0.605757 ms
filter time 11.552706 ms 
data association time 12.482224 ms 
solver time 11.486817 ms 
build tree time 41.745497 ms 
solver time 9.424719 ms 
optimization twice time 52.291340 
mapping solver time 13.598069 ms 
sort q time 3.395988 
seperate points time 8.053135 
mapping solver time 8.748771 ms 
filter time 12.353721 ms 
solver time 15.761148 ms 
data association time 19.953347 ms 
build tree time 41.035550 ms 
publication time 7.668165 ms 
whole laserOdometry time 76.485940 ms 
 
sort q time 3.549572 
seperate points time 8.641419 
mapping data assosiation time 17.284729 ms 
mapping solver time 8.743654 ms 
filter time 11.358746 ms 
data association time 20.010283 ms 
solver time 11.590106 ms 
build tree time 36.817437 ms 
points size 74177 
mapping data assosiation time 20.943223 ms 
mapping solver time 15.608057 ms 
data association time 19.701109 ms 
solver time 15.674730 ms 
filter time 12.821923 ms 
solver time 11.762543 ms 
points size 73950 
sort q time 3.481261 
seperate points time 8.302675 
mapping data assosiation time 17.234893 ms 
mapping solver time 15.290103 ms 
data association time 12.853052 ms 
solver time 7.924984 ms 
filter time 11.227116 ms 
points size 73939 
sort q time 4.165585 
seperate points time 10.200013 
build tree time 41.729840 ms 
solver time 12.085138 ms 
mapping solver time 13.213432 ms 
publication time 6.539069 ms 
whole laserOdometry time 56.414324 ms 
 
mapping solver time 12.720020 ms 
filter time 12.376622 ms 
data association time 12.146262 ms 
solver time 12.197035 ms 
data association time 13.508902 ms 
solver time 8.789808 ms 
points size 73813 
sort q time 4.135778 
seperate points time 10.369775 
data association time 13.570336 ms 
solver time 12.020977 ms 
data association time 12.864992 ms 
publication time 5.759296 ms 
whole laserOdometry time 53.899741 ms 
 
mapping solver time 14.005719 ms 
prepare time 14.069304 
mapping data assosiation time 17.911274 ms 
mapping solver time 11.638685 ms 
mapping optimization time 105.412777 
add points time 0.592699 ms
filter time 13.214430 ms 
solver time 8.859087 ms 
data association time 12.706891 ms 
solver time 7.889393 ms 
build tree time 38.955553 ms 
mapping data assosiation time 16.690667 ms 
mapping solver time 12.697242 ms 
sort q time 3.499565 
seperate points time 8.579284 
mapping data assosiation time 19.034104 ms 
mapping solver time 11.487377 ms 
map prepare time 2.836794 ms
map corner num 148755  surf num 47649 
solver time 9.927626 ms 
build tree time 45.476731 ms 
sort q time 3.285367 
seperate points time 8.159117 
mapping solver time 10.873124 ms 
solver time 10.573666 ms 
mapping solver time 8.312339 ms 
solver time 8.325736 ms 
points size 72651 
sort q time 4.005373 
seperate points time 10.015090 
mapping data assosiation time 18.504616 ms 
data association time 16.852089 ms 
solver time 10.105851 ms 
data association time 14.506518 ms 
mapping solver time 8.590338 ms 
mapping optimization time 97.167273 
add points time 0.449417 ms
solver time 8.280361 ms 
filter time 12.714510 ms 
points size 72905 
sort q time 4.241431 
seperate points time 10.494685 
mapping data assosiation time 17.068917 ms 
solver time 8.095239 ms 
data association time 12.546235 ms 
publication time 5.668988 ms 
whole laserOdometry time 45.390586 ms 
 
filter time 11.661526 ms 
points size 74482 
scan registration time 25.042049 ms *************
build tree time 40.999852 ms 
data association time 19.014089 ms 
mapping data assosiation time 18.166076 ms 
solver time 15.309310 ms 
data association time 19.056833 ms 
solver time 11.523062 ms 
points size 77072 
prepare time 12.684909 
filter time 15.562118 ms 
mapping pub time 0.837622 ms 
whole mapping time 123.679351 ms +++++
sort q time 4.046743 
seperate points time 9.597906 
data association time 19.662537 ms 
solver time 15.314493 ms 
data association time 16.303676 ms 
mapping solver time 13.088185 ms 
publication time 6.491810 ms 
whole laserOdometry time 66.388614 ms 
 
mapping data assosiation time 19.025338 ms 
mapping solver time 11.023198 ms 
filter time 14.488178 ms 
solver time 8.278935 ms 
data association time 12.890783 ms 
build tree time 40.978179 ms 
mapping data assosiation time 18.707774 ms 
points size 75903 
sort q time 4.070231 
seperate points time 9.768810 
mapping solver time 10.470380 ms 
solver time 8.750279 ms 
filter time 11.462416 ms 
mapping pub time 0.926236 ms 
whole mapping time 119.371198 ms +++++
map prepare time 3.493335 ms
map corner num 150817  surf num 48406 
solver time 8.051085 ms 
optimization twice time 43.737546 
build tree time 38.579084 ms 
points size 75274 
sort q time 3.634937 
seperate points time 8.831864 
data association time 12.513718 ms 
solver time 11.641446 ms 
data association time 12.562004 ms 
map prepare time 3.490551 ms
map corner num 151149  surf num 48501 
build tree time 38.514209 ms 
sort q time 3.354343 
seperate points time 8.094482 
data association time 12.890050 ms 
solver time 11.162629 ms 
mapping data assosiation time 19.062980 ms 
solver time 8.239384 ms 
optimization twice time 46.326243 
filter time 14.021798 ms 
points size 76293 
sort q time 3.966438 
seperate points time 9.829446 
build tree time 40.927349 ms 
data association time 14.304360 ms 
solver time 10.792297 ms 
data association time 18.238471 ms 
build tree time 40.714903 ms 
data association time 14.621751 ms 
publication time 5.814231 ms 
whole laserOdometry time 60.558084 ms 
 
mapping data assosiation time 18.533707 ms 
mapping solver time 13.173900 ms 
mapping optimization time 108.377051 
add points time 0.530001 ms
sort q time 4.303674 
seperate points time 10.508591 
scan registration time 27.661729 ms *************
filter time 14.750822 ms 
data association time 15.599329 ms 
solver time 10.490913 ms 
build tree time 39.424800 ms 
solver time 7.648514 ms 
optimization twice time 49.874120 
mapping data assosiation time 20.651611 ms 
points size 76414 
sort q time 4.056348 
seperate points time 9.665557 
mapping data assosiation time 21.149605 ms 
data association time 20.074371 ms 
solver time 15.753045 ms 
filter time 15.373749 ms 
mapping pub time 0.920722 ms 
whole mapping time 136.356167 ms +++++
data association time 20.321734 ms 
solver time 11.713048 ms 
publication time 8.148165 ms 
whole laserOdometry time 77.050645 ms 
 
sort q time 3.323377 
seperate points time 8.334059 
mapping data assosiation time 19.929597 ms 
mapping solver time 14.177991 ms 
solver time 11.362999 ms 
data association time 13.630507 ms 
publication time 6.060002 ms 
whole laserOdometry time 54.443515 ms 
 
map prepare time 3.798371 ms
map corner num 152908  surf num 49103 
points size 78609 
sort q time 4.253532 
seperate points time 9.960398 
build tree time 43.612614 ms 
data association time 12.980440 ms 
mapping data assosiation time 20.392236 ms 
mapping solver time 12.322147 ms 
data association time 13.183627 ms 
optimization twice time 44.760720 
mapping data assosiation time 20.572986 ms 
mapping solver time 9.491821 ms 
filter time 12.872551 ms 
sort q time 4.376319 
seperate points time 10.306528 
scan registration time 26.940769 ms *************
data association time 13.314331 ms 
build tree time 41.928459 ms 
data association time 14.140244 ms 
solver time 8.227078 ms 
points size 83264 
mapping solver time 11.469210 ms 
filter time 16.438124 ms 
mapping pub time 0.978795 ms 
whole mapping time 131.573301 ms +++++
solver time 8.131478 ms 
data association time 12.640726 ms 
publication time 6.512985 ms 
whole laserOdometry time 49.725709 ms 
 
build tree time 45.892596 ms 
points size 84444 
sort q time 3.970182 
seperate points time 9.317056 
data association time 12.381689 ms 
data association time 12.209775 ms 
solver time 8.614433 ms 
filter time 13.587298 ms 
mapping pub time 0.936336 ms 
whole mapping time 139.385997 ms +++++
publication time 8.301480 ms 
whole laserOdometry time 50.683464 ms 
 
points size 85478 
build tree time 40.388687 ms 
mapping data assosiation time 20.145334 ms 
mapping solver time 14.160020 ms 
data association time 12.911475 ms 
publication time 8.169571 ms 
whole laserOdometry time 50.814897 ms 
 
filter time 15.558508 ms 
points size 86365 
sort q time 4.420580 
seperate points time 10.594422 
data association time 13.570806 ms 
build tree time 43.835000 ms 
solver time 14.896999 ms 
solver time 5.723916 ms 
mapping data assosiation time 24.334081 ms 
add points time 0.729304 ms
scan registration time 30.524427 ms *************
map prepare time 4.053048 ms
map corner num 155137  surf num 49872 
data association time 21.114223 ms 
solver time 11.234773 ms 
data association time 20.360141 ms 
solver time 12.133704 ms 
publication time 10.653602 ms 
whole laserOdometry time 76.757909 ms 
 
sort q time 4.124947 
seperate points time 9.834281 
mapping data assosiation time 25.773138 ms 
solver time 12.441358 ms 
filter time 15.472982 ms 
solver time 9.912774 ms 
points size 90481 
sort q time 4.358024 
seperate points time 10.437398 
data association time 26.573579 ms 
solver time 14.593059 ms 
data association time 22.862280 ms 
solver time 7.508818 ms 
map prepare time 5.319084 ms
map corner num 155714  surf num 50108 
sort q time 4.857547 
seperate points time 11.638467 
scan registration time 33.848749 ms *************
build tree time 42.942944 ms 
solver time 12.595301 ms 
data association time 14.771449 ms 
solver time 9.293163 ms 
publication time 10.097905 ms 
whole laserOdometry time 62.551721 ms 
 
mapping data assosiation time 24.913153 ms 
scan registration time 32.483620 ms *************
mapping solver time 12.754357 ms 
map prepare time 3.943607 ms
map corner num 156234  surf num 50270 
data association time 15.149839 ms 
build tree time 41.066565 ms 
points size 95272 
sort q time 5.024163 
seperate points time 11.990661 
[0m[ INFO] [1718802462.347453616]: Received 1539638 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802462.347491100]: Data saved to 1317358008986938.pcd[0m
data association time 17.552711 ms 
solver time 11.599286 ms 
mapping solver time 12.376859 ms 
mapping optimization time 126.756034 
add points time 0.668581 ms
mapping pub time 1.329889 ms 
whole mapping time 147.401934 ms +++++
publication time 10.694790 ms 
whole laserOdometry time 64.924624 ms 
 
prepare time 17.711096 
sort q time 5.387210 
seperate points time 12.968188 
mapping data assosiation time 24.002969 ms 
data association time 15.171900 ms 
mapping solver time 16.582476 ms 
data association time 15.459269 ms 
solver time 7.858599 ms 
mapping data assosiation time 23.743068 ms 
mapping solver time 15.247665 ms 
filter time 14.958993 ms 
data association time 15.341821 ms 
solver time 10.892564 ms 
data association time 16.246763 ms 
solver time 6.031437 ms 
optimization twice time 49.248596 
publication time 13.715294 ms 
whole laserOdometry time 62.981882 ms 
 
mapping solver time 17.737859 ms 
points size 98881 
prepare time 17.492401 
sort q time 5.455205 
seperate points time 12.639505 
scan registration time 34.874539 ms *************
mapping data assosiation time 25.495071 ms 
mapping solver time 11.563009 ms 
data association time 16.702540 ms 
map prepare time 3.310417 ms
map corner num 158151  surf num 50990 
data association time 16.738138 ms 
solver time 10.190553 ms 
publication time 10.936613 ms 
whole laserOdometry time 66.200949 ms 
 
points size 100788 
mapping data assosiation time 25.292535 ms 
mapping solver time 20.398262 ms 
mapping data assosiation time 32.850430 ms mapping solver time 24.953990 ms 
points size 101686 
mapping pub time 4.544589 ms 
whole mapping time 189.993222 ms +++++
publication time 19.547594 ms 
whole laserOdometry time 131.138671 ms 
 
[33m[ WARN] [1718802462.895374949]: odometry process over 100ms[0m
scan registration time 92.985531 ms *************
build tree time 69.213896 ms 
data association time 52.723673 ms 
sort q time 5.255861 
seperate points time 21.938265 
solver time 26.786775 ms mapping solver time 20.718195 ms 
data association time 28.437959 ms 
publication time 10.370780 ms 
whole laserOdometry time 140.848754 ms 
 
mapping solver time 15.100806 ms 
filter time 14.701012 ms 
sort q time 7.263171 
seperate points time 38.793354 
build tree time 46.205560 ms 
solver time 9.361373 ms 
publication time 12.987589 ms 
whole laserOdometry time 98.359193 ms 
 
mapping solver time 17.332549 ms 
data association time 23.772884 ms 
solver time 10.351772 ms 
mapping solver time 11.609159 ms 
solver time 8.540797 ms 
map prepare time 4.971505 ms
map corner num 160069  surf num 51657 
points size 102499 
data association time 27.357633 ms 
build tree time 45.368593 ms 
data association time 16.947606 ms 
solver time 10.590296 ms 
publication time 11.990444 ms 
whole laserOdometry time 83.039500 ms 
 
data association time 25.735851 ms 
points size 102757 
solver time 15.605295 ms 
scan registration time 40.841983 ms *************
data association time 21.121438 ms 
filter time 16.420776 ms 
data association time 17.864190 ms 
solver time 11.692956 ms 
build tree time 46.875511 ms 
solver time 12.185536 ms 
sort q time 6.129952 
seperate points time 14.805141 
mapping solver time 21.922802 ms 
data association time 16.937998 ms 
solver time 11.204412 ms 
data association time 16.963209 ms 
solver time 10.418513 ms 
publication time 12.100499 ms 
whole laserOdometry time 68.575502 ms 
 
filter time 16.764197 ms 
data association time 16.654707 ms 
solver time 10.681419 ms 
build tree time 39.860642 ms 
data association time 16.439069 ms 
solver time 7.714013 ms 
publication time 11.572815 ms 
whole laserOdometry time 63.834796 ms 
 
points size 102942 
mapping solver time 21.229769 ms 
mapping data assosiation time 27.546291 ms 
data association time 15.308382 ms 
mapping solver time 16.552620 ms 
data association time 15.989346 ms 
mapping pub time 3.269706 ms 
whole mapping time 162.890047 ms +++++
solver time 9.029326 ms 
publication time 10.902350 ms 
whole laserOdometry time 60.292054 ms 
 
points size 103108 
prepare time 20.046950 
sort q time 6.225137 
seperate points time 15.002558 
build tree time 55.855600 ms 
data association time 25.801648 ms 
mapping data assosiation time 34.743809 ms 
solver time 17.702994 ms 
data association time 24.033660 ms 
solver time 12.726244 ms sort q time 6.245035 
seperate points time 15.007603 
mapping solver time 16.316019 ms 
filter time 13.957835 ms 
data association time 15.442546 ms 
publication time 9.641715 ms 
whole laserOdometry time 61.630395 ms 
 
build tree time 51.727088 ms 
mapping data assosiation time 33.142088 ms 
data association time 25.615370 ms 
mapping solver time 23.833933 ms 
points size 103184 
mapping data assosiation time 35.471599 ms 
scan registration time 34.705807 ms *************
mapping optimization time 165.641393 
add points time 1.036335 ms
filter time 16.903839 ms 
mapping pub time 1.765381 ms 
whole mapping time 190.324184 ms +++++
drop lidar frame in mapping for real time performance 
data association time 23.816360 ms 
solver time 14.690364 ms 
data association time 18.880487 ms 
points size 103290 
sort q time 5.761339 
seperate points time 13.601572 
mapping data assosiation time 32.539218 ms 
data association time 24.303929 ms 
solver time 16.535509 ms 
mapping data assosiation time 34.886066 ms 
prepare time 15.642464 
solver time 12.242073 ms 
mapping solver time 18.129056 ms 
optimization twice time 80.397953 
mapping optimization time 159.020105 
add points time 0.834737 ms
filter time 16.541548 ms 
solver time 14.553309 ms 
build tree time 55.527746 ms 
solver time 8.572759 ms 
mapping data assosiation time 31.015928 ms 
mapping solver time 19.665425 ms 
data association time 29.477372 ms 
mapping data assosiation time 35.304615 ms 
mapping solver time 15.727737 ms 
points size 103868 
publication time 9.483339 ms 
whole laserOdometry time 84.481867 ms 
 
scan registration time 35.101411 ms *************
data association time 26.175545 ms 
solver time 16.882728 ms 
mapping data assosiation time 34.849298 ms 
data association time 28.981501 ms 
points size 104017 
solver time 12.293767 ms 
sort q time 6.682803 
seperate points time 15.279154 
mapping data assosiation time 32.925642 ms 
data association time 24.793301 ms 
solver time 13.481186 ms 
filter time 13.223618 ms 
map prepare time 3.967087 ms
map corner num 165220  surf num 53853 
sort q time 5.713430 
seperate points time 13.373805 
build tree time 46.861593 ms 
data association time 15.078673 ms 
solver time 10.569759 ms 
mapping data assosiation time 28.385140 ms 
data association time 15.919213 ms 
mapping solver time 21.475062 ms 
points size 104100 
mapping data assosiation time 31.962711 ms 
sort q time 6.419983 
seperate points time 15.590724 
filter time 12.578136 ms 
data association time 15.307767 ms 
solver time 12.779989 ms 
data association time 17.306951 ms 
solver time 10.757595 ms 
prepare time 20.588721 
mapping data assosiation time 32.678758 ms 
scan registration time 41.946856 ms *************
mapping solver time 25.334912 ms 
solver time 10.106515 ms 
mapping data assosiation time 31.313833 ms 
optimization twice time 48.783364 
mapping solver time 20.123722 ms 
points size 103793 
map prepare time 3.976435 ms
map corner num 166223  surf num 54234 
data association time 16.706662 ms 
solver time 10.647551 ms 
data association time 16.402510 ms 
optimization twice time 53.020722 
publication time 10.128661 ms 
whole laserOdometry time 63.166928 ms 
 
points size 103792 
mapping solver time 21.845211 ms 
sort q time 6.369132 
seperate points time 15.274229 
mapping data assosiation time 28.923357 ms 
data association time 16.529565 ms 
solver time 11.051176 ms 
mapping pub time 1.336545 ms 
whole mapping time 163.624166 ms +++++
data association time 19.561417 ms 
solver time 8.361593 ms 
publication time 11.389998 ms 
whole laserOdometry time 67.846364 ms 
 
prepare time 20.383361 
build tree time 45.599126 ms 
scan registration time 41.099101 ms *************
mapping data assosiation time 28.562258 ms 
mapping solver time 17.365819 ms 
data association time 17.026362 ms 
solver time 13.804746 ms 
mapping solver time 14.368028 ms 
filter time 14.407797 ms 
data association time 14.340429 ms 
solver time 13.673714 ms 
data association time 18.419515 ms 
points size 103768 
sort q time 5.707316 
seperate points time 13.198949 
data association time 15.562669 ms 
mapping solver time 11.754258 ms 
solver time 9.034602 ms 
optimization twice time 51.908446 
filter time 16.833547 ms 
points size 103790 
sort q time 5.569255 
seperate points time 13.163692 
data association time 16.683770 ms 
solver time 11.271749 ms 
data association time 17.228294 ms 
solver time 8.243764 ms 
publication time 12.817063 ms 
whole laserOdometry time 67.100159 ms 
 
drop lidar frame in mapping for real time performance 
points size 103739 
sort q time 6.316562 
seperate points time 14.512532 
build tree time 47.429273 ms 
data association time 15.882976 ms 
solver time 10.943344 ms 
mapping data assosiation time 29.211772 ms 
data association time 16.971721 ms 
points size 103671 
sort q time 5.697672 
seperate points time 13.208845 
mapping solver time 17.767432 ms 
data association time 16.564365 ms 
filter time 15.167883 ms 
data association time 18.601177 ms 
publication time 10.703632 ms 
whole laserOdometry time 67.956613 ms 
 
build tree time 49.008828 ms 
sort q time 6.041976 
seperate points time 13.923725 
data association time 16.428438 ms 
solver time 13.030451 ms 
data association time 22.105274 ms 
mapping data assosiation time 36.870152 ms 
publication time 9.476062 ms 
whole laserOdometry time 72.441252 ms 
 
sort q time 6.065528 
seperate points time 14.258128 
filter time 19.011373 ms 
solver time 10.423211 ms 
data association time 16.838913 ms 
solver time 8.663295 ms 
publication time 10.565631 ms 
whole laserOdometry time 68.096116 ms 
 
points size 104017 
mapping data assosiation time 29.591341 ms 
scan registration time 40.088006 ms *************
mapping solver time 22.076071 ms 
data association time 17.393916 ms 
solver time 11.544373 ms 
data association time 16.739339 ms 
solver time 9.219346 ms 
publication time 11.141769 ms 
whole laserOdometry time 66.863350 ms 
 
points size 104062 
sort q time 6.286615 
seperate points time 14.971377 
build tree time 43.839001 ms 
solver time 10.909360 ms 
data association time 16.512401 ms 
solver time 8.414020 ms 
publication time 10.156673 ms 
whole laserOdometry time 63.800545 ms 
 
prepare time 19.503828 
sort q time 6.102302 
seperate points time 14.681466 
scan registration time 40.268619 ms *************
data association time 16.881240 ms 
solver time 11.960870 ms 
mapping pub time 1.372810 ms 
whole mapping time 165.838188 ms +++++
solver time 7.625247 ms 
publication time 9.996358 ms 
whole laserOdometry time 65.731793 ms 
 
points size 104102 
build tree time 47.122496 ms 
sort q time 6.086112 
seperate points time 14.554888 
mapping data assosiation time 30.723776 ms 
data association time 16.923987 ms 
mapping solver time 21.608129 ms 
solver time 8.393777 ms 
publication time 12.352261 ms 
whole laserOdometry time 65.484752 ms 
 
sort q time 4.704540 
seperate points time 11.191293 
filter time 13.584113 ms 
map prepare time 3.552346 ms
map corner num 170555  surf num 55618 
solver time 10.912872 ms 
data association time 17.204279 ms 
build tree time 45.321467 ms 
prepare time 16.176573 
mapping data assosiation time 29.710443 ms 
scan registration time 36.566766 ms *************
mapping solver time 24.994726 ms 
data association time 17.307458 ms 
solver time 10.998029 ms 
data association time 16.817198 ms 
mapping solver time 19.343675 ms 
points size 104181 
sort q time 4.891233 
seperate points time 11.725529 
data association time 16.412137 ms 
solver time 13.365108 ms 
data association time 16.486467 ms 
solver time 12.851437 ms 
points size 103935 
sort q time 5.267102 
seperate points time 12.194778 
mapping data assosiation time 32.683690 ms 
mapping solver time 17.873468 ms 
solver time 12.070265 ms 
filter time 13.193831 ms 
mapping pub time 1.537195 ms 
whole mapping time 164.675169 ms +++++
data association time 16.504237 ms 
solver time 10.710852 ms 
publication time 9.974101 ms 
whole laserOdometry time 66.746812 ms 
 
prepare time 19.963721 
sort q time 6.174774 
seperate points time 14.772399 
mapping data assosiation time 30.945405 ms 
data association time 17.944657 ms 
mapping solver time 20.908760 ms 
data association time 17.865875 ms 
points size 103880 
publication time 9.629235 ms 
whole laserOdometry time 78.937382 ms 
 sort q time 6.137214 
seperate points time 14.943500 
filter time 19.122435 ms 
data association time 16.533680 ms 
solver time 10.824076 ms 
data association time 19.490379 ms 
solver time 13.701005 ms 
prepare time 20.051059 
sort q time 6.380511 
seperate points time 15.154620 
mapping solver time 21.642469 ms 
data association time 19.506803 ms 
mapping data assosiation time 28.648307 ms 
mapping solver time 16.189884 ms 
solver time 10.293473 ms 
optimization twice time 66.841977 
filter time 18.302151 ms 
mapping pub time 1.738163 ms 
whole mapping time 170.977959 ms +++++
points size 104066 
sort q time 6.161314 
seperate points time 15.176613 
data association time 18.286164 ms 
build tree time 53.613769 ms 
data association time 16.942969 ms 
mapping data assosiation time 29.320847 ms 
points size 103937 
mapping solver time 21.549345 ms 
sort q time 6.623944 
seperate points time 15.290643 
data association time 20.385719 ms 
mapping optimization time 159.812787 
filter time 16.210490 ms 
solver time 7.641543 ms 
points size 103878 
sort q time 6.052069 
seperate points time 14.656090 
build tree time 54.784816 ms 
data association time 17.229537 ms 
solver time 11.088719 ms 
mapping data assosiation time 29.243720 ms 
data association time 16.721624 ms 
solver time 8.655954 ms 
publication time 10.652752 ms 
whole laserOdometry time 65.263490 ms 
 
prepare time 22.534429 
mapping data assosiation time 37.137099 ms 
scan registration time 45.016131 ms *************
data association time 16.385323 ms 
solver time 12.989049 ms 
data association time 19.927183 ms 
solver time 12.807657 ms 
publication time 10.589925 ms 
whole laserOdometry time 73.608762 ms 
 
sort q time 5.761603 
seperate points time 13.346943 
mapping data assosiation time 29.872242 ms 
data association time 16.166714 ms 
solver time 12.766108 ms 
data association time 16.621742 ms 
solver time 11.759419 ms 
mapping solver time 20.599291 ms 
filter time 16.132762 ms 
scan registration time 40.871300 ms *************
data association time 15.840031 ms 
solver time 15.039115 ms 
data association time 16.581645 ms 
mapping data assosiation time 27.231204 ms 
publication time 9.473139 ms 
whole laserOdometry time 69.720762 ms 
 
sort q time 5.853840 
seperate points time 13.450011 
mapping data assosiation time 27.362362 ms 
mapping solver time 12.430380 ms 
filter time 14.903043 ms 
solver time 11.019948 ms 
prepare time 16.379535 
build tree time 45.546641 ms 
data association time 14.630615 ms 
mapping data assosiation time 28.204495 ms 
mapping solver time 18.421187 ms 
solver time 12.018237 ms 
publication time 12.416692 ms 
whole laserOdometry time 69.371056 ms 
 
points size 102602 
sort q time 6.208090 
seperate points time 15.198730 
map prepare time 6.066624 ms
map corner num 175516  surf num 57089 
data association time 27.506469 ms 
solver time 18.038614 ms 
build tree time 58.671234 ms 
data association time 28.084684 ms 
scan registration time 31.461032 ms *************
mapping data assosiation time 34.274029 ms 
mapping solver time 25.991024 ms 
data association time 27.838973 ms 
mapping data assosiation time 33.285269 ms 
points size 102662 
prepare time 15.706319 
sort q time 7.027911 
seperate points time 16.709373 
mapping pub time 4.005101 ms 
whole mapping time 208.531557 ms +++++
data association time 25.959287 ms 
solver time 14.703674 ms 
build tree time 59.013605 ms 
points size 102568 
prepare time 17.334802 
solver time 13.320687 ms 
sort q time 6.227445 
seperate points time 16.076134 
optimization twice time 82.840566 
data association time 26.768913 ms 
solver time 17.379586 ms 
mapping data assosiation time 33.440394 ms 
points size 102235 
mapping solver time 24.877218 ms 
build tree time 58.846559 ms 
prepare time 16.138954 
publication time 12.416439 ms 
whole laserOdometry time 87.199157 ms 
 
mapping data assosiation time 33.750757 ms 
data association time 23.199848 ms 
solver time 16.843768 ms 
mapping data assosiation time 33.237223 ms 
points size 101855 
publication time 11.024651 ms 
whole laserOdometry time 90.221230 ms 
 
filter time 19.059737 ms 
data association time 23.134811 ms 
solver time 14.874244 ms 
data association time 22.922743 ms 
solver time 12.169093 ms 
publication time 12.403560 ms 
whole laserOdometry time 86.608844 ms 
 
scan registration time 33.106318 ms *************
mapping solver time 18.813312 ms 
solver time 10.177886 ms 
mapping data assosiation time 28.000027 ms 
solver time 9.807425 ms 
publication time 10.969412 ms 
whole laserOdometry time 62.455535 ms 
 
filter time 15.874665 ms 
sort q time 5.800864 
seperate points time 13.718741 
scan registration time 33.808564 ms *************
data association time 14.646288 ms 
solver time 13.486713 ms 
mapping data assosiation time 26.437870 ms 
mapping solver time 13.531994 ms 
publication time 10.004578 ms 
whole laserOdometry time 67.024790 ms 
 
points size 98601 
mapping data assosiation time 30.127349 ms 
sort q time 5.664388 
seperate points time 13.786203 
data association time 13.784366 ms 
solver time 11.922756 ms 
data association time 14.621854 ms 
solver time 8.675935 ms 
optimization twice time 49.873058 
points size 97099 
sort q time 5.219101 
seperate points time 12.052608 
mapping solver time 16.105996 ms 
data association time 14.404456 ms 
solver time 12.341881 ms 
mapping data assosiation time 27.484500 ms 
data association time 14.257058 ms 
solver time 9.069155 ms 
filter time 16.213521 ms 
points size 95880 
sort q time 5.747403 
seperate points time 13.441008 
data association time 13.704254 ms 
solver time 13.546936 ms 
data association time 14.437948 ms 
publication time 9.765781 ms 
whole laserOdometry time 60.747532 ms 
 
map prepare time 4.175615 ms
map corner num 156823  surf num 52777 
sort q time 5.483260 
seperate points time 12.726968 
build tree time 49.055326 ms 
solver time 17.311965 ms 
mapping data assosiation time 31.491591 ms 
data association time 23.529739 ms 
mapping solver time 19.197883 ms 
solver time 17.041430 ms 
publication time 12.308103 ms 
whole laserOdometry time 93.067611 ms 
 
scan registration time 32.679791 ms *************
mapping solver time 18.780337 ms 
filter time 12.818060 ms 
data association time 14.330111 ms 
publication time 8.485418 ms 
whole laserOdometry time 66.865532 ms 
 
build tree time 42.283447 ms 
scan registration time 30.524095 ms *************
mapping data assosiation time 26.727876 ms 
mapping solver time 16.411249 ms 
data association time 14.756445 ms 
publication time 8.073883 ms 
whole laserOdometry time 59.399513 ms 
 
points size 90777 
filter time 19.065284 ms 
data association time 13.691216 ms 
solver time 11.446481 ms 
build tree time 41.856044 ms 
solver time 7.698190 ms 
mapping data assosiation time 25.610893 ms 
mapping solver time 15.697022 ms 
sort q time 4.882856 
seperate points time 11.599615 
mapping solver time 12.355878 ms 
filter time 15.931512 ms 
data association time 15.539926 ms 
solver time 8.398632 ms 
optimization twice time 51.418352 
build tree time 40.565453 ms 
points size 87505 
sort q time 4.995606 
seperate points time 12.266137 
mapping solver time 16.222247 ms 
solver time 10.896390 ms 
mapping data assosiation time 25.406179 ms 
solver time 8.024042 ms 
optimization twice time 51.565392 
mapping solver time 15.123948 ms 
mapping optimization time 122.662665 
add points time 0.903619 ms
filter time 13.860497 ms 
points size 86476 
prepare time 17.470004 
sort q time 4.948545 
seperate points time 12.318389 
build tree time 45.604706 ms 
solver time 10.757985 ms 
mapping solver time 11.389824 ms 
solver time 10.133382 ms 
points size 87378 
mapping data assosiation time 24.638711 ms 
prepare time 13.430324 
add points time 0.922626 ms
filter time 16.113287 ms 
data association time 17.319076 ms 
solver time 13.877311 ms 
data association time 16.237194 ms 
solver time 7.638575 ms 
publication time 9.867616 ms 
whole laserOdometry time 65.856815 ms 
 
build tree time 66.186961 ms 
scan registration time 34.939162 ms *************
data association time 16.398887 ms 
solver time 14.628642 ms 
data association time 15.817136 ms 
solver time 10.585313 ms 
mapping solver time 15.803866 ms 
sort q time 4.328794 
seperate points time 10.322893 
filter time 21.793714 ms 
data association time 13.406401 ms 
solver time 11.293542 ms 
data association time 13.831807 ms 
publication time 7.953838 ms 
whole laserOdometry time 55.896680 ms 
 
points size 90590 
sort q time 5.235449 
seperate points time 12.569803 
mapping solver time 15.942204 ms 
data association time 17.180202 ms 
solver time 13.170533 ms 
data association time 18.245386 ms 
solver time 11.124518 ms 
publication time 8.896018 ms 
whole laserOdometry time 69.623331 ms 
 
prepare time 17.866201 
sort q time 5.289817 
seperate points time 13.025525 
scan registration time 36.093635 ms *************
data association time 14.983626 ms 
solver time 10.823673 ms 
build tree time 72.362897 ms 
data association time 14.262712 ms 
solver time 10.338802 ms 
publication time 10.912456 ms 
whole laserOdometry time 62.255369 ms 
 
points size 93710 
sort q time 6.200982 
seperate points time 14.892092 
mapping data assosiation time 30.760884 ms 
mapping solver time 15.767962 ms 
filter time 21.621460 ms 
data association time 18.260951 ms 
optimization twice time 70.062940 
sort q time 5.551652 
seperate points time 13.239811 
data association time 13.539025 ms 
solver time 14.689589 ms 
data association time 14.328066 ms 
solver time 10.815088 ms 
mapping solver time 19.328793 ms 
sort q time 4.848942 
seperate points time 11.581725 
mapping solver time 13.326422 ms 
solver time 10.384178 ms 
drop lidar frame in mapping for real time performance 
solver time 7.658877 ms 
points size 94858 
sort q time 5.103157 
seperate points time 12.413017 
data association time 13.505430 ms 
solver time 13.729226 ms 
data association time 14.712095 ms 
publication time 8.611314 ms 
whole laserOdometry time 59.405452 ms 
 
points size 92542 
sort q time 4.647671 
seperate points time 11.496538 
filter time 24.177698 ms 
solver time 13.229451 ms 
data association time 14.837510 ms 
publication time 9.281368 ms 
whole laserOdometry time 62.147666 ms 
 
points size 92016 
sort q time 4.686083 
seperate points time 11.619362 
mapping data assosiation time 23.161100 ms 
data association time 13.861387 ms 
solver time 12.897687 ms 
mapping data assosiation time 25.088171 ms 
solver time 7.762467 ms 
optimization twice time 52.724704 
mapping solver time 13.097580 ms 
mapping optimization time 145.381955 
add points time 0.798027 ms
points size 92400 
filter time 25.491869 ms 
prepare time 18.058354 
mapping pub time 1.796584 ms 
whole mapping time 178.374120 ms +++++
drop lidar frame in mapping for real time performance 
sort q time 5.261946 
seperate points time 13.692581 
data association time 14.969989 ms 
data association time 14.808045 ms 
publication time 9.398262 ms 
whole laserOdometry time 61.277929 ms 
 
mapping data assosiation time 27.309669 ms 
prepare time 20.403909 
sort q time 5.406221 
seperate points time 13.374370 
mapping solver time 22.012752 ms 
mapping data assosiation time 23.840479 ms 
mapping solver time 14.994336 ms 
data association time 16.618891 ms 
solver time 10.981304 ms 
prepare time 19.156474 
sort q time 5.560278 
seperate points time 13.789952 
data association time 14.835101 ms 
build tree time 73.257234 ms 
solver time 7.833488 ms 
mapping data assosiation time 28.297478 ms 
points size 95065 
sort q time 5.483291 
seperate points time 13.981480 
data association time 14.492923 ms 
mapping solver time 11.675970 ms 
mapping optimization time 158.581008 
add points time 0.825111 ms
filter time 19.916319 ms 
solver time 11.476211 ms 
publication time 11.761227 ms 
whole laserOdometry time 65.922641 ms 
 
points size 96183 
sort q time 5.600236 
seperate points time 13.815027 
build tree time 73.886109 ms 
solver time 11.956614 ms 
mapping solver time 11.065646 ms 
solver time 12.454868 ms 
publication time 9.009379 ms 
whole laserOdometry time 70.750312 ms 
 
prepare time 20.500955 
sort q time 5.692391 
seperate points time 14.045703 
filter time 22.211216 ms 
data association time 17.300632 ms 
solver time 12.170744 ms 
data association time 15.690141 ms 
solver time 9.462165 ms 
publication time 8.940137 ms 
whole laserOdometry time 64.419208 ms 
 
sort q time 6.603455 
seperate points time 16.151281 
mapping data assosiation time 29.062901 ms 
mapping solver time 13.280068 ms 
solver time 14.098299 ms 
data association time 18.072865 ms 
solver time 10.676222 ms 
points size 99761 
filter time 25.156963 ms 
mapping pub time 4.862183 ms 
whole mapping time 187.617125 ms +++++
drop lidar frame in mapping for real time performance 
data association time 14.603607 ms 
solver time 12.648685 ms 
data association time 14.259121 ms 
build tree time 62.276068 ms 
points size 99098 
sort q time 5.675796 
seperate points time 14.029363 
mapping data assosiation time 23.697255 ms 
mapping solver time 11.423360 ms 
data association time 13.846504 ms 
solver time 8.708101 ms 
publication time 9.740811 ms 
whole laserOdometry time 59.240105 ms 
 
points size 97771 
sort q time 5.696329 
seperate points time 13.870307 
data association time 14.250623 ms 
solver time 11.715242 ms 
mapping data assosiation time 23.803053 ms 
mapping solver time 14.331440 ms 
publication time 10.646514 ms 
whole laserOdometry time 64.957621 ms 
 
prepare time 18.632057 
sort q time 5.471808 
seperate points time 13.444549 
filter time 23.937073 ms 
solver time 15.533899 ms 
data association time 14.938129 ms 
optimization twice time 61.199481 
prepare time 18.977120 
sort q time 5.711028 
seperate points time 13.897062 
data association time 16.396488 ms 
mapping data assosiation time 29.147081 ms 
solver time 11.610705 ms 
data association time 14.471836 ms 
solver time 8.622535 ms 
mapping data assosiation time 23.519621 ms 
points size 95753 
mapping optimization time 149.436787 
add points time 0.879062 ms
prepare time 20.299681 
sort q time 5.537309 
seperate points time 13.688107 
map prepare time 5.047781 ms
map corner num 245237  surf num 82089 
data association time 16.636333 ms 
solver time 13.312492 ms 
data association time 17.350046 ms 
solver time 14.067681 ms 
points size 94856 
sort q time 5.569439 
seperate points time 13.510859 
mapping solver time 15.109039 ms 
solver time 10.908302 ms 
data association time 14.217577 ms 
add points time 0.843789 ms
points size 94595 
map prepare time 4.468658 ms
map corner num 245673  surf num 82183 
data association time 13.659190 ms 
solver time 10.537612 ms 
data association time 14.167479 ms 
solver time 8.636170 ms 
publication time 7.960275 ms 
whole laserOdometry time 55.813087 ms 
 
mapping data assosiation time 23.164109 ms 
points size 94699 
mapping solver time 13.682830 ms 
sort q time 5.060950 
seperate points time 12.073913 
scan registration time 31.523688 ms *************
mapping data assosiation time 23.672838 ms 
mapping solver time 11.310004 ms 
data association time 15.039715 ms 
filter time 22.816862 ms 
solver time 8.554662 ms 
optimization twice time 49.737268 
points size 94815 
sort q time 4.686873 
seperate points time 11.213681 
data association time 14.542992 ms 
solver time 11.775262 ms 
data association time 15.136564 ms 
mapping pub time 114.095616 ms 
whole mapping time 283.135313 ms +++++
points size 95072 
sort q time 5.674993 
seperate points time 13.590102 
data association time 13.751327 ms 
data association time 13.676764 ms 
publication time 10.092384 ms 
whole laserOdometry time 55.560499 ms 
 
points size 95261 
sort q time 6.354798 
seperate points time 15.525264 
mapping solver time 12.080989 ms 
data association time 14.494429 ms 
solver time 10.679657 ms 
data association time 14.552936 ms 
publication time 7.918550 ms 
whole laserOdometry time 56.558920 ms 
 
points size 95351 
sort q time 5.553730 
seperate points time 13.552416 
build tree time 75.062721 ms 
data association time 14.502505 ms 
mapping data assosiation time 23.702526 ms 
mapping solver time 11.456573 ms 
optimization twice time 54.567774 
points size 95571 
sort q time 5.583164 
seperate points time 13.846569 
filter time 24.291192 ms 
data association time 14.805916 ms 
solver time 13.371641 ms 
data association time 14.358217 ms 
optimization twice time 55.051713 
publication time 10.704999 ms 
whole laserOdometry time 65.783116 ms 
 
build tree time 69.374173 ms 
scan registration time 32.696626 ms *************
mapping data assosiation time 25.376826 ms 
data association time 14.920083 ms 
solver time 10.925111 ms 
data association time 14.930143 ms 
mapping solver time 11.899135 ms 
points size 96682 
map prepare time 3.861107 ms
map corner num 247223  surf num 82570 
scan registration time 30.172282 ms *************
data association time 18.301194 ms 
solver time 10.585167 ms 
data association time 15.833093 ms 
build tree time 65.351721 ms 
publication time 9.769854 ms 
whole laserOdometry time 66.480995 ms 
 
prepare time 16.697593 
mapping solver time 15.364968 ms 
data association time 15.942030 ms 
solver time 11.966998 ms 
data association time 19.234863 ms 
solver time 10.768517 ms 
points size 98105 
sort q time 5.864190 
seperate points time 13.420820 
scan registration time 32.655603 ms *************
data association time 17.305040 ms 
solver time 13.550195 ms 
mapping data assosiation time 25.302176 ms 
solver time 8.224954 ms 
points size 98743 
mapping data assosiation time 26.214546 ms 
mapping solver time 13.209305 ms 
data association time 16.412813 ms 
solver time 12.172275 ms 
data association time 16.064142 ms 
optimization twice time 54.467655 
points size 99540 
sort q time 5.397426 
seperate points time 12.551368 
data association time 15.033720 ms 
solver time 11.197452 ms 
mapping solver time 15.065112 ms 
solver time 8.049733 ms 
publication time 8.871816 ms 
whole laserOdometry time 59.092492 ms 
 
mapping solver time 12.296078 ms 
mapping optimization time 145.658130 
add points time 1.008741 ms
filter time 21.147838 ms 
map prepare time 4.465845 ms
map corner num 248627  surf num 82946 
data association time 15.855278 ms 
solver time 11.243122 ms 
data association time 18.692614 ms 
solver time 8.878068 ms 
points size 101226 
mapping data assosiation time 26.890910 ms 
scan registration time 34.307426 ms *************
data association time 16.253399 ms 
solver time 10.644072 ms 
data association time 16.194157 ms 
filter time 22.565492 ms 
prepare time 16.408334 
sort q time 5.813458 
seperate points time 13.975773 
data association time 15.782659 ms 
build tree time 67.821539 ms 
publication time 9.034709 ms 
whole laserOdometry time 55.977675 ms 
 
mapping data assosiation time 28.104154 ms 
prepare time 17.387885 
mapping data assosiation time 30.514703 ms 
data association time 19.763063 ms solver time 11.884074 ms 
data association time 19.080550 ms 
solver time 11.463127 ms 
prepare time 13.608159 
sort q time 5.743319 
seperate points time 14.194348 
data association time 15.128927 ms 
solver time 12.573911 ms 
data association time 18.169711 ms 
solver time 10.419457 ms 
publication time 10.286164 ms 
whole laserOdometry time 67.530801 ms 
 
points size 100755 
mapping data assosiation time 30.319723 ms 
mapping solver time 16.967916 ms 
data association time 25.573979 ms 
filter time 25.823100 ms 
data association time 26.122889 ms 
solver time 9.626589 ms 
publication time 10.412381 ms 
whole laserOdometry time 88.540158 ms 
 
scan registration time 43.727014 ms *************
build tree time 79.566050 ms 
data association time 17.520430 ms 
solver time 10.688251 ms 
mapping data assosiation time 27.599985 ms 
solver time 8.490091 ms 
publication time 10.324023 ms 
whole laserOdometry time 64.058008 ms 
 
points size 101162 
mapping data assosiation time 27.453707 ms 
sort q time 5.872137 
seperate points time 14.881298 
filter time 19.774049 ms 
map prepare time 4.131676 ms
map corner num 250291  surf num 83377 
data association time 15.976267 ms 
publication time 9.378388 ms 
whole laserOdometry time 63.376257 ms 
 
prepare time 19.456121 
build tree time 67.083823 ms 
mapping data assosiation time 32.193179 ms 
data association time 28.037515 ms 
mapping solver time 24.074792 ms 
points size 101320 
solver time 12.274479 ms 
mapping solver time 20.725866 ms 
filter time 26.238751 ms 
mapping pub time 1.808622 ms 
whole mapping time 214.230860 ms +++++
drop lidar frame in mapping for real time performance 
data association time 26.114421 ms 
solver time 15.084412 ms 
data association time 26.164643 ms 
prepare time 19.764851 
publication time 11.549156 ms 
whole laserOdometry time 91.203151 ms 
 
build tree time 87.690101 ms 
data association time 27.152434 ms 
solver time 17.180904 ms 
data association time 20.504119 ms 
points size 101901 
publication time 9.429695 ms 
whole laserOdometry time 83.846481 ms 
 
sort q time 6.064842 
seperate points time 15.401901 
mapping data assosiation time 32.394940 ms 
mapping solver time 14.025913 ms 
solver time 11.400448 ms 
map prepare time 4.113934 ms
map corner num 251269  surf num 83830 
solver time 11.638896 ms 
optimization twice time 65.046738 
points size 102107 
sort q time 5.348012 
seperate points time 13.503062 
build tree time 68.966149 ms 
solver time 11.206731 ms 
data association time 16.290010 ms 
publication time 10.266087 ms 
whole laserOdometry time 63.026923 ms 
 
prepare time 15.990017 
sort q time 5.633006 
seperate points time 13.457782 
mapping data assosiation time 30.284005 ms 
mapping solver time 14.480464 ms 
solver time 10.325341 ms 
map prepare time 4.362393 ms
map corner num 251825  surf num 84085 
solver time 8.773637 ms 
publication time 12.649531 ms 
whole laserOdometry time 68.968486 ms 
 
prepare time 18.643960 
sort q time 4.994349 
seperate points time 12.411131 
build tree time 71.771456 ms 
solver time 10.230222 ms 
mapping data assosiation time 34.013914 ms 
solver time 10.299541 ms 
publication time 12.003873 ms 
whole laserOdometry time 70.216629 ms 
 
points size 102781 
prepare time 20.613222 
mapping data assosiation time 31.813128 ms 
mapping solver time 15.708200 ms 
data association time 17.788587 ms 
solver time 13.430430 ms 
data association time 17.585825 ms 
solver time 12.286041 ms 
publication time 12.811421 ms 
whole laserOdometry time 74.915522 ms 
 
sort q time 5.437537 
seperate points time 13.419502 
build tree time 70.618322 ms 
solver time 11.461554 ms 
mapping data assosiation time 33.436376 ms 
solver time 9.755801 ms 
publication time 11.479325 ms 
whole laserOdometry time 64.778993 ms 
 
points size 102946 
sort q time 5.264904 
seperate points time 12.791452 
mapping solver time 14.428422 ms 
mapping optimization time 177.675643 
add points time 1.026559 ms
data association time 23.156947 ms 
filter time 21.837481 ms 
map prepare time 4.459411 ms
map corner num 252843  surf num 84526 
data association time 23.195492 ms 
points size 103106 
publication time 12.497095 ms 
whole laserOdometry time 86.891463 ms 
 
data association time 14.916131 ms 
solver time 11.051580 ms 
data association time 15.525353 ms 
solver time 10.059565 ms 
mapping solver time 19.651821 ms 
points size 103167 
mapping data assosiation time 30.500863 ms 
mapping solver time 14.836497 ms 
filter time 20.036252 ms 
solver time 14.890952 ms 
points size 103054 
solver time 11.226846 ms 
publication time 12.222697 ms 
whole laserOdometry time 93.425559 ms 
 
data association time 26.417444 ms 
solver time 14.761689 ms 
data association time 26.369914 ms 
mapping data assosiation time 31.459387 ms 
sort q time 6.628430 
seperate points time 14.990542 
filter time 23.598456 ms 
data association time 26.716708 ms 
solver time 14.843421 ms 
data association time 27.022494 ms 
points size 102994 
prepare time 15.644174 
optimization twice time 84.428966 
build tree time 71.875255 ms 
mapping data assosiation time 31.226448 ms 
data association time 27.159778 ms 
mapping solver time 19.858459 ms 
data association time 26.780907 ms 
solver time 11.488527 ms 
filter time 30.922042 ms 
mapping pub time 1.517059 ms 
whole mapping time 222.983809 ms +++++
data association time 24.473998 ms 
drop lidar frame in mapping for real time performance 
map prepare time 5.994438 ms
map corner num 254349  surf num 85138 
data association time 19.645146 ms 
publication time 9.370179 ms 
whole laserOdometry time 78.475920 ms 
 
sort q time 5.657410 
seperate points time 13.263027 
scan registration time 36.512272 ms *************
data association time 17.316892 ms 
solver time 11.205837 ms 
data association time 19.510590 ms 
mapping data assosiation time 31.408251 ms 
mapping solver time 19.312114 ms 
sort q time 5.633414 
seperate points time 12.869541 
mapping solver time 15.964512 ms 
solver time 12.258777 ms 
filter time 23.219035 ms 
data association time 18.724285 ms 
publication time 12.573374 ms 
whole laserOdometry time 71.098805 ms 
 
prepare time 17.786017 
sort q time 5.265195 
seperate points time 12.104672 
build tree time 71.148624 ms 
data association time 17.000109 ms 
solver time 11.307818 ms 
data association time 20.160524 ms 
solver time 10.978689 ms 
points size 102377 
mapping data assosiation time 31.649749 ms 
mapping solver time 18.585121 ms 
data association time 16.497324 ms 
data association time 16.359287 ms 
publication time 9.514530 ms 
whole laserOdometry time 64.102038 ms 
 
prepare time 21.936679 
sort q time 6.680521 
seperate points time 16.313500 
data association time 18.560005 ms 
solver time 10.743094 ms 
mapping pub time 125.951875 ms 
whole mapping time 323.255351 ms +++++
solver time 12.864449 ms 
publication time 12.411589 ms 
whole laserOdometry time 78.350851 ms 
 
sort q time 5.106051 
seperate points time 12.549449 
data association time 16.374545 ms 
solver time 10.990422 ms 
data association time 22.777503 ms 
mapping data assosiation time 34.502755 ms 
mapping solver time 20.540214 ms 
sort q time 5.019125 
seperate points time 11.988627 
scan registration time 33.837968 ms *************
data association time 17.064714 ms 
solver time 16.015269 ms 
data association time 16.405482 ms 
filter time 21.067469 ms 
publication time 12.441340 ms 
whole laserOdometry time 74.576653 ms 
 
prepare time 17.070870 
sort q time 4.837990 
seperate points time 11.310816 
data association time 15.306749 ms 
solver time 13.681343 ms 
data association time 17.905904 ms 
solver time 10.742555 ms 
publication time 11.305821 ms 
whole laserOdometry time 69.817974 ms 
 
prepare time 15.260408 
sort q time 5.324231 
seperate points time 12.357159 
scan registration time 32.275321 ms *************
mapping data assosiation time 29.633241 ms 
solver time 15.294965 ms 
data association time 19.589504 ms 
solver time 11.139738 ms 
publication time 11.828120 ms 
whole laserOdometry time 76.565858 ms 
 
prepare time 17.437017 
sort q time 5.865381 
seperate points time 13.352274 
data association time 25.619060 ms 
build tree time 76.571323 ms 
solver time 15.822484 ms 
data association time 28.853929 ms 
solver time 12.946640 ms 
publication time 11.065104 ms 
whole laserOdometry time 95.394674 ms 
 
sort q time 6.343772 
seperate points time 14.641035 
mapping data assosiation time 35.953793 ms 
data association time 28.787622 ms 
solver time 16.727226 ms 
add points time 1.174043 ms
data association time 25.670277 ms 
filter time 26.499030 ms 
map prepare time 5.346117 ms
map corner num 256738  surf num 86052 
data association time 18.837100 ms 
solver time 11.625220 ms 
data association time 16.129438 ms 
publication time 8.319071 ms 
whole laserOdometry time 64.870990 ms 
 
points size 94977 
prepare time 15.057628 
sort q time 5.220979 
seperate points time 12.185281 
mapping solver time 17.774010 ms 
data association time 16.903703 ms 
solver time 10.664598 ms 
mapping data assosiation time 29.985100 ms 
data association time 16.749557 ms 
solver time 8.358796 ms 
publication time 9.619422 ms 
whole laserOdometry time 63.068843 ms 
 
points size 93658 
sort q time 5.268297 
seperate points time 12.869039 
data association time 16.148538 ms 
solver time 12.127830 ms 
data association time 17.148927 ms 
build tree time 68.937633 ms 
publication time 9.341071 ms 
whole laserOdometry time 65.174561 ms 
 
points size 93199 
sort q time 6.063645 
seperate points time 13.966174 
scan registration time 38.848424 ms *************
mapping solver time 18.853852 ms 
data association time 25.762633 ms 
solver time 10.189494 ms 
data association time 17.330081 ms 
solver time 11.179126 ms 
publication time 11.775296 ms 
whole laserOdometry time 77.143697 ms 
 
sort q time 5.084930 
seperate points time 12.041104 
data association time 14.666050 ms 
solver time 14.860090 ms 
data association time 18.270677 ms 
solver time 11.238790 ms 
points size 92657 
mapping data assosiation time 31.861922 ms 
prepare time 20.540138 
mapping solver time 16.616722 ms 
sort q time 5.849290 
seperate points time 14.214670 
scan registration time 39.009125 ms *************
mapping data assosiation time 32.562936 ms 
mapping solver time 22.492714 ms 
points size 92977 
map prepare time 5.103937 ms
map corner num 258106  surf num 86437 
scan registration time 34.164505 ms *************
publication time 11.193848 ms 
whole laserOdometry time 101.215342 ms 
 
[33m[ WARN] [1718802478.256077850]: odometry process over 100ms[0m
data association time 24.760060 ms 
solver time 13.385160 ms 
data association time 14.945752 ms 
solver time 10.993001 ms 
sort q time 5.759543 
seperate points time 13.523248 
mapping solver time 12.972166 ms 
solver time 10.673371 ms 
data association time 14.989494 ms 
solver time 11.727691 ms 
mapping solver time 11.444584 ms 
publication time 9.517825 ms 
whole laserOdometry time 63.271175 ms 
 
points size 94208 
prepare time 18.057357 
filter time 28.826616 ms 
mapping pub time 1.461539 ms 
whole mapping time 209.927579 ms +++++
sort q time 5.397276 
seperate points time 13.535955 
solver time 14.664421 ms 
data association time 21.442243 ms 
solver time 15.711012 ms 
publication time 18.371014 ms 
whole laserOdometry time 96.152670 ms 
 
points size 95987 
mapping data assosiation time 33.484167 ms 
mapping solver time 18.162852 ms 
data association time 23.960447 ms 
mapping data assosiation time 30.909540 ms 
mapping solver time 13.795957 ms 
data association time 23.990562 ms 
optimization twice time 75.944567 
scan registration time 34.873235 ms *************
filter time 28.275185 ms 
mapping pub time 1.206035 ms 
whole mapping time 225.876402 ms +++++
data association time 24.529892 ms 
solver time 15.955179 ms 
points size 96966 
build tree time 77.251713 ms 
solver time 15.190248 ms 
optimization twice time 81.322021 
sort q time 6.010279 
seperate points time 13.610784 
mapping data assosiation time 28.671181 ms 
mapping solver time 14.624438 ms 
data association time 24.709542 ms 
solver time 15.111504 ms 
mapping data assosiation time 28.640186 ms 
data association time 23.775691 ms 
solver time 10.677941 ms 
publication time 10.552745 ms 
whole laserOdometry time 85.807607 ms 
 
map prepare time 4.498938 ms
map corner num 259470  surf num 86896 
data association time 15.195850 ms 
solver time 11.213323 ms 
data association time 15.505222 ms 
solver time 10.703983 ms 
publication time 10.419979 ms 
whole laserOdometry time 64.084416 ms 
 
points size 98981 
mapping data assosiation time 34.226862 ms 
sort q time 6.364974 
seperate points time 15.577780 
mapping solver time 17.831530 ms 
data association time 14.581986 ms 
mapping data assosiation time 26.065070 ms 
mapping solver time 12.035267 ms 
solver time 8.930050 ms 
publication time 11.238036 ms 
whole laserOdometry time 66.348537 ms 
 
map prepare time 5.212611 ms
map corner num 259911  surf num 87001 
data association time 15.333457 ms 
solver time 12.665864 ms 
data association time 18.334753 ms 
solver time 10.868462 ms 
points size 101565 
mapping data assosiation time 33.362762 ms 
sort q time 6.314923 
seperate points time 15.368062 
mapping solver time 19.105021 ms 
mapping data assosiation time 30.620783 ms 
solver time 16.200129 ms 
points size 102355 
prepare time 15.667483 
data association time 24.768634 ms 
solver time 12.527464 ms 
publication time 10.602067 ms 
whole laserOdometry time 92.893646 ms 
 
data association time 24.587724 ms 
solver time 14.964520 ms 
data association time 24.932920 ms 
prepare time 16.239964 
publication time 11.598075 ms 
whole laserOdometry time 88.436727 ms 
 
mapping data assosiation time 30.460683 ms 
data association time 26.164802 ms 
mapping solver time 19.953566 ms 
solver time 16.956901 ms 
mapping data assosiation time 32.499180 ms 
points size 103020 
mapping solver time 17.262309 ms 
sort q time 5.788712 
seperate points time 13.173255 
filter time 25.929967 ms 
map prepare time 5.093496 ms
map corner num 260827  surf num 87320 
data association time 25.922495 ms 
solver time 14.832178 ms 
data association time 25.347774 ms 
solver time 11.199066 ms 
optimization twice time 78.285056 
scan registration time 39.534902 ms *************
data association time 25.403025 ms 
solver time 16.497923 ms 
mapping solver time 21.533218 ms 
data association time 24.009337 ms 
points size 103149 
solver time 13.635165 ms 
publication time 11.481968 ms 
whole laserOdometry time 92.242436 ms 
 
add points time 1.445727 ms
data association time 21.850233 ms 
filter time 27.059067 ms 
mapping pub time 1.602013 ms 
whole mapping time 228.195519 ms +++++
drop lidar frame in mapping for real time performance 
solver time 16.968457 ms 
data association time 22.494595 ms 
points size 102874 
solver time 11.266960 ms 
optimization twice time 73.511248 
prepare time 17.454893 
sort q time 6.178245 
seperate points time 14.627759 
data association time 21.980253 ms 
solver time 14.709500 ms 
build tree time 114.732537 ms 
data association time 24.430372 ms 
prepare time 15.595900 
sort q time 5.393247 
seperate points time 12.662667 
mapping solver time 18.351626 ms 
data association time 25.135280 ms 
solver time 13.428898 ms 
data association time 14.034256 ms 
solver time 10.309465 ms 
publication time 11.513878 ms 
whole laserOdometry time 75.374530 ms 
 
sort q time 5.697510 
seperate points time 13.526812 
data association time 14.334466 ms 
solver time 12.705646 ms 
data association time 14.603639 ms 
optimization twice time 53.167939 
publication time 9.004652 ms 
whole laserOdometry time 62.192085 ms 
 
prepare time 19.501180 
sort q time 5.977430 
seperate points time 14.499891 
mapping solver time 15.319901 ms 
mapping data assosiation time 26.023077 ms 
solver time 8.161287 ms 
points size 102614 
filter time 28.406497 ms 
mapping pub time 11.015369 ms 
whole mapping time 222.759870 ms +++++
data association time 14.414450 ms 
solver time 14.048869 ms 
data association time 17.163885 ms 
solver time 10.281419 ms 
publication time 10.754220 ms 
whole laserOdometry time 67.657068 ms 
 
build tree time 87.994479 ms 
scan registration time 37.520878 ms *************
data association time 14.235824 ms 
solver time 10.998651 ms 
data association time 14.965453 ms 
solver time 10.292342 ms 
publication time 11.124329 ms 
whole laserOdometry time 62.632392 ms 
 
prepare time 17.392121 
sort q time 5.384924 map prepare time 4.736878 ms
map corner num 305495  surf num 111151 
data association time 16.440407 ms 
solver time 10.565377 ms 
data association time 14.984915 ms 
optimization twice time 50.465534 
publication time 10.177076 ms 
whole laserOdometry time 60.662727 ms 
 
points size 102891 
build tree time 87.670994 ms 
scan registration time 40.605692 ms *************
mapping data assosiation time 27.502403 ms 
data association time 14.971253 ms 
data association time 19.867797 ms 
publication time 11.502627 ms 
whole laserOdometry time 70.828754 ms 
 
sort q time 6.450331 
seperate points time 16.207739 
data association time 15.563091 ms 
filter time 32.805593 ms 
data association time 15.265646 ms 
publication time 9.859567 ms points size 103209 
sort q time 6.141614 
seperate points time 15.309083 
build tree time 85.597709 ms 
solver time 11.513908 ms 
mapping data assosiation time 25.162215 ms 
optimization twice time 51.193791 
publication time 10.108911 ms 
whole laserOdometry time 61.322707 ms 
 
points size 103445 
prepare time 19.824725 
sort q time 6.076056 
seperate points time 15.330124 
filter time 31.933732 ms 
map prepare time 5.629318 ms
map corner num 306575  surf num 111425 
solver time 16.159314 ms 
data association time 22.751984 ms 
optimization twice time 72.436603 
publication time 9.980059 ms 
whole laserOdometry time 82.439931 ms 
 
sort q time 6.774221 
seperate points time 16.817612 
data association time 14.809205 ms 
solver time 11.576786 ms 
data association time 14.285609 ms 
mapping data assosiation time 26.866991 ms 
publication time 9.494893 ms 
whole laserOdometry time 59.252770 ms 
 
[0m[ INFO] [1718802481.042259975]: Received 1599639 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802481.042307393]: Data saved to 1317358023649085.pcd[0m
mapping data assosiation time 30.189505 ms 
data association time 16.619924 ms 
solver time 11.230701 ms 
data association time 17.688838 ms 
map prepare time 5.505318 ms
map corner num 307147  surf num 111601 
points size 103086 
sort q time 5.755250 
seperate points time 13.963428 
data association time 14.423690 ms 
solver time 11.830736 ms 
build tree time 90.117709 ms 
solver time 8.571829 ms 
mapping data assosiation time 29.560097 ms 
prepare time 16.400959 
sort q time 6.039707 
seperate points time 14.155436 
mapping data assosiation time 26.530495 ms 
mapping solver time 12.227789 ms 
data association time 14.746500 ms 
solver time 8.238961 ms 
publication time 9.778880 ms 
whole laserOdometry time 58.771681 ms 
 
points size 102802 
sort q time 6.761304 
seperate points time 15.747180 
data association time 14.328386 ms 
solver time 11.348908 ms 
data association time 15.014402 ms 
solver time 13.049787 ms 
publication time 12.407004 ms 
whole laserOdometry time 67.199620 ms 
 
sort q time 6.005632 
seperate points time 14.235778 
data association time 13.946349 ms 
solver time 10.930823 ms 
data association time 18.948308 ms 
publication time 9.072916 ms 
whole laserOdometry time 62.504343 ms 
 
build tree time 98.774133 ms 
sort q time 6.897605 
seperate points time 17.217451 
mapping data assosiation time 33.420427 ms 
mapping solver time 12.812013 ms 
data association time 20.103269 ms 
solver time 12.969936 ms 
data association time 17.100371 ms 
solver time 10.912716 ms 
prepare time 19.817847 
filter time 32.265500 ms 
map prepare time 6.281215 ms
map corner num 308117  surf num 111893 
data association time 14.623401 ms 
solver time 12.520709 ms 
data association time 17.187686 ms 
solver time 10.770340 ms 
publication time 10.779394 ms 
whole laserOdometry time 66.621852 ms 
 
build tree time 93.895960 ms 
sort q time 6.366389 
seperate points time 15.950943 
data association time 14.900043 ms 
solver time 13.213331 ms 
data association time 16.799157 ms 
mapping data assosiation time 25.498721 ms 
mapping solver time 13.127223 ms 
prepare time 20.346061 
filter time 24.881120 ms 
sort q time 6.202961 
seperate points time 15.255702 
mapping pub time 1.464095 ms 
whole mapping time 210.530505 ms +++++
drop lidar frame in mapping for real time performance 
scan registration time 40.774346 ms *************
data association time 14.485855 ms 
solver time 11.149762 ms 
data association time 14.631725 ms 
solver time 8.666178 ms 
publication time 10.108845 ms 
whole laserOdometry time 59.996256 ms 
 
points size 103638 
build tree time 94.106275 ms 
data association time 14.376149 ms 
solver time 10.795481 ms 
mapping solver time 14.973895 ms 
solver time 8.649796 ms 
publication time 10.078746 ms 
whole laserOdometry time 59.524846 ms 
 
data association time 14.066830 ms 
optimization twice time 49.354981 
publication time 9.311514 ms 
whole laserOdometry time 58.687335 ms 
 
points size 103803 
prepare time 19.631655 
sort q time 6.125338 
seperate points time 15.399803 
build tree time 96.054970 ms 
data association time 18.443482 ms 
solver time 14.033046 ms 
mapping solver time 13.008846 ms 
solver time 11.743806 ms 
mapping data assosiation time 29.302535 ms 
sort q time 6.312610 
seperate points time 15.621115 
data association time 15.813223 ms 
filter time 26.248996 ms 
data association time 17.452483 ms 
optimization twice time 55.418651 
points size 104001 
sort q time 5.332092 
seperate points time 12.992932 
data association time 15.272670 ms 
solver time 11.035101 ms 
mapping data assosiation time 26.104241 ms 
solver time 8.577714 ms 
mapping solver time 18.021423 ms 
points size 104052 
mapping data assosiation time 27.587409 ms 
mapping solver time 15.149761 ms 
data association time 19.339000 ms 
mapping pub time 5.390761 ms 
whole mapping time 216.777390 ms +++++
data association time 18.514866 ms 
solver time 10.980512 ms 
publication time 8.020003 ms 
whole laserOdometry time 72.171698 ms 
 
prepare time 20.375284 
sort q time 6.181955 
seperate points time 15.326601 
data association time 18.249476 ms 
solver time 11.263528 ms 
data association time 16.287409 ms 
solver time 9.351821 ms 
mapping solver time 30.799835 ms 
sort q time 6.677920 
seperate points time 15.811304 
mapping data assosiation time 32.471060 ms 
mapping optimization time 200.490803 
data association time 15.746068 ms 
mapping pub time 1.855912 ms 
whole mapping time 237.625413 ms +++++
publication time 9.623346 ms 
whole laserOdometry time 68.797585 ms 
 
sort q time 6.390177 
seperate points time 15.660600 
data association time 15.423195 ms 
solver time 10.614580 ms 
data association time 16.200878 ms 
solver time 8.140951 ms 
publication time 9.741174 ms 
whole laserOdometry time 60.798642 ms 
 
points size 104305 
mapping data assosiation time 36.518788 ms 
sort q time 6.644436 
seperate points time 16.690188 
mapping solver time 20.173220 ms 
data association time 18.770763 ms 
solver time 19.473773 ms 
data association time 19.107603 ms 
prepare time 19.666452 
mapping pub time 1.655442 ms 
whole mapping time 234.729951 ms +++++
map prepare time 5.837013 ms
map corner num 311170  surf num 112964 
data association time 15.777809 ms 
solver time 10.599894 ms 
data association time 16.315639 ms 
solver time 9.258641 ms 
publication time 9.373335 ms 
whole laserOdometry time 62.346087 ms 
 
prepare time 20.220116 
sort q time 6.496667 
seperate points time 15.737460 
mapping data assosiation time 30.181441 ms 
data association time 15.647033 ms 
mapping solver time 16.750151 ms 
data association time 15.195173 ms 
mapping data assosiation time 29.308690 ms 
publication time 8.776781 ms 
whole laserOdometry time 66.672338 ms 
 
sort q time 6.135373 
seperate points time 14.803370 
filter time 28.361464 ms 
data association time 16.913595 ms 
solver time 11.192279 ms 
data association time 15.450197 ms 
publication time 8.963354 ms 
whole laserOdometry time 61.876540 ms 
 
prepare time 16.832041 
sort q time 5.707307 
seperate points time 13.553233 
scan registration time 35.578669 ms *************
build tree time 93.418143 ms 
data association time 15.666937 ms 
solver time 13.086676 ms 
data association time 15.921266 ms 
solver time 8.223215 ms 
points size 104328 
sort q time 4.915440 
seperate points time 11.423122 
data association time 15.866628 ms 
solver time 10.722911 ms 
data association time 16.632049 ms 
points size 104410 
prepare time 16.611025 
sort q time 6.764380 
seperate points time 15.437009 
build tree time 90.421938 ms 
solver time 10.238645 ms 
mapping data assosiation time 30.620825 ms 
solver time 8.461850 ms 
publication time 9.366254 ms 
whole laserOdometry time 62.293273 ms 
 
points size 104408 
sort q time 6.978636 
seperate points time 16.672092 
mapping solver time 14.334758 ms 
data association time 25.718069 ms 
solver time 15.413413 ms 
mapping pub time 5.917617 ms 
whole mapping time 240.140901 ms +++++
data association time 26.149891 ms 
sort q time 5.761998 
seperate points time 14.031540 
data association time 25.421934 ms 
solver time 15.065802 ms 
build tree time 94.525280 ms 
points size 104298 
mapping data assosiation time 34.219231 ms 
mapping solver time 19.629548 ms 
data association time 23.531673 ms 
mapping data assosiation time 30.318909 ms 
solver time 14.734874 ms 
mapping solver time 15.539907 ms 
data association time 23.366060 ms 
solver time 11.473627 ms 
publication time 11.615776 ms 
whole laserOdometry time 85.700278 ms 
 
filter time 33.420672 ms 
mapping pub time 1.826109 ms 
whole mapping time 238.891692 ms +++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
data association time 23.193916 ms 
solver time 11.403160 ms 
data association time 23.296324 ms 
solver time 11.378156 ms 
optimization twice time 70.328893 
prepare time 16.100841 
build tree time 84.390108 ms 
sort q time 5.895435 
seperate points time 13.455925 
mapping data assosiation time 31.905757 ms 
data association time 22.936400 ms 
mapping solver time 18.810354 ms 
solver time 15.129666 ms 
mapping data assosiation time 30.115064 ms 
solver time 11.334514 ms 
prepare time 15.930470 
sort q time 6.373462 
seperate points time 14.758574 
filter time 30.270904 ms 
mapping pub time 1.624513 ms 
whole mapping time 221.393207 ms +++++
data association time 18.864848 ms 
solver time 12.784360 ms 
data association time 14.457533 ms 
solver time 8.758038 ms 
publication time 10.712818 ms 
whole laserOdometry time 66.329214 ms 
 
points size 103899 
sort q time 4.860363 
seperate points time 11.563052 
build tree time 96.834787 ms 
data association time 15.016153 ms 
solver time 11.638129 ms 
data association time 15.450034 ms 
solver time 8.754906 ms 
publication time 10.435966 ms 
whole laserOdometry time 62.029816 ms 
 
prepare time 16.832522 
sort q time 5.513422 
seperate points time 12.969001 
scan registration time 34.762349 ms *************
mapping optimization time 206.565768 
solver time 10.209677 ms 
map prepare time 4.555301 ms
map corner num 314495  surf num 114354 
solver time 7.894519 ms 
publication time 10.585178 ms 
whole laserOdometry time 60.704626 ms 
 
points size 104095 
sort q time 5.390330 
seperate points time 12.225885 
data association time 14.808222 ms 
solver time 12.717914 ms 
data association time 15.476215 ms 
publication time 9.829412 ms 
whole laserOdometry time 61.959790 ms 
 
points size 104138 
mapping solver time 20.079243 ms 
data association time 14.711517 ms 
solver time 12.616344 ms 
data association time 15.447095 ms 
optimization twice time 53.459072 
mapping pub time 1.414779 ms 
whole mapping time 235.434300 ms +++++
prepare time 17.975231 
sort q time 5.683537 
seperate points time 13.416410 
data association time 15.052413 ms 
solver time 10.046477 ms 
data association time 15.855080 ms 
build tree time 87.704521 ms 
points size 104003 prepare time 28.130519 
sort q time 6.073538 
seperate points time 15.377393 
mapping solver time 25.499820 ms 
data association time 16.886052 ms 
solver time 9.672127 ms 
data association time 15.144761 ms 
mapping solver time 16.369861 ms 
prepare time 16.822420 
sort q time 6.263485 
seperate points time 15.938924 
mapping pub time 5.143660 ms 
whole mapping time 248.211501 ms +++++
data association time 16.293181 ms 
solver time 10.131828 ms 
data association time 15.156598 ms 
solver time 8.109059 ms 
publication time 9.843723 ms 
whole laserOdometry time 60.264656 ms 
 
points size 103974 
sort q time 6.534039 
seperate points time 15.203200 
data association time 14.636685 ms 
mapping data assosiation time 31.866888 ms 
data association time 14.626021 ms 
publication time 10.428197 ms 
whole laserOdometry time 60.190688 ms 
 
points size 104002 
mapping data assosiation time 34.025518 ms 
sort q time 5.384662 
seperate points time 12.364929 
filter time 27.810371 ms 
data association time 19.675461 ms 
mapping pub time 1.462663 ms 
whole mapping time 226.905811 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.831898 ms
map corner num 316200  surf num 115063 
data association time 16.214186 ms 
solver time 11.203720 ms 
publication time 10.235702 ms 
whole laserOdometry time 69.809564 ms 
 
sort q time 6.105917 
seperate points time 14.860512 
build tree time 86.998244 ms 
solver time 10.535846 ms 
mapping data assosiation time 31.145509 ms 
solver time 7.782873 ms 
mapping solver time 20.387671 ms 
points size 104036 
sort q time 5.096219 
seperate points time 11.882797 
mapping data assosiation time 37.274197 ms 
data association time 18.068724 ms 
solver time 11.067723 ms 
data association time 16.372009 ms 
solver time 8.776538 ms 
map prepare time 5.670986 ms
map corner num 316868  surf num 115337 
points size 103968 
prepare time 19.971223 
sort q time 6.137348 
seperate points time 14.969609 
data association time 16.301282 ms 
solver time 8.330388 ms 
build tree time 92.832711 ms 
solver time 7.881891 ms 
points size 103850 
sort q time 5.491462 
seperate points time 13.093143 
mapping solver time 22.858453 ms 
data association time 18.184560 ms 
solver time 10.687244 ms 
mapping data assosiation time 34.709982 ms 
data association time 16.707689 ms 
solver time 8.406035 ms 
publication time 10.709535 ms 
whole laserOdometry time 65.612190 ms 
 
points size 103797 
mapping pub time 1.639718 ms 
whole mapping time 239.703427 ms +++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 5.916169 ms
map corner num 317484  surf num 115571 
data association time 16.611692 ms 
solver time 13.704179 ms 
data association time 20.612638 ms 
solver time 10.562973 ms 
publication time 11.674903 ms 
whole laserOdometry time 74.082518 ms 
 
build tree time 99.102714 ms 
sort q time 6.540573 
seperate points time 15.977006 
mapping data assosiation time 33.976911 ms 
data association time 16.483026 ms 
mapping solver time 16.961746 ms 
data association time 16.812738 ms 
[0m[ INFO] [1718802485.789763780]: Received 1612701 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802485.789789732]: Data saved to 1317358028118386.pcd[0m
mapping data assosiation time 34.661233 ms 
publication time 9.105588 ms 
whole laserOdometry time 67.483779 ms 
 
prepare time 20.892067 
mapping solver time 24.088605 ms 
filter time 26.650415 ms 
solver time 10.812279 ms 
data association time 16.568339 ms 
solver time 8.626689 ms 
points size 103236 
sort q time 5.717398 
seperate points time 13.284956 
data association time 16.825381 ms 
solver time 11.070715 ms 
data association time 16.053656 ms 
publication time 9.450841 ms 
whole laserOdometry time 62.630723 ms 
 
points size 103069 
sort q time 5.305539 
seperate points time 12.563285 
mapping data assosiation time 34.505255 ms 
data association time 16.535191 ms 
solver time 13.352760 ms 
filter time 24.549250 ms 
publication time 10.880603 ms 
whole laserOdometry time 67.562534 ms 
 
sort q time 5.159577 
seperate points time 12.198116 
data association time 18.397233 ms 
solver time 14.837142 ms 
data association time 19.721241 ms 
solver time 8.968997 ms 
map prepare time 6.065733 ms
map corner num 318715  surf num 115987 
prepare time 18.946120 
sort q time 5.329872 
seperate points time 12.488294 
data association time 26.444347 ms 
solver time 16.730052 ms 
build tree time 91.560798 ms 
points size 100976 
sort q time 4.995460 
seperate points time 11.754202 
mapping solver time 21.505278 ms 
solver time 12.242734 ms 
mapping data assosiation time 33.026979 ms 
data association time 16.438047 ms 
mapping solver time 19.328437 ms 
points size 98976 
filter time 25.237129 ms 
map prepare time 5.291646 ms
map corner num 319338  surf num 116241 
data association time 26.062447 ms 
solver time 17.832475 ms 
data association time 26.514800 ms 
solver time 12.496974 ms 
scan registration time 34.684684 ms *************
build tree time 111.530600 ms 
data association time 29.929038 ms 
mapping data assosiation time 39.104564 ms 
solver time 21.132871 ms 
mapping solver time 28.806395 ms 
data association time 27.629788 ms 
sort q time 5.778535 
seperate points time 13.316384 
publication time 12.568203 ms 
whole laserOdometry time 106.087497 ms 
 
[33m[ WARN] [1718802486.674905991]: odometry process over 100ms[0m
data association time 26.035577 ms 
mapping solver time 27.255160 ms 
mapping optimization time 248.584307 
add points time 1.351568 ms
solver time 15.821329 ms 
filter time 32.588919 ms 
map prepare time 5.899578 ms
map corner num 320002  surf num 116452 
solver time 11.401696 ms 
publication time 10.897670 ms 
whole laserOdometry time 92.121255 ms 
 
data association time 25.230233 ms 
solver time 14.930798 ms 
data association time 18.966083 ms 
optimization twice time 70.030937 
sort q time 6.191225 
seperate points time 14.381320 
data association time 21.081878 ms 
solver time 14.125131 ms 
mapping solver time 21.132967 ms 
data association time 17.251095 ms 
publication time 8.414249 ms 
whole laserOdometry time 71.069013 ms 
 
sort q time 4.367594 
seperate points time 10.430061 
mapping solver time 21.180365 ms 
data association time 15.338794 ms 
solver time 12.344163 ms 
data association time 16.832312 ms 
publication time 7.816400 ms 
whole laserOdometry time 61.553728 ms 
 
points size 84881 
sort q time 4.664273 
seperate points time 11.138652 
data association time 14.814936 ms 
solver time 9.721155 ms 
build tree time 97.984726 ms 
solver time 7.501767 ms 
mapping data assosiation time 34.861465 ms 
prepare time 13.997383 
mapping solver time 21.299367 ms 
data association time 16.088846 ms 
solver time 11.425837 ms 
mapping solver time 15.358532 ms 
solver time 8.160819 ms 
filter time 27.422207 ms 
points size 79925 
sort q time 3.706043 
seperate points time 9.041847 
data association time 14.054148 ms 
solver time 10.969278 ms 
data association time 18.672639 ms 
solver time 10.659716 ms 
points size 80145 
mapping data assosiation time 28.629953 ms 
data association time 14.018182 ms 
solver time 13.072886 ms 
mapping data assosiation time 26.624633 ms 
solver time 9.847344 ms 
points size 81917 
map prepare time 4.357450 ms
map corner num 322102  surf num 117113 
data association time 14.563872 ms 
solver time 10.999033 ms 
data association time 13.881906 ms 
publication time 7.551148 ms 
whole laserOdometry time 57.331254 ms 
 
build tree time 88.188927 ms 
points size 83871 
prepare time 13.340270 
scan registration time 27.476613 ms *************
mapping data assosiation time 28.648268 ms 
data association time 14.799131 ms 
solver time 11.137170 ms 
data association time 14.542193 ms 
publication time 7.014108 ms 
whole laserOdometry time 56.995999 ms 
 
add points time 1.318101 ms
points size 85223 
sort q time 4.812435 
seperate points time 11.804989 
data association time 15.019708 ms 
solver time 13.710898 ms 
data association time 17.319937 ms 
solver time 13.317793 ms 
points size 86946 
sort q time 4.053061 
seperate points time 9.786689 
data association time 14.576606 ms 
mapping data assosiation time 27.363671 ms 
mapping solver time 16.818460 ms 
solver time 10.326869 ms 
mapping data assosiation time 27.939035 ms 
points size 87454 
mapping solver time 25.803264 ms 
sort q time 4.956714 
seperate points time 12.253947 
filter time 26.728376 ms 
data association time 15.771530 ms 
solver time 13.332236 ms 
data association time 16.976085 ms 
solver time 13.279974 ms 
points size 89007 
sort q time 5.027294 
seperate points time 12.293697 
build tree time 103.080567 ms 
data association time 16.057435 ms 
solver time 12.986071 ms 
mapping data assosiation time 27.023436 ms 
data association time 14.838427 ms 
solver time 11.054202 ms 
publication time 8.322505 ms 
whole laserOdometry time 64.081850 ms 
 
prepare time 20.263871 
mapping data assosiation time 34.311240 ms 
scan registration time 39.379464 ms *************
mapping solver time 17.894681 ms 
data association time 14.611695 ms 
solver time 12.879047 ms 
filter time 27.849523 ms 
solver time 10.436021 ms 
points size 92840 
sort q time 4.273846 
seperate points time 10.186785 
data association time 19.249929 ms 
build tree time 90.676714 ms 
solver time 18.804648 ms 
data association time 23.788645 ms 
solver time 16.125743 ms 
prepare time 21.591501 
sort q time 4.913570 
seperate points time 11.634536 
data association time 23.942210 ms 
solver time 15.421955 ms 
filter time 32.659206 ms 
map prepare time 5.653252 ms
map corner num 324995  surf num 117686 
points size 95693 
publication time 9.731328 ms 
whole laserOdometry time 85.648315 ms 
 
data association time 21.302593 ms 
data association time 21.023988 ms 
solver time 15.512619 ms 
publication time 10.049986 ms 
whole laserOdometry time 86.851181 ms 
 
scan registration time 31.367619 ms *************
mapping data assosiation time 27.334682 ms 
data association time 17.719392 ms 
solver time 11.208568 ms 
data association time 14.289301 ms 
solver time 10.795600 ms 
publication time 11.777407 ms 
whole laserOdometry time 66.799024 ms 
 
prepare time 17.595625 
sort q time 5.335516 
seperate points time 12.687183 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
data association time 13.692536 ms 
solver time 11.155154 ms 
data association time 14.576471 ms 
solver time 12.423887 ms 
points size 95782 
sort q time 5.729706 
seperate points time 13.444425 
build tree time 99.782175 ms 
data association time 24.354584 ms 
solver time 17.107845 ms 
data association time 26.705007 ms 
mapping data assosiation time 31.068701 ms 
publication time 10.019098 ms 
whole laserOdometry time 92.514373 ms 
 
data association time 21.177018 ms 
filter time 33.534599 ms 
data association time 21.725071 ms 
prepare time 15.199137 
publication time 9.748100 ms 
whole laserOdometry time 81.460682 ms 
 
data association time 15.414019 ms 
solver time 13.812557 ms 
build tree time 109.959601 ms 
solver time 10.967858 ms 
prepare time 21.146286 
mapping solver time 15.409083 ms 
mapping data assosiation time 27.989566 ms 
data association time 25.787507 ms 
mapping solver time 20.846952 ms 
solver time 16.486966 ms 
data association time 24.094151 ms 
map prepare time 5.607319 ms
map corner num 326941  surf num 118115 
scan registration time 34.384726 ms *************
data association time 24.057102 ms 
solver time 14.592685 ms 
data association time 23.886053 ms 
points size 98050 
sort q time 5.342577 
seperate points time 12.544220 
mapping data assosiation time 29.168617 ms 
mapping solver time 21.140942 ms 
points size 99616 
prepare time 15.269780 
mapping solver time 17.315017 ms 
data association time 21.641425 ms 
mapping pub time 1.575781 ms 
whole mapping time 264.252219 ms +++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
solver time 15.749156 ms 
data association time 21.802582 ms 
solver time 11.758401 ms 
prepare time 15.470444 
sort q time 5.925335 
seperate points time 14.040822 
data association time 21.343104 ms 
solver time 10.384430 ms 
data association time 14.039411 ms 
solver time 8.420810 ms 
publication time 9.575170 ms 
whole laserOdometry time 64.713406 ms 
 
mapping data assosiation time 23.576985 ms 
mapping solver time 15.844030 ms 
mapping data assosiation time 23.900167 ms 
solver time 10.986846 ms 
data association time 14.857425 ms 
publication time 9.584617 ms 
whole laserOdometry time 59.645366 ms 
 
points size 99624 
sort q time 4.850461 
seperate points time 11.943631 
data association time 14.550740 ms 
solver time 10.658859 ms 
data association time 17.504582 ms 
solver time 7.909477 ms 
publication time 9.096471 ms 
whole laserOdometry time 60.633418 ms 
 
points size 100347 
sort q time 5.347110 
seperate points time 12.957778 
mapping data assosiation time 23.009609 ms 
mapping solver time 16.490499 ms 
solver time 10.311343 ms 
data association time 14.992197 ms 
mapping solver time 16.743694 ms 
publication time 11.175852 ms 
whole laserOdometry time 65.203702 ms 
 
points size 101824 
mapping pub time 5.990651 ms 
whole mapping time 232.769731 ms +++++
scan registration time 36.606740 ms *************
data association time 22.595343 ms 
solver time 14.798221 ms 
data association time 22.871642 ms 
solver time 11.627812 ms 
optimization twice time 73.007817 
points size 103085 
data association time 15.671237 ms 
optimization twice time 63.145615 
publication time 11.157883 ms 
whole laserOdometry time 74.321505 ms 
 
mapping solver time 18.061435 ms 
sort q time 6.026937 
seperate points time 15.479065 
filter time 33.600757 ms 
map prepare time 5.432903 ms
map corner num 355848  surf num 132338 
data association time 23.624735 ms 
data association time 23.335166 ms 
points size 103086 
publication time 11.377387 ms 
whole laserOdometry time 86.244339 ms 
 
sort q time 6.024900 
seperate points time 15.256594 
build tree time 108.045513 ms 
data association time 23.575035 ms 
solver time 14.963646 ms 
mapping data assosiation time 27.718981 ms 
data association time 23.983705 ms 
mapping solver time 16.531107 ms 
publication time 11.534458 ms 
whole laserOdometry time 86.649670 ms 
 
sort q time 7.026795 
seperate points time 17.746847 
mapping solver time 8.189760 ms 
data association time 15.492316 ms 
solver time 10.821500 ms 
map prepare time 5.054315 ms
map corner num 356821  surf num 132721 
solver time 7.950299 ms 
prepare time 16.970548 
sort q time 6.342348 
seperate points time 15.213506 
data association time 14.669300 ms 
solver time 11.181559 ms 
data association time 15.247944 ms 
build tree time 104.250637 ms 
publication time 10.219160 ms 
whole laserOdometry time 60.002873 ms 
 
points size 102770 
sort q time 4.617670 
seperate points time 11.489010 
data association time 14.798090 ms 
solver time 10.884226 ms 
data association time 16.384441 ms 
solver time 8.759263 ms 
publication time 10.725823 ms 
whole laserOdometry time 62.424265 ms 
 
points size 102467 
sort q time 6.227004 
seperate points time 15.036757 
data association time 18.666658 ms 
solver time 13.167226 ms 
data association time 17.138627 ms 
optimization twice time 60.029066 
points size 102153 
sort q time 5.557133 
seperate points time 13.586574 
mapping data assosiation time 30.274230 ms 
mapping solver time 19.230841 ms 
solver time 15.234444 ms 
mapping data assosiation time 29.583089 ms 
points size 102159 
publication time 11.113125 ms 
whole laserOdometry time 77.354612 ms 
 
sort q time 7.413780 
seperate points time 17.198264 
filter time 40.137927 ms 
solver time 12.885320 ms 
solver time 16.694835 ms 
optimization twice time 71.687521 
points size 102045 
prepare time 18.687990 
sort q time 6.033097 
seperate points time 16.526352 
scan registration time 39.593292 ms *************
solver time 18.853534 ms 
points size 102042 
prepare time 15.415695 
data association time 27.457644 ms 
scan registration time 36.398427 ms *************mapping solver time 36.433171 ms 
solver time 17.068155 ms 
points size 101955 
mapping optimization time 263.286715 
publication time 12.865199 ms 
whole laserOdometry time 96.386881 ms 
 
filter time 33.697066 ms 
solver time 10.690060 ms 
data association time 20.451291 ms 
publication time 11.518553 ms 
whole laserOdometry time 72.514281 ms 
 
sort q time 4.903898 
seperate points time 11.560315 
data association time 13.811607 ms 
solver time 15.944696 ms 
data association time 20.800229 ms 
solver time 15.842759 ms 
publication time 11.475604 ms 
whole laserOdometry time 79.021532 ms 
 
scan registration time 39.608830 ms *************
data association time 24.241367 ms 
data association time 24.254189 ms 
points size 101211 
build tree time 165.121004 ms 
prepare time 47.603879 
sort q time 5.035807 
seperate points time 11.626308 
mapping data assosiation time 35.737207 ms 
data association time 24.511818 ms 
solver time 14.341634 ms 
prepare time 19.540128 
mapping data assosiation time 30.387870 ms 
mapping solver time 19.652789 ms 
data association time 16.287867 ms 
filter time 28.767403 ms 
data association time 16.210030 ms 
points size 98600 
publication time 11.282358 ms 
whole laserOdometry time 75.865305 ms 
 
data association time 14.547118 ms 
solver time 12.263991 ms 
data association time 16.398233 ms 
optimization twice time 54.588852 
publication time 11.922691 ms 
whole laserOdometry time 66.534285 ms 
 
mapping solver time 19.629697 ms 
data association time 24.391904 ms 
data association time 13.550317 ms 
filter time 28.530893 ms 
prepare time 14.266589 
sort q time 7.192138 
seperate points time 16.494250 
data association time 14.447410 ms 
solver time 11.606555 ms 
data association time 14.275935 ms 
solver time 8.843646 ms 
publication time 9.394376 ms 
whole laserOdometry time 59.447854 ms 
 
points size 99099 
prepare time 17.288363 
sort q time 5.306198 
seperate points time 12.267333 
mapping solver time 16.673340 ms 
data association time 13.870077 ms 
solver time 10.796487 ms 
data association time 14.162615 ms 
publication time 7.852512 ms 
whole laserOdometry time 56.175983 ms 
 
points size 99551 
sort q time 5.867798 
seperate points time 14.211580 
data association time 14.318996 ms 
solver time 10.849848 ms 
data association time 14.304694 ms 
solver time 10.487355 ms 
build tree time 93.091517 ms 
sort q time 5.516637 
seperate points time 12.661169 
mapping solver time 15.950687 ms 
solver time 10.806524 ms 
mapping data assosiation time 26.520100 ms 
mapping solver time 16.383274 ms 
points size 99609 
prepare time 15.654649 
mapping pub time 1.261879 ms 
whole mapping time 216.784742 ms +++++
data association time 14.104030 ms 
solver time 10.365607 ms 
data association time 15.295549 ms 
solver time 11.893147 ms 
points size 99554 
build tree time 98.599540 ms 
sort q time 6.213717 
seperate points time 15.124486 
mapping data assosiation time 31.459082 ms 
data association time 14.832381 ms 
solver time 10.626402 ms 
data association time 14.826256 ms 
solver time 11.238173 ms 
points size 99601 
sort q time 5.484769 
seperate points time 12.827745 
filter time 29.083915 ms 
map prepare time 5.155997 ms
map corner num 312504  surf num 128630 
data association time 13.781313 ms 
publication time 8.612185 ms 
whole laserOdometry time 57.994139 ms 
 
points size 98778 
sort q time 4.746006 
seperate points time 11.388857 
build tree time 96.446203 ms 
solver time 16.902593 ms 
mapping data assosiation time 34.886470 ms 
data association time 24.039301 ms 
solver time 12.447887 ms 
publication time 12.032740 ms 
whole laserOdometry time 90.153077 ms 
 
scan registration time 35.391970 ms *************
mapping solver time 20.068340 ms 
mapping optimization time 207.395711 
add points time 1.035239 ms
solver time 18.043329 ms 
filter time 32.236110 ms 
map prepare time 5.785155 ms
map corner num 313278  surf num 129140 
points size 94804 
publication time 11.184932 ms 
whole laserOdometry time 87.203415 ms 
 
data association time 14.177533 ms 
solver time 11.844141 ms 
data association time 14.077363 ms 
solver time 10.338256 ms 
publication time 7.918348 ms 
whole laserOdometry time 59.163780 ms 
 
points size 92658 
mapping data assosiation time 31.989533 ms 
sort q time 6.374069 
seperate points time 14.778250 
data association time 14.138776 ms 
mapping data assosiation time 29.685922 ms 
mapping solver time 12.882906 ms 
data association time 18.911226 ms 
solver time 13.500534 ms 
publication time 8.736380 ms 
whole laserOdometry time 71.163806 ms 
 
map prepare time 6.250936 ms
map corner num 314020  surf num 129693 
sort q time 5.300352 
seperate points time 12.745447 
data association time 21.673806 ms 
solver time 13.976006 ms 
data association time 17.017457 ms 
solver time 10.627991 ms 
prepare time 17.868319 
sort q time 5.132167 
seperate points time 12.601840 
scan registration time 35.442193 ms *************
data association time 12.923073 ms 
solver time 10.523207 ms 
data association time 12.916078 ms 
mapping data assosiation time 31.671380 ms 
solver time 9.440714 ms 
optimization twice time 46.666646 
publication time 12.112678 ms 
whole laserOdometry time 58.798866 ms 
 
prepare time 14.249261 
sort q time 5.445326 
seperate points time 13.051051 
map prepare time 6.894441 ms
map corner num 314753  surf num 130211 
data association time 21.036326 ms 
solver time 15.318156 ms 
data association time 21.029247 ms 
solver time 14.760487 ms 
publication time 9.781281 ms 
whole laserOdometry time 82.908404 ms 
 
build tree time 99.604482 ms 
solver time 14.594500 ms 
mapping data assosiation time 31.047204 ms 
solver time 14.726802 ms 
points size 89363 
sort q time 5.329566 
seperate points time 12.329100 
mapping solver time 14.670780 ms 
solver time 14.577346 ms 
filter time 30.554407 ms 
data association time 23.031476 ms 
solver time 11.923225 ms 
points size 89556 
sort q time 4.308321 
seperate points time 10.342355 
scan registration time 30.582984 ms *************
data association time 23.239517 ms 
solver time 15.219550 ms 
build tree time 94.708069 ms 
data association time 22.780709 ms 
solver time 14.824096 ms 
publication time 9.945778 ms 
whole laserOdometry time 87.011627 ms 
 
sort q time 5.932096 
seperate points time 14.211530 
data association time 22.713276 ms 
solver time 14.577989 ms 
mapping optimization time 203.163900 
solver time 14.915947 ms 
publication time 10.931323 ms 
whole laserOdometry time 87.167068 ms 
 
scan registration time 30.977395 ms *************
data association time 20.242843 ms 
solver time 11.213063 ms 
solver time 11.060189 ms 
publication time 10.092018 ms 
whole laserOdometry time 73.832845 ms 
 
points size 90639 
sort q time 4.384467 
seperate points time 10.784814 
mapping data assosiation time 33.518654 ms 
data association time 22.605200 ms 
mapping solver time 18.634997 ms 
data association time 22.686389 ms 
points size 91639 
sort q time 5.560190 
seperate points time 13.619392 
filter time 26.554710 ms 
data association time 23.253539 ms 
solver time 14.449628 ms 
data association time 22.629151 ms 
solver time 11.053465 ms 
sort q time 4.504798 
seperate points time 11.308796 
scan registration time 29.289352 ms *************
data association time 14.436068 ms 
solver time 11.291643 ms 
mapping data assosiation time 31.536806 ms 
data association time 15.489105 ms 
solver time 8.343644 ms 
optimization twice time 50.419715 
mapping solver time 17.954495 ms 
points size 93842 
prepare time 14.594537 
sort q time 5.098240 
seperate points time 12.402096 
mapping solver time 16.544833 ms 
data association time 23.560740 ms 
filter time 31.138908 ms 
map prepare time 5.966643 ms
map corner num 317986  surf num 132271 
data association time 19.510165 ms 
solver time 8.311100 ms 
publication time 10.833621 ms 
whole laserOdometry time 78.650151 ms 
 
points size 95364 
sort q time 5.451579 
seperate points time 13.463705 
data association time 23.619643 ms 
build tree time 101.027900 ms 
data association time 27.043979 ms 
points size 96940 
publication time 10.587640 ms 
whole laserOdometry time 89.465720 ms 
 
data association time 27.255937 ms 
mapping data assosiation time 40.260451 ms 
mapping solver time 13.910845 ms 
solver time 7.882646 ms 
publication time 11.069281 ms 
whole laserOdometry time 75.035654 ms 
 
prepare time 16.678817 
map prepare time 4.723400 ms
map corner num 318865  surf num 132793 
data association time 15.620909 ms 
solver time 13.455767 ms 
data association time 15.235599 ms 
solver time 8.217246 ms 
publication time 10.036930 ms 
whole laserOdometry time 63.417911 ms 
 
points size 99732 
sort q time 5.083139 
seperate points time 12.615378 
mapping data assosiation time 36.576209 ms 
solver time 11.906520 ms 
mapping solver time 18.899574 ms 
data association time 19.881748 ms 
solver time 12.947135 ms 
publication time 10.832191 ms 
whole laserOdometry time 71.932705 ms 
 
sort q time 6.245687 
seperate points time 15.187632 
data association time 15.513354 ms 
mapping pub time 1.216421 ms 
whole mapping time 250.683402 ms +++++
data association time 15.395922 ms 
solver time 10.731512 ms 
publication time 10.751515 ms 
whole laserOdometry time 67.023503 ms 
 
prepare time 16.008377 
sort q time 5.289141 
seperate points time 13.325413 
data association time 17.503693 ms 
solver time 10.516469 ms 
data association time 16.289262 ms 
solver time 8.115821 ms 
optimization twice time 53.123211 
points size 101814 
sort q time 4.861495 
seperate points time 12.131720 
data association time 13.808369 ms 
solver time 15.007025 ms 
add points time 1.437532 ms
solver time 11.072795 ms 
publication time 11.526429 ms 
whole laserOdometry time 70.430779 ms 
 
points size 101981 
sort q time 5.947328 
seperate points time 14.987462 
data association time 14.086020 ms 
solver time 12.740966 ms 
data association time 14.746151 ms 
solver time 9.752928 ms 
publication time 9.886246 ms 
whole laserOdometry time 62.074022 ms 
 
points size 102244 
prepare time 19.726750 
sort q time 6.519787 
seperate points time 16.487097 
scan registration time 41.012072 ms *************
data association time 19.079544 ms 
solver time 12.467151 ms 
data association time 14.276720 ms 
optimization twice time 57.746602 
publication time 11.975475 ms 
whole laserOdometry time 69.745342 ms 
 
sort q time 4.856384 
seperate points time 12.055458 
mapping solver time 17.470224 ms 
solver time 12.015156 ms 
data association time 14.819178 ms 
solver time 12.859386 ms 
publication time 12.342291 ms 
whole laserOdometry time 68.171339 ms 
 
points size 102067 
sort q time 6.244473 
seperate points time 15.558576 
data association time 14.997522 ms 
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build tree time 106.963575 ms 
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data association time 22.933672 ms 
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mapping data assosiation time 39.546766 ms 
data association time 23.200436 ms 
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mapping optimization time 248.018640 
add points time 1.552643 ms
publication time 12.104934 ms 
whole laserOdometry time 84.740147 ms 
 
sort q time 6.316338 
seperate points time 16.043442 
filter time 29.776689 ms 
map prepare time 5.709692 ms
map corner num 322487  surf num 135217 
data association time 23.070767 ms 
solver time 17.163490 ms 
data association time 23.207331 ms 
solver time 14.648958 ms 
scan registration time 36.480717 ms *************
build tree time 97.417909 ms 
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mapping data assosiation time 41.727747 ms 
prepare time 15.139342 
publication time 11.865647 ms 
whole laserOdometry time 84.154591 ms 
 
[0m[ INFO] [1718802495.735872008]: Received 1647508 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802495.735917667]: Data saved to 1317358037888187.pcd[0m
solver time 14.868098 ms 
data association time 26.613479 ms 
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sort q time 6.319047 
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data association time 26.426982 ms 
solver time 10.266857 ms 
publication time 11.709060 ms 
whole laserOdometry time 93.036901 ms 
 
sort q time 6.705349 
seperate points time 16.915803 
scan registration time 41.163945 ms *************
data association time 19.364909 ms 
solver time 10.744305 ms 
data association time 14.715582 ms 
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whole laserOdometry time 63.246662 ms 
 
prepare time 15.285653 
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mapping solver time 20.196499 ms 
solver time 10.165971 ms 
data association time 16.056560 ms 
solver time 11.172227 ms 
publication time 10.561099 ms 
whole laserOdometry time 68.766095 ms 
 
sort q time 6.295954 
seperate points time 15.034669 
data association time 14.865092 ms 
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data association time 15.506447 ms 
build tree time 95.115720 ms 
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data association time 15.412344 ms 
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mapping solver time 20.987317 ms 
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data association time 17.320085 ms 
solver time 12.116822 ms 
publication time 11.120196 ms 
whole laserOdometry time 71.790631 ms 
 
sort q time 5.415870 
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data association time 15.359816 ms 
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data association time 17.144029 ms 
solver time 11.864735 ms 
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mapping data assosiation time 46.541186 ms 
data association time 23.927349 ms 
points size 102612 
publication time 12.729545 ms 
whole laserOdometry time 90.537353 ms 
 
sort q time 6.219110 
seperate points time 14.399017 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
solver time 11.796629 ms 
data association time 15.184969 ms 
solver time 10.776712 ms 
publication time 10.477740 ms 
whole laserOdometry time 65.617534 ms 
 
points size 102707 
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build tree time 95.884003 ms 
data association time 14.987945 ms 
mapping data assosiation time 44.570615 ms 
solver time 8.964101 ms 
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whole laserOdometry time 61.619350 ms 
 
sort q time 5.565301 
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data association time 15.331347 ms 
mapping data assosiation time 46.753810 ms 
data association time 14.958964 ms 
solver time 8.112029 ms 
publication time 11.579882 ms 
whole laserOdometry time 61.569483 ms 
 
points size 102611 
sort q time 5.274528 
seperate points time 12.887094 
data association time 23.710173 ms 
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data association time 18.504793 ms 
solver time 11.779837 ms 
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build tree time 111.788832 ms 
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data association time 16.122964 ms 
mapping data assosiation time 45.422459 ms 
data association time 14.849252 ms 
solver time 10.481715 ms 
publication time 12.606704 ms 
whole laserOdometry time 65.702702 ms 
 
prepare time 22.472423 
sort q time 7.249896 
seperate points time 18.708729 
mapping data assosiation time 56.243106 ms 
data association time 19.852844 ms 
mapping solver time 26.995545 ms 
mapping optimization time 267.538623 
add points time 1.569697 ms
data association time 19.134115 ms 
sort q time 6.076589 
seperate points time 15.797033 
data association time 28.298171 ms 
solver time 14.775460 ms 
points size 102567 
solver time 7.606305 ms 
scan registration time 37.453695 ms *************
data association time 16.591950 ms 
solver time 10.745689 ms 
data association time 16.619870 ms 
mapping solver time 24.685322 ms 
publication time 10.301929 ms 
whole laserOdometry time 66.682475 ms 
 
sort q time 5.031785 
seperate points time 12.451793 
mapping data assosiation time 48.581156 ms 
data association time 22.268902 ms 
mapping optimization time 259.894861 
data association time 16.967354 ms 
solver time 11.004733 ms 
publication time 12.370415 ms 
whole laserOdometry time 78.382952 ms 
 
sort q time 5.566506 
seperate points time 14.637360 
scan registration time 35.720508 ms *************
data association time 16.170161 ms 
solver time 15.126065 ms 
data association time 18.581845 ms 
solver time 13.996762 ms 
points size 102899 
sort q time 5.461589 
seperate points time 13.390565 
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mapping solver time 21.357145 ms 
data association time 16.784966 ms 
solver time 13.185675 ms 
publication time 11.720466 ms 
whole laserOdometry time 72.512819 ms 
 
mapping data assosiation time 50.423643 ms 
mapping solver time 23.239628 ms 
mapping optimization time 248.598457 
add points time 1.425590 ms
data association time 15.378683 ms 
solver time 12.733391 ms 
filter time 34.088449 ms 
publication time 12.538774 ms 
whole laserOdometry time 77.034688 ms 
 
sort q time 4.814963 
seperate points time 11.518517 
data association time 17.107800 ms 
solver time 13.793572 ms 
data association time 17.722755 ms 
solver time 12.161188 ms 
sort q time 5.161733 
seperate points time 12.740639 
mapping data assosiation time 48.055489 ms 
solver time 12.886799 ms 
data association time 16.945210 ms 
points size 102989 
sort q time 6.108479 
seperate points time 14.031443 
mapping solver time 22.606132 ms 
solver time 12.779613 ms 
filter time 29.919988 ms 
map prepare time 5.920981 ms
map corner num 330856  surf num 140222 
publication time 9.833879 ms 
whole laserOdometry time 65.864081 ms 
 
points size 102741 
sort q time 5.552429 
seperate points time 14.140676 
scan registration time 31.504739 ms *************
build tree time 98.786003 ms 
solver time 17.687129 ms 
data association time 25.130610 ms 
mapping data assosiation time 49.039449 ms 
mapping solver time 26.152270 ms 
solver time 12.743572 ms 
data association time 17.989417 ms 
mapping data assosiation time 50.168557 ms 
points size 101880 
mapping solver time 25.904944 ms 
scan registration time 37.632981 ms *************
filter time 30.539492 ms 
map prepare time 5.362995 ms
map corner num 331898  surf num 140726 
solver time 14.849064 ms 
data association time 18.642492 ms 
solver time 11.409007 ms 
points size 100323 
publication time 11.679954 ms 
whole laserOdometry time 73.350867 ms 
 
prepare time 20.229890 
sort q time 5.751482 
seperate points time 14.386971 
build tree time 108.706474 ms 
solver time 20.440671 ms 
points size 99450 
mapping data assosiation time 54.619185 ms 
scan registration time 32.948602 ms *************
solver time 16.548353 ms 
optimization twice time 90.992644 
publication time 12.348320 ms 
whole laserOdometry time 103.358223 ms 
 
[33m[ WARN] [1718802498.728544717]: odometry process over 100ms[0m
data association time 26.157376 ms 
solver time 16.923745 ms 
mapping data assosiation time 53.673872 ms 
data association time 26.471937 ms 
solver time 12.137002 ms 
optimization twice time 82.784127 
mapping solver time 28.406246 ms 
filter time 27.610200 ms 
solver time 13.045393 ms 
data association time 17.542717 ms 
solver time 10.700329 ms 
publication time 10.301054 ms 
whole laserOdometry time 67.956180 ms 
 
sort q time 5.706256 
seperate points time 14.959023 
data association time 25.234130 ms 
build tree time 104.052752 ms 
data association time 23.144957 ms solver time 11.208205 ms 
publication time 11.428819 ms 
whole laserOdometry time 87.208781 ms 
 
mapping solver time 25.815783 ms 
solver time 10.222541 ms 
data association time 15.967240 ms 
solver time 10.283332 ms 
publication time 11.011830 ms 
whole laserOdometry time 64.744579 ms 
 
mapping solver time 25.471887 ms 
sort q time 5.446136 
seperate points time 14.388022 
filter time 35.981481 ms 
solver time 10.996183 ms 
data association time 15.548196 ms 
publication time 9.696340 ms 
whole laserOdometry time 61.748937 ms 
 
points size 93510 
sort q time 5.428458 
seperate points time 14.113559 
data association time 14.838813 ms 
build tree time 110.048155 ms 
data association time 17.965350 ms 
solver time 12.923989 ms 
publication time 11.858919 ms 
whole laserOdometry time 70.495360 ms 
 
sort q time 5.487949 
seperate points time 14.212741 
data association time 15.493913 ms 
solver time 11.234255 ms 
mapping data assosiation time 41.617857 ms 
solver time 10.318675 ms 
mapping solver time 25.962439 ms 
prepare time 17.906881 
sort q time 5.267211 
seperate points time 13.446349 
filter time 37.617544 ms 
map prepare time 6.779444 ms
data association time 26.347330 ms 
map corner num 335202  surf num 142373 
solver time 17.694010 ms 
data association time 24.304367 ms 
points size 91237 
publication time 10.176648 ms 
whole laserOdometry time 91.705716 ms 
 
scan registration time 36.511733 ms *************
data association time 15.374173 ms 
build tree time 113.613270 ms 
data association time 16.701368 ms 
solver time 13.133080 ms 
publication time 10.516552 ms 
whole laserOdometry time 69.941588 ms 
 
sort q time 5.168292 
seperate points time 13.040724 
mapping solver time 27.685797 ms 
data association time 15.665055 ms 
solver time 12.480439 ms 
mapping data assosiation time 39.392838 ms 
solver time 7.927937 ms 
mapping solver time 21.310714 ms 
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filter time 34.619391 ms 
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data association time 16.076495 ms 
solver time 10.805499 ms 
publication time 11.168004 ms 
whole laserOdometry time 69.813397 ms 
 
points size 89706 
sort q time 4.282959 
seperate points time 10.464967 
scan registration time 30.866775 ms *************
build tree time 101.182330 ms 
data association time 15.328512 ms 
solver time 13.994886 ms 
data association time 16.437746 ms 
publication time 10.519655 ms 
whole laserOdometry time 65.965013 ms 
 
points size 90481 
sort q time 4.494090 
seperate points time 10.972867 
data association time 14.950627 ms 
solver time 12.381267 ms 
mapping solver time 25.236514 ms 
solver time 8.490484 ms 
publication time 9.158854 ms 
whole laserOdometry time 62.037860 ms 
 
filter time 34.731873 ms 
sort q time 4.953656 
seperate points time 11.726976 
data association time 15.104414 ms 
solver time 9.220170 ms 
data association time 15.773354 ms 
optimization twice time 47.394703 
publication time 11.449734 ms 
whole laserOdometry time 58.866277 ms 
 
points size 92157 
sort q time 4.208127 
seperate points time 10.418442 
scan registration time 28.482962 ms *************
data association time 15.256461 ms 
mapping data assosiation time 42.997460 ms 
data association time 15.575768 ms 
mapping solver time 23.802866 ms 
points size 91833 
mapping data assosiation time 43.832286 ms 
mapping solver time 22.260014 ms 
solver time 10.068982 ms 
filter time 32.467191 ms 
solver time 9.153397 ms 
optimization twice time 56.962463 
points size 91723 
prepare time 10.969775 
sort q time 4.777212 
seperate points time 11.664973 
data association time 15.059542 ms 
solver time 12.849945 ms 
data association time 15.561681 ms 
build tree time 106.197446 ms 
publication time 9.284040 ms 
whole laserOdometry time 62.302203 ms 
 
points size 92011 
sort q time 5.572960 
seperate points time 13.098889 
data association time 15.736846 ms 
solver time 10.272020 ms 
data association time 16.201938 ms 
publication time 8.855863 ms 
whole laserOdometry time 59.568997 ms 
 
points size 92323 
mapping solver time 25.015155 ms 
data association time 17.356261 ms 
filter time 34.119505 ms 
map prepare time 5.710276 ms
map corner num 339610  surf num 144110 
data association time 17.140153 ms 
publication time 10.598596 ms 
whole laserOdometry time 64.196531 ms 
 
points size 92707 
sort q time 4.876492 
seperate points time 11.731898 
data association time 15.130989 ms 
solver time 11.501173 ms 
build tree time 113.370180 ms 
solver time 8.951455 ms 
publication time 11.795274 ms 
whole laserOdometry time 67.584178 ms 
 
points size 93387 
sort q time 5.414965 
seperate points time 14.121880 
data association time 15.642864 ms 
solver time 10.249356 ms 
data association time 16.436172 ms 
solver time 8.327270 ms 
publication time 10.166754 ms 
whole laserOdometry time 61.788557 ms 
 
add points time 1.398628 ms
prepare time 18.660662 
sort q time 5.548799 
seperate points time 13.817725 
mapping pub time 6.045789 ms 
whole mapping time 297.638931 ms +++++
data association time 17.383904 ms 
solver time 9.799683 ms 
data association time 15.093001 ms 
solver time 8.429176 ms 
publication time 11.955786 ms 
whole laserOdometry time 63.439662 ms 
 
points size 95982 
sort q time 5.559942 
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build tree time 105.021201 ms 
solver time 7.521857 ms 
data association time 16.564550 ms 
solver time 10.258681 ms 
publication time 12.781830 ms 
whole laserOdometry time 66.029895 ms 
 
prepare time 15.355220 
mapping solver time 25.896408 ms 
sort q time 5.768631 
seperate points time 14.895012 
data association time 15.190540 ms 
solver time 10.413502 ms 
mapping solver time 19.395005 ms 
prepare time 16.595314 
filter time 36.150516 ms 
mapping pub time 1.130599 ms 
whole mapping time 284.623652 ms +++++
scan registration time 33.794536 ms *************
data association time 15.033824 ms 
data association time 15.200850 ms 
publication time 10.122182 ms 
whole laserOdometry time 57.388757 ms 
 
points size 99189 
build tree time 104.554506 ms 
data association time 15.326031 ms 
data association time 15.324086 ms 
solver time 8.092516 ms 
publication time 10.154740 ms 
whole laserOdometry time 57.386840 ms 
 
points size 99857 
mapping data assosiation time 41.875139 ms 
data association time 15.261402 ms 
solver time 10.586465 ms 
data association time 18.492376 ms 
map prepare time 5.231920 ms
map corner num 342839  surf num 145144 
publication time 11.426161 ms 
whole laserOdometry time 67.617404 ms 
 
prepare time 19.063587 
sort q time 5.918419 
seperate points time 14.500866 
data association time 20.415773 ms 
solver time 13.298822 ms 
data association time 24.975830 ms 
points size 99270 
publication time 13.875557 ms 
whole laserOdometry time 85.610003 ms 
 
mapping data assosiation time 46.185167 ms 
solver time 12.150830 ms 
data association time 17.847380 ms 
solver time 10.851789 ms 
publication time 11.920293 ms 
whole laserOdometry time 69.610769 ms 
 
mapping data assosiation time 44.741991 ms 
sort q time 5.579934 
seperate points time 13.381277 
mapping solver time 29.504777 ms 
solver time 9.831979 ms 
data association time 16.792347 ms 
map prepare time 6.405461 ms
map corner num 343908  surf num 145542 
points size 99624 
sort q time 4.589024 
seperate points time 11.493806 
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solver time 12.573606 ms 
data association time 16.407531 ms 
build tree time 105.846008 ms 
points size 99738 
sort q time 4.690955 
seperate points time 11.765960 
data association time 14.542669 ms 
solver time 10.443059 ms 
data association time 14.582537 ms 
publication time 9.534225 ms 
whole laserOdometry time 57.536832 ms 
 
points size 99919 
mapping solver time 22.308393 ms 
filter time 30.477241 ms 
solver time 12.474656 ms 
data association time 14.639329 ms 
solver time 10.005852 ms 
publication time 11.557979 ms 
whole laserOdometry time 64.977962 ms 
 
sort q time 4.774652 
seperate points time 12.208394 
data association time 22.912203 ms 
solver time 14.258942 ms 
data association time 25.525087 ms 
points size 100102 
mapping data assosiation time 51.569305 ms 
publication time 13.692200 ms 
whole laserOdometry time 90.366213 ms 
 
sort q time 5.333038 
seperate points time 13.142077 
scan registration time 30.071121 ms *************
mapping solver time 27.903856 ms 
solver time 11.919441 ms 
data association time 17.974788 ms 
mapping data assosiation time 41.528614 ms 
solver time 9.932481 ms 
publication time 11.695645 ms 
whole laserOdometry time 70.443662 ms 
 
prepare time 13.779046 
add points time 1.583905 ms
sort q time 6.453418 
seperate points time 15.558638 
scan registration time 33.915603 ms *************
filter time 32.218719 ms 
solver time 12.705480 ms 
data association time 15.273741 ms 
solver time 10.794509 ms 
publication time 11.474268 ms 
whole laserOdometry time 67.347248 ms 
 
points size 101879 
prepare time 13.850848 
sort q time 4.983175 
seperate points time 12.206096 
scan registration time 30.586720 ms *************
data association time 15.809602 ms 
solver time 12.519302 ms 
map prepare time 7.232197 ms
map corner num 346066  surf num 146352 
solver time 14.348424 ms 
publication time 11.988347 ms 
whole laserOdometry time 76.544648 ms 
 
prepare time 12.829915 
sort q time 6.038285 
seperate points time 14.796157 
data association time 15.111286 ms 
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data association time 20.006702 ms 
optimization twice time 56.899221 
publication time 11.166407 ms 
whole laserOdometry time 68.085738 ms 
 
prepare time 12.505672 
sort q time 5.197837 
seperate points time 12.535597 
mapping data assosiation time 48.664131 ms 
data association time 14.829754 ms 
solver time 15.938221 ms 
data association time 17.542561 ms 
optimization twice time 59.978042 
points size 100514 
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map prepare time 5.764266 ms
map corner num 347210  surf num 146736 
solver time 7.940926 ms 
points size 100556 
sort q time 5.512799 
seperate points time 13.674615 
data association time 14.588494 ms 
solver time 10.853635 ms 
build tree time 102.476151 ms 
solver time 7.834386 ms 
publication time 10.553943 ms 
whole laserOdometry time 58.581371 ms 
 
points size 100701 
sort q time 5.011469 
seperate points time 12.852763 
mapping solver time 23.496403 ms 
data association time 16.639362 ms 
mapping data assosiation time 37.573970 ms 
solver time 15.557259 ms 
data association time 19.545055 ms 
solver time 13.480382 ms 
optimization twice time 66.088379 
sort q time 5.943186 
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map corner num 348413  surf num 147258 
data association time 26.664546 ms 
solver time 17.727161 ms 
data association time 21.837362 ms 
points size 101605 
publication time 11.424742 ms 
whole laserOdometry time 90.852676 ms 
 
scan registration time 38.059449 ms *************
build tree time 128.266739 ms 
data association time 27.338305 ms 
solver time 16.838354 ms 
mapping data assosiation time 49.203266 ms 
sort q time 5.340485 
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mapping solver time 33.444273 ms 
data association time 29.500971 ms 
solver time 16.515458 ms 
points size 103783 
mapping solver time 32.758247 ms 
scan registration time 34.230941 ms *************
publication time 11.955682 ms 
whole laserOdometry time 96.919633 ms 
 
filter time 38.091178 ms 
solver time 14.565319 ms 
data association time 26.140270 ms 
prepare time 15.946129 
solver time 10.693096 ms 
optimization twice time 78.636129 
publication time 12.081893 ms 
whole laserOdometry time 90.735784 ms 
 
data association time 18.900289 ms 
solver time 10.139284 ms 
data association time 17.332174 ms 
solver time 10.148296 ms 
publication time 12.888838 ms 
whole laserOdometry time 70.237590 ms 
 
sort q time 5.215690 
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mapping data assosiation time 46.106294 ms 
data association time 22.619368 ms 
points size 103133 
publication time 12.694892 ms 
whole laserOdometry time 93.494092 ms 
 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
data association time 27.738833 ms 
solver time 15.625285 ms 
data association time 17.505064 ms 
solver time 11.012533 ms 
publication time 10.302452 ms 
whole laserOdometry time 82.992910 ms 
 
sort q time 6.085893 
seperate points time 15.735352 
data association time 17.107211 ms 
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mapping data assosiation time 40.958382 ms 
data association time 17.207215 ms 
solver time 7.852928 ms 
publication time 12.033033 ms 
whole laserOdometry time 67.227978 ms 
 
prepare time 20.007811 
sort q time 5.999320 
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data association time 16.501622 ms 
solver time 10.510054 ms 
data association time 16.975634 ms 
optimization twice time 54.295352 
points size 101913 
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data association time 16.972039 ms 
solver time 12.851844 ms 
data association time 17.272406 ms 
solver time 8.141546 ms 
publication time 10.406794 ms 
whole laserOdometry time 66.489584 ms 
 
prepare time 16.305797 
sort q time 4.677639 
seperate points time 12.063686 
mapping data assosiation time 44.517717 ms 
data association time 17.244287 ms 
mapping solver time 24.333372 ms 
data association time 17.016351 ms 
solver time 11.904050 ms 
publication time 11.541562 ms 
whole laserOdometry time 71.370453 ms 
 
data association time 17.330458 ms 
solver time 10.945765 ms 
publication time 11.711790 ms 
whole laserOdometry time 91.709631 ms 
 
scan registration time 36.941777 ms *************
data association time 16.912761 ms 
solver time 14.890978 ms 
data association time 16.421284 ms 
solver time 11.405132 ms 
publication time 10.697203 ms 
whole laserOdometry time 71.315968 ms 
 
mapping solver time 26.933151 ms 
data association time 16.962634 ms 
solver time 12.918277 ms 
mapping data assosiation time 45.598563 ms 
data association time 17.467757 ms 
mapping solver time 22.105141 ms 
points size 101588 
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map corner num 301678  surf num 143070 
data association time 19.809391 ms 
solver time 13.246417 ms 
data association time 15.997218 ms 
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mapping data assosiation time 45.620824 ms 
data association time 19.763754 ms 
solver time 13.277974 ms 
publication time 10.160509 ms 
whole laserOdometry time 71.295249 ms 
 
prepare time 21.837388 
sort q time 6.851212 
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mapping data assosiation time 51.787863 ms 
data association time 16.569245 ms 
mapping solver time 23.937514 ms 
data association time 16.274428 ms 
solver time 11.690078 ms 
points size 99798 
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whole laserOdometry time 70.051790 ms 
 
map prepare time 6.612216 ms
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data association time 17.217310 ms 
solver time 11.455978 ms 
publication time 12.073410 ms 
whole laserOdometry time 71.117145 ms 
 
mapping data assosiation time 44.632029 ms 
mapping solver time 26.621310 ms 
data association time 17.392020 ms 
solver time 21.356577 ms 
data association time 19.923756 ms 
solver time 13.545727 ms 
publication time 10.880384 ms 
whole laserOdometry time 84.017710 ms 
 
scan registration time 37.684605 ms *************
data association time 17.767273 ms 
solver time 12.419903 ms 
build tree time 97.439003 ms 
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data association time 16.267394 ms 
solver time 12.188536 ms 
publication time 11.794952 ms 
whole laserOdometry time 70.231253 ms 
 
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filter time 27.573109 ms 
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data association time 18.962847 ms 
solver time 10.645341 ms 
publication time 8.946305 ms 
whole laserOdometry time 71.695801 ms 
 
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scan registration time 38.922959 ms *************
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solver time 11.560938 ms 
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map corner num 297721  surf num 138625 
scan registration time 37.077189 ms *************
data association time 22.268608 ms 
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data association time 19.387507 ms 
solver time 10.935339 ms 
publication time 12.086927 ms 
whole laserOdometry time 80.002426 ms 
 
build tree time 107.481442 ms 
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points size 92349 
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map prepare time 4.886723 ms
map corner num 299027  surf num 139147 
publication time 10.055762 ms 
whole laserOdometry time 60.736829 ms 
 
points size 94526 
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data association time 16.153835 ms 
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data association time 15.974793 ms 
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whole laserOdometry time 58.256854 ms 
 
mapping data assosiation time 38.909086 ms 
prepare time 15.660619 
mapping solver time 24.369957 ms 
data association time 15.691883 ms 
mapping data assosiation time 38.760961 ms 
data association time 16.467076 ms 
optimization twice time 52.184264 
publication time 12.539421 ms 
whole laserOdometry time 64.741969 ms 
 
points size 96279 
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map prepare time 6.485949 ms
map corner num 300405  surf num 139689 
data association time 16.855636 ms 
solver time 11.150325 ms 
data association time 17.080380 ms 
publication time 11.175711 ms 
whole laserOdometry time 66.066704 ms 
 
points size 95568 
sort q time 4.438414 
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scan registration time 33.982185 ms *************
mapping data assosiation time 37.964031 ms 
solver time 11.225629 ms 
mapping solver time 26.679361 ms 
publication time 10.167293 ms 
whole laserOdometry time 63.906981 ms 
 
points size 96031 
mapping data assosiation time 41.675904 ms 
scan registration time 30.033529 ms *************
add points time 1.407875 ms
data association time 15.587691 ms 
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data association time 15.508745 ms 
solver time 7.950535 ms 
publication time 11.221735 ms 
whole laserOdometry time 62.670604 ms 
 
points size 95321 
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data association time 14.675125 ms 
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optimization twice time 51.004620 
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data association time 21.018038 ms 
add points time 1.545465 ms
publication time 11.200591 ms 
whole laserOdometry time 70.906319 ms 
 
prepare time 18.343247 
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map prepare time 5.220674 ms
map corner num 303116  surf num 140870 
data association time 16.319814 ms 
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solver time 8.372838 ms 
publication time 10.234440 ms 
whole laserOdometry time 63.853446 ms 
 
sort q time 4.827815 
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solver time 7.811620 ms 
publication time 11.003722 ms 
whole laserOdometry time 68.090857 ms 
 
sort q time 4.910354 
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data association time 17.494896 ms 
solver time 12.657472 ms 
data association time 16.985162 ms 
drop lidar frame in mapping for real time performance 
points size 92060 
sort q time 5.054042 
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data association time 16.045345 ms 
solver time 8.509355 ms 
publication time 10.233366 ms 
whole laserOdometry time 63.386356 ms 
 
points size 90606 
mapping data assosiation time 40.186081 ms 
sort q time 5.245429 
seperate points time 13.441124 
scan registration time 34.428023 ms *************
mapping solver time 24.193743 ms 
solver time 10.136496 ms 
data association time 16.850062 ms 
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points size 90516 
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data association time 26.930322 ms 
solver time 14.966668 ms 
data association time 22.600556 ms 
optimization twice time 74.855374 
sort q time 6.129308 
seperate points time 15.365478 
build tree time 107.434110 ms 
solver time 11.328449 ms 
data association time 16.689932 ms 
publication time 10.158259 ms 
whole laserOdometry time 66.198610 ms 
 
points size 91181 
sort q time 4.830174 
seperate points time 12.045970 
mapping data assosiation time 43.413191 ms 
data association time 25.726099 ms 
solver time 16.127438 ms 
mapping solver time 29.718174 ms 
solver time 11.404274 ms 
publication time 10.951294 ms 
whole laserOdometry time 83.029262 ms 
 
map prepare time 5.795437 ms
map corner num 306965  surf num 142358 
sort q time 4.949658 
seperate points time 12.226858 
data association time 14.484025 ms 
data association time 14.290230 ms 
solver time 8.372840 ms 
publication time 9.103467 ms 
whole laserOdometry time 55.258678 ms 
 
points size 90450 
build tree time 92.997656 ms 
prepare time 14.268150 
scan registration time 29.991006 ms *************
mapping data assosiation time 38.252496 ms 
solver time 12.681440 ms 
data association time 18.068761 ms 
solver time 10.438877 ms 
mapping data assosiation time 39.270723 ms 
mapping solver time 17.850357 ms 
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solver time 11.351031 ms 
data association time 19.605274 ms 
solver time 10.708567 ms 
points size 90249 
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data association time 17.025017 ms 
mapping data assosiation time 36.978472 ms 
points size 92693 
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data association time 13.880990 ms 
solver time 10.563840 ms 
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solver time 8.171928 ms 
mapping solver time 22.603774 ms 
optimization twice time 48.104652 
mapping optimization time 224.028508 
add points time 1.437000 ms
filter time 28.371707 ms 
sort q time 4.450864 
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data association time 14.405853 ms 
data association time 15.685886 ms 
points size 92813 
sort q time 5.811831 
seperate points time 14.344326 
mapping pub time 135.298052 ms 
whole mapping time 394.973460 ms +++++
data association time 18.043612 ms 
data association time 14.685385 ms 
optimization twice time 56.162463 
publication time 10.597949 ms 
whole laserOdometry time 66.780510 ms 
 
points size 93227 
sort q time 5.190384 
seperate points time 12.850827 
build tree time 95.369158 ms 
data association time 16.084219 ms 
solver time 10.093807 ms 
mapping data assosiation time 35.482789 ms 
solver time 8.585183 ms 
publication time 9.147083 ms 
whole laserOdometry time 61.338658 ms 
 
points size 94726 
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seperate points time 13.276927 
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data association time 26.290572 ms 
filter time 29.256365 ms 
data association time 22.081295 ms 
solver time 8.362844 ms 
publication time 10.842266 ms 
whole laserOdometry time 83.851795 ms 
 
sort q time 5.593479 
seperate points time 14.813523 
data association time 14.985626 ms 
solver time 10.624528 ms 
data association time 14.976288 ms 
publication time 10.345766 ms 
whole laserOdometry time 60.316607 ms 
 
points size 95448 
sort q time 4.866172 
seperate points time 12.189655 
data association time 17.680459 ms 
solver time 13.394268 ms 
data association time 17.591238 ms 
mapping solver time 17.393175 ms 
points size 95449 
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map prepare time 6.000741 ms
map corner num 312380  surf num 144968 
data association time 14.199050 ms 
solver time 12.510085 ms 
data association time 16.994247 ms 
solver time 10.545290 ms 
publication time 11.502410 ms 
whole laserOdometry time 66.623172 ms 
 
build tree time 90.788922 ms 
scan registration time 28.122659 ms *************
data association time 16.765336 ms 
solver time 12.588358 ms 
mapping solver time 20.954658 ms 
data association time 23.050537 ms 
solver time 10.714098 ms 
publication time 12.276276 ms 
whole laserOdometry time 76.284663 ms 
 
mapping solver time 13.328428 ms 
sort q time 4.591616 
seperate points time 11.575325 
mapping optimization time 205.030280 
add points time 1.639403 ms
scan registration time 30.247558 ms *************
filter time 28.997614 ms 
solver time 10.727973 ms 
data association time 15.623954 ms 
publication time 9.914078 ms 
whole laserOdometry time 61.920096 ms 
 
sort q time 4.978715 
seperate points time 12.315297 
data association time 16.874245 ms 
solver time 11.332524 ms 
data association time 17.149715 ms 
optimization twice time 54.965033 
mapping data assosiation time 39.834084 ms 
points size 94776 
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sort q time 5.952102 
seperate points time 15.635813 
data association time 16.903128 ms 
solver time 12.711107 ms 
mapping solver time 20.853269 ms 
publication time 9.549591 ms 
whole laserOdometry time 62.774577 ms 
 
points size 92978 
map prepare time 6.108018 ms
map corner num 299360  surf num 148606 
data association time 27.362395 ms 
solver time 15.155745 ms 
data association time 26.836586 ms 
solver time 11.472005 ms 
publication time 11.963962 ms 
whole laserOdometry time 93.798294 ms 
 
sort q time 5.789954 
seperate points time 15.506569 
mapping data assosiation time 44.175831 ms 
solver time 14.759448 ms 
data association time 26.659455 ms 
solver time 11.323146 ms 
publication time 11.850490 ms 
whole laserOdometry time 92.503986 ms 
 
mapping solver time 20.449569 ms 
solver time 10.293359 ms 
filter time 28.834740 ms 
map prepare time 4.992306 ms
map corner num 300809  surf num 149437 
publication time 10.713226 ms 
whole laserOdometry time 62.724744 ms 
 
points size 93300 
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solver time 12.074260 ms 
mapping data assosiation time 42.713816 ms 
solver time 9.887127 ms 
points size 91862 
publication time 11.829107 ms 
whole laserOdometry time 72.434910 ms 
 
prepare time 17.381574 
scan registration time 32.413943 ms *************
filter time 39.571738 ms 
map prepare time 6.372774 ms
map corner num 302365  surf num 150390 
solver time 14.550395 ms 
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solver time 11.317866 ms 
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optimization twice time 75.778175 
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solver time 10.468653 ms 
mapping data assosiation time 40.459061 ms 
data association time 14.741305 ms 
solver time 8.518762 ms 
publication time 11.167864 ms 
whole laserOdometry time 62.078849 ms 
 
points size 94977 
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sort q time 5.482118 
seperate points time 14.341455 
map prepare time 6.373478 ms
map corner num 303858  surf num 151188 
data association time 17.434049 ms 
solver time 13.163149 ms 
data association time 18.369834 ms 
optimization twice time 57.642105 
points size 95576 
publication time 10.199814 ms 
whole laserOdometry time 67.859148 ms 
 
prepare time 15.361698 
sort q time 5.640549 
seperate points time 14.503218 
scan registration time 34.958957 ms *************
mapping data assosiation time 39.715233 ms 
solver time 8.922149 ms 
publication time 11.337241 ms 
whole laserOdometry time 63.217085 ms 
 
points size 96168 
sort q time 12.543871 
seperate points time 22.712030 
mapping data assosiation time 48.784879 ms 
mapping solver time 17.312782 ms 
mapping optimization time 229.489798 
add points time 1.491965 ms
data association time 15.254617 ms 
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data association time 15.434570 ms 
map prepare time 6.830119 ms
map corner num 305438  surf num 152113 
sort q time 4.973154 
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data association time 17.374389 ms 
solver time 10.151341 ms 
publication time 12.546568 ms 
whole laserOdometry time 70.481755 ms 
 
prepare time 12.292066 
sort q time 4.676164 
seperate points time 11.686047 
mapping data assosiation time 40.313262 ms 
data association time 23.906460 ms 
mapping solver time 22.089457 ms 
solver time 14.527743 ms 
data association time 23.203592 ms 
solver time 11.195861 ms 
optimization twice time 73.788729 
mapping solver time 19.903318 ms 
sort q time 5.231101 
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data association time 24.294686 ms 
solver time 11.051476 ms 
prepare time 17.661596 
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mapping solver time 19.232016 ms 
solver time 11.258947 ms 
sort q time 6.051891 
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solver time 14.731862 ms 
filter time 34.794868 ms 
map prepare time 5.121625 ms
map corner num 308444  surf num 153885 
publication time 12.604297 ms 
whole laserOdometry time 85.612714 ms 
 
scan registration time 38.513670 ms *************
data association time 14.562872 ms 
solver time 10.197678 ms 
data association time 14.920411 ms 
solver time 8.111255 ms 
build tree time 94.047563 ms 
points size 97131 
sort q time 4.598178 
seperate points time 11.638106 
scan registration time 32.048380 ms *************
mapping data assosiation time 41.752653 ms 
data association time 15.449172 ms 
solver time 10.603483 ms 
data association time 15.212941 ms 
publication time 9.901457 ms 
whole laserOdometry time 60.002230 ms 
 
mapping data assosiation time 42.922066 ms 
points size 95516 
prepare time 14.080004 
mapping solver time 19.167994 ms 
data association time 14.926157 ms 
mapping pub time 1.208724 ms 
whole mapping time 260.376261 ms +++++
data association time 16.148042 ms 
solver time 8.456490 ms 
publication time 11.823032 ms 
whole laserOdometry time 63.769812 ms 
 
points size 95551 
prepare time 14.608626 
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seperate points time 15.136436 
data association time 15.410777 ms 
build tree time 100.188607 ms 
data association time 14.937521 ms 
solver time 8.156075 ms 
publication time 11.275852 ms 
whole laserOdometry time 66.143409 ms 
 
points size 93599 
mapping solver time 23.360170 ms 
sort q time 4.474104 
seperate points time 11.580849 
scan registration time 33.305558 ms *************
data association time 23.854716 ms 
mapping data assosiation time 40.780132 ms 
solver time 16.017014 ms 
data association time 24.413341 ms 
points size 93263 
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map prepare time 5.631171 ms
map corner num 311497  surf num 155690 
data association time 17.009880 ms 
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data association time 16.826907 ms 
solver time 8.201646 ms 
points size 92304 
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data association time 27.119252 ms 
mapping solver time 24.183144 ms 
solver time 11.244777 ms 
points size 91812 
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sort q time 5.876534 
seperate points time 14.271092 
publication time 11.916484 ms 
whole laserOdometry time 89.505806 ms 
 
mapping solver time 23.283671 ms 
data association time 23.840993 ms 
solver time 14.993824 ms 
mapping pub time 1.528065 ms 
whole mapping time 281.153286 ms +++++
data association time 23.953697 ms 
solver time 11.282204 ms 
publication time 11.811705 ms 
whole laserOdometry time 86.990852 ms 
 
data association time 23.133423 ms 
solver time 10.689046 ms 
build tree time 100.336309 ms 
data association time 14.832260 ms 
publication time 9.991428 ms 
whole laserOdometry time 68.253154 ms 
 
points size 92411 
prepare time 14.648797 
sort q time 5.456897 
seperate points time 13.373753 
mapping data assosiation time 41.990739 ms 
scan registration time 33.583885 ms *************
mapping solver time 23.762322 ms 
solver time 10.400654 ms 
data association time 15.010161 ms 
solver time 8.949865 ms 
publication time 11.173277 ms 
whole laserOdometry time 60.936190 ms 
 
points size 90486 
sort q time 6.066043 
seperate points time 14.343721 
filter time 39.290347 ms 
mapping pub time 1.904132 ms 
whole mapping time 278.424327 ms +++++
solver time 13.475058 ms 
points size 89425 sort q time 5.896656 
seperate points time 14.786596 
publication time 12.118470 ms 
whole laserOdometry time 120.370034 ms 
 
[33m[ WARN] [1718802512.048645188]: odometry process over 100ms[0m
data association time 27.115254 ms 
data association time 15.218325 ms 
solver time 14.668507 ms 
points size 91655 
mapping data assosiation time 49.762354 ms 
prepare time 15.059034 
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data association time 18.570914 ms 
solver time 10.432765 ms 
filter time 34.202532 ms 
solver time 10.333920 ms 
publication time 12.177325 ms 
whole laserOdometry time 68.814516 ms 
 
points size 92938 
sort q time 4.715372 
seperate points time 11.819541 
scan registration time 33.655063 ms *************
data association time 15.218121 ms 
solver time 11.494962 ms 
data association time 18.304799 ms 
build tree time 106.062833 ms 
publication time 10.170080 ms 
whole laserOdometry time 65.047672 ms 
 
points size 93003 
sort q time 4.685946 
seperate points time 11.226217 
scan registration time 31.211704 ms *************
solver time 10.184668 ms 
mapping solver time 32.947268 ms 
data association time 17.609875 ms 
solver time 9.035505 ms 
publication time 9.557399 ms 
whole laserOdometry time 64.330165 ms 
 
points size 94353 
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seperate points time 12.697576 
mapping solver time 27.107642 ms 
data association time 20.041002 ms 
mapping pub time 1.299718 ms 
whole mapping time 301.929067 ms +++++
data association time 17.570372 ms 
points size 96292 
sort q time 5.522402 
seperate points time 12.882251 
data association time 13.920410 ms 
solver time 10.590641 ms 
data association time 15.283853 ms 
solver time 8.640285 ms 
optimization twice time 49.299484 
mapping data assosiation time 40.584030 ms 
points size 98307 
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solver time 13.125223 ms 
mapping data assosiation time 46.288893 ms 
solver time 11.635157 ms 
add points time 2.503406 ms
points size 101006 
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map corner num 282259  surf num 132157 
data association time 15.693570 ms 
solver time 15.065216 ms 
data association time 16.973255 ms 
solver time 8.878173 ms 
publication time 10.564746 ms 
whole laserOdometry time 68.120814 ms 
 
build tree time 85.715242 ms 
data association time 14.973583 ms 
mapping data assosiation time 39.523393 ms 
solver time 10.556827 ms 
data association time 16.109933 ms 
solver time 8.961616 ms 
points size 102110 
mapping data assosiation time 38.637217 ms 
mapping solver time 23.225742 ms 
data association time 20.173261 ms 
solver time 13.696563 ms 
data association time 20.423324 ms 
solver time 10.753050 ms 
sort q time 5.007317 
seperate points time 12.049335 
data association time 25.200974 ms 
solver time 14.516834 ms 
data association time 25.379500 ms 
points size 102337 
publication time 12.227128 ms 
whole laserOdometry time 89.258443 ms 
 
mapping solver time 23.911083 ms 
sort q time 5.396385 
seperate points time 13.388214 
data association time 17.234531 ms 
solver time 12.241279 ms 
mapping data assosiation time 44.678059 ms 
data association time 18.081735 ms 
add points time 1.649202 ms
publication time 13.002965 ms 
whole laserOdometry time 72.304805 ms 
 
prepare time 16.402398 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
scan registration time 32.994018 ms *************
data association time 18.090238 ms 
solver time 10.439157 ms 
data association time 17.947901 ms 
optimization twice time 53.954613 
publication time 12.892294 ms 
whole laserOdometry time 66.867954 ms 
 
build tree time 85.691207 ms 
sort q time 5.704680 
seperate points time 13.428377 
mapping data assosiation time 41.188763 ms 
data association time 27.501741 ms 
solver time 14.926266 ms 
data association time 27.801119 ms 
mapping data assosiation time 44.012714 ms 
sort q time 6.141470 
seperate points time 14.919127 
mapping solver time 27.622018 ms 
data association time 27.479305 ms 
filter time 27.249701 ms 
points size 103392 
solver time 11.387688 ms 
scan registration time 40.541142 ms *************
data association time 17.381144 ms 
solver time 11.324038 ms 
data association time 17.887159 ms 
map prepare time 7.498995 ms
map corner num 286362  surf num 134526 
sort q time 6.108304 
seperate points time 15.256757 
scan registration time 39.290154 ms *************
data association time 16.867704 ms 
solver time 10.692584 ms 
data association time 17.887436 ms 
publication time 12.834217 ms 
whole laserOdometry time 70.421095 ms 
 
sort q time 5.503327 
seperate points time 13.367248 
data association time 16.801589 ms 
solver time 10.544218 ms 
data association time 18.030951 ms 
mapping data assosiation time 43.345773 ms 
points size 102763 
mapping solver time 21.436408 ms 
scan registration time 35.899921 ms *************
filter time 24.594982 ms 
solver time 9.958544 ms 
data association time 17.573996 ms 
publication time 11.908289 ms 
whole laserOdometry time 65.745696 ms 
 
points size 102999 
sort q time 5.840987 
seperate points time 14.198015 
build tree time 87.714824 ms 
data association time 27.599715 ms 
solver time 17.405463 ms 
data association time 25.644973 ms 
mapping solver time 30.982322 ms 
sort q time 6.252585 
seperate points time 16.480503 
data association time 17.556482 ms 
mapping solver time 19.902420 ms 
optimization twice time 58.628038 
prepare time 19.865372 
map prepare time 6.129188 ms
map corner num 289128  surf num 136570 
data association time 18.126760 ms 
solver time 10.726215 ms 
data association time 17.609198 ms 
solver time 8.434240 ms 
publication time 13.235230 ms 
whole laserOdometry time 68.875849 ms 
 
prepare time 18.240380 
sort q time 4.760135 
seperate points time 11.476476 
data association time 16.867012 ms 
solver time 12.330100 ms 
mapping solver time 24.631233 ms 
solver time 8.464309 ms 
points size 102608 
mapping data assosiation time 45.883556 ms 
scan registration time 35.882832 ms *************
mapping solver time 23.617511 ms 
data association time 28.246890 ms 
filter time 31.198127 ms 
solver time 16.068926 ms 
map prepare time 7.066970 ms
map corner num 290747  surf num 137764 
points size 103919 
solver time 10.752431 ms 
optimization twice time 84.882187 
data association time 28.588423 ms 
solver time 14.330176 ms 
build tree time 111.880644 ms 
points size 103678 
prepare time 15.621653 
data association time 31.140704 ms 
sort q time 5.247384 
seperate points time 13.260979 
publication time 18.338396 ms 
whole laserOdometry time 106.642647 ms 
 
[33m[ WARN] [1718802514.732685979]: odometry process over 100ms[0m
mapping data assosiation time 57.516166 ms 
data association time 29.067373 ms 
mapping solver time 35.873461 ms 
solver time 16.439476 ms 
points size 103947 
data association time 33.152564 ms 
solver time 13.232339 ms 
publication time 15.999455 ms 
whole laserOdometry time 109.079552 ms 
 
[33m[ WARN] [1718802514.845278158]: odometry process over 100ms[0m
mapping solver time 31.052187 ms 
data association time 29.029967 ms 
filter time 32.124710 ms 
sort q time 5.826343 
seperate points time 14.116654 
solver time 12.278287 ms 
publication time 12.019962 ms 
whole laserOdometry time 103.783867 ms 
 
[33m[ WARN] [1718802514.953308746]: odometry process over 100ms[0m
data association time 17.871202 ms 
solver time 12.811672 ms 
data association time 20.458614 ms 
solver time 12.212590 ms 
publication time 10.934317 ms 
whole laserOdometry time 75.163093 ms 
 
mapping data assosiation time 56.064104 ms 
data association time 19.277098 ms 
solver time 14.248360 ms 
data association time 18.041940 ms 
solver time 11.163275 ms 
publication time 11.579956 ms 
whole laserOdometry time 75.119808 ms 
 
mapping data assosiation time 57.345535 ms 
mapping solver time 24.089335 ms 
solver time 12.014579 ms 
filter time 25.847631 ms 
data association time 20.891540 ms 
solver time 10.638404 ms 
prepare time 20.719677 
sort q time 6.220416 
seperate points time 15.759385 
solver time 12.748971 ms 
build tree time 91.219467 ms 
solver time 10.554932 ms 
optimization twice time 61.525467 
sort q time 7.167490 
seperate points time 18.720330 
data association time 15.432995 ms 
solver time 12.300358 ms 
data association time 15.529464 ms 
solver time 11.061117 ms 
points size 103561 
mapping data assosiation time 54.320758 ms 
sort q time 6.245854 
seperate points time 16.284954 
mapping solver time 22.373987 ms 
data association time 23.041475 ms 
filter time 25.000421 ms 
mapping pub time 1.284142 ms 
whole mapping time 293.324913 ms +++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
data association time 15.656219 ms 
solver time 10.678162 ms 
publication time 11.728429 ms 
whole laserOdometry time 76.260495 ms 
 
sort q time 6.186647 
seperate points time 16.203462 
data association time 16.308265 ms 
build tree time 90.636051 ms 
data association time 17.985622 ms 
solver time 8.936929 ms 
publication time 10.827390 ms 
whole laserOdometry time 70.460348 ms 
 
prepare time 23.148733 
sort q time 6.045347 
seperate points time 15.593944 
mapping solver time 34.838703 ms 
data association time 16.257103 ms 
solver time 14.836286 ms 
data association time 15.519975 ms 
solver time 8.567473 ms 
optimization twice time 56.041713 
mapping data assosiation time 49.443337 ms 
sort q time 6.049526 
seperate points time 15.671883 
data association time 15.359330 ms 
solver time 10.964072 ms 
data association time 16.699461 ms 
solver time 10.085210 ms 
publication time 11.008760 ms 
whole laserOdometry time 65.030383 ms 
 
prepare time 19.898283 
sort q time 6.040651 
seperate points time 15.608878 
data association time 15.618878 ms 
build tree time 97.423606 ms 
data association time 15.229240 ms 
optimization twice time 54.234078 
publication time 10.994158 ms 
whole laserOdometry time 65.246348 ms 
 
sort q time 6.162282 
seperate points time 15.745630 
[0m[ INFO] [1718802515.981786834]: Received 1788151 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802515.981819832]: Data saved to 1317358060330534.pcd[0m
data association time 22.747794 ms 
data association time 15.658703 ms 
solver time 8.894667 ms 
publication time 10.056111 ms 
whole laserOdometry time 68.872595 ms 
 
mapping solver time 34.891754 ms 
data association time 15.586922 ms 
map prepare time 6.077597 ms
map corner num 288114  surf num 139354 
solver time 11.823791 ms 
data association time 15.436622 ms 
solver time 8.176079 ms 
points size 101879 
sort q time 5.975718 
seperate points time 14.991030 
scan registration time 40.873822 ms *************
build tree time 94.730551 ms 
data association time 18.605435 ms 
solver time 14.669686 ms 
mapping data assosiation time 59.492150 ms 
prepare time 27.235938 
sort q time 5.917913 
seperate points time 15.457562 
mapping solver time 40.473145 ms 
data association time 15.313956 ms 
solver time 11.069292 ms 
data association time 17.327621 ms 
solver time 12.023885 ms 
optimization twice time 56.711226 
points size 101404 
mapping solver time 26.025800 ms 
mapping optimization time 270.927300 
add points time 1.736725 ms
sort q time 6.084621 
seperate points time 15.164747 
filter time 29.877319 ms 
data association time 16.143556 ms 
solver time 13.071013 ms 
data association time 19.487386 ms 
points size 101451 
sort q time 5.957424 
seperate points time 14.978133 
data association time 15.338227 ms 
solver time 10.647782 ms 
build tree time 112.356152 ms 
solver time 7.981427 ms 
optimization twice time 50.819716 
points size 101706 
mapping data assosiation time 54.116371 ms 
scan registration time 36.374839 ms *************
mapping solver time 33.764186 ms 
solver time 15.598141 ms 
points size 101903 
solver time 10.524886 ms 
publication time 10.198719 ms 
whole laserOdometry time 83.259703 ms 
 
mapping pub time 5.336120 ms 
whole mapping time 319.873603 ms +++++
data association time 26.731897 ms 
publication time 14.382758 ms 
whole laserOdometry time 87.208590 ms 
 
data association time 16.379450 ms 
solver time 10.542170 ms 
data association time 15.328306 ms 
publication time 10.591798 ms 
whole laserOdometry time 61.568736 ms 
 
mapping data assosiation time 53.064065 ms 
data association time 15.967479 ms 
solver time 10.654169 ms 
mapping solver time 39.354714 ms 
solver time 7.836535 ms 
points size 101427 
sort q time 6.091006 
seperate points time 14.827243 
data association time 15.119431 ms 
solver time 11.160643 ms 
data association time 15.723881 ms 
mapping pub time 1.640497 ms 
whole mapping time 339.050915 ms +++++
points size 101142 
sort q time 4.565477 
seperate points time 11.073955 
data association time 15.077740 ms 
solver time 13.672361 ms 
data association time 15.647300 ms 
solver time 11.091781 ms 
build tree time 111.408678 ms 
prepare time 26.439327 
scan registration time 57.274947 ms *************
mapping solver time 40.023710 ms 
solver time 11.274037 ms 
prepare time 26.483525 
solver time 9.435758 ms 
publication time 19.920589 ms 
whole laserOdometry time 100.094072 ms 
 
[33m[ WARN] [1718802517.343760768]: odometry process over 100ms[0m
data association time 33.313750 ms 
solver time 15.636359 ms 
sort q time 5.352583 
seperate points time 12.886152 
map prepare time 6.650785 ms
map corner num 293761  surf num 141970 
publication time 11.946239 ms 
whole laserOdometry time 99.287761 ms 
 
data association time 23.787135 ms 
solver time 14.214265 ms 
points size 101444 
data association time 23.205743 ms 
publication time 12.087539 ms 
whole laserOdometry time 85.524526 ms 
 
build tree time 116.302166 ms 
data association time 25.641259 ms 
solver time 17.556277 ms 
mapping data assosiation time 53.595683 ms 
prepare time 17.124114 
solver time 12.289001 ms 
publication time 12.491939 ms 
whole laserOdometry time 94.974446 ms 
 
data association time 17.581669 ms 
solver time 11.154116 ms 
data association time 15.530061 ms 
solver time 15.337611 ms 
publication time 11.904107 ms 
whole laserOdometry time 72.402176 ms 
 
scan registration time 35.446467 ms *************
filter time 31.895448 ms 
map prepare time 6.467002 ms
map corner num 295045  surf num 142510 
solver time 14.594352 ms 
data association time 15.937609 ms 
points size 101527 
sort q time 6.474439 
seperate points time 15.622847 
data association time 15.605665 ms 
solver time 11.363991 ms 
data association time 16.117910 ms 
publication time 9.298737 ms 
whole laserOdometry time 61.182411 ms 
 
points size 101617 
prepare time 15.259784 
mapping solver time 28.673072 ms 
sort q time 6.237913 
seperate points time 14.689142 
scan registration time 34.251645 ms *************
data association time 27.873735 ms 
mapping data assosiation time 50.811630 ms 
solver time 20.666557 ms 
points size 101585 
prepare time 12.415469 
mapping solver time 33.931588 ms 
mapping optimization time 253.310433 
add points time 1.741018 ms
data association time 24.939998 ms 
scan registration time 32.139094 ms *************
publication time 11.956133 ms 
whole laserOdometry time 98.266990 ms 
 
mapping pub time 1.749018 ms 
whole mapping time 296.870104 ms +++++
map prepare time 6.203379 ms
map corner num 296231  surf num 143114 
data association time 25.119635 ms 
solver time 17.213374 ms 
data association time 15.124518 ms 
points size 101598 
publication time 11.194369 ms 
whole laserOdometry time 82.912534 ms 
 
build tree time 94.903753 ms 
data association time 15.191378 ms 
solver time 12.195814 ms 
data association time 16.817784 ms 
solver time 10.477734 ms 
points size 101506 
sort q time 5.751555 
seperate points time 13.721963 
data association time 14.923467 ms 
solver time 14.837715 ms 
mapping solver time 31.754535 ms 
solver time 16.355565 ms 
mapping pub time 8.177039 ms 
whole mapping time 300.506939 ms +++++
data association time 18.714114 ms 
solver time 15.010748 ms 
points size 101527 
solver time 11.425592 ms 
publication time 11.107070 ms 
whole laserOdometry time 74.449599 ms 
 
scan registration time 41.697564 ms *************
build tree time 111.264470 ms 
data association time 19.131997 ms 
solver time 15.711836 ms 
mapping data assosiation time 46.451741 ms 
solver time 13.686160 ms 
publication time 13.109398 ms 
whole laserOdometry time 82.357477 ms 
 
data association time 15.217983 ms 
solver time 11.441565 ms 
mapping data assosiation time 44.743201 ms 
solver time 10.048675 ms 
publication time 12.451259 ms 
whole laserOdometry time 71.029746 ms 
 
sort q time 6.145476 
seperate points time 15.086490 
filter time 31.020295 ms 
map prepare time 5.339004 ms
map corner num 298622  surf num 144202 
solver time 12.978100 ms 
data association time 15.418059 ms 
solver time 8.230067 ms 
publication time 11.668768 ms 
whole laserOdometry time 65.092307 ms 
 
sort q time 4.908828 
seperate points time 12.163854 
build tree time 88.507321 ms 
data association time 15.867363 ms 
solver time 13.434516 ms 
data association time 15.320374 ms 
mapping data assosiation time 43.182939 ms 
publication time 10.303077 ms 
whole laserOdometry time 68.517751 ms 
 
mapping solver time 34.092267 ms 
scan registration time 29.400551 ms *************
data association time 16.312864 ms 
solver time 10.622780 ms 
data association time 17.086512 ms 
solver time 8.392976 ms 
optimization twice time 53.114902 
mapping solver time 28.947594 ms 
mapping optimization time 240.711303 
add points time 1.425282 ms
points size 101268 
filter time 34.456410 ms 
mapping pub time 1.651526 ms 
whole mapping time 283.635462 ms +++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
scan registration time 40.014332 ms *************
data association time 16.973571 ms 
solver time 10.224053 ms 
data association time 19.112989 ms 
publication time 9.952086 ms 
whole laserOdometry time 63.694052 ms 
 
prepare time 15.866540 
build tree time 94.894679 ms 
sort q time 6.348315 
seperate points time 16.094817 
data association time 26.426076 ms 
solver time 18.060697 ms 
points size 101352 
solver time 10.886873 ms 
optimization twice time 82.857148 
mapping data assosiation time 51.899499 ms 
mapping solver time 25.885192 ms 
solver time 17.983233 ms 
map prepare time 6.900728 ms
map corner num 301153  surf num 145541 
prepare time 15.474383 
solver time 8.993058 ms 
scan registration time 36.749669 ms *************
data association time 16.721000 ms 
solver time 12.832958 ms 
data association time 21.886801 ms 
solver time 14.695614 ms 
optimization twice time 66.766942 
sort q time 7.208394 
seperate points time 17.711981 
mapping data assosiation time 54.127250 ms 
data association time 19.994877 ms 
solver time 14.919528 ms 
points size 101344 
data association time 21.465487 ms 
prepare time 21.403509 
sort q time 7.257132 
seperate points time 18.625178 
mapping data assosiation time 60.544713 ms 
data association time 20.108234 ms 
solver time 13.940037 ms 
data association time 21.385040 ms 
map prepare time 6.092353 ms
map corner num 302396  surf num 146150 
data association time 15.932814 ms 
solver time 12.907691 ms 
solver time 7.423108 ms 
points size 101298 
sort q time 5.025672 
seperate points time 12.158101 
data association time 17.158010 ms 
solver time 13.186020 ms 
data association time 16.609721 ms 
solver time 10.589967 ms 
publication time 9.945354 ms 
whole laserOdometry time 68.323786 ms 
 
points size 101191 
prepare time 18.232545 
sort q time 6.911477 
seperate points time 17.621358 
mapping solver time 22.028809 ms 
mapping optimization time 247.185330 
add points time 1.515196 ms
data association time 17.432754 ms 
solver time 12.493006 ms 
filter time 27.735646 ms 
solver time 11.598000 ms 
publication time 11.967595 ms 
whole laserOdometry time 72.900220 ms 
 
sort q time 6.626443 
seperate points time 17.340473 
data association time 16.960625 ms 
solver time 14.506269 ms 
data association time 17.759679 ms 
optimization twice time 62.032570 
publication time 11.196368 ms 
whole laserOdometry time 73.252345 ms 
 
map prepare time 8.051374 ms
map corner num 303550  surf num 146735 
data association time 17.129223 ms 
solver time 11.058715 ms 
data association time 17.040550 ms 
publication time 10.754199 ms 
whole laserOdometry time 64.221088 ms 
 
scan registration time 36.380468 ms *************
data association time 16.417972 ms 
solver time 12.643879 ms 
data association time 17.263196 ms 
solver time 11.507398 ms 
points size 101074 
sort q time 6.764309 
seperate points time 17.236384 
mapping data assosiation time 49.243743 ms 
solver time 10.622373 ms 
mapping solver time 23.487278 ms 
optimization twice time 53.553813 
points size 101006 
map prepare time 6.250055 ms
map corner num 304674  surf num 147300 
scan registration time 36.848671 ms *************
data association time 16.557235 ms 
solver time 12.948986 ms 
data association time 16.811233 ms 
solver time 11.372284 ms 
points size 101104 
sort q time 6.727240 
seperate points time 17.000664 
scan registration time 38.874790 ms *************
mapping data assosiation time 52.483569 ms 
data association time 37.360980 ms 
solver time 17.952049 ms 
points size 101158 
data association time 26.663670 ms 
solver time 14.772964 ms 
publication time 11.595274 ms 
whole laserOdometry time 109.268473 ms 
 
[33m[ WARN] [1718802520.545146061]: odometry process over 100ms[0m
mapping solver time 22.052459 ms 
solver time 18.269241 ms 
map prepare time 7.334475 ms
map corner num 305963  surf num 148020 
data association time 26.707868 ms 
solver time 15.598506 ms 
publication time 11.672215 ms 
whole laserOdometry time 99.958521 ms 
 
data association time 26.523351 ms 
solver time 18.038624 ms 
points size 101321 
sort q time 5.392320 
seperate points time 13.030003 
mapping data assosiation time 46.364892 ms 
mapping solver time 29.172742 ms 
solver time 18.744801 ms 
points size 101117 
solver time 15.044011 ms 
publication time 11.631053 ms 
whole laserOdometry time 98.435334 ms 
 
data association time 26.351141 ms 
map prepare time 5.105077 ms
map corner num 307173  surf num 148653 
solver time 15.130950 ms 
data association time 26.081077 ms 
solver time 15.232532 ms 
scan registration time 35.566351 ms *************
data association time 25.771616 ms 
build tree time 98.891914 ms 
data association time 25.687983 ms 
solver time 14.953411 ms 
publication time 11.730375 ms 
whole laserOdometry time 97.415605 ms 
 
mapping solver time 32.536214 ms 
solver time 13.843259 ms 
data association time 15.155697 ms 
solver time 9.912689 ms 
points size 100608 
mapping solver time 26.593304 ms 
data association time 15.311275 ms 
filter time 32.205976 ms 
mapping pub time 1.274894 ms 
whole mapping time 292.840378 ms +++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
data association time 14.488537 ms 
solver time 10.453361 ms 
points size 100691 
sort q time 6.043615 
seperate points time 14.304215 
data association time 14.304218 ms 
solver time 12.472620 ms 
data association time 14.356178 ms 
mapping data assosiation time 48.099042 ms 
points size 100763 
sort q time 5.198183 
seperate points time 12.515169 
scan registration time 29.893510 ms *************
mapping solver time 28.143703 ms 
data association time 15.091669 ms 
solver time 12.179819 ms 
mapping data assosiation time 42.818326 ms 
data association time 14.806236 ms 
solver time 12.806288 ms 
prepare time 12.859943 
sort q time 6.218233 
seperate points time 14.792845 
mapping pub time 7.581069 ms 
whole mapping time 290.287494 ms +++++
data association time 16.033762 ms 
solver time 12.280816 ms 
data association time 16.165661 ms 
solver time 8.216091 ms 
publication time 9.723913 ms 
whole laserOdometry time 63.272669 ms 
 
points size 101142 
sort q time 5.006452 
seperate points time 12.332939 
build tree time 98.579252 ms 
data association time 18.109363 ms 
solver time 15.062488 ms 
mapping data assosiation time 41.043025 ms 
solver time 10.587026 ms 
publication time 10.537941 ms 
whole laserOdometry time 74.861725 ms 
 
prepare time 16.063247 
sort q time 5.882807 
seperate points time 14.720476 
mapping data assosiation time 42.176741 ms 
solver time 13.202601 ms 
data association time 16.329174 ms 
solver time 8.786363 ms 
publication time 11.055233 ms 
whole laserOdometry time 64.467533 ms 
 
map prepare time 5.711907 ms
map corner num 310500  surf num 150106 
points size 100698 
sort q time 5.931938 
seperate points time 15.219991 
data association time 14.588912 ms 
solver time 13.071519 ms 
data association time 14.203005 ms 
build tree time 93.472864 ms 
publication time 11.190669 ms 
whole laserOdometry time 65.956938 ms 
 
sort q time 5.798694 
seperate points time 15.038158 
data association time 14.328232 ms 
solver time 10.916002 ms 
data association time 18.009616 ms 
solver time 10.381896 ms 
publication time 9.682068 ms 
whole laserOdometry time 64.283242 ms 
 
points size 99490 
mapping solver time 27.725368 ms 
filter time 29.101899 ms 
solver time 13.295486 ms 
data association time 17.292393 ms 
solver time 11.305236 ms 
publication time 11.413239 ms 
whole laserOdometry time 68.843380 ms 
 
scan registration time 38.366487 ms *************
data association time 14.041975 ms 
build tree time 97.533331 ms 
data association time 13.824015 ms 
solver time 10.661009 ms 
publication time 9.434524 ms 
whole laserOdometry time 62.653764 ms 
 
points size 99021 
sort q time 5.884900 
seperate points time 14.856966 
data association time 13.968872 ms 
solver time 13.699792 ms 
data association time 15.153120 ms 
solver time 10.359828 ms 
mapping solver time 28.209547 ms 
points size 99101 
sort q time 5.545412 
seperate points time 14.458640 
mapping pub time 1.308462 ms 
whole mapping time 291.331989 ms +++++
data association time 17.322977 ms 
solver time 15.050674 ms 
data association time 15.185260 ms 
solver time 12.034821 ms 
publication time 9.367879 ms 
whole laserOdometry time 69.882810 ms 
 
sort q time 6.541013 
seperate points time 16.390108 
data association time 13.983260 ms 
solver time 13.994789 ms 
data association time 14.415952 ms 
solver time 10.920356 ms 
points size 100706 
mapping data assosiation time 45.219333 ms 
sort q time 5.772556 
seperate points time 14.636468 
scan registration time 39.703331 ms *************
mapping solver time 25.009337 ms 
data association time 24.454983 ms 
map prepare time 6.664638 ms
map corner num 216202  surf num 103392 
data association time 17.246533 ms 
solver time 13.316421 ms 
sort q time 5.887848 
seperate points time 14.937025 
scan registration time 38.785221 ms *************
data association time 14.747761 ms 
solver time 13.927413 ms 
data association time 14.588930 ms 
mapping data assosiation time 38.534838 ms 
publication time 9.950166 ms 
whole laserOdometry time 67.231965 ms 
 
mapping solver time 35.835492 ms 
data association time 14.285508 ms 
solver time 12.909808 ms 
data association time 17.729365 ms 
add points time 1.481902 ms
points size 101845 
mapping pub time 5.184021 ms 
whole mapping time 253.024590 ms +++++
sort q time 5.943611 
seperate points time 15.717827 
data association time 14.478714 ms 
solver time 13.724164 ms 
data association time 14.484410 ms 
optimization twice time 54.257878 
points size 101592 
mapping data assosiation time 45.361104 ms 
mapping solver time 26.764530 ms 
solver time 12.436791 ms 
data association time 15.264248 ms 
solver time 12.039421 ms 
points size 101353 
scan registration time 30.899431 ms *************
filter time 19.560200 ms 
mapping pub time 1.219844 ms 
whole mapping time 224.288957 ms +++++
drop lidar frame in mapping for real time performance 
data association time 16.721784 ms 
solver time 11.183825 ms 
data association time 15.935550 ms 
publication time 8.588663 ms 
whole laserOdometry time 61.962230 ms 
 
build tree time 73.195256 ms 
points size 101038 
prepare time 20.010133 
sort q time 6.737072 
seperate points time 16.792649 
mapping data assosiation time 40.101397 ms 
data association time 24.370066 ms 
mapping solver time 22.420137 ms 
solver time 15.200155 ms 
data association time 24.077772 ms 
mapping data assosiation time 39.319544 ms 
solver time 15.448146 ms 
publication time 10.327466 ms 
whole laserOdometry time 90.460629 ms 
 
add points time 1.429949 ms
filter time 18.526540 ms 
data association time 24.639901 ms 
map prepare time 5.436454 ms
map corner num 219473  surf num 104640 
solver time 14.970942 ms 
data association time 24.389976 ms 
prepare time 19.206177 
publication time 10.291091 ms 
whole laserOdometry time 87.246007 ms 
 
scan registration time 38.898987 ms *************
data association time 15.749859 ms 
solver time 13.128428 ms 
data association time 18.006306 ms 
solver time 10.151053 ms 
points size 100328 
sort q time 6.727910 
seperate points time 16.762501 
data association time 15.255163 ms 
mapping solver time 21.711768 ms 
mapping optimization time 201.387776 
add points time 1.406841 ms
filter time 21.226620 ms 
solver time 8.411080 ms 
points size 98539 
sort q time 5.731466 
seperate points time 14.249722 
data association time 15.043688 ms 
solver time 13.426749 ms 
data association time 18.152562 ms 
solver time 10.950973 ms 
prepare time 15.670418 
mapping solver time 24.454596 ms 
scan registration time 31.831280 ms *************
mapping data assosiation time 33.957024 ms 
data association time 24.007290 ms 
mapping solver time 19.522660 ms 
mapping optimization time 187.955896 
add points time 1.460424 ms
filter time 20.570899 ms 
points size 96375 
publication time 10.069606 ms 
whole laserOdometry time 85.827532 ms 
 
build tree time 68.977809 ms 
solver time 14.741770 ms 
data association time 15.852994 ms 
solver time 11.958342 ms 
publication time 10.781914 ms 
whole laserOdometry time 78.592570 ms 
 
sort q time 5.129111 
seperate points time 12.497572 
data association time 14.598370 ms 
solver time 10.577857 ms 
mapping solver time 22.308797 ms 
solver time 8.091994 ms 
filter time 21.795557 ms 
points size 94823 
prepare time 15.186921 
sort q time 5.457811 
seperate points time 13.388083 
data association time 24.239598 ms 
solver time 11.473317 ms 
build tree time 67.833576 ms 
data association time 24.080137 ms 
solver time 8.012525 ms 
publication time 9.785273 ms 
whole laserOdometry time 78.634587 ms 
 
sort q time 5.189158 
seperate points time 13.029712 
mapping solver time 30.205411 ms 
data association time 24.299064 ms 
mapping data assosiation time 31.748647 ms 
mapping solver time 20.159432 ms 
solver time 11.819217 ms 
prepare time 14.660900 
publication time 10.694529 ms 
whole laserOdometry time 87.325674 ms 
 
map prepare time 5.224479 ms
map corner num 223101  surf num 105859 
sort q time 6.200106 
seperate points time 15.148917 
data association time 23.872802 ms 
solver time 15.041267 ms 
data association time 24.436223 ms 
solver time 11.549016 ms 
prepare time 20.230669 
publication time 10.086299 ms 
whole laserOdometry time 86.019140 ms 
 
sort q time 5.323804 
seperate points time 13.883678 
mapping solver time 29.641842 ms 
data association time 21.576203 ms 
mapping data assosiation time 30.163001 ms 
mapping solver time 24.397452 ms 
solver time 11.652842 ms 
publication time 10.119498 ms 
whole laserOdometry time 81.160986 ms 
 
scan registration time 32.533620 ms *************
data association time 21.450440 ms 
solver time 14.895523 ms 
build tree time 67.237654 ms 
solver time 11.530952 ms 
sort q time 5.453210 
seperate points time 13.146253 
mapping solver time 21.487700 ms 
data association time 21.455243 ms 
solver time 15.122146 ms 
mapping data assosiation time 32.374843 ms 
data association time 21.148788 ms 
solver time 11.604464 ms 
filter time 23.894254 ms 
data association time 21.097252 ms 
solver time 15.468780 ms 
data association time 21.040198 ms 
solver time 11.371481 ms 
scan registration time 28.725563 ms *************
mapping data assosiation time 35.110490 ms 
data association time 22.287073 ms 
mapping solver time 21.453747 ms 
solver time 15.027750 ms 
data association time 17.640524 ms 
solver time 8.708131 ms 
mapping solver time 18.749908 ms 
sort q time 5.460494 
seperate points time 13.739974 
map prepare time 4.002352 ms
map corner num 225727  surf num 106766 
data association time 13.990452 ms 
solver time 10.071426 ms 
data association time 13.808180 ms 
solver time 8.347943 ms 
optimization twice time 47.145207 
build tree time 69.012317 ms 
points size 94668 
sort q time 5.506633 
seperate points time 13.920081 
mapping solver time 20.032988 ms 
solver time 12.599422 ms 
data association time 17.274872 ms 
solver time 10.626952 ms 
publication time 10.215027 ms 
whole laserOdometry time 64.701019 ms 
 
prepare time 15.830399 
sort q time 4.392916 
seperate points time 10.592098 
data association time 16.097858 ms 
solver time 11.040323 ms 
data association time 14.605662 ms 
solver time 9.182832 ms 
publication time 9.719704 ms 
whole laserOdometry time 61.567125 ms 
 
points size 96992 
sort q time 4.965413 
seperate points time 12.155770 
data association time 14.449446 ms 
mapping pub time 136.111031 ms 
whole mapping time 340.537724 ms +++++
data association time 19.954369 ms 
publication time 9.334316 ms 
whole laserOdometry time 66.260860 ms 
 
points size 98168 
sort q time 4.740479 
seperate points time 11.470416 
build tree time 71.951651 ms 
solver time 10.841670 ms 
data association time 14.312991 ms 
mapping data assosiation time 32.492704 ms 
solver time 8.311126 ms 
optimization twice time 48.790825 
mapping solver time 20.084150 ms 
points size 99860 
mapping data assosiation time 34.106948 ms 
mapping solver time 15.782374 ms 
data association time 14.902140 ms 
solver time 11.427280 ms 
data association time 15.457745 ms 
publication time 7.604131 ms 
whole laserOdometry time 58.781065 ms 
 
points size 100862 
prepare time 19.484680 
scan registration time 38.670205 ms *************
data association time 14.075820 ms 
solver time 11.113422 ms 
solver time 9.287558 ms 
points size 101572 
mapping data assosiation time 40.283822 ms 
scan registration time 43.298030 ms *************
mapping solver time 24.543343 ms 
data association time 20.036282 ms 
filter time 21.840800 ms 
data association time 17.983398 ms 
publication time 7.441061 ms 
whole laserOdometry time 65.689001 ms 
 
sort q time 5.924670 
seperate points time 14.815321 
data association time 15.154830 ms 
solver time 11.057576 ms 
data association time 17.785049 ms 
solver time 8.399390 ms 
publication time 9.076560 ms 
whole laserOdometry time 62.411874 ms 
 
points size 101749 
sort q time 6.726038 
seperate points time 16.840982 
mapping data assosiation time 37.694453 ms 
solver time 10.599522 ms 
data association time 18.449938 ms 
optimization twice time 53.306380 
points size 101464 
sort q time 5.734116 
seperate points time 13.363614 
data association time 24.424935 ms 
build tree time 66.583737 ms 
data association time 24.344246 ms 
solver time 11.632733 ms 
publication time 9.891224 ms 
whole laserOdometry time 86.534275 ms 
 
sort q time 6.029752 
seperate points time 14.196573 
mapping data assosiation time 32.691738 ms 
data association time 23.840808 ms 
mapping optimization time 171.839031 
filter time 20.227036 ms 
data association time 24.399645 ms 
points size 101441 
publication time 10.184893 ms 
whole laserOdometry time 86.127257 ms 
 
scan registration time 35.763670 ms *************
build tree time 68.602118 ms 
solver time 14.977712 ms 
mapping data assosiation time 30.231470 ms 
solver time 7.455773 ms 
sort q time 4.872162 
seperate points time 12.091875 
scan registration time 33.057096 ms *************
mapping data assosiation time 33.219791 ms 
mapping solver time 14.007939 ms 
data association time 14.586670 ms 
optimization twice time 58.108621 
points size 101102 
sort q time 6.067824 
seperate points time 13.829673 
data association time 13.916374 ms 
solver time 11.044695 ms 
data association time 15.009448 ms 
publication time 7.657865 ms 
whole laserOdometry time 56.447209 ms 
 
mapping data assosiation time 36.041408 ms 
points size 100809 
mapping solver time 22.168684 ms 
map prepare time 4.542530 ms
map corner num 225707  surf num 106852 
sort q time 5.101656 
seperate points time 12.426577 
data association time 16.152513 ms 
solver time 13.958846 ms 
data association time 13.781186 ms 
solver time 8.263423 ms 
publication time 8.403097 ms 
whole laserOdometry time 61.462876 ms 
 
points size 99498 
sort q time 5.456100 
seperate points time 12.878807 
mapping solver time 24.676548 ms 
solver time 10.255816 ms 
data association time 15.680192 ms 
solver time 10.998328 ms 
mapping solver time 19.728798 ms 
points size 99220 
map prepare time 4.129117 ms
map corner num 226503  surf num 107211 
data association time 18.962037 ms 
solver time 13.356652 ms 
data association time 17.865176 ms 
publication time 8.427706 ms 
whole laserOdometry time 67.820064 ms 
 
points size 98516 
sort q time 5.429227 
seperate points time 12.867836 
data association time 13.816080 ms 
solver time 11.233665 ms 
data association time 13.807198 ms 
publication time 9.191667 ms 
whole laserOdometry time 57.298465 ms 
 
points size 98031 
prepare time 15.359782 
sort q time 5.076963 
seperate points time 11.827228 
data association time 13.419739 ms 
solver time 11.129800 ms 
data association time 16.676163 ms 
solver time 11.430523 ms 
points size 98066 
prepare time 21.796069 
sort q time 6.185690 
seperate points time 14.735832 
scan registration time 42.299932 ms *************
mapping solver time 25.660157 ms 
data association time 14.575887 ms 
solver time 13.001639 ms 
mapping data assosiation time 29.112598 ms 
solver time 10.896007 ms 
points size 98294 
prepare time 15.329255 
map prepare time 3.986033 ms
map corner num 228397  surf num 108026 
scan registration time 33.517489 ms *************
data association time 15.987778 ms 
solver time 16.164472 ms 
data association time 16.900856 ms 
solver time 13.454605 ms 
points size 98669 
mapping data assosiation time 32.845471 ms 
scan registration time 33.228697 ms *************
mapping solver time 23.554376 ms 
solver time 12.327435 ms 
mapping data assosiation time 30.049030 ms 
data association time 14.318484 ms 
solver time 10.809764 ms 
publication time 9.904497 ms 
whole laserOdometry time 63.206160 ms 
 
points size 98911 
mapping pub time 4.538598 ms 
whole mapping time 207.811439 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.770413 ms
map corner num 229322  surf num 108355 
[0m[ INFO] [1718802527.323832468]: Received 1860386 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802527.323864462]: Data saved to 1317358071865901.pcd[0m
data association time 25.894613 ms 
solver time 19.488994 ms 
build tree time 69.572602 ms 
points size 99346 
mapping data assosiation time 34.546607 ms 
sort q time 5.421120 
seperate points time 13.028160 
publication time 11.570046 ms 
whole laserOdometry time 95.144310 ms 
 
scan registration time 34.364829 ms *************
mapping solver time 23.552961 ms 
data association time 25.036985 ms 
solver time 13.035754 ms 
mapping data assosiation time 34.084443 ms 
solver time 10.951889 ms 
publication time 8.905239 ms 
whole laserOdometry time 73.703495 ms 
 
mapping optimization time 191.081598 
sort q time 5.851623 
seperate points time 14.181317 
map prepare time 5.776088 ms
map corner num 230297  surf num 108662 
data association time 19.444423 ms 
solver time 15.550010 ms 
data association time 19.470261 ms 
solver time 13.220542 ms 
publication time 12.799952 ms 
whole laserOdometry time 81.604873 ms 
 
scan registration time 35.552371 ms *************
mapping data assosiation time 33.770003 ms 
data association time 16.494723 ms 
solver time 13.681488 ms 
data association time 16.038248 ms 
solver time 10.973732 ms 
points size 99785 
sort q time 5.662166 
seperate points time 13.114379 
filter time 25.654437 ms 
solver time 14.070041 ms 
data association time 18.798232 ms 
publication time 9.667574 ms 
whole laserOdometry time 70.079263 ms 
 
points size 99985 
build tree time 80.255406 ms 
scan registration time 40.171042 ms *************
data association time 15.367287 ms 
solver time 11.192181 ms 
mapping solver time 22.774159 ms 
solver time 8.257888 ms 
publication time 10.934035 ms 
whole laserOdometry time 61.566879 ms 
 
points size 100488 
mapping data assosiation time 37.684362 ms 
prepare time 22.302781 
sort q time 6.005095 
seperate points time 14.501116 
scan registration time 42.698693 ms *************
data association time 15.459885 ms 
map prepare time 4.724789 ms
map corner num 232351  surf num 109440 
solver time 12.093291 ms 
data association time 16.309665 ms 
publication time 9.101099 ms 
whole laserOdometry time 62.938678 ms 
 
sort q time 6.127592 
seperate points time 14.738986 
build tree time 73.483835 ms 
data association time 17.207434 ms 
solver time 13.160578 ms 
data association time 16.120912 ms 
solver time 11.845856 ms 
points size 100736 
sort q time 4.993979 
seperate points time 11.711669 
mapping data assosiation time 35.528062 ms 
data association time 16.463350 ms 
solver time 11.146510 ms 
filter time 20.671428 ms 
solver time 9.049611 ms 
publication time 9.801201 ms 
whole laserOdometry time 63.344722 ms 
 
points size 100783 
sort q time 4.406689 
seperate points time 10.475906 
build tree time 67.886693 ms 
solver time 8.156350 ms 
data association time 15.910669 ms 
mapping data assosiation time 32.323577 ms 
solver time 5.209576 ms 
optimization twice time 47.942599 
mapping solver time 24.786286 ms 
prepare time 15.212642 
sort q time 5.492126 
seperate points time 13.014303 
mapping data assosiation time 33.623140 ms 
data association time 16.389130 ms 
add points time 0.811307 ms
solver time 11.021288 ms 
data association time 15.779613 ms 
drop lidar frame in mapping for real time performance 
points size 101384 
sort q time 5.760410 
seperate points time 13.842514 
build tree time 66.387930 ms 
data association time 25.453259 ms 
solver time 15.543963 ms 
mapping data assosiation time 33.073320 ms 
data association time 26.115905 ms 
solver time 11.712237 ms 
optimization twice time 79.846397 
sort q time 5.223092 
seperate points time 12.428067 
mapping data assosiation time 34.401626 ms 
data association time 22.879806 ms 
solver time 11.137011 ms 
filter time 21.089807 ms 
publication time 10.235613 ms 
whole laserOdometry time 70.850565 ms 
 
sort q time 5.567386 
seperate points time 12.821092 
data association time 16.901617 ms 
solver time 11.425060 ms 
data association time 16.414177 ms 
solver time 7.382843 ms 
publication time 11.532010 ms 
whole laserOdometry time 64.409204 ms 
 
points size 101311 
prepare time 16.975143 
sort q time 5.945956 
seperate points time 14.726172 
data association time 17.200440 ms 
solver time 14.809423 ms 
data association time 20.598528 ms 
map prepare time 5.115272 ms
map corner num 235899  surf num 110691 
prepare time 20.006460 
sort q time 5.222896 
seperate points time 12.176442 
data association time 16.617480 ms 
solver time 12.858659 ms 
build tree time 71.171142 ms 
solver time 8.995753 ms 
publication time 10.531921 ms 
whole laserOdometry time 70.283627 ms 
 
mapping data assosiation time 33.495278 ms 
sort q time 6.064720 
seperate points time 15.180208 
data association time 16.714740 ms 
mapping solver time 19.493196 ms 
solver time 12.444758 ms 
publication time 9.636809 ms 
whole laserOdometry time 69.594050 ms 
 
map prepare time 5.504892 ms
map corner num 236682  surf num 110995 
sort q time 6.146423 
seperate points time 14.746946 
data association time 15.959901 ms 
solver time 12.656180 ms 
data association time 16.149931 ms 
build tree time 71.320550 ms 
publication time 8.799780 ms 
whole laserOdometry time 65.542003 ms 
 
points size 101178 
prepare time 22.265350 
mapping data assosiation time 40.885872 ms 
sort q time 6.388369 
seperate points time 15.567292 
mapping solver time 26.991341 ms 
data association time 27.874534 ms 
solver time 21.551358 ms 
points size 101092 
data association time 25.803022 ms 
sort q time 5.750961 
seperate points time 13.358685 
filter time 25.296510 ms 
map prepare time 8.605700 ms
map corner num 237439  surf num 111254 
data association time 25.696835 ms 
solver time 17.862050 ms 
points size 101086 
sort q time 5.400048 
seperate points time 12.909792 
solver time 15.351348 ms 
scan registration time 33.393778 ms *************
optimization twice time 85.700797 
data association time 29.365399 ms 
solver time 20.058473 ms 
mapping solver time 32.856642 ms 
prepare time 15.051836 
sort q time 5.240682 
seperate points time 12.142423 
publication time 12.846338 ms 
whole laserOdometry time 102.937124 ms 
 
[33m[ WARN] [1718802529.493868849]: odometry process over 100ms[0m
data association time 25.537203 ms 
mapping solver time 24.816376 ms 
mapping optimization time 230.459648 
add points time 0.843875 ms
solver time 18.292473 ms 
points size 101296 
solver time 14.227436 ms publication time 12.752354 ms 
whole laserOdometry time 106.631381 ms 
 
[33m[ WARN] [1718802529.603142448]: odometry process over 100ms[0m
data association time 29.511184 ms 
solver time 18.702575 ms 
points size 101230 
sort q time 5.431744 
seperate points time 12.653775 
solver time 14.287225 ms 
publication time 14.480447 ms 
whole laserOdometry time 110.179404 ms 
 
data association time 26.460411 ms 
solver time 15.075543 ms 
points size 100848 
data association time 25.919064 ms 
sort q time 6.101136 
seperate points time 14.902785 
build tree time 91.046170 ms 
data association time 23.367944 ms 
solver time 13.207354 ms 
mapping solver time 17.583681 ms 
data association time 22.477289 ms 
sort q time 5.339217 
seperate points time 12.673519 
mapping solver time 13.653474 ms 
data association time 18.690141 ms 
filter time 21.811681 ms 
data association time 19.170963 ms 
publication time 9.127875 ms 
whole laserOdometry time 69.146249 ms 
 
points size 100985 
sort q time 5.175427 
seperate points time 12.165916 
build tree time 72.577180 ms 
mapping data assosiation time 32.164238 ms 
solver time 9.981506 ms 
mapping solver time 26.320269 ms 
points size 101105 
sort q time 6.063710 
seperate points time 14.442141 
mapping solver time 13.983621 ms 
mapping optimization time 181.180008 
add points time 0.823852 ms
solver time 10.501310 ms 
map prepare time 4.143219 ms
map corner num 239702  surf num 112181 
solver time 9.044265 ms 
publication time 11.589300 ms 
whole laserOdometry time 66.538071 ms 
 
sort q time 4.972690 
seperate points time 11.801771 
build tree time 71.266392 ms 
solver time 10.587001 ms 
mapping data assosiation time 31.409815 ms 
solver time 7.934474 ms 
mapping solver time 24.915225 ms 
prepare time 15.362924 
sort q time 5.592901 
seperate points time 13.367402 
mapping solver time 18.400598 ms 
solver time 11.197418 ms 
filter time 23.374347 ms 
solver time 5.463134 ms 
publication time 9.353285 ms 
whole laserOdometry time 60.687187 ms 
 
points size 101055 
sort q time 4.812985 
seperate points time 11.224004 
build tree time 70.023325 ms 
solver time 11.921012 ms 
mapping data assosiation time 30.195518 ms 
solver time 10.706807 ms 
publication time 10.815821 ms 
whole laserOdometry time 69.872990 ms 
 
prepare time 16.608952 
sort q time 4.603356 
seperate points time 10.979031 
mapping data assosiation time 32.984681 ms 
data association time 15.287814 ms 
solver time 15.229980 ms 
filter time 20.648744 ms 
solver time 7.909567 ms 
publication time 10.055964 ms 
whole laserOdometry time 66.613009 ms 
 
points size 101026 
sort q time 5.561054 
seperate points time 13.846773 
data association time 15.853882 ms 
solver time 14.135385 ms 
data association time 16.412125 ms 
optimization twice time 58.741950 
publication time 10.044858 ms 
whole laserOdometry time 68.820585 ms 
 
points size 100989 
sort q time 5.905476 
seperate points time 14.970193 
mapping solver time 16.139244 ms 
solver time 11.064548 ms 
mapping pub time 4.966566 ms 
whole mapping time 211.674269 ms +++++
drop lidar frame in mapping for real time performance 
data association time 17.472874 ms 
map prepare time 5.662464 ms
map corner num 241611  surf num 112846 
publication time 11.654014 ms 
whole laserOdometry time 67.398633 ms 
 
sort q time 4.635410 
seperate points time 11.086366 
data association time 26.143167 ms 
solver time 15.727081 ms 
mapping data assosiation time 38.868849 ms 
publication time 11.214838 ms 
whole laserOdometry time 91.712485 ms 
 
data association time 20.226950 ms 
solver time 10.809024 ms 
mapping solver time 19.502810 ms 
data association time 15.790549 ms 
mapping optimization time 204.174061 
add points time 0.838294 ms
solver time 6.393663 ms 
optimization twice time 53.993112 
publication time 11.653294 ms 
whole laserOdometry time 65.663575 ms 
 
prepare time 16.380243 
map prepare time 5.169637 ms
map corner num 242244  surf num 113080 
scan registration time 31.983476 ms *************
data association time 16.967812 ms 
solver time 15.152063 ms 
data association time 15.734633 ms 
solver time 8.201639 ms 
publication time 10.358299 ms 
whole laserOdometry time 67.220948 ms 
 
points size 98893 
sort q time 4.788509 
seperate points time 11.661029 
data association time 25.135698 ms 
mapping data assosiation time 35.027105 ms 
mapping solver time 19.123569 ms 
data association time 25.362455 ms 
solver time 11.693439 ms 
sort q time 5.829507 
seperate points time 14.555298 
data association time 15.711870 ms 
solver time 11.438496 ms 
data association time 16.675613 ms 
publication time 8.043255 ms 
whole laserOdometry time 58.719704 ms 
 
points size 98049 
mapping data assosiation time 33.350360 ms 
data association time 15.044062 ms 
solver time 13.307333 ms 
data association time 16.681313 ms 
solver time 10.462363 ms 
publication time 8.919341 ms 
whole laserOdometry time 65.252945 ms 
 
points size 97329 
prepare time 15.581440 
filter time 22.079504 ms 
data association time 15.349865 ms 
solver time 15.836364 ms 
data association time 15.800737 ms 
solver time 10.186791 ms 
publication time 11.477352 ms 
whole laserOdometry time 69.593378 ms 
 
points size 96418 
sort q time 6.142762 
seperate points time 14.629515 
mapping solver time 19.768060 ms 
solver time 11.491626 ms 
mapping data assosiation time 33.740432 ms 
solver time 7.941918 ms 
add points time 1.367138 ms
sort q time 4.592763 
seperate points time 11.130620 
map prepare time 4.340309 ms
map corner num 243820  surf num 113582 
data association time 17.955935 ms 
solver time 11.086526 ms 
data association time 20.407647 ms 
solver time 7.729230 ms 
publication time 9.535698 ms 
whole laserOdometry time 67.609941 ms 
 
points size 94506 
sort q time 4.860546 
seperate points time 12.458901 
mapping data assosiation time 33.921881 ms 
data association time 17.049690 ms 
mapping solver time 22.464447 ms 
data association time 15.820205 ms 
mapping data assosiation time 31.197342 ms 
points size 93426 
mapping optimization time 189.804887 
filter time 20.952365 ms 
map prepare time 4.204953 ms
map corner num 244380  surf num 113799 
solver time 12.205793 ms 
data association time 15.404379 ms 
solver time 10.444192 ms 
publication time 11.114886 ms 
whole laserOdometry time 66.535164 ms 
 
points size 92816 
prepare time 18.855542 
sort q time 5.548790 
seperate points time 13.971516 
scan registration time 36.866624 ms *************
mapping data assosiation time 32.958890 ms 
solver time 10.943402 ms 
mapping solver time 23.749284 ms 
solver time 8.015631 ms 
publication time 9.539339 ms 
whole laserOdometry time 60.845746 ms 
 
mapping data assosiation time 34.422678 ms 
sort q time 5.511067 
seperate points time 13.159191 
filter time 20.812420 ms 
solver time 13.764827 ms 
data association time 15.772201 ms 
solver time 13.826275 ms 
points size 91622 
sort q time 4.569554 
seperate points time 11.021192 
data association time 15.568146 ms 
solver time 10.252898 ms 
mapping data assosiation time 33.513007 ms 
data association time 15.122957 ms 
solver time 8.438860 ms 
publication time 9.373579 ms 
whole laserOdometry time 59.693701 ms 
 
points size 91046 
prepare time 13.843168 
sort q time 4.573605 
seperate points time 10.738783 
mapping solver time 18.952153 ms 
mapping optimization time 184.604352 
add points time 0.929915 ms
filter time 20.095582 ms 
solver time 16.272409 ms 
data association time 18.580471 ms 
solver time 12.787285 ms 
points size 90876 
sort q time 4.855855 
seperate points time 11.574430 
data association time 20.243407 ms 
solver time 18.070487 ms 
mapping solver time 22.321933 ms 
data association time 20.847093 ms 
points size 90634 
mapping data assosiation time 31.662087 ms 
scan registration time 30.540379 ms *************
mapping solver time 21.033611 ms 
data association time 19.073565 ms 
solver time 7.874750 ms 
map prepare time 4.352450 ms
map corner num 246029  surf num 114390 
solver time 8.066342 ms 
publication time 10.484831 ms 
whole laserOdometry time 60.781933 ms 
 
points size 90322 
sort q time 4.550179 
seperate points time 11.076645 
build tree time 75.874220 ms 
solver time 14.412437 ms 
mapping data assosiation time 33.882203 ms 
solver time 13.269264 ms 
mapping solver time 23.015180 ms 
points size 90224 
sort q time 4.228331 
seperate points time 9.881650 
scan registration time 28.613969 ms *************
mapping data assosiation time 34.186456 ms 
data association time 14.268202 ms 
solver time 14.871190 ms 
filter time 24.349801 ms 
solver time 13.639147 ms 
publication time 9.347569 ms 
whole laserOdometry time 71.906334 ms 
 
points size 90105 
sort q time 5.226458 
seperate points time 12.579359 
scan registration time 35.075113 ms *************
data association time 15.327680 ms 
build tree time 85.951582 ms 
data association time 14.663856 ms 
solver time 11.834816 ms 
mapping data assosiation time 30.913988 ms 
points size 89859 
sort q time 4.428417 
seperate points time 11.013144 
data association time 13.995453 ms 
mapping solver time 15.630176 ms 
mapping optimization time 192.956875 
solver time 22.283078 ms 
add points time 0.879000 ms
data association time 21.948024 ms 
mapping pub time 6.230414 ms 
whole mapping time 234.431043 ms +++++
publication time 12.273123 ms 
whole laserOdometry time 87.045654 ms 
 
sort q time 4.266500 
seperate points time 10.063192 
data association time 14.343770 ms 
solver time 12.339305 ms 
data association time 14.521398 ms 
solver time 10.301182 ms 
publication time 9.608337 ms 
whole laserOdometry time 61.968969 ms 
 
prepare time 15.530227 
sort q time 4.967552 
seperate points time 12.191284 
data association time 13.796879 ms 
solver time 12.349703 ms 
data association time 13.853319 ms 
mapping solver time 18.394790 ms 
publication time 7.149530 ms 
whole laserOdometry time 56.843577 ms 
 
filter time 24.403737 ms 
sort q time 4.268473 
seperate points time 9.913903 
data association time 14.084029 ms 
build tree time 33.129283 ms 
data association time 13.438514 ms 
publication time 7.041813 ms 
whole laserOdometry time 52.577213 ms 
 
mapping solver time 21.169987 ms 
points size 85320 
sort q time 3.677687 
seperate points time 8.872938 
mapping data assosiation time 30.346904 ms 
scan registration time 27.124440 ms *************
mapping solver time 21.826871 ms 
filter time 11.244149 ms 
data association time 16.217226 ms 
solver time 10.398596 ms 
points size 84286 
prepare time 12.658052 
mapping data assosiation time 28.617194 ms 
mapping solver time 20.025340 ms 
solver time 9.834041 ms 
mapping data assosiation time 28.977551 ms 
publication time 6.634860 ms 
whole laserOdometry time 54.147990 ms 
 
mapping solver time 19.256806 ms 
mapping optimization time 132.306728 
add points time 1.025574 ms
filter time 12.568647 ms 
mapping pub time 1.122280 ms 
whole mapping time 151.065832 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.397110 ms
map corner num 118806  surf num 58434 
points size 83837 
prepare time 13.910707 
sort q time 4.581068 
seperate points time 10.644036 
scan registration time 28.651431 ms *************
build tree time 34.439677 ms 
data association time 18.145447 ms 
solver time 12.755492 ms 
data association time 16.824006 ms 
solver time 9.980343 ms 
points size 83438 
sort q time 4.870176 
seperate points time 11.589847 
add points time 1.075026 ms
filter time 13.567135 ms 
solver time 12.342518 ms 
data association time 14.321636 ms 
solver time 9.091424 ms 
points size 82838 
sort q time 4.003864 
seperate points time 9.622961 
mapping solver time 21.297227 ms 
solver time 10.967455 ms 
mapping data assosiation time 29.152615 ms 
solver time 9.636475 ms 
filter time 14.750775 ms 
sort q time 4.313746 
seperate points time 10.383570 
data association time 13.369626 ms 
solver time 13.771069 ms 
data association time 16.506781 ms 
optimization twice time 55.396670 
points size 82039 
prepare time 12.781782 
scan registration time 27.839973 ms *************
map prepare time 4.415259 ms
map corner num 119611  surf num 58587 
data association time 17.987400 ms 
solver time 10.457201 ms 
build tree time 34.026726 ms 
solver time 8.904084 ms 
mapping data assosiation time 27.595319 ms 
map prepare time 2.736838 ms
map corner num 119974  surf num 58665 
data association time 14.173927 ms 
solver time 8.468331 ms 
points size 81180 
sort q time 4.088064 
seperate points time 10.023759 
mapping data assosiation time 27.055236 ms 
mapping solver time 19.633756 ms 
data association time 14.256995 ms 
optimization twice time 50.411223 
mapping solver time 20.045889 ms 
filter time 12.646054 ms 
data association time 13.564423 ms 
solver time 11.067125 ms 
data association time 13.711250 ms 
publication time 7.397755 ms 
whole laserOdometry time 56.355376 ms 
 
points size 81269 
sort q time 3.851555 
seperate points time 9.154635 
mapping data assosiation time 28.731147 ms 
data association time 14.771276 ms 
solver time 11.383050 ms 
filter time 13.207834 ms 
data association time 14.742790 ms 
solver time 8.004156 ms 
build tree time 37.333155 ms 
points size 81793 
sort q time 5.292141 
seperate points time 12.988040 
scan registration time 35.173799 ms *************
data association time 15.517675 ms 
solver time 13.644851 ms 
mapping data assosiation time 23.133632 ms 
solver time 10.291399 ms 
mapping optimization time 133.510828 
points size 81996 
map prepare time 3.683558 ms
map corner num 121209  surf num 58934 
scan registration time 32.627030 ms *************
data association time 12.980749 ms 
solver time 13.244849 ms 
data association time 15.274315 ms 
solver time 8.152181 ms 
mapping solver time 19.227106 ms 
sort q time 3.818384 
seperate points time 9.103951 
scan registration time 25.439602 ms *************
data association time 12.852473 ms 
solver time 11.206594 ms 
map prepare time 2.800272 ms
map corner num 121572  surf num 59000 
solver time 7.743151 ms 
optimization twice time 46.737290 
publication time 6.881361 ms 
whole laserOdometry time 53.637314 ms 
 
build tree time 35.010870 ms 
prepare time 14.940407 
sort q time 3.920676 
seperate points time 9.167982 
mapping solver time 22.821666 ms 
data association time 19.419756 ms 
solver time 17.158705 ms 
data association time 19.591648 ms 
add points time 0.821605 ms
publication time 7.151746 ms 
whole laserOdometry time 76.514389 ms 
 
sort q time 3.607471 
seperate points time 8.637627 
scan registration time 27.366965 ms *************
data association time 18.991020 ms 
build tree time 42.501035 ms 
data association time 21.264327 ms 
solver time 12.659040 ms 
mapping solver time 24.576520 ms 
points size 82705 
prepare time 14.573829 
mapping data assosiation time 25.403558 ms 
data association time 18.497535 ms 
solver time 15.160459 ms 
filter time 14.077381 ms 
mapping pub time 1.495194 ms 
whole mapping time 165.205491 ms +++++
data association time 18.878802 ms 
publication time 9.345290 ms 
whole laserOdometry time 74.598362 ms 
 
build tree time 43.109916 ms 
sort q time 7.158944 
seperate points time 14.167466 
data association time 13.165609 ms 
mapping data assosiation time 23.047950 ms 
solver time 9.738749 ms 
filter time 14.357384 ms 
points size 83051 
mapping pub time 1.314599 ms 
whole mapping time 146.406829 ms +++++
drop lidar frame in mapping for real time performance 
prepare time 17.537865 
map prepare time 3.807408 ms
map corner num 122787  surf num 59305 
sort q time 4.730580 
seperate points time 11.662255 
build tree time 35.478072 ms 
solver time 10.461052 ms 
mapping data assosiation time 22.132191 ms 
solver time 7.820538 ms 
publication time 7.023310 ms 
whole laserOdometry time 53.482072 ms 
 
points size 81944 
mapping solver time 14.244096 ms 
filter time 13.456112 ms 
data association time 13.127893 ms 
solver time 14.062934 ms 
data association time 12.036940 ms 
solver time 9.046118 ms 
publication time 7.537304 ms 
whole laserOdometry time 56.659079 ms 
 
points size 80590 
mapping solver time 17.459986 ms 
sort q time 4.620542 
seperate points time 11.288777 
mapping data assosiation time 23.693963 ms 
data association time 13.826652 ms 
filter time 10.864256 ms 
mapping pub time 2.855158 ms 
whole mapping time 136.578735 ms +++++
data association time 13.085050 ms 
map prepare time 2.553755 ms
map corner num 123519  surf num 59469 
solver time 10.855706 ms 
points size 78926 
sort q time 4.599113 
seperate points time 11.041179 
mapping data assosiation time 28.201346 ms 
solver time 11.658831 ms 
data association time 13.503516 ms 
solver time 7.656462 ms 
mapping solver time 13.533151 ms 
filter time 11.967653 ms 
points size 76873 
sort q time 4.453213 
seperate points time 10.603808 
build tree time 38.204167 ms 
data association time 13.960766 ms 
solver time 10.983904 ms 
data association time 14.581144 ms 
solver time 11.705457 ms 
mapping data assosiation time 24.871368 ms 
mapping solver time 10.878796 ms 
scan registration time 26.548346 ms *************
filter time 13.356696 ms 
mapping pub time 1.041222 ms 
whole mapping time 130.789453 ms +++++
map prepare time 3.339549 ms
map corner num 124178  surf num 59580 
data association time 20.450710 ms 
solver time 15.331663 ms 
build tree time 34.956348 ms 
data association time 20.423139 ms 
solver time 11.776124 ms 
prepare time 14.546844 
sort q time 4.518291 
seperate points time 10.801124 
mapping data assosiation time 26.392715 ms 
data association time 21.654449 ms 
solver time 15.521498 ms 
map prepare time 3.479699 ms
map corner num 124489  surf num 59645 
data association time 20.703009 ms 
solver time 11.260574 ms 
points size 77777 
build tree time 42.891713 ms 
mapping data assosiation time 26.393467 ms 
data association time 21.837660 ms 
solver time 16.298105 ms 
mapping solver time 24.069799 ms 
data association time 22.570642 ms 
solver time 13.589532 ms 
publication time 8.064613 ms 
whole laserOdometry time 83.549755 ms 
 
prepare time 16.134797 
mapping pub time 1.007283 ms 
whole mapping time 156.390901 ms +++++
data association time 20.262056 ms 
build tree time 44.440761 ms 
data association time 22.977330 ms 
solver time 16.985521 ms 
publication time 8.490047 ms 
whole laserOdometry time 84.828038 ms 
 
sort q time 4.379442 
seperate points time 11.077440 
mapping data assosiation time 25.461732 ms 
add points time 0.721486 ms
filter time 16.085343 ms 
data association time 16.117634 ms 
solver time 13.472350 ms 
build tree time 36.516930 ms 
prepare time 16.353975 
sort q time 4.567572 
seperate points time 11.274388 
mapping solver time 16.995148 ms 
solver time 13.300458 ms 
mapping data assosiation time 21.980379 ms 
mapping solver time 12.909977 ms 
mapping optimization time 111.944242 
add points time 0.718015 ms
solver time 10.429202 ms 
optimization twice time 51.242492 
drop lidar frame in mapping for real time performance 
points size 81807 
prepare time 13.020423 
scan registration time 25.638174 ms *************
data association time 12.935878 ms 
mapping data assosiation time 20.235126 ms 
mapping solver time 15.766120 ms 
data association time 13.213652 ms 
solver time 11.186999 ms 
optimization twice time 52.066201 
mapping solver time 15.161802 ms 
prepare time 13.013621 
map prepare time 2.737230 ms
map corner num 125772  surf num 59916 
data association time 12.557704 ms 
solver time 13.010853 ms 
data association time 13.486418 ms 
mapping data assosiation time 23.296238 ms 
mapping solver time 17.687721 ms 
points size 82271 
sort q time 4.293220 
seperate points time 10.540481 
add points time 0.753518 ms
filter time 10.661596 ms 
mapping pub time 1.041067 ms 
whole mapping time 129.230743 ms +++++
map prepare time 3.326302 ms
map corner num 126243  surf num 60036 
data association time 14.303520 ms 
solver time 12.815096 ms 
data association time 13.818993 ms 
solver time 10.686213 ms 
mapping data assosiation time 25.189926 ms 
mapping solver time 16.987671 ms 
mapping data assosiation time 22.217991 ms 
mapping solver time 12.578688 ms 
filter time 12.508069 ms 
publication time 7.496064 ms 
whole laserOdometry time 56.015883 ms 
 
points size 83557 
sort q time 4.620644 
seperate points time 10.921569 
mapping data assosiation time 23.451174 ms 
mapping solver time 18.015052 ms 
solver time 12.989899 ms 
mapping data assosiation time 26.995283 ms 
solver time 10.533794 ms 
filter time 13.760195 ms 
sort q time 3.615041 
seperate points time 8.916779 
data association time 13.926372 ms 
solver time 13.332566 ms 
data association time 14.311753 ms 
solver time 11.507221 ms 
points size 83266 
sort q time 4.278312 
seperate points time 10.732098 
mapping pub time 138.164487 ms 
whole mapping time 277.835193 ms +++++
data association time 24.040838 ms 
solver time 17.912125 ms 
build tree time 47.150841 ms 
solver time 10.251472 ms 
sort q time 4.146385 
seperate points time 10.479612 
data association time 13.995125 ms 
solver time 14.837995 ms 
data association time 14.492713 ms 
solver time 13.316786 ms 
publication time 10.351048 ms 
whole laserOdometry time 67.904542 ms 
 
points size 87531 
prepare time 16.463609 
scan registration time 35.529187 ms *************
mapping data assosiation time 31.150061 ms 
solver time 13.353720 ms 
mapping solver time 21.458066 ms 
data association time 14.465420 ms 
solver time 13.728576 ms 
optimization twice time 58.557315 
mapping data assosiation time 27.521159 ms 
sort q time 4.545719 
seperate points time 11.004367 
filter time 14.930272 ms 
solver time 12.958868 ms 
data association time 14.607796 ms 
solver time 11.187016 ms 
points size 90578 
prepare time 14.338281 
sort q time 4.264394 
seperate points time 10.503837 
mapping solver time 21.092171 ms 
data association time 14.338924 ms 
solver time 13.204399 ms 
data association time 15.054234 ms 
mapping solver time 17.144620 ms 
mapping optimization time 141.809214 
add points time 0.773409 ms
solver time 11.944958 ms 
optimization twice time 55.523584 
drop lidar frame in mapping for real time performance 
prepare time 17.697815 
sort q time 6.070381 
seperate points time 14.414095 
data association time 13.885481 ms 
solver time 10.293589 ms 
data association time 14.449161 ms 
solver time 9.755362 ms 
whole laserOdometry time 59.026939 ms 
 
points size 92327 
prepare time 15.460646 
mapping data assosiation time 22.817019 ms 
sort q time 4.832348 
seperate points time 11.596490 
add points time 0.788597 ms
filter time 13.899915 ms 
solver time 12.246625 ms 
data association time 14.271580 ms 
solver time 8.156823 ms 
publication time 9.056870 ms 
whole laserOdometry time 60.354186 ms 
 
mapping data assosiation time 23.152156 ms 
mapping solver time 14.957507 ms 
mapping data assosiation time 23.792759 ms 
data association time 15.288709 ms 
mapping solver time 13.159839 ms 
mapping optimization time 114.362660 
add points time 0.670140 ms
filter time 12.249651 ms 
data association time 16.118909 ms 
solver time 8.573944 ms 
publication time 9.921850 ms 
whole laserOdometry time 62.461691 ms 
 
points size 94314 
prepare time 19.140744 
sort q time 5.508479 
seperate points time 13.462069 
mapping solver time 14.686294 ms 
solver time 12.860918 ms 
mapping data assosiation time 22.545786 ms 
data association time 15.980308 ms 
solver time 8.583014 ms 
filter time 13.194761 ms 
sort q time 4.599034 
seperate points time 11.094268 
data association time 14.864949 ms 
solver time 12.937720 ms 
mapping data assosiation time 23.952892 ms 
solver time 10.282515 ms 
optimization twice time 54.502648 
mapping solver time 17.633515 ms 
points size 95069 
sort q time 4.555194 
seperate points time 11.142561 
filter time 14.499331 ms 
data association time 15.728761 ms 
solver time 11.361270 ms 
data association time 16.088405 ms 
build tree time 43.134789 ms 
mapping data assosiation time 23.491774 ms 
prepare time 18.779216 
sort q time 5.025457 
seperate points time 12.384514 
mapping data assosiation time 24.019168 ms 
data association time 24.608617 ms 
solver time 15.468869 ms 
map prepare time 3.895768 ms
map corner num 131911  surf num 62699 
data association time 24.884520 ms 
points size 91697 
publication time 10.571397 ms 
whole laserOdometry time 88.347512 ms 
 
data association time 15.090257 ms 
solver time 13.551348 ms 
data association time 15.955052 ms 
mapping data assosiation time 23.934608 ms 
mapping solver time 17.118969 ms 
mapping optimization time 124.370133 
add points time 0.773423 ms
filter time 15.367080 ms 
map prepare time 4.179475 ms
map corner num 132310  surf num 62788 
data association time 24.203292 ms 
solver time 18.359698 ms 
mapping solver time 12.167639 ms 
solver time 9.710380 ms 
mapping solver time 9.203685 ms 
filter time 13.484417 ms 
data association time 15.623887 ms 
build tree time 35.710091 ms 
solver time 8.510951 ms 
publication time 8.707040 ms 
whole laserOdometry time 59.380839 ms 
 
points size 92451 
mapping solver time 16.108781 ms 
prepare time 20.948151 
[0m[ INFO] [1718802538.520516049]: Received 1908267 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802538.520560850]: Data saved to 1317358083820473.pcd[0m
scan registration time 42.574795 ms *************
mapping solver time 13.733725 ms 
data association time 16.570455 ms 
filter time 11.326697 ms 
mapping pub time 1.145268 ms 
whole mapping time 127.862378 ms +++++
data association time 14.773071 ms 
solver time 8.371436 ms 
build tree time 38.414644 ms 
publication time 10.668402 ms 
whole laserOdometry time 64.016799 ms 
 
sort q time 5.234311 
seperate points time 12.965786 
mapping solver time 14.165044 ms 
data association time 16.631969 ms 
solver time 11.569939 ms 
mapping solver time 13.888826 ms 
solver time 9.669080 ms 
publication time 10.895667 ms 
whole laserOdometry time 65.871756 ms 
 
points size 93979 
sort q time 5.456020 
seperate points time 13.365956 
build tree time 39.703056 ms 
data association time 16.071719 ms 
solver time 11.861156 ms 
data association time 14.742579 ms 
solver time 11.155520 ms 
mapping solver time 13.443394 ms 
filter time 14.630639 ms 
data association time 14.945691 ms 
build tree time 42.565391 ms 
data association time 15.974726 ms 
publication time 8.316745 ms 
whole laserOdometry time 60.048380 ms 
 
mapping solver time 13.199392 ms 
sort q time 5.191207 
seperate points time 12.123507 
mapping solver time 12.877973 ms 
filter time 13.822925 ms 
data association time 14.792170 ms 
solver time 8.199746 ms 
publication time 7.721885 ms 
whole laserOdometry time 59.786690 ms 
 
points size 90748 
mapping data assosiation time 21.198455 ms 
mapping solver time 16.299592 ms 
data association time 14.274177 ms 
mapping data assosiation time 22.220719 ms 
mapping solver time 12.732552 ms 
solver time 7.840624 ms 
points size 90123 
sort q time 4.808108 
seperate points time 11.543196 
data association time 14.686559 ms 
solver time 13.342977 ms 
data association time 15.774636 ms 
mapping data assosiation time 21.741576 ms 
publication time 9.593483 ms 
whole laserOdometry time 66.556790 ms 
 
filter time 16.040148 ms 
points size 90428 
mapping pub time 1.422897 ms 
whole mapping time 130.911098 ms +++++
drop lidar frame in mapping for real time performance 
prepare time 17.761505 
map prepare time 4.088629 ms
map corner num 134930  surf num 63486 
scan registration time 36.367067 ms *************
data association time 17.131979 ms 
solver time 16.091734 ms 
mapping data assosiation time 25.728817 ms 
mapping solver time 17.450248 ms 
mapping data assosiation time 22.944268 ms 
mapping solver time 11.867310 ms 
data association time 15.693890 ms 
solver time 12.125007 ms 
data association time 17.794761 ms 
solver time 10.613919 ms 
points size 92539 
sort q time 5.332633 
seperate points time 13.207872 
mapping data assosiation time 21.660299 ms 
mapping solver time 12.713426 ms 
filter time 13.654108 ms 
data association time 19.515450 ms 
solver time 11.100754 ms 
publication time 8.321577 ms 
whole laserOdometry time 75.839027 ms 
 
build tree time 39.293837 ms 
sort q time 5.249511 
seperate points time 13.095596 
mapping data assosiation time 24.151703 ms 
data association time 25.365406 ms 
solver time 17.404686 ms 
mapping data assosiation time 26.230533 ms 
data association time 22.868835 ms 
solver time 9.491672 ms 
drop lidar frame in mapping for real time performance 
data association time 19.898380 ms 
solver time 11.395982 ms 
data association time 15.146056 ms 
solver time 8.082271 ms 
publication time 8.894681 ms 
whole laserOdometry time 64.230928 ms 
 
points size 90134 
mapping data assosiation time 21.198593 ms 
scan registration time 37.087076 ms *************
data association time 16.866944 ms 
solver time 11.456893 ms 
data association time 18.115453 ms 
solver time 11.054893 ms 
points size 90326 
sort q time 5.092514 
seperate points time 12.886087 
data association time 15.767431 ms 
solver time 11.979625 ms 
data association time 15.453030 ms 
solver time 11.031358 ms 
mapping pub time 155.194734 ms 
whole mapping time 291.585416 ms +++++
sort q time 6.204464 
seperate points time 15.276155 
build tree time 46.751961 ms 
data association time 15.858111 ms 
solver time 11.671419 ms 
mapping data assosiation time 23.522889 ms 
mapping solver time 13.072851 ms 
points size 92343 
sort q time 4.417302 
seperate points time 10.497812 
filter time 12.698742 ms 
solver time 11.534130 ms 
data association time 15.209705 ms 
build tree time 41.107485 ms 
points size 92859 
sort q time 5.406803 
seperate points time 12.787526 
mapping data assosiation time 22.037877 ms 
solver time 11.122361 ms 
data association time 15.657150 ms 
publication time 8.381705 ms 
whole laserOdometry time 60.540782 ms 
 
points size 92540 
build tree time 40.342034 ms 
mapping data assosiation time 22.572786 ms 
mapping solver time 13.771211 ms 
solver time 14.088658 ms 
mapping data assosiation time 19.519775 ms 
mapping solver time 9.113758 ms 
filter time 13.880770 ms 
points size 92258 
sort q time 4.454390 
seperate points time 10.849252 
build tree time 41.706157 ms 
data association time 16.166223 ms 
mapping data assosiation time 22.123827 ms 
mapping solver time 10.601534 ms 
publication time 8.894210 ms 
whole laserOdometry time 60.643911 ms 
 
mapping data assosiation time 21.310526 ms 
points size 92480 
filter time 14.364557 ms 
scan registration time 35.806430 ms *************
data association time 14.683009 ms 
build tree time 37.809686 ms 
data association time 15.241314 ms 
publication time 8.129453 ms 
whole laserOdometry time 58.703881 ms 
 
points size 92422 
mapping data assosiation time 20.699709 ms 
mapping solver time 11.948197 ms 
filter time 15.242506 ms 
map prepare time 5.490460 ms
map corner num 138584  surf num 64813 
solver time 11.244352 ms 
data association time 15.863891 ms 
publication time 9.691474 ms 
whole laserOdometry time 66.168845 ms 
 
points size 91144 
prepare time 20.714997 
sort q time 5.747219 
seperate points time 14.177354 
mapping solver time 17.223076 ms 
data association time 23.831567 ms 
mapping data assosiation time 19.740807 ms 
mapping solver time 13.274612 ms 
filter time 13.876221 ms 
data association time 24.095010 ms 
solver time 11.794049 ms 
publication time 10.525153 ms 
whole laserOdometry time 86.919658 ms 
 
sort q time 5.267495 
seperate points time 13.069668 
scan registration time 36.589672 ms *************
build tree time 49.152754 ms 
data association time 15.004347 ms 
mapping solver time 13.949682 ms 
publication time 8.136061 ms 
whole laserOdometry time 53.024775 ms 
 
mapping solver time 12.233531 ms 
filter time 15.580428 ms 
data association time 14.870241 ms 
solver time 11.199410 ms 
data association time 14.917941 ms 
mapping data assosiation time 21.149797 ms 
publication time 10.354762 ms 
whole laserOdometry time 64.093077 ms 
 
sort q time 4.114899 
seperate points time 9.810768 
mapping solver time 11.461072 ms 
filter time 15.068599 ms 
solver time 16.879486 ms 
data association time 14.532911 ms 
build tree time 40.397734 ms 
points size 84983 
mapping data assosiation time 23.770935 ms 
mapping solver time 14.775340 ms 
data association time 14.321515 ms 
mapping data assosiation time 20.737559 ms 
mapping optimization time 114.807825 
filter time 16.581772 ms 
points size 82951 
sort q time 4.754241 
seperate points time 11.673529 
build tree time 43.406269 ms 
data association time 13.874404 ms 
mapping data assosiation time 22.263782 ms 
mapping solver time 14.504972 ms 
solver time 7.993256 ms 
mapping data assosiation time 24.086426 ms 
mapping solver time 13.656203 ms 
sort q time 3.829152 
seperate points time 9.626448 
map prepare time 4.407560 ms
map corner num 141224  surf num 66301 
data association time 23.312035 ms 
solver time 13.006516 ms 
build tree time 46.103815 ms 
solver time 8.801028 ms 
points size 75001 
mapping solver time 14.875096 ms 
mapping data assosiation time 22.064686 ms 
mapping solver time 12.466695 ms 
filter time 15.292435 ms 
solver time 7.936085 ms 
points size 73297 
sort q time 4.275888 
seperate points time 9.964325 
mapping data assosiation time 25.211686 ms 
solver time 10.950192 ms 
data association time 14.314419 ms 
publication time 8.188730 ms 
whole laserOdometry time 57.568923 ms 
 
mapping solver time 16.763029 ms 
filter time 13.156035 ms 
sort q time 4.098296 
seperate points time 9.744681 
data association time 12.777141 ms 
solver time 10.256703 ms 
data association time 13.759466 ms 
mapping data assosiation time 22.728627 ms 
solver time 9.203860 ms 
optimization twice time 46.838428 
publication time 6.596903 ms 
whole laserOdometry time 53.454245 ms 
 
points size 71482 
sort q time 4.212322 
seperate points time 9.980382 
mapping solver time 13.754902 ms 
filter time 14.418458 ms 
solver time 17.373235 ms 
data association time 13.763014 ms 
build tree time 41.232346 ms 
publication time 6.371862 ms 
whole laserOdometry time 70.927559 ms 
 
sort q time 3.107508 
seperate points time 7.713083 
data association time 13.193740 ms 
mapping solver time 16.036970 ms 
solver time 8.213843 ms 
points size 70417 
build tree time 39.905124 ms 
mapping data assosiation time 18.557272 ms 
mapping solver time 13.751496 ms 
mapping data assosiation time 18.244462 ms 
publication time 5.475775 ms 
whole laserOdometry time 50.469302 ms 
 
filter time 12.793701 ms 
points size 69185 
sort q time 3.388105 
seperate points time 8.611914 
data association time 11.881736 ms 
solver time 11.007477 ms 
mapping data assosiation time 19.141435 ms 
solver time 7.795835 ms 
mapping data assosiation time 18.727599 ms 
mapping solver time 11.487593 ms 
prepare time 11.927033 
scan registration time 23.192627 ms *************
data association time 18.740022 ms 
solver time 15.201300 ms 
build tree time 41.654996 ms 
data association time 18.897501 ms 
mapping data assosiation time 19.262389 ms 
mapping solver time 14.202280 ms 
points size 65253 
sort q time 3.930456 
seperate points time 9.654162 
filter time 13.206893 ms 
solver time 15.374213 ms 
data association time 18.374703 ms 
build tree time 41.485064 ms 
publication time 6.757836 ms 
whole laserOdometry time 72.096303 ms 
 
mapping solver time 12.157705 ms 
sort q time 3.367066 
seperate points time 8.418330 
mapping solver time 7.290214 ms 
solver time 10.751521 ms 
data association time 12.684107 ms 
solver time 11.561984 ms 
build tree time 41.568432 ms 
points size 62228 
scan registration time 20.320101 ms *************
mapping data assosiation time 21.707143 ms 
mapping solver time 15.065565 ms 
filter time 16.136000 ms 
mapping pub time 1.206350 ms 
whole mapping time 131.396868 ms +++++
data association time 18.703235 ms 
map prepare time 3.290619 ms
map corner num 144826  surf num 67516 
solver time 10.453476 ms 
points size 61784 
sort q time 3.295797 
seperate points time 8.496663 
build tree time 51.593065 ms 
data association time 19.588304 ms 
mapping data assosiation time 21.673178 ms 
solver time 12.736635 ms 
mapping solver time 17.779339 ms 
data association time 18.635475 ms 
solver time 13.299850 ms 
mapping solver time 14.045892 ms 
prepare time 13.233057 
filter time 16.219028 ms 
data association time 18.205309 ms 
solver time 15.447649 ms 
data association time 17.765777 ms 
solver time 11.674229 ms 
points size 61687 
sort q time 3.723686 
seperate points time 9.646838 
scan registration time 28.774450 ms *************
data association time 12.445479 ms 
map prepare time 3.875831 ms
map corner num 145101  surf num 67573 
data association time 15.515028 ms 
solver time 10.736128 ms 
optimization twice time 52.824567 
publication time 5.886588 ms 
whole laserOdometry time 58.734561 ms 
 
build tree time 47.262108 ms 
points size 61105 
prepare time 14.584351 
scan registration time 27.289824 ms *************
mapping solver time 12.096522 ms 
data association time 17.805380 ms 
mapping optimization time 106.307948 
add points time 0.677568 ms
solver time 15.319110 ms 
filter time 14.785740 ms 
solver time 11.305822 ms 
optimization twice time 63.455730 
points size 60476 
sort q time 3.276776 
seperate points time 8.543319 
data association time 11.790976 ms 
solver time 10.977092 ms 
data association time 11.967339 ms 
solver time 10.696597 ms 
mapping solver time 12.359542 ms 
filter time 14.277933 ms 
prepare time 10.564477 
sort q time 3.328028 
seperate points time 8.145361 
data association time 17.627721 ms 
build tree time 48.586061 ms 
solver time 10.959398 ms 
data association time 19.799695 ms 
mapping data assosiation time 21.212389 ms 
publication time 6.597268 ms 
whole laserOdometry time 68.396986 ms 
 
mapping data assosiation time 16.680285 ms 
scan registration time 19.945654 ms *************
mapping solver time 14.035681 ms 
mapping optimization time 120.526986 
add points time 0.663701 ms
filter time 14.857134 ms 
solver time 15.176661 ms 
data association time 17.637538 ms 
solver time 11.425966 ms 
mapping data assosiation time 19.957001 ms 
points size 62702 
mapping solver time 17.193115 ms 
sort q time 3.376425 
seperate points time 8.707835 
mapping data assosiation time 17.316806 ms 
data association time 17.632207 ms 
mapping solver time 10.489456 ms 
mapping optimization time 110.776676 
add points time 0.663310 ms
filter time 13.589838 ms 
data association time 17.848199 ms 
solver time 11.416966 ms 
points size 64038 
sort q time 3.880230 
seperate points time 9.906183 
mapping solver time 9.965745 ms 
mapping data assosiation time 19.599973 ms 
mapping solver time 11.711836 ms 
filter time 14.732920 ms 
solver time 11.454055 ms 
sort q time 2.971176 
seperate points time 7.294755 
scan registration time 21.483878 ms *************
build tree time 43.543383 ms 
mapping data assosiation time 16.146167 ms 
mapping solver time 12.107432 ms 
mapping data assosiation time 18.588486 ms 
filter time 14.613164 ms 
sort q time 3.619743 
seperate points time 8.863738 
data association time 11.539233 ms 
solver time 11.335072 ms 
build tree time 47.172750 ms 
mapping data assosiation time 16.842684 ms 
publication time 6.803238 ms 
whole laserOdometry time 53.694777 ms 
 
mapping solver time 12.493610 ms 
mapping data assosiation time 17.348303 ms 
points size 70933 
sort q time 3.436560 
seperate points time 8.345869 
scan registration time 24.021289 ms *************
filter time 13.518021 ms 
mapping pub time 0.947981 ms 
whole mapping time 124.785986 ms +++++
data association time 18.356069 ms 
solver time 18.453746 ms 
build tree time 44.488195 ms 
data association time 18.447351 ms 
solver time 15.266978 ms 
points size 73096 
mapping data assosiation time 21.045484 ms 
scan registration time 32.247422 ms *************
data association time 13.308757 ms 
solver time 12.106582 ms 
data association time 14.428404 ms 
solver time 9.626765 ms 
build tree time 47.003610 ms 
points size 75535 
prepare time 18.639898 
sort q time 4.516399 
seperate points time 11.085630 
mapping data assosiation time 14.907533 ms 
data association time 12.398595 ms 
filter time 11.117146 ms 
mapping pub time 0.831257 ms 
whole mapping time 124.344337 ms +++++
map prepare time 3.435265 ms
map corner num 148052  surf num 68411 
data association time 12.535635 ms 
solver time 8.831503 ms 
points size 78421 
sort q time 3.877420 
seperate points time 9.270316 
mapping data assosiation time 17.970205 ms 
data association time 12.781791 ms 
solver time 15.286001 ms 
mapping solver time 7.961896 ms 
solver time 10.480729 ms 
points size 78174 
sort q time 3.663527 
seperate points time 8.684228 
build tree time 44.023968 ms 
mapping data assosiation time 17.717158 ms 
mapping solver time 14.550737 ms 
solver time 9.214130 ms 
mapping solver time 8.698705 ms 
filter time 15.109580 ms 
sort q time 3.518054 
seperate points time 8.496027 
scan registration time 25.545854 ms *************
[0m[ INFO] [1718802544.229637793]: Received 1930553 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802544.229684412]: Data saved to 1317358089640952.pcd[0m
data association time 14.838296 ms 
solver time 13.215053 ms 
mapping data assosiation time 17.898286 ms 
mapping solver time 11.127648 ms 
publication time 7.091183 ms 
whole laserOdometry time 63.021195 ms 
 
points size 73053 
mapping solver time 10.171425 ms 
mapping optimization time 101.574351 
add points time 0.634462 ms
prepare time 12.031385 
scan registration time 24.042654 ms *************
data association time 13.025807 ms 
solver time 10.916699 ms 
data association time 12.785379 ms 
publication time 5.913636 ms 
whole laserOdometry time 52.593069 ms 
 
mapping data assosiation time 18.907405 ms 
mapping solver time 14.036838 ms 
points size 71624 
mapping data assosiation time 18.496748 ms 
mapping solver time 15.297116 ms 
data association time 13.214684 ms 
map prepare time 3.019259 ms
map corner num 149341  surf num 68799 
data association time 12.411524 ms 
publication time 5.911585 ms 
whole laserOdometry time 52.895581 ms 
 
build tree time 46.635438 ms 
points size 71109 
prepare time 12.602817 
scan registration time 24.779705 ms *************
mapping solver time 13.249172 ms 
data association time 12.206064 ms 
solver time 10.946590 ms 
data association time 12.947517 ms 
map prepare time 2.903303 ms
map corner num 149612  surf num 68873 
points size 71070 
build tree time 46.108293 ms 
scan registration time 23.662211 ms *************
mapping data assosiation time 18.043804 ms 
mapping solver time 12.593748 ms 
data association time 14.780821 ms 
solver time 10.713117 ms 
filter time 14.208759 ms 
points size 71216 
sort q time 4.153603 
seperate points time 10.156690 
data association time 12.388733 ms 
solver time 13.664526 ms 
data association time 13.432358 ms 
solver time 10.843605 ms 
mapping data assosiation time 20.253693 ms 
mapping optimization time 110.814756 
sort q time 3.653061 
seperate points time 9.134393 
data association time 12.058377 ms 
solver time 12.925914 ms 
data association time 12.543396 ms 
solver time 11.110338 ms 
mapping data assosiation time 17.184268 ms 
mapping solver time 13.049351 ms 
points size 71986 
prepare time 17.233086 
sort q time 4.137798 
seperate points time 10.357783 
add points time 0.631280 ms
filter time 16.317543 ms 
data association time 12.826765 ms 
solver time 13.622156 ms 
build tree time 43.913693 ms 
points size 71893 
scan registration time 31.579694 ms *************
mapping solver time 16.817895 ms 
mapping data assosiation time 16.607784 ms 
mapping solver time 9.861067 ms 
filter time 15.833896 ms 
mapping pub time 0.905627 ms 
whole mapping time 130.566390 ms +++++
solver time 11.712572 ms 
optimization twice time 50.078711 
map prepare time 2.794859 ms
map corner num 150926  surf num 69219 
points size 68630 
sort q time 3.677263 
seperate points time 9.302179 
mapping data assosiation time 15.211075 ms 
mapping solver time 13.048209 ms 
mapping data assosiation time 16.006211 ms 
data association time 14.740112 ms 
publication time 6.235579 ms 
whole laserOdometry time 59.508534 ms 
 
map prepare time 3.839340 ms
map corner num 151225  surf num 69314 
points size 64417 
prepare time 14.374696 
sort q time 3.500974 
seperate points time 9.049414 
data association time 13.034241 ms 
solver time 13.710530 ms 
data association time 12.946934 ms 
mapping solver time 13.483544 ms 
publication time 5.108070 ms 
whole laserOdometry time 54.132574 ms 
 
mapping solver time 11.067255 ms 
prepare time 13.401873 
data association time 11.654871 ms 
solver time 11.922134 ms 
data association time 14.388726 ms 
solver time 10.603563 ms 
points size 56043 
sort q time 3.241603 
seperate points time 8.601100 
data association time 16.221009 ms 
mapping pub time 148.527534 ms 
whole mapping time 274.894178 ms +++++
drop lidar frame in mapping for real time performance 
solver time 14.411214 ms 
map prepare time 4.636851 ms
map corner num 151518  surf num 69395 
solver time 10.004202 ms 
points size 54330 
sort q time 2.936382 
seperate points time 7.611424 
mapping data assosiation time 16.610113 ms 
solver time 12.920922 ms 
data association time 14.849056 ms 
solver time 10.437365 ms 
filter time 20.321203 ms 
points size 54706 
sort q time 2.973468 
seperate points time 7.705163 
data association time 11.389221 ms 
solver time 13.144778 ms 
data association time 13.684392 ms 
solver time 10.155082 ms 
mapping data assosiation time 19.942466 ms 
mapping solver time 12.794626 ms 
prepare time 12.770758 
map prepare time 3.964994 ms
map corner num 152225  surf num 69562 
data association time 11.602700 ms 
solver time 12.502483 ms 
build tree time 41.240653 ms 
solver time 9.538005 ms 
optimization twice time 49.889802 
mapping data assosiation time 18.439781 ms 
publication time 5.474615 ms 
whole laserOdometry time 55.385620 ms 
 
mapping solver time 13.366557 ms 
points size 57205 
sort q time 3.251880 
seperate points time 8.302267 
add points time 0.660209 ms
filter time 13.289224 ms 
solver time 11.531576 ms 
data association time 14.319577 ms 
solver time 7.989696 ms 
mapping data assosiation time 17.405898 ms 
points size 59728 
mapping solver time 15.173157 ms 
mapping data assosiation time 16.343385 ms 
mapping solver time 11.226455 ms 
data association time 17.514311 ms 
filter time 16.504713 ms 
mapping pub time 0.867694 ms 
whole mapping time 123.784465 ms +++++
map prepare time 3.214036 ms
map corner num 152929  surf num 69720 
solver time 15.437291 ms 
data association time 17.251461 ms 
solver time 10.782272 ms 
points size 62995 
build tree time 52.949574 ms 
mapping data assosiation time 18.950058 ms 
data association time 18.439371 ms 
mapping solver time 16.250537 ms 
mapping data assosiation time 17.297035 ms 
data association time 11.922414 ms 
publication time 5.836012 ms 
whole laserOdometry time 57.995496 ms 
 
drop lidar frame in mapping for real time performance 
points size 64012 
sort q time 3.497037 
seperate points time 8.912802 
data association time 11.927147 ms 
build tree time 49.530150 ms 
data association time 11.967680 ms 
mapping data assosiation time 16.965991 ms 
publication time 6.443082 ms 
whole laserOdometry time 51.890218 ms 
 
mapping data assosiation time 16.852826 ms 
mapping optimization time 104.624612 
prepare time 14.923657 
map prepare time 3.571179 ms
map corner num 153561  surf num 69900 
data association time 12.623953 ms 
solver time 11.286605 ms 
build tree time 43.454961 ms 
solver time 10.170786 ms 
publication time 6.652330 ms 
whole laserOdometry time 54.914865 ms 
 
mapping solver time 12.857535 ms 
points size 67696 
prepare time 13.322076 
mapping data assosiation time 17.107226 ms 
filter time 14.624669 ms 
solver time 11.083565 ms 
data association time 12.111868 ms 
publication time 6.622136 ms 
whole laserOdometry time 53.695724 ms 
 
mapping data assosiation time 16.419519 ms 
points size 69733 
sort q time 4.193697 
seperate points time 10.642589 
mapping data assosiation time 19.039497 ms 
mapping solver time 10.765342 ms 
filter time 14.820539 ms 
publication time 5.808246 ms 
whole laserOdometry time 48.961382 ms 
 
solver time 10.861613 ms 
build tree time 20.937357 ms 
prepare time 13.069617 
scan registration time 25.332598 ms *************
mapping solver time 14.693027 ms 
data association time 16.410474 ms 
solver time 10.270700 ms 
mapping solver time 9.698841 ms 
mapping optimization time 84.808943 
add points time 0.603980 ms
mapping pub time 1.762375 ms 
whole mapping time 100.141658 ms +++++
map prepare time 2.663717 ms
map corner num 81265  surf num 33141 
solver time 9.795681 ms 
optimization twice time 52.598025 
build tree time 22.102930 ms 
points size 73504 
mapping data assosiation time 17.608960 ms 
scan registration time 25.852720 ms *************
mapping data assosiation time 16.934819 ms 
mapping solver time 12.475878 ms 
filter time 9.892623 ms 
publication time 6.812796 ms 
whole laserOdometry time 53.978507 ms 
 
build tree time 23.775684 ms 
points size 72758 
prepare time 12.635945 
mapping data assosiation time 19.664550 ms 
sort q time 4.195482 
seperate points time 9.895171 
data association time 12.895940 ms 
solver time 10.926943 ms 
filter time 7.076553 ms 
solver time 8.510421 ms 
publication time 6.565654 ms 
whole laserOdometry time 52.978777 ms 
 
build tree time 22.552195 ms 
mapping data assosiation time 18.737475 ms 
mapping solver time 13.749311 ms 
data association time 22.155689 ms 
filter time 8.838453 ms 
data association time 20.374245 ms 
build tree time 26.643918 ms 
points size 74191 
sort q time 4.030533 
seperate points time 9.688028 
mapping data assosiation time 22.224269 ms 
data association time 23.310062 ms 
mapping solver time 15.891521 ms 
filter time 8.903215 ms 
data association time 21.203782 ms 
solver time 15.053380 ms 
publication time 9.233798 ms 
whole laserOdometry time 86.437862 ms 
 
sort q time 4.251676 
seperate points time 10.211203 
mapping solver time 13.676247 ms 
data association time 17.093218 ms 
solver time 12.812876 ms 
mapping solver time 10.698310 ms 
mapping optimization time 90.114926 
add points time 0.581700 ms
solver time 10.329443 ms 
points size 74158 
mapping data assosiation time 23.208298 ms 
scan registration time 33.189721 ms *************
mapping solver time 15.643823 ms 
data association time 13.145928 ms 
mapping solver time 10.635249 ms 
map prepare time 2.366763 ms
map corner num 78485  surf num 30753 
solver time 11.484633 ms 
build tree time 25.685143 ms 
points size 73808 
mapping data assosiation time 22.945681 ms 
scan registration time 32.866257 ms *************
mapping solver time 15.564766 ms 
data association time 13.271406 ms 
solver time 10.468669 ms 
filter time 6.131455 ms 
solver time 8.380136 ms 
publication time 7.268093 ms 
whole laserOdometry time 53.613855 ms 
 
points size 72062 
sort q time 3.890794 
seperate points time 9.433693 
data association time 15.784952 ms 
solver time 16.126944 ms 
filter time 10.753968 ms 
solver time 13.622401 ms 
build tree time 24.423267 ms 
points size 71404 
mapping data assosiation time 22.263248 ms 
scan registration time 32.159777 ms *************
mapping solver time 15.647004 ms 
data association time 15.269966 ms 
mapping data assosiation time 17.972917 ms 
mapping solver time 10.761985 ms 
filter time 8.064046 ms 
solver time 10.880711 ms 
publication time 6.487500 ms 
whole laserOdometry time 59.041818 ms 
 
build tree time 21.722357 ms 
points size 71325 
mapping data assosiation time 22.770969 ms 
scan registration time 32.025939 ms *************
data association time 14.650229 ms 
mapping solver time 10.161522 ms 
data association time 15.611213 ms 
solver time 13.522720 ms 
points size 71973 
sort q time 3.494768 
seperate points time 8.547486 
data association time 12.196683 ms 
data association time 11.985039 ms 
optimization twice time 49.368380 
mapping pub time 134.449855 ms 
whole mapping time 235.570883 ms +++++
prepare time 14.203380 
sort q time 4.764297 
seperate points time 11.675999 
data association time 12.008166 ms 
mapping data assosiation time 16.681769 ms 
mapping data assosiation time 16.610374 ms 
solver time 12.568546 ms 
filter time 10.747294 ms 
points size 72347 
build tree time 21.319496 ms 
scan registration time 27.000659 ms *************
mapping data assosiation time 16.929719 ms 
mapping solver time 11.937031 ms 
solver time 15.301831 ms 
mapping solver time 7.806899 ms 
filter time 7.951269 ms 
optimization twice time 71.344038 
points size 69675 
scan registration time 23.230163 ms *************
build tree time 27.924522 ms 
solver time 10.579932 ms 
data association time 14.821453 ms 
solver time 10.073111 ms 
mapping data assosiation time 19.731699 ms 
points size 69337 
sort q time 3.607610 
seperate points time 8.742455 
build tree time 21.874699 ms 
solver time 13.328542 ms 
mapping solver time 10.181554 ms 
solver time 11.202883 ms 
mapping solver time 8.871886 ms 
points size 68272 
sort q time 3.944931 
seperate points time 9.369791 
build tree time 23.664631 ms 
mapping data assosiation time 19.118918 ms 
solver time 16.124628 ms 
data association time 18.947390 ms 
solver time 11.916837 ms 
points size 67698 
sort q time 3.167486 
seperate points time 7.940859 
build tree time 23.670557 ms 
solver time 10.357103 ms 
data association time 11.734800 ms 
publication time 6.290884 ms 
whole laserOdometry time 49.764488 ms 
 
mapping data assosiation time 19.561825 ms 
mapping solver time 12.894637 ms 
filter time 9.327885 ms 
scan registration time 27.393740 ms *************
build tree time 25.232864 ms 
mapping data assosiation time 20.605015 ms 
solver time 9.535949 ms 
mapping data assosiation time 16.798909 ms 
mapping solver time 10.919379 ms 
filter time 8.606623 ms 
sort q time 3.651090 
seperate points time 9.408113 
build tree time 29.020240 ms 
solver time 17.465123 ms 
mapping solver time 14.708703 ms 
solver time 6.876143 ms 
mapping solver time 7.999357 ms 
sort q time 3.501434 
seperate points time 9.012682 
map prepare time 3.086560 ms
map corner num 82749  surf num 31979 
build tree time 25.695080 ms 
solver time 15.206605 ms 
data association time 18.691264 ms 
solver time 11.479288 ms 
mapping solver time 12.968639 ms 
mapping pub time 0.917898 ms 
whole mapping time 102.363122 ms +++++
map prepare time 2.224707 ms
map corner num 83057  surf num 32051 
sort q time 3.570098 
seperate points time 8.826638 
build tree time 22.489350 ms 
data association time 18.634917 ms 
mapping data assosiation time 20.502431 ms 
mapping solver time 13.179580 ms 
data association time 18.829663 ms 
mapping data assosiation time 17.309330 ms 
mapping solver time 11.948934 ms 
mapping pub time 1.824266 ms 
whole mapping time 100.344458 ms +++++
scan registration time 22.918667 ms *************
build tree time 22.373396 ms 
mapping data assosiation time 18.047660 ms 
mapping solver time 12.693437 ms 
data association time 18.709707 ms 
mapping data assosiation time 16.907488 ms 
publication time 7.319488 ms 
whole laserOdometry time 72.390944 ms 
 
points size 61869 
sort q time 3.411318 
seperate points time 8.247526 
mapping data assosiation time 16.036208 ms 
mapping solver time 12.892517 ms 
solver time 15.271831 ms 
mapping data assosiation time 16.589401 ms 
data association time 18.386831 ms 
filter time 8.645719 ms 
publication time 6.926411 ms 
whole laserOdometry time 72.135539 ms 
 
points size 60901 
sort q time 2.741687 
seperate points time 6.784420 
mapping data assosiation time 15.698657 ms 
data association time 18.278033 ms 
solver time 15.115063 ms 
mapping data assosiation time 17.142044 ms 
mapping solver time 8.166830 ms 
filter time 8.047166 ms 
publication time 6.719077 ms 
whole laserOdometry time 71.343085 ms 
 
points size 58370 
prepare time 10.166411 
data association time 12.041106 ms 
solver time 11.077478 ms 
data association time 12.131595 ms 
publication time 5.136681 ms 
whole laserOdometry time 49.681348 ms 
 
filter time 9.379606 ms 
points size 58504 
sort q time 3.373849 
seperate points time 8.337152 
mapping data assosiation time 19.622562 ms 
data association time 17.672725 ms 
mapping data assosiation time 20.201586 ms 
solver time 14.999959 ms 
filter time 7.958774 ms 
mapping pub time 1.617813 ms 
whole mapping time 99.082260 ms +++++
publication time 6.161099 ms 
whole laserOdometry time 69.315586 ms 
 
prepare time 11.433235 
build tree time 26.079199 ms 
data association time 17.928579 ms 
solver time 15.024990 ms 
mapping solver time 15.052925 ms 
data association time 17.834403 ms 
mapping data assosiation time 18.463592 ms 
mapping solver time 11.427643 ms 
filter time 9.188873 ms 
prepare time 11.135435 
sort q time 3.493475 
seperate points time 8.541413 
build tree time 24.608477 ms 
data association time 18.219170 ms 
solver time 15.118238 ms 
data association time 17.816471 ms 
solver time 11.500128 ms 
points size 65504 
mapping pub time 0.686070 ms 
whole mapping time 122.668437 ms +++++
sort q time 3.497929 
seperate points time 8.911648 
map prepare time 2.885734 ms
map corner num 85557  surf num 32789 
scan registration time 26.238719 ms *************
data association time 19.093294 ms 
build tree time 30.691397 ms 
solver time 16.868677 ms 
mapping data assosiation time 23.537916 ms 
data association time 19.654336 ms 
solver time 12.431919 ms 
publication time 8.002951 ms 
whole laserOdometry time 77.233233 ms 
 
sort q time 3.353715 
seperate points time 8.434807 
filter time 7.436557 ms 
solver time 12.832840 ms 
build tree time 25.348890 ms 
solver time 11.313866 ms 
mapping solver time 11.886045 ms 
points size 73876 
sort q time 3.447080 
seperate points time 8.396514 
filter time 7.444515 ms 
solver time 10.931893 ms 
data association time 14.073233 ms 
mapping data assosiation time 21.365707 ms 
mapping solver time 13.123166 ms 
[0m[ INFO] [1718802550.030209026]: Received 1949083 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802550.030244478]: Data saved to 1317358094837779.pcd[0m
mapping data assosiation time 22.188392 ms 
scan registration time 25.978958 ms *************
filter time 8.135934 ms 
data association time 14.330099 ms 
data association time 13.598068 ms 
publication time 7.061680 ms 
whole laserOdometry time 56.705879 ms 
 
points size 80735 
sort q time 4.445837 
seperate points time 10.436304 
data association time 15.388059 ms 
solver time 17.045226 ms 
mapping pub time 143.029705 ms 
whole mapping time 247.463377 ms +++++
solver time 11.199045 ms 
build tree time 28.581953 ms 
sort q time 3.706417 
seperate points time 8.985040 
mapping solver time 12.535729 ms 
solver time 10.539688 ms 
mapping solver time 9.639467 ms 
solver time 8.134812 ms 
build tree time 23.183610 ms 
prepare time 14.825273 
mapping data assosiation time 20.164392 ms 
mapping solver time 12.922257 ms 
data association time 20.951778 ms 
mapping solver time 8.963989 ms 
filter time 7.490844 ms 
data association time 20.836812 ms 
build tree time 22.179215 ms 
points size 82752 
sort q time 5.030588 
seperate points time 11.845767 
mapping data assosiation time 19.271599 ms 
mapping solver time 8.987786 ms 
filter time 7.964873 ms 
data association time 20.915654 ms 
optimization twice time 66.690212 
prepare time 15.309955 
sort q time 4.459117 
seperate points time 10.618174 
mapping data assosiation time 19.079519 ms 
mapping solver time 10.794473 ms 
filter time 8.211721 ms 
data association time 20.601424 ms 
build tree time 24.067621 ms 
publication time 8.531168 ms 
whole laserOdometry time 78.615074 ms 
 
mapping solver time 14.050541 ms 
mapping data assosiation time 21.678696 ms 
data association time 20.872230 ms 
filter time 7.201276 ms 
mapping pub time 2.033635 ms 
whole mapping time 103.459284 ms +++++
map prepare time 2.370866 ms
map corner num 88189  surf num 33632 
build tree time 23.253811 ms 
solver time 11.885693 ms 
sort q time 4.479252 
seperate points time 10.210283 
data association time 12.991999 ms 
solver time 11.277794 ms 
filter time 7.732036 ms 
solver time 8.760910 ms 
points size 85714 
sort q time 4.568200 
seperate points time 10.657245 
mapping data assosiation time 22.667004 ms 
data association time 23.643185 ms 
filter time 9.567917 ms 
data association time 21.283414 ms 
build tree time 30.619938 ms 
prepare time 16.975306 
mapping data assosiation time 21.939583 ms 
mapping solver time 14.516949 ms 
data association time 16.731586 ms 
solver time 12.979551 ms 
filter time 9.413920 ms 
mapping pub time 1.026372 ms 
whole mapping time 111.287553 ms +++++
data association time 17.515503 ms 
map prepare time 2.978117 ms
map corner num 89026  surf num 33886 
publication time 8.840588 ms 
whole laserOdometry time 65.666870 ms 
 
points size 86869 
sort q time 4.999499 
seperate points time 11.997502 
scan registration time 33.631160 ms *************
mapping solver time 17.348176 ms 
solver time 11.093739 ms 
mapping data assosiation time 24.013252 ms 
data association time 14.737373 ms 
filter time 10.193152 ms 
points size 86949 
build tree time 25.090429 ms 
sort q time 4.900962 
seperate points time 11.911081 
mapping data assosiation time 21.291435 ms 
mapping solver time 15.698774 ms 
data association time 13.622830 ms 
solver time 8.474923 ms 
filter time 9.040024 ms 
points size 86866 
sort q time 4.900828 
seperate points time 11.948754 
mapping data assosiation time 20.686874 ms 
mapping solver time 12.925127 ms 
data association time 12.890265 ms 
mapping data assosiation time 19.592047 ms 
publication time 6.966815 ms 
whole laserOdometry time 55.349490 ms 
 
mapping pub time 1.230741 ms 
whole mapping time 103.836088 ms +++++
sort q time 4.897362 
seperate points time 11.801277 
data association time 14.420819 ms 
solver time 10.776827 ms 
data association time 14.608814 ms 
mapping data assosiation time 20.016142 ms 
mapping optimization time 92.641721 
filter time 9.392469 ms 
sort q time 4.838214 
seperate points time 11.347702 
build tree time 25.637578 ms 
data association time 13.244445 ms 
solver time 12.972079 ms 
data association time 13.372155 ms 
solver time 13.460699 ms 
mapping solver time 14.856463 ms 
mapping pub time 1.195902 ms 
whole mapping time 110.203450 ms +++++
sort q time 5.320112 
seperate points time 12.374355 
build tree time 27.272002 ms 
solver time 12.973585 ms 
data association time 14.156556 ms 
solver time 11.460081 ms 
mapping data assosiation time 21.744156 ms 
points size 86853 
sort q time 3.990763 
seperate points time 9.407868 
data association time 21.475953 ms 
build tree time 27.448169 ms 
mapping data assosiation time 24.381888 ms 
data association time 21.235596 ms 
points size 86966 
solver time 20.674313 ms 
optimization twice time 82.669770 
prepare time 16.112947 
scan registration time 33.601218 ms *************
filter time 11.711978 ms 
data association time 21.606410 ms 
solver time 15.384310 ms 
data association time 21.703130 ms 
prepare time 14.336360 
mapping solver time 13.087467 ms 
mapping data assosiation time 20.326067 ms 
filter time 8.812660 ms 
solver time 15.705518 ms 
build tree time 24.823546 ms 
solver time 11.848162 ms 
mapping data assosiation time 23.610017 ms 
sort q time 4.440583 
seperate points time 10.835500 
mapping data assosiation time 21.908029 ms 
mapping solver time 12.403083 ms 
mapping optimization time 100.232634 
add points time 0.565904 ms
map prepare time 3.140602 ms
map corner num 91485  surf num 34648 
data association time 22.102908 ms 
build tree time 26.368665 ms 
prepare time 13.885399 
sort q time 4.733612 
seperate points time 11.603806 
mapping solver time 17.099766 ms 
data association time 21.718291 ms 
mapping solver time 9.573287 ms 
filter time 10.630779 ms 
data association time 22.159265 ms 
solver time 11.613628 ms 
publication time 9.042396 ms 
whole laserOdometry time 84.167868 ms 
 
scan registration time 29.554574 ms *************
mapping solver time 13.061763 ms 
solver time 11.025092 ms 
data association time 14.288950 ms 
solver time 10.423770 ms 
points size 88278 
build tree time 25.559028 ms 
mapping data assosiation time 23.299665 ms 
mapping solver time 17.172933 ms 
data association time 14.434358 ms 
solver time 10.453234 ms 
mapping solver time 13.821813 ms 
filter time 10.324765 ms 
sort q time 4.561374 
seperate points time 10.775971 
data association time 13.546532 ms 
solver time 16.318993 ms 
data association time 16.282212 ms 
publication time 7.739105 ms 
whole laserOdometry time 63.107840 ms 
 
points size 88832 
sort q time 4.388802 
seperate points time 10.501938 
mapping pub time 136.714195 ms 
whole mapping time 257.422462 ms +++++
solver time 11.444400 ms 
build tree time 27.063960 ms 
solver time 10.470137 ms 
mapping data assosiation time 23.986515 ms 
points size 88994 
sort q time 4.070499 
seperate points time 10.153753 
mapping data assosiation time 21.633450 ms 
mapping solver time 10.281298 ms 
mapping optimization time 99.197934 
add points time 0.558276 ms
data association time 14.241468 ms 
solver time 11.594295 ms 
data association time 13.093370 ms 
solver time 9.055339 ms 
optimization twice time 48.897919 
build tree time 24.901250 ms 
mapping data assosiation time 23.424027 ms 
prepare time 14.106670 
sort q time 4.165473 
seperate points time 10.402551 
data association time 12.685808 ms 
solver time 11.172093 ms 
filter time 8.600254 ms 
solver time 7.794382 ms 
optimization twice time 49.982572 
publication time 7.188117 ms 
whole laserOdometry time 57.190130 ms 
 
build tree time 26.398577 ms 
points size 89108 
sort q time 5.413152 
seperate points time 13.264297 
data association time 15.199381 ms 
solver time 13.638001 ms 
data association time 14.740548 ms 
publication time 8.105602 ms 
whole laserOdometry time 61.300438 ms 
 
build tree time 25.968607 ms 
sort q time 5.246239 
seperate points time 12.672607 
data association time 13.970976 ms 
solver time 10.566420 ms 
mapping data assosiation time 22.558376 ms 
solver time 8.491033 ms 
filter time 9.810603 ms 
points size 89434 
sort q time 5.033736 
seperate points time 12.890095 
data association time 14.417629 ms 
solver time 11.312607 ms 
mapping solver time 15.760758 ms 
data association time 15.220051 ms 
solver time 7.521546 ms 
publication time 8.341625 ms 
whole laserOdometry time 57.650757 ms 
 
points size 89320 
map prepare time 2.690387 ms
map corner num 94205  surf num 35916 
build tree time 24.543366 ms 
data association time 18.193104 ms 
mapping data assosiation time 25.148234 ms 
mapping solver time 16.496565 ms 
solver time 12.436107 ms 
points size 89122 
mapping solver time 15.054886 ms 
filter time 8.390850 ms 
data association time 15.618699 ms 
build tree time 26.947857 ms 
data association time 16.990239 ms 
solver time 10.971758 ms 
points size 88780 
mapping data assosiation time 23.448887 ms 
mapping solver time 10.181096 ms 
filter time 10.195938 ms 
data association time 15.108682 ms 
solver time 11.228027 ms 
build tree time 25.112787 ms 
solver time 7.637201 ms 
mapping data assosiation time 22.971750 ms 
mapping solver time 13.530562 ms 
sort q time 4.567801 
seperate points time 11.327296 
mapping solver time 9.841993 ms 
mapping pub time 1.160053 ms 
whole mapping time 111.934007 ms +++++
solver time 10.265775 ms 
map prepare time 3.133461 ms
map corner num 95281  surf num 36368 
data association time 15.516050 ms 
solver time 8.078912 ms 
publication time 7.919437 ms 
whole laserOdometry time 58.344671 ms 
 
mapping data assosiation time 23.292350 ms 
mapping solver time 15.922069 ms 
mapping data assosiation time 21.766237 ms 
mapping solver time 12.787797 ms 
map prepare time 2.655482 ms
map corner num 95606  surf num 36489 
solver time 7.995645 ms 
publication time 7.497931 ms 
whole laserOdometry time 59.397207 ms 
 
points size 86375 
sort q time 4.487856 
seperate points time 10.666649 
data association time 15.553067 ms 
solver time 14.468912 ms 
data association time 14.989557 ms 
solver time 12.033000 ms 
points size 85559 
sort q time 4.083472 
seperate points time 9.728265 
mapping data assosiation time 25.553656 ms 
data association time 15.042993 ms 
solver time 13.653456 ms 
data association time 14.599611 ms 
solver time 13.839622 ms 
data association time 17.886052 ms 
prepare time 12.929370 
mapping solver time 14.461978 ms 
filter time 10.588450 ms 
data association time 14.981855 ms 
solver time 10.986115 ms 
data association time 14.384813 ms 
publication time 7.770849 ms 
whole laserOdometry time 57.250165 ms 
 
mapping solver time 16.848130 ms 
points size 83564 
prepare time 13.127820 
sort q time 4.293059 
seperate points time 10.262770 
mapping solver time 14.173162 ms 
mapping pub time 1.083169 ms 
whole mapping time 116.946563 ms +++++
map prepare time 3.292937 ms
map corner num 96847  surf num 36892 
data association time 13.895301 ms 
solver time 8.300203 ms 
mapping data assosiation time 24.737118 ms 
points size 83093 
sort q time 4.389440 
seperate points time 10.634264 
mapping data assosiation time 24.137041 ms 
mapping solver time 13.015312 ms 
data association time 23.084983 ms 
map prepare time 3.334795 ms
map corner num 97131  surf num 36981 
solver time 19.238606 ms 
data association time 15.331048 ms 
optimization twice time 66.886275 
points size 82623 
prepare time 16.639855 
sort q time 4.648061 
seperate points time 11.529259 
data association time 13.598882 ms 
mapping optimization time 97.921634 
filter time 8.910423 ms 
solver time 8.493324 ms 
build tree time 27.625181 ms 
points size 82287 
mapping data assosiation time 26.267451 ms 
mapping solver time 16.625412 ms 
data association time 14.820705 ms 
solver time 9.440220 ms 
data association time 14.582317 ms 
mapping solver time 12.466784 ms 
mapping optimization time 103.970527 
add points time 0.644262 ms
solver time 6.097628 ms 
optimization twice time 45.824842 
prepare time 16.731556 
build tree time 32.447078 ms 
sort q time 5.209885 
seperate points time 12.535794 
mapping data assosiation time 22.145859 ms 
mapping solver time 11.420418 ms 
solver time 10.801470 ms 
mapping data assosiation time 20.329227 ms 
mapping solver time 9.857971 ms 
filter time 10.880527 ms 
points size 81721 
sort q time 4.656856 
seperate points time 11.669087 
data association time 12.997986 ms 
solver time 8.242686 ms 
mapping solver time 13.264248 ms 
data association time 12.941948 ms 
publication time 7.080554 ms 
whole laserOdometry time 51.101910 ms 
 
mapping solver time 9.789660 ms 
filter time 10.496222 ms 
sort q time 4.566998 
seperate points time 11.525758 
build tree time 29.163420 ms 
mapping data assosiation time 18.145332 ms 
mapping solver time 11.598987 ms 
data association time 15.044298 ms 
solver time 8.755831 ms 
mapping data assosiation time 20.007989 ms 
mapping solver time 12.660245 ms 
points size 81586 
prepare time 17.248892 
filter time 10.881548 ms 
mapping pub time 1.376220 ms 
whole mapping time 109.273912 ms +++++
sort q time 4.625150 
seperate points time 11.918203 
data association time 12.240807 ms 
solver time 11.148624 ms 
mapping data assosiation time 18.253169 ms 
solver time 8.814383 ms 
mapping data assosiation time 20.515440 ms 
mapping solver time 8.720779 ms 
filter time 8.811911 ms 
scan registration time 29.727747 ms *************
solver time 15.497276 ms 
data association time 19.635942 ms 
solver time 12.086524 ms 
publication time 9.009460 ms 
whole laserOdometry time 77.198705 ms 
 
sort q time 4.372261 
seperate points time 10.442848 
mapping pub time 133.053912 ms 
whole mapping time 235.224530 ms +++++
solver time 16.254544 ms 
build tree time 26.478640 ms 
solver time 9.554436 ms 
mapping solver time 11.331450 ms 
sort q time 3.673089 
seperate points time 8.804912 
mapping solver time 8.594689 ms 
filter time 9.280486 ms 
data association time 19.364626 ms 
solver time 15.142048 ms 
build tree time 26.330066 ms 
data association time 18.993262 ms 
solver time 11.340523 ms 
points size 80881 
sort q time 4.248179 
seperate points time 10.086573 
mapping solver time 10.871041 ms 
filter time 9.457534 ms 
solver time 10.898152 ms 
data association time 12.807438 ms 
solver time 8.748872 ms 
publication time 7.468528 ms 
whole laserOdometry time 53.009239 ms 
 
mapping data assosiation time 19.200160 ms 
mapping solver time 11.107592 ms 
mapping data assosiation time 20.297272 ms 
mapping solver time 8.634318 ms 
filter time 9.306926 ms 
solver time 10.152097 ms 
data association time 13.519933 ms 
publication time 6.875962 ms 
whole laserOdometry time 53.202551 ms 
 
mapping data assosiation time 21.348267 ms 
points size 78496 
mapping solver time 12.682422 ms 
prepare time 13.092916 
mapping data assosiation time 18.179708 ms 
data association time 13.025305 ms 
filter time 9.766945 ms 
data association time 13.062769 ms 
solver time 11.077938 ms 
optimization twice time 52.123312 
build tree time 26.670310 ms 
mapping data assosiation time 18.435495 ms 
points size 77399 
sort q time 3.867017 
seperate points time 9.220977 
mapping data assosiation time 19.731535 ms 
data association time 13.305500 ms 
filter time 10.331637 ms 
data association time 15.280982 ms 
solver time 12.790626 ms 
mapping data assosiation time 19.077689 ms 
mapping solver time 10.887011 ms 
mapping data assosiation time 19.483431 ms 
data association time 16.779276 ms 
map prepare time 2.325592 ms
map corner num 100371  surf num 37931 
data association time 13.637219 ms 
solver time 12.904069 ms 
mapping data assosiation time 20.833536 ms 
mapping solver time 12.379775 ms 
sort q time 4.324009 
seperate points time 10.075403 
data association time 13.157362 ms 
filter time 10.310998 ms 
data association time 16.216213 ms 
build tree time 27.206189 ms 
publication time 7.558992 ms 
whole laserOdometry time 66.130035 ms 
 
points size 75853 
mapping solver time 14.596747 ms 
mapping data assosiation time 16.533415 ms 
data association time 13.911320 ms 
filter time 11.509179 ms 
data association time 15.881226 ms 
solver time 8.168194 ms 
build tree time 31.254788 ms 
points size 75422 
sort q time 4.237584 
seperate points time 10.934373 
mapping data assosiation time 21.687238 ms 
data association time 22.410029 ms 
filter time 11.259740 ms 
points size 76197 
publication time 8.817365 ms 
whole laserOdometry time 84.663119 ms 
 
mapping data assosiation time 19.030977 ms 
mapping solver time 17.051728 ms 
solver time 17.211871 ms 
mapping solver time 13.711767 ms 
filter time 11.244904 ms 
publication time 8.127563 ms 
whole laserOdometry time 79.871973 ms 
 
sort q time 3.891935 
seperate points time 9.347230 
mapping data assosiation time 21.119278 ms 
data association time 22.957451 ms 
mapping solver time 18.017403 ms 
solver time 16.726685 ms 
mapping data assosiation time 20.871121 ms 
data association time 22.696923 ms 
solver time 12.356802 ms 
add points time 0.476116 ms
filter time 17.084375 ms 
sort q time 4.340356 
seperate points time 10.502019 
data association time 20.234187 ms 
solver time 16.987993 ms 
mapping data assosiation time 20.469583 ms 
data association time 21.340195 ms 
solver time 13.199232 ms 
prepare time 14.876794 
sort q time 4.966165 
seperate points time 11.798382 
data association time 19.873929 ms 
build tree time 32.378078 ms 
solver time 16.522757 ms 
mapping data assosiation time 19.916997 ms 
data association time 20.919922 ms 
solver time 13.276455 ms 
publication time 9.068660 ms 
whole laserOdometry time 81.014503 ms 
 
mapping data assosiation time 20.316904 ms 
scan registration time 32.572656 ms *************
filter time 11.114509 ms 
data association time 20.699025 ms 
solver time 14.713089 ms 
build tree time 35.052535 ms 
data association time 22.411946 ms 
solver time 12.824933 ms 
sort q time 3.640477 
seperate points time 9.013400 
mapping solver time 11.594707 ms 
filter time 10.744902 ms 
solver time 15.622591 ms 
data association time 17.808880 ms 
solver time 16.548757 ms 
points size 79921 
mapping solver time 11.853100 ms 
mapping data assosiation time 19.223422 ms 
data association time 19.164930 ms 
filter time 10.509142 ms 
mapping pub time 3.114067 ms 
whole mapping time 117.851758 ms +++++
map prepare time 2.962550 ms
map corner num 102741  surf num 38462 
data association time 18.622373 ms 
solver time 11.314566 ms 
build tree time 34.756830 ms 
mapping data assosiation time 14.848328 ms 
mapping solver time 11.782146 ms 
mapping data assosiation time 19.917143 ms 
mapping solver time 14.317462 ms 
filter time 7.968908 ms 
mapping pub time 0.994196 ms 
whole mapping time 109.257508 ms +++++
map prepare time 2.268860 ms
map corner num 102981  surf num 38514 
solver time 7.950607 ms 
build tree time 28.983716 ms 
mapping data assosiation time 15.787165 ms 
mapping solver time 12.099251 ms 
data association time 13.133241 ms 
mapping solver time 11.542830 ms 
mapping optimization time 85.076796 
add points time 0.423820 ms
solver time 11.839280 ms 
data association time 13.777858 ms 
publication time 5.725497 ms 
whole laserOdometry time 53.894956 ms 
 
build tree time 26.640390 ms 
points size 75808 
sort q time 4.159310 
seperate points time 9.846536 
mapping data assosiation time 15.399663 ms 
mapping optimization time 79.658458 
map prepare time 2.118761 ms
map corner num 103426  surf num 38656 
solver time 8.110560 ms 
build tree time 28.154411 ms 
mapping data assosiation time 16.258429 ms 
mapping solver time 12.288148 ms 
mapping data assosiation time 17.308204 ms 
mapping solver time 11.316532 ms 
filter time 9.580223 ms 
solver time 7.589905 ms 
build tree time 31.749465 ms 
mapping data assosiation time 16.543621 ms 
mapping solver time 13.392850 ms 
mapping data assosiation time 15.902600 ms 
mapping optimization time 90.053298 
add points time 0.438042 ms
data association time 13.046473 ms 
data association time 12.858245 ms 
solver time 11.255177 ms 
points size 74810 
scan registration time 25.434482 ms *************
data association time 15.110071 ms 
solver time 11.424496 ms 
data association time 16.755857 ms 
publication time 6.924831 ms 
whole laserOdometry time 60.939083 ms 
 
points size 74905 
build tree time 29.501268 ms 
mapping data assosiation time 16.981376 ms 
data association time 13.145770 ms 
mapping solver time 11.790154 ms 
mapping data assosiation time 14.818567 ms 
data association time 13.054153 ms 
solver time 8.789873 ms 
map prepare time 2.263209 ms
map corner num 104082  surf num 38848 
points size 73144 
build tree time 26.396370 ms 
mapping data assosiation time 14.940916 ms 
mapping solver time 12.477224 ms 
solver time 13.375371 ms 
data association time 14.902864 ms 
solver time 10.802821 ms 
map prepare time 2.209971 ms
map corner num 104424  surf num 38949 
points size 71660 
build tree time 26.169623 ms 
mapping data assosiation time 16.698164 ms 
mapping solver time 11.987220 ms 
data association time 12.812107 ms 
mapping data assosiation time 16.104257 ms 
publication time 6.365564 ms 
whole laserOdometry time 50.871621 ms 
 
mapping pub time 0.876597 ms 
whole mapping time 96.351161 ms +++++
points size 71943 
sort q time 3.762227 
seperate points time 8.840878 
mapping data assosiation time 17.344865 ms 
mapping solver time 14.406515 ms 
solver time 11.345233 ms 
mapping solver time 10.319113 ms 
filter time 8.552907 ms 
publication time 5.667266 ms 
whole laserOdometry time 53.849290 ms 
 
points size 71605 
sort q time 4.064397 
seperate points time 9.518145 
mapping data assosiation time 15.694148 ms 
mapping solver time 12.935565 ms 
solver time 11.811073 ms 
mapping solver time 10.084539 ms 
solver time 10.269786 ms 
map prepare time 2.468642 ms
map corner num 105261  surf num 39196 
points size 71183 
sort q time 3.456747 
seperate points time 8.201510 
mapping data assosiation time 16.084837 ms 
solver time 9.043181 ms 
mapping solver time 13.176723 ms 
mapping data assosiation time 15.391844 ms 
mapping solver time 11.118336 ms 
filter time 10.300202 ms 
prepare time 16.845585 
build tree time 36.518526 ms 
mapping data assosiation time 18.079249 ms 
mapping solver time 15.956287 ms 
solver time 14.861063 ms 
data association time 16.080514 ms 
solver time 10.767302 ms 
map prepare time 2.545425 ms
map corner num 105769  surf num 39347 
sort q time 4.165426 
seperate points time 9.768456 
build tree time 31.274508 ms 
data association time 11.760748 ms 
solver time 12.057861 ms 
mapping solver time 13.764780 ms 
solver time 9.228706 ms 
optimization twice time 47.867813 
mapping data assosiation time 17.783636 ms 
publication time 5.788182 ms 
whole laserOdometry time 53.672385 ms 
 
mapping solver time 11.242221 ms 
filter time 11.729095 ms 
sort q time 3.175026 
seperate points time 7.574560 
data association time 12.441598 ms 
build tree time 29.334954 ms 
mapping data assosiation time 15.025361 ms 
data association time 13.264703 ms 
solver time 12.158629 ms 
mapping data assosiation time 15.787760 ms 
mapping solver time 9.956364 ms 
filter time 9.803796 ms 
prepare time 18.806404 
sort q time 4.268739 
seperate points time 10.254989 
mapping data assosiation time 18.387214 ms 
data association time 20.221649 ms 
mapping solver time 14.543702 ms 
mapping data assosiation time 18.734868 ms 
mapping solver time 11.274718 ms 
filter time 11.036288 ms 
sort q time 3.555568 
seperate points time 8.570611 
build tree time 29.303088 ms 
data association time 13.457586 ms 
solver time 12.592324 ms 
mapping solver time 12.592671 ms 
publication time 4.776321 ms 
whole laserOdometry time 53.478466 ms 
 
mapping solver time 9.470021 ms 
filter time 11.319563 ms 
mapping pub time 1.153662 ms 
whole mapping time 99.899907 ms +++++
map prepare time 2.579750 ms
map corner num 106695  surf num 39598 
points size 71713 
sort q time 4.094923 
seperate points time 9.913454 
scan registration time 29.149399 ms *************
build tree time 35.000907 ms 
data association time 19.812244 ms 
solver time 17.053611 ms 
mapping solver time 17.703124 ms 
data association time 20.010094 ms 
solver time 12.798432 ms 
filter time 10.329846 ms 
data association time 18.276468 ms 
solver time 12.148157 ms 
mapping data assosiation time 14.866041 ms 
mapping solver time 13.044937 ms 
mapping data assosiation time 15.850375 ms 
points size 72077 
filter time 8.331110 ms 
data association time 10.954024 ms 
build tree time 28.391113 ms 
mapping data assosiation time 15.862571 ms 
data association time 12.488728 ms 
mapping data assosiation time 15.825915 ms 
mapping solver time 9.818347 ms 
mapping optimization time 82.862043 
add points time 0.471073 ms
points size 72541 
map prepare time 2.127457 ms
map corner num 107395  surf num 39805 
build tree time 29.649036 ms 
mapping data assosiation time 15.201390 ms 
solver time 15.301234 ms 
data association time 17.914974 ms 
mapping data assosiation time 15.635303 ms 
mapping solver time 8.173072 ms 
filter time 12.091698 ms 
sort q time 3.580531 
seperate points time 8.412622 
build tree time 29.420001 ms 
mapping data assosiation time 14.601739 ms 
solver time 14.907914 ms 
data association time 15.191977 ms 
solver time 10.728776 ms 
filter time 10.941757 ms 
sort q time 3.939594 
seperate points time 9.174541 
build tree time 27.628486 ms 
data association time 15.015301 ms 
mapping solver time 11.394887 ms 
mapping data assosiation time 14.660162 ms 
data association time 14.156537 ms 
publication time 5.358319 ms 
whole laserOdometry time 57.462770 ms 
 
filter time 13.168103 ms 
points size 73276 
sort q time 4.391883 
seperate points time 10.540581 
data association time 11.907940 ms 
solver time 11.081741 ms 
mapping solver time 14.208457 ms 
optimization twice time 44.450314 
mapping data assosiation time 15.883882 ms 
publication time 5.537620 ms 
whole laserOdometry time 50.004695 ms 
 
mapping solver time 9.294707 ms 
filter time 8.459944 ms 
points size 69084 
sort q time 3.710606 
seperate points time 8.921580 
data association time 11.373460 ms 
mapping solver time 10.100055 ms 
solver time 8.045203 ms 
mapping solver time 7.145975 ms 
map prepare time 2.139349 ms
map corner num 108723  surf num 40254 
points size 67350 
sort q time 3.209558 
seperate points time 7.915939 
mapping data assosiation time 13.815685 ms 
data association time 12.766103 ms 
solver time 11.512588 ms 
mapping solver time 7.651505 ms 
solver time 10.477518 ms 
points size 66135 
prepare time 11.327244 
data association time 10.837895 ms 
data association time 11.980399 ms 
solver time 10.755853 ms 
mapping pub time 131.994105 ms 
whole mapping time 220.222774 ms +++++
prepare time 13.408952 
scan registration time 25.561414 ms *************
data association time 12.273253 ms 
solver time 11.150351 ms 
data association time 11.759935 ms 
publication time 5.255667 ms 
whole laserOdometry time 49.743551 ms 
 
mapping solver time 9.154005 ms 
filter time 9.010276 ms 
points size 65662 
prepare time 13.788036 
scan registration time 25.769924 ms *************
mapping data assosiation time 13.453899 ms 
mapping solver time 11.612982 ms 
data association time 14.063872 ms 
mapping solver time 10.608456 ms 
filter time 12.420495 ms 
points size 67824 
sort q time 4.064347 
seperate points time 9.816307 
data association time 11.511997 ms 
mapping data assosiation time 14.329307 ms 
mapping solver time 11.374453 ms 
solver time 7.952039 ms 
optimization twice time 41.079895 
mapping data assosiation time 13.921118 ms 
publication time 5.730135 ms 
whole laserOdometry time 46.829713 ms 
 
filter time 10.072323 ms 
mapping pub time 0.859272 ms 
whole mapping time 95.561741 ms +++++
map prepare time 2.858301 ms
map corner num 115386  surf num 43932 
points size 65423 
sort q time 3.612890 
seperate points time 8.935023 
mapping data assosiation time 13.229171 ms 
mapping solver time 11.178976 ms 
mapping data assosiation time 15.709274 ms 
mapping solver time 10.078957 ms 
filter time 11.657294 ms 
points size 61922 
sort q time 3.472898 
seperate points time 8.503799 
scan registration time 22.484585 ms *************
mapping data assosiation time 13.749859 ms 
mapping solver time 12.117661 ms 
data association time 12.333314 ms 
mapping data assosiation time 15.347334 ms 
mapping solver time 10.325213 ms 
filter time 8.818517 ms 
mapping pub time 1.731700 ms 
whole mapping time 86.349170 ms +++++
solver time 9.400444 ms 
optimization twice time 43.876812 
build tree time 20.040644 ms 
prepare time 12.500832 
mapping solver time 22.773581 ms 
data association time 18.508338 ms 
mapping data assosiation time 17.894207 ms 
solver time 15.736373 ms 
filter time 8.817488 ms 
solver time 9.488387 ms 
map prepare time 2.483380 ms
map corner num 75585  surf num 25705 
points size 57924 
sort q time 3.191111 
seperate points time 7.863299 
mapping data assosiation time 14.214577 ms 
solver time 11.614778 ms 
mapping solver time 10.470777 ms 
publication time 5.652822 ms 
whole laserOdometry time 63.972946 ms 
 
build tree time 18.800586 ms 
sort q time 3.248173 
seperate points time 8.144593 
mapping solver time 10.922423 ms 
mapping data assosiation time 16.117301 ms 
mapping solver time 11.456791 ms 
solver time 11.420993 ms 
build tree time 20.606250 ms 
scan registration time 19.874219 ms *************
mapping solver time 10.553481 ms 
mapping data assosiation time 14.362280 ms 
filter time 6.128801 ms 
mapping pub time 1.010213 ms 
whole mapping time 79.698452 ms +++++
solver time 11.319001 ms 
optimization twice time 59.494879 
publication time 5.531970 ms 
whole laserOdometry time 65.042564 ms 
 
points size 58868 
sort q time 2.564208 
seperate points time 6.291421 
mapping data assosiation time 13.318618 ms 
mapping solver time 9.929175 ms 
data association time 15.786779 ms 
mapping solver time 5.987693 ms 
filter time 6.178628 ms 
mapping pub time 1.987025 ms 
whole mapping time 74.203068 ms +++++
data association time 16.088944 ms 
solver time 15.019640 ms 
map prepare time 1.976135 ms
map corner num 76620  surf num 26074 
points size 61150 
scan registration time 19.893896 ms *************
mapping data assosiation time 15.608868 ms 
mapping solver time 11.372418 ms 
solver time 15.107068 ms 
mapping data assosiation time 14.227183 ms 
data association time 16.531231 ms 
solver time 11.426408 ms 
map prepare time 1.567071 ms
map corner num 76907  surf num 26162 
points size 61929 
sort q time 3.221439 
seperate points time 7.802380 
mapping solver time 10.103738 ms 
mapping data assosiation time 13.051544 ms 
mapping solver time 8.993114 ms 
filter time 8.539111 ms 
publication time 4.563937 ms 
whole laserOdometry time 49.920027 ms 
 
build tree time 18.305288 ms 
mapping data assosiation time 13.611060 ms 
mapping solver time 11.498199 ms 
mapping data assosiation time 14.775600 ms 
mapping solver time 8.791319 ms 
filter time 7.890656 ms 
solver time 14.886868 ms 
data association time 16.690924 ms 
solver time 11.281893 ms 
map prepare time 1.786114 ms
map corner num 77442  surf num 26390 
points size 62182 
build tree time 20.796909 ms 
mapping data assosiation time 18.102554 ms 
data association time 18.440010 ms 
solver time 16.086844 ms 
mapping solver time 7.492834 ms 
data association time 16.951872 ms 
filter time 6.586947 ms 
solver time 11.508112 ms 
map prepare time 2.049191 ms
map corner num 77705  surf num 26494 
points size 63389 
prepare time 13.191612 
mapping data assosiation time 16.023013 ms 
mapping solver time 10.368585 ms 
mapping data assosiation time 13.325380 ms 
solver time 15.060168 ms 
filter time 7.723483 ms 
mapping pub time 1.546908 ms 
whole mapping time 86.426763 ms +++++
data association time 16.564478 ms 
solver time 14.613296 ms 
points size 64311 
sort q time 3.438365 
seperate points time 8.216210 
mapping data assosiation time 17.646265 ms 
mapping solver time 12.242397 ms 
mapping data assosiation time 16.762732 ms 
mapping solver time 12.553055 ms 
mapping pub time 1.147994 ms 
whole mapping time 99.545652 ms +++++
points size 64192 
sort q time 3.162439 
seperate points time 7.571850 
scan registration time 22.764410 ms *************
mapping data assosiation time 13.358816 ms 
mapping solver time 11.707226 ms 
solver time 15.132471 ms 
mapping solver time 11.178149 ms 
mapping optimization time 76.187850 
add points time 0.443248 ms
data association time 17.488565 ms 
solver time 15.736585 ms 
points size 64270 
sort q time 3.454352 
seperate points time 8.190372 
mapping data assosiation time 13.437666 ms 
data association time 16.579315 ms 
mapping solver time 11.107153 ms 
solver time 15.298347 ms 
mapping solver time 7.098605 ms 
data association time 17.086153 ms 
solver time 11.723723 ms 
map prepare time 1.780604 ms
map corner num 78935  surf num 26849 
sort q time 2.683758 
seperate points time 6.535801 
mapping data assosiation time 14.145738 ms 
mapping solver time 13.886688 ms 
data association time 11.786223 ms 
solver time 11.801749 ms 
filter time 9.548278 ms 
points size 64241 
scan registration time 22.091083 ms *************
data association time 11.507683 ms 
solver time 11.153470 ms 
mapping data assosiation time 18.938731 ms 
mapping solver time 12.314333 ms 
points size 64210 
sort q time 3.010751 
seperate points time 7.501489 
data association time 11.622021 ms 
data association time 11.967061 ms 
publication time 5.088013 ms 
whole laserOdometry time 49.690058 ms 
 
points size 64091 
sort q time 4.677029 
seperate points time 11.759185 
build tree time 25.959090 ms 
solver time 10.004363 ms 
data association time 10.745422 ms 
solver time 11.299002 ms 
mapping solver time 10.325781 ms 
filter time 9.111641 ms 
sort q time 3.218911 
seperate points time 8.076881 
data association time 11.028281 ms 
solver time 12.597468 ms 
data association time 12.093132 ms 
mapping data assosiation time 15.525867 ms 
solver time 11.134061 ms 
optimization twice time 47.701402 
filter time 7.330126 ms 
points size 65411 
sort q time 3.871904 
seperate points time 9.297170 
mapping data assosiation time 16.523465 ms 
mapping solver time 12.216148 ms 
mapping data assosiation time 15.963581 ms 
filter time 6.645793 ms 
solver time 9.459754 ms 
mapping pub time 0.851636 ms 
whole mapping time 89.375284 ms +++++
optimization twice time 50.922361 
publication time 5.561481 ms 
whole laserOdometry time 56.517070 ms 
 
points size 66235 
sort q time 2.875770 
seperate points time 7.041445 
mapping data assosiation time 18.040682 ms 
mapping solver time 14.642384 ms 
data association time 11.940232 ms 
mapping solver time 10.034253 ms 
publication time 6.655812 ms 
whole laserOdometry time 56.677241 ms 
 
build tree time 24.469959 ms 
points size 65911 
prepare time 11.859986 
mapping data assosiation time 21.604410 ms 
solver time 10.984467 ms 
mapping data assosiation time 15.223475 ms 
solver time 11.671855 ms 
map prepare time 2.246853 ms
map corner num 81527  surf num 27629 
prepare time 13.014857 
sort q time 3.360629 
seperate points time 8.467456 
scan registration time 24.425498 ms *************
mapping data assosiation time 18.666297 ms 
data association time 19.599585 ms 
solver time 17.049393 ms 
mapping data assosiation time 20.262034 ms 
data association time 19.417603 ms 
solver time 11.717874 ms 
map prepare time 2.100786 ms
map corner num 81861  surf num 27720 
sort q time 3.002828 
seperate points time 7.671761 
mapping data assosiation time 19.624296 ms 
mapping solver time 15.216634 ms 
solver time 16.934829 ms 
mapping data assosiation time 20.810534 ms 
data association time 19.816147 ms 
mapping solver time 11.316798 ms 
mapping optimization time 88.649818 
add points time 0.503885 ms
mapping pub time 1.103929 ms 
whole mapping time 100.907809 ms +++++
map prepare time 2.545603 ms
map corner num 82194  surf num 27805 
sort q time 3.015594 
seperate points time 7.376311 
build tree time 27.659879 ms 
data association time 12.123129 ms 
mapping data assosiation time 20.187780 ms 
solver time 8.231643 ms 
mapping data assosiation time 19.881614 ms 
mapping optimization time 98.484287 
mapping pub time 1.032213 ms 
whole mapping time 110.937295 ms +++++
sort q time 3.610323 
seperate points time 8.722634 
build tree time 27.224152 ms 
solver time 11.124515 ms 
mapping data assosiation time 20.050717 ms 
solver time 8.301104 ms 
mapping data assosiation time 20.175249 ms 
mapping solver time 14.513789 ms 
filter time 8.702313 ms 
data association time 11.805365 ms 
solver time 11.241035 ms 
data association time 13.034591 ms 
mapping data assosiation time 20.188223 ms 
publication time 5.834651 ms 
whole laserOdometry time 50.977992 ms 
 
mapping solver time 16.822216 ms 
mapping data assosiation time 20.228958 ms 
sort q time 3.027814 
seperate points time 7.575871 
filter time 8.704753 ms 
data association time 15.336002 ms 
solver time 12.722100 ms 
data association time 14.736293 ms 
solver time 10.193633 ms 
optimization twice time 53.845818 
mapping data assosiation time 20.458191 ms 
publication time 6.950913 ms 
whole laserOdometry time 60.814714 ms 
 
mapping solver time 13.532522 ms 
points size 70987 
prepare time 12.010348 
mapping data assosiation time 16.974759 ms 
scan registration time 25.778463 ms *************
map prepare time 2.270547 ms
map corner num 83427  surf num 28166 
data association time 12.333203 ms 
build tree time 21.389897 ms 
mapping data assosiation time 15.739427 ms 
mapping solver time 10.315190 ms 
mapping data assosiation time 19.641835 ms 
mapping solver time 8.983563 ms 
filter time 9.592401 ms 
sort q time 4.270164 
seperate points time 10.209349 
scan registration time 26.308501 ms *************
build tree time 22.784614 ms 
mapping data assosiation time 17.156680 ms 
data association time 12.524756 ms 
solver time 8.216625 ms 
mapping solver time 12.167814 ms 
points size 75077 
filter time 7.777132 ms 
sort q time 3.758755 
seperate points time 9.445177 
build tree time 21.111535 ms 
mapping data assosiation time 16.632766 ms 
mapping solver time 11.169454 ms 
solver time 9.138324 ms 
mapping solver time 10.897430 ms 
filter time 7.828021 ms 
points size 76779 
build tree time 23.475947 ms 
sort q time 4.013551 
seperate points time 9.946829 
scan registration time 28.549981 ms *************
mapping data assosiation time 19.312149 ms 
data association time 21.043271 ms 
solver time 17.163021 ms 
mapping data assosiation time 22.415445 ms 
mapping solver time 11.501071 ms 
filter time 9.161748 ms 
points size 78575 
sort q time 3.869420 
seperate points time 9.594477 
build tree time 25.811605 ms 
data association time 21.352462 ms 
mapping data assosiation time 22.423117 ms 
solver time 17.460366 ms 
mapping solver time 16.427549 ms 
data association time 21.552146 ms 
mapping data assosiation time 22.200225 ms 
prepare time 13.509673 
map prepare time 2.302308 ms
map corner num 84813  surf num 28602 
build tree time 21.553450 ms 
solver time 10.126214 ms 
data association time 12.798198 ms 
publication time 6.155081 ms 
whole laserOdometry time 50.857823 ms 
 
mapping solver time 10.121591 ms 
mapping pub time 1.049051 ms 
whole mapping time 97.815657 ms +++++
scan registration time 27.304017 ms *************
build tree time 24.754279 ms 
solver time 8.377439 ms 
data association time 13.252272 ms 
publication time 6.844505 ms 
whole laserOdometry time 50.753359 ms 
 
mapping data assosiation time 20.594203 ms 
points size 82332 
sort q time 4.413443 
seperate points time 10.863318 
build tree time 21.728053 ms 
solver time 7.742045 ms 
data association time 14.735709 ms 
solver time 10.834423 ms 
mapping data assosiation time 19.330014 ms 
mapping solver time 8.518239 ms 
filter time 7.465750 ms 
scan registration time 27.694029 ms *************
build tree time 24.935431 ms 
data association time 23.809799 ms 
solver time 17.129087 ms 
data association time 23.397791 ms 
mapping data assosiation time 23.885337 ms 
mapping solver time 12.914753 ms 
mapping optimization time 104.318935 
add points time 0.820752 ms
prepare time 14.119808 
publication time 9.092989 ms 
whole laserOdometry time 87.966469 ms 
 
scan registration time 30.304684 ms *************
data association time 25.333084 ms 
solver time 15.045923 ms 
data association time 25.158481 ms 
points size 85345 
publication time 10.689545 ms 
whole laserOdometry time 92.568896 ms 
 
data association time 26.900472 ms 
solver time 14.339602 ms 
data association time 23.189225 ms 
points size 85996 
sort q time 4.023258 
seperate points time 9.558347 
mapping solver time 14.651989 ms 
data association time 24.122864 ms 
solver time 12.789865 ms 
mapping solver time 12.516122 ms 
mapping optimization time 99.699807 
add points time 0.506553 ms
mapping pub time 1.041381 ms 
whole mapping time 113.697616 ms +++++
publication time 7.413390 ms 
whole laserOdometry time 67.172670 ms 
 
points size 87211 
sort q time 5.702093 
seperate points time 13.898685 
mapping data assosiation time 23.587398 ms 
mapping solver time 11.695325 ms 
solver time 11.440394 ms 
mapping solver time 12.175924 ms 
mapping pub time 1.325728 ms 
whole mapping time 110.416454 ms +++++
points size 88663 
build tree time 28.344555 ms 
mapping data assosiation time 21.025970 ms 
data association time 17.015447 ms 
mapping solver time 15.490534 ms 
mapping data assosiation time 23.592995 ms data association time 20.424922 ms 
solver time 12.459178 ms 
publication time 10.940827 ms 
whole laserOdometry time 75.967368 ms 
 
sort q time 5.788483 
seperate points time 13.964754 
data association time 14.109234 ms 
mapping solver time 13.654866 ms 
solver time 5.465378 ms 
mapping solver time 9.799888 ms 
mapping pub time 1.147497 ms 
whole mapping time 106.978335 ms +++++
scan registration time 30.158229 ms *************
build tree time 22.192052 ms 
data association time 14.902060 ms 
mapping data assosiation time 20.377494 ms 
mapping solver time 12.792087 ms 
solver time 8.601706 ms 
mapping solver time 11.582885 ms 
prepare time 14.586376 
mapping pub time 2.206327 ms 
whole mapping time 102.134097 ms +++++
map prepare time 2.768068 ms
map corner num 87175  surf num 29396 
scan registration time 33.098997 ms *************
build tree time 24.540001 ms 
data association time 15.061343 ms 
solver time 9.775352 ms 
data association time 14.847601 ms 
publication time 8.573235 ms 
whole laserOdometry time 54.981805 ms 
 
points size 91189 
filter time 9.291174 ms 
solver time 8.588724 ms 
data association time 14.039649 ms 
publication time 7.575725 ms 
whole laserOdometry time 52.155797 ms 
 
mapping data assosiation time 20.920943 ms 
mapping solver time 9.912188 ms 
sort q time 5.205210 
seperate points time 12.125193 
map prepare time 3.902884 ms
map corner num 87680  surf num 29554 
data association time 22.927333 ms 
build tree time 29.173058 ms 
solver time 15.897881 ms 
mapping data assosiation time 25.163335 ms 
solver time 8.506690 ms 
points size 92169 
sort q time 4.633029 
seperate points time 11.386269 
filter time 8.221145 ms 
data association time 17.482570 ms 
solver time 12.202512 ms 
data association time 16.790490 ms 
solver time 8.249124 ms 
mapping solver time 14.409181 ms 
prepare time 15.064816 
sort q time 5.105352 
seperate points time 11.994126 
filter time 9.506109 ms 
data association time 16.644659 ms 
solver time 11.058747 ms 
data association time 15.251953 ms 
publication time 8.171461 ms 
whole laserOdometry time 59.609654 ms 
 
mapping solver time 16.887481 ms 
sort q time 5.477521 
seperate points time 12.804260 
mapping solver time 11.096600 ms 
filter time 9.308238 ms 
solver time 11.009082 ms 
build tree time 21.431501 ms 
solver time 8.765534 ms 
mapping data assosiation time 25.068778 ms 
points size 96243 
sort q time 5.635255 
seperate points time 13.688106 
mapping solver time 9.813955 ms 
filter time 9.955465 ms 
data association time 15.227761 ms 
build tree time 24.676278 ms 
mapping data assosiation time 23.010383 ms 
mapping solver time 12.411360 ms 
mapping data assosiation time 23.109532 ms 
mapping solver time 11.757112 ms 
filter time 9.742396 ms 
data association time 16.158570 ms 
solver time 10.798569 ms 
points size 97010 
sort q time 4.935741 
seperate points time 11.588208 
mapping data assosiation time 19.837988 ms 
mapping solver time 10.308161 ms 
filter time 8.236409 ms 
solver time 15.774847 ms 
build tree time 24.866283 ms 
points size 96454 
mapping data assosiation time 21.793321 ms 
scan registration time 31.571754 ms *************
mapping solver time 15.390463 ms 
data association time 15.222470 ms 
mapping data assosiation time 20.957363 ms 
mapping solver time 10.441582 ms 
map prepare time 2.680353 ms
map corner num 89601  surf num 30378 
publication time 8.804187 ms 
whole laserOdometry time 57.699128 ms 
 
build tree time 24.982909 ms 
sort q time 4.519451 
seperate points time 10.862016 
mapping solver time 14.054391 ms 
solver time 10.429881 ms 
mapping solver time 10.871042 ms 
solver time 9.396436 ms 
build tree time 23.171797 ms 
sort q time 4.674743 
seperate points time 11.329540 
mapping solver time 16.426789 ms 
data association time 23.523807 ms 
mapping data assosiation time 27.360619 ms 
mapping solver time 12.332239 ms 
filter time 9.015878 ms 
points size 94854 
build tree time 25.867520 ms 
mapping data assosiation time 22.086038 ms 
mapping solver time 13.483740 ms 
solver time 15.077156 ms 
mapping solver time 9.805690 ms 
filter time 10.941091 ms 
publication time 13.576245 ms 
whole laserOdometry time 85.119888 ms 
 
build tree time 28.422979 ms 
data association time 17.490488 ms 
solver time 11.239955 ms 
mapping solver time 16.383826 ms 
optimization twice time 52.474342 
mapping data assosiation time 24.486786 ms 
points size 91365 
mapping data assosiation time 23.543284 ms 
mapping solver time 10.971526 ms 
scan registration time 29.211062 ms *************
data association time 15.848460 ms 
solver time 10.707176 ms 
data association time 14.209649 ms 
publication time 8.251921 ms 
whole laserOdometry time 58.661531 ms 
 
mapping solver time 19.700007 ms 
prepare time 13.978901 
sort q time 4.716266 
seperate points time 11.256138 
mapping solver time 11.074141 ms 
filter time 8.500307 ms 
solver time 10.969332 ms 
data association time 16.652140 ms 
solver time 13.464322 ms 
points size 87214 
sort q time 3.930878 
seperate points time 9.560747 
data association time 14.638064 ms 
data association time 19.127056 ms map prepare time 3.477597 mspublication time 11.145905 ms 
whole laserOdometry time 78.307268 ms 
 
prepare time 22.205110 
sort q time 4.758017 
seperate points time 23.235886 
mapping solver time 17.875386 ms 
solver time 10.334959 ms 
mapping solver time 10.371013 ms 
filter time 8.377259 ms 
solver time 12.254498 ms 
publication time 10.180476 ms 
whole laserOdometry time 71.163819 ms 
 
build tree time 29.464883 ms 
solver time 10.326281 ms 
data association time 18.051043 ms 
publication time 8.927360 ms 
whole laserOdometry time 62.760097 ms 
 
points size 84504 
sort q time 4.019711 
seperate points time 10.129452 
scan registration time 26.740919 ms *************
mapping solver time 13.105772 ms 
mapping optimization time 111.585024 
add points time 0.650402 ms
mapping pub time 1.511417 ms 
whole mapping time 129.065940 ms +++++
data association time 24.091487 ms 
solver time 14.652689 ms 
data association time 25.766092 ms 
solver time 13.114044 ms 
mapping solver time 21.583321 ms 
mapping data assosiation time 24.758681 ms 
mapping solver time 13.989866 ms 
mapping optimization time 120.869000 
add points time 0.681411 ms
data association time 24.528400 ms 
map prepare time 3.442034 ms
map corner num 93062  surf num 32052 
data association time 23.288853 ms 
points size 80730 
publication time 10.668986 ms 
whole laserOdometry time 87.934690 ms 
 
mapping data assosiation time 25.383105 ms 
mapping solver time 18.081959 ms 
solver time 17.359584 ms 
mapping solver time 13.843034 ms 
filter time 10.005933 ms 
points size 78950 
sort q time 3.996045 
seperate points time 10.653077 
mapping data assosiation time 24.647077 ms 
data association time 24.732873 ms 
mapping solver time 19.224976 ms 
solver time 12.150063 ms 
mapping data assosiation time 27.093253 ms 
points size 77176 
solver time 12.453310 ms 
optimization twice time 76.028679 
prepare time 13.021107 
mapping solver time 14.438264 ms 
mapping optimization time 114.108993 
add points time 0.658259 ms
mapping pub time 2.272382 ms 
whole mapping time 130.482265 ms +++++
data association time 14.534714 ms 
solver time 11.357302 ms 
data association time 13.899756 ms 
mapping solver time 13.502029 ms 
points size 74806 
sort q time 3.626210 
seperate points time 9.002269 
filter time 8.318479 ms 
data association time 13.404825 ms 
solver time 10.709136 ms 
data association time 13.593374 ms 
solver time 9.905947 ms 
mapping solver time 13.896680 ms 
points size 74606 
sort q time 4.093500 
seperate points time 9.949124 
filter time 10.559920 ms 
solver time 12.935409 ms 
data association time 14.368960 ms 
publication time 6.053424 ms 
whole laserOdometry time 56.917567 ms 
 
mapping data assosiation time 20.193751 ms 
mapping solver time 15.293787 ms 
sort q time 3.314836 
seperate points time 8.049239 
mapping solver time 11.973388 ms 
mapping pub time 1.086809 ms 
whole mapping time 113.033129 ms +++++
data association time 13.453386 ms 
publication time 6.379275 ms 
whole laserOdometry time 53.798505 ms 
 
mapping data assosiation time 18.736081 ms 
points size 71675 
sort q time 3.507714 
seperate points time 8.724683 
mapping data assosiation time 22.148591 ms 
data association time 13.257300 ms 
solver time 11.746948 ms 
data association time 13.897135 ms 
solver time 10.606401 ms 
mapping data assosiation time 17.101526 ms 
mapping solver time 11.698167 ms 
mapping data assosiation time 19.879257 ms 
mapping solver time 11.378686 ms 
mapping pub time 1.935301 ms 
whole mapping time 103.154914 ms +++++
solver time 8.174511 ms 
publication time 6.318594 ms 
whole laserOdometry time 54.743852 ms 
 
build tree time 26.295230 ms 
mapping data assosiation time 17.923726 ms 
mapping solver time 11.521497 ms 
mapping data assosiation time 22.614149 ms 
mapping solver time 8.701234 ms 
filter time 8.418796 ms 
data association time 12.789172 ms 
solver time 7.637620 ms 
build tree time 26.160647 ms 
mapping data assosiation time 17.756046 ms 
sort q time 3.207267 
seperate points time 7.946844 
mapping data assosiation time 18.829511 ms 
mapping solver time 11.167863 ms 
filter time 9.141835 ms 
data association time 19.352388 ms 
build tree time 26.579740 ms 
mapping data assosiation time 18.173195 ms 
mapping solver time 13.828756 ms 
mapping data assosiation time 18.039971 ms 
data association time 18.872229 ms 
filter time 10.700719 ms 
data association time 18.888843 ms 
build tree time 26.021711 ms 
solver time 11.590247 ms 
optimization twice time 66.254338 
mapping data assosiation time 18.156807 ms 
prepare time 11.707630 
sort q time 3.265832 
seperate points time 8.014946 
mapping data assosiation time 16.549494 ms 
mapping solver time 10.457207 ms 
mapping optimization time 85.522469 
add points time 0.514255 ms
data association time 19.040948 ms 
solver time 15.496939 ms 
data association time 18.881723 ms 
optimization twice time 66.329588 
publication time 6.998755 ms 
whole laserOdometry time 73.343331 ms 
 
mapping solver time 12.427007 ms 
prepare time 11.959232 
mapping solver time 7.247174 ms 
filter time 9.111678 ms 
solver time 11.723288 ms 
data association time 11.968435 ms 
publication time 5.878128 ms 
whole laserOdometry time 58.420715 ms 
 
mapping data assosiation time 15.991740 ms 
mapping solver time 10.441354 ms 
sort q time 3.165062 
seperate points time 7.556749 
mapping solver time 10.939324 ms 
filter time 8.382911 ms 
solver time 10.819818 ms 
data association time 11.394999 ms 
solver time 8.620137 ms 
mapping data assosiation time 16.220454 ms 
mapping data assosiation time 15.416245 ms 
sort q time 4.096306 
seperate points time 9.770916 
data association time 11.971624 ms 
solver time 10.865957 ms 
data association time 11.577838 ms 
solver time 10.754496 ms 
mapping data assosiation time 14.167432 ms 
points size 67488 
sort q time 3.206484 
seperate points time 7.793106 
data association time 12.209440 ms 
solver time 11.122381 ms 
data association time 11.340992 ms 
publication time 4.609323 ms 
whole laserOdometry time 49.313376 ms 
 
mapping data assosiation time 18.096335 ms 
mapping optimization time 84.354599 
prepare time 15.225360 
sort q time 3.832932 
seperate points time 9.379180 
data association time 17.820822 ms 
mapping solver time 9.884646 ms 
mapping data assosiation time 17.020551 ms 
mapping solver time 7.829950 ms 
filter time 9.259442 ms 
scan registration time 22.682886 ms *************
data association time 12.514824 ms 
data association time 11.655403 ms 
solver time 8.076518 ms 
points size 70763 
sort q time 3.465865 
seperate points time 8.304684 
mapping pub time 138.182360 ms 
whole mapping time 235.613174 ms +++++
solver time 11.845231 ms 
build tree time 30.244916 ms 
solver time 9.736202 ms 
mapping solver time 9.574454 ms 
mapping data assosiation time 14.972271 ms 
prepare time 13.358692 
mapping solver time 8.504892 ms 
mapping optimization time 79.422732 
add points time 0.598650 ms
map prepare time 2.050863 ms
map corner num 98103  surf num 33364 
data association time 11.637588 ms 
build tree time 25.895728 ms 
mapping data assosiation time 13.986827 ms 
solver time 8.592498 ms 
mapping data assosiation time 13.737075 ms 
mapping solver time 9.326022 ms 
filter time 10.224892 ms 
sort q time 3.794208 
seperate points time 9.195817 
build tree time 24.826072 ms 
data association time 17.488775 ms 
mapping solver time 8.687726 ms 
mapping data assosiation time 13.254224 ms 
data association time 17.541841 ms 
solver time 9.038624 ms 
map prepare time 3.139028 ms
map corner num 98630  surf num 33535 
points size 71684 
sort q time 3.128510 
seperate points time 7.396559 
data association time 12.054177 ms 
solver time 12.188894 ms 
data association time 12.109263 ms 
mapping solver time 8.033317 ms 
filter time 9.866967 ms 
points size 72337 
sort q time 3.248743 
seperate points time 7.636462 
mapping solver time 10.442431 ms 
solver time 10.339230 ms 
mapping data assosiation time 15.230673 ms 
solver time 7.573615 ms 
optimization twice time 43.430463 
filter time 10.557773 ms 
mapping pub time 2.227797 ms 
whole mapping time 89.825336 ms +++++
publication time 6.035715 ms 
whole laserOdometry time 49.482606 ms 
 
build tree time 25.721573 ms 
points size 73581 
mapping data assosiation time 13.874955 ms 
sort q time 4.296684 
seperate points time 9.954407 
mapping data assosiation time 13.031580 ms 
mapping solver time 10.783504 ms 
filter time 9.637163 ms 
solver time 8.108859 ms 
optimization twice time 44.348758 
publication time 5.485000 ms 
whole laserOdometry time 49.850547 ms 
 
points size 75326 
build tree time 32.945850 ms 
mapping data assosiation time 17.312318 ms 
data association time 11.802129 ms 
mapping solver time 12.819553 ms 
data association time 12.963576 ms 
publication time 5.482171 ms 
whole laserOdometry time 45.037722 ms 
 
map prepare time 1.927205 ms
map corner num 99472  surf num 33735 
build tree time 24.851881 ms 
mapping data assosiation time 13.421868 ms 
mapping data assosiation time 14.520184 ms 
mapping solver time 6.464242 ms 
mapping optimization time 69.305264 
add points time 0.494030 ms
solver time 11.426293 ms 
data association time 12.264602 ms 
solver time 7.820786 ms 
map prepare time 1.909375 ms
map corner num 99693  surf num 33798 
build tree time 26.365775 ms 
mapping data assosiation time 13.112882 ms 
mapping solver time 11.987590 ms 
data association time 19.598597 ms 
solver time 12.537010 ms 
filter time 10.339164 ms 
mapping pub time 1.391949 ms 
whole mapping time 94.147802 ms +++++
data association time 16.493970 ms 
publication time 5.035901 ms 
whole laserOdometry time 62.211273 ms 
 
points size 85530 
sort q time 4.277640 
seperate points time 9.689577 
mapping data assosiation time 16.591881 ms 
data association time 19.147415 ms 
solver time 17.387311 ms 
mapping solver time 9.601074 ms 
data association time 18.281706 ms 
solver time 10.179235 ms 
map prepare time 2.942612 ms
map corner num 100138  surf num 33918 
points size 88501 
sort q time 5.191492 
seperate points time 12.139910 
data association time 12.446821 ms 
mapping solver time 9.798438 ms 
mapping data assosiation time 15.237092 ms 
solver time 10.072896 ms 
map prepare time 2.244518 ms
map corner num 100364  surf num 33979 
points size 91748 
sort q time 7.040638 
seperate points time 14.413473 
scan registration time 37.787642 ms *************
data association time 14.004143 ms 
solver time 12.881867 ms 
mapping solver time 7.123858 ms 
filter time 11.574073 ms 
publication time 7.105540 ms 
whole laserOdometry time 63.728078 ms 
 
points size 94339 
sort q time 5.581717 
seperate points time 12.717386 
mapping data assosiation time 13.849757 ms 
mapping solver time 11.250566 ms 
mapping data assosiation time 14.478436 ms 
mapping solver time 9.514056 ms 
mapping pub time 1.165551 ms 
whole mapping time 94.329069 ms +++++
points size 95819 
build tree time 27.107895 ms 
mapping data assosiation time 13.830458 ms 
mapping solver time 11.243796 ms 
mapping data assosiation time 13.576556 ms 
data association time 13.039241 ms 
publication time 5.660713 ms 
whole laserOdometry time 52.015480 ms 
 
points size 94552 
build tree time 27.174230 ms 
scan registration time 30.650113 ms *************
mapping data assosiation time 15.626170 ms 
data association time 13.194569 ms 
solver time 12.163899 ms 
filter time 9.923131 ms 
solver time 10.066334 ms 
map prepare time 2.258772 ms
map corner num 101242  surf num 34270 
sort q time 5.207835 
seperate points time 11.884738 
mapping data assosiation time 15.497571 ms 
mapping solver time 11.513467 ms 
mapping data assosiation time 14.959761 ms 
solver time 8.431428 ms 
filter time 11.166668 ms 
points size 92963 
build tree time 25.722516 ms 
mapping data assosiation time 15.809577 ms 
mapping solver time 11.147990 ms 
data association time 12.626551 ms 
mapping data assosiation time 14.498325 ms 
mapping solver time 9.262267 ms 
filter time 8.285027 ms 
solver time 8.938684 ms 
optimization twice time 46.289207 
mapping pub time 1.509941 ms 
whole mapping time 90.610469 ms +++++
map prepare time 2.684321 ms
map corner num 101816  surf num 34438 
points size 91663 
build tree time 34.406884 ms 
mapping data assosiation time 16.178207 ms 
mapping solver time 11.304614 ms 
mapping data assosiation time 13.962795 ms 
mapping solver time 12.688140 ms 
mapping pub time 1.300596 ms 
whole mapping time 105.618071 ms +++++
points size 87683 
build tree time 32.505398 ms 
sort q time 6.860215 
seperate points time 15.804324 
mapping data assosiation time 17.807264 ms 
mapping solver time 12.461156 ms 
mapping data assosiation time 15.456389 ms 
mapping solver time 11.868436 ms 
filter time 9.959770 ms 
solver time 7.943731 ms 
map prepare time 2.781764 ms
map corner num 102429  surf num 34606 
data association time 11.708096 ms 
solver time 10.609978 ms 
data association time 12.292192 ms 
mapping solver time 8.745144 ms 
mapping data assosiation time 12.740204 ms 
filter time 8.596483 ms 
sort q time 4.274235 
seperate points time 9.775637 
data association time 12.034471 ms 
data association time 11.790437 ms 
publication time 6.243815 ms 
whole laserOdometry time 51.111405 ms 
 
points size 79878 
sort q time 3.611446 
seperate points time 8.394145 
mapping pub time 142.253609 ms 
whole mapping time 229.647992 ms +++++
solver time 11.846912 ms 
build tree time 29.629386 ms 
solver time 10.452244 ms 
mapping solver time 10.593912 ms 
points size 76389 
scan registration time 26.150341 ms *************
map prepare time 2.222008 ms
map corner num 60480  surf num 19317 
build tree time 18.425557 ms 
data association time 12.323104 ms 
publication time 6.080819 ms 
whole laserOdometry time 51.339950 ms 
 
mapping data assosiation time 15.683166 ms 
mapping solver time 9.269564 ms 
mapping pub time 0.957430 ms 
whole mapping time 84.973012 ms +++++
build tree time 15.960614 ms 
mapping data assosiation time 13.745523 ms 
mapping solver time 11.685514 ms 
solver time 8.045180 ms 
optimization twice time 44.274928 
publication time 5.262359 ms 
whole laserOdometry time 49.554085 ms 
 
filter time 6.862933 ms 
build tree time 15.050268 ms 
sort q time 3.804324 
seperate points time 9.054883 
mapping data assosiation time 14.922623 ms 
scan registration time 23.948491 ms *************
data association time 17.967046 ms 
solver time 15.464069 ms 
mapping pub time 1.012572 ms 
whole mapping time 83.086012 ms +++++
solver time 7.592284 ms 
build tree time 16.982656 ms 
mapping data assosiation time 14.239180 ms 
mapping solver time 10.467257 ms 
data association time 11.443428 ms 
mapping data assosiation time 15.609308 ms 
solver time 13.626414 ms 
data association time 11.446774 ms 
solver time 10.972475 ms 
map prepare time 1.580511 ms
map corner num 61771  surf num 19732 
build tree time 16.378623 ms 
prepare time 10.765013 
mapping solver time 11.903110 ms 
mapping data assosiation time 18.717054 ms 
mapping solver time 13.734323 ms 
solver time 11.846677 ms 
filter time 7.569402 ms 
data association time 15.212598 ms 
solver time 8.710838 ms 
optimization twice time 56.806623 
publication time 4.963570 ms 
whole laserOdometry time 61.787497 ms 
 
build tree time 14.457841 ms 
sort q time 3.596810 
seperate points time 8.249439 
mapping data assosiation time 14.744652 ms 
scan registration time 22.637924 ms *************
mapping solver time 16.387229 ms 
data association time 18.869044 ms 
mapping data assosiation time 18.868065 ms 
solver time 17.219442 ms 
filter time 7.359472 ms 
mapping pub time 1.178164 ms 
whole mapping time 91.131909 ms +++++
data association time 17.437457 ms 
publication time 4.625129 ms 
whole laserOdometry time 66.535694 ms 
 
points size 63840 
sort q time 3.472634 
seperate points time 8.309038 
mapping solver time 9.980650 ms 
data association time 11.096863 ms 
solver time 10.928157 ms 
mapping solver time 9.450287 ms 
filter time 6.977657 ms 
publication time 4.623160 ms 
whole laserOdometry time 48.729761 ms 
 
build tree time 15.760764 ms 
points size 62935 
sort q time 2.720499 
seperate points time 6.798274 
mapping data assosiation time 15.070890 ms 
mapping solver time 10.887091 ms 
filter time 7.268648 ms 
solver time 8.115081 ms 
optimization twice time 44.074651 
publication time 4.793392 ms 
whole laserOdometry time 48.884355 ms 
 
build tree time 15.971125 ms 
points size 63151 
mapping data assosiation time 16.306544 ms 
prepare time 10.882744 
mapping data assosiation time 16.215431 ms 
data association time 14.790957 ms 
solver time 13.607267 ms 
data association time 11.345048 ms 
solver time 8.548638 ms 
map prepare time 1.746640 ms
map corner num 63372  surf num 20221 
build tree time 14.715093 ms 
mapping data assosiation time 18.794164 ms 
mapping solver time 13.259527 ms 
data association time 12.370670 ms 
solver time 11.911027 ms 
filter time 6.877780 ms 
solver time 8.317838 ms 
map prepare time 1.852675 ms
map corner num 63688  surf num 20308 
build tree time 17.206788 ms 
mapping data assosiation time 18.166944 ms 
mapping solver time 15.342200 ms 
data association time 15.838695 ms 
mapping optimization time 84.982136 
data association time 12.165017 ms 
solver time 10.414160 ms 
points size 62499 
sort q time 3.214732 
seperate points time 8.213395 
mapping data assosiation time 16.164494 ms 
mapping solver time 12.669151 ms 
data association time 11.958041 ms 
mapping solver time 12.046778 ms 
map prepare time 2.181110 ms
map corner num 62635  surf num 19766 
build tree time 21.132736 ms 
sort q time 3.956041 
seperate points time 10.256176 
mapping solver time 11.367528 ms 
solver time 11.352194 ms 
data association time 14.336149 ms 
mapping pub time 1.039548 ms 
whole mapping time 93.409572 ms +++++
build tree time 15.206012 ms 
points size 64555 
prepare time 10.860477 
mapping data assosiation time 15.345797 ms 
mapping solver time 13.287470 ms 
mapping data assosiation time 16.343111 ms 
mapping optimization time 71.068364 
solver time 8.094813 ms 
build tree time 16.256522 ms 
mapping data assosiation time 15.247166 ms 
sort q time 2.874034 
seperate points time 6.903346 
data association time 13.431357 ms 
mapping solver time 8.435514 ms 
data association time 13.707879 ms 
solver time 10.169542 ms 
map prepare time 1.725217 ms
map corner num 63401  surf num 20003 
build tree time 16.218353 ms 
mapping data assosiation time 16.050097 ms 
sort q time 3.583689 
seperate points time 8.937328 
mapping data assosiation time 17.451684 ms 
mapping solver time 10.780162 ms 
data association time 11.074923 ms 
solver time 7.574745 ms 
map prepare time 2.190093 ms
map corner num 63631  surf num 20060 
build tree time 16.340552 ms 
points size 66224 
data association time 17.730103 ms 
solver time 11.345892 ms 
mapping solver time 12.276112 ms 
mapping optimization time 80.400129 
add points time 0.541958 ms
solver time 7.868402 ms 
optimization twice time 55.624504 
publication time 6.542363 ms 
whole laserOdometry time 62.184341 ms 
 
points size 65430 
sort q time 2.722433 
seperate points time 6.690757 
mapping data assosiation time 15.497060 ms 
mapping solver time 12.383851 ms 
data association time 17.833716 ms 
solver time 11.287771 ms 
filter time 4.848230 ms 
data association time 17.730618 ms 
solver time 8.797452 ms 
map prepare time 2.098181 ms
map corner num 64092  surf num 20197 
build tree time 15.626641 ms 
sort q time 3.323859 
seperate points time 8.140421 
mapping solver time 12.517853 ms 
solver time 8.129204 ms 
data association time 11.594939 ms 
filter time 6.621644 ms 
points size 64700 
sort q time 3.111125 
seperate points time 13.662027 
data association time 12.372530 ms 
solver time 10.960905 ms 
data association time 12.452221 ms 
publication time 5.662153 ms 
whole laserOdometry time 51.094677 ms 
 
mapping pub time 137.583776 ms 
whole mapping time 219.475386 ms +++++
prepare time 13.922399 
scan registration time 27.688336 ms *************
mapping data assosiation time 16.197246 ms 
mapping solver time 10.194277 ms 
solver time 9.315975 ms 
data association time 15.310235 ms 
solver time 11.387233 ms 
map prepare time 1.991550 ms
map corner num 64534  surf num 20333 
points size 62729 
scan registration time 19.706775 ms *************
mapping solver time 12.206157 ms 
solver time 10.909084 ms 
mapping solver time 6.530420 ms 
filter time 5.387270 ms 
data association time 18.733410 ms 
mapping solver time 13.155362 ms 
mapping optimization time 70.898783 
add points time 0.495926 ms
mapping pub time 1.047239 ms 
whole mapping time 81.826899 ms +++++
data association time 10.642731 ms 
solver time 8.669987 ms 
map prepare time 1.683678 ms
map corner num 65031  surf num 20508 
build tree time 15.647765 ms 
points size 63295 
scan registration time 21.668621 ms *************
[0m[ INFO] [1718802573.448088380]: Received 2032916 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802573.448113824]: Data saved to 1317358120101824.pcd[0m
data association time 12.455877 ms 
filter time 5.169530 ms 
data association time 10.313069 ms 
solver time 10.581388 ms 
optimization twice time 45.984722 
publication time 6.040385 ms 
whole laserOdometry time 52.043227 ms 
 
build tree time 16.990808 ms 
prepare time 11.857779 
scan registration time 23.604366 ms *************
mapping solver time 12.290966 ms 
data association time 11.851568 ms 
mapping optimization time 70.122181 
add points time 0.447889 ms
filter time 7.036954 ms 
mapping pub time 1.416025 ms 
whole mapping time 80.979813 ms +++++
solver time 7.967770 ms 
map prepare time 2.540121 ms
map corner num 65484  surf num 20637 
build tree time 16.585648 ms 
points size 63841 
sort q time 3.457197 
seperate points time 8.535785 
mapping data assosiation time 14.472298 ms 
solver time 9.034756 ms 
data association time 11.109566 ms 
solver time 10.444241 ms 
map prepare time 1.948163 ms
map corner num 65720  surf num 20697 
build tree time 18.395671 ms 
points size 65222 
sort q time 3.594693 
seperate points time 8.479488 
mapping data assosiation time 12.997748 ms 
solver time 10.849260 ms 
data association time 11.115818 ms 
solver time 10.590197 ms 
build tree time 16.977475 ms 
prepare time 10.852418 
mapping data assosiation time 15.822702 ms 
mapping data assosiation time 14.465012 ms 
data association time 10.807278 ms 
mapping solver time 8.088706 ms 
mapping optimization time 66.202293 
add points time 0.432468 ms
data association time 15.634530 ms 
solver time 10.890377 ms 
optimization twice time 50.964377 
publication time 6.054825 ms 
whole laserOdometry time 57.038397 ms 
 
build tree time 16.985249 ms 
mapping data assosiation time 15.806273 ms 
mapping solver time 12.471348 ms 
solver time 8.427298 ms 
mapping solver time 7.664939 ms 
filter time 7.986925 ms 
publication time 5.986571 ms 
whole laserOdometry time 48.021814 ms 
 
build tree time 16.801328 ms 
mapping data assosiation time 15.834217 ms 
points size 73805 
sort q time 3.854507 
seperate points time 9.037347 
mapping solver time 6.942818 ms 
solver time 11.931647 ms 
data association time 11.498063 ms 
publication time 6.183896 ms 
whole laserOdometry time 50.863455 ms 
 
build tree time 14.936886 ms 
points size 76825 
sort q time 4.256655 
seperate points time 10.472042 
mapping data assosiation time 16.832638 ms 
solver time 11.733694 ms 
data association time 11.725941 ms 
solver time 8.394339 ms 
map prepare time 1.739418 ms
map corner num 67042  surf num 21099 
build tree time 16.294072 ms 
mapping data assosiation time 15.526536 ms 
mapping solver time 13.125327 ms 
data association time 12.000673 ms 
solver time 8.131906 ms 
filter time 5.190614 ms 
solver time 8.106254 ms 
map prepare time 1.863223 ms
map corner num 67369  surf num 21234 
build tree time 16.626004 ms 
prepare time 14.915563 
sort q time 4.448351 
seperate points time 10.618167 
data association time 12.286014 ms 
mapping solver time 11.498638 ms 
solver time 8.681130 ms 
map prepare time 1.922553 ms
map corner num 67699  surf num 21376 
build tree time 16.344752 ms 
points size 83131 
sort q time 4.676944 
seperate points time 10.625886 
mapping data assosiation time 19.972060 ms 
mapping solver time 11.127069 ms 
mapping pub time 1.340738 ms 
whole mapping time 88.968658 ms +++++
solver time 8.718949 ms 
map prepare time 1.957527 ms
map corner num 68040  surf num 21527 
build tree time 16.658866 ms 
sort q time 4.040473 
seperate points time 9.292415 
mapping solver time 15.366383 ms 
mapping data assosiation time 19.381765 ms 
data association time 12.442812 ms 
mapping pub time 2.213520 ms 
whole mapping time 95.422024 ms +++++
map prepare time 3.012640 ms
map corner num 68397  surf num 21677 
build tree time 17.279667 ms 
sort q time 4.084282 
seperate points time 9.743876 
mapping solver time 14.841911 ms 
data association time 18.037703 ms 
solver time 11.460979 ms 
filter time 7.959517 ms 
mapping pub time 1.023786 ms 
whole mapping time 92.646992 ms +++++
data association time 14.359528 ms 
publication time 6.395339 ms 
whole laserOdometry time 56.879197 ms 
 
points size 85561 
mapping solver time 18.147855 ms 
data association time 18.754792 ms 
mapping data assosiation time 23.063230 ms 
data association time 18.882102 ms 
filter time 7.716932 ms 
publication time 8.536004 ms 
whole laserOdometry time 71.898470 ms 
 
sort q time 5.363532 
seperate points time 12.264989 
build tree time 18.619942 ms 
scan registration time 32.514299 ms *************
mapping data assosiation time 19.830810 ms 
data association time 19.308216 ms 
solver time 11.782400 ms 
mapping data assosiation time 18.906592 ms 
mapping solver time 8.825377 ms 
publication time 8.657387 ms 
whole laserOdometry time 68.122990 ms 
 
prepare time 14.553282 
sort q time 4.108930 
seperate points time 9.783684 
data association time 13.107868 ms 
solver time 13.332132 ms 
data association time 16.479194 ms 
solver time 8.347830 ms 
mapping data assosiation time 20.424140 ms 
optimization twice time 52.241045 
mapping solver time 19.738433 ms 
mapping optimization time 96.761276 
add points time 0.630909 ms
sort q time 4.953712 
seperate points time 12.030373 
data association time 13.061692 ms 
solver time 13.064448 ms 
data association time 16.405159 ms 
optimization twice time 53.688452 
filter time 7.623067 ms 
sort q time 5.747638 
seperate points time 14.002321 
data association time 22.084401 ms 
solver time 15.881878 ms 
data association time 21.608298 ms 
solver time 11.929637 ms 
publication time 8.985936 ms 
whole laserOdometry time 81.719234 ms 
 
prepare time 20.480272 
sort q time 5.648872 
seperate points time 13.916582 
mapping pub time 147.029479 ms 
whole mapping time 247.510520 ms +++++
data association time 20.820889 ms 
solver time 12.605398 ms 
mapping data assosiation time 21.062994 ms 
solver time 9.098888 ms 
prepare time 17.711227 
mapping data assosiation time 20.951517 ms 
mapping solver time 14.294744 ms 
map prepare time 2.358813 ms
map corner num 70920  surf num 22859 
solver time 10.764142 ms 
data association time 13.772406 ms 
mapping data assosiation time 19.674790 ms 
mapping solver time 16.972284 ms 
points size 89721 
mapping data assosiation time 21.511120 ms 
mapping solver time 13.419060 ms 
map prepare time 2.933468 ms
map corner num 71441  surf num 23109 
solver time 11.389972 ms 
mapping data assosiation time 26.434805 ms 
publication time 9.512951 ms 
whole laserOdometry time 74.432145 ms 
 
data association time 14.440967 ms 
solver time 11.578956 ms 
mapping pub time 1.106915 ms 
whole mapping time 114.245920 ms +++++
solver time 8.012512 ms 
mapping data assosiation time 21.456022 ms 
points size 91356 
prepare time 13.981258 
scan registration time 28.671227 ms *************
mapping data assosiation time 22.859955 ms 
mapping solver time 10.418471 ms 
map prepare time 3.517855 ms
map corner num 72260  surf num 23496 
build tree time 16.548000 ms 
mapping data assosiation time 21.716149 ms 
prepare time 14.572028 
sort q time 5.299555 
seperate points time 12.187765 
mapping data assosiation time 22.136306 ms 
mapping solver time 10.864023 ms 
filter time 8.553682 ms 
solver time 14.933588 ms 
build tree time 18.497402 ms 
mapping data assosiation time 23.305131 ms 
prepare time 16.557609 
sort q time 5.364678 
seperate points time 12.574848 
mapping data assosiation time 24.859732 ms 
mapping solver time 13.359017 ms 
map prepare time 3.631748 ms
map corner num 72942  surf num 23809 
build tree time 21.548013 ms 
data association time 23.429168 ms 
solver time 11.450059 ms 
publication time 11.529280 ms 
whole laserOdometry time 87.068615 ms 
 
mapping data assosiation time 21.230586 ms 
mapping solver time 13.051203 ms 
filter time 8.212980 ms 
data association time 24.004683 ms 
solver time 11.566787 ms 
optimization twice time 77.697054 
mapping solver time 15.809170 ms 
mapping data assosiation time 24.469494 ms 
mapping solver time 18.426136 ms 
map prepare time 3.230913 ms
map corner num 73637  surf num 24126 
publication time 10.269301 ms 
whole laserOdometry time 86.502944 ms 
 
mapping data assosiation time 23.546897 ms 
data association time 24.804271 ms 
solver time 17.475725 ms 
mapping data assosiation time 25.777794 ms 
mapping solver time 12.695483 ms 
map prepare time 3.893894 ms
map corner num 74023  surf num 24308 
scan registration time 34.262871 ms *************
data association time 14.165517 ms 
solver time 11.529434 ms 
mapping solver time 14.848465 ms 
solver time 8.379663 ms 
publication time 10.998504 ms 
whole laserOdometry time 62.465266 ms 
 
prepare time 15.432349 
sort q time 4.554539 
seperate points time 10.846725 
data association time 15.175542 ms 
solver time 11.528809 ms 
data association time 15.104708 ms 
solver time 8.115517 ms 
mapping solver time 21.507188 ms 
points size 93015 
sort q time 4.330275 
seperate points time 10.306829 
scan registration time 29.015836 ms *************
mapping solver time 11.527656 ms 
data association time 20.226120 ms 
solver time 16.591583 ms 
data association time 16.741438 ms 
solver time 8.507315 ms 
points size 91127 
mapping solver time 15.444933 ms 
prepare time 15.544381 
sort q time 5.006677 
seperate points time 11.406581 
mapping data assosiation time 24.072244 ms 
mapping solver time 14.104123 ms 
map prepare time 2.516448 ms
map corner num 75085  surf num 24755 
data association time 17.061035 ms 
solver time 12.070511 ms 
mapping data assosiation time 27.341589 ms 
mapping solver time 16.551948 ms 
data association time 14.729014 ms 
mapping solver time 12.012657 ms 
map prepare time 2.745671 ms
map corner num 75395  surf num 24870 
solver time 8.540536 ms 
points size 86742 
sort q time 5.597053 
seperate points time 13.110284 
data association time 18.329861 ms 
mapping data assosiation time 29.085993 ms 
mapping solver time 14.272703 ms 
map prepare time 3.461108 ms
map corner num 75748  surf num 24998 
publication time 8.825205 ms 
whole laserOdometry time 74.284600 ms 
 
prepare time 14.740510 
build tree time 22.475395 ms 
sort q time 4.249350 
seperate points time 10.131868 
mapping data assosiation time 22.887241 ms 
data association time 13.215323 ms 
mapping solver time 13.892599 ms 
data association time 12.451189 ms 
mapping data assosiation time 22.774025 ms 
solver time 8.706278 ms 
filter time 7.279122 ms 
points size 82617 
sort q time 4.108478 
seperate points time 10.095719 
mapping data assosiation time 20.882988 ms 
data association time 14.906707 ms 
data association time 15.270603 ms 
mapping solver time 12.901869 ms 
mapping pub time 1.369073 ms 
whole mapping time 108.912746 ms +++++
points size 81060 
sort q time 3.826513 
seperate points time 9.025573 
data association time 13.921470 ms 
solver time 12.416206 ms 
data association time 14.638769 ms 
optimization twice time 49.588237 
mapping data assosiation time 21.098489 ms 
filter time 7.733027 ms 
prepare time 12.647878 
sort q time 3.914551 
seperate points time 9.280895 
data association time 13.526091 ms 
solver time 11.508117 ms 
data association time 18.753354 ms 
mapping data assosiation time 23.391215 ms 
mapping solver time 10.478504 ms 
filter time 8.505159 ms 
points size 79971 
sort q time 3.384401 
seperate points time 8.071263 
data association time 12.662100 ms 
mapping solver time 13.065555 ms 
solver time 8.401854 ms 
mapping data assosiation time 23.572517 ms 
mapping optimization time 87.426056 
filter time 7.377895 ms 
points size 80591 
build tree time 20.818624 ms 
mapping data assosiation time 20.521625 ms 
mapping solver time 15.678708 ms 
data association time 12.737442 ms 
solver time 10.318107 ms 
filter time 7.215847 ms 
points size 81353 
sort q time 3.526309 
seperate points time 8.613758 
data association time 21.089197 ms 
solver time 15.889016 ms 
data association time 21.086140 ms 
solver time 11.862934 ms 
points size 82448 
mapping pub time 135.153977 ms 
whole mapping time 233.182608 ms +++++
build tree time 22.160590 ms 
data association time 17.099752 ms 
solver time 13.473524 ms 
data association time 14.283346 ms 
solver time 8.829663 ms 
publication time 8.601350 ms 
whole laserOdometry time 63.260308 ms 
 
filter time 7.769846 ms 
mapping pub time 0.947460 ms 
whole mapping time 98.022687 ms +++++
map prepare time 2.606650 ms
map corner num 77986  surf num 25691 
sort q time 4.988790 
seperate points time 11.459553 
build tree time 21.272546 ms 
solver time 11.157903 ms 
data association time 13.384236 ms 
solver time 8.682920 ms 
mapping data assosiation time 20.217130 ms 
points size 79799 
filter time 7.006419 ms 
build tree time 24.860398 ms 
solver time 17.368426 ms 
mapping solver time 18.693649 ms 
solver time 13.184201 ms 
prepare time 13.255719 
sort q time 4.729847 
seperate points time 11.060980 
filter time 8.673358 ms 
data association time 20.647118 ms 
build tree time 25.919106 ms 
data association time 22.862802 ms 
mapping data assosiation time 24.679017 ms 
solver time 12.892953 ms 
publication time 7.393348 ms 
whole laserOdometry time 79.692063 ms 
 
sort q time 4.520548 
seperate points time 10.615378 
mapping solver time 14.667183 ms 
filter time 8.303465 ms 
solver time 18.891741 ms 
build tree time 26.240929 ms 
mapping data assosiation time 20.635166 ms 
points size 72557 
sort q time 3.701008 
seperate points time 8.961984 
mapping data assosiation time 18.375603 ms 
mapping solver time 13.686187 ms 
filter time 8.269742 ms 
solver time 19.041250 ms 
build tree time 26.129778 ms 
solver time 7.837133 ms 
mapping data assosiation time 18.602241 ms 
prepare time 14.492939 
sort q time 4.031374 
seperate points time 9.322780 
mapping data assosiation time 18.328494 ms 
data association time 19.310182 ms 
map prepare time 2.598286 ms
map corner num 79812  surf num 26314 
data association time 18.927456 ms 
build tree time 26.828107 ms 
solver time 17.289057 ms 
mapping solver time 12.265702 ms 
mapping data assosiation time 17.913210 ms 
data association time 19.479899 ms 
filter time 7.940010 ms 
data association time 18.433807 ms 
build tree time 26.881924 ms 
publication time 7.497635 ms 
whole laserOdometry time 73.842087 ms 
 
prepare time 13.624597 
sort q time 3.416179 
seperate points time 8.673249 
mapping data assosiation time 16.204298 ms 
mapping solver time 9.757198 ms 
filter time 6.626485 ms 
data association time 11.953844 ms 
solver time 8.816255 ms 
mapping data assosiation time 18.364272 ms 
points size 60847 
prepare time 11.278915 
mapping data assosiation time 18.404920 ms 
data association time 16.625325 ms 
mapping solver time 13.568804 ms 
mapping optimization time 84.509579 
add points time 0.516845 ms
solver time 19.152045 ms 
data association time 15.868593 ms 
solver time 16.791254 ms 
mapping data assosiation time 18.784272 ms 
mapping solver time 10.935447 ms 
sort q time 3.306425 
seperate points time 7.904007 
mapping solver time 12.830171 ms 
filter time 8.433917 ms 
solver time 19.022215 ms 
build tree time 26.942766 ms 
solver time 13.464888 ms 
mapping solver time 13.111985 ms 
points size 61240 
prepare time 14.283522 
scan registration time 25.399752 ms *************
filter time 8.646495 ms 
mapping pub time 1.065409 ms 
whole mapping time 96.518192 ms +++++
map prepare time 2.221669 ms
map corner num 81350  surf num 26748 
solver time 14.704208 ms 
data association time 18.808372 ms 
mapping solver time 16.164084 ms 
mapping data assosiation time 15.949014 ms 
add points time 0.596240 ms
map prepare time 2.225874 ms
map corner num 81641  surf num 26847 
data association time 16.616840 ms 
solver time 15.063234 ms 
data association time 16.867081 ms 
mapping data assosiation time 17.385329 ms 
mapping solver time 14.080493 ms 
points size 59496 
scan registration time 22.229799 ms *************
mapping pub time 0.801933 ms 
whole mapping time 99.233736 ms +++++
solver time 10.307648 ms 
data association time 10.664432 ms 
publication time 4.412840 ms 
whole laserOdometry time 45.932155 ms 
 
mapping solver time 11.781059 ms 
mapping data assosiation time 13.440915 ms 
mapping solver time 11.229634 ms 
points size 57076 
filter time 8.828002 ms 
data association time 10.414180 ms 
mapping data assosiation time 14.481113 ms 
solver time 5.732385 ms 
mapping data assosiation time 13.915960 ms 
add points time 0.463839 ms
points size 53290 
sort q time 2.898201 
seperate points time 7.273579 
mapping data assosiation time 13.396039 ms 
solver time 12.744233 ms 
data association time 13.308822 ms 
solver time 10.600587 ms 
map prepare time 2.104478 ms
map corner num 82689  surf num 27128 
build tree time 20.671349 ms 
sort q time 2.434526 
seperate points time 6.337695 
data association time 10.611284 ms 
mapping data assosiation time 14.631261 ms 
solver time 8.495839 ms 
filter time 8.020701 ms 
build tree time 23.236040 ms 
[0m[ INFO] [1718802579.454404459]: Received 2051603 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802579.454453160]: Data saved to 1317358124678282.pcd[0m
sort q time 2.456738 
seperate points time 6.518567 
mapping data assosiation time 13.733669 ms 
mapping solver time 9.200141 ms 
filter time 6.992352 ms 
mapping pub time 0.610254 ms 
whole mapping time 88.365604 ms +++++
solver time 8.405593 ms 
map prepare time 1.921379 ms
map corner num 83218  surf num 27279 
build tree time 19.327028 ms 
points size 47825 
prepare time 13.365703 
mapping data assosiation time 18.965610 ms 
mapping solver time 13.538542 ms 
mapping data assosiation time 13.738158 ms 
data association time 10.110351 ms 
filter time 7.878816 ms 
solver time 8.114695 ms 
build tree time 21.447550 ms 
points size 46918 
mapping data assosiation time 18.314892 ms 
sort q time 2.638479 
seperate points time 7.228314 
scan registration time 21.908210 ms *************
mapping data assosiation time 13.497049 ms 
mapping solver time 8.597239 ms 
filter time 7.776495 ms 
publication time 4.386196 ms 
whole laserOdometry time 45.731041 ms 
 
points size 47409 
sort q time 2.727553 
seperate points time 7.268118 
data association time 11.469046 ms 
solver time 11.347828 ms 
data association time 10.554659 ms 
solver time 8.430729 ms 
mapping pub time 138.851950 ms 
whole mapping time 223.355659 ms +++++
points size 47684 
build tree time 27.359394 ms 
data association time 10.221198 ms 
solver time 10.929176 ms 
data association time 10.598671 ms 
mapping data assosiation time 16.835676 ms 
filter time 6.948723 ms 
build tree time 22.824106 ms 
sort q time 2.166812 
seperate points time 5.719798 
scan registration time 17.017475 ms *************
mapping data assosiation time 13.999472 ms 
data association time 10.273072 ms 
mapping data assosiation time 12.562702 ms 
mapping solver time 11.665626 ms 
filter time 9.022306 ms 
publication time 3.957528 ms 
whole laserOdometry time 48.083364 ms 
 
build tree time 21.468069 ms 
points size 42902 
mapping solver time 11.818991 ms 
mapping data assosiation time 14.481167 ms 
mapping solver time 10.483678 ms 
mapping pub time 0.614443 ms 
whole mapping time 86.567612 ms +++++
publication time 4.182686 ms 
whole laserOdometry time 46.383801 ms 
 
mapping data assosiation time 13.363643 ms 
prepare time 8.399055 
mapping data assosiation time 15.658505 ms 
data association time 15.797916 ms 
mapping solver time 12.794604 ms 
mapping optimization time 74.969123 
add points time 0.536512 ms
solver time 16.274097 ms 
data association time 9.811759 ms 
solver time 7.877144 ms 
map prepare time 2.175750 ms
map corner num 85321  surf num 27901 
build tree time 28.262542 ms 
sort q time 2.137887 
seperate points time 5.430293 
mapping data assosiation time 17.214408 ms 
data association time 9.887380 ms 
mapping solver time 15.372935 ms 
data association time 10.048338 ms 
solver time 8.629744 ms 
filter time 8.723415 ms 
points size 47606 
mapping data assosiation time 16.642820 ms 
data association time 10.765729 ms 
solver time 11.359233 ms 
mapping data assosiation time 16.855306 ms 
mapping solver time 9.708480 ms 
publication time 4.826885 ms 
whole laserOdometry time 49.762059 ms 
 
build tree time 28.260901 ms 
points size 52733 
prepare time 10.367284 
mapping data assosiation time 16.846485 ms 
data association time 15.389249 ms 
solver time 13.241116 ms 
mapping solver time 12.080855 ms 
mapping pub time 0.773999 ms 
whole mapping time 102.351437 ms +++++
map prepare time 1.563009 ms
map corner num 86158  surf num 28139 
points size 56679 
sort q time 3.382935 
seperate points time 8.225152 
mapping solver time 9.910342 ms 
data association time 11.287977 ms 
solver time 11.744888 ms 
mapping solver time 9.310908 ms 
mapping pub time 0.845373 ms 
whole mapping time 80.758896 ms +++++
build tree time 24.513764 ms 
points size 58925 
scan registration time 19.783408 ms *************
mapping data assosiation time 13.923884 ms 
solver time 10.240905 ms 
data association time 10.786461 ms 
solver time 11.888283 ms 
build tree time 25.391224 ms 
mapping data assosiation time 14.755292 ms 
mapping solver time 9.878415 ms 
data association time 11.378260 ms 
mapping solver time 6.023814 ms 
solver time 13.210579 ms 
filter time 7.262518 ms 
solver time 8.258765 ms 
map prepare time 1.951342 ms
map corner num 87034  surf num 28443 
build tree time 21.833449 ms 
points size 63839 
sort q time 3.195106 
seperate points time 7.737555 
scan registration time 21.092363 ms *************
mapping solver time 11.495543 ms 
data association time 15.475549 ms 
solver time 13.156845 ms 
data association time 11.112578 ms 
solver time 8.352551 ms 
map prepare time 1.985325 ms
map corner num 87314  surf num 28533 
build tree time 22.669918 ms 
mapping data assosiation time 15.361734 ms 
mapping solver time 13.086090 ms 
data association time 19.802578 ms 
mapping data assosiation time 17.108880 ms 
filter time 8.945681 ms 
data association time 15.522224 ms 
solver time 8.802063 ms 
points size 69012 
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seperate points time 9.322393 
mapping data assosiation time 14.168050 ms 
mapping solver time 10.436907 ms 
mapping data assosiation time 14.448277 ms 
mapping solver time 9.382554 ms 
filter time 8.877564 ms 
build tree time 23.544640 ms 
points size 69053 
mapping data assosiation time 18.079429 ms 
mapping solver time 12.773470 ms 
data association time 11.827032 ms 
mapping data assosiation time 14.492729 ms 
filter time 8.875921 ms 
data association time 14.845702 ms 
solver time 11.739832 ms 
points size 69590 
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mapping data assosiation time 14.113285 ms 
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mapping data assosiation time 13.659740 ms 
filter time 7.702197 ms 
map prepare time 2.020787 ms
map corner num 88589  surf num 28998 
points size 69026 
build tree time 23.497946 ms 
mapping data assosiation time 15.382393 ms 
mapping solver time 11.101845 ms 
mapping data assosiation time 14.269975 ms 
data association time 14.472866 ms 
solver time 10.682731 ms 
map prepare time 1.924564 ms
map corner num 88964  surf num 29145 
points size 66254 
sort q time 2.973164 
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mapping data assosiation time 15.665160 ms 
data association time 12.938981 ms 
solver time 8.172879 ms 
data association time 13.241125 ms 
filter time 8.954890 ms 
build tree time 23.659474 ms 
sort q time 2.950677 
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mapping solver time 11.963735 ms 
mapping data assosiation time 16.037264 ms 
add points time 0.596612 ms
solver time 11.300971 ms 
map prepare time 2.154514 ms
map corner num 60989  surf num 21058 
build tree time 17.500108 ms 
mapping data assosiation time 14.878553 ms 
mapping solver time 11.868039 ms 
mapping data assosiation time 15.430569 ms 
mapping optimization time 70.204170 
solver time 8.085362 ms 
build tree time 15.239841 ms 
mapping data assosiation time 16.532532 ms 
sort q time 2.700054 
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mapping data assosiation time 15.971885 ms 
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data association time 13.584865 ms 
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points size 59906 
sort q time 3.254283 
seperate points time 8.065520 
data association time 12.543993 ms 
data association time 11.576502 ms 
publication time 5.627111 ms 
whole laserOdometry time 49.948281 ms 
 
map prepare time 2.876403 ms
map corner num 61832  surf num 21300 
build tree time 18.423546 ms 
sort q time 3.191955 
seperate points time 8.117706 
mapping solver time 12.671926 ms 
solver time 7.716602 ms 
data association time 12.025171 ms 
mapping solver time 11.362551 ms 
mapping optimization time 76.092587 
add points time 0.553036 ms
publication time 5.629328 ms 
whole laserOdometry time 49.157447 ms 
 
build tree time 16.433490 ms 
points size 58799 
sort q time 2.733309 
seperate points time 7.060109 
data association time 11.172415 ms 
mapping data assosiation time 15.328845 ms 
mapping solver time 12.252536 ms 
filter time 8.438999 ms 
publication time 5.113205 ms 
whole laserOdometry time 49.757335 ms 
 
map prepare time 1.760213 ms
map corner num 62631  surf num 21558 
build tree time 16.665818 ms 
mapping data assosiation time 14.982029 ms 
sort q time 2.608236 
seperate points time 6.757724 
mapping data assosiation time 16.468138 ms 
mapping solver time 13.488296 ms 
data association time 12.227095 ms 
solver time 9.519795 ms 
map prepare time 2.394156 ms
map corner num 63031  surf num 21682 
build tree time 19.531978 ms 
sort q time 3.400174 
seperate points time 8.840314 
mapping solver time 13.072949 ms 
mapping data assosiation time 15.250870 ms 
mapping solver time 12.585367 ms 
publication time 5.512184 ms 
whole laserOdometry time 50.929999 ms 
 
build tree time 14.973761 ms 
mapping data assosiation time 16.815121 ms 
mapping solver time 12.633197 ms 
data association time 13.000994 ms 
solver time 10.429798 ms 
mapping pub time 1.399931 ms 
whole mapping time 83.145376 ms +++++
publication time 4.939577 ms 
whole laserOdometry time 50.005984 ms 
 
build tree time 15.693682 ms 
points size 57007 
sort q time 3.011735 
seperate points time 7.890651 
mapping data assosiation time 17.408100 ms 
solver time 13.110808 ms 
data association time 14.507634 ms 
solver time 12.461192 ms 
map prepare time 2.379194 ms
map corner num 64100  surf num 22032 
build tree time 15.995403 ms 
mapping data assosiation time 15.908154 ms 
mapping solver time 12.846043 ms 
solver time 10.612647 ms 
data association time 11.704449 ms 
solver time 8.122788 ms 
filter time 6.030842 ms 
build tree time 16.505372 ms 
points size 59810 
scan registration time 21.675568 ms *************
mapping data assosiation time 19.117127 ms 
data association time 19.402653 ms 
mapping optimization time 80.848783 
add points time 0.604649 ms
data association time 11.252759 ms 
solver time 8.134483 ms 
map prepare time 2.498397 ms
map corner num 64803  surf num 22267 
points size 61784 
sort q time 3.132253 
seperate points time 7.736711 
mapping data assosiation time 18.571777 ms 
data association time 11.704002 ms 
mapping data assosiation time 15.804947 ms 
mapping solver time 6.816550 ms 
filter time 7.076253 ms 
build tree time 16.726290 ms 
points size 61935 
sort q time 3.606610 
seperate points time 8.907002 
data association time 11.329841 ms 
solver time 10.962486 ms 
data association time 12.998737 ms 
publication time 4.816961 ms 
whole laserOdometry time 49.231552 ms 
 
build tree time 14.962668 ms 
mapping data assosiation time 15.864597 ms 
scan registration time 19.663417 ms *************
data association time 11.317103 ms 
solver time 10.614604 ms 
filter time 7.659251 ms 
data association time 38.285412 ms 
solver time 21.436085 ms 
prepare time 33.272676 
sort q time 6.777598 
seperate points time 17.952567 
build tree time 36.343456 ms 
data association time 41.659013 ms 
sort q time 9.487610 
seperate points time 16.824520 
solver time 11.724252 ms 
map prepare time 2.443423 ms
map corner num 66220  surf num 22804 
build tree time 19.344889 ms 
mapping data assosiation time 20.477007 ms 
mapping solver time 17.545904 ms 
prepare time 27.473273 mapping data assosiation time 21.190843 ms 
mapping solver time 14.896742 ms 
mapping pub time 1.063387 ms 
whole mapping time 107.811518 ms +++++
build tree time 19.247103 ms 
data association time 30.195718 ms 
sort q time 3.434819 
seperate points time 8.772149 
solver time 17.770583 ms 
mapping data assosiation time 17.687951 ms 
mapping solver time 14.992459 ms 
map prepare time 1.977318 ms
map corner num 66947  surf num 23094 
build tree time 18.088132 ms 
optimization twice time 45.336474 
sort q time 3.704875 
seperate points time 8.914805 
mapping data assosiation time 17.409853 ms 
solver time 10.736887 ms 
filter time 7.361177 ms 
publication time 5.686213 ms 
whole laserOdometry time 51.148193 ms 
 
build tree time 20.345957 ms 
mapping data assosiation time 18.039129 ms 
mapping solver time 12.829431 ms 
mapping data assosiation time 19.087905 ms 
mapping solver time 12.106574 ms 
map prepare time 2.116888 ms
map corner num 67754  surf num 23439 
solver time 7.908554 ms 
mapping data assosiation time 16.501358 ms 
mapping solver time 12.997808 ms 
sort q time 3.141858 
seperate points time 7.505797 
mapping solver time 13.252960 ms 
map prepare time 2.170610 ms
map corner num 68211  surf num 23689 
data association time 18.153486 ms 
solver time 10.451270 ms 
mapping solver time 12.152608 ms 
points size 67734 
sort q time 3.017926 
seperate points time 7.458209 
map prepare time 1.835765 ms
map corner num 68674  surf num 23951 
build tree time 19.675078 ms 
data association time 11.950190 ms 
solver time 12.727642 ms 
mapping data assosiation time 18.600764 ms 
prepare time 11.401141 
scan registration time 24.256699 ms *************
build tree time 22.762627 ms 
data association time 20.711610 ms 
mapping data assosiation time 23.171036 ms 
mapping solver time 19.233204 ms 
solver time 13.250382 ms 
prepare time 14.544326 
scan registration time 27.145889 ms *************
data association time 22.427849 ms 
solver time 19.472452 ms 
data association time 21.620397 ms 
solver time 14.588890 ms 
scan registration time 24.938587 ms *************
data association time 24.493910 ms 
solver time 19.094684 ms 
build tree time 23.337747 ms 
publication time 8.961083 ms 
whole laserOdometry time 86.032491 ms 
 
mapping solver time 19.345856 ms 
solver time 13.165555 ms 
mapping data assosiation time 24.143819 ms 
mapping solver time 12.055793 ms 
filter time 7.728492 ms 
publication time 8.427572 ms 
whole laserOdometry time 76.656137 ms 
 
build tree time 21.699170 ms 
mapping data assosiation time 20.830762 ms 
data association time 13.367565 ms 
data association time 12.639646 ms 
solver time 7.916950 ms 
publication time 7.377275 ms 
whole laserOdometry time 52.264216 ms 
 
filter time 8.784148 ms 
points size 76867 
sort q time 3.298389 
seperate points time 8.107027 
mapping data assosiation time 22.641295 ms 
data association time 14.140384 ms 
solver time 12.743654 ms 
mapping data assosiation time 21.634095 ms 
data association time 16.512181 ms 
solver time 8.572973 ms 
map prepare time 2.468841 ms
map corner num 64944  surf num 22464 
points size 78243 
sort q time 4.650681 
seperate points time 10.923681 
mapping data assosiation time 23.785647 ms 
mapping solver time 18.124617 ms 
data association time 13.792891 ms 
solver time 9.227884 ms 
mapping optimization time 94.613255 
map prepare time 2.310289 ms
map corner num 65642  surf num 22889 
points size 79570 
scan registration time 25.053763 ms *************
mapping data assosiation time 21.964026 ms 
data association time 13.777688 ms 
data association time 13.662444 ms 
mapping data assosiation time 21.190370 ms 
mapping optimization time 90.615091 
mapping pub time 1.617939 ms 
whole mapping time 101.225384 ms +++++
points size 80425 
sort q time 4.434079 
seperate points time 10.292880 
data association time 14.714736 ms 
solver time 11.538258 ms 
data association time 14.408801 ms 
mapping solver time 11.455785 ms 
map prepare time 2.397417 ms
map corner num 66655  surf num 23357 
build tree time 16.742524 ms 
sort q time 3.781547 
seperate points time 8.959925 
data association time 14.127941 ms 
solver time 10.814038 ms 
data association time 14.518754 ms 
mapping data assosiation time 23.105908 ms 
filter time 7.100666 ms 
points size 82740 
build tree time 22.623901 ms 
sort q time 5.123469 
seperate points time 12.697088 
scan registration time 34.750219 ms *************
mapping data assosiation time 26.271876 ms 
data association time 14.382606 ms 
solver time 10.768069 ms 
data association time 14.450614 ms 
mapping solver time 14.534623 ms 
filter time 8.183783 ms 
mapping pub time 1.357014 ms 
whole mapping time 116.937190 ms +++++
map prepare time 3.170526 ms
map corner num 67627  surf num 23781 
points size 83477 
sort q time 4.702435 
seperate points time 11.639469 
data association time 13.891623 ms 
solver time 10.333451 ms 
mapping solver time 16.727277 ms 
solver time 8.320330 ms 
optimization twice time 47.542761 
points size 84245 
filter time 7.555313 ms 
build tree time 16.667695 ms 
solver time 11.387640 ms 
data association time 15.483244 ms 
mapping solver time 16.558246 ms 
points size 85144 
mapping data assosiation time 30.593555 ms 
sort q time 4.837999 
seperate points time 12.100796 
filter time 6.813272 ms 
data association time 15.630176 ms 
solver time 13.088786 ms 
data association time 14.869044 ms 
solver time 13.104057 ms 
mapping solver time 26.035830 ms 
sort q time 4.878116 
seperate points time 12.175313 
mapping data assosiation time 30.321123 ms 
mapping solver time 15.914369 ms 
filter time 8.136691 ms 
solver time 11.541199 ms 
build tree time 18.361541 ms 
points size 86794 
publication time 10.298184 ms 
whole laserOdometry time 72.812977 ms 
 
mapping data assosiation time 26.880151 ms 
sort q time 5.008859 
seperate points time 12.580246 
mapping solver time 19.736550 ms 
data association time 14.287511 ms 
solver time 9.748442 ms 
mapping optimization time 103.239872 
map prepare time 2.517848 ms
map corner num 69484  surf num 24518 
publication time 9.921122 ms 
whole laserOdometry time 61.160591 ms 
 
points size 87332 
sort q time 4.066815 
seperate points time 9.895972 
mapping solver time 18.687519 ms 
solver time 10.623920 ms 
mapping data assosiation time 27.083302 ms 
solver time 7.978087 ms 
mapping pub time 1.573414 ms 
whole mapping time 118.261875 ms +++++
points size 88261 
build tree time 19.145590 ms 
sort q time 5.098642 
seperate points time 12.384733 
data association time 15.050076 ms 
solver time 10.580731 ms 
mapping solver time 20.535376 ms 
solver time 8.019255 ms 
mapping data assosiation time 26.429458 ms 
mapping solver time 15.508965 ms 
filter time 6.679168 ms 
prepare time 18.019494 
mapping pub time 1.168271 ms 
whole mapping time 123.042289 ms +++++
map prepare time 2.498669 ms
map corner num 70448  surf num 24829 
scan registration time 36.232711 ms *************
data association time 15.099185 ms 
solver time 11.018933 ms 
mapping solver time 19.181650 ms 
optimization twice time 50.310610 
publication time 10.386705 ms 
whole laserOdometry time 60.713867 ms 
 
prepare time 18.212281 
mapping solver time 19.988922 ms 
mapping pub time 2.319499 ms 
whole mapping time 127.484607 ms +++++
data association time 18.355946 ms 
build tree time 20.033899 ms 
mapping solver time 13.077270 ms 
mapping pub time 1.411561 ms 
whole mapping time 122.675647 ms +++++
build tree time 19.525694 ms 
solver time 7.729308 ms 
publication time 10.453145 ms 
whole laserOdometry time 68.847624 ms 
 
prepare time 20.010895 
sort q time 5.468307 
seperate points time 13.333398 
mapping solver time 24.405049 ms 
scan registration time 38.633323 ms *************
mapping data assosiation time 24.577618 ms 
mapping solver time 11.579831 ms 
map prepare time 2.615101 ms
map corner num 72030  surf num 25404 
publication time 9.056885 ms 
whole laserOdometry time 59.312478 ms 
 
points size 92603 
sort q time 5.305666 
seperate points time 12.934145 
mapping solver time 22.721900 ms 
solver time 10.856607 ms 
mapping data assosiation time 27.798569 ms 
solver time 7.304032 ms 
filter time 7.269021 ms 
points size 93501 
build tree time 17.856121 ms 
data association time 15.243673 ms 
solver time 10.846871 ms 
data association time 15.475760 ms 
publication time 8.518366 ms 
whole laserOdometry time 59.410097 ms 
 
mapping solver time 12.922573 ms 
mapping pub time 1.206213 ms 
whole mapping time 117.325950 ms +++++
scan registration time 29.869741 ms *************
build tree time 18.564175 ms 
data association time 15.820168 ms 
solver time 10.867972 ms 
mapping data assosiation time 27.365349 ms 
solver time 7.455490 ms 
optimization twice time 51.250263 
points size 96309 
sort q time 5.124994 
seperate points time 12.210768 
filter time 7.782059 ms 
data association time 15.888965 ms 
solver time 13.144877 ms 
data association time 15.438637 ms 
solver time 8.390924 ms 
points size 98684 
sort q time 5.215085 
seperate points time 12.352457 
data association time 15.697669 ms 
solver time 10.592909 ms 
mapping pub time 147.815804 ms 
whole mapping time 276.578707 ms +++++
solver time 9.738089 ms 
build tree time 23.282867 ms 
sort q time 5.301719 
seperate points time 12.800824 
mapping solver time 17.164770 ms 
solver time 10.906236 ms 
mapping data assosiation time 27.432376 ms 
solver time 8.933202 ms 
filter time 8.976612 ms 
prepare time 19.695401 
sort q time 6.010097 
seperate points time 14.376468 
scan registration time 39.851863 ms *************
build tree time 24.849265 ms 
data association time 15.599508 ms 
solver time 11.228255 ms 
mapping solver time 21.400315 ms 
solver time 6.322637 ms 
points size 100282 
mapping solver time 12.802006 ms 
filter time 8.051094 ms 
data association time 16.097978 ms 
solver time 10.548208 ms 
data association time 16.670453 ms 
mapping data assosiation time 30.202358 ms 
mapping solver time 21.238068 ms 
sort q time 6.135919 
seperate points time 14.115516 
mapping data assosiation time 29.177460 ms 
data association time 15.715874 ms 
filter time 6.608928 ms 
data association time 14.763430 ms 
build tree time 19.715681 ms 
solver time 8.838236 ms 
optimization twice time 50.807438 
points size 100139 
sort q time 5.940261 
seperate points time 14.276649 
mapping solver time 28.457250 ms 
data association time 18.236764 ms 
mapping data assosiation time 27.918868 ms 
mapping solver time 17.146399 ms 
filter time 8.648993 ms 
publication time 10.841488 ms 
whole laserOdometry time 71.058100 ms 
 
build tree time 22.849110 ms 
mapping data assosiation time 30.908363 ms 
mapping solver time 17.339190 ms 
solver time 7.667443 ms 
mapping data assosiation time 28.681540 ms 
mapping solver time 13.881519 ms 
drop lidar frame in mapping for real time performance 
build tree time 23.164134 ms 
data association time 24.452024 ms 
solver time 11.784197 ms 
mapping data assosiation time 31.583206 ms 
solver time 10.362696 ms 
optimization twice time 64.798565 
mapping solver time 28.596196 ms 
points size 99535 
publication time 11.273789 ms 
whole laserOdometry time 76.262464 ms 
 
sort q time 6.823926 
seperate points time 16.518388 
scan registration time 47.010301 ms *************
mapping solver time 13.698431 ms 
data association time 19.196243 ms 
solver time 13.325487 ms 
build tree time 23.932738 ms 
prepare time 15.664118 
sort q time 5.844711 
seperate points time 13.709590 
mapping solver time 16.468059 ms 
solver time 13.294379 ms 
mapping data assosiation time 27.706563 ms 
solver time 10.951804 ms 
add points time 0.734312 ms
map prepare time 3.743640 ms
map corner num 76960  surf num 27457 
sort q time 4.968658 
seperate points time 11.686922 
mapping data assosiation time 34.232674 ms 
solver time 19.013856 ms 
mapping solver time 31.955194 ms 
data association time 24.373292 ms 
prepare time 16.219092 
solver time 17.197220 ms 
publication time 12.086628 ms 
whole laserOdometry time 100.376261 ms 
 
[33m[ WARN] [1718802587.909440534]: odometry process over 100ms[0m
mapping solver time 20.523435 ms 
filter time 9.097355 ms 
solver time 18.182624 ms 
build tree time 25.920198 ms 
data association time 24.584332 ms 
points size 100006 
solver time 17.229931 ms 
sort q time 5.850652 
seperate points time 13.429689 
mapping solver time 31.400115 ms 
solver time 16.833629 ms 
mapping data assosiation time 34.056035 ms 
solver time 9.157007 ms 
mapping solver time 25.273180 ms 
filter time 8.859914 ms 
build tree time 20.619987 ms 
data association time 15.024584 ms 
solver time 12.612241 ms 
data association time 18.761460 ms 
solver time 13.696918 ms 
prepare time 16.264852 
sort q time 5.062668 
seperate points time 12.219376 
scan registration time 33.562310 ms *************
mapping data assosiation time 31.777838 ms 
mapping solver time 20.621303 ms 
filter time 9.076933 ms 
solver time 15.985203 ms 
build tree time 21.685817 ms 
solver time 12.760199 ms 
mapping data assosiation time 32.291004 ms 
mapping solver time 25.385001 ms 
solver time 10.477208 ms 
mapping data assosiation time 28.319242 ms 
solver time 8.501192 ms 
mapping solver time 25.245443 ms 
mapping optimization time 134.621700 
add points time 0.781418 ms
sort q time 5.128284 
seperate points time 12.040932 
build tree time 21.961456 ms 
data association time 17.348279 ms 
mapping data assosiation time 29.126435 ms 
data association time 14.787463 ms 
solver time 8.363940 ms 
publication time 10.693612 ms 
whole laserOdometry time 64.777150 ms 
 
points size 101220 
sort q time 4.662670 
seperate points time 11.032051 
filter time 7.640470 ms 
data association time 14.866009 ms 
solver time 13.099875 ms 
data association time 14.553208 ms 
mapping data assosiation time 29.414466 ms 
publication time 9.966881 ms 
whole laserOdometry time 65.516380 ms 
 
mapping solver time 26.054601 ms 
sort q time 6.077841 
seperate points time 14.314802 
mapping data assosiation time 30.691579 ms 
solver time 13.042369 ms 
mapping solver time 14.270198 ms 
mapping optimization time 123.889222 
add points time 0.730988 ms
data association time 16.321933 ms 
solver time 7.871917 ms 
publication time 9.093289 ms 
whole laserOdometry time 62.302936 ms 
 
points size 102431 
mapping data assosiation time 28.368690 ms 
data association time 14.923371 ms 
solver time 15.199068 ms 
mapping data assosiation time 29.546007 ms 
optimization twice time 56.332946 
publication time 10.134772 ms 
whole laserOdometry time 66.486474 ms 
 
filter time 8.012315 ms 
points size 102744 
sort q time 6.093405 
seperate points time 13.805307 
build tree time 21.250001 ms 
data association time 15.148787 ms 
mapping data assosiation time 27.890744 ms 
mapping solver time 20.871987 ms 
publication time 10.267507 ms 
whole laserOdometry time 64.867753 ms 
 
prepare time 17.369117 
sort q time 6.220376 
seperate points time 14.456839 
filter time 7.190820 ms 
map prepare time 4.346654 ms
map corner num 81197  surf num 29421 
data association time 17.515678 ms 
build tree time 21.962920 ms 
solver time 12.462980 ms 
data association time 16.780871 ms 
mapping data assosiation time 32.238678 ms 
publication time 10.979848 ms 
whole laserOdometry time 67.992874 ms 
 
points size 102860 
sort q time 6.014325 
seperate points time 14.762094 
mapping data assosiation time 36.567950 ms 
solver time 17.157762 ms 
mapping solver time 26.138247 ms 
filter time 9.402686 ms 
solver time 11.397765 ms 
publication time 11.594742 ms 
whole laserOdometry time 99.046172 ms 
 
data association time 25.874091 ms 
mapping data assosiation time 35.914965 ms 
solver time 16.915494 ms 
data association time 23.109708 ms 
prepare time 17.125511 
publication time 13.431695 ms 
whole laserOdometry time 93.073990 ms 
 
mapping data assosiation time 34.541182 ms 
mapping solver time 18.860170 ms 
filter time 9.695205 ms 
solver time 15.304657 ms 
data association time 23.491749 ms 
points size 102985 
publication time 13.344728 ms 
whole laserOdometry time 89.135742 ms 
 
mapping data assosiation time 35.846998 ms 
data association time 26.453627 ms 
solver time 16.629083 ms 
mapping data assosiation time 34.584695 ms 
points size 103031 
publication time 10.646664 ms 
whole laserOdometry time 86.592741 ms 
 
scan registration time 35.506916 ms *************
build tree time 22.305823 ms 
solver time 10.680651 ms 
mapping data assosiation time 30.638564 ms 
solver time 7.652873 ms 
publication time 10.301407 ms 
whole laserOdometry time 62.385966 ms 
 
points size 103085 
sort q time 5.413593 
seperate points time 13.311902 
mapping solver time 17.918041 ms 
filter time 9.807862 ms 
data association time 16.051915 ms 
publication time 9.897493 ms 
whole laserOdometry time 63.232449 ms 
 
mapping data assosiation time 32.406259 ms 
sort q time 5.853742 
seperate points time 13.677196 
scan registration time 34.681350 ms *************
mapping solver time 24.587120 ms 
data association time 27.149693 ms 
mapping data assosiation time 36.221256 ms 
data association time 18.134203 ms 
filter time 9.664899 ms 
sort q time 5.178798 
seperate points time 12.554059 
data association time 15.841893 ms 
solver time 10.480958 ms 
data association time 15.955288 ms 
solver time 8.395323 ms 
publication time 9.775253 ms 
whole laserOdometry time 61.385024 ms 
 
points size 103150 
sort q time 6.827958 
seperate points time 16.873941 
mapping pub time 148.872540 ms 
whole mapping time 294.171623 ms +++++
build tree time 21.152663 ms 
solver time 7.353373 ms 
data association time 15.559858 ms 
points size 103054 
publication time 9.867992 ms 
whole laserOdometry time 66.446561 ms 
 
prepare time 21.525176 
mapping solver time 25.605031 ms 
scan registration time 43.138747 ms *************
mapping data assosiation time 30.755936 ms 
data association time 15.931348 ms 
mapping optimization time 124.794835 
filter time 9.696298 ms 
solver time 9.488610 ms 
points size 103023 
sort q time 7.003009 
seperate points time 16.100600 
mapping data assosiation time 30.993923 ms 
data association time 20.695294 ms 
mapping solver time 21.739240 ms 
data association time 16.558821 ms 
solver time 11.207721 ms 
points size 102992 
filter time 7.816531 ms 
mapping pub time 1.348356 ms 
whole mapping time 142.557516 ms +++++
drop lidar frame in mapping for real time performance 
sort q time 6.026767 
seperate points time 14.136754 
map prepare time 3.259926 ms
map corner num 84476  surf num 30931 
scan registration time 38.281909 ms *************
data association time 16.680222 ms 
solver time 12.923753 ms 
mapping data assosiation time 29.280745 ms 
solver time 9.741709 ms 
points size 102859 
prepare time 19.456279 
sort q time 6.020513 
seperate points time 14.734387 
mapping data assosiation time 28.478456 ms 
scan registration time 39.982594 ms *************
add points time 1.019452 ms
filter time 10.003594 ms 
data association time 27.569360 ms 
solver time 14.642359 ms 
points size 102787 
prepare time 15.436885 
data association time 29.243046 ms 
sort q time 6.223651 
seperate points time 14.482413 
publication time 11.690302 ms 
whole laserOdometry time 97.648916 ms 
 
mapping solver time 29.620639 ms 
data association time 27.568173 ms 
solver time 17.475657 ms 
mapping data assosiation time 37.175583 ms 
mapping solver time 17.836252 ms 
mapping pub time 1.279070 ms 
whole mapping time 166.418882 ms +++++
sort q time 6.045572 
seperate points time 15.015941 
build tree time 23.125343 ms 
data association time 16.210916 ms 
solver time 12.880703 ms 
mapping solver time 19.352609 ms 
publication time 9.257678 ms 
whole laserOdometry time 64.199223 ms 
 
prepare time 19.442783 
mapping data assosiation time 31.463494 ms 
scan registration time 39.679947 ms *************
mapping solver time 20.486425 ms 
filter time 8.593519 ms 
data association time 17.027620 ms 
solver time 13.380610 ms 
data association time 19.897814 ms 
solver time 13.541798 ms 
mapping data assosiation time 28.866262 ms 
optimization twice time 64.728387 
points size 102365 
mapping solver time 30.352208 ms 
data association time 16.452422 ms 
mapping data assosiation time 32.162382 ms 
mapping solver time 15.380783 ms 
filter time 9.170983 ms 
points size 101787 
build tree time 24.277645 ms 
data association time 16.582944 ms 
solver time 15.138903 ms 
mapping solver time 20.597297 ms 
solver time 7.978661 ms 
publication time 10.430464 ms 
whole laserOdometry time 68.134314 ms 
 
points size 101196 
mapping solver time 20.823200 ms 
mapping optimization time 131.050709 
sort q time 5.111032 
seperate points time 12.963819 
add points time 0.910917 ms
scan registration time 35.512089 ms *************
data association time 17.171480 ms 
solver time 16.065628 ms 
data association time 19.157539 ms 
points size 100844 
sort q time 7.098283 
seperate points time 17.186807 
mapping data assosiation time 33.746759 ms 
mapping solver time 18.899082 ms 
filter time 10.201248 ms 
data association time 17.401334 ms 
solver time 11.592419 ms 
prepare time 16.087992 
sort q time 6.008955 
seperate points time 14.461458 
mapping data assosiation time 29.251627 ms 
data association time 16.940703 ms 
mapping solver time 22.732559 ms 
data association time 17.073784 ms 
solver time 11.492661 ms 
publication time 11.372641 ms 
whole laserOdometry time 70.911693 ms 
 
mapping solver time 21.147283 ms 
filter time 10.173735 ms 
build tree time 22.634745 ms 
solver time 12.417364 ms 
mapping data assosiation time 31.070208 ms 
solver time 10.288730 ms 
publication time 11.674542 ms 
whole laserOdometry time 68.800268 ms 
 
sort q time 4.694479 
seperate points time 11.043262 
mapping solver time 19.625712 ms 
filter time 8.913617 ms 
data association time 15.916721 ms 
publication time 11.056720 ms 
whole laserOdometry time 70.141541 ms 
 
mapping data assosiation time 32.131568 ms 
mapping solver time 22.427867 ms 
solver time 13.219703 ms 
mapping data assosiation time 28.574847 ms 
data association time 16.201870 ms 
solver time 7.919791 ms 
publication time 9.610521 ms 
whole laserOdometry time 64.855114 ms 
 
points size 99698 
sort q time 6.111579 
seperate points time 13.490510 
data association time 15.948881 ms 
solver time 12.734781 ms 
data association time 16.727613 ms 
solver time 11.072928 ms 
points size 99016 
add points time 0.781606 ms
scan registration time 36.370078 ms *************
build tree time 21.967036 ms 
data association time 15.686339 ms 
solver time 13.744434 ms 
mapping data assosiation time 31.059481 ms 
solver time 12.445291 ms 
prepare time 17.109648 
sort q time 5.445715 
seperate points time 12.822630 
scan registration time 35.937678 ms *************
mapping data assosiation time 40.512752 ms 
data association time 19.897251 ms 
solver time 13.563636 ms 
filter time 10.108553 ms 
data association time 22.535845 ms 
solver time 15.623105 ms 
optimization twice time 72.521503 
points size 98854 
prepare time 18.420180 
sort q time 5.573939 
seperate points time 13.640924 
scan registration time 37.193839 ms *************
mapping data assosiation time 36.222252 ms 
solver time 12.521595 ms 
data association time 15.433974 ms 
solver time 13.554309 ms 
points size 98044 
mapping data assosiation time 36.402749 ms 
scan registration time 33.908737 ms *************
mapping solver time 29.469169 ms 
filter time 9.856696 ms 
solver time 17.253481 ms 
data association time 18.143199 ms 
solver time 16.516399 ms 
publication time 8.914340 ms 
whole laserOdometry time 78.145066 ms 
 
prepare time 15.808660 
sort q time 5.824173 
seperate points time 12.986067 
data association time 19.333140 ms 
mapping solver time 28.543364 ms 
solver time 14.324731 ms 
data association time 15.320472 ms 
mapping data assosiation time 34.879274 ms 
publication time 8.415191 ms 
whole laserOdometry time 68.378454 ms 
 
points size 95882 
filter time 9.925470 ms 
map prepare time 3.850273 ms
map corner num 89955  surf num 32821 
data association time 15.285081 ms 
build tree time 30.060879 ms 
data association time 20.756941 ms 
mapping data assosiation time 33.647031 ms 
publication time 8.091280 ms 
whole laserOdometry time 71.015784 ms 
 
prepare time 15.305249 
mapping solver time 27.600028 ms 
sort q time 5.708201 
seperate points time 13.255841 
mapping data assosiation time 33.697457 ms 
solver time 12.828981 ms 
mapping solver time 22.778952 ms 
filter time 10.199995 ms 
publication time 10.245009 ms 
whole laserOdometry time 66.407430 ms 
 
points size 94110 
sort q time 4.285648 
seperate points time 10.214167 
scan registration time 34.182037 ms *************
mapping data assosiation time 31.294213 ms 
solver time 13.667514 ms 
mapping solver time 25.288445 ms 
data association time 16.757055 ms 
solver time 12.722121 ms 
publication time 8.953070 ms 
whole laserOdometry time 68.032769 ms 
 
sort q time 5.075601 
seperate points time 11.821176 
mapping solver time 21.294610 ms 
mapping optimization time 141.913181 
scan registration time 32.147437 ms *************
add points time 1.075060 ms
map prepare time 2.906698 ms
map corner num 90976  surf num 33230 
data association time 20.921901 ms 
build tree time 24.110428 ms 
data association time 17.248142 ms 
optimization twice time 66.917433 
points size 90885 
sort q time 5.907888 
seperate points time 14.738694 
mapping data assosiation time 30.223535 ms 
data association time 16.822509 ms 
solver time 13.107434 ms 
map prepare time 2.821003 ms
map corner num 91400  surf num 33352 
solver time 8.441110 ms 
build tree time 26.201689 ms 
sort q time 4.590901 
seperate points time 10.796670 
data association time 15.519649 ms 
solver time 13.367258 ms 
data association time 15.378456 ms 
solver time 12.582681 ms 
publication time 12.479360 ms 
whole laserOdometry time 70.231744 ms 
 
drop lidar frame in mapping for real time performance 
prepare time 17.363583 
sort q time 4.982248 
seperate points time 12.310385 
data association time 14.766240 ms 
solver time 13.299137 ms 
mapping solver time 17.975012 ms 
solver time 10.723775 ms 
mapping data assosiation time 27.750226 ms 
points size 86421 
sort q time 4.873369 
seperate points time 12.232244 
data association time 14.272967 ms 
solver time 11.016365 ms 
data association time 15.102013 ms 
solver time 11.000105 ms 
points size 84891 
sort q time 4.849698 
seperate points time 12.109584 
data association time 13.939405 ms 
solver time 23.871001 ms 
mapping pub time 162.409081 ms 
whole mapping time 292.598871 ms +++++
solver time 13.580825 ms 
publication time 9.411285 ms 
whole laserOdometry time 85.286851 ms 
 
sort q time 4.645246 
seperate points time 11.644915 
scan registration time 32.516967 ms *************
mapping data assosiation time 29.377854 ms 
data association time 23.713915 ms 
mapping solver time 25.309405 ms 
data association time 25.510122 ms 
solver time 12.295943 ms 
scan registration time 31.366111 ms *************
mapping pub time 1.575748 ms 
whole mapping time 155.824851 ms +++++
data association time 22.545120 ms 
solver time 14.646301 ms 
build tree time 31.663241 ms 
data association time 15.371434 ms 
solver time 8.672613 ms 
publication time 9.132158 ms 
whole laserOdometry time 71.529946 ms 
 
mapping solver time 18.870744 ms 
scan registration time 27.875351 ms *************
mapping data assosiation time 26.376167 ms 
data association time 17.028738 ms 
solver time 12.803458 ms 
data association time 17.021469 ms 
solver time 10.796058 ms 
points size 80945 
mapping data assosiation time 24.515503 ms 
scan registration time 31.545125 ms *************
mapping solver time 17.701820 ms 
solver time 12.925108 ms 
mapping data assosiation time 24.402538 ms 
mapping solver time 14.964616 ms 
mapping optimization time 107.838108 
add points time 0.717056 ms
map prepare time 2.549101 ms
map corner num 93504  surf num 33945 
points size 79171 
build tree time 25.823621 ms 
mapping data assosiation time 25.810471 ms 
solver time 10.361709 ms 
data association time 14.544936 ms 
solver time 8.633252 ms 
solver time 13.501001 ms 
mapping solver time 16.487199 ms 
solver time 11.290269 ms 
publication time 7.318962 ms 
whole laserOdometry time 61.262087 ms 
 
mapping solver time 14.316050 ms 
filter time 8.338801 ms 
mapping pub time 2.096176 ms 
whole mapping time 118.513378 ms +++++
map prepare time 2.873427 ms
map corner num 94209  surf num 34111 
data association time 13.415618 ms 
solver time 16.519220 ms 
data association time 16.688605 ms 
solver time 12.642441 ms 
mapping data assosiation time 22.236201 ms 
mapping solver time 12.746124 ms 
filter time 10.613353 ms 
data association time 15.956772 ms 
solver time 14.871882 ms 
build tree time 27.634739 ms 
mapping data assosiation time 23.576749 ms 
publication time 6.840993 ms 
whole laserOdometry time 69.663559 ms 
 
points size 79078 
sort q time 4.059793 
seperate points time 9.691965 
mapping solver time 11.746055 ms 
data association time 16.143107 ms 
solver time 16.198566 ms 
data association time 15.331418 ms 
mapping data assosiation time 20.148137 ms 
mapping solver time 15.808065 ms 
sort q time 3.864544 
seperate points time 9.136284 
mapping data assosiation time 22.128842 ms 
mapping solver time 12.395023 ms 
mapping pub time 0.966555 ms 
whole mapping time 107.805380 ms +++++
data association time 13.512659 ms 
optimization twice time 50.331271 
publication time 6.876276 ms 
whole laserOdometry time 57.227291 ms 
 
mapping data assosiation time 22.091873 ms 
points size 79964 
sort q time 3.776490 
seperate points time 9.012713 
scan registration time 26.145868 ms *************
mapping solver time 11.734996 ms 
filter time 10.087428 ms 
mapping pub time 0.914925 ms 
whole mapping time 109.680667 ms +++++
solver time 11.219333 ms 
map prepare time 2.245338 ms
map corner num 95560  surf num 34418 
data association time 11.878508 ms 
solver time 12.306019 ms 
publication time 7.133548 ms 
whole laserOdometry time 56.422934 ms 
 
mapping data assosiation time 21.379299 ms 
points size 78483 
sort q time 4.410708 
seperate points time 10.693722 
mapping data assosiation time 23.399649 ms 
mapping solver time 11.281540 ms 
filter time 10.554011 ms 
solver time 7.984637 ms 
build tree time 27.407418 ms 
points size 75470 
sort q time 4.397229 
seperate points time 10.820560 
data association time 22.798663 ms 
solver time 16.564790 ms 
filter time 10.197118 ms 
data association time 20.130645 ms 
solver time 11.723539 ms 
publication time 7.456452 ms 
whole laserOdometry time 79.766261 ms 
 
build tree time 29.404891 ms 
sort q time 4.165284 
seperate points time 10.098047 
mapping data assosiation time 20.825700 ms 
data association time 18.928985 ms 
solver time 15.389322 ms 
mapping data assosiation time 18.886772 ms 
data association time 18.891629 ms 
filter time 9.956147 ms 
solver time 11.754901 ms 
points size 74276 
sort q time 3.679336 
seperate points time 8.778877 
mapping data assosiation time 21.486143 ms 
solver time 10.724624 ms 
data association time 13.192017 ms 
mapping data assosiation time 21.667286 ms 
mapping optimization time 94.778260 
filter time 11.528671 ms 
prepare time 13.990655 
sort q time 3.979148 
seperate points time 9.792189 
build tree time 28.291753 ms 
solver time 12.994758 ms 
mapping solver time 14.401727 ms 
solver time 10.150271 ms 
optimization twice time 52.154890 
publication time 6.025654 ms 
whole laserOdometry time 58.200423 ms 
 
mapping solver time 11.499041 ms 
filter time 10.707956 ms 
sort q time 3.761508 
seperate points time 9.489242 
build tree time 26.355330 ms 
solver time 10.390485 ms 
mapping data assosiation time 19.635942 ms 
data association time 13.028454 ms 
solver time 8.565791 ms 
mapping data assosiation time 18.844328 ms 
mapping solver time 11.653679 ms 
points size 67128 
sort q time 3.589161 
seperate points time 9.142417 
scan registration time 27.276232 ms *************
build tree time 24.608532 ms 
solver time 12.899617 ms 
data association time 12.379686 ms 
solver time 8.213860 ms 
mapping data assosiation time 18.205728 ms 
mapping solver time 11.226981 ms 
points size 64642 
filter time 9.499779 ms 
mapping pub time 1.147529 ms 
whole mapping time 100.654566 ms +++++
prepare time 14.195838 
map prepare time 2.559267 ms
map corner num 97666  surf num 34874 
scan registration time 26.545653 ms *************
build tree time 27.098110 ms 
solver time 13.099685 ms 
data association time 11.812745 ms 
solver time 10.699834 ms 
mapping data assosiation time 22.433467 ms 
mapping solver time 11.374564 ms 
filter time 9.212238 ms 
data association time 11.359750 ms 
solver time 13.426722 ms 
mapping data assosiation time 19.166989 ms 
solver time 11.477832 ms 
mapping data assosiation time 19.611628 ms 
mapping solver time 14.396058 ms 
filter time 10.778879 ms 
data association time 12.657107 ms 
solver time 15.508387 ms 
data association time 11.333700 ms 
solver time 11.067496 ms 
mapping data assosiation time 18.329187 ms 
mapping solver time 13.154835 ms 
filter time 11.072589 ms 
data association time 13.061085 ms 
solver time 11.152633 ms 
build tree time 29.676953 ms 
solver time 8.902603 ms 
mapping data assosiation time 21.170520 ms 
mapping solver time 11.603057 ms 
points size 72833 
mapping data assosiation time 20.769740 ms 
scan registration time 29.291556 ms *************
filter time 9.258661 ms 
data association time 12.827049 ms 
solver time 8.084726 ms 
data association time 13.305566 ms 
optimization twice time 43.619138 
points size 75972 
sort q time 4.189782 
seperate points time 10.375595 
data association time 12.438374 ms 
solver time 10.785926 ms 
mapping pub time 141.414784 ms 
whole mapping time 248.844900 ms +++++
solver time 9.984307 ms 
build tree time 31.236004 ms 
points size 79068 
sort q time 4.410450 
seperate points time 10.777426 
mapping solver time 14.781730 ms 
solver time 7.678141 ms 
mapping data assosiation time 19.854332 ms 
mapping solver time 11.516807 ms 
mapping optimization time 99.817650 
add points time 0.671466 ms
solver time 8.332264 ms 
optimization twice time 44.119546 
map prepare time 2.439231 ms
map corner num 99865  surf num 35474 
points size 83927 
build tree time 25.985237 ms 
prepare time 16.616310 
sort q time 4.775239 
seperate points time 11.522364 
mapping solver time 13.239723 ms 
solver time 11.146413 ms 
mapping data assosiation time 20.481399 ms 
mapping solver time 10.667296 ms 
optimization twice time 56.441046 
map prepare time 2.414227 ms
map corner num 100691  surf num 35875 
points size 89610 
build tree time 27.148801 ms 
mapping data assosiation time 19.213341 ms 
mapping solver time 14.068579 ms 
mapping data assosiation time 19.868639 ms 
mapping solver time 13.341580 ms 
filter time 11.576835 ms 
mapping pub time 0.971989 ms 
whole mapping time 110.412304 ms +++++
points size 91308 
publication time 8.540911 ms 
whole laserOdometry time 79.016576 ms 
 
build tree time 25.440614 ms 
solver time 15.583539 ms 
mapping data assosiation time 23.427978 ms 
data association time 20.726284 ms 
mapping solver time 14.575725 ms 
solver time 11.934562 ms 
points size 93998 
sort q time 4.931257 
seperate points time 11.814668 
data association time 14.183018 ms 
solver time 11.596592 ms 
data association time 14.245670 ms 
solver time 10.628657 ms 
points size 93562 
sort q time 6.362662 
seperate points time 14.601639 
filter time 8.880511 ms 
data association time 19.212122 ms 
solver time 15.450070 ms 
data association time 18.975799 ms 
solver time 15.557677 ms 
sort q time 5.307209 
seperate points time 12.030874 
mapping solver time 12.251690 ms 
filter time 9.288474 ms 
build tree time 20.867417 ms 
mapping data assosiation time 19.292544 ms 
mapping solver time 12.063770 ms 
mapping data assosiation time 19.536640 ms 
mapping solver time 10.084259 ms 
filter time 9.039636 ms 
solver time 11.880278 ms 
build tree time 20.479905 ms 
data association time 14.012669 ms 
publication time 6.508998 ms 
whole laserOdometry time 57.424062 ms 
 
points size 92538 
mapping solver time 11.425875 ms 
filter time 9.408322 ms 
data association time 13.581248 ms 
solver time 10.546588 ms 
data association time 13.728716 ms 
mapping solver time 11.357973 ms 
points size 92665 
mapping data assosiation time 17.923253 ms 
prepare time 14.606963 
filter time 7.704529 ms 
data association time 13.852595 ms 
solver time 12.777949 ms 
mapping data assosiation time 18.221392 ms 
solver time 8.019097 ms 
mapping data assosiation time 19.998808 ms 
filter time 6.416889 ms 
sort q time 5.104678 
seperate points time 11.769193 
mapping pub time 2.086032 ms 
whole mapping time 96.730530 ms +++++
scan registration time 32.077077 ms *************
map prepare time 2.897123 ms
map corner num 80138  surf num 29315 
data association time 13.703948 ms 
build tree time 21.103603 ms 
mapping data assosiation time 16.567569 ms 
solver time 7.994145 ms 
mapping data assosiation time 18.233264 ms 
mapping solver time 10.663185 ms 
map prepare time 2.575981 ms
map corner num 80429  surf num 29366 
scan registration time 35.080444 ms *************
build tree time 25.143997 ms 
solver time 14.427059 ms 
data association time 13.143514 ms 
publication time 6.179688 ms 
whole laserOdometry time 56.625009 ms 
 
mapping solver time 8.268353 ms 
filter time 7.004112 ms 
sort q time 4.801845 
seperate points time 11.262127 
build tree time 21.804482 ms 
solver time 8.316212 ms 
data association time 13.203535 ms 
solver time 8.724593 ms 
publication time 6.736481 ms 
whole laserOdometry time 52.993768 ms 
 
mapping solver time 10.016218 ms 
mapping pub time 1.311274 ms 
whole mapping time 93.706533 ms +++++
sort q time 5.185231 
seperate points time 11.823472 
data association time 13.060198 ms 
solver time 11.665582 ms 
data association time 13.562358 ms 
optimization twice time 47.134377 
mapping solver time 11.841172 ms 
filter time 9.516960 ms 
prepare time 18.872581 
sort q time 5.683818 
seperate points time 13.409195 
mapping data assosiation time 15.779825 ms 
mapping solver time 9.992223 ms 
mapping data assosiation time 18.061258 ms 
mapping solver time 10.691725 ms 
publication time 7.625257 ms 
whole laserOdometry time 58.128275 ms 
 
points size 96411 
sort q time 4.529495 
seperate points time 10.376178 
data association time 13.362845 ms 
solver time 11.552765 ms 
data association time 15.192381 ms 
solver time 10.800741 ms 
mapping solver time 11.180939 ms 
filter time 8.693274 ms 
points size 97055 
build tree time 22.031404 ms 
mapping data assosiation time 19.101916 ms 
mapping solver time 13.042103 ms 
data association time 13.297304 ms 
mapping data assosiation time 16.984639 ms 
publication time 7.841170 ms 
whole laserOdometry time 54.743063 ms 
 
map prepare time 3.165305 ms
map corner num 82183  surf num 29708 
points size 97326 
build tree time 27.961615 ms 
mapping data assosiation time 17.750999 ms 
data association time 13.829906 ms 
solver time 11.086477 ms 
mapping data assosiation time 17.569605 ms 
mapping solver time 10.652377 ms 
filter time 9.797100 ms 
points size 97790 
build tree time 28.058575 ms 
mapping data assosiation time 19.245959 ms 
data association time 18.151000 ms 
solver time 13.174141 ms 
data association time 15.845845 ms 
optimization twice time 55.849733 
map prepare time 2.866678 ms
map corner num 82756  surf num 29810 
prepare time 18.180387 
sort q time 5.742515 
seperate points time 13.774133 
mapping data assosiation time 17.170705 ms 
data association time 13.103042 ms 
solver time 11.248072 ms 
mapping data assosiation time 16.859606 ms 
mapping solver time 13.604646 ms 
filter time 9.517564 ms 
points size 100351 
sort q time 5.054850 
seperate points time 11.603459 
data association time 13.520491 ms 
data association time 14.390752 ms 
solver time 11.191939 ms 
points size 99062 
sort q time 5.959641 
seperate points time 13.410394 
mapping pub time 144.054686 ms 
whole mapping time 247.375373 ms +++++
solver time 11.339929 ms 
data association time 13.436903 ms 
mapping data assosiation time 21.526993 ms 
mapping solver time 13.554601 ms 
mapping data assosiation time 18.974404 ms 
mapping solver time 13.166069 ms 
mapping pub time 1.534973 ms 
whole mapping time 104.506762 ms +++++
solver time 10.015224 ms 
build tree time 19.505045 ms 
data association time 14.036241 ms 
mapping data assosiation time 17.561714 ms 
mapping solver time 13.563694 ms 
points size 93535 
sort q time 5.199310 
seperate points time 12.442658 
filter time 10.049824 ms 
data association time 22.041326 ms 
build tree time 28.767277 ms 
mapping data assosiation time 23.918435 ms 
data association time 23.789246 ms 
publication time 11.091284 ms 
whole laserOdometry time 85.165867 ms 
 
mapping data assosiation time 22.871762 ms 
mapping solver time 14.464357 ms 
filter time 11.470434 ms 
solver time 12.896898 ms 
data association time 13.074932 ms 
solver time 11.413627 ms 
publication time 8.963138 ms 
whole laserOdometry time 66.014890 ms 
 
sort q time 5.405886 
seperate points time 12.304225 
data association time 13.870184 ms 
solver time 11.356934 ms 
filter time 8.008583 ms 
optimization twice time 49.670681 
build tree time 24.574445 ms 
mapping data assosiation time 20.199334 ms 
mapping solver time 15.466880 ms 
mapping data assosiation time 19.414861 ms 
mapping optimization time 91.202276 
filter time 8.367475 ms 
solver time 11.305736 ms 
optimization twice time 55.019379 
publication time 7.091255 ms 
whole laserOdometry time 62.147279 ms 
 
build tree time 22.442623 ms 
points size 91640 
sort q time 4.737253 
seperate points time 11.420066 
data association time 13.529085 ms 
mapping solver time 11.280312 ms 
filter time 8.809323 ms 
solver time 9.420647 ms 
build tree time 25.091767 ms 
points size 91911 
mapping data assosiation time 20.714234 ms 
mapping solver time 13.187403 ms 
data association time 16.033567 ms 
solver time 11.396326 ms 
mapping solver time 15.281354 ms 
solver time 8.124261 ms 
points size 93493 
sort q time 5.145998 
seperate points time 12.387124 
data association time 15.924459 ms 
data association time 15.192753 ms 
mapping data assosiation time 23.941136 ms 
filter time 6.926448 ms 
publication time 8.242091 ms 
whole laserOdometry time 60.081808 ms 
 
points size 94437 
sort q time 4.346603 
seperate points time 10.217257 
mapping data assosiation time 19.659505 ms 
mapping solver time 12.324391 ms 
data association time 22.313566 ms 
mapping data assosiation time 22.322944 ms 
mapping solver time 11.919192 ms 
filter time 8.241404 ms 
solver time 11.711730 ms 
publication time 9.576123 ms 
whole laserOdometry time 82.428462 ms 
 
sort q time 5.602246 
seperate points time 13.138994 
build tree time 24.776669 ms 
data association time 22.314633 ms 
mapping data assosiation time 21.535857 ms 
solver time 15.554979 ms 
mapping solver time 15.023954 ms 
data association time 22.502376 ms 
solver time 11.571920 ms 
mapping solver time 12.527832 ms 
filter time 8.691202 ms 
sort q time 5.140544 
seperate points time 12.016760 
build tree time 21.038733 ms 
solver time 12.179264 ms 
mapping solver time 12.020739 ms 
solver time 9.779484 ms 
points size 93570 
sort q time 4.884222 
seperate points time 11.234165 
data association time 13.534274 ms 
build tree time 22.645537 ms 
data association time 13.858618 ms 
solver time 8.407705 ms 
publication time 7.196465 ms 
whole laserOdometry time 54.032179 ms 
 
points size 94093 
mapping pub time 1.166471 ms 
whole mapping time 97.392972 ms +++++
scan registration time 31.390583 ms *************
build tree time 22.836538 ms 
data association time 21.797444 ms 
mapping data assosiation time 20.052727 ms 
mapping solver time 11.696913 ms 
data association time 22.078406 ms 
solver time 11.858107 ms 
prepare time 17.391614 
map prepare time 2.965377 ms
map corner num 89697  surf num 32146 
sort q time 5.502109 
seperate points time 13.132522 
scan registration time 34.643524 ms *************
build tree time 24.850991 ms 
data association time 21.611417 ms 
solver time 15.187208 ms 
data association time 21.573743 ms 
solver time 11.771088 ms 
filter time 9.946958 ms 
data association time 13.566978 ms 
solver time 12.130696 ms 
data association time 14.580698 ms 
publication time 7.790963 ms 
whole laserOdometry time 57.669296 ms 
 
mapping data assosiation time 18.916891 ms 
mapping solver time 14.283598 ms 
filter time 9.936413 ms 
data association time 21.583877 ms 
solver time 15.409211 ms 
mapping solver time 11.426663 ms 
solver time 11.621850 ms 
publication time 8.563654 ms 
whole laserOdometry time 79.711246 ms 
 
mapping solver time 13.752461 ms 
filter time 9.945093 ms 
data association time 13.874065 ms 
solver time 11.364310 ms 
data association time 13.504195 ms 
optimization twice time 50.623029 
publication time 7.574685 ms 
whole laserOdometry time 58.214547 ms 
 
points size 88362 
scan registration time 27.572478 ms *************
filter time 8.667797 ms 
solver time 11.806431 ms 
build tree time 22.249133 ms 
solver time 8.202571 ms 
mapping solver time 14.219405 ms 
points size 87835 
sort q time 4.977929 
seperate points time 11.577088 
filter time 8.563463 ms 
data association time 21.480725 ms 
build tree time 26.085469 ms 
mapping data assosiation time 19.198270 ms 
mapping solver time 11.040133 ms 
publication time 8.360043 ms 
whole laserOdometry time 80.824848 ms 
 
points size 87255 
prepare time 14.296557 
sort q time 3.937889 
seperate points time 9.569340 
filter time 8.340133 ms 
data association time 13.667017 ms 
build tree time 23.638082 ms 
data association time 14.075888 ms 
mapping data assosiation time 18.586012 ms 
publication time 7.131100 ms 
whole laserOdometry time 54.917417 ms 
 
mapping data assosiation time 18.613832 ms 
mapping solver time 11.052424 ms 
filter time 11.443118 ms 
data association time 14.793398 ms 
solver time 8.738420 ms 
data association time 13.785467 ms 
publication time 6.783123 ms 
whole laserOdometry time 53.911314 ms 
 
points size 87033 
sort q time 4.848138 
seperate points time 11.357538 
data association time 13.485713 ms 
solver time 12.988594 ms 
mapping pub time 146.049972 ms 
whole mapping time 247.482569 ms +++++
solver time 11.407262 ms 
build tree time 30.601304 ms 
mapping data assosiation time 24.191557 ms 
mapping solver time 13.411448 ms 
data association time 18.254367 ms 
mapping data assosiation time 25.200616 ms 
mapping solver time 11.916816 ms 
data association time 16.430744 ms 
solver time 10.518385 ms 
points size 86096 
build tree time 24.712085 ms 
scan registration time 26.575781 ms *************
mapping data assosiation time 20.528407 ms 
data association time 13.861794 ms 
mapping solver time 14.853315 ms 
mapping data assosiation time 23.458559 ms 
solver time 9.026781 ms 
filter time 10.192814 ms 
points size 86119 
sort q time 4.753065 
seperate points time 10.828898 
data association time 13.918280 ms 
solver time 11.072534 ms 
mapping solver time 19.178822 ms 
solver time 8.098114 ms 
mapping data assosiation time 24.727875 ms 
mapping solver time 14.798324 ms 
map prepare time 2.502195 ms
map corner num 87390  surf num 30670 
sort q time 5.173097 
seperate points time 12.571758 
build tree time 24.015260 ms 
solver time 11.012730 ms 
data association time 15.031842 ms 
publication time 6.880905 ms 
whole laserOdometry time 56.129460 ms 
 
mapping data assosiation time 23.566807 ms 
prepare time 13.647850 
sort q time 4.854186 
seperate points time 11.417517 
data association time 13.889134 ms 
solver time 14.135800 ms 
mapping data assosiation time 21.742002 ms 
solver time 8.661723 ms 
publication time 7.357150 ms 
whole laserOdometry time 59.665439 ms 
 
points size 86847 
sort q time 4.370929 
seperate points time 10.638456 
filter time 10.301876 ms 
data association time 21.991698 ms 
build tree time 21.960845 ms 
solver time 18.755349 ms 
mapping data assosiation time 23.099002 ms 
data association time 22.066533 ms 
mapping solver time 19.262269 ms 
points size 88397 
mapping data assosiation time 27.954326 ms 
mapping solver time 14.885882 ms 
mapping optimization time 108.297413 
add points time 0.686866 ms
data association time 22.334948 ms 
solver time 15.397794 ms 
build tree time 23.529727 ms 
data association time 21.943774 ms 
points size 89536 
publication time 9.132635 ms 
whole laserOdometry time 81.441564 ms 
 
mapping data assosiation time 22.866573 ms 
mapping solver time 13.568948 ms 
mapping pub time 1.206688 ms 
whole mapping time 122.144409 ms +++++
data association time 15.252804 ms 
solver time 10.549383 ms 
points size 90159 
mapping data assosiation time 23.680698 ms 
mapping solver time 16.664029 ms 
solver time 12.654778 ms 
mapping solver time 15.626634 ms 
mapping pub time 1.422277 ms 
whole mapping time 122.134701 ms +++++
points size 91120 
sort q time 5.154960 
seperate points time 12.091188 
mapping data assosiation time 22.888154 ms 
data association time 23.450156 ms 
solver time 18.995402 ms 
mapping solver time 14.516196 ms 
filter time 9.803192 ms 
publication time 9.506858 ms 
whole laserOdometry time 92.571963 ms 
 
scan registration time 36.036410 ms *************
mapping data assosiation time 23.459795 ms 
data association time 13.196409 ms 
optimization twice time 47.081966 
publication time 8.986482 ms 
whole laserOdometry time 56.088081 ms 
 
mapping data assosiation time 23.512973 ms 
points size 92504 
filter time 8.866978 ms 
data association time 14.010063 ms 
data association time 14.515637 ms 
publication time 8.215418 ms 
whole laserOdometry time 55.625771 ms 
 
points size 93124 
prepare time 18.346595 
mapping data assosiation time 21.165366 ms 
sort q time 5.409658 
seperate points time 12.961103 
filter time 9.305423 ms 
data association time 17.829234 ms 
build tree time 22.956318 ms 
data association time 17.031044 ms 
solver time 10.486052 ms 
points size 93611 
sort q time 6.067011 
seperate points time 14.819121 
mapping data assosiation time 27.511930 ms 
mapping solver time 16.974287 ms 
mapping pub time 1.296036 ms 
whole mapping time 131.442848 ms +++++
data association time 15.879815 ms 
solver time 14.327781 ms 
mapping data assosiation time 24.965671 ms 
mapping solver time 19.214529 ms 
solver time 12.101879 ms 
data association time 15.035422 ms 
solver time 8.325346 ms 
drop lidar frame in mapping for real time performance 
points size 94539 
build tree time 26.929299 ms 
mapping data assosiation time 25.362006 ms 
mapping solver time 18.606870 ms 
data association time 14.660704 ms 
solver time 11.281581 ms 
mapping solver time 16.482113 ms 
filter time 10.276791 ms 
scan registration time 37.649866 ms *************
data association time 14.625126 ms 
solver time 13.304799 ms 
data association time 15.167356 ms 
solver time 11.761322 ms 
points size 95246 
mapping data assosiation time 30.268668 ms 
scan registration time 41.954206 ms *************
mapping solver time 21.287718 ms 
filter time 10.026195 ms 
solver time 12.729053 ms 
build tree time 25.099961 ms 
solver time 11.698689 ms 
points size 95672 
sort q time 5.589839 
seperate points time 13.767814 
data association time 15.334933 ms 
mapping solver time 9.856573 ms 
mapping pub time 1.203329 ms 
whole mapping time 128.474865 ms +++++
publication time 8.507332 ms 
whole laserOdometry time 63.430492 ms 
 
prepare time 18.902601 
sort q time 6.412179 
seperate points time 15.424060 
scan registration time 40.532984 ms *************
mapping data assosiation time 27.835081 ms 
data association time 20.540906 ms 
solver time 14.653689 ms 
mapping data assosiation time 23.212114 ms 
solver time 11.311578 ms 
publication time 8.424164 ms 
whole laserOdometry time 71.127458 ms 
 
map prepare time 3.466919 ms
map corner num 94174  surf num 33169 
scan registration time 39.427562 ms *************build tree time 29.313193 ms 
solver time 18.159669 ms 
data association time 15.315118 ms 
solver time 13.450519 ms 
sort q time 5.637195 
seperate points time 13.223987 
mapping solver time 13.427540 ms 
filter time 10.703195 ms 
solver time 12.793068 ms 
build tree time 25.126037 ms 
solver time 12.007935 ms 
mapping data assosiation time 30.318310 ms 
sort q time 5.678111 
seperate points time 13.857527 
data association time 15.777432 ms 
solver time 13.363051 ms 
data association time 15.865173 ms 
solver time 11.768670 ms 
publication time 8.616853 ms 
whole laserOdometry time 66.390367 ms 
 
points size 98135 
build tree time 32.363512 ms 
sort q time 6.240937 
seperate points time 15.049380 
mapping data assosiation time 29.735718 ms 
data association time 16.626741 ms 
solver time 16.599968 ms 
mapping data assosiation time 25.476988 ms 
optimization twice time 65.954666 
filter time 10.699574 ms 
data association time 15.804956 ms 
solver time 14.115814 ms 
data association time 15.577406 ms 
solver time 12.071217 ms 
points size 97779 
sort q time 5.472961 
seperate points time 12.601439 
data association time 15.081057 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
build tree time 25.616929 ms 
publication time 8.211732 ms 
whole laserOdometry time 76.763362 ms 
 
sort q time 4.367787 
seperate points time 10.343270 
scan registration time 30.604191 ms *************
mapping solver time 14.957172 ms 
mapping data assosiation time 23.264717 ms 
data association time 23.692901 ms 
filter time 9.181895 ms 
data association time 15.894978 ms 
solver time 8.120009 ms 
publication time 9.147587 ms 
whole laserOdometry time 68.821110 ms 
 
prepare time 18.088270 
sort q time 6.747951 
seperate points time 16.268469 
mapping solver time 17.862753 ms 
data association time 23.746475 ms 
solver time 18.466067 ms 
mapping solver time 19.470021 ms 
filter time 9.614546 ms 
solver time 15.530443 ms 
scan registration time 37.909026 ms *************
mapping data assosiation time 23.390192 ms 
mapping solver time 15.994923 ms 
mapping data assosiation time 24.805525 ms 
prepare time 16.962608 
filter time 10.169668 ms 
build tree time 23.900544 ms 
data association time 23.148318 ms 
solver time 15.370380 ms 
mapping solver time 19.473344 ms 
solver time 8.306977 ms 
sort q time 5.506780 
seperate points time 12.824897 
mapping solver time 16.115304 ms 
filter time 9.279092 ms 
solver time 11.620136 ms 
data association time 16.002903 ms 
publication time 8.336525 ms 
whole laserOdometry time 59.802750 ms 
 
mapping data assosiation time 24.365942 ms 
mapping solver time 16.765525 ms 
sort q time 5.406127 
seperate points time 12.641098 
mapping data assosiation time 25.365669 ms 
mapping solver time 13.737088 ms 
mapping optimization time 109.262608 
add points time 0.646310 ms
solver time 13.159509 ms 
map prepare time 2.710588 ms
map corner num 97382  surf num 34656 
solver time 9.899427 ms 
publication time 9.624824 ms 
whole laserOdometry time 66.672456 ms 
 
prepare time 16.259784 
mapping data assosiation time 23.927139 ms 
mapping solver time 16.106835 ms 
data association time 14.523818 ms 
mapping data assosiation time 22.827616 ms 
mapping solver time 16.601387 ms 
filter time 9.177326 ms 
publication time 8.907875 ms 
whole laserOdometry time 63.814628 ms 
 
prepare time 14.537410 
build tree time 26.710278 ms 
mapping data assosiation time 28.501638 ms 
data association time 26.040401 ms 
mapping solver time 24.230687 ms 
mapping data assosiation time 30.170785 ms 
data association time 27.107150 ms 
points size 93545 
solver time 16.396613 ms 
scan registration time 32.015617 ms *************
drop lidar frame in mapping for real time performance 
data association time 24.094006 ms 
build tree time 33.233642 ms 
data association time 26.292787 ms 
points size 93239 
prepare time 14.182328 
solver time 17.386282 ms 
optimization twice time 83.849115 
mapping solver time 23.562184 ms 
sort q time 5.049161 
seperate points time 12.077618 
data association time 14.305190 ms 
solver time 13.285773 ms 
mapping solver time 21.348977 ms 
filter time 9.456147 ms 
publication time 8.142762 ms 
whole laserOdometry time 64.157490 ms 
 
points size 93145 
sort q time 5.275074 
seperate points time 12.347291 
mapping data assosiation time 29.296019 ms 
data association time 17.396526 ms 
mapping solver time 17.853824 ms 
data association time 14.640765 ms 
solver time 10.759268 ms 
publication time 8.955535 ms 
whole laserOdometry time 65.896080 ms 
 
filter time 9.021281 ms 
sort q time 4.475979 
seperate points time 10.542522 
build tree time 25.461149 ms 
data association time 15.031598 ms 
solver time 10.568270 ms 
data association time 13.726058 ms 
solver time 8.268495 ms 
publication time 7.529507 ms 
whole laserOdometry time 55.963258 ms 
 
mapping data assosiation time 26.111218 ms 
mapping solver time 14.138693 ms 
mapping pub time 2.735906 ms 
whole mapping time 124.769935 ms +++++
data association time 17.337211 ms 
solver time 10.089678 ms 
data association time 14.655950 ms 
solver time 12.155753 ms 
publication time 11.785972 ms 
whole laserOdometry time 66.933010 ms 
 
sort q time 4.936790 
seperate points time 11.462645 
mapping solver time 18.187479 ms 
filter time 9.610713 ms 
data association time 15.411718 ms 
solver time 11.490116 ms 
points size 93923 
sort q time 5.617599 
seperate points time 12.841540 
data association time 16.910617 ms 
solver time 11.777937 ms 
filter time 7.986876 ms 
solver time 11.062903 ms 
prepare time 19.273455 build tree time 31.231753 ms 
mapping data assosiation time 27.647117 ms 
solver time 11.358506 ms 
data association time 15.744503 ms 
solver time 11.525222 ms 
points size 97023 
sort q time 5.204669 
seperate points time 12.373261 
data association time 15.506617 ms 
solver time 11.164215 ms 
mapping data assosiation time 26.917860 ms 
publication time 10.311154 ms 
whole laserOdometry time 65.967686 ms 
 
points size 98217 
sort q time 4.831737 
seperate points time 10.938471 
mapping solver time 16.058762 ms 
mapping optimization time 120.015561 
add points time 0.681349 ms
solver time 13.681746 ms 
data association time 16.229447 ms 
build tree time 31.803155 ms 
points size 97995 
sort q time 5.662398 
seperate points time 13.780180 
data association time 14.281861 ms 
solver time 11.583258 ms 
filter time 9.180163 ms 
solver time 8.682113 ms 
publication time 8.864935 ms 
whole laserOdometry time 59.874777 ms 
 
points size 98006 
sort q time 5.834774 
seperate points time 14.075163 
mapping data assosiation time 25.337433 ms 
mapping solver time 18.438574 ms 
solver time 12.406442 ms 
mapping data assosiation time 26.279257 ms 
mapping solver time 15.760806 ms 
filter time 9.720841 ms 
sort q time 5.556714 
seperate points time 14.152261 
build tree time 28.740703 ms 
data association time 18.465063 ms 
mapping data assosiation time 26.392628 ms 
mapping solver time 17.215327 ms 
optimization twice time 58.597139 
publication time 10.738210 ms 
whole laserOdometry time 69.354551 ms 
 
mapping solver time 13.265980 ms 
filter time 13.133890 ms 
data association time 15.413343 ms 
solver time 13.559096 ms 
data association time 15.057857 ms 
solver time 10.781118 ms 
points size 99067 
sort q time 4.936099 
seperate points time 12.457986 
data association time 17.362418 ms 
filter time 11.101180 ms 
data association time 16.477207 ms 
build tree time 29.059336 ms 
publication time 11.046115 ms 
whole laserOdometry time 77.555905 ms 
 
points size 98910 
prepare time 22.116644 
sort q time 5.955223 
seperate points time 15.422934 
scan registration time 41.947609 ms *************
mapping data assosiation time 22.529546 ms 
mapping solver time 17.226093 ms 
mapping pub time 1.785354 ms 
whole mapping time 139.084523 ms +++++
data association time 24.828846 ms 
solver time 15.284808 ms 
publication time 10.692172 ms 
whole laserOdometry time 94.762089 ms 
 
data association time 24.073849 ms 
mapping solver time 15.607643 ms 
solver time 18.785109 ms 
mapping data assosiation time 26.763340 ms 
points size 97900 
solver time 15.689590 ms 
publication time 10.602487 ms 
whole laserOdometry time 94.380222 ms 
 
data association time 24.219169 ms 
solver time 19.171318 ms 
data association time 24.309342 ms 
prepare time 21.618116 
sort q time 6.265038 
seperate points time 16.693437 
publication time 11.293563 ms 
whole laserOdometry time 95.820768 ms 
 
data association time 15.543853 ms 
solver time 14.554549 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
solver time 13.341544 ms 
publication time 9.412379 ms 
whole laserOdometry time 71.725246 ms 
 
sort q time 5.493957 
seperate points time 13.504577 
mapping data assosiation time 25.347409 ms 
solver time 10.294500 ms 
data association time 15.693340 ms 
mapping data assosiation time 26.945168 ms 
points size 95376 
mapping solver time 24.968292 ms 
sort q time 5.422518 
seperate points time 13.424442 
map prepare time 2.748129 ms
map corner num 112113  surf num 41427 
data association time 15.091456 ms 
solver time 11.000628 ms 
data association time 15.496961 ms 
solver time 8.539330 ms 
points size 94934 
sort q time 4.997562 
seperate points time 11.928060 
mapping data assosiation time 26.054990 ms 
data association time 15.173438 ms 
solver time 15.802579 ms 
filter time 11.033699 ms 
mapping pub time 1.126150 ms 
whole mapping time 130.530381 ms +++++
map prepare time 2.874803 ms
map corner num 112752  surf num 41742 
data association time 15.617890 ms 
solver time 7.977579 ms 
publication time 9.276248 ms 
whole laserOdometry time 64.813190 ms 
 
points size 90683 
mapping data assosiation time 25.565585 ms 
mapping solver time 17.764204 ms 
data association time 15.854686 ms 
solver time 11.282967 ms 
data association time 15.852082 ms 
publication time 8.269575 ms 
whole laserOdometry time 60.693153 ms 
 
filter time 11.214669 ms 
points size 84797 
build tree time 22.785219 ms 
mapping data assosiation time 23.995607 ms 
data association time 14.988135 ms 
mapping solver time 14.773460 ms 
data association time 14.895647 ms 
solver time 7.495394 ms 
mapping optimization time 104.089814 
prepare time 13.271709 
sort q time 4.886115 
seperate points time 12.036599 
build tree time 23.056745 ms 
solver time 11.823985 ms 
data association time 14.368208 ms 
mapping solver time 20.467120 ms 
points size 81814 
sort q time 4.513818 
seperate points time 10.779081 
filter time 9.671765 ms 
data association time 18.347981 ms 
solver time 10.893655 ms 
data association time 14.375350 ms 
mapping data assosiation time 24.685985 ms 
mapping solver time 16.179630 ms 
prepare time 17.973209 
sort q time 5.339698 
seperate points time 13.134556 
mapping solver time 9.399071 ms 
mapping pub time 1.167437 ms 
whole mapping time 120.590129 ms +++++
map prepare time 3.435864 ms
map corner num 84773  surf num 32139 
build tree time 26.749635 ms 
data association time 17.919350 ms 
solver time 10.781867 ms 
mapping solver time 19.284430 ms 
scan registration time 39.395905 ms *************
mapping data assosiation time 23.838423 ms 
mapping solver time 21.583449 ms 
solver time 10.757376 ms 
mapping solver time 14.046321 ms 
filter time 9.778222 ms 
points size 86653 
sort q time 4.079737 
seperate points time 9.773256 
mapping data assosiation time 24.104564 ms 
mapping solver time 16.628376 ms 
mapping data assosiation time 24.398369 ms 
solver time 11.865428 ms 
filter time 9.636571 ms 
scan registration time 32.169300 ms *************
build tree time 22.929492 ms 
data association time 23.031291 ms 
mapping data assosiation time 22.916803 ms 
mapping solver time 17.370446 ms 
data association time 23.029797 ms 
solver time 11.723574 ms 
points size 91903 
mapping solver time 20.721048 ms 
filter time 9.390246 ms 
data association time 14.496247 ms 
solver time 10.726829 ms 
data association time 14.929941 ms 
solver time 10.617887 ms 
points size 95592 
sort q time 4.823452 
seperate points time 11.406033 
mapping solver time 17.927589 ms 
filter time 10.225865 ms 
data association time 15.327468 ms 
solver time 10.602962 ms 
publication time 11.361946 ms 
whole laserOdometry time 68.142712 ms 
 
mapping data assosiation time 27.037470 ms 
points size 97204 
mapping solver time 23.757816 ms 
scan registration time 41.560281 ms *************
mapping data assosiation time 24.633273 ms 
mapping solver time 15.512661 ms 
filter time 10.097381 ms 
data association time 16.801921 ms 
solver time 10.674323 ms 
prepare time 19.304713 
sort q time 6.354353 
seperate points time 15.877476 
mapping solver time 14.409211 ms 
solver time 10.637405 ms 
mapping data assosiation time 22.897878 ms 
data association time 15.592121 ms 
solver time 8.988726 ms 
map prepare time 4.380661 ms
map corner num 89285  surf num 33699 
sort q time 6.159441 
seperate points time 14.623694 
data association time 16.094124 ms 
solver time 11.160862 ms 
mapping solver time 18.251297 ms 
publication time 9.068703 ms 
whole laserOdometry time 61.143832 ms 
 
points size 91414 
sort q time 4.838505 
seperate points time 11.567362 
data association time 15.065579 ms 
solver time 11.475402 ms 
data association time 15.772012 ms 
solver time 8.670423 ms 
publication time 10.951737 ms 
whole laserOdometry time 62.973447 ms 
 
points size 86948 
prepare time 19.631919 
scan registration time 37.343821 ms *************
filter time 8.414032 ms 
data association time 15.869396 ms 
solver time 12.105548 ms 
build tree time 27.444922 ms 
solver time 8.304537 ms 
publication time 10.523573 ms 
whole laserOdometry time 63.754595 ms 
 
prepare time 18.923291 
sort q time 4.729062 
seperate points time 11.874266 
data association time 14.417697 ms 
solver time 11.309678 ms 
mapping solver time 19.111154 ms 
filter time 8.935361 ms 
points size 82339 
sort q time 4.307634 
seperate points time 10.146299 
mapping data assosiation time 23.297359 ms 
mapping solver time 14.037604 ms 
data association time 14.409520 ms 
mapping solver time 6.747004 ms 
filter time 9.259545 ms 
prepare time 12.913845 
scan registration time 25.255104 ms *************
data association time 14.506701 ms 
mapping solver time 13.523863 ms 
publication time 7.562541 ms 
whole laserOdometry time 55.908590 ms 
 
mapping data assosiation time 25.234181 ms 
mapping solver time 12.685174 ms 
filter time 9.358405 ms 
scan registration time 24.686211 ms *************
build tree time 25.202799 ms 
mapping data assosiation time 21.824000 ms 
data association time 13.899282 ms 
solver time 9.175071 ms 
mapping data assosiation time 23.128826 ms 
mapping solver time 10.906544 ms 
filter time 9.863104 ms 
build tree time 28.988699 ms 
data association time 21.451436 ms 
solver time 17.148826 ms 
mapping data assosiation time 27.346106 ms 
data association time 22.132353 ms 
solver time 12.763799 ms 
publication time 9.613723 ms 
whole laserOdometry time 84.249953 ms 
 
mapping solver time 12.885653 ms 
solver time 9.404624 ms 
data association time 14.218627 ms 
publication time 7.907451 ms 
whole laserOdometry time 53.542869 ms 
 
points size 71259 
sort q time 3.946271 
seperate points time 9.507481 
data association time 23.707308 ms 
solver time 10.735082 ms 
data association time 13.700588 ms 
mapping pub time 147.716800 ms 
whole mapping time 277.582368 ms +++++
points size 74891 
build tree time 30.442066 ms 
mapping data assosiation time 20.600991 ms 
solver time 15.277592 ms 
data association time 15.874113 ms 
solver time 10.408268 ms 
filter time 8.877839 ms 
prepare time 12.349034 
sort q time 4.250090 
seperate points time 10.176860 
build tree time 29.666118 ms 
data association time 12.902989 ms 
solver time 11.684058 ms 
data association time 13.582255 ms 
mapping data assosiation time 28.068493 ms 
prepare time 13.358424 
sort q time 4.523166 
seperate points time 11.964549 
data association time 19.003550 ms 
solver time 11.762246 ms 
data association time 14.109843 ms 
publication time 7.079116 ms 
whole laserOdometry time 60.599799 ms 
 
points size 80468 
sort q time 4.076681 
seperate points time 9.903991 
mapping solver time 14.460910 ms 
filter time 9.375427 ms 
data association time 13.992602 ms 
solver time 8.452497 ms 
optimization twice time 45.456006 
mapping data assosiation time 25.973902 ms 
mapping solver time 15.235914 ms 
mapping data assosiation time 24.596730 ms 
solver time 11.612845 ms 
filter time 9.136933 ms 
publication time 7.685892 ms 
whole laserOdometry time 57.310182 ms 
 
build tree time 28.739347 ms 
sort q time 4.365006 
seperate points time 10.453368 
mapping solver time 13.660008 ms 
solver time 15.215912 ms 
mapping solver time 14.931875 ms 
data association time 22.303593 ms 
mapping optimization time 115.157272 
solver time 12.476224 ms 
points size 87872 
sort q time 5.156374 
seperate points time 12.870121 
data association time 15.161281 ms 
solver time 13.262419 ms 
data association time 17.400912 ms 
solver time 10.495850 ms 
points size 88110 
sort q time 4.955341 
seperate points time 11.443529 
data association time 14.676892 ms 
solver time 11.179852 ms 
data association time 14.694373 ms 
publication time 9.248636 ms 
whole laserOdometry time 59.145379 ms 
 
mapping solver time 20.557730 ms 
sort q time 4.509274 
seperate points time 10.424400 
data association time 15.018674 ms 
filter time 8.102900 ms 
data association time 14.711716 ms 
solver time 8.121146 ms 
optimization twice time 50.705029 
mapping data assosiation time 25.713751 ms 
mapping solver time 17.973648 ms 
data association time 15.989171 ms 
solver time 11.369993 ms 
data association time 18.116542 ms 
optimization twice time 54.886998 
publication time 9.247355 ms 
whole laserOdometry time 64.154981 ms 
 
points size 91243 
sort q time 4.648279 
seperate points time 10.913796 
mapping data assosiation time 27.632497 ms 
data association time 16.838180 ms 
solver time 10.455041 ms 
data association time 14.314834 ms 
solver time 7.942142 ms 
publication time 9.243511 ms 
whole laserOdometry time 59.661753 ms 
 
mapping solver time 16.706384 ms 
filter time 10.387434 ms 
scan registration time 32.379982 ms *************
build tree time 27.972398 ms 
solver time 11.537855 ms 
mapping data assosiation time 28.090409 ms 
data association time 15.022410 ms 
publication time 8.328749 ms 
whole laserOdometry time 59.168053 ms 
 
points size 94028 
mapping data assosiation time 28.502742 ms 
sort q time 5.402964 
seperate points time 13.307036 
mapping solver time 16.596555 ms 
filter time 9.044373 ms 
data association time 16.450237 ms 
solver time 11.242192 ms 
build tree time 30.351784 ms 
solver time 9.436462 ms 
points size 96045 
sort q time 5.593511 
seperate points time 13.483462 
data association time 14.998409 ms 
mapping data assosiation time 29.049316 ms 
data association time 15.835027 ms 
publication time 8.934785 ms 
whole laserOdometry time 59.796382 ms 
 
points size 96211 
sort q time 5.530388 
seperate points time 13.342573 
data association time 15.674124 ms 
solver time 12.805064 ms 
mapping solver time 19.559115 ms 
solver time 9.088183 ms 
publication time 9.248565 ms 
whole laserOdometry time 63.467982 ms 
 
mapping data assosiation time 32.142886 ms 
mapping solver time 16.438876 ms 
filter time 9.447070 ms 
data association time 15.515618 ms 
solver time 11.932933 ms 
data association time 16.155454 ms 
publication time 8.741866 ms 
whole laserOdometry time 61.758793 ms 
 
points size 93550 
mapping solver time 22.528928 ms 
scan registration time 36.862343 ms *************
mapping data assosiation time 29.465006 ms 
solver time 10.506213 ms 
data association time 15.671863 ms 
solver time 9.108650 ms 
publication time 9.988310 ms 
whole laserOdometry time 62.115638 ms 
 
points size 93900 
scan registration time 30.888436 ms *************
mapping data assosiation time 27.915116 ms 
mapping solver time 20.225326 ms 
data association time 17.641787 ms 
solver time 7.538091 ms 
mapping solver time 17.558475 ms 
filter time 10.710551 ms 
sort q time 5.983028 
seperate points time 13.903517 
data association time 15.476685 ms 
build tree time 30.565337 ms 
data association time 15.136857 ms 
mapping data assosiation time 29.167002 ms 
solver time 8.717370 ms 
optimization twice time 51.470930 
publication time 9.160022 ms 
whole laserOdometry time 60.648271 ms 
 
mapping solver time 23.307106 ms 
sort q time 5.111172 
seperate points time 12.006507 
mapping data assosiation time 30.739230 ms 
mapping solver time 17.749365 ms 
filter time 11.226533 ms 
data association time 14.958183 ms 
solver time 7.914653 ms 
points size 89660 
sort q time 4.715103 
seperate points time 11.269821 
mapping solver time 19.023181 ms 
solver time 10.647261 ms 
data association time 14.903762 ms 
publication time 8.290495 ms 
whole laserOdometry time 57.148606 ms 
 
filter time 10.009883 ms 
sort q time 5.124506 
seperate points time 12.509199 
build tree time 30.197195 ms 
data association time 14.258750 ms 
mapping data assosiation time 31.257600 ms 
data association time 18.420895 ms 
mapping solver time 20.931661 ms 
mapping data assosiation time 30.836281 ms 
mapping solver time 16.324776 ms 
sort q time 5.768631 
seperate points time 13.915603 
data association time 14.652652 ms 
solver time 11.158271 ms 
data association time 15.468729 ms 
mapping data assosiation time 29.044598 ms 
mapping solver time 19.602025 ms 
data association time 15.395480 ms 
solver time 11.002166 ms 
data association time 15.276481 ms 
publication time 8.538344 ms 
whole laserOdometry time 59.228780 ms 
 
map prepare time 4.125581 ms
map corner num 109711  surf num 43079 
points size 92860 
sort q time 5.315909 
seperate points time 12.922461 
data association time 14.538218 ms 
solver time 11.237707 ms 
mapping solver time 19.825562 ms 
data association time 15.487487 ms 
publication time 8.948995 ms 
whole laserOdometry time 67.019778 ms 
 
prepare time 20.989866 
mapping solver time 17.230535 ms 
filter time 10.704222 ms 
data association time 15.156050 ms 
build tree time 30.012640 ms 
solver time 7.934070 ms 
mapping data assosiation time 30.572505 ms 
points size 96037 
sort q time 5.618070 
seperate points time 13.678456 
data association time 14.891937 ms 
solver time 12.031439 ms 
mapping solver time 19.015374 ms 
filter time 11.140541 ms 
publication time 8.771751 ms 
whole laserOdometry time 61.141955 ms 
 
sort q time 4.679584 
seperate points time 10.999274 
data association time 15.642697 ms 
solver time 11.300193 ms 
data association time 14.850190 ms 
solver time 8.798999 ms 
publication time 10.247182 ms 
whole laserOdometry time 61.783725 ms 
 
points size 99932 
sort q time 5.568047 
seperate points time 13.568138 
map prepare time 4.286611 ms
map corner num 110870  surf num 43400 
data association time 24.214291 ms 
build tree time 36.476003 ms 
mapping data assosiation time 27.085677 ms 
data association time 23.477804 ms 
mapping solver time 20.142422 ms 
mapping data assosiation time 31.382914 ms 
mapping solver time 21.863738 ms 
filter time 12.545507 ms 
publication time 10.367294 ms 
whole laserOdometry time 64.252369 ms 
 
points size 97492 
build tree time 30.001506 ms 
mapping data assosiation time 26.409955 ms 
solver time 10.919167 ms 
data association time 14.790523 ms 
publication time 9.120784 ms 
whole laserOdometry time 61.208934 ms 
 
points size 96541 
sort q time 4.827079 
seperate points time 11.965886 
filter time 11.875019 ms 
data association time 15.814935 ms 
data association time 14.103232 ms 
publication time 8.679841 ms 
whole laserOdometry time 52.508111 ms 
 
points size 94461 
sort q time 5.310472 
seperate points time 12.342853 
mapping solver time 23.784877 ms 
data association time 15.207780 ms 
mapping data assosiation time 31.471498 ms 
data association time 15.407742 ms 
mapping solver time 21.207359 ms 
filter time 12.367912 ms 
prepare time 14.496971 
sort q time 4.404675 
seperate points time 10.491376 
build tree time 29.236241 ms 
data association time 18.720966 ms 
solver time 8.442193 ms 
data association time 15.731968 ms 
publication time 8.210759 ms 
whole laserOdometry time 60.713347 ms 
 
points size 88881 
sort q time 5.595933 
seperate points time 13.526003 
mapping optimization time 131.700932 
filter time 10.333044 ms 
solver time 11.165462 ms 
data association time 15.462753 ms 
publication time 8.229346 ms 
whole laserOdometry time 60.417156 ms 
 
mapping data assosiation time 26.761464 ms 
sort q time 5.181464 
seperate points time 12.527578 
data association time 14.565438 ms 
mapping data assosiation time 27.628488 ms 
mapping solver time 15.227151 ms 
data association time 15.345213 ms 
solver time 8.982129 ms 
points size 86670 
build tree time 32.544357 ms 
mapping data assosiation time 27.787477 ms 
solver time 10.689142 ms 
data association time 14.920377 ms 
solver time 8.450012 ms 
optimization twice time 49.130630 
mapping solver time 17.763682 ms 
points size 85566 
filter time 10.862610 ms 
data association time 16.141078 ms 
solver time 10.833470 ms 
data association time 18.396697 ms 
publication time 7.303420 ms 
whole laserOdometry time 63.673615 ms 
 
mapping solver time 16.228401 ms 
sort q time 4.204974 
seperate points time 10.055982 
mapping solver time 13.929924 ms 
filter time 11.909074 ms 
data association time 15.511991 ms 
publication time 7.241296 ms 
whole laserOdometry time 58.329246 ms 
 
points size 83327 
sort q time 4.208429 
seperate points time 10.207385 
mapping solver time 18.682312 ms 
solver time 11.372214 ms 
mapping data assosiation time 29.175191 ms 
publication time 7.257968 ms 
whole laserOdometry time 58.584431 ms 
 
filter time 10.057877 ms 
points size 87019 
prepare time 13.779394 
sort q time 5.545444 
seperate points time 12.794104 
build tree time 32.349717 ms 
data association time 14.274344 ms 
solver time 11.580270 ms 
data association time 17.589149 ms 
optimization twice time 55.125234 
mapping data assosiation time 29.877535 ms 
mapping solver time 11.871865 ms 
scan registration time 29.582156 ms *************
map prepare time 4.054972 ms
map corner num 118423  surf num 46509 
data association time 15.569913 ms 
solver time 8.762152 ms 
build tree time 32.192106 ms 
data association time 15.285827 ms 
solver time 8.513721 ms 
optimization twice time 49.009335 
points size 89652 
prepare time 15.195244 
scan registration time 33.253418 ms *************
mapping data assosiation time 30.822428 ms 
solver time 13.742010 ms 
mapping solver time 26.110159 ms 
filter time 10.163183 ms 
publication time 8.696564 ms 
whole laserOdometry time 73.327635 ms 
 
sort q time 4.148430 
seperate points time 10.138845 
data association time 14.516768 ms 
data association time 15.079583 ms 
publication time 8.064176 ms 
whole laserOdometry time 52.024364 ms 
 
mapping data assosiation time 27.552581 ms 
points size 92786 
filter time 11.033878 ms 
data association time 14.141137 ms 
solver time 12.132683 ms 
data association time 15.333073 ms 
mapping data assosiation time 28.902346 ms 
mapping solver time 22.431142 ms 
sort q time 5.041834 
seperate points time 12.303956 
mapping data assosiation time 32.566672 ms 
solver time 10.417567 ms 
filter time 10.469763 ms 
solver time 8.633664 ms 
optimization twice time 51.250515 
build tree time 35.751269 ms 
sort q time 4.588680 
seperate points time 11.244710 
scan registration time 31.124793 ms *************
data association time 15.090258 ms 
solver time 11.798279 ms 
data association time 15.434149 ms 
mapping data assosiation time 35.274673 ms 
points size 93731 
filter time 11.115874 ms 
build tree time 21.865505 ms 
solver time 14.698640 ms 
data association time 24.118387 ms 
solver time 11.467484 ms 
sort q time 4.728651 
seperate points time 12.012494 
mapping solver time 17.222649 ms 
filter time 10.034907 ms 
solver time 15.314399 ms 
build tree time 24.043709 ms 
data association time 24.523959 ms 
publication time 10.680058 ms 
whole laserOdometry time 87.548887 ms 
 
mapping data assosiation time 35.367224 ms 
sort q time 4.671250 
seperate points time 11.938688 
scan registration time 31.033023 ms *************
mapping solver time 21.725856 ms 
data association time 24.374313 ms 
solver time 14.976754 ms 
mapping data assosiation time 32.118950 ms 
mapping solver time 22.677333 ms 
filter time 9.968494 ms 
sort q time 4.892976 
seperate points time 12.039306 
build tree time 24.108946 ms 
data association time 24.939143 ms 
solver time 14.946344 ms 
mapping solver time 25.533102 ms 
solver time 9.832429 ms 
publication time 10.247033 ms 
whole laserOdometry time 85.617945 ms 
 
mapping data assosiation time 39.810874 ms 
mapping solver time 20.518784 ms 
drop lidar frame in mapping for real time performance 
data association time 16.815119 ms 
publication time 9.764590 ms 
whole laserOdometry time 68.010052 ms 
 
mapping data assosiation time 32.870891 ms 
mapping solver time 24.299549 ms 
data association time 26.730249 ms 
solver time 17.575553 ms 
data association time 25.232032 ms 
solver time 11.429180 ms 
publication time 10.738302 ms 
whole laserOdometry time 92.807695 ms 
 
sort q time 5.744676 
seperate points time 14.841938 
scan registration time 34.860588 ms *************
build tree time 24.175378 ms 
solver time 10.253741 ms 
mapping data assosiation time 29.795028 ms 
data association time 15.994659 ms 
publication time 8.147965 ms 
whole laserOdometry time 59.715958 ms 
 
points size 96823 
sort q time 4.685983 
seperate points time 11.615863 
mapping solver time 17.431517 ms 
filter time 7.701211 ms 
data association time 15.019352 ms 
solver time 8.634348 ms 
publication time 9.235942 ms 
whole laserOdometry time 60.889693 ms 
 
points size 96760 
sort q time 5.541316 
seperate points time 14.294936 
mapping solver time 27.959194 ms 
data association time 16.137694 ms 
solver time 10.646936 ms 
data association time 15.176284 ms 
solver time 8.263766 ms 
publication time 10.362248 ms 
whole laserOdometry time 61.437655 ms 
 
points size 98768 
sort q time 5.723437 
seperate points time 14.581887 
data association time 15.306476 ms 
solver time 11.138572 ms 
mapping solver time 21.048278 ms 
solver time 7.947896 ms 
publication time 12.001284 ms 
whole laserOdometry time 63.485564 ms 
 
sort q time 6.425249 
seperate points time 15.132507 
filter time 10.123603 ms 
data association time 26.931720 ms 
solver time 18.085692 ms 
data association time 29.152691 ms 
solver time 13.714534 ms 
publication time 13.280102 ms 
whole laserOdometry time 102.371066 ms 
 
data association time 31.345332 ms 
solver time 14.436874 ms 
points size 98665 
map prepare time 4.350718 ms
map corner num 86946  surf num 36990 
sort q time 7.608104 
seperate points time 19.960773 
publication time 13.598563 ms 
whole laserOdometry time 104.509650 ms 
 
[33m[ WARN] [1718802614.515688845]: odometry process over 100ms[0m
scan registration time 43.151975 ms *************
data association time 28.754320 ms 
mapping data assosiation time 36.629486 ms 
points size 97853 
mapping solver time 30.006321 ms 
data association time 26.087043 ms 
solver time 12.625037 ms 
publication time 13.362272 ms 
whole laserOdometry time 94.780781 ms 
 
solver time 10.824305 ms 
sort q time 5.637063 
seperate points time 14.484186 
data association time 16.673295 ms 
solver time 9.704835 ms 
data association time 16.990422 ms 
solver time 8.154861 ms 
publication time 9.439694 ms 
whole laserOdometry time 61.776130 ms 
 
points size 96412 
sort q time 5.452804 add points time 0.910849 ms
filter time 12.824703 ms 
data association time 24.592795 ms 
data association time 15.957815 ms 
mapping data assosiation time 34.214211 ms 
mapping solver time 22.088871 ms 
data association time 15.891215 ms 
solver time 11.367622 ms 
mapping data assosiation time 32.384289 ms 
solver time 7.527414 ms 
optimization twice time 54.318680 
filter time 10.047041 ms 
sort q time 5.067592 
seperate points time 11.990148 
build tree time 26.267624 ms 
data association time 15.119700 ms 
mapping data assosiation time 34.308507 ms 
solver time 7.900657 ms 
mapping solver time 26.246741 ms 
points size 95115 
sort q time 4.315766 
seperate points time 10.276780 
mapping solver time 17.607145 ms 
solver time 10.461396 ms 
data association time 14.302884 ms 
publication time 8.482426 ms 
whole laserOdometry time 56.543196 ms 
 
points size 94134 
mapping data assosiation time 32.741047 ms 
mapping solver time 21.401018 ms 
solver time 9.750933 ms 
mapping data assosiation time 31.080779 ms 
solver time 7.792804 ms 
publication time 8.117639 ms 
whole laserOdometry time 56.783313 ms 
 
filter time 9.095167 ms 
scan registration time 28.870375 ms *************
build tree time 25.262741 ms 
data association time 19.259481 ms 
solver time 12.466830 ms 
data association time 14.697078 ms 
mapping solver time 24.349569 ms 
points size 90720 
mapping data assosiation time 33.537734 ms 
mapping solver time 15.378552 ms 
filter time 9.704005 ms 
solver time 11.968490 ms 
data association time 14.846059 ms 
publication time 7.811296 ms 
whole laserOdometry time 59.048193 ms 
 
points size 89010 
prepare time 13.971134 
mapping data assosiation time 29.071631 ms 
sort q time 5.158847 
seperate points time 12.128204 
mapping solver time 22.613366 ms 
data association time 15.254442 ms 
mapping data assosiation time 31.457896 ms 
solver time 7.933127 ms 
filter time 9.198478 ms 
points size 88843 
build tree time 25.809758 ms 
data association time 16.105361 ms 
data association time 14.351531 ms 
solver time 11.039582 ms 
mapping data assosiation time 29.778735 ms 
prepare time 14.039092 
sort q time 4.705990 
seperate points time 11.062655 
data association time 15.779882 ms 
data association time 13.816508 ms 
publication time 8.034529 ms 
whole laserOdometry time 55.237014 ms 
 
mapping solver time 20.862029 ms 
sort q time 4.615932 
seperate points time 10.873085 
mapping data assosiation time 27.093890 ms 
data association time 14.782184 ms 
mapping solver time 16.558200 ms 
mapping optimization time 121.448497 
add points time 0.749701 ms
map prepare time 2.919497 ms
map corner num 96196  surf num 41681 
data association time 14.841322 ms 
publication time 7.406262 ms 
whole laserOdometry time 57.772240 ms 
 
points size 88380 
sort q time 5.379862 
seperate points time 12.491424 
mapping solver time 22.359256 ms 
solver time 7.574825 ms 
mapping data assosiation time 28.179090 ms 
data association time 15.615617 ms 
mapping solver time 16.732849 ms 
filter time 10.291546 ms 
points size 88682 
sort q time 4.492916 
seperate points time 10.611139 
data association time 14.662852 ms 
mapping solver time 20.419717 ms 
publication time 7.670923 ms 
whole laserOdometry time 53.689384 ms 
 
mapping data assosiation time 29.915914 ms 
points size 89315 
mapping solver time 22.682937 ms 
scan registration time 35.837267 ms *************
filter time 11.640577 ms 
mapping pub time 1.076076 ms 
whole mapping time 145.877781 ms +++++
data association time 22.836214 ms 
solver time 14.895702 ms 
data association time 26.282805 ms 
prepare time 14.823409 
sort q time 4.762742 
seperate points time 11.293513 
data association time 26.185911 ms 
solver time 16.695279 ms 
mapping optimization time 149.080194 
filter time 10.831378 ms 
points size 88569 
sort q time 5.059140 
seperate points time 11.882998 
build tree time 35.602739 ms 
data association time 25.193848 ms 
mapping data assosiation time 31.710691 ms 
data association time 22.675913 ms 
solver time 12.844092 ms 
optimization twice time 74.982762 
points size 88082 
sort q time 4.306366 
seperate points time 10.580197 
mapping data assosiation time 30.775938 ms 
scan registration time 28.781160 ms *************
mapping optimization time 142.912637 
drop lidar frame in mapping for real time performance 
solver time 10.113397 ms 
data association time 14.467891 ms 
points size 83131 
mapping data assosiation time 25.338634 ms 
sort q time 4.419762 
seperate points time 10.377166 
data association time 25.376237 ms 
solver time 12.323803 ms 
mapping solver time 22.021940 ms 
data association time 22.272613 ms 
solver time 12.046767 ms 
scan registration time 28.878162 ms *************
data association time 13.671236 ms 
mapping data assosiation time 25.271573 ms 
solver time 11.292215 ms 
mapping solver time 19.424554 ms 
solver time 8.858983 ms 
optimization twice time 49.431427 
mapping data assosiation time 27.475749 ms 
prepare time 13.439643 
mapping solver time 15.533610 ms 
mapping optimization time 120.689342 
add points time 0.719195 ms
drop lidar frame in mapping for real time performance 
data association time 14.698159 ms 
solver time 10.848191 ms 
build tree time 29.513494 ms 
solver time 8.441083 ms 
mapping data assosiation time 27.295910 ms 
mapping solver time 17.219341 ms 
sort q time 5.063814 
seperate points time 12.120478 
mapping solver time 20.320776 ms 
filter time 14.032296 ms 
data association time 21.715486 ms 
solver time 11.147906 ms 
points size 81701 
prepare time 19.664327 
sort q time 5.332953 
seperate points time 13.335389 
mapping solver time 17.680294 ms 
data association time 21.694471 ms 
solver time 14.808561 ms 
mapping solver time 16.551029 ms 
filter time 10.496625 ms 
prepare time 15.423067 
publication time 9.479858 ms 
whole laserOdometry time 81.483580 ms 
 
build tree time 28.510242 ms 
data association time 21.912369 ms 
solver time 15.198046 ms 
data association time 22.163478 ms 
solver time 11.334285 ms 
mapping optimization time 112.539504 
scan registration time 31.271656 ms *************
data association time 14.756345 ms 
solver time 13.643453 ms 
mapping data assosiation time 24.309391 ms 
solver time 10.632014 ms 
points size 81661 
prepare time 19.157966 
sort q time 4.965985 
seperate points time 12.614856 
mapping optimization time 113.958986 
filter time 8.875305 ms 
[0m[ INFO] [1718802617.344745864]: Received 2245577 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802617.344781044]: Data saved to 1317358161265094.pcd[0m
build tree time 26.200003 ms 
solver time 7.822717 ms 
mapping data assosiation time 27.317550 ms 
prepare time 18.041766 
mapping solver time 22.334598 ms 
mapping data assosiation time 22.710407 ms 
solver time 8.650409 ms 
filter time 7.537905 ms 
solver time 8.137966 ms 
publication time 8.380445 ms 
whole laserOdometry time 54.491811 ms 
 
points size 84182 
sort q time 5.933203 
seperate points time 14.561147 
data association time 14.409342 ms 
solver time 11.191825 ms 
data association time 21.877747 ms 
solver time 9.674748 ms 
points size 88457 
mapping pub time 160.349349 ms 
whole mapping time 285.237785 ms +++++
build tree time 30.497560 ms 
mapping data assosiation time 21.883015 ms 
mapping solver time 16.567282 ms 
points size 88673 
mapping data assosiation time 26.348289 ms 
scan registration time 34.291194 ms *************
filter time 8.173732 ms 
data association time 15.982389 ms 
solver time 11.624469 ms 
data association time 17.964815 ms 
optimization twice time 57.015559 
publication time 11.042416 ms 
whole laserOdometry time 68.079186 ms 
 
mapping solver time 22.275657 ms 
mapping data assosiation time 27.580527 ms 
data association time 24.191157 ms 
mapping solver time 21.889566 ms 
filter time 10.204549 ms 
data association time 22.953887 ms 
solver time 11.039339 ms 
publication time 10.475120 ms 
whole laserOdometry time 81.479469 ms 
 
sort q time 7.470597 
seperate points time 18.096317 
mapping solver time 20.017133 ms 
data association time 23.881237 ms 
solver time 13.455049 ms 
mapping solver time 18.026445 ms 
prepare time 17.339821 
sort q time 5.384851 
seperate points time 12.818488 
build tree time 29.865500 ms 
data association time 24.581944 ms 
mapping data assosiation time 28.711030 ms 
mapping solver time 21.973126 ms 
prepare time 14.440002 
sort q time 4.716062 
seperate points time 11.409841 
mapping solver time 18.894821 ms 
filter time 10.118805 ms 
mapping pub time 1.366506 ms 
whole mapping time 147.327478 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.462345 ms
map corner num 91160  surf num 38237 
solver time 15.311413 ms 
data association time 22.858476 ms 
solver time 12.712849 ms 
prepare time 16.189975 
mapping data assosiation time 29.275332 ms 
mapping solver time 16.731456 ms 
data association time 25.668610 ms 
mapping data assosiation time 29.665615 ms 
mapping solver time 15.220423 ms 
filter time 10.272963 ms 
points size 89182 
sort q time 4.959148 
seperate points time 11.878847 
mapping data assosiation time 29.284199 ms 
data association time 26.039829 ms 
solver time 12.951959 ms 
mapping solver time 24.069562 ms 
data association time 24.223539 ms 
points size 89769 
sort q time 4.447331 
seperate points time 10.556259 
mapping solver time 22.067228 ms 
filter time 10.128315 ms 
solver time 10.925090 ms 
build tree time 32.461319 ms 
solver time 13.241911 ms 
publication time 11.560407 ms 
whole laserOdometry time 84.722153 ms 
 
sort q time 5.714837 
seperate points time 13.684058 
scan registration time 33.604845 ms *************
mapping solver time 18.526366 ms 
mapping data assosiation time 30.304256 ms 
solver time 12.400287 ms 
mapping solver time 21.429763 ms 
mapping optimization time 134.445990 
add points time 0.921642 ms
filter time 10.644887 ms 
solver time 11.497019 ms 
sort q time 5.475732 
seperate points time 13.435968 
mapping data assosiation time 29.508846 ms 
solver time 16.102466 ms 
data association time 16.163536 ms 
solver time 10.673771 ms 
publication time 11.347364 ms 
whole laserOdometry time 81.576081 ms 
 
filter time 8.552399 ms 
data association time 17.636718 ms 
solver time 8.879297 ms 
build tree time 28.546333 ms 
solver time 8.974317 ms 
mapping data assosiation time 30.854293 ms 
prepare time 15.214639 
sort q time 5.616110 
seperate points time 20.137090 
mapping data assosiation time 26.529937 ms 
mapping solver time 13.350169 ms 
filter time 9.707408 ms 
data association time 16.850988 ms 
build tree time 28.098874 ms 
sort q time 5.100907 
seperate points time 11.996039 
mapping solver time 21.033266 ms 
data association time 29.656598 ms 
mapping data assosiation time 34.188300 ms 
data association time 17.340664 ms 
points size 90672 
sort q time 6.332708 
seperate points time 15.104709 
build tree time 27.581706 ms 
data association time 16.713670 ms 
solver time 11.959190 ms 
data association time 17.987155 ms 
solver time 10.525293 ms 
publication time 11.035745 ms 
whole laserOdometry time 69.177152 ms 
 
sort q time 4.392608 
seperate points time 10.966950 
filter time 9.713974 ms 
data association time 18.991521 ms 
build tree time 27.248502 ms 
data association time 18.350750 ms 
solver time 10.541566 ms 
points size 92202 
prepare time 15.344724 
sort q time 5.242955 
seperate points time 12.775292 
mapping data assosiation time 27.320782 ms 
mapping solver time 15.073526 ms 
filter time 11.559440 ms 
solver time 8.171376 ms 
build tree time 27.810109 ms 
prepare time 15.246195 
sort q time 4.958254 
seperate points time 12.393558 
scan registration time 30.908878 ms *************
mapping data assosiation time 28.215170 ms 
mapping solver time 20.244880 ms 
solver time 11.613634 ms 
mapping data assosiation time 29.388222 ms 
solver time 8.473225 ms 
publication time 9.709250 ms 
whole laserOdometry time 61.892994 ms 
 
drop lidar frame in mapping for real time performance 
sort q time 4.415451 
seperate points time 11.173651 
build tree time 28.082008 ms 
data association time 15.136948 ms 
solver time 11.226964 ms 
mapping solver time 15.184343 ms 
solver time 8.218722 ms 
optimization twice time 51.159451 
points size 93645 
mapping solver time 15.791101 ms 
filter time 10.558849 ms 
data association time 15.464512 ms 
solver time 13.453990 ms 
data association time 18.235153 ms 
solver time 10.630909 ms 
points size 93963 
sort q time 4.562333 
seperate points time 10.859427 
scan registration time 31.174657 ms *************
mapping data assosiation time 29.345436 ms 
mapping solver time 15.253660 ms 
filter time 10.419141 ms 
solver time 9.190158 ms 
build tree time 27.128224 ms 
sort q time 5.251781 
seperate points time 11.866776 
mapping solver time 15.972997 ms 
solver time 13.256641 ms 
mapping data assosiation time 30.527244 ms 
solver time 8.225728 ms 
publication time 10.536306 ms 
whole laserOdometry time 64.560121 ms 
 
points size 96747 
sort q time 4.603677 
seperate points time 11.139976 
build tree time 26.251270 ms 
data association time 16.063888 ms 
solver time 11.622273 ms 
data association time 15.779784 ms 
publication time 8.374987 ms 
whole laserOdometry time 61.233570 ms 
 
mapping data assosiation time 29.420630 ms 
mapping solver time 18.034400 ms 
filter time 10.324838 ms 
data association time 15.874016 ms 
solver time 10.943638 ms 
data association time 14.853137 ms 
publication time 9.633279 ms 
whole laserOdometry time 60.857096 ms 
 
points size 92543 
sort q time 4.861123 
seperate points time 11.779376 
mapping data assosiation time 27.252001 ms 
solver time 9.896955 ms 
filter time 12.060456 ms 
data association time 14.773430 ms 
publication time 8.172525 ms 
whole laserOdometry time 57.515006 ms 
 
points size 92617 
sort q time 4.198108 
seperate points time 10.332420 
mapping data assosiation time 29.435448 ms 
data association time 21.138660 ms 
mapping solver time 21.867905 ms 
data association time 16.564016 ms 
solver time 8.819467 ms 
publication time 8.862259 ms 
whole laserOdometry time 66.666723 ms 
 
mapping solver time 17.779815 ms 
filter time 11.720705 ms 
scan registration time 30.727989 ms *************
data association time 15.731984 ms 
build tree time 28.850463 ms 
data association time 14.912977 ms 
publication time 8.431230 ms 
whole laserOdometry time 60.867667 ms 
 
points size 88164 
prepare time 13.754584 
sort q time 4.604771 
seperate points time 11.119616 
mapping solver time 14.001286 ms 
filter time 9.836335 ms 
data association time 14.365474 ms 
publication time 7.682194 ms 
whole laserOdometry time 55.143026 ms 
 
points size 87436 
sort q time 4.589966 
seperate points time 11.355560 
data association time 14.871143 ms 
data association time 13.629791 ms 
publication time 7.544296 ms 
whole laserOdometry time 55.393907 ms 
 
mapping pub time 157.611603 ms 
whole mapping time 294.337128 ms +++++
prepare time 19.094541 
sort q time 5.788664 
seperate points time 14.562188 
data association time 15.001093 ms 
mapping data assosiation time 28.224775 ms 
data association time 14.726437 ms 
publication time 7.624875 ms 
whole laserOdometry time 57.313318 ms 
 
points size 87548 
sort q time 4.243935 
seperate points time 10.265271 
filter time 7.819924 ms 
data association time 15.412506 ms 
solver time 10.754451 ms 
data association time 14.257205 ms 
solver time 10.628243 ms 
mapping solver time 18.485179 ms 
scan registration time 27.451958 ms *************
mapping solver time 22.514813 ms 
mapping optimization time 114.652047 
add points time 0.753245 ms
data association time 20.947777 ms 
map prepare time 3.507195 ms
map corner num 81851  surf num 35693 
data association time 21.150917 ms 
solver time 16.389302 ms 
publication time 11.433088 ms 
whole laserOdometry time 86.404553 ms 
 
scan registration time 30.977165 ms *************
mapping solver time 21.394881 ms 
solver time 11.431393 ms 
mapping data assosiation time 31.784070 ms 
data association time 15.815151 ms 
solver time 9.141538 ms 
optimization twice time 52.969853 
filter time 9.175145 ms 
sort q time 5.303143 
seperate points time 13.129731 
scan registration time 29.988403 ms *************
data association time 21.905338 ms 
mapping data assosiation time 30.151252 ms 
mapping solver time 21.759743 ms 
solver time 13.009397 ms 
publication time 12.542587 ms 
whole laserOdometry time 89.328280 ms 
 
mapping solver time 19.712438 ms 
filter time 9.220103 ms 
solver time 11.847451 ms 
data association time 13.859203 ms 
publication time 8.158788 ms 
whole laserOdometry time 62.097660 ms 
 
sort q time 3.325844 
seperate points time 8.232987 
data association time 14.609956 ms 
solver time 11.362421 ms 
mapping optimization time 116.111297 
mapping pub time 2.084981 ms 
whole mapping time 131.985239 ms +++++
publication time 6.908430 ms 
whole laserOdometry time 64.709610 ms 
 
build tree time 23.977815 ms 
sort q time 3.529901 
seperate points time 8.678322 
mapping data assosiation time 30.782952 ms 
solver time 10.462408 ms 
data association time 13.693037 ms 
publication time 7.434690 ms 
whole laserOdometry time 54.179595 ms 
 
mapping solver time 19.057495 ms 
filter time 8.682399 ms 
scan registration time 28.112948 ms *************
build tree time 26.601455 ms 
solver time 10.744479 ms 
mapping data assosiation time 32.726371 ms 
solver time 11.903834 ms 
points size 78644 
sort q time 3.831607 
seperate points time 9.714286 
data association time 14.910140 ms 
solver time 12.097925 ms 
data association time 22.657274 ms 
publication time 10.552419 ms 
whole laserOdometry time 73.967885 ms 
 
prepare time 16.206955 
scan registration time 29.396456 ms *************
data association time 15.184343 ms 
data association time 13.271246 ms 
publication time 7.009965 ms 
whole laserOdometry time 50.553785 ms 
 
mapping solver time 21.266683 ms 
points size 86321 
sort q time 4.455873 
seperate points time 11.064323 
build tree time 26.153038 ms 
solver time 7.911493 ms 
data association time 14.081188 ms 
publication time 8.186566 ms 
whole laserOdometry time 53.071123 ms 
 
points size 90314 
mapping data assosiation time 29.008048 ms 
mapping solver time 22.776022 ms 
filter time 10.187574 ms 
solver time 11.455348 ms 
data association time 23.042842 ms 
solver time 13.221578 ms 
points size 93555 
mapping data assosiation time 32.557651 ms 
sort q time 5.362085 
seperate points time 12.822684 
mapping solver time 23.757742 ms 
data association time 25.363141 ms 
mapping data assosiation time 32.617302 ms 
mapping solver time 21.077845 ms 
solver time 10.186104 ms 
prepare time 19.601507 
sort q time 5.748758 
seperate points time 14.528235 
data association time 14.940483 ms 
solver time 7.948893 ms 
data association time 15.648091 ms 
mapping solver time 18.692321 ms 
mapping data assosiation time 27.506698 ms 
mapping solver time 16.007780 ms 
scan registration time 37.047624 ms *************
map prepare time 4.313642 ms
map corner num 89656  surf num 38878 
data association time 16.903586 ms 
solver time 8.673246 ms 
data association time 18.312249 ms 
optimization twice time 54.150234 
publication time 10.655945 ms 
whole laserOdometry time 64.823322 ms 
 
points size 98117 
sort q time 5.634006 
seperate points time 14.264859 
data association time 15.180968 ms 
solver time 11.104988 ms 
map prepare time 3.230049 ms
map corner num 90305  surf num 39171 
data association time 18.180932 ms 
publication time 9.654033 ms 
whole laserOdometry time 62.680186 ms 
 
prepare time 20.394655 
scan registration time 38.767831 ms *************
mapping solver time 19.870230 ms 
solver time 10.511450 ms 
mapping data assosiation time 28.430071 ms 
solver time 8.298014 ms 
points size 94685 
sort q time 4.653543 
seperate points time 11.550790 
build tree time 23.064166 ms 
data association time 15.570606 ms 
solver time 9.058663 ms 
data association time 20.799606 ms 
solver time 10.315179 ms 
publication time 10.847181 ms 
whole laserOdometry time 67.455532 ms 
 
points size 93967 
mapping data assosiation time 30.165806 ms 
mapping solver time 20.260457 ms 
filter time 8.786701 ms 
solver time 9.434277 ms 
build tree time 23.609674 ms 
solver time 7.075595 ms 
points size 92338 
sort q time 4.558261 
seperate points time 11.524551 
data association time 16.064289 ms 
mapping data assosiation time 30.859302 ms 
data association time 16.698668 ms 
filter time 8.726272 ms 
points size 89922 
build tree time 25.350762 ms 
data association time 14.980421 ms 
solver time 13.586231 ms 
data association time 18.349332 ms 
optimization twice time 58.498544 
publication time 10.815554 ms 
whole laserOdometry time 69.336577 ms 
 
mapping solver time 13.777447 ms 
mapping pub time 1.141269 ms 
whole mapping time 133.591734 ms +++++
build tree time 25.164410 ms 
solver time 10.862530 ms 
mapping data assosiation time 28.654223 ms 
solver time 8.356360 ms 
publication time 8.345672 ms 
whole laserOdometry time 59.370687 ms 
 
points size 85457 
sort q time 4.854981 
seperate points time 12.005454 
mapping solver time 15.821570 ms 
filter time 10.750522 ms 
mapping pub time 1.142907 ms 
whole mapping time 142.653891 ms +++++
solver time 11.069661 ms 
map prepare time 3.208695 ms
map corner num 61696  surf num 27260 
data association time 15.950394 ms 
solver time 11.862644 ms 
publication time 9.477735 ms 
whole laserOdometry time 65.055828 ms 
 
prepare time 15.155034 
sort q time 4.594384 
seperate points time 10.999733 
mapping solver time 20.390981 ms 
data association time 15.848447 ms 
solver time 11.755274 ms 
mapping data assosiation time 29.802944 ms 
mapping solver time 14.735747 ms 
filter time 8.449908 ms 
mapping pub time 1.411263 ms 
whole mapping time 133.062537 ms +++++
build tree time 22.910063 ms prepare time 26.632864 
sort q time 5.785705 
seperate points time 14.592672 
mapping solver time 19.992204 ms 
data association time 24.783452 ms 
solver time 12.405232 ms 
data association time 17.079408 ms 
mapping optimization time 125.966816 
map prepare time 2.750969 ms
map corner num 63104  surf num 27848 
build tree time 18.118923 ms 
data association time 16.022105 ms 
solver time 11.446239 ms 
data association time 16.195162 ms 
solver time 9.146018 ms 
publication time 10.219510 ms 
whole laserOdometry time 63.966096 ms 
 
points size 90284 
mapping data assosiation time 31.125855 ms 
sort q time 5.105840 
seperate points time 13.149404 
mapping solver time 18.376834 ms 
filter time 8.013966 ms 
solver time 8.844275 ms 
data association time 15.958076 ms 
solver time 8.123021 ms 
publication time 9.810949 ms 
whole laserOdometry time 60.739527 ms 
 
points size 90037 
prepare time 18.192780 
sort q time 5.057004 
seperate points time 12.543422 
data association time 15.128060 ms 
solver time 10.692535 ms 
data association time 15.721966 ms 
solver time 11.888725 ms 
map prepare time 3.600861 ms
map corner num 63781  surf num 28172 
points size 89010 
build tree time 22.968835 ms 
mapping data assosiation time 30.072124 ms 
solver time 11.117238 ms 
data association time 15.731589 ms 
optimization twice time 51.930325 
points size 88480 
mapping solver time 17.241332 ms 
map prepare time 2.988940 ms
map corner num 64422  surf num 28470 
data association time 14.948694 ms 
solver time 18.130187 ms 
mapping data assosiation time 32.154684 ms 
publication time 7.910280 ms 
whole laserOdometry time 66.051400 ms 
 
points size 89378 
prepare time 17.786172 
sort q time 5.043826 
seperate points time 12.444471 
mapping data assosiation time 31.727262 ms 
mapping solver time 16.845944 ms 
filter time 8.939227 ms 
data association time 19.106067 ms 
publication time 8.319367 ms 
whole laserOdometry time 63.071806 ms 
 
points size 90079 
sort q time 5.833014 
seperate points time 14.063347 
data association time 13.514578 ms 
solver time 12.829662 ms 
data association time 16.740146 ms 
filter time 6.310518 ms 
publication time 11.205201 ms 
whole laserOdometry time 65.897406 ms 
 
prepare time 14.805705 
sort q time 4.710566 
seperate points time 11.230342 
mapping data assosiation time 29.291312 ms 
solver time 9.643685 ms 
data association time 16.044003 ms 
publication time 9.509072 ms 
whole laserOdometry time 57.482561 ms 
 
points size 87110 
filter time 6.955078 ms 
build tree time 18.455533 ms 
data association time 20.805992 ms 
solver time 11.056644 ms 
mapping data assosiation time 30.860022 ms 
mapping solver time 12.774959 ms 
points size 84326 
mapping solver time 10.303309 ms 
mapping pub time 2.598724 ms 
whole mapping time 122.163642 ms +++++
data association time 21.611597 ms 
build tree time 23.337461 ms 
solver time 15.337124 ms 
data association time 23.823327 ms 
solver time 12.859944 ms 
publication time 10.298333 ms 
whole laserOdometry time 85.092911 ms 
 
mapping solver time 29.334288 ms 
data association time 15.127047 ms 
solver time 14.800209 ms 
mapping solver time 18.138288 ms 
mapping pub time 1.089277 ms 
whole mapping time 154.331193 ms +++++
publication time 9.225952 ms 
whole laserOdometry time 66.481290 ms 
 
build tree time 20.438646 ms 
sort q time 3.594008 
seperate points time 8.873561 
scan registration time 26.939878 ms *************
mapping data assosiation time 31.284061 ms 
solver time 12.722942 ms 
data association time 14.854578 ms 
publication time 7.601825 ms 
whole laserOdometry time 61.248711 ms 
 
points size 81886 
mapping pub time 1.115686 ms 
whole mapping time 135.442849 ms +++++
build tree time 19.785062 ms 
solver time 17.963230 ms 
data association time 20.995601 ms 
solver time 12.021301 ms 
prepare time 14.885500 
sort q time 4.299674 
seperate points time 10.788428 
mapping solver time 19.264427 ms 
filter time 7.388208 ms 
solver time 17.794802 ms 
build tree time 17.265809 ms 
data association time 21.190503 ms 
solver time 15.687190 ms 
mapping solver time 23.887052 ms 
data association time 13.269106 ms 
solver time 13.547266 ms 
mapping solver time 20.846215 ms 
filter time 7.506853 ms 
publication time 7.715148 ms 
whole laserOdometry time 62.092951 ms 
 
points size 87559 
sort q time 3.859251 
seperate points time 9.289341 
mapping data assosiation time 29.158829 ms 
data association time 14.406153 ms 
solver time 15.880521 ms 
data association time 16.773254 ms 
publication time 9.436172 ms 
whole laserOdometry time 65.581613 ms 
 
filter time 7.760694 ms 
build tree time 19.520931 ms 
data association time 13.197891 ms 
solver time 13.299739 ms 
mapping data assosiation time 29.712026 ms 
optimization twice time 58.202402 
points size 89941 
scan registration time 30.355594 ms *************
mapping data assosiation time 30.775289 ms 
mapping solver time 20.536300 ms 
filter time 8.885665 ms 
solver time 15.224720 ms 
build tree time 25.564534 ms 
solver time 12.873799 ms 
publication time 12.109570 ms 
whole laserOdometry time 85.175914 ms 
 
mapping solver time 22.732080 ms 
data association time 26.041111 ms 
solver time 17.445249 ms 
mapping solver time 22.784883 ms 
mapping pub time 1.492531 ms 
whole mapping time 161.655415 ms +++++
sort q time 5.682109 
seperate points time 14.976413 
build tree time 27.430697 ms 
data association time 28.681860 ms 
mapping data assosiation time 39.742979 ms 
points size 93376 
solver time 12.819683 ms 
publication time 12.330229 ms 
whole laserOdometry time 99.395271 ms 
 
mapping data assosiation time 39.076752 ms 
data association time 26.202467 ms 
mapping solver time 24.002014 ms 
mapping optimization time 161.521564 
add points time 0.862313 ms
solver time 15.511325 ms 
mapping pub time 1.537884 ms 
whole mapping time 177.838887 ms +++++
data association time 24.875137 ms 
optimization twice time 78.735863 
publication time 11.851843 ms 
whole laserOdometry time 90.608914 ms 
 
mapping data assosiation time 37.790091 ms 
solver time 15.615693 ms 
data association time 26.810269 ms 
solver time 13.152039 ms 
sort q time 5.353263 
seperate points time 13.405935 
mapping solver time 24.609895 ms 
mapping optimization time 159.555211 
add points time 0.893176 ms
map prepare time 3.763929 ms
map corner num 75040  surf num 34103 
data association time 24.445082 ms 
solver time 14.544950 ms 
build tree time 26.005536 ms 
data association time 25.683876 ms 
prepare time 16.673396 
solver time 14.007630 ms 
optimization twice time 79.727583 
scan registration time 34.912298 ms *************
mapping solver time 27.994458 ms 
data association time 25.495871 ms 
mapping data assosiation time 38.017405 ms 
data association time 25.750543 ms 
mapping optimization time 156.853238 
filter time 9.196876 ms 
build tree time 24.642293 ms 
data association time 25.835770 ms 
solver time 17.057776 ms 
mapping data assosiation time 38.221807 ms 
data association time 26.165442 ms 
solver time 12.364915 ms 
scan registration time 34.012135 ms *************
mapping data assosiation time 39.790122 ms 
solver time 15.805300 ms 
filter time 8.951478 ms 
data association time 24.965086 ms 
solver time 11.229553 ms 
build tree time 27.841181 ms 
data association time 15.465824 ms 
solver time 13.015257 ms 
mapping solver time 17.864497 ms 
solver time 7.963178 ms 
mapping data assosiation time 33.170539 ms 
mapping solver time 14.782112 ms 
scan registration time 33.880675 ms *************
map prepare time 3.786466 ms
map corner num 77637  surf num 35258 
data association time 15.730246 ms 
build tree time 24.300644 ms 
data association time 23.932554 ms 
publication time 11.000131 ms 
whole laserOdometry time 70.977211 ms 
 
mapping solver time 22.334939 ms 
data association time 15.006757 ms 
solver time 16.174033 ms 
filter time 9.620700 ms 
publication time 9.469016 ms 
whole laserOdometry time 65.097288 ms 
 
build tree time 25.364170 ms 
sort q time 5.340509 
seperate points time 13.396363 
mapping data assosiation time 34.940589 ms 
data association time 15.762787 ms 
solver time 10.085085 ms 
data association time 15.767074 ms 
solver time 8.196517 ms 
mapping data assosiation time 38.997270 ms 
sort q time 4.893580 
seperate points time 12.038329 
mapping pub time 1.389491 ms 
whole mapping time 159.279565 ms +++++
data association time 15.738781 ms 
solver time 12.363091 ms 
data association time 16.093262 ms 
mapping data assosiation time 33.425542 ms 
points size 98382 
sort q time 5.495215 
seperate points time 13.612347 
mapping data assosiation time 31.032446 ms 
solver time 11.442256 ms 
filter time 8.436782 ms 
publication time 10.901155 ms 
whole laserOdometry time 66.917752 ms 
 
points size 97022 
sort q time 5.628574 
seperate points time 14.381794 
data association time 15.625285 ms 
solver time 13.537647 ms 
data association time 16.223550 ms 
solver time 12.055143 ms 
points size 96518 
sort q time 5.643419 
seperate points time 14.795365 
data association time 23.065820 ms 
build tree time 25.884001 ms 
data association time 15.035456 ms 
optimization twice time 61.201489 
points size 96121 
prepare time 18.990374 
sort q time 5.684280 
seperate points time 14.441761 
scan registration time 37.497876 ms *************
data association time 15.141002 ms 
mapping solver time 19.050197 ms 
filter time 10.124667 ms 
publication time 9.615831 ms 
whole laserOdometry time 60.060522 ms 
 
points size 96026 
sort q time 5.500587 
seperate points time 14.018548 
mapping data assosiation time 35.432116 ms 
solver time 11.100439 ms 
mapping solver time 24.763814 ms 
data association time 16.739090 ms 
publication time 10.393994 ms 
whole laserOdometry time 63.419429 ms 
 
mapping data assosiation time 34.502331 ms 
sort q time 5.643157 
seperate points time 13.842421 
filter time 8.504681 ms 
data association time 16.929467 ms 
build tree time 20.343472 ms 
data association time 16.394307 ms 
mapping data assosiation time 35.438949 ms 
prepare time 15.570230 
mapping solver time 24.142580 ms 
data association time 16.179271 ms 
mapping data assosiation time 36.181176 ms 
solver time 12.980705 ms 
mapping solver time 16.765029 ms 
solver time 8.199647 ms 
filter time 9.961542 ms 
optimization twice time 54.993035 
mapping pub time 1.250821 ms 
whole mapping time 150.789639 ms +++++
map prepare time 3.629399 ms
map corner num 82935  surf num 37901 
points size 96977 
sort q time 5.888584 
seperate points time 14.211427 
data association time 15.293827 ms 
solver time 12.745014 ms 
mapping solver time 23.316899 ms 
solver time 14.524582 ms 
publication time 9.816147 ms 
whole laserOdometry time 73.471312 ms 
 
points size 98012 
mapping data assosiation time 46.803529 ms 
sort q time 6.208018 
seperate points time 15.863483 
mapping solver time 28.102211 ms 
filter time 10.738040 ms 
data association time 32.390632 ms build tree time 32.096059 ms 
points size 99211 
data association time 30.463029 ms 
solver time 13.238081 ms 
mapping data assosiation time 44.758253 ms 
optimization twice time 102.482920 
mapping solver time 33.737659 ms 
solver time 11.069497 ms 
data association time 16.479656 ms 
points size 100401 
solver time 8.427184 ms 
optimization twice time 58.250186 
prepare time 22.362932 
mapping data assosiation time 42.355585 ms 
sort q time 6.106789 
seperate points time 15.839950 
mapping solver time 27.744572 ms 
filter time 8.470352 ms 
solver time 10.638992 ms 
build tree time 21.351513 ms 
solver time 8.305509 ms 
points size 101103 
prepare time 18.473217 
mapping data assosiation time 43.041533 ms 
mapping solver time 28.808716 ms 
solver time 12.594615 ms 
data association time 16.166279 ms 
solver time 9.480375 ms 
publication time 11.733626 ms 
whole laserOdometry time 66.542007 ms 
 
mapping solver time 30.141731 ms 
mapping optimization time 160.417660 
add points time 0.734292 ms
sort q time 5.224811 
seperate points time 12.706691 
map prepare time 3.384982 ms
map corner num 76699  surf num 35539 
data association time 16.520921 ms 
solver time 12.010444 ms 
data association time 15.796806 ms 
solver time 10.146932 ms 
publication time 10.005832 ms 
whole laserOdometry time 65.290526 ms 
 
points size 99946 
sort q time 4.712385 
seperate points time 11.558517 
mapping data assosiation time 33.658207 ms 
solver time 14.212766 ms 
filter time 13.626334 ms 
optimization twice time 63.647241 
prepare time 13.607930 
sort q time 5.250821 
seperate points time 12.278354 
data association time 17.328032 ms 
solver time 13.590662 ms 
data association time 15.992453 ms 
mapping solver time 31.825681 ms 
publication time 8.948019 ms 
whole laserOdometry time 68.092902 ms 
 
points size 96879 
mapping data assosiation time 40.642560 ms 
mapping solver time 23.393126 ms 
filter time 8.813159 ms 
data association time 15.817551 ms 
solver time 11.217585 ms 
publication time 11.319601 ms 
whole laserOdometry time 69.023140 ms 
 
prepare time 15.575244 
sort q time 4.876805 
seperate points time 11.587006 
mapping solver time 27.712166 ms 
data association time 26.151317 ms 
data association time 16.043603 ms 
solver time 10.493440 ms 
data association time 16.283542 ms 
solver time 8.453991 ms 
mapping solver time 28.834548 ms 
sort q time 5.491755 
seperate points time 13.021521 
mapping data assosiation time 41.021502 ms 
data association time 17.464536 ms 
mapping solver time 25.076003 ms 
filter time 9.089958 ms 
publication time 9.881820 ms 
whole laserOdometry time 65.409090 ms 
 
points size 92743 
scan registration time 32.415001 ms *************
mapping data assosiation time 35.047715 ms 
data association time 20.077606 ms 
solver time 11.275242 ms 
data association time 16.072942 ms 
optimization twice time 58.609758 
points size 92435 
sort q time 6.405328 
seperate points time 15.634736 
mapping solver time 30.576840 ms 
filter time 13.520478 ms 
solver time 12.292629 ms 
build tree time 23.654075 ms 
solver time 8.769400 ms 
publication time 11.194105 ms 
whole laserOdometry time 72.827446 ms 
 
sort q time 6.106843 
seperate points time 15.997867 
data association time 15.918292 ms 
solver time 14.085043 ms 
data association time 18.295498 ms 
solver time 13.723156 ms 
publication time 11.233300 ms 
whole laserOdometry time 74.316790 ms 
 
add points time 0.758786 ms
sort q time 5.647087 
seperate points time 13.773614 
data association time 16.190158 ms 
build tree time 23.535663 ms 
data association time 15.708554 ms 
mapping data assosiation time 35.510141 ms 
solver time 8.100606 ms 
optimization twice time 54.813661 
publication time 10.189358 ms 
whole laserOdometry time 65.025736 ms 
 
prepare time 14.338105 
sort q time 5.334325 
seperate points time 13.125899 
data association time 14.686406 ms 
solver time 15.247645 ms 
mapping data assosiation time 40.581254 ms 
data association time 16.129478 ms 
mapping solver time 26.740913 ms 
solver time 10.368228 ms 
filter time 8.696096 ms 
points size 90371 
sort q time 4.166811 
seperate points time 10.065737 
data association time 14.491666 ms 
mapping data assosiation time 35.705502 ms 
data association time 16.829200 ms 
mapping solver time 27.087809 ms 
publication time 8.718714 ms 
whole laserOdometry time 61.981962 ms 
 
points size 90556 
sort q time 5.081851 
seperate points time 11.847118 
mapping solver time 22.960952 ms 
filter time 7.996522 ms 
solver time 17.728557 ms 
build tree time 24.529566 ms 
data association time 24.190849 ms 
prepare time 13.780329 
sort q time 4.991881 
seperate points time 11.793723 
mapping solver time 24.408778 ms 
data association time 24.744907 ms 
solver time 17.821371 ms 
mapping data assosiation time 34.896829 ms 
data association time 24.756140 ms 
mapping solver time 27.578412 ms 
filter time 11.051805 ms 
build tree time 21.933182 ms 
data association time 25.078465 ms 
solver time 14.728495 ms 
mapping data assosiation time 40.657643 ms 
data association time 24.897076 ms 
prepare time 17.228999 
publication time 11.352145 ms 
whole laserOdometry time 88.478762 ms 
 
data association time 26.131834 ms 
solver time 16.284049 ms 
mapping solver time 29.153555 ms 
filter time 12.329819 ms 
publication time 11.578530 ms 
whole laserOdometry time 95.636125 ms 
 
build tree time 28.001910 ms 
data association time 24.934929 ms 
solver time 14.423800 ms 
data association time 25.211149 ms 
solver time 11.329107 ms 
scan registration time 31.460865 ms *************
mapping data assosiation time 40.426239 ms 
data association time 24.423754 ms 
mapping solver time 23.383728 ms 
mapping optimization time 161.454940 
add points time 0.735775 ms
solver time 14.549169 ms 
drop lidar frame in mapping for real time performance 
data association time 24.861445 ms 
solver time 11.267089 ms 
points size 93895 
optimization twice time 76.043056 
prepare time 14.566890 
build tree time 24.818428 ms 
sort q time 6.757216 
seperate points time 15.407509 
mapping data assosiation time 39.130729 ms 
data association time 24.734541 ms 
mapping solver time 27.194353 ms 
solver time 17.704781 ms 
points size 95012 
solver time 11.479799 ms 
optimization twice time 86.685030 
sort q time 5.147852 
seperate points time 12.554195 
scan registration time 31.832430 ms *************
mapping solver time 24.977633 ms 
filter time 9.434490 ms 
data association time 25.638514 ms 
build tree time 23.315146 ms 
data association time 24.630126 ms 
prepare time 16.401462 
publication time 11.551884 ms 
whole laserOdometry time 95.367721 ms 
 
mapping solver time 31.900586 ms 
data association time 24.720749 ms 
solver time 14.660795 ms 
mapping data assosiation time 36.162732 ms 
mapping solver time 22.611780 ms 
filter time 11.230676 ms 
publication time 11.529178 ms 
whole laserOdometry time 92.931673 ms 
 
build tree time 27.484253 ms 
data association time 16.435426 ms 
solver time 13.013968 ms 
mapping data assosiation time 39.151375 ms 
data association time 16.257444 ms 
publication time 13.485343 ms 
whole laserOdometry time 68.661613 ms 
 
sort q time 4.800006 
seperate points time 11.818216 
mapping data assosiation time 36.321517 ms 
data association time 24.610916 ms 
mapping solver time 22.642530 ms 
mapping optimization time 158.000434 
add points time 0.700956 ms
solver time 14.274919 ms 
data association time 25.140043 ms 
points size 98770 
publication time 11.952417 ms 
whole laserOdometry time 88.472794 ms 
 
data association time 21.904081 ms 
solver time 11.098253 ms 
data association time 16.601944 ms 
publication time 10.185717 ms 
whole laserOdometry time 70.407819 ms 
 
points size 98655 
sort q time 5.661523 
seperate points time 14.534157 
data association time 19.329340 ms 
solver time 14.148699 ms 
data association time 19.929885 ms 
mapping data assosiation time 42.719351 ms 
sort q time 4.724290 
seperate points time 11.914067 
data association time 15.604904 ms 
mapping data assosiation time 37.654071 ms 
solver time 7.608506 ms 
publication time 11.444538 ms 
whole laserOdometry time 62.277351 ms 
 
points size 93546 
sort q time 5.474368 
seperate points time 13.104300 
data association time 16.328024 ms 
solver time 12.872439 ms 
data association time 16.270131 ms 
solver time 11.472695 ms 
points size 86796 
sort q time 4.899536 
seperate points time 12.084614 
mapping data assosiation time 37.387183 ms 
data association time 15.007638 ms 
solver time 13.002207 ms 
filter time 9.118462 ms 
solver time 10.375233 ms 
build tree time 28.056289 ms 
sort q time 5.262273 
seperate points time 13.619369 
scan registration time 35.148925 ms *************
mapping data assosiation time 42.311409 ms 
data association time 23.701976 ms 
solver time 15.160298 ms 
mapping solver time 33.790805 ms 
data association time 23.977103 ms 
points size 80034 
sort q time 4.048181 
seperate points time 10.162033 
mapping solver time 30.079335 ms 
filter time 10.887464 ms 
data association time 22.162650 ms 
build tree time 33.381884 ms 
sort q time 4.285089 
seperate points time 11.154564 
mapping data assosiation time 40.749387 ms 
data association time 23.078793 ms 
solver time 15.358719 ms 
mapping solver time 34.862511 ms 
data association time 24.281473 ms 
points size 76886 
publication time 10.590047 ms 
whole laserOdometry time 87.754545 ms 
 
data association time 21.053121 ms 
filter time 10.948024 ms 
data association time 21.342659 ms 
solver time 10.747995 ms 
publication time 9.479689 ms 
whole laserOdometry time 78.750864 ms 
 
points size 76531 
prepare time 13.081720 
scan registration time 25.696532 ms *************
mapping data assosiation time 35.446643 ms 
solver time 10.305796 ms 
mapping solver time 24.697080 ms 
solver time 7.794582 ms 
mapping data assosiation time 32.104701 ms 
points size 75960 
add points time 0.675965 ms
scan registration time 25.072454 ms *************
filter time 11.481829 ms 
data association time 15.305948 ms 
solver time 13.281890 ms 
data association time 14.071116 ms 
solver time 8.722656 ms 
optimization twice time 52.065581 
points size 78547 
sort q time 4.802869 
seperate points time 12.230154 
mapping data assosiation time 32.176757 ms 
solver time 10.790814 ms 
mapping optimization time 141.698228 
filter time 11.940053 ms 
points size 82947 
build tree time 32.909168 ms 
scan registration time 34.190595 ms *************
mapping data assosiation time 32.280883 ms 
solver time 16.351601 ms 
data association time 22.289931 ms 
solver time 13.099140 ms 
publication time 14.792201 ms 
whole laserOdometry time 83.948256 ms 
 
sort q time 5.041651 
seperate points time 13.355922 
mapping solver time 31.359771 ms 
drop lidar frame in mapping for real time performance 
data association time 18.670031 ms 
map prepare time 2.744412 ms
map corner num 73069  surf num 34643 
data association time 24.566294 ms 
sort q time 5.425411 
seperate points time 13.824371 
data association time 15.507627 ms 
solver time 14.342202 ms 
filter time 7.598997 ms 
solver time 10.667541 ms 
publication time 11.812439 ms 
whole laserOdometry time 72.556617 ms 
 
build tree time 28.516766 ms 
scan registration time 37.165308 ms *************
mapping data assosiation time 30.729299 ms 
solver time 12.536641 ms 
data association time 15.101518 ms 
solver time 10.756567 ms 
publication time 8.856883 ms 
whole laserOdometry time 63.401993 ms 
 
prepare time 18.708755 
sort q time 4.699202 
seperate points time 11.663912 
add points time 0.832328 ms
data association time 15.865776 ms 
solver time 12.112630 ms 
build tree time 19.023032 ms 
publication time 8.888579 ms 
whole laserOdometry time 62.361927 ms 
 
mapping data assosiation time 36.012959 ms 
sort q time 4.565032 
seperate points time 11.847595 
data association time 14.292769 ms 
solver time 10.559015 ms 
data association time 14.811287 ms 
mapping solver time 17.744090 ms 
mapping optimization time 127.763738 
solver time 9.293726 ms 
add points time 0.899998 ms
optimization twice time 49.899398 
points size 83542 
prepare time 15.813816 
build tree time 20.238103 ms 
sort q time 4.623710 
seperate points time 11.849700 
mapping data assosiation time 27.346201 ms 
solver time 12.312235 ms 
data association time 14.157299 ms 
solver time 8.277693 ms 
mapping data assosiation time 30.834874 ms 
points size 84201 
sort q time 4.378626 
seperate points time 10.707234 
build tree time 23.797419 ms 
data association time 20.160360 ms 
prepare time 21.894707 
sort q time 5.887333 
seperate points time 14.459922 
mapping data assosiation time 34.103613 ms 
mapping solver time 15.937482 ms 
mapping optimization time 139.363754 
add points time 0.813652 ms
data association time 24.915781 ms 
map prepare time 2.845879 ms
map corner num 77004  surf num 37235 
data association time 19.874909 ms 
publication time 10.702506 ms 
whole laserOdometry time 83.280012 ms 
 
data association time 26.212005 ms 
solver time 14.336435 ms 
mapping data assosiation time 28.106520 ms 
prepare time 12.211625 
sort q time 4.406607 
seperate points time 11.140195 
data association time 13.582865 ms 
solver time 12.371649 ms 
data association time 17.915627 ms 
publication time 7.156991 ms 
whole laserOdometry time 60.032550 ms 
 
points size 83379 
sort q time 5.424148 
seperate points time 13.251779 
data association time 15.669622 ms 
mapping pub time 0.997689 ms 
whole mapping time 136.577451 ms +++++
data association time 14.499846 ms 
solver time 8.570231 ms 
points size 84373 
sort q time 4.389969 
seperate points time 10.958780 
data association time 14.102273 ms 
solver time 12.926756 ms 
mapping solver time 15.807493 ms 
mapping optimization time 109.714771 
add points time 0.818354 ms
data association time 15.218485 ms 
publication time 7.700062 ms 
whole laserOdometry time 60.233912 ms 
 
build tree time 21.828371 ms 
sort q time 3.904071 
seperate points time 9.845520 
mapping data assosiation time 30.250538 ms 
mapping solver time 17.566497 ms 
solver time 11.523525 ms 
mapping data assosiation time 27.658098 ms 
solver time 8.640060 ms 
filter time 8.767284 ms 
sort q time 4.322892 
seperate points time 10.644869 
data association time 23.037333 ms 
solver time 17.959059 ms 
data association time 23.009644 ms 
mapping data assosiation time 28.526041 ms 
publication time 10.196631 ms 
whole laserOdometry time 90.235620 ms 
 
filter time 9.406892 ms 
data association time 15.344651 ms 
solver time 12.661549 ms 
data association time 15.556258 ms 
publication time 8.198091 ms 
whole laserOdometry time 60.576978 ms 
 
points size 91694 
sort q time 5.468058 
seperate points time 13.036347 
mapping data assosiation time 31.698283 ms 
data association time 15.681784 ms 
solver time 13.059275 ms 
data association time 15.883926 ms 
solver time 11.149668 ms 
points size 93428 
sort q time 5.577794 
seperate points time 13.280169 
mapping solver time 17.620301 ms 
solver time 13.607983 ms 
mapping data assosiation time 32.503700 ms 
solver time 11.238962 ms 
filter time 9.233960 ms 
prepare time 14.194616 
sort q time 4.798374 
seperate points time 11.729153 
data association time 14.589608 ms 
solver time 13.235460 ms 
data association time 18.356432 ms 
mapping solver time 26.634582 ms 
points size 96120 
mapping data assosiation time 36.402984 ms 
sort q time 5.644798 
seperate points time 13.388122 
mapping solver time 16.082037 ms 
filter time 9.364568 ms 
data association time 15.242078 ms 
publication time 8.674385 ms 
whole laserOdometry time 66.164466 ms 
 
points size 97080 
sort q time 5.332000 
seperate points time 12.814660 
scan registration time 31.748465 ms *************
data association time 16.722848 ms 
solver time 16.229179 ms 
data association time 24.485601 ms 
solver time 15.195221 ms 
mapping pub time 180.000313 ms 
whole mapping time 334.978084 ms +++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
sort q time 6.420434 
seperate points time 16.773093 
build tree time 32.250235 ms 
data association time 17.901359 ms 
solver time 12.195609 ms 
data association time 16.505192 ms 
prepare time 19.364060 
sort q time 5.905049 
seperate points time 15.005869 
data association time 15.336453 ms 
solver time 13.502319 ms 
mapping optimization time 151.237228 
mapping pub time 1.213765 ms 
whole mapping time 166.263694 ms +++++
solver time 11.422219 ms 
points size 99795 
sort q time 6.194435 
seperate points time 16.733807 
data association time 15.890174 ms 
solver time 12.920328 ms 
mapping solver time 24.371411 ms 
data association time 17.027753 ms 
publication time 9.488509 ms 
whole laserOdometry time 67.978822 ms 
 
prepare time 16.792561 
sort q time 5.628217 
seperate points time 13.982550 
mapping solver time 28.712806 ms 
filter time 11.142900 ms 
data association time 26.233198 ms 
solver time 14.223256 ms 
build tree time 31.108931 ms 
points size 100848 
sort q time 5.187034 
seperate points time 12.534712 
publication time 11.346117 ms 
whole laserOdometry time 98.988253 ms 
 
data association time 25.210500 ms 
solver time 10.194388 ms 
data association time 16.656220 ms 
solver time 11.107473 ms 
prepare time 17.349901 
filter time 9.500571 ms 
build tree time 30.489557 ms 
solver time 21.124932 ms 
mapping data assosiation time 41.475878 ms 
prepare time 15.403596 
sort q time 6.273864 
seperate points time 14.928532 
publication time 12.191949 ms 
whole laserOdometry time 102.541656 ms 
 
[33m[ WARN] [1718802634.358084221]: odometry process over 100ms[0m
data association time 29.610922 ms 
solver time 19.738444 ms 
mapping solver time 27.048791 ms 
prepare time 15.495341 
sort q time 5.669040 
seperate points time 13.800639 
publication time 10.754633 ms 
whole laserOdometry time 103.189704 ms 
 
[33m[ WARN] [1718802634.463940848]: odometry process over 100ms[0m
data association time 16.505487 ms 
solver time 12.764405 ms 
data association time 17.111446 ms 
solver time 13.136318 ms 
sort q time 5.454206 
seperate points time 13.078266 
mapping data assosiation time 33.637480 ms 
solver time 10.692622 ms 
filter time 10.586427 ms 
solver time 10.496535 ms 
publication time 11.852404 ms 
whole laserOdometry time 68.528387 ms 
 
build tree time 30.358914 ms 
sort q time 4.939606 
seperate points time 12.038522 
mapping data assosiation time 33.472279 ms 
data association time 25.574832 ms 
solver time 14.757163 ms 
mapping data assosiation time 32.221722 ms 
points size 101572 
solver time 15.363319 ms 
optimization twice time 82.041806 
mapping solver time 22.329020 ms 
mapping optimization time 145.170671 
add points time 0.712193 ms
map prepare time 3.438972 ms
map corner num 88956  surf num 45532 
build tree time 24.845426 ms 
solver time 14.309638 ms 
data association time 25.306727 ms 
points size 101367 
prepare time 15.176856 
publication time 11.247453 ms 
whole laserOdometry time 88.816883 ms 
 
mapping data assosiation time 32.689288 ms 
data association time 24.993080 ms 
mapping solver time 19.947536 ms 
filter time 11.567387 ms 
data association time 25.543962 ms 
points size 101518 
build tree time 33.622050 ms 
sort q time 6.605496 
seperate points time 16.772321 
mapping data assosiation time 35.258934 ms 
data association time 25.292121 ms 
mapping solver time 27.093300 ms 
points size 101508 
solver time 11.405544 ms 
scan registration time 33.630424 ms *************
add points time 0.717728 ms
filter time 11.645253 ms 
data association time 26.136749 ms 
solver time 14.628612 ms 
build tree time 26.665722 ms 
data association time 24.892814 ms 
prepare time 12.007396 
publication time 11.034456 ms 
whole laserOdometry time 88.913150 ms 
 
mapping solver time 16.963402 ms 
data association time 16.619469 ms 
solver time 10.692323 ms 
data association time 16.435577 ms 
filter time 10.366553 ms 
points size 101336 
prepare time 14.799518 
build tree time 33.530601 ms 
sort q time 5.939216 
seperate points time 14.709397 
scan registration time 35.218316 ms *************
mapping data assosiation time 33.739384 ms 
data association time 24.777221 ms 
solver time 15.465078 ms 
data association time 22.577618 ms 
prepare time 17.655416 
sort q time 6.304377 
seperate points time 15.835675 
mapping solver time 24.184344 ms 
filter time 11.047433 ms 
solver time 10.376227 ms 
data association time 15.551556 ms 
publication time 8.456152 ms 
whole laserOdometry time 58.899542 ms 
 
points size 101024 
sort q time 5.184263 
seperate points time 12.358365 
mapping solver time 20.857190 ms 
solver time 11.318439 ms 
data association time 16.718055 ms 
optimization twice time 55.475676 
filter time 9.727775 ms 
points size 100844 
sort q time 5.350726 
seperate points time 12.431807 
data association time 15.698809 ms 
mapping data assosiation time 31.294741 ms 
solver time 11.499677 ms 
data association time 16.152049 ms 
solver time 8.117676 ms 
publication time 10.796885 ms 
whole laserOdometry time 62.995544 ms 
 
points size 100792 
prepare time 17.846142 
sort q time 4.972250 
seperate points time 11.742279 
mapping solver time 21.517454 ms 
filter time 9.046106 ms 
solver time 11.244768 ms 
data association time 16.402573 ms 
optimization twice time 55.205715 
publication time 11.424805 ms 
whole laserOdometry time 66.651699 ms 
 
points size 100552 
sort q time 6.882100 
seperate points time 17.079673 
mapping solver time 35.304299 ms 
data association time 27.285393 ms 
solver time 16.130019 ms 
mapping data assosiation time 38.658153 ms 
prepare time 12.932439 
mapping solver time 20.620761 ms 
filter time 11.787282 ms 
data association time 24.724752 ms 
build tree time 26.929524 ms 
solver time 17.873972 ms 
mapping data assosiation time 33.481762 ms 
points size 100208 
solver time 15.899991 ms 
optimization twice time 83.892118 
mapping solver time 22.702297 ms 
mapping data assosiation time 33.539223 ms 
data association time 24.404509 ms 
filter time 11.444446 ms 
data association time 25.556624 ms 
build tree time 32.345514 ms 
publication time 10.868539 ms 
whole laserOdometry time 95.447509 ms 
 
mapping data assosiation time 35.276654 ms 
solver time 14.080157 ms 
data association time 15.716728 ms 
solver time 12.805038 ms 
publication time 10.697580 ms 
whole laserOdometry time 69.985893 ms 
 
sort q time 5.598926 
seperate points time 12.833744 
filter time 9.740943 ms 
data association time 24.410354 ms 
solver time 17.659838 ms 
data association time 24.220565 ms 
points size 99423 
prepare time 14.621521 
sort q time 7.489606 
seperate points time 17.261026 
mapping solver time 28.639586 ms 
data association time 24.183323 ms 
mapping data assosiation time 32.058259 ms 
solver time 17.671192 ms 
mapping solver time 19.890968 ms 
filter time 10.677157 ms 
solver time 15.459265 ms 
publication time 11.515069 ms 
whole laserOdometry time 93.986861 ms 
 
points size 98751 
publication time 10.845342 ms 
whole laserOdometry time 86.128148 ms 
 
data association time 15.446387 ms 
solver time 12.966613 ms 
filter time 9.566592 ms 
mapping pub time 1.210530 ms 
whole mapping time 166.681626 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 2.969638 ms
map corner num 98207  surf num 50473 
data association time 16.234673 ms 
solver time 10.459560 ms 
build tree time 33.032293 ms 
points size 98355 
prepare time 17.327563 
sort q time 6.872980 
seperate points time 16.378359 
mapping data assosiation time 36.505169 ms 
mapping solver time 22.296147 ms 
data association time 24.005272 ms 
solver time 15.538047 ms 
mapping data assosiation time 33.765197 ms 
solver time 12.312247 ms 
mapping optimization time 154.353676 
filter time 11.812814 ms 
data association time 14.930557 ms 
solver time 13.174615 ms 
data association time 15.959433 ms 
solver time 12.893544 ms 
points size 95688 
sort q time 5.683696 
seperate points time 13.494984 
data association time 14.273125 ms 
solver time 13.316450 ms 
data association time 18.507787 ms 
solver time 10.539130 ms 
points size 94450 
scan registration time 29.709762 ms *************
data association time 14.518803 ms 
solver time 13.028910 ms 
data association time 18.004971 ms 
mapping solver time 26.161909 ms 
points size 93619 
sort q time 4.342760 
seperate points time 10.780611 
mapping solver time 23.382730 ms 
solver time 10.921828 ms 
data association time 16.493761 ms 
publication time 8.632428 ms 
whole laserOdometry time 60.909804 ms 
 
points size 93271 
sort q time 5.644534 
seperate points time 13.749331 
data association time 15.290540 ms 
data association time 16.023529 ms 
publication time 8.306134 ms 
whole laserOdometry time 59.694393 ms 
 
points size 92546 
map prepare time 3.416723 ms
map corner num 100852  surf num 51892 
scan registration time 41.724011 ms *************
build tree time 34.562677 ms 
data association time 23.874466 ms 
solver time 16.490948 ms 
data association time 16.844623 ms 
mapping solver time 31.229891 ms 
mapping data assosiation time 36.382903 ms 
mapping solver time 14.852648 ms 
solver time 10.014630 ms 
mapping optimization time 151.197545 
add points time 0.653520 ms
filter time 13.304269 ms 
publication time 9.202146 ms 
whole laserOdometry time 65.937699 ms 
 
build tree time 33.442008 ms 
data association time 14.557239 ms 
solver time 11.325963 ms 
mapping solver time 22.715531 ms 
data association time 14.948733 ms 
publication time 8.686216 ms 
whole laserOdometry time 60.404823 ms 
 
mapping data assosiation time 32.760496 ms 
sort q time 4.831638 
seperate points time 11.634801 
filter time 9.634132 ms 
solver time 10.371462 ms 
data association time 13.445894 ms 
publication time 8.572631 ms 
whole laserOdometry time 54.869946 ms 
 
points size 89685 
sort q time 4.392231 
seperate points time 10.861344 
data association time 15.383789 ms 
solver time 13.023415 ms 
mapping data assosiation time 34.563970 ms 
publication time 8.312882 ms 
whole laserOdometry time 59.573446 ms 
 
filter time 9.461931 ms 
prepare time 14.227730 
sort q time 4.151173 
seperate points time 10.216514 
build tree time 30.750454 ms 
data association time 14.991922 ms 
solver time 11.146095 ms 
mapping data assosiation time 33.616639 ms 
data association time 15.778812 ms 
solver time 8.452986 ms 
points size 88094 
mapping data assosiation time 40.169407 ms data association time 14.533962 ms 
solver time 15.822555 ms 
data association time 15.205280 ms 
optimization twice time 58.239228 
points size 87961 
sort q time 4.644045 
seperate points time 10.939387 
mapping data assosiation time 33.614990 ms 
solver time 11.062155 ms 
data association time 13.122635 ms 
solver time 8.956771 ms 
points size 87789 
sort q time 4.544121 
seperate points time 11.059504 
mapping optimization time 155.835565 
filter time 12.516247 ms 
solver time 12.234665 ms 
data association time 13.881811 ms 
solver time 8.441354 ms 
publication time 8.415526 ms 
whole laserOdometry time 58.836007 ms 
 
points size 88209 
sort q time 3.849983 
seperate points time 9.180443 
mapping solver time 27.632982 ms 
solver time 11.056281 ms 
data association time 15.490886 ms 
publication time 9.286877 ms 
whole laserOdometry time 59.981215 ms 
 
mapping solver time 22.656299 ms 
points size 88637 
sort q time 4.412317 
seperate points time 10.506926 
build tree time 29.431695 ms 
solver time 11.942615 ms 
mapping data assosiation time 36.150225 ms 
solver time 8.402499 ms 
mapping solver time 28.901415 ms 
sort q time 4.262398 
seperate points time 10.101007 
mapping data assosiation time 33.735226 ms 
data association time 24.154488 ms 
mapping solver time 27.777417 ms 
mapping optimization time 158.461472 
add points time 0.731418 ms
solver time 15.596094 ms 
map prepare time 3.643083 ms
map corner num 106383  surf num 54360 
data association time 24.302513 ms 
points size 87135 
solver time 11.512621 ms 
optimization twice time 76.633640 
prepare time 14.502813 
sort q time 5.276817 
seperate points time 12.795805 
data association time 20.578353 ms 
solver time 15.274576 ms 
mapping solver time 28.815040 ms 
solver time 8.698367 ms 
publication time 9.452961 ms 
whole laserOdometry time 70.636922 ms 
 
prepare time 14.138627 
sort q time 4.339547 
seperate points time 10.340592 
mapping solver time 26.067097 ms 
filter time 12.993710 ms 
solver time 15.156155 ms 
data association time 17.540374 ms 
solver time 10.382356 ms 
publication time 10.019815 ms 
whole laserOdometry time 78.137934 ms 
 
sort q time 4.620751 
seperate points time 11.051439 
mapping data assosiation time 36.344027 ms 
data association time 16.755526 ms 
mapping solver time 28.766948 ms 
data association time 12.940233 ms 
solver time 7.941354 ms 
optimization twice time 50.287097 
mapping data assosiation time 32.992593 ms 
points size 84045 
mapping solver time 22.999524 ms 
filter time 12.774880 ms 
solver time 11.170148 ms 
data association time 14.160846 ms 
mapping data assosiation time 32.608458 ms 
prepare time 13.418760 
sort q time 4.516596 
seperate points time 10.717712 
data association time 13.096960 ms 
mapping data assosiation time 31.644829 ms 
data association time 13.263263 ms 
mapping optimization time 146.587926 
add points time 0.653058 ms
publication time 9.306415 ms 
whole laserOdometry time 56.393252 ms 
 
map prepare time 3.184019 ms
map corner num 108577  surf num 55287 
points size 81749 
sort q time 4.200541 
seperate points time 10.137668 
data association time 13.657408 ms 
solver time 11.158081 ms 
mapping data assosiation time 32.351907 ms 
solver time 7.862927 ms 
publication time 8.485067 ms 
whole laserOdometry time 56.417836 ms 
 
points size 81007 
mapping data assosiation time 42.344430 ms 
sort q time 5.071012 
seperate points time 12.618495 
mapping solver time 27.150126 ms 
solver time 8.573038 ms 
map prepare time 2.845396 ms
map corner num 109358  surf num 55630 
solver time 7.775594 ms 
optimization twice time 44.365076 
build tree time 36.294549 ms 
prepare time 17.320371 
sort q time 5.154888 
seperate points time 12.924147 
mapping data assosiation time 39.314681 ms 
data association time 16.374664 ms 
mapping solver time 23.441974 ms 
data association time 12.884542 ms 
optimization twice time 50.116936 
points size 80170 
mapping solver time 29.940564 ms 
filter time 11.787109 ms 
data association time 14.110013 ms 
solver time 10.456288 ms 
data association time 13.397139 ms 
publication time 7.345526 ms 
whole laserOdometry time 54.443142 ms 
 
mapping data assosiation time 35.291060 ms 
sort q time 4.596618 
seperate points time 11.314206 
mapping solver time 26.948504 ms 
data association time 13.123532 ms 
solver time 11.114694 ms 
mapping data assosiation time 31.800901 ms 
solver time 7.402426 ms 
publication time 9.144355 ms 
whole laserOdometry time 55.399263 ms 
 
mapping pub time 1.010766 ms 
whole mapping time 166.857743 ms +++++
points size 80390 
prepare time 16.034058 
sort q time 4.531186 
seperate points time 11.246431 
build tree time 31.436316 ms 
data association time 17.212137 ms 
solver time 12.600302 ms 
data association time 15.841391 ms 
optimization twice time 56.971832 
points size 81734 
mapping data assosiation time 32.731110 ms 
sort q time 4.520944 
seperate points time 11.408840 
scan registration time 31.861770 ms *************
mapping solver time 20.739471 ms 
mapping optimization time 145.106930 
add points time 0.726614 ms
map prepare time 3.746967 ms
map corner num 111585  surf num 56568 
build tree time 31.297697 ms 
solver time 11.426647 ms 
publication time 9.903145 ms 
whole laserOdometry time 84.057398 ms 
 
sort q time 5.500863 
seperate points time 13.559342 
mapping data assosiation time 42.450624 ms 
scan registration time 37.847578 ms *************
data association time 13.878182 ms 
mapping solver time 25.363564 ms 
data association time 13.913536 ms 
solver time 9.202733 ms 
publication time 7.257825 ms 
whole laserOdometry time 55.969352 ms 
 
points size 83072 
mapping pub time 2.515951 ms 
whole mapping time 175.995454 ms +++++
data association time 13.704504 ms 
solver time 13.337364 ms 
data association time 13.252998 ms 
mapping data assosiation time 36.909763 ms 
points size 84277 
sort q time 4.780454 
seperate points time 11.910421 
data association time 20.830096 ms 
solver time 12.936581 ms 
mapping solver time 22.928481 ms 
filter time 14.353593 ms 
sort q time 5.370877 
seperate points time 13.441846 
build tree time 34.084725 ms 
solver time 10.151216 ms 
data association time 13.910438 ms 
publication time 8.519148 ms 
whole laserOdometry time 54.828307 ms 
 
mapping solver time 28.207378 ms 
points size 86071 
sort q time 4.930150 
seperate points time 12.049454 
mapping data assosiation time 34.512009 ms 
data association time 15.197362 ms 
mapping solver time 25.326822 ms 
solver time 11.566652 ms 
mapping optimization time 159.762856 
add points time 0.701140 ms
map prepare time 2.942655 ms
map corner num 114071  surf num 57725 
solver time 8.388470 ms 
points size 87736 
build tree time 34.772070 ms 
prepare time 17.179033 
sort q time 4.920248 
seperate points time 12.235765 
mapping data assosiation time 33.093625 ms 
solver time 11.026661 ms 
data association time 17.080966 ms 
solver time 10.812371 ms 
publication time 10.884082 ms 
whole laserOdometry time 67.358544 ms 
 
points size 89721 
mapping optimization time 152.778320 
add points time 0.787280 ms
sort q time 5.125896 
seperate points time 12.649428 
scan registration time 35.863597 ms *************
map prepare time 3.683713 ms
map corner num 114786  surf num 58025 
data association time 13.805326 ms 
solver time 11.883797 ms 
build tree time 34.132445 ms 
solver time 8.965267 ms 
publication time 8.949173 ms 
whole laserOdometry time 58.379356 ms 
 
points size 90851 
sort q time 5.194463 
seperate points time 12.695174 
mapping solver time 23.664630 ms 
data association time 13.964188 ms 
solver time 11.508289 ms 
data association time 17.023647 ms 
solver time 8.404747 ms 
publication time 9.452087 ms 
whole laserOdometry time 61.243349 ms 
 
drop lidar frame in mapping for real time performance 
sort q time 5.372153 
seperate points time 13.026323 
build tree time 34.834499 ms 
mapping data assosiation time 36.003282 ms 
data association time 13.917796 ms 
publication time 7.541684 ms 
whole laserOdometry time 57.440340 ms 
 
points size 93500 
scan registration time 31.063189 ms *************
mapping data assosiation time 34.748327 ms 
solver time 7.643917 ms 
mapping solver time 24.864639 ms 
filter time 12.521031 ms 
points size 90933 
sort q time 4.470733 
seperate points time 10.886346 
data association time 14.251413 ms 
solver time 10.969158 ms 
data association time 15.574507 ms 
publication time 8.701627 ms 
whole laserOdometry time 58.909332 ms 
 
points size 89765 
sort q time 4.073086 
seperate points time 9.798717 
mapping pub time 164.889090 ms 
whole mapping time 344.988229 ms +++++
solver time 11.773807 ms 
build tree time 26.861215 ms 
solver time 7.826660 ms 
mapping data assosiation time 35.648577 ms 
sort q time 4.110974 
seperate points time 9.938906 
data association time 15.404728 ms 
solver time 12.977619 ms 
data association time 15.433490 ms 
filter time 9.381020 ms 
points size 86058 
sort q time 4.039859 
seperate points time 9.677444 
mapping data assosiation time 37.596354 ms 
solver time 11.468199 ms 
mapping solver time 25.064432 ms 
solver time 10.749568 ms 
points size 85865 
sort q time 4.887664 
seperate points time 12.252498 
mapping solver time 27.193603 ms 
mapping optimization time 157.058706 
add points time 0.672935 ms
solver time 12.648618 ms 
build tree time 23.489288 ms 
data association time 14.334049 ms 
publication time 8.187804 ms 
whole laserOdometry time 61.037393 ms 
 
points size 86396 
sort q time 5.023876 
seperate points time 12.571194 
scan registration time 37.826062 ms *************
mapping solver time 27.606864 ms 
data association time 24.435386 ms 
mapping data assosiation time 34.521585 ms 
mapping solver time 21.397226 ms 
points size 86464 
map prepare time 3.718109 ms
map corner num 82399  surf num 41902 
scan registration time 35.052435 ms *************
build tree time 27.596501 ms 
solver time 15.136068 ms 
data association time 21.417735 ms 
solver time 11.687258 ms 
points size 87030 
sort q time 5.560530 
seperate points time 13.999193 
mapping data assosiation time 40.243986 ms 
mapping solver time 18.642002 ms 
mapping optimization time 149.496327 
add points time 0.611326 ms
data association time 24.183973 ms 
map prepare time 2.975981 ms
map corner num 83236  surf num 42225 
build tree time 27.117231 ms 
points size 88199 
publication time 10.424761 ms 
whole laserOdometry time 86.671895 ms 
 
scan registration time 39.416685 ms *************
data association time 17.861879 ms 
solver time 10.172528 ms 
data association time 16.335578 ms 
solver time 8.348972 ms 
mapping data assosiation time 32.005169 ms 
points size 89015 
sort q time 5.266833 
seperate points time 12.776999 
map prepare time 4.435212 ms
map corner num 83979  surf num 42452 
build tree time 23.437834 ms 
solver time 14.637173 ms 
mapping data assosiation time 38.340061 ms 
points size 90290 
publication time 10.339516 ms 
whole laserOdometry time 86.557479 ms 
 
data association time 24.523743 ms 
solver time 14.853029 ms 
mapping solver time 19.445641 ms 
filter time 10.940355 ms 
solver time 11.634945 ms 
prepare time 17.658027 
build tree time 31.068726 ms 
data association time 18.626140 ms 
mapping data assosiation time 33.376398 ms 
mapping solver time 21.167272 ms 
solver time 8.432363 ms 
publication time 10.035727 ms 
whole laserOdometry time 64.480269 ms 
 
points size 92461 
sort q time 5.280959 
seperate points time 13.089114 
mapping solver time 27.865473 ms 
solver time 10.823860 ms 
data association time 22.414936 ms 
solver time 8.870636 ms 
publication time 11.049538 ms 
whole laserOdometry time 77.362494 ms 
 
sort q time 5.508283 
seperate points time 13.709150 
mapping solver time 25.860692 ms 
data association time 16.164572 ms 
data association time 15.837407 ms 
publication time 9.336214 ms 
whole laserOdometry time 55.986446 ms 
 
points size 95831 
sort q time 5.036767 
seperate points time 12.511144 
build tree time 25.886899 ms 
solver time 10.257855 ms 
data association time 14.243536 ms 
publication time 8.493042 ms 
whole laserOdometry time 57.412691 ms 
 
points size 97587 
sort q time 5.924500 
seperate points time 14.551485 
mapping solver time 25.650730 ms 
mapping optimization time 145.215785 
add points time 0.782953 ms
data association time 22.723054 ms 
map prepare time 3.845279 ms
map corner num 87189  surf num 43646 
solver time 15.361166 ms 
data association time 23.076911 ms 
prepare time 19.464100 
sort q time 5.949400 
seperate points time 14.372800 
mapping data assosiation time 35.420896 ms 
data association time 22.433986 ms 
mapping solver time 32.227984 ms 
solver time 12.379290 ms 
data association time 25.948033 ms 
mapping data assosiation time 39.970728 ms 
sort q time 5.743375 
seperate points time 14.121180 
mapping optimization time 162.367922 
filter time 10.956549 ms 
map prepare time 3.973598 ms
map corner num 88011  surf num 44070 
data association time 23.419604 ms 
solver time 14.639486 ms 
data association time 24.441576 ms 
prepare time 15.447666 
sort q time 4.772723 
seperate points time 11.240156 
mapping solver time 29.911533 ms 
solver time 12.633454 ms 
mapping data assosiation time 40.163726 ms 
points size 99634 
mapping solver time 27.387874 ms 
sort q time 5.948961 
seperate points time 15.192338 
scan registration time 34.407817 ms *************
data association time 22.786699 ms 
solver time 11.257773 ms 
data association time 24.288730 ms 
solver time 13.392634 ms 
publication time 11.805350 ms 
whole laserOdometry time 84.612088 ms 
 
sort q time 6.463376 
seperate points time 15.370590 
data association time 24.757568 ms 
data association time 13.279427 ms 
filter time 9.808834 ms 
points size 93949 
sort q time 4.969723 
seperate points time 12.094353 
data association time 24.444090 ms 
mapping data assosiation time 39.351385 ms 
data association time 21.882855 ms 
solver time 12.811847 ms 
prepare time 17.781763 
sort q time 5.296370 
seperate points time 13.600490 
mapping solver time 24.116398 ms 
filter time 11.382139 ms 
map prepare time 3.865525 ms
map corner num 90491  surf num 45317 
data association time 21.471265 ms 
build tree time 32.908464 ms 
publication time 13.804522 ms 
whole laserOdometry time 85.808580 ms 
 
mapping data assosiation time 37.652561 ms 
data association time 22.287342 ms 
solver time 16.126492 ms 
data association time 24.285956 ms 
points size 85507 
publication time 10.223560 ms 
whole laserOdometry time 91.994477 ms 
 
sort q time 4.147765 
seperate points time 10.080049 
filter time 10.035351 ms 
solver time 11.078249 ms 
build tree time 25.400846 ms 
solver time 8.389730 ms 
publication time 9.944613 ms 
whole laserOdometry time 64.159344 ms 
 
points size 81425 
sort q time 4.291874 
seperate points time 10.605084 
mapping data assosiation time 35.491864 ms 
data association time 22.897555 ms 
mapping solver time 20.195018 ms 
filter time 12.535901 ms 
map prepare time 3.744865 ms
map corner num 92059  surf num 46115 
solver time 11.532433 ms 
publication time 9.717608 ms 
whole laserOdometry time 83.342802 ms 
 
scan registration time 25.898037 ms *************
data association time 23.323686 ms 
mapping data assosiation time 36.853933 ms 
solver time 20.488045 ms 
mapping solver time 29.728032 ms 
data association time 21.521107 ms 
solver time 13.258851 ms 
publication time 10.981319 ms 
whole laserOdometry time 90.621742 ms 
 
scan registration time 26.569561 ms *************
mapping solver time 19.820287 ms 
filter time 11.370825 ms 
data association time 20.115617 ms 
mapping pub time 1.447647 ms 
whole mapping time 172.516988 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.700324 ms
map corner num 92149  surf num 46025 
solver time 18.949257 ms 
data association time 20.181901 ms 
points size 79204 
publication time 11.158454 ms 
whole laserOdometry time 89.058675 ms 
 
data association time 20.172534 ms 
data association time 23.058590 ms 
mapping data assosiation time 36.555049 ms 
points size 81827 
filter time 8.114504 ms 
data association time 20.333419 ms 
build tree time 33.803955 ms 
solver time 19.073463 ms 
data association time 22.885375 ms 
solver time 16.632850 ms 
publication time 9.868236 ms 
whole laserOdometry time 89.987703 ms 
 
data association time 23.484706 ms 
mapping data assosiation time 36.918973 ms 
solver time 20.152428 ms 
mapping solver time 24.279126 ms 
data association time 20.726766 ms 
map prepare time 3.892669 ms
map corner num 94026  surf num 46897 
points size 90159 
sort q time 4.567825 
seperate points time 12.003577 
build tree time 29.596957 ms 
scan registration time 31.689430 ms *************
mapping data assosiation time 36.658462 ms 
data association time 27.643098 ms 
mapping solver time 29.355767 ms 
data association time 25.889674 ms 
sort q time 4.957335 
seperate points time 11.693817 
publication time 10.621885 ms 
whole laserOdometry time 106.588793 ms 
 
[33m[ WARN] [1718802644.128909654]: odometry process over 100ms[0m
mapping solver time 28.740085 ms 
mapping optimization time 164.248764 
add points time 0.969394 ms
data association time 24.771934 ms 
filter time 11.126426 ms 
mapping pub time 1.393025 ms 
whole mapping time 181.735179 ms +++++
solver time 27.135984 ms 
build tree time 34.792632 ms 
sort q time 5.717578 
seperate points time 14.337257 
publication time 13.033319 ms 
whole laserOdometry time 109.589704 ms 
 
[33m[ WARN] [1718802644.240855472]: odometry process over 100ms[0m
mapping data assosiation time 40.045683 ms 
data association time 25.385646 ms 
solver time 20.571149 ms 
points size 96571 
prepare time 11.795946 
sort q time 5.238074 
seperate points time 12.799416 
solver time 16.540558 ms 
mapping optimization time 175.534161 
filter time 12.470428 ms 
data association time 28.342195 ms 
solver time 19.184392 ms 
points size 96517 
sort q time 4.962855 
seperate points time 12.281993 
solver time 18.995678 ms 
publication time 12.913047 ms 
whole laserOdometry time 110.038062 ms 
 
[33m[ WARN] [1718802644.458814431]: odometry process over 100ms[0m
data association time 30.208132 ms 
solver time 19.983996 ms 
sort q time 5.122699 
seperate points time 12.417014 
scan registration time 30.970839 ms *************
solver time 14.223239 ms 
map prepare time 4.351510 ms
map corner num 96290  surf num 48026 
data association time 27.105280 ms 
points size 96826 
sort q time 5.642303 
seperate points time 14.163402 
data association time 29.750890 ms 
solver time 12.486293 ms 
publication time 11.870395 ms 
whole laserOdometry time 99.775580 ms 
 
data association time 29.243480 ms 
points size 97138 
sort q time 5.447184 
seperate points time 13.501381 
mapping solver time 29.532739 ms 
data association time 26.388153 ms 
mapping optimization time 183.192514 
add points time 1.024587 ms
mapping pub time 1.481110 ms 
whole mapping time 201.622379 ms +++++
publication time 11.785354 ms 
whole laserOdometry time 102.444577 ms 
 
[33m[ WARN] [1718802644.780360979]: odometry process over 100ms[0m
points size 98074 
sort q time 5.736172 
seperate points time 13.530630 
mapping data assosiation time 42.241948 ms 
solver time 11.979426 ms 
publication time 11.279587 ms 
whole laserOdometry time 97.645348 ms 
 
data association time 29.470116 ms 
mapping data assosiation time 42.297327 ms 
sort q time 5.162697 
seperate points time 12.654740 
solver time 11.307900 ms 
publication time 11.641829 ms 
whole laserOdometry time 97.595261 ms 
 
data association time 24.263724 ms 
solver time 12.273367 ms 
data association time 19.993929 ms 
prepare time 22.113010 
scan registration time 43.638041 ms *************
mapping solver time 25.118974 ms 
solver time 10.388997 ms 
data association time 16.173816 ms 
publication time 9.199262 ms 
whole laserOdometry time 60.322726 ms 
 
points size 101440 
filter time 10.289546 ms 
map prepare time 5.137809 ms
map corner num 99974  surf num 49882 
data association time 15.449689 ms 
build tree time 29.925487 ms 
data association time 14.978649 ms 
mapping data assosiation time 36.042650 ms 
publication time 9.270271 ms 
whole laserOdometry time 65.454164 ms 
 
points size 101728 
sort q time 6.002494 
seperate points time 15.181263 
data association time 15.170189 ms 
solver time 12.555716 ms 
data association time 15.525383 ms 
solver time 11.122160 ms 
map prepare time 4.651043 ms
map corner num 101108  surf num 50330 
points size 101595 
build tree time 31.926241 ms 
data association time 14.685588 ms 
mapping data assosiation time 37.376963 ms 
data association time 15.242456 ms 
mapping solver time 26.955146 ms 
publication time 9.903389 ms 
whole laserOdometry time 65.875999 ms 
 
prepare time 19.476286 
mapping data assosiation time 35.184897 ms 
mapping solver time 25.830684 ms 
filter time 12.236520 ms 
data association time 23.957775 ms 
mapping pub time 3.326029 ms 
whole mapping time 180.493733 ms +++++
drop lidar frame in mapping for real time performance 
solver time 18.674764 ms 
points size 101642 
sort q time 5.711631 
seperate points time 14.056157 
publication time 10.523322 ms 
whole laserOdometry time 95.274901 ms 
 
data association time 14.861503 ms 
solver time 13.290831 ms 
data association time 14.466874 ms 
solver time 10.526495 ms 
publication time 11.304719 ms 
whole laserOdometry time 65.292259 ms 
 
mapping data assosiation time 38.816269 ms 
mapping solver time 22.035846 ms 
filter time 10.944037 ms 
data association time 14.402501 ms 
solver time 11.551486 ms 
publication time 10.904653 ms 
whole laserOdometry time 66.220470 ms 
 
points size 102123 
mapping data assosiation time 35.431723 ms 
mapping solver time 22.685505 ms 
data association time 15.267662 ms 
solver time 10.924226 ms 
data association time 14.912632 ms 
solver time 8.762444 ms 
optimization twice time 50.555098 
mapping solver time 24.963188 ms 
prepare time 20.086757 
map prepare time 4.461354 ms
map corner num 104450  surf num 52036 
sort q time 6.148066 
seperate points time 15.639481 
scan registration time 42.081197 ms *************
build tree time 31.794162 ms 
solver time 10.732364 ms 
mapping data assosiation time 32.716791 ms 
publication time 9.137953 ms 
whole laserOdometry time 61.570075 ms 
 
sort q time 5.206130 
seperate points time 12.242798 
mapping data assosiation time 35.255856 ms 
solver time 10.400496 ms 
data association time 17.782121 ms 
map prepare time 4.298685 ms
map corner num 105551  surf num 52638 
points size 102549 
build tree time 34.270486 ms 
sort q time 6.090670 
seperate points time 14.864446 
mapping data assosiation time 34.784522 ms 
data association time 15.346746 ms 
solver time 10.587319 ms 
data association time 15.211600 ms 
solver time 8.577418 ms 
publication time 10.697751 ms 
whole laserOdometry time 61.280905 ms 
 
prepare time 19.411009 
sort q time 5.952531 
seperate points time 14.697001 
filter time 12.713749 ms 
data association time 17.273272 ms 
solver time 14.791523 ms 
solver time 11.674633 ms 
mapping data assosiation time 41.760268 ms 
scan registration time 42.447181 ms *************
mapping solver time 27.026631 ms 
solver time 10.275329 ms 
data association time 14.814652 ms 
publication time 11.765790 ms 
whole laserOdometry time 62.067096 ms 
 
points size 101802 
filter time 9.705244 ms 
data association time 14.799873 ms 
solver time 11.255712 ms 
data association time 14.105428 ms 
solver time 8.434741 ms 
publication time 10.635882 ms 
whole laserOdometry time 60.152428 ms 
 
points size 101665 
mapping solver time 27.546964 ms 
data association time 16.102357 ms 
mapping data assosiation time 35.535733 ms 
data association time 16.176355 ms 
filter time 10.910298 ms 
points size 101634 
sort q time 5.964202 
seperate points time 14.590106 
data association time 15.366610 ms 
solver time 13.935847 ms 
data association time 14.315671 ms 
solver time 11.201841 ms 
mapping solver time 21.043450 ms 
points size 101407 
mapping data assosiation time 35.213808 ms 
mapping solver time 17.699707 ms 
filter time 11.092524 ms 
solver time 10.688145 ms 
build tree time 31.252546 ms 
points size 101131 
sort q time 5.534671 
seperate points time 14.180225 
mapping solver time 19.804611 ms 
solver time 9.950167 ms 
data association time 15.014029 ms 
solver time 10.700724 ms 
mapping solver time 15.039168 ms 
filter time 10.339661 ms 
mapping pub time 1.352856 ms 
whole mapping time 160.822321 ms +++++
points size 100608 
drop lidar frame in mapping for real time performance 
prepare time 15.387539 
map prepare time 4.359092 ms
map corner num 110521  surf num 55412 
sort q time 5.173964 
seperate points time 12.715161 
build tree time 32.568630 ms 
data association time 15.855736 ms 
solver time 10.509083 ms 
mapping data assosiation time 34.597065 ms 
solver time 8.435448 ms 
publication time 10.379755 ms 
whole laserOdometry time 62.692245 ms 
 
points size 100010 
sort q time 4.533416 
seperate points time 10.933877 
scan registration time 31.347380 ms *************
mapping solver time 16.606496 ms 
solver time 11.154649 ms 
data association time 17.023701 ms 
publication time 11.341338 ms 
whole laserOdometry time 64.420511 ms 
 
prepare time 15.391706 
sort q time 5.159203 
seperate points time 12.292234 
mapping solver time 21.754533 ms 
solver time 13.362314 ms 
data association time 16.294056 ms 
mapping data assosiation time 35.555059 ms 
points size 97152 
sort q time 5.972253 
seperate points time 14.311232 
data association time 17.108327 ms 
solver time 15.633218 ms 
data association time 16.740984 ms 
solver time 11.002707 ms 
publication time 10.401706 ms 
whole laserOdometry time 71.707438 ms 
 
mapping solver time 24.975372 ms 
sort q time 6.223685 
seperate points time 14.432653 
data association time 15.618689 ms 
solver time 11.351517 ms 
data association time 15.357539 ms 
filter time 10.916434 ms 
points size 95508 
sort q time 5.292517 
seperate points time 12.451357 
build tree time 37.161092 ms 
data association time 14.463649 ms 
solver time 12.748485 ms 
mapping data assosiation time 34.308018 ms 
solver time 9.915970 ms 
optimization twice time 52.856220 
mapping solver time 17.677138 ms 
points size 94717 
mapping data assosiation time 33.746894 ms 
mapping solver time 19.075904 ms 
data association time 14.428676 ms 
map prepare time 3.384392 ms
map corner num 114401  surf num 57576 
data association time 14.013146 ms 
build tree time 33.218000 ms 
points size 94479 
sort q time 5.018484 
seperate points time 12.083527 
mapping solver time 23.316262 ms 
data association time 16.807656 ms 
solver time 12.727389 ms 
mapping data assosiation time 32.328042 ms 
data association time 15.654948 ms 
mapping solver time 19.402261 ms 
points size 93589 
sort q time 5.570153 
seperate points time 13.404094 
data association time 15.101200 ms 
solver time 12.893690 ms 
data association time 14.717227 ms 
mapping data assosiation time 29.556786 ms 
publication time 9.551512 ms 
whole laserOdometry time 64.124703 ms 
 
points size 92756 
sort q time 4.471808 
seperate points time 10.856282 
mapping data assosiation time 38.270753 ms 
data association time 14.107158 ms 
mapping solver time 19.475940 ms 
filter time 10.843995 ms 
solver time 7.197610 ms 
optimization twice time 47.594338 
build tree time 33.849803 ms 
sort q time 4.236419 
seperate points time 10.181917 
mapping data assosiation time 34.249204 ms 
solver time 10.986814 ms 
mapping solver time 25.494929 ms 
solver time 8.153484 ms 
publication time 9.759245 ms 
whole laserOdometry time 58.519437 ms 
 
mapping data assosiation time 30.887066 ms 
points size 91881 
filter time 12.792116 ms 
data association time 14.612647 ms 
solver time 11.237629 ms 
data association time 13.929429 ms 
publication time 9.693145 ms 
whole laserOdometry time 58.244289 ms 
 
points size 92162 
sort q time 4.638623 
seperate points time 11.470506 
data association time 15.478672 ms 
solver time 10.553742 ms 
data association time 14.943793 ms 
solver time 9.730687 ms 
points size 93006 
sort q time 4.650876 
seperate points time 11.509869 
data association time 14.418205 ms 
solver time 10.086355 ms 
mapping data assosiation time 31.082565 ms 
solver time 8.984962 ms 
optimization twice time 50.105767 
mapping solver time 22.901260 ms 
publication time 11.483964 ms 
whole laserOdometry time 61.840078 ms 
 
points size 94083 
sort q time 5.817678 
mapping solver time 24.488468 ms 
data association time 19.779369 ms 
solver time 10.954094 ms 
data association time 14.102291 ms 
publication time 9.119206 ms 
whole laserOdometry time 63.062978 ms 
 
sort q time 4.556313 
seperate points time 10.777573 
mapping data assosiation time 33.299262 ms 
solver time 10.313570 ms 
data association time 16.716504 ms 
solver time 12.954761 ms 
mapping data assosiation time 36.804658 ms 
prepare time 15.585129 
sort q time 5.873649 
seperate points time 13.596805 
map prepare time 3.520342 ms
map corner num 119262  surf num 59887 
data association time 17.129858 ms 
build tree time 33.650949 ms 
data association time 14.579429 ms 
mapping data assosiation time 35.858069 ms 
publication time 10.709851 ms 
whole laserOdometry time 65.829582 ms 
 
prepare time 21.661190 
mapping solver time 28.412267 ms 
scan registration time 41.882313 ms *************
data association time 14.937021 ms 
solver time 10.596347 ms 
mapping optimization time 146.074445 
data association time 15.543264 ms 
solver time 8.372993 ms 
publication time 12.103382 ms 
whole laserOdometry time 62.486781 ms 
 
sort q time 5.474250 
seperate points time 12.935152 
data association time 15.401400 ms 
mapping data assosiation time 28.152699 ms 
data association time 16.813139 ms 
publication time 9.596760 ms 
whole laserOdometry time 65.185978 ms 
 
mapping data assosiation time 30.826883 ms 
sort q time 4.993007 
seperate points time 11.888261 
filter time 16.229293 ms 
solver time 10.960910 ms 
data association time 14.522561 ms 
solver time 8.533078 ms 
points size 94835 
mapping data assosiation time 27.483410 ms 
sort q time 5.522811 
seperate points time 13.165418 
data association time 15.698643 ms 
mapping solver time 14.886396 ms 
filter time 12.215728 ms 
points size 94977 
sort q time 4.253086 
seperate points time 10.372281 
scan registration time 33.570607 ms *************
data association time 14.081394 ms 
solver time 10.245201 ms 
data association time 14.240738 ms 
solver time 8.394672 ms 
publication time 9.382980 ms 
whole laserOdometry time 57.167182 ms 
 
points size 92763 
sort q time 4.103282 
seperate points time 10.149159 
mapping solver time 14.982505 ms 
scan registration time 29.993837 ms *************
mapping optimization time 132.018465 
add points time 0.971895 ms
filter time 12.644281 ms 
data association time 23.039793 ms 
solver time 15.233527 ms 
build tree time 37.877110 ms 
solver time 11.690937 ms 
publication time 11.646126 ms 
whole laserOdometry time 85.350072 ms 
 
sort q time 5.072716 
seperate points time 12.139997 
mapping solver time 22.861594 ms 
data association time 15.221842 ms 
solver time 13.348175 ms 
data association time 15.283793 ms 
solver time 11.779446 ms 
mapping pub time 1.663981 ms 
whole mapping time 161.157974 ms +++++
points size 87918 
sort q time 4.480608 
seperate points time 10.881568 
build tree time 38.497841 ms 
solver time 14.697527 ms 
mapping solver time 17.580603 ms 
solver time 11.638058 ms 
points size 88039 
sort q time 4.781850 
seperate points time 11.656415 
filter time 12.694198 ms 
data association time 22.339204 ms 
solver time 15.147439 ms 
build tree time 35.271434 ms 
solver time 11.586874 ms 
publication time 11.211261 ms 
whole laserOdometry time 83.318672 ms 
 
sort q time 5.083412 
seperate points time 12.647422 
data association time 15.387824 ms 
solver time 13.228081 ms 
mapping solver time 17.379338 ms 
filter time 12.058832 ms 
publication time 11.495790 ms 
whole laserOdometry time 67.446272 ms 
 
prepare time 18.221073 
sort q time 5.128097 
seperate points time 12.948576 
build tree time 44.276536 ms 
data association time 16.827221 ms 
solver time 9.965831 ms 
mapping data assosiation time 28.431076 ms 
solver time 7.538953 ms 
points size 89765 
sort q time 4.719348 
seperate points time 11.373245 
mapping solver time 18.733310 ms 
filter time 11.055495 ms 
solver time 13.552617 ms 
data association time 18.711445 ms 
build tree time 38.866207 ms 
points size 90833 
mapping data assosiation time 27.639736 ms 
scan registration time 31.825385 ms *************
mapping solver time 18.624037 ms 
solver time 10.225764 ms 
data association time 16.927045 ms 
solver time 10.877372 ms 
publication time 11.442474 ms 
whole laserOdometry time 66.905385 ms 
 
points size 90158 
sort q time 5.607996 
seperate points time 13.312595 
data association time 14.480328 ms 
mapping solver time 16.016391 ms 
publication time 9.119209 ms 
whole laserOdometry time 57.994844 ms 
 
mapping data assosiation time 28.542306 ms 
prepare time 16.829779 
sort q time 4.829582 
seperate points time 12.089564 
data association time 16.026983 ms 
build tree time 32.118136 ms 
solver time 12.940483 ms 
data association time 21.994914 ms 
solver time 11.337272 ms 
data association time 16.576438 ms 
publication time 9.901479 ms 
whole laserOdometry time 67.648133 ms 
 
points size 91765 
prepare time 18.485710 
sort q time 5.196926 
seperate points time 13.125700 
mapping data assosiation time 28.534630 ms 
scan registration time 37.079235 ms *************
mapping solver time 16.826617 ms 
data association time 15.414190 ms 
solver time 11.582612 ms 
data association time 17.832186 ms 
solver time 10.362848 ms 
map prepare time 4.231234 ms
map corner num 114124  surf num 48377 
sort q time 5.556445 
seperate points time 13.922628 
data association time 17.217201 ms 
solver time 12.537587 ms 
mapping solver time 16.680126 ms 
solver time 6.069649 ms 
publication time 10.961831 ms 
whole laserOdometry time 62.959349 ms 
 
sort q time 5.287700 
seperate points time 13.241758 
filter time 10.698224 ms 
data association time 17.575853 ms 
solver time 13.125143 ms 
build tree time 34.645934 ms 
solver time 9.363087 ms 
prepare time 18.763432 
sort q time 5.547719 
seperate points time 13.690245 
mapping data assosiation time 24.328404 ms 
mapping solver time 11.075508 ms 
mapping optimization time 120.840045 
add points time 0.718829 ms
solver time 11.173314 ms 
map prepare time 3.544721 ms
map corner num 115415  surf num 48712 
solver time 7.858412 ms 
publication time 10.178275 ms 
whole laserOdometry time 63.032307 ms 
 
build tree time 33.935720 ms 
scan registration time 31.270299 ms *************
mapping data assosiation time 27.297112 ms 
data association time 16.002575 ms 
mapping solver time 14.249326 ms 
data association time 16.164950 ms 
publication time 8.757135 ms 
whole laserOdometry time 60.840014 ms 
 
points size 95575 
map prepare time 4.690810 ms
map corner num 116175  surf num 48921 
sort q time 5.972953 
seperate points time 14.700569 
build tree time 29.962046 ms 
data association time 25.640994 ms 
solver time 14.916355 ms 
data association time 26.138595 ms 
solver time 11.578279 ms 
optimization twice time 79.328627 
mapping solver time 14.100302 ms 
mapping optimization time 106.891049 
add points time 0.745841 ms
publication time 12.245245 ms 
whole laserOdometry time 91.604470 ms 
 
scan registration time 32.880673 ms *************
data association time 22.875790 ms 
build tree time 31.301311 ms 
mapping data assosiation time 24.846361 ms 
points size 95678 
publication time 11.892901 ms 
whole laserOdometry time 85.886899 ms 
 
mapping data assosiation time 27.811851 ms 
mapping solver time 12.917111 ms 
filter time 11.248349 ms 
data association time 23.201530 ms 
solver time 11.709988 ms 
points size 95914 
prepare time 15.578825 
publication time 11.971771 ms 
whole laserOdometry time 82.954597 ms 
 
sort q time 4.913538 
seperate points time 12.453436 
mapping solver time 18.423007 ms 
data association time 17.907259 ms 
solver time 10.424547 ms 
data association time 16.483572 ms 
solver time 8.703106 ms 
publication time 11.405707 ms 
whole laserOdometry time 65.751736 ms 
 
points size 96812 
sort q time 4.889347 
seperate points time 12.247369 
data association time 30.079582 ms 
solver time 19.120148 ms 
points size 98099 
data association time 32.475682 ms 
sort q time 7.240877 
seperate points time 17.378452 
solver time 14.731236 ms 
optimization twice time 97.601024 
scan registration time 36.966710 ms *************
publication time 13.518138 ms 
whole laserOdometry time 111.143213 ms 
 
[33m[ WARN] [1718802651.406324148]: odometry process over 100ms[0m
mapping pub time 185.566263 ms 
whole mapping time 317.969233 ms +++++
data association time 21.073092 ms 
build tree time 33.866657 ms 
publication time 10.722023 ms 
whole laserOdometry time 75.832175 ms 
 
scan registration time 37.295073 ms *************
mapping solver time 14.512201 ms 
solver time 7.890758 ms 
data association time 22.414758 ms 
publication time 9.260412 ms 
whole laserOdometry time 63.906078 ms 
 
filter time 12.474307 ms 
mapping pub time 1.258469 ms 
whole mapping time 140.607019 ms +++++
drop lidar frame in mapping for real time performance 
sort q time 5.553833 
seperate points time 13.592286 
build tree time 36.354641 ms 
data association time 16.286766 ms 
solver time 10.731902 ms 
mapping solver time 15.338935 ms 
solver time 8.263258 ms 
points size 93738 
mapping solver time 13.233509 ms 
filter time 13.231918 ms 
data association time 17.090322 ms 
solver time 11.239874 ms 
data association time 17.381075 ms 
build tree time 35.955747 ms 
publication time 10.191112 ms 
whole laserOdometry time 66.044652 ms 
 
points size 90768 
sort q time 6.221288 
seperate points time 14.695445 
mapping data assosiation time 25.952600 ms 
mapping solver time 14.672961 ms 
filter time 12.884361 ms 
mapping pub time 1.483092 ms 
whole mapping time 139.492592 ms +++++
map prepare time 4.015568 ms
map corner num 120719  surf num 50498 
solver time 7.881796 ms 
publication time 11.895894 ms 
whole laserOdometry time 66.282821 ms 
 
points size 89032 
build tree time 42.196965 ms 
sort q time 6.782417 
seperate points time 15.701820 
mapping data assosiation time 27.671652 ms 
data association time 19.238072 ms 
solver time 9.883528 ms 
data association time 15.011609 ms 
mapping solver time 12.941507 ms 
filter time 11.811646 ms 
sort q time 5.047599 
seperate points time 12.448013 
build tree time 32.369485 ms 
data association time 15.939147 ms 
solver time 13.676096 ms 
mapping solver time 15.127244 ms 
solver time 11.463908 ms 
publication time 11.337286 ms 
whole laserOdometry time 79.315168 ms 
 
filter time 11.175303 ms 
data association time 25.303068 ms 
build tree time 37.839474 ms 
data association time 15.759610 ms 
mapping data assosiation time 24.132112 ms 
prepare time 15.302050 
sort q time 5.099905 
seperate points time 12.664667 
mapping data assosiation time 27.086239 ms 
data association time 18.846737 ms 
mapping solver time 13.995821 ms 
mapping optimization time 120.128995 
add points time 0.694956 ms
data association time 17.504626 ms 
publication time 7.931846 ms 
whole laserOdometry time 65.480469 ms 
 
prepare time 16.737964 
sort q time 5.006835 
seperate points time 12.041828 
mapping solver time 16.025841 ms 
data association time 24.469902 ms 
solver time 15.244506 ms 
mapping solver time 12.167236 ms 
mapping optimization time 111.458514 
add points time 0.721919 ms
map prepare time 3.882917 ms
map corner num 123230  surf num 51092 
prepare time 14.839935 
sort q time 4.560366 
seperate points time 11.325531 
build tree time 36.587876 ms 
data association time 17.713240 ms 
solver time 8.510105 ms 
data association time 15.300742 ms 
solver time 8.267603 ms 
publication time 9.337160 ms 
whole laserOdometry time 59.937391 ms 
 
add points time 0.747733 ms
filter time 12.571325 ms 
scan registration time 38.255559 ms *************
data association time 17.690494 ms 
mapping data assosiation time 23.607115 ms 
solver time 10.721972 ms 
prepare time 14.837117 
sort q time 4.298831 
seperate points time 10.505714 
mapping solver time 12.650041 ms 
filter time 11.842348 ms 
data association time 15.484139 ms 
solver time 11.268889 ms 
build tree time 35.347498 ms 
mapping data assosiation time 23.950689 ms 
mapping solver time 14.192008 ms 
mapping data assosiation time 23.432497 ms 
mapping solver time 11.479623 ms 
filter time 11.607073 ms 
data association time 14.576094 ms 
publication time 8.288595 ms 
whole laserOdometry time 65.549536 ms 
 
build tree time 40.660078 ms 
sort q time 5.355906 
seperate points time 13.645920 
mapping data assosiation time 25.873547 ms 
mapping solver time 15.486138 ms 
solver time 8.627197 ms 
mapping data assosiation time 22.447335 ms 
mapping solver time 11.579233 ms 
publication time 8.868686 ms 
whole laserOdometry time 68.198495 ms 
 
sort q time 5.144774 
seperate points time 12.932655 
[0m[ INFO] [1718802652.965692076]: Received 2521103 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802652.965741285]: Data saved to 1317358198251295.pcd[0m
solver time 10.556045 ms 
data association time 15.684746 ms 
points size 89750 
mapping solver time 12.432350 ms 
scan registration time 36.851650 ms *************
data association time 16.082728 ms 
solver time 11.116618 ms 
build tree time 32.934180 ms 
solver time 7.982980 ms 
mapping data assosiation time 25.136975 ms 
points size 90304 
prepare time 18.634928 
mapping solver time 20.213409 ms 
sort q time 5.736881 
seperate points time 14.575342 
mapping data assosiation time 26.038522 ms 
mapping solver time 11.098463 ms 
filter time 13.973840 ms 
data association time 15.604794 ms 
publication time 9.450473 ms 
whole laserOdometry time 62.060694 ms 
 
prepare time 18.723230 
sort q time 6.074863 
seperate points time 15.064943 
mapping solver time 12.490231 ms 
data association time 15.163639 ms 
solver time 11.211777 ms 
mapping solver time 12.525838 ms 
solver time 8.474757 ms 
publication time 9.417183 ms 
whole laserOdometry time 61.375156 ms 
 
points size 90049 
sort q time 5.220281 
seperate points time 12.928165 
build tree time 36.403191 ms 
data association time 15.723496 ms 
solver time 11.726729 ms 
data association time 15.216588 ms 
mapping data assosiation time 21.451420 ms 
publication time 8.947467 ms 
whole laserOdometry time 63.701447 ms 
 
prepare time 17.901512 
map prepare time 3.400150 ms
map corner num 128407  surf num 52563 
scan registration time 36.230091 ms *************
build tree time 34.581187 ms 
solver time 15.076155 ms 
data association time 17.909096 ms 
solver time 13.278740 ms 
prepare time 17.818469 
publication time 11.262345 ms 
whole laserOdometry time 74.410802 ms 
 
mapping solver time 11.211710 ms 
mapping optimization time 107.334315 
sort q time 5.237947 
seperate points time 13.026593 
add points time 0.752542 ms
scan registration time 36.069325 ms *************
mapping pub time 1.092201 ms 
whole mapping time 126.558649 ms +++++
data association time 16.382426 ms 
solver time 10.893498 ms 
data association time 15.720673 ms 
solver time 8.593298 ms 
mapping data assosiation time 24.750380 ms 
prepare time 17.928609 
sort q time 5.075973 
seperate points time 12.621979 
mapping data assosiation time 23.151430 ms 
data association time 15.878001 ms 
mapping solver time 10.849065 ms 
mapping optimization time 110.211654 
add points time 0.722691 ms
filter time 12.549845 ms 
data association time 15.764304 ms 
solver time 11.646186 ms 
publication time 10.165166 ms 
whole laserOdometry time 65.646988 ms 
 
prepare time 16.745986 
sort q time 4.609459 
seperate points time 11.428147 
mapping solver time 13.894709 ms 
data association time 15.179769 ms 
mapping solver time 10.420137 ms 
filter time 12.956259 ms 
publication time 10.173832 ms 
whole laserOdometry time 62.896519 ms 
 
prepare time 16.065124 
build tree time 34.856490 ms 
mapping data assosiation time 22.145992 ms 
data association time 15.031520 ms 
solver time 19.410548 ms 
mapping data assosiation time 22.168214 ms 
data association time 18.842794 ms 
solver time 11.837623 ms 
prepare time 17.372622 
sort q time 4.301401 
seperate points time 10.330284 
build tree time 36.078942 ms 
solver time 7.579432 ms 
mapping data assosiation time 20.570559 ms 
mapping solver time 11.328941 ms 
publication time 7.870514 ms 
whole laserOdometry time 53.489670 ms 
 
mapping data assosiation time 25.096111 ms 
points size 84954 
sort q time 4.775421 
seperate points time 12.051445 
data association time 14.518422 ms 
solver time 8.231523 ms 
data association time 14.680822 ms 
solver time 8.330828 ms 
publication time 8.814302 ms 
whole laserOdometry time 55.587763 ms 
 
points size 83574 
sort q time 4.840671 
seperate points time 12.054262 
data association time 14.360372 ms 
solver time 10.559098 ms 
data association time 18.464429 ms 
optimization twice time 56.402120 
points size 83773 
scan registration time 34.275598 ms *************
build tree time 44.853007 ms 
solver time 13.606361 ms 
mapping solver time 11.000418 ms 
solver time 10.247011 ms 
mapping data assosiation time 22.779932 ms 
points size 84355 
sort q time 4.763696 
seperate points time 11.344511 
data association time 15.520986 ms 
solver time 11.326875 ms 
data association time 17.062599 ms 
mapping solver time 13.109067 ms 
points size 85164 
sort q time 4.765243 
seperate points time 11.314158 
filter time 11.402283 ms 
solver time 12.853941 ms 
data association time 14.484305 ms 
build tree time 37.367459 ms 
mapping data assosiation time 21.682542 ms 
data association time 25.399283 ms 
solver time 15.875471 ms 
mapping pub time 1.421230 ms 
whole mapping time 140.683703 ms +++++
data association time 23.511403 ms 
solver time 11.634854 ms 
optimization twice time 77.559951 
points size 83274 
prepare time 14.336384 
scan registration time 30.681761 ms *************
mapping data assosiation time 24.023092 ms 
mapping solver time 17.986443 ms 
mapping data assosiation time 24.643801 ms 
points size 84269 
sort q time 4.819739 
seperate points time 11.627115 
publication time 9.845671 ms 
whole laserOdometry time 90.114344 ms 
 
data association time 22.659596 ms 
solver time 10.932468 ms 
build tree time 47.382140 ms 
data association time 24.616857 ms 
solver time 13.405838 ms 
mapping solver time 17.194053 ms 
mapping data assosiation time 19.386169 ms 
mapping solver time 10.108174 ms 
mapping optimization time 119.770877 
add points time 0.562717 ms
data association time 16.432753 ms 
filter time 14.372909 ms 
data association time 14.982762 ms 
publication time 8.384036 ms 
whole laserOdometry time 60.413985 ms 
 
build tree time 39.070794 ms 
sort q time 4.344502 
seperate points time 10.416245 
mapping solver time 14.171685 ms 
data association time 17.610859 ms 
solver time 10.573266 ms 
mapping solver time 12.661732 ms 
data association time 21.633555 ms 
solver time 10.765156 ms 
points size 86779 
sort q time 4.634885 
seperate points time 11.075484 
data association time 14.341169 ms 
solver time 11.980782 ms 
data association time 14.968122 ms 
publication time 8.198792 ms 
whole laserOdometry time 59.439915 ms 
 
filter time 15.377058 ms 
sort q time 4.074742 
seperate points time 9.698232 
build tree time 36.064703 ms 
data association time 22.963854 ms 
mapping data assosiation time 22.785792 ms 
mapping solver time 11.361672 ms 
solver time 11.321082 ms 
publication time 10.021092 ms 
whole laserOdometry time 79.691088 ms 
 
filter time 13.060663 ms 
data association time 16.257916 ms 
build tree time 42.441702 ms 
solver time 9.649015 ms 
mapping solver time 12.913871 ms 
points size 87939 
prepare time 13.941099 
scan registration time 28.908724 ms *************
filter time 14.402633 ms 
solver time 10.554199 ms 
data association time 14.739853 ms 
publication time 7.748633 ms 
whole laserOdometry time 64.512570 ms 
 
mapping data assosiation time 21.350040 ms 
prepare time 17.320049 
sort q time 5.126915 
seperate points time 12.661438 
mapping data assosiation time 19.703169 ms 
mapping solver time 10.339385 ms 
solver time 8.362768 ms 
map prepare time 3.111764 ms
map corner num 136887  surf num 55279 
solver time 7.652796 ms 
build tree time 37.921080 ms 
prepare time 17.517622 
mapping data assosiation time 20.139124 ms 
mapping solver time 12.490068 ms 
data association time 15.970231 ms 
solver time 8.785803 ms 
data association time 14.264744 ms 
filter time 10.372456 ms 
mapping pub time 1.083953 ms 
whole mapping time 118.686826 ms +++++
map prepare time 3.177518 ms
map corner num 137461  surf num 55441 
publication time 7.996630 ms 
whole laserOdometry time 56.437981 ms 
 
points size 89073 
build tree time 40.144626 ms 
scan registration time 35.537025 ms *************
mapping data assosiation time 20.963412 ms 
mapping solver time 11.907749 ms 
data association time 15.961662 ms 
solver time 11.540467 ms 
mapping solver time 9.432628 ms 
mapping optimization time 104.059083 
data association time 15.130607 ms 
add points time 0.574631 ms
filter time 15.617709 ms 
points size 89396 
prepare time 15.767342 
build tree time 39.801179 ms 
solver time 10.204476 ms 
mapping data assosiation time 19.843611 ms 
mapping solver time 10.006155 ms 
solver time 8.540497 ms 
mapping data assosiation time 20.217200 ms 
mapping solver time 8.760746 ms 
prepare time 14.553018 
map prepare time 3.113854 ms
map corner num 138652  surf num 55830 
data association time 14.588625 ms 
solver time 8.516437 ms 
build tree time 40.675996 ms 
data association time 15.967907 ms 
solver time 7.784895 ms 
publication time 8.970115 ms 
whole laserOdometry time 56.784418 ms 
 
points size 90206 
sort q time 4.684030 
seperate points time 11.253005 
filter time 13.379453 ms 
solver time 14.844207 ms 
data association time 23.894699 ms 
points size 91196 
publication time 10.670793 ms 
whole laserOdometry time 85.570141 ms 
 
mapping data assosiation time 21.205932 ms 
mapping solver time 10.707594 ms 
filter time 12.877619 ms 
mapping pub time 3.166153 ms 
whole mapping time 122.883726 ms +++++
map prepare time 3.611968 ms
map corner num 84779  surf num 33303 
data association time 24.639976 ms 
build tree time 23.333544 ms 
data association time 24.367226 ms 
mapping data assosiation time 22.271667 ms 
publication time 10.948613 ms 
whole laserOdometry time 84.202078 ms 
 
mapping data assosiation time 21.352647 ms 
solver time 8.151981 ms 
filter time 7.469140 ms 
solver time 8.809434 ms 
build tree time 24.354643 ms 
points size 94413 
sort q time 5.151968 
seperate points time 12.398754 
mapping data assosiation time 21.571260 ms 
mapping solver time 11.091895 ms 
mapping pub time 1.241648 ms 
whole mapping time 112.476190 ms +++++
solver time 8.581346 ms 
publication time 11.478232 ms 
whole laserOdometry time 64.926365 ms 
 
points size 95540 
mapping data assosiation time 24.172492 ms 
sort q time 5.462547 
seperate points time 13.526477 
scan registration time 37.998022 ms *************
data association time 15.229924 ms 
solver time 11.176485 ms 
filter time 8.230204 ms 
solver time 7.975349 ms 
publication time 10.823549 ms 
whole laserOdometry time 62.730877 ms 
 
prepare time 18.041185 
mapping data assosiation time 22.292285 ms 
mapping solver time 13.119826 ms 
data association time 17.010233 ms 
solver time 8.716488 ms 
mapping solver time 11.284700 ms 
data association time 16.783540 ms 
solver time 9.186051 ms 
points size 93470 
build tree time 33.233559 ms 
mapping data assosiation time 28.233895 ms 
mapping solver time 18.622093 ms 
mapping data assosiation time 25.532175 ms 
mapping solver time 14.954463 ms 
solver time 11.144181 ms 
sort q time 4.668641 
seperate points time 11.582553 
data association time 16.180935 ms 
solver time 11.009779 ms 
solver time 8.183670 ms 
publication time 9.347362 ms 
whole laserOdometry time 62.545526 ms 
 
points size 93679 
prepare time 18.922286 
sort q time 5.497615 
seperate points time 13.802972 
scan registration time 37.910979 ms *************
data association time 16.668205 ms 
solver time 14.113641 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
solver time 11.485472 ms 
sort q time 5.470664 
seperate points time 12.964269 
scan registration time 33.867208 ms *************
mapping solver time 13.839978 ms 
solver time 11.352980 ms 
mapping solver time 11.048420 ms 
mapping pub time 1.165349 ms 
whole mapping time 115.440325 ms +++++
points size 94107 
sort q time 5.124468 
seperate points time 12.064519 
mapping data assosiation time 22.487882 ms 
data association time 15.611153 ms 
mapping solver time 14.173707 ms 
mapping data assosiation time 19.738697 ms 
mapping solver time 10.921819 ms 
mapping pub time 1.722255 ms 
whole mapping time 106.218360 ms +++++
points size 94563 
prepare time 15.659444 
sort q time 4.923934 
seperate points time 11.948567 
mapping data assosiation time 20.942902 ms 
data association time 15.365441 ms 
solver time 11.170479 ms 
mapping data assosiation time 21.132578 ms 
solver time 8.709691 ms 
optimization twice time 52.641126 
mapping solver time 12.096549 ms 
mapping optimization time 89.065647 
add points time 0.645798 ms
map prepare time 3.275141 ms
map corner num 90428  surf num 35251 
prepare time 14.663449 
sort q time 5.082502 
seperate points time 12.012763 
mapping data assosiation time 24.011217 ms 
mapping solver time 13.224492 ms 
solver time 15.562365 ms 
mapping data assosiation time 21.158938 ms 
solver time 10.281152 ms 
publication time 12.599210 ms 
whole laserOdometry time 73.815104 ms 
 
sort q time 4.230773 
seperate points time 10.902505 
build tree time 24.666352 ms 
data association time 15.372427 ms 
mapping data assosiation time 22.197524 ms 
solver time 11.105938 ms 
data association time 15.376176 ms 
optimization twice time 50.468827 
publication time 8.185521 ms 
whole laserOdometry time 58.674536 ms 
 
points size 89219 
map prepare time 3.989418 ms
map corner num 92033  surf num 35778 
build tree time 24.184101 ms 
solver time 10.687628 ms 
data association time 16.028049 ms 
mapping solver time 11.298012 ms 
publication time 9.414903 ms 
whole laserOdometry time 60.979725 ms 
 
points size 88803 
filter time 9.885475 ms 
build tree time 31.399394 ms 
solver time 17.941920 ms 
mapping solver time 14.372641 ms 
prepare time 15.152527 
publication time 11.875746 ms 
whole laserOdometry time 95.333216 ms 
 
filter time 11.318266 ms 
mapping pub time 1.596395 ms 
whole mapping time 125.423182 ms +++++
map prepare time 3.556689 ms
map corner num 93379  surf num 36215 
data association time 25.224137 ms 
solver time 15.038930 ms 
data association time 27.140591 ms 
prepare time 16.570632 
solver time 7.998594 ms 
publication time 9.057976 ms 
whole laserOdometry time 72.271248 ms 
 
prepare time 20.290660 
mapping solver time 18.620129 ms 
mapping data assosiation time 22.088635 ms 
mapping solver time 10.733627 ms 
map prepare time 2.624645 ms
map corner num 94540  surf num 36545 
data association time 20.425596 ms 
optimization twice time 61.245024 
points size 89908 
prepare time 14.906493 
mapping data assosiation time 22.796671 ms 
mapping solver time 14.012599 ms 
data association time 17.684052 ms 
mapping solver time 10.431717 ms 
mapping optimization time 94.638898 
solver time 13.640808 ms 
add points time 0.673722 ms
data association time 15.654349 ms 
solver time 8.106858 ms 
build tree time 27.509540 ms 
sort q time 5.110976 
seperate points time 12.712301 
mapping solver time 10.529340 ms 
data association time 15.415245 ms 
solver time 11.156873 ms 
filter time 8.572817 ms 
optimization twice time 53.811141 
points size 90874 
sort q time 4.467229 
seperate points time 10.748373 
mapping solver time 10.218536 ms 
mapping data assosiation time 22.439079 ms 
solver time 14.937310 ms 
filter time 8.364605 ms 
points size 90936 
publication time 10.653109 ms 
whole laserOdometry time 90.897581 ms 
 
mapping data assosiation time 21.964889 ms 
data association time 24.425881 ms 
mapping solver time 11.880933 ms 
mapping data assosiation time 23.079504 ms 
mapping solver time 9.919012 ms 
filter time 10.718176 ms 
points size 91281 
sort q time 5.749682 
seperate points time 13.783789 
data association time 15.561982 ms 
mapping data assosiation time 21.979725 ms 
mapping solver time 12.520783 ms 
data association time 15.872399 ms 
solver time 8.000602 ms 
publication time 8.914740 ms 
whole laserOdometry time 60.497262 ms 
 
filter time 7.860322 ms 
sort q time 5.054101 
seperate points time 11.955523 
build tree time 27.779486 ms 
solver time 10.360281 ms 
mapping solver time 14.120565 ms 
solver time 9.239610 ms 
publication time 9.311809 ms 
whole laserOdometry time 67.611483 ms 
 
points size 94537 
mapping pub time 2.375269 ms 
whole mapping time 118.790935 ms +++++
build tree time 25.590029 ms 
data association time 15.625193 ms 
mapping data assosiation time 22.628431 ms 
mapping solver time 11.840964 ms 
publication time 10.758563 ms 
whole laserOdometry time 61.865227 ms 
 
points size 93873 
mapping solver time 12.553904 ms 
filter time 10.613091 ms 
build tree time 28.085462 ms 
mapping data assosiation time 27.688510 ms 
points size 94415 
sort q time 5.362749 
seperate points time 13.316090 
mapping solver time 9.915639 ms 
filter time 8.706338 ms 
solver time 12.949932 ms 
data association time 16.936257 ms 
publication time 8.920475 ms 
whole laserOdometry time 63.680251 ms 
 
prepare time 18.778127 
sort q time 5.536203 
seperate points time 13.437941 
data association time 15.002021 ms 
solver time 11.523850 ms 
filter time 9.322888 ms 
solver time 8.872855 ms 
build tree time 29.678077 ms 
sort q time 5.437406 
seperate points time 13.037771 
mapping data assosiation time 23.728661 ms 
scan registration time 37.394462 ms *************
data association time 17.901465 ms 
mapping data assosiation time 22.945788 ms 
mapping solver time 10.861303 ms 
filter time 9.694532 ms 
solver time 10.961194 ms 
prepare time 18.996187 
build tree time 30.740587 ms 
scan registration time 36.972313 ms *************
mapping data assosiation time 24.436025 ms 
data association time 15.587092 ms 
solver time 10.585115 ms 
data association time 14.591224 ms 
solver time 8.952885 ms 
filter time 10.992152 ms 
sort q time 4.576584 
seperate points time 10.683305 
data association time 14.829914 ms 
solver time 13.418444 ms 
data association time 18.427535 ms 
solver time 10.863166 ms 
points size 88947 
prepare time 15.314715 
sort q time 5.701650 
seperate points time 13.082154 
data association time 16.613141 ms 
mapping pub time 164.895306 ms 
whole mapping time 283.110613 ms +++++
data association time 18.195017 ms 
build tree time 30.990751 ms 
points size 86696 
mapping data assosiation time 22.225054 ms 
data association time 14.069389 ms 
mapping solver time 9.885229 ms 
filter time 9.472918 ms 
mapping pub time 1.120622 ms 
whole mapping time 111.790594 ms +++++
data association time 18.424215 ms 
map prepare time 3.248502 ms
map corner num 101782  surf num 41808 
publication time 7.471353 ms 
whole laserOdometry time 59.760525 ms 
 
build tree time 28.897627 ms 
sort q time 4.087232 
seperate points time 9.863391 
data association time 12.996072 ms 
solver time 10.554140 ms 
data association time 13.701156 ms 
mapping solver time 10.048278 ms 
mapping optimization time 96.014864 
add points time 0.593841 ms
publication time 7.929857 ms 
whole laserOdometry time 54.768938 ms 
 
points size 85068 
prepare time 13.307678 
build tree time 29.914464 ms 
scan registration time 27.081318 ms *************
mapping solver time 12.283217 ms 
data association time 19.990255 ms 
mapping data assosiation time 22.174428 ms 
mapping solver time 13.436008 ms 
filter time 10.822507 ms 
publication time 9.652624 ms 
whole laserOdometry time 70.071203 ms 
 
sort q time 3.673352 
seperate points time 9.035143 
mapping data assosiation time 21.092643 ms 
data association time 22.029757 ms 
solver time 11.363355 ms 
mapping data assosiation time 22.826611 ms 
mapping solver time 12.237801 ms 
filter time 10.309368 ms 
prepare time 15.062956 
sort q time 4.490316 
seperate points time 10.631544 
build tree time 29.367157 ms 
data association time 13.336788 ms 
solver time 8.525254 ms 
mapping solver time 9.885911 ms 
solver time 7.456204 ms 
mapping solver time 9.994470 ms 
filter time 8.354350 ms 
prepare time 13.899241 
sort q time 3.744685 
seperate points time 9.199008 
build tree time 29.322486 ms 
solver time 16.299755 ms 
mapping data assosiation time 21.710435 ms 
mapping solver time 11.349343 ms 
solver time 11.465359 ms 
mapping solver time 10.687069 ms 
points size 84651 
sort q time 3.906309 
seperate points time 9.576386 
scan registration time 27.563235 ms *************
build tree time 29.243313 ms 
data association time 20.111445 ms 
mapping data assosiation time 21.817064 ms 
mapping solver time 12.566810 ms 
data association time 19.840108 ms 
optimization twice time 67.524744 
mapping solver time 15.189047 ms 
filter time 11.402046 ms 
sort q time 4.885950 
seperate points time 12.492136 
scan registration time 35.035270 ms *************
data association time 14.910549 ms 
solver time 10.822352 ms 
mapping data assosiation time 20.041961 ms 
solver time 8.872237 ms 
mapping data assosiation time 21.133108 ms 
filter time 8.536536 ms 
data association time 13.747269 ms 
solver time 11.260281 ms 
data association time 13.726629 ms 
mapping data assosiation time 19.876156 ms 
publication time 10.637966 ms 
whole laserOdometry time 58.744059 ms 
 
points size 95211 
[0m[ INFO] [1718802660.424106656]: Received 2573845 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802660.424137856]: Data saved to 1317358206254405.pcd[0m
filter time 9.510644 ms 
data association time 20.979817 ms 
build tree time 29.107944 ms 
mapping data assosiation time 20.810096 ms 
mapping solver time 14.647647 ms 
publication time 10.690388 ms 
whole laserOdometry time 83.357171 ms 
 
mapping solver time 9.731617 ms 
filter time 11.437022 ms 
data association time 22.076294 ms 
solver time 15.164521 ms 
data association time 21.734605 ms 
optimization twice time 71.317305 
mapping solver time 14.834982 ms 
mapping data assosiation time 21.788875 ms 
data association time 21.537902 ms 
filter time 9.151852 ms 
data association time 21.963346 ms 
solver time 11.606730 ms 
prepare time 15.980439 
mapping data assosiation time 25.929674 ms 
mapping solver time 16.553455 ms 
data association time 22.029746 ms 
solver time 14.933986 ms 
filter time 12.136864 ms 
optimization twice time 71.811534 
prepare time 15.140158 
sort q time 4.739336 
seperate points time 11.277059 
mapping data assosiation time 23.798621 ms 
mapping solver time 19.145782 ms 
solver time 32.601224 ms 
mapping data assosiation time 27.927550 ms 
points size 88906 
filter time 13.780990 ms 
data association time 23.894883 ms 
solver time 15.098716 ms 
mapping data assosiation time 22.181086 ms 
data association time 20.955050 ms 
publication time 8.346095 ms 
whole laserOdometry time 77.566489 ms 
 
mapping solver time 12.421726 ms 
filter time 12.176652 ms 
data association time 13.875982 ms 
publication time 7.730957 ms 
whole laserOdometry time 56.655986 ms 
 
build tree time 34.188816 ms 
points size 85997 
sort q time 4.039330 
seperate points time 9.710416 
data association time 13.786560 ms 
solver time 12.807734 ms 
filter time 10.430469 ms 
solver time 9.080621 ms 
build tree time 31.271235 ms 
sort q time 4.066019 
seperate points time 9.902361 
mapping solver time 13.636931 ms 
data association time 13.823948 ms 
solver time 10.517737 ms 
data association time 13.918661 ms 
solver time 8.377511 ms 
publication time 8.435706 ms 
whole laserOdometry time 55.938174 ms 
 
points size 87841 
sort q time 4.495258 
seperate points time 10.952865 
mapping data assosiation time 24.622409 ms 
mapping solver time 18.352863 ms 
solver time 12.534160 ms 
mapping data assosiation time 28.023781 ms 
data association time 24.658608 ms 
solver time 12.020614 ms 
map prepare time 2.932606 ms
map corner num 60972  surf num 25536 
scan registration time 34.773509 ms *************
mapping data assosiation time 27.340651 ms 
solver time 15.963232 ms 
data association time 26.403686 ms 
solver time 12.971711 ms 
scan registration time 35.146323 ms *************
map prepare time 3.706166 ms
map corner num 61757  surf num 25834 
build tree time 21.104812 ms 
data association time 23.425925 ms 
solver time 17.241573 ms 
mapping data assosiation time 26.602224 ms 
mapping solver time 15.016222 ms 
solver time 13.213941 ms 
sort q time 5.770495 
seperate points time 13.489926 
mapping solver time 9.063311 ms 
filter time 7.643360 ms 
data association time 22.003218 ms 
build tree time 18.071200 ms 
data association time 17.766704 ms 
publication time 8.664917 ms 
whole laserOdometry time 68.719805 ms 
 
sort q time 4.712005 
seperate points time 11.270501 
mapping data assosiation time 24.793532 ms 
mapping optimization time 95.584110 
data association time 21.920882 ms 
solver time 13.304216 ms 
data association time 18.790813 ms 
optimization twice time 66.053414 
prepare time 16.910867 
sort q time 4.840099 
seperate points time 11.645193 
data association time 16.560661 ms 
solver time 11.584300 ms 
data association time 16.712470 ms 
publication time 8.655957 ms 
whole laserOdometry time 63.583854 ms 
 
points size 97044 
sort q time 6.725521 
seperate points time 16.357574 
mapping data assosiation time 29.539941 ms 
data association time 26.271063 ms 
solver time 16.285718 ms 
points size 96729 
mapping data assosiation time 29.056330 ms 
scan registration time 33.467572 ms *************
filter time 7.957158 ms 
data association time 22.714541 ms 
build tree time 16.794123 ms 
data association time 16.866550 ms 
mapping data assosiation time 23.940566 ms 
publication time 10.444545 ms 
whole laserOdometry time 68.412641 ms 
 
prepare time 19.750323 
mapping data assosiation time 24.815147 ms 
mapping solver time 12.276347 ms 
mapping optimization time 95.354755 
add points time 1.055127 ms
filter time 6.193172 ms 
data association time 16.706400 ms 
solver time 11.506449 ms 
build tree time 17.409935 ms 
data association time 16.779953 ms 
optimization twice time 57.183178 
publication time 11.956292 ms 
whole laserOdometry time 69.158978 ms 
 
sort q time 6.439927 
seperate points time 15.841239 
mapping data assosiation time 28.670921 ms 
data association time 20.060159 ms 
solver time 12.002724 ms 
data association time 17.192842 ms 
publication time 13.348359 ms 
whole laserOdometry time 74.829126 ms 
 
sort q time 5.794809 
seperate points time 13.556960 
mapping data assosiation time 26.792905 ms 
solver time 10.990348 ms 
map prepare time 3.687458 ms
map corner num 67212  surf num 28036 
points size 92399 
sort q time 6.218764 
seperate points time 15.445099 
mapping solver time 14.105990 ms 
solver time 8.189662 ms 
mapping data assosiation time 24.879654 ms 
solver time 8.808187 ms 
points size 89447 
sort q time 6.513533 
seperate points time 15.229537 
data association time 17.304434 ms 
solver time 10.869078 ms 
mapping solver time 17.212184 ms 
solver time 8.210916 ms 
publication time 12.014386 ms 
whole laserOdometry time 66.710644 ms 
 
prepare time 15.275259 
sort q time 5.184443 
seperate points time 12.483424 
build tree time 23.912943 ms 
solver time 17.139696 ms 
mapping data assosiation time 30.829702 ms 
points size 88021 
mapping solver time 22.097544 ms 
sort q time 5.068744 
seperate points time 12.146273 
mapping data assosiation time 30.104957 ms 
mapping solver time 17.386367 ms 
mapping pub time 1.374915 ms 
whole mapping time 139.569935 ms +++++
solver time 15.095874 ms 
build tree time 24.020084 ms 
solver time 13.010939 ms 
publication time 13.056966 ms 
whole laserOdometry time 86.654680 ms 
 
mapping solver time 17.992730 ms 
solver time 8.947638 ms 
mapping data assosiation time 29.165951 ms 
filter time 13.396545 ms 
points size 89768 
sort q time 5.572909 
data association time 17.679598 ms 
solver time 8.950876 ms 
mapping solver time 16.470369 ms 
data association time 17.023225 ms 
mapping data assosiation time 27.676233 ms 
prepare time 16.881204 
filter time 7.521024 ms 
data association time 15.781163 ms 
solver time 10.979997 ms 
mapping data assosiation time 26.236334 ms 
solver time 9.828181 ms 
points size 91864 
mapping data assosiation time 26.670419 ms 
mapping solver time 17.892779 ms 
mapping pub time 2.328507 ms 
whole mapping time 126.112955 ms +++++
data association time 25.488183 ms 
solver time 14.332504 ms 
data association time 28.970660 ms 
solver time 12.308584 ms 
publication time 12.264666 ms 
whole laserOdometry time 94.481855 ms 
 
mapping data assosiation time 31.234087 ms 
data association time 29.298419 ms 
solver time 16.162001 ms 
mapping optimization time 134.354923 
filter time 8.254167 ms 
points size 91686 
build tree time 25.809673 ms 
mapping data assosiation time 28.384006 ms 
data association time 27.641660 ms 
mapping solver time 22.203473 ms 
solver time 16.703081 ms 
points size 91012 
mapping solver time 18.546078 ms 
mapping pub time 1.517877 ms 
whole mapping time 141.027696 ms +++++
data association time 25.916053 ms 
solver time 17.583214 ms 
mapping data assosiation time 30.482509 ms 
data association time 27.766281 ms 
mapping solver time 22.949644 ms 
sort q time 5.252467 
seperate points time 13.172324 
mapping data assosiation time 32.155983 ms 
add points time 0.823453 ms
solver time 15.969896 ms 
data association time 25.471457 ms 
solver time 12.399684 ms 
prepare time 15.413989 
optimization twice time 83.065360 
mapping solver time 16.411254 ms 
data association time 27.406452 ms 
mapping data assosiation time 30.256834 ms 
mapping solver time 17.143637 ms 
mapping pub time 1.430830 ms 
whole mapping time 136.127661 ms +++++
solver time 15.705251 ms 
publication time 12.120776 ms 
whole laserOdometry time 99.688072 ms 
 
build tree time 27.796762 ms 
data association time 28.632030 ms 
solver time 16.621407 ms 
mapping solver time 22.079943 ms 
data association time 29.887843 ms 
mapping data assosiation time 31.068547 ms 
solver time 18.776920 ms 
optimization twice time 94.996638 
mapping solver time 19.350442 ms 
filter time 9.007456 ms 
data association time 25.778339 ms 
solver time 14.290603 ms 
data association time 28.054912 ms 
solver time 12.787676 ms 
scan registration time 30.605381 ms *************
data association time 28.426629 ms 
solver time 16.365745 ms 
filter time 8.879164 ms 
data association time 25.717164 ms 
points size 90158 
build tree time 27.205980 ms 
mapping data assosiation time 28.153970 ms 
data association time 26.232350 ms 
solver time 16.338988 ms 
mapping data assosiation time 28.992440 ms 
points size 90197 
filter time 8.607771 ms 
build tree time 20.119857 ms 
solver time 12.700838 ms 
data association time 15.376271 ms 
solver time 11.456627 ms 
publication time 11.465651 ms 
whole laserOdometry time 67.439677 ms 
 
prepare time 18.172043 
mapping optimization time 98.841707 
mapping pub time 1.608866 ms 
whole mapping time 115.161761 ms +++++
data association time 24.565574 ms 
build tree time 26.841405 ms 
mapping data assosiation time 29.515663 ms 
points size 89224 
optimization twice time 84.719687 
sort q time 4.984028 
seperate points time 12.806265 
mapping data assosiation time 29.578946 ms 
mapping solver time 14.366923 ms 
mapping optimization time 122.941902 
add points time 0.590913 ms
data association time 16.512472 ms 
solver time 10.654900 ms 
publication time 10.436533 ms 
whole laserOdometry time 69.387011 ms 
 
mapping data assosiation time 29.809120 ms 
scan registration time 37.053716 ms *************
mapping solver time 20.129285 ms 
data association time 26.388757 ms 
mapping data assosiation time 28.684651 ms 
solver time 20.509022 ms 
filter time 8.779230 ms 
points size 88724 
publication time 8.268330 ms 
whole laserOdometry time 94.883214 ms 
 
data association time 16.027348 ms 
solver time 14.267947 ms 
data association time 18.715815 ms 
optimization twice time 61.067620 
prepare time 14.826012 
sort q time 4.304996 
seperate points time 10.719990 
data association time 28.552432 ms 
solver time 17.103154 ms 
build tree time 29.244897 ms 
prepare time 14.515600 
scan registration time 32.347608 ms *************
mapping solver time 20.645728 ms 
solver time 16.873186 ms 
mapping solver time 15.715154 ms 
mapping pub time 1.428139 ms 
whole mapping time 140.921758 ms +++++
publication time 10.857946 ms 
whole laserOdometry time 89.862046 ms 
 
build tree time 26.995746 ms 
data association time 26.215705 ms 
solver time 16.429388 ms 
data association time 25.537118 ms 
mapping data assosiation time 28.831350 ms 
publication time 11.264406 ms 
whole laserOdometry time 94.667038 ms 
 
filter time 9.157774 ms 
scan registration time 36.250762 ms *************
data association time 16.441693 ms 
solver time 10.989106 ms 
mapping data assosiation time 21.289680 ms 
mapping solver time 13.984857 ms 
publication time 9.314383 ms 
whole laserOdometry time 66.203327 ms 
 
sort q time 4.665479 
seperate points time 11.904540 
mapping solver time 8.465669 ms 
filter time 10.343421 ms 
solver time 12.013777 ms 
data association time 14.725614 ms 
mapping data assosiation time 20.396957 ms 
points size 79010 
mapping solver time 15.381330 ms 
prepare time 16.345715 
sort q time 4.458449 
seperate points time 11.106763 
mapping data assosiation time 22.579469 ms 
mapping solver time 11.432304 ms 
filter time 8.770205 ms 
data association time 13.953553 ms 
solver time 8.725480 ms 
publication time 7.760262 ms 
whole laserOdometry time 57.338979 ms 
 
mapping data assosiation time 22.257374 ms 
prepare time 15.907870 
sort q time 4.407288 
seperate points time 11.149964 
mapping data assosiation time 22.605561 ms 
mapping solver time 13.591406 ms 
mapping pub time 1.849964 ms 
whole mapping time 111.865123 ms +++++
solver time 7.752332 ms 
mapping data assosiation time 20.030206 ms 
mapping solver time 13.561072 ms 
mapping data assosiation time 21.797009 ms 
mapping solver time 13.494054 ms 
filter time 9.428064 ms 
data association time 14.960338 ms 
solver time 8.766933 ms 
publication time 8.948639 ms 
whole laserOdometry time 56.514294 ms 
 
points size 81822 
sort q time 4.737182 
seperate points time 12.025034 
data association time 13.690979 ms 
solver time 10.904101 ms 
map prepare time 2.612007 ms
map corner num 85267  surf num 33807 
data association time 15.281714 ms 
build tree time 24.835274 ms 
points size 83517 
mapping data assosiation time 26.520983 ms 
data association time 14.260560 ms 
solver time 10.900774 ms 
data association time 14.528722 ms 
mapping pub time 0.964443 ms 
whole mapping time 113.751884 ms +++++
points size 86328 
prepare time 16.710807 
build tree time 29.002341 ms 
sort q time 5.198464 
seperate points time 13.089106 
data association time 14.468305 ms 
solver time 10.833775 ms 
mapping solver time 10.397190 ms 
mapping optimization time 94.653000 
data association time 14.860022 ms 
add points time 0.589811 ms
publication time 8.959330 ms 
whole laserOdometry time 58.703615 ms 
 
points size 88858 
sort q time 4.598893 
seperate points time 11.198596 
scan registration time 31.407503 ms *************
mapping solver time 11.679412 ms 
solver time 13.013421 ms 
data association time 17.895887 ms 
solver time 10.890756 ms 
points size 88477 
build tree time 23.399006 ms 
mapping data assosiation time 21.764017 ms 
mapping solver time 13.128145 ms 
mapping data assosiation time 21.953710 ms 
solver time 8.233219 ms 
publication time 8.435404 ms 
whole laserOdometry time 64.473500 ms 
 
points size 87383 
sort q time 4.452065 
seperate points time 10.903204 
mapping data assosiation time 20.728858 ms 
mapping solver time 14.074062 ms 
data association time 18.496884 ms 
solver time 9.286509 ms 
filter time 8.790225 ms 
points size 87594 
sort q time 5.835902 
seperate points time 13.527048 
mapping data assosiation time 19.586214 ms 
mapping solver time 12.289460 ms 
mapping data assosiation time 18.783812 ms 
add points time 0.698964 ms
publication time 9.884309 ms 
whole laserOdometry time 65.109524 ms 
 
points size 86630 
sort q time 4.633283 
seperate points time 11.318507 
data association time 14.688499 ms 
solver time 11.090903 ms 
data association time 14.800563 ms 
solver time 11.963620 ms 
filter time 7.450131 ms 
points size 85491 
sort q time 4.292202 
seperate points time 10.239901 
data association time 14.857202 ms 
solver time 13.171622 ms 
mapping solver time 10.567177 ms 
data association time 17.033950 ms 
mapping solver time 9.102485 ms 
filter time 12.045459 ms 
sort q time 4.211808 
seperate points time 10.298495 
build tree time 26.049999 ms 
data association time 14.724837 ms 
mapping data assosiation time 25.207459 ms 
data association time 16.201261 ms 
publication time 9.795352 ms 
whole laserOdometry time 62.126320 ms 
 
mapping solver time 11.390504 ms 
mapping pub time 1.096374 ms 
whole mapping time 117.259346 ms +++++
sort q time 4.486850 
seperate points time 10.915997 
map prepare time 3.423997 ms
map corner num 65768  surf num 25929 
scan registration time 28.782593 ms *************
build tree time 18.075704 ms 
solver time 11.098957 ms 
data association time 15.341518 ms 
solver time 8.399507 ms 
optimization twice time 50.368604 
mapping solver time 11.189883 ms 
map prepare time 3.217722 ms
map corner num 66345  surf num 26081 
scan registration time 31.029368 ms *************
data association time 13.964037 ms 
solver time 11.069545 ms 
mapping solver time 16.399920 ms 
data association time 18.966143 ms 
mapping data assosiation time 24.050658 ms 
mapping solver time 14.384225 ms 
map prepare time 3.646067 ms
map corner num 66940  surf num 26259 
build tree time 18.377799 ms 
solver time 10.813382 ms 
data association time 14.355352 ms 
mapping solver time 14.531831 ms 
mapping data assosiation time 20.971181 ms 
points size 80671 
filter time 5.721692 ms 
build tree time 17.404884 ms 
solver time 8.114633 ms 
mapping data assosiation time 20.730266 ms 
mapping solver time 16.013063 ms 
publication time 8.543625 ms 
whole laserOdometry time 57.151510 ms 
 
points size 81239 
sort q time 3.677574 
seperate points time 9.015345 
data association time 14.906376 ms 
solver time 11.101050 ms 
data association time 14.237288 ms 
publication time 8.013209 ms 
whole laserOdometry time 57.574449 ms 
 
points size 82886 
sort q time 5.870201 
seperate points time 13.020888 
data association time 18.810917 ms 
mapping pub time 183.727930 ms 
whole mapping time 290.610808 ms +++++
prepare time 16.512101 
build tree time 26.664412 ms 
mapping data assosiation time 29.677677 ms 
mapping solver time 12.558798 ms 
data association time 17.720652 ms 
optimization twice time 60.482022 
add points time 0.731542 ms
map prepare time 3.130740 ms
map corner num 68828  surf num 26900 
build tree time 19.849193 ms 
solver time 7.823889 ms 
data association time 15.900435 ms 
publication time 8.659037 ms 
whole laserOdometry time 58.802980 ms 
 
mapping data assosiation time 23.425252 ms 
mapping solver time 14.426134 ms 
map prepare time 3.066426 ms
map corner num 69584  surf num 27308 
data association time 16.146204 ms 
build tree time 20.303244 ms 
data association time 17.766053 ms 
publication time 8.513245 ms 
whole laserOdometry time 63.370305 ms 
 
points size 85752 
sort q time 4.250211 
seperate points time 10.354052 
mapping solver time 15.373097 ms 
mapping pub time 1.378641 ms 
whole mapping time 117.988161 ms +++++
solver time 10.886737 ms 
data association time 18.705115 ms 
solver time 10.359095 ms 
points size 84645 
mapping data assosiation time 31.556433 ms 
sort q time 5.419125 
seperate points time 13.562961 
scan registration time 38.564022 ms *************
filter time 5.958930 ms 
data association time 21.931685 ms 
build tree time 18.077197 ms 
data association time 17.962692 ms 
solver time 11.135292 ms 
sort q time 4.702919 
seperate points time 11.627475 
mapping data assosiation time 25.526157 ms 
mapping solver time 11.699263 ms 
mapping pub time 1.811452 ms 
whole mapping time 109.432265 ms +++++
data association time 15.821739 ms 
publication time 8.138706 ms 
whole laserOdometry time 62.131474 ms 
 
mapping data assosiation time 27.117256 ms 
sort q time 3.682625 
seperate points time 9.080773 
mapping solver time 18.658393 ms 
scan registration time 26.997456 ms *************
data association time 13.829081 ms 
solver time 10.885102 ms 
filter time 7.064487 ms 
solver time 9.700201 ms 
build tree time 22.077496 ms 
points size 85392 
sort q time 3.877233 
seperate points time 9.682779 
mapping solver time 16.646714 ms 
data association time 26.627968 ms 
mapping data assosiation time 29.101157 ms 
mapping solver time 13.880322 ms 
mapping pub time 1.403910 ms 
whole mapping time 123.663749 ms +++++
points size 85814 
publication time 10.916928 ms 
whole laserOdometry time 92.553431 ms 
 
mapping data assosiation time 24.401787 ms 
mapping solver time 12.197585 ms 
data association time 15.980912 ms 
solver time 8.718372 ms 
publication time 8.897889 ms 
whole laserOdometry time 64.113775 ms 
 
filter time 9.493902 ms 
prepare time 17.541117 
sort q time 4.797508 
seperate points time 11.970042 
mapping data assosiation time 25.790533 ms 
data association time 26.278345 ms 
solver time 16.445634 ms 
mapping data assosiation time 28.027759 ms 
mapping solver time 13.841093 ms 
mapping pub time 1.393521 ms 
whole mapping time 126.006067 ms +++++
map prepare time 3.426690 ms
map corner num 75160  surf num 29660 
data association time 21.931328 ms 
solver time 15.189403 ms 
mapping data assosiation time 26.554412 ms 
solver time 12.578967 ms 
publication time 11.106497 ms 
whole laserOdometry time 86.397050 ms 
 
scan registration time 29.467907 ms *************
mapping solver time 9.601471 ms 
data association time 15.873680 ms 
solver time 9.119139 ms 
data association time 15.564631 ms 
solver time 8.749701 ms 
mapping data assosiation time 25.484875 ms 
mapping solver time 14.565559 ms 
mapping data assosiation time 24.208565 ms 
add points time 0.805298 ms
data association time 15.413278 ms 
optimization twice time 62.010930 
mapping data assosiation time 24.799440 ms 
prepare time 17.228228 
sort q time 4.404464 
seperate points time 10.602000 
mapping data assosiation time 20.938532 ms 
mapping solver time 11.804364 ms 
map prepare time 2.434282 ms
map corner num 77208  surf num 30344 
data association time 14.933148 ms 
publication time 7.968909 ms 
whole laserOdometry time 58.969731 ms 
 
prepare time 13.821024 
sort q time 4.901706 
seperate points time 11.588314 
mapping data assosiation time 20.529605 ms 
mapping solver time 12.965317 ms 
map prepare time 2.320810 ms
map corner num 77806  surf num 30561 
solver time 8.638826 ms 
build tree time 23.885873 ms 
points size 80684 
mapping data assosiation time 19.523766 ms 
prepare time 13.416505 
scan registration time 31.267874 ms *************
mapping data assosiation time 23.746000 ms 
mapping solver time 10.886664 ms 
map prepare time 2.689791 ms
map corner num 78424  surf num 30839 
solver time 7.988690 ms 
optimization twice time 52.666660 
publication time 7.527845 ms 
whole laserOdometry time 60.213448 ms 
 
build tree time 23.539969 ms 
points size 82146 
sort q time 3.944808 
seperate points time 9.363350 
mapping data assosiation time 19.484429 ms 
mapping solver time 10.129741 ms 
filter time 8.148814 ms 
data association time 15.086171 ms 
publication time 7.281254 ms 
whole laserOdometry time 54.332575 ms 
 
mapping data assosiation time 19.323812 ms 
sort q time 4.372751 
seperate points time 10.384762 
mapping data assosiation time 23.318572 ms 
mapping solver time 10.996071 ms 
mapping pub time 1.096425 ms 
whole mapping time 104.401701 ms +++++
solver time 8.366955 ms 
build tree time 29.459611 ms 
points size 83079 
sort q time 3.898919 
seperate points time 9.331623 
mapping solver time 15.746257 ms 
data association time 12.805978 ms 
solver time 11.435925 ms 
filter time 8.066998 ms 
solver time 8.508505 ms 
build tree time 21.815641 ms 
points size 80076 
sort q time 4.886945 
seperate points time 12.234060 
mapping data assosiation time 22.937746 ms 
mapping solver time 11.734634 ms 
map prepare time 3.480525 ms
map corner num 80752  surf num 31774 
points size 79716 
mapping data assosiation time 22.736602 ms 
mapping solver time 13.126616 ms 
data association time 15.537725 ms 
mapping data assosiation time 20.917990 ms 
mapping solver time 10.752008 ms 
filter time 9.429793 ms 
solver time 12.911331 ms 
points size 80318 
sort q time 4.132069 
seperate points time 10.000114 
mapping solver time 11.068910 ms 
data association time 20.752690 ms 
mapping data assosiation time 22.594193 ms 
solver time 15.227344 ms 
filter time 7.216205 ms 
data association time 20.812283 ms 
solver time 11.858699 ms 
prepare time 13.896064 
sort q time 4.583493 
seperate points time 12.129467 
data association time 21.145016 ms 
solver time 15.114118 ms 
data association time 20.888263 ms 
solver time 12.000816 ms 
points size 81215 
sort q time 5.020394 
seperate points time 12.006228 
mapping pub time 173.442087 ms 
whole mapping time 274.259848 ms +++++
solver time 18.341268 ms 
data association time 16.791821 ms 
solver time 11.005942 ms 
mapping solver time 12.982805 ms 
sort q time 4.155562 
seperate points time 10.139374 
mapping solver time 9.388640 ms 
filter time 7.164217 ms 
data association time 13.041409 ms 
solver time 11.542799 ms 
mapping data assosiation time 17.999140 ms 
mapping solver time 10.887386 ms 
prepare time 14.948931 
sort q time 4.500765 
seperate points time 11.138355 
filter time 8.572268 ms 
data association time 14.642716 ms 
solver time 9.045161 ms 
build tree time 24.008253 ms 
data association time 15.094018 ms 
mapping data assosiation time 19.038894 ms 
publication time 8.656227 ms 
whole laserOdometry time 57.072762 ms 
 
points size 81591 
mapping optimization time 82.880370 
add points time 0.537113 ms
sort q time 4.738670 
seperate points time 11.466354 
scan registration time 29.024070 ms *************
data association time 11.539952 ms 
data association time 11.573215 ms 
optimization twice time 47.246160 
mapping solver time 11.753379 ms 
publication time 6.692556 ms 
whole laserOdometry time 53.957854 ms 
 
mapping data assosiation time 18.856808 ms 
points size 83882 
sort q time 4.573286 
seperate points time 10.936242 
data association time 12.785009 ms 
data association time 12.409688 ms 
publication time 7.928368 ms 
whole laserOdometry time 51.121004 ms 
 
mapping data assosiation time 18.924247 ms 
add points time 0.550817 ms
mapping pub time 2.006696 ms 
whole mapping time 99.340042 ms +++++
build tree time 22.264296 ms 
solver time 11.216964 ms 
data association time 18.738268 ms 
solver time 11.174520 ms 
publication time 8.964128 ms 
whole laserOdometry time 69.769117 ms 
 
mapping solver time 10.360266 ms 
map prepare time 2.483522 ms
map corner num 85358  surf num 33460 
build tree time 22.528832 ms 
data association time 21.439910 ms 
solver time 11.252113 ms 
mapping solver time 13.115930 ms 
data association time 21.462711 ms 
solver time 11.262482 ms 
publication time 9.622456 ms 
whole laserOdometry time 76.149121 ms 
 
sort q time 4.478355 
seperate points time 11.060066 
build tree time 22.462295 ms 
mapping data assosiation time 18.294370 ms 
solver time 15.147163 ms 
mapping solver time 15.535423 ms 
data association time 15.695685 ms 
publication time 8.036272 ms 
whole laserOdometry time 69.723027 ms 
 
mapping pub time 1.116916 ms 
whole mapping time 104.203843 ms +++++
scan registration time 32.469160 ms *************
build tree time 28.301526 ms 
solver time 11.365743 ms 
data association time 13.809136 ms 
solver time 8.768226 ms 
optimization twice time 49.397348 
mapping data assosiation time 23.156213 ms 
filter time 11.374861 ms 
data association time 15.116831 ms 
solver time 11.019801 ms 
mapping data assosiation time 19.837777 ms 
mapping solver time 11.638931 ms 
publication time 9.646297 ms 
whole laserOdometry time 61.399314 ms 
 
prepare time 16.885233 
sort q time 4.993551 
seperate points time 12.102099 
map prepare time 2.625964 ms
map corner num 88039  surf num 34575 
data association time 15.814417 ms 
solver time 11.808591 ms 
data association time 15.918112 ms 
solver time 8.134512 ms 
points size 89214 
mapping data assosiation time 24.421077 ms 
mapping solver time 12.883407 ms 
filter time 9.052182 ms 
solver time 11.915373 ms 
data association time 16.694030 ms 
solver time 11.117358 ms 
publication time 8.445576 ms 
whole laserOdometry time 64.375992 ms 
 
points size 89186 
mapping solver time 14.328341 ms 
prepare time 14.173818 
sort q time 4.333057 
seperate points time 10.557077 
mapping data assosiation time 22.341679 ms 
mapping solver time 10.845726 ms 
map prepare time 2.972410 ms
map corner num 89509  surf num 35187 
solver time 12.722194 ms 
data association time 15.334990 ms 
solver time 9.339093 ms 
publication time 10.152190 ms 
whole laserOdometry time 69.527988 ms 
 
points size 89000 
mapping solver time 14.850036 ms 
mapping data assosiation time 22.277779 ms 
mapping solver time 11.230574 ms 
filter time 9.077970 ms 
data association time 16.750988 ms 
solver time 9.095058 ms 
points size 88710 
sort q time 5.782721 
seperate points time 13.769906 
mapping data assosiation time 20.250647 ms 
data association time 14.628219 ms 
solver time 11.528685 ms 
map prepare time 3.259126 ms
map corner num 90840  surf num 35695 
data association time 16.245161 ms 
publication time 9.312764 ms 
whole laserOdometry time 59.179995 ms 
 
points size 88736 
sort q time 5.227226 
seperate points time 12.759260 
data association time 15.649467 ms 
add points time 0.678442 ms
mapping pub time 2.168092 ms 
whole mapping time 107.753202 ms +++++
map prepare time 3.007018 ms
map corner num 91500  surf num 35937 
data association time 15.761854 ms 
publication time 8.989886 ms 
whole laserOdometry time 60.888056 ms 
 
points size 88834 
sort q time 4.271522 
seperate points time 10.432779 
points size 89672 
sort q time 6.168330 
seperate points time 15.123433 
mapping data assosiation time 23.816638 ms 
mapping solver time 14.104605 ms 
mapping data assosiation time 21.890581 ms 
mapping solver time 11.476024 ms 
drop lidar frame in mapping for real time performance 
points size 91211 
sort q time 5.096045 
seperate points time 11.920803 
scan registration time 32.293685 ms *************
data association time 24.408576 ms 
solver time 16.315336 ms 
data association time 23.928322 ms 
mapping data assosiation time 29.392219 ms 
publication time 11.173581 ms 
whole laserOdometry time 91.115948 ms 
 
filter time 8.740346 ms 
data association time 22.416485 ms 
build tree time 29.165515 ms 
data association time 24.715863 ms 
solver time 12.524003 ms 
publication time 11.042414 ms 
whole laserOdometry time 86.079591 ms 
 
sort q time 5.508000 
seperate points time 13.750653 
mapping data assosiation time 26.180375 ms 
mapping solver time 12.513105 ms 
solver time 11.541915 ms 
build tree time 16.744234 ms 
publication time 10.366955 ms 
whole laserOdometry time 69.316469 ms 
 
sort q time 5.188174 
seperate points time 12.230745 
mapping data assosiation time 21.995079 ms 
add points time 0.660994 ms
data association time 15.371203 ms 
solver time 10.888447 ms 
points size 91504 
prepare time 16.440504 
sort q time 4.767322 
seperate points time 11.912091 
data association time 29.376367 ms 
solver time 19.509588 ms 
points size 90587 
solver time 16.118384 ms 
mapping pub time 195.801344 ms 
whole mapping time 296.792075 ms +++++
data association time 29.022513 ms 
points size 90197 
mapping data assosiation time 31.244836 ms 
solver time 12.703846 ms 
publication time 11.375619 ms 
whole laserOdometry time 96.298207 ms 
 
mapping data assosiation time 30.492690 ms 
mapping solver time 18.708351 ms 
filter time 7.515121 ms 
points size 90322 
build tree time 22.024612 ms 
publication time 12.826996 ms 
whole laserOdometry time 96.288409 ms 
 
mapping data assosiation time 31.133055 ms 
data association time 26.696327 ms 
mapping solver time 21.550545 ms 
solver time 16.389282 ms 
mapping data assosiation time 31.338090 ms 
solver time 13.054218 ms 
filter time 7.441322 ms 
build tree time 21.878579 ms 
data association time 25.438487 ms 
mapping data assosiation time 29.905031 ms 
data association time 27.340485 ms 
prepare time 16.931940 
sort q time 5.472199 
seperate points time 13.127305 
mapping data assosiation time 30.406723 ms 
mapping solver time 13.200062 ms 
filter time 7.570059 ms 
solver time 16.308409 ms 
build tree time 23.227528 ms 
data association time 28.211495 ms 
solver time 14.277076 ms 
publication time 12.520065 ms 
whole laserOdometry time 97.452081 ms 
 
mapping solver time 25.475322 ms 
mapping data assosiation time 33.633230 ms 
mapping solver time 20.040986 ms 
mapping pub time 1.649877 ms 
whole mapping time 150.748910 ms +++++
solver time 12.403337 ms 
optimization twice time 91.657180 
mapping data assosiation time 30.235656 ms 
solver time 11.822567 ms 
points size 96797 
mapping data assosiation time 30.676529 ms 
publication time 11.622184 ms 
whole laserOdometry time 93.647507 ms 
 
filter time 7.671995 ms 
data association time 22.856948 ms 
solver time 10.635922 ms 
data association time 14.748758 ms 
mapping data assosiation time 25.967994 ms 
points size 97573 
sort q time 6.268263 
seperate points time 15.368337 
mapping data assosiation time 28.576611 ms 
add points time 0.752633 ms
data association time 14.625918 ms 
optimization twice time 50.003876 
publication time 10.670492 ms 
whole laserOdometry time 60.712058 ms 
 
points size 97205 
sort q time 5.588111 
seperate points time 13.784800 
data association time 18.931406 ms 
mapping data assosiation time 26.370660 ms 
mapping solver time 11.509284 ms 
mapping pub time 1.169062 ms 
whole mapping time 121.741740 ms +++++
publication time 11.029467 ms 
whole laserOdometry time 60.356864 ms 
 
points size 96494 
sort q time 6.308705 
seperate points time 16.248843 
mapping solver time 12.703429 ms 
solver time 8.386414 ms 
data association time 15.579296 ms 
optimization twice time 49.941752 
publication time 11.793094 ms 
whole laserOdometry time 61.756947 ms 
 
map prepare time 3.729136 ms
map corner num 69992  surf num 27078 
sort q time 5.628426 
seperate points time 13.803584 
data association time 13.990045 ms 
solver time 10.965711 ms 
data association time 15.123516 ms 
mapping data assosiation time 25.399678 ms 
mapping solver time 16.196937 ms 
mapping optimization time 104.071346 
points size 96708 
add points time 0.838128 ms
prepare time 19.039365 
map prepare time 3.599814 ms
map corner num 70728  surf num 27332 
scan registration time 38.249933 ms *************
build tree time 21.638020 ms 
solver time 10.274268 ms 
data association time 16.169591 ms 
publication time 9.842125 ms 
whole laserOdometry time 63.241245 ms 
 
points size 95832 
mapping solver time 10.107941 ms 
mapping pub time 2.069881 ms 
whole mapping time 112.564127 ms +++++
build tree time 17.619443 ms 
solver time 11.466066 ms 
data association time 21.969949 ms 
mapping solver time 17.813921 ms 
solver time 8.227320 ms 
optimization twice time 64.492610 
mapping data assosiation time 31.220362 ms 
mapping optimization time 105.851650 
map prepare time 3.961200 ms
map corner num 72322  surf num 27912 
build tree time 19.223731 ms 
solver time 9.397647 ms 
mapping data assosiation time 24.445812 ms 
solver time 8.479654 ms 
publication time 11.719039 ms 
whole laserOdometry time 69.137815 ms 
 
scan registration time 35.046397 ms *************
mapping data assosiation time 26.256885 ms 
mapping solver time 12.246804 ms 
mapping pub time 1.173468 ms 
whole mapping time 113.146751 ms +++++
build tree time 19.709908 ms 
solver time 7.897725 ms 
publication time 10.410121 ms 
whole laserOdometry time 63.223943 ms 
 
prepare time 15.113674 
sort q time 4.791380 
seperate points time 11.321381 
data association time 15.572368 ms 
solver time 11.326334 ms 
filter time 6.482473 ms 
data association time 16.984408 ms 
solver time 8.658439 ms 
optimization twice time 53.469613 
points size 87045 
mapping data assosiation time 25.583126 ms 
mapping solver time 13.308999 ms 
data association time 15.071424 ms 
solver time 11.142319 ms 
filter time 8.920694 ms 
solver time 8.930930 ms 
points size 82867 
prepare time 13.098105 
scan registration time 26.793576 ms *************
mapping solver time 14.810927 ms 
solver time 11.455964 ms 
data association time 17.298442 ms 
optimization twice time 59.117902 
build tree time 18.642329 ms 
sort q time 4.495421 
seperate points time 11.402425 
scan registration time 32.299303 ms *************
mapping data assosiation time 24.075482 ms 
data association time 17.684432 ms 
solver time 13.070496 ms 
mapping solver time 13.686298 ms 
mapping optimization time 95.475431 
add points time 0.691121 ms
data association time 16.657896 ms 
solver time 11.727023 ms 
prepare time 16.308211 
sort q time 4.356353 
seperate points time 11.074721 
mapping data assosiation time 24.096176 ms 
mapping solver time 12.722709 ms 
data association time 14.157359 ms 
mapping data assosiation time 26.080123 ms 
publication time 8.957289 ms 
whole laserOdometry time 62.187457 ms 
 
filter time 7.954381 ms 
sort q time 3.729524 
seperate points time 9.093425 
data association time 13.768483 ms 
mapping solver time 14.788612 ms 
solver time 9.712613 ms 
mapping data assosiation time 26.677881 ms 
mapping solver time 11.792091 ms 
mapping optimization time 100.201254 
add points time 0.687438 ms
points size 75805 
prepare time 12.088293 
sort q time 4.390163 
seperate points time 10.791365 
build tree time 22.606809 ms 
solver time 7.579767 ms 
data association time 14.415484 ms 
solver time 8.004177 ms 
mapping data assosiation time 23.480424 ms 
points size 76561 
filter time 6.278982 ms 
build tree time 19.892744 ms 
solver time 10.131798 ms 
data association time 14.430337 ms 
solver time 8.476866 ms 
mapping data assosiation time 23.467586 ms 
points size 78698 
filter time 8.531673 ms 
data association time 13.573199 ms 
solver time 13.272432 ms 
data association time 18.256469 ms 
publication time 8.998163 ms 
whole laserOdometry time 65.681526 ms 
 
prepare time 13.433589 
scan registration time 26.630490 ms *************
data association time 28.606674 ms 
solver time 11.937583 ms 
data association time 14.479083 ms 
mapping pub time 181.338539 ms 
whole mapping time 287.716222 ms +++++
publication time 12.465808 ms 
whole laserOdometry time 83.214383 ms 
 
build tree time 24.652905 ms 
mapping data assosiation time 23.695694 ms 
mapping solver time 12.683833 ms 
data association time 14.204324 ms 
solver time 11.838729 ms 
publication time 9.541353 ms 
whole laserOdometry time 61.840733 ms 
 
points size 81045 
build tree time 19.963819 ms 
mapping data assosiation time 22.192550 ms 
mapping solver time 16.380038 ms 
data association time 14.984010 ms 
optimization twice time 53.677410 
mapping solver time 15.987049 ms 
mapping pub time 1.247831 ms 
whole mapping time 112.582600 ms +++++
sort q time 4.735819 
seperate points time 11.721021 
build tree time 24.023273 ms 
data association time 14.131178 ms 
mapping data assosiation time 25.997390 ms 
mapping solver time 16.439018 ms 
publication time 9.064031 ms 
whole laserOdometry time 57.644243 ms 
 
points size 91581 
mapping optimization time 107.848756 
map prepare time 2.598897 ms
map corner num 81419  surf num 30880 
data association time 13.506162 ms 
solver time 11.343298 ms 
mapping data assosiation time 24.124957 ms 
mapping solver time 17.007468 ms 
points size 93855 
mapping data assosiation time 26.463706 ms 
mapping solver time 12.611762 ms 
data association time 15.981867 ms 
solver time 11.531329 ms 
build tree time 22.151791 ms 
solver time 8.104062 ms 
mapping data assosiation time 24.955909 ms 
mapping solver time 13.250102 ms 
points size 96806 
sort q time 5.569943 
seperate points time 13.603198 
mapping solver time 12.611668 ms 
filter time 8.908804 ms 
data association time 14.727902 ms 
solver time 10.865363 ms 
data association time 15.651406 ms 
mapping data assosiation time 25.639451 ms 
points size 94514 
sort q time 5.374328 
seperate points time 13.200541 
mapping solver time 12.604778 ms 
filter time 9.030585 ms 
data association time 25.325372 ms 
solver time 14.525478 ms 
build tree time 28.244249 ms 
data association time 21.300325 ms 
solver time 8.853674 ms 
publication time 11.533741 ms 
whole laserOdometry time 82.546703 ms 
 
scan registration time 38.607558 ms *************
mapping data assosiation time 19.985283 ms 
data association time 14.422807 ms 
filter time 7.987797 ms 
solver time 9.629714 ms 
publication time 11.415147 ms 
whole laserOdometry time 64.980526 ms 
 
build tree time 26.071931 ms 
sort q time 5.534456 
seperate points time 14.131332 
mapping data assosiation time 38.280767 ms 
data association time 27.221040 ms 
solver time 13.561045 ms 
mapping data assosiation time 28.401069 ms 
points size 81443 
filter time 9.375635 ms 
build tree time 26.924673 ms 
solver time 17.393846 ms 
mapping solver time 16.215300 ms 
prepare time 14.430098 
sort q time 4.812900 
seperate points time 11.439809 
mapping solver time 13.044557 ms 
filter time 9.090696 ms 
solver time 15.322076 ms 
build tree time 28.645815 ms 
optimization twice time 75.078029 
publication time 10.731437 ms 
whole laserOdometry time 85.827208 ms 
 
mapping solver time 15.363173 ms 
data association time 13.492439 ms 
mapping data assosiation time 21.607396 ms 
filter time 7.860682 ms 
solver time 8.131584 ms 
publication time 7.992753 ms 
whole laserOdometry time 57.647949 ms 
 
points size 77091 
mapping data assosiation time 21.406495 ms 
mapping solver time 13.067824 ms 
data association time 22.147733 ms 
mapping solver time 12.265233 ms 
map prepare time 2.393387 ms
map corner num 86512  surf num 32469 
publication time 7.275785 ms 
whole laserOdometry time 64.105908 ms 
 
build tree time 23.220071 ms 
prepare time 12.601251 
sort q time 3.921065 
seperate points time 9.613865 
mapping solver time 18.236425 ms 
[0m[ INFO] [1718802676.126143576]: Received 2692951 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802676.126168729]: Data saved to 1317358221624707.pcd[0m
solver time 12.759366 ms 
mapping solver time 14.313176 ms 
solver time 7.399969 ms 
publication time 9.265026 ms 
whole laserOdometry time 70.460380 ms 
 
points size 77734 
build tree time 26.910628 ms 
scan registration time 31.428645 ms *************
mapping data assosiation time 22.626423 ms 
mapping solver time 11.606773 ms 
solver time 11.278626 ms 
data association time 15.326662 ms 
mapping solver time 11.930523 ms 
mapping pub time 1.738379 ms 
whole mapping time 113.175060 ms +++++
points size 78014 
sort q time 4.408683 
seperate points time 11.070151 
data association time 14.276111 ms 
solver time 13.035134 ms 
data association time 18.559359 ms 
solver time 9.034981 ms 
mapping solver time 12.429056 ms 
points size 79120 
sort q time 4.032199 
seperate points time 10.257917 
data association time 18.717120 ms 
mapping data assosiation time 22.653204 ms 
data association time 14.020818 ms 
publication time 8.126585 ms 
whole laserOdometry time 58.572876 ms 
 
mapping solver time 12.692817 ms 
filter time 9.074326 ms 
scan registration time 26.311519 ms *************
data association time 13.445260 ms 
solver time 14.098774 ms 
data association time 13.096138 ms 
solver time 9.543884 ms 
publication time 8.692131 ms 
whole laserOdometry time 59.749832 ms 
 
points size 82606 
mapping solver time 13.447661 ms 
mapping optimization time 98.025830 
prepare time 17.841886 
add points time 0.751305 ms
data association time 13.242240 ms 
mapping data assosiation time 21.110880 ms 
mapping solver time 11.431805 ms 
mapping data assosiation time 22.737180 ms 
points size 83080 
filter time 5.716807 ms 
scan registration time 29.431248 ms *************
build tree time 18.206966 ms 
data association time 20.322446 ms 
mapping data assosiation time 22.111626 ms 
mapping solver time 11.014755 ms 
data association time 13.560623 ms 
solver time 8.490142 ms 
publication time 9.262576 ms 
whole laserOdometry time 65.612171 ms 
 
mapping solver time 12.281464 ms 
prepare time 17.284982 
sort q time 4.627455 
seperate points time 11.524651 
data association time 13.198632 ms 
mapping solver time 10.100846 ms 
solver time 7.966372 ms 
mapping data assosiation time 24.974287 ms 
mapping solver time 13.547845 ms 
map prepare time 2.564161 ms
map corner num 64564  surf num 25904 
scan registration time 33.778586 ms *************
data association time 13.330013 ms 
mapping solver time 13.129024 ms 
solver time 9.077149 ms 
mapping data assosiation time 25.882822 ms 
mapping solver time 10.991959 ms 
sort q time 4.205626 
seperate points time 10.525244 
data association time 13.362539 ms 
data association time 13.989289 ms 
optimization twice time 47.297683 
points size 84130 
sort q time 5.919663 
seperate points time 14.396005 
data association time 13.352039 ms 
data association time 13.501801 ms 
publication time 8.719260 ms 
whole laserOdometry time 57.739167 ms 
 
points size 83317 
sort q time 4.234113 
seperate points time 10.139075 
data association time 20.112658 ms 
solver time 13.761055 ms 
build tree time 20.574094 ms 
solver time 9.619301 ms 
points size 82234 
sort q time 4.651324 
seperate points time 11.183662 
mapping data assosiation time 27.216957 ms 
mapping solver time 15.684821 ms 
map prepare time 2.456549 ms
map corner num 65859  surf num 26480 
solver time 10.803052 ms 
points size 81159 
sort q time 3.913171 
seperate points time 9.659460 
data association time 12.794803 ms 
solver time 10.512531 ms 
filter time 7.536211 ms 
solver time 10.799797 ms 
points size 81151 
sort q time 3.884396 
seperate points time 9.461720 
mapping solver time 16.793013 ms 
data association time 13.639275 ms 
solver time 12.542604 ms 
mapping solver time 13.236061 ms 
map prepare time 2.475028 ms
map corner num 67438  surf num 27111 
publication time 8.258549 ms 
whole laserOdometry time 61.160809 ms 
 
build tree time 22.227650 ms 
sort q time 6.341040 
seperate points time 14.383236 
mapping solver time 16.864675 ms 
data association time 23.095780 ms 
mapping data assosiation time 30.048898 ms 
mapping solver time 15.138914 ms 
map prepare time 3.405397 ms
map corner num 68175  surf num 27404 
solver time 15.593150 ms 
build tree time 24.897182 ms 
data association time 24.141740 ms 
solver time 19.929318 ms 
data association time 23.541206 ms 
points size 83473 
mapping optimization time 120.318750 
mapping pub time 2.246133 ms 
whole mapping time 135.959234 ms +++++
data association time 21.444636 ms 
build tree time 23.501276 ms 
solver time 17.765734 ms 
mapping data assosiation time 29.378422 ms 
solver time 16.027997 ms 
publication time 11.138376 ms 
whole laserOdometry time 91.301362 ms 
 
mapping data assosiation time 26.118090 ms 
mapping solver time 11.847634 ms 
filter time 7.624561 ms 
solver time 14.284238 ms 
build tree time 23.728971 ms 
data association time 22.153595 ms 
solver time 13.346684 ms 
optimization twice time 71.860581 
mapping data assosiation time 30.168029 ms 
points size 87202 
mapping solver time 16.605062 ms 
sort q time 5.129037 
seperate points time 13.363710 
scan registration time 34.357479 ms *************
mapping data assosiation time 28.479220 ms 
data association time 23.319240 ms 
mapping solver time 20.720261 ms 
mapping optimization time 120.679913 
add points time 0.766327 ms
solver time 18.741592 ms 
map prepare time 3.393570 ms
map corner num 70646  surf num 28391 
data association time 21.473275 ms 
build tree time 24.909493 ms 
sort q time 4.587784 
seperate points time 11.235300 
mapping data assosiation time 32.642335 ms 
data association time 22.359265 ms 
solver time 18.610187 ms 
mapping data assosiation time 26.125206 ms 
mapping solver time 13.508973 ms 
drop lidar frame in mapping for real time performance 
sort q time 4.848590 
seperate points time 11.841061 
build tree time 19.290711 ms 
data association time 17.858094 ms 
solver time 15.587509 ms 
data association time 15.066018 ms 
solver time 10.966509 ms 
points size 98737 
filter time 6.678593 ms 
sort q time 5.663505 
seperate points time 14.040988 
build tree time 18.664582 ms 
data association time 14.940749 ms 
solver time 8.290375 ms 
data association time 14.881767 ms 
publication time 9.922596 ms 
whole laserOdometry time 57.357193 ms 
 
mapping data assosiation time 27.043527 ms 
prepare time 20.325904 
filter time 6.633540 ms 
build tree time 20.216074 ms 
solver time 10.172913 ms 
mapping data assosiation time 27.171001 ms 
mapping solver time 17.679777 ms 
points size 102395 
sort q time 6.077694 
seperate points time 14.966868 
mapping solver time 20.110693 ms 
mapping pub time 1.404353 ms 
whole mapping time 132.462387 ms +++++
data association time 17.040000 ms 
publication time 10.821797 ms 
whole laserOdometry time 65.566417 ms 
 
mapping data assosiation time 26.998695 ms 
sort q time 5.982024 
seperate points time 15.183459 
mapping solver time 18.168478 ms 
scan registration time 39.861902 ms *************
data association time 14.702045 ms 
mapping solver time 14.086764 ms 
filter time 7.494397 ms 
publication time 10.068115 ms 
whole laserOdometry time 58.017186 ms 
 
build tree time 22.913872 ms 
sort q time 5.973064 
seperate points time 15.000492 
mapping solver time 17.092270 ms 
solver time 12.867801 ms 
mapping data assosiation time 27.648979 ms 
optimization twice time 58.105487 
mapping pub time 1.879006 ms 
whole mapping time 126.793845 ms +++++
publication time 12.538570 ms 
whole laserOdometry time 70.664196 ms 
 
drop lidar frame in mapping for real time performance 
map prepare time 3.803164 ms
map corner num 75893  surf num 30432 
points size 102386 
build tree time 19.563159 ms 
mapping data assosiation time 28.590238 ms 
solver time 8.736615 ms 
data association time 15.549789 ms 
publication time 9.757644 ms 
whole laserOdometry time 57.715811 ms 
 
prepare time 19.976498 
sort q time 5.906847 
seperate points time 14.274903 
build tree time 18.919720 ms 
solver time 8.891171 ms 
data association time 15.322122 ms 
mapping solver time 18.284113 ms 
publication time 10.116281 ms 
whole laserOdometry time 59.199036 ms 
 
prepare time 16.500767 
sort q time 5.987966 
seperate points time 13.753845 
mapping solver time 17.792035 ms 
mapping pub time 2.388016 ms 
whole mapping time 126.546747 ms +++++
solver time 13.007013 ms 
build tree time 23.056878 ms 
solver time 12.000883 ms 
optimization twice time 67.695774 
mapping data assosiation time 29.091668 ms 
points size 101458 
sort q time 5.049740 
seperate points time 11.946825 
data association time 14.111651 ms 
solver time 11.905655 ms 
mapping solver time 17.085696 ms 
mapping pub time 1.497174 ms 
whole mapping time 133.176264 ms +++++
points size 100645 
data association time 14.542404 ms 
solver time 11.976796 ms 
points size 99125 
mapping solver time 28.565970 ms 
sort q time 5.934139 
seperate points time 14.500178 
data association time 14.214582 ms 
solver time 13.749627 ms 
data association time 14.803552 ms 
optimization twice time 54.395858 
points size 96902 
sort q time 4.458080 
seperate points time 10.627878 
mapping data assosiation time 29.345015 ms 
solver time 12.946355 ms 
filter time 9.171004 ms 
solver time 10.223347 ms 
build tree time 24.457010 ms 
prepare time 16.086300 
sort q time 5.820671 
seperate points time 13.630503 
mapping solver time 16.980158 ms 
data association time 24.952403 ms 
mapping data assosiation time 26.375130 ms 
solver time 18.191307 ms 
mapping solver time 17.662361 ms 
filter time 9.323029 ms 
points size 94278 
solver time 16.141885 ms 
publication time 11.896611 ms 
whole laserOdometry time 98.229721 ms 
 
mapping data assosiation time 34.797268 ms 
data association time 23.833539 ms 
solver time 19.718219 ms 
data association time 23.493582 ms 
mapping data assosiation time 36.652193 ms 
solver time 24.089303 ms 
optimization twice time 92.176037 
sort q time 5.904345 
seperate points time 14.561175 
mapping solver time 20.629377 ms 
mapping optimization time 148.738983 
add points time 0.841345 ms
data association time 22.670845 ms 
solver time 18.529490 ms 
points size 93323 
sort q time 4.844851 
seperate points time 11.816102 
publication time 11.207332 ms 
whole laserOdometry time 91.764233 ms 
 
data association time 21.970612 ms 
solver time 18.369839 ms 
data association time 22.191684 ms 
points size 92544 
solver time 16.435447 ms 
optimization twice time 80.171402 
prepare time 19.193133 
sort q time 5.363616 
seperate points time 13.206673 
data association time 15.470724 ms 
solver time 14.844450 ms 
data association time 28.926054 ms 
points size 91444 
sort q time 5.274997 
seperate points time 12.979366 
mapping solver time 18.589578 ms 
data association time 18.865055 ms 
mapping data assosiation time 27.585218 ms 
mapping solver time 15.243273 ms 
mapping pub time 1.335132 ms 
whole mapping time 134.160770 ms +++++
optimization twice time 71.148075 
sort q time 4.480949 
seperate points time 10.930759 
data association time 15.342278 ms 
mapping data assosiation time 27.704058 ms 
mapping solver time 18.606776 ms 
solver time 10.368877 ms 
publication time 9.612352 ms 
whole laserOdometry time 65.745207 ms 
 
mapping data assosiation time 29.891321 ms 
prepare time 14.449686 
mapping solver time 19.781016 ms 
filter time 9.525368 ms 
data association time 16.353269 ms 
build tree time 21.845947 ms 
data association time 16.290232 ms 
solver time 14.898367 ms 
points size 89493 
sort q time 5.070425 
seperate points time 12.409423 
mapping solver time 14.627079 ms 
map prepare time 2.960358 ms
map corner num 84659  surf num 33135 
solver time 16.790249 ms 
build tree time 21.658740 ms 
solver time 16.134474 ms 
mapping data assosiation time 27.437284 ms 
publication time 11.482242 ms 
whole laserOdometry time 85.700854 ms 
 
sort q time 5.512119 
seperate points time 13.460741 
data association time 15.539787 ms 
solver time 14.437481 ms 
add points time 0.710249 ms
mapping pub time 1.317376 ms 
whole mapping time 138.567853 ms +++++
publication time 11.150715 ms 
whole laserOdometry time 74.013899 ms 
 
sort q time 4.468510 
seperate points time 10.751717 
mapping data assosiation time 28.795938 ms 
data association time 17.157915 ms 
solver time 12.566018 ms 
data association time 19.090507 ms 
solver time 15.202526 ms 
publication time 10.035827 ms 
whole laserOdometry time 74.892826 ms 
 
filter time 9.763182 ms 
build tree time 23.980729 ms 
solver time 13.145748 ms 
data association time 16.096568 ms 
solver time 10.658588 ms 
publication time 11.357700 ms 
whole laserOdometry time 67.580671 ms 
 
sort q time 5.741361 
seperate points time 13.593013 
mapping data assosiation time 32.322571 ms 
mapping solver time 22.070322 ms 
filter time 9.973822 ms 
data association time 24.063106 ms 
solver time 15.914525 ms 
prepare time 20.440446 
sort q time 5.640532 
seperate points time 13.184527 
data association time 16.717476 ms 
solver time 12.328474 ms 
data association time 18.179490 ms 
mapping data assosiation time 32.375295 ms 
points size 96329 
filter time 7.996765 ms 
data association time 16.715815 ms 
solver time 13.942235 ms 
data association time 16.528811 ms 
solver time 13.474287 ms 
publication time 11.206106 ms 
whole laserOdometry time 72.794567 ms 
 
prepare time 21.145410 
sort q time 5.792244 
seperate points time 14.754824 
scan registration time 39.894768 ms *************
mapping data assosiation time 33.527642 ms 
data association time 27.195982 ms 
mapping solver time 26.235171 ms 
mapping optimization time 145.408963 
add points time 0.827041 ms
mapping pub time 1.468563 ms 
whole mapping time 161.552669 ms +++++
points size 99498 
sort q time 5.819889 
seperate points time 14.798384 
publication time 13.628940 ms 
whole laserOdometry time 105.119201 ms 
 
[33m[ WARN] [1718802681.327455078]: odometry process over 100ms[0m
mapping data assosiation time 37.862034 ms 
data association time 27.945755 ms 
solver time 20.697744 ms 
points size 100167 
solver time 11.502410 ms 
optimization twice time 80.616887 
sort q time 6.032969 
seperate points time 15.385035 
mapping solver time 19.979468 ms 
mapping optimization time 150.534161 
filter time 10.756187 ms 
data association time 17.915492 ms 
solver time 12.910539 ms 
data association time 17.760908 ms 
solver time 8.552585 ms 
publication time 10.064522 ms 
whole laserOdometry time 68.096452 ms 
 
points size 101104 
prepare time 19.830643 
sort q time 5.977510 
seperate points time 15.150670 
mapping data assosiation time 30.181577 ms 
solver time 13.689832 ms 
filter time 10.626803 ms 
solver time 11.393032 ms 
build tree time 27.701730 ms 
sort q time 6.097483 
seperate points time 14.857784 
mapping data assosiation time 32.959144 ms 
solver time 16.717640 ms 
data association time 20.332736 ms 
solver time 13.300792 ms 
publication time 12.527820 ms 
whole laserOdometry time 84.385859 ms 
 
mapping solver time 22.276498 ms 
mapping optimization time 135.266088 
add points time 0.820770 ms
sort q time 5.848509 
seperate points time 14.729859 
scan registration time 35.201528 ms *************
data association time 18.713062 ms 
build tree time 25.804304 ms 
data association time 16.248923 ms 
mapping data assosiation time 35.303943 ms 
points size 103244 
prepare time 16.198829 
scan registration time 34.169812 ms *************
mapping data assosiation time 36.575515 ms 
solver time 13.120617 ms 
filter time 9.575709 ms 
solver time 11.503785 ms 
sort q time 5.591094 
seperate points time 13.870233 
mapping data assosiation time 32.391981 ms 
solver time 11.579589 ms 
mapping solver time 21.939422 ms 
data association time 17.270514 ms 
solver time 8.872270 ms 
publication time 11.148533 ms 
whole laserOdometry time 67.332869 ms 
 
prepare time 16.018059 
sort q time 6.185562 
seperate points time 14.825691 
data association time 27.955685 ms 
solver time 17.002139 ms 
mapping data assosiation time 36.390001 ms 
data association time 30.567230 ms 
solver time 12.444151 ms 
publication time 13.366693 ms 
whole laserOdometry time 102.534200 ms 
 
[33m[ WARN] [1718802682.153171738]: odometry process over 100ms[0m
mapping data assosiation time 37.801875 ms 
solver time 16.081231 ms 
filter time 10.446211 ms 
solver time 11.070885 ms 
publication time 12.725091 ms 
whole laserOdometry time 101.073711 ms 
 
[33m[ WARN] [1718802682.257018863]: odometry process over 100ms[0m
data association time 18.024667 ms 
mapping data assosiation time 31.116234 ms 
data association time 17.099783 ms 
publication time 11.767900 ms 
whole laserOdometry time 65.861415 ms 
 
prepare time 17.873436 
mapping data assosiation time 33.980036 ms 
scan registration time 37.903351 ms *************
mapping solver time 21.525505 ms 
filter time 9.581146 ms 
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whole mapping time 376.145548 ms +++++
solver time 10.357252 ms 
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mapping data assosiation time 32.229028 ms 
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mapping solver time 12.401525 ms 
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points size 103305 
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scan registration time 42.248731 ms *************
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points size 103384 
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scan registration time 40.784905 ms *************
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mapping data assosiation time 32.191080 ms 
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solver time 11.589393 ms 
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mapping data assosiation time 34.115544 ms 
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mapping solver time 23.457507 ms 
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[33m[ WARN] [1718802685.998752041]: odometry process over 100ms[0m
build tree time 32.189466 ms 
data association time 27.504141 ms 
mapping data assosiation time 35.434884 ms 
data association time 27.444186 ms 
points size 102699 
publication time 12.633795 ms 
whole laserOdometry time 101.412032 ms 
 
[33m[ WARN] [1718802686.102899693]: odometry process over 100ms[0m
sort q time 7.058227 
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map corner num 108688  surf num 46970 
data association time 17.658309 ms 
solver time 13.373518 ms 
scan registration time 34.186890 ms *************
publication time 12.536985 ms 
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mapping data assosiation time 33.910806 ms 
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sort q time 6.738525 
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drop lidar frame in mapping for real time performance 
data association time 26.371885 ms 
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mapping solver time 19.053372 ms 
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whole laserOdometry time 50.980784 ms 
 
mapping data assosiation time 19.751076 ms 
mapping solver time 10.522173 ms 
prepare time 13.623161 
scan registration time 27.175681 ms *************
data association time 20.110714 ms 
solver time 27.848229 ms 
data association time 21.732066 ms 
points size 76873 
publication time 8.891717 ms 
whole laserOdometry time 93.986298 ms 
 
sort q time 3.735618 
seperate points time 9.533966 
mapping solver time 17.547637 ms 
scan registration time 27.924789 ms *************
mapping data assosiation time 22.079542 ms 
data association time 22.085020 ms 
mapping solver time 18.256367 ms 
solver time 19.529896 ms 
filter time 17.995601 ms 
map prepare time 3.598716 ms
map corner num 168939  surf num 62097 
points size 76353 
sort q time 4.801116 
seperate points time 11.894401 
build tree time 58.844539 ms mapping data assosiation time 21.607704 ms 
mapping solver time 15.704994 ms 
mapping data assosiation time 21.238192 ms 
solver time 15.514585 ms 
optimization twice time 81.142784 
points size 74102 
prepare time 14.585981 
scan registration time 29.323077 ms *************
mapping pub time 0.975720 ms 
whole mapping time 155.007421 ms +++++
data association time 20.301842 ms 
solver time 29.483283 ms 
points size 76515 
mapping solver time 11.607777 ms 
publication time 8.192475 ms 
whole laserOdometry time 100.632851 ms 
 
data association time 13.350296 ms 
solver time 14.206366 ms 
filter time 15.369191 ms 
solver time 11.172812 ms 
points size 78188 
build tree time 45.332623 ms 
mapping data assosiation time 17.803156 ms 
data association time 12.986814 ms 
mapping solver time 11.910990 ms 
mapping data assosiation time 17.071958 ms 
mapping solver time 12.141473 ms 
publication time 6.511892 ms 
whole laserOdometry time 57.708682 ms 
 
map prepare time 3.707279 ms
map corner num 170511  surf num 62702 
prepare time 17.254775 
sort q time 4.547418 
seperate points time 11.224376 
build tree time 51.721241 ms 
mapping data assosiation time 19.324417 ms 
mapping solver time 12.078241 ms 
data association time 20.677905 ms 
mapping data assosiation time 19.591210 ms 
prepare time 17.310833 
publication time 9.084956 ms 
whole laserOdometry time 78.948056 ms 
 
sort q time 4.430764 
seperate points time 11.076515 
filter time 18.565200 ms 
mapping pub time 1.029756 ms 
whole mapping time 142.783482 ms +++++
data association time 17.276416 ms 
solver time 12.701825 ms 
data association time 14.412442 ms 
build tree time 48.989941 ms 
points size 77913 
sort q time 3.833401 
seperate points time 9.240558 
data association time 13.450680 ms 
mapping solver time 12.617727 ms 
data association time 14.908394 ms 
solver time 13.179733 ms 
points size 76116 
sort q time 3.532657 
seperate points time 8.669891 
data association time 14.343059 ms 
solver time 12.315778 ms 
data association time 15.118119 ms 
publication time 7.006207 ms 
whole laserOdometry time 58.631435 ms 
 
points size 75172 
scan registration time 24.661876 ms *************
data association time 21.804556 ms 
solver time 15.755644 ms 
data association time 21.134996 ms 
solver time 11.640613 ms 
mapping pub time 245.535990 ms 
whole mapping time 378.423114 ms +++++
sort q time 3.503738 
seperate points time 8.956389 
data association time 21.587281 ms 
build tree time 53.869146 ms 
mapping data assosiation time 18.322833 ms 
data association time 21.718694 ms 
publication time 8.887696 ms 
whole laserOdometry time 72.609206 ms 
 
mapping data assosiation time 19.789892 ms 
scan registration time 24.049690 ms *************
filter time 15.233307 ms 
solver time 15.116675 ms 
data association time 20.901395 ms 
optimization twice time 68.095735 
filter time 16.603403 ms 
data association time 14.769034 ms 
solver time 8.218541 ms 
points size 75811 
sort q time 3.903418 
seperate points time 9.713169 
scan registration time 25.534238 ms *************
mapping data assosiation time 17.470506 ms 
mapping solver time 12.176790 ms 
solver time 15.055988 ms 
mapping data assosiation time 19.259616 ms 
data association time 21.974335 ms 
mapping solver time 11.239020 ms 
mapping optimization time 111.611626 
add points time 0.770445 ms
filter time 18.196864 ms 
mapping pub time 1.538666 ms 
whole mapping time 136.149279 ms +++++
publication time 9.592439 ms 
whole laserOdometry time 81.280799 ms 
 
drop lidar frame in mapping for real time performance 
points size 77351 
map prepare time 4.339332 ms
map corner num 173967  surf num 63912 
prepare time 16.216443 
sort q time 4.396341 
seperate points time 11.142384 
scan registration time 31.984104 ms *************
data association time 22.172017 ms 
solver time 18.859765 ms 
solver time 11.300855 ms 
mapping data assosiation time 25.377007 ms 
sort q time 4.703634 
seperate points time 12.189724 
filter time 13.706514 ms 
mapping pub time 0.856758 ms 
whole mapping time 148.463086 ms +++++
data association time 15.504314 ms 
map prepare time 3.172130 ms
map corner num 174656  surf num 64111 
solver time 13.136748 ms 
data association time 14.331005 ms 
solver time 11.189223 ms 
build tree time 52.254549 ms 
sort q time 4.601669 
seperate points time 10.982257 
mapping solver time 14.553575 ms 
solver time 11.074065 ms 
data association time 15.939759 ms 
publication time 7.429625 ms 
whole laserOdometry time 59.804653 ms 
 
points size 77231 
sort q time 4.364072 
seperate points time 10.527873 
data association time 22.858190 ms 
build tree time 57.286546 ms 
solver time 20.824012 ms 
data association time 24.810325 ms 
points size 77881 
prepare time 16.182600 
solver time 17.295404 ms 
optimization twice time 87.106882 
scan registration time 31.928225 ms *************
mapping solver time 19.344657 ms 
data association time 22.812376 ms 
solver time 15.923924 ms 
map prepare time 3.966533 ms
map corner num 176404  surf num 64743 
data association time 22.869452 ms 
solver time 11.405421 ms 
optimization twice time 74.117123 
points size 79919 
prepare time 16.536440 
sort q time 4.447353 
seperate points time 11.508704 
mapping data assosiation time 25.577817 ms 

mapping data assosiation time 25.969090 ms mapping solver time 16.495960 ms 
filter time 20.691212 ms 
data association time 15.001709 ms 
solver time 13.203243 ms 
data association time 15.116929 ms 
solver time 11.242318 ms 
points size 79593 
sort q time 3.543247 
seperate points time 8.878838 
mapping solver time 14.956724 ms 
solver time 14.295165 ms 
mapping solver time 12.366407 ms 
solver time 12.095914 ms 
map prepare time 5.122899 ms
map corner num 178062  surf num 65168 
prepare time 12.618508 
sort q time 4.441293 
seperate points time 10.832632 
data association time 14.180289 ms 
solver time 13.042054 ms 
mapping data assosiation time 19.384488 ms 
mapping solver time 14.583768 ms 
mapping data assosiation time 21.095763 ms 
sort q time 3.240674 
seperate points time 8.097860 
filter time 15.872795 ms 
solver time 13.801285 ms 
data association time 14.154000 ms 
solver time 10.877052 ms 
publication time 7.260223 ms 
whole laserOdometry time 61.171405 ms 
 
points size 70865 
sort q time 4.144220 
seperate points time 10.550058 
mapping data assosiation time 20.236582 ms 
solver time 15.172334 ms 
data association time 14.259560 ms 
solver time 12.162365 ms 
points size 68314 
sort q time 3.566370 
seperate points time 8.809775 
data association time 13.426012 ms 
solver time 13.218844 ms 
mapping data assosiation time 19.176404 ms 
data association time 13.565805 ms 
publication time 6.556668 ms 
whole laserOdometry time 59.492384 ms 
 
mapping data assosiation time 21.160739 ms 
points size 66526 
sort q time 3.487723 
seperate points time 8.856565 
filter time 17.258127 ms 
data association time 15.776502 ms 
solver time 15.887448 ms 
data association time 14.496011 ms 
build tree time 57.034677 ms 
points size 65990 
sort q time 3.574564 
seperate points time 8.784473 
data association time 13.098893 ms 
mapping solver time 11.612319 ms 
data association time 13.567876 ms 
solver time 13.210736 ms 
points size 64276 
sort q time 3.544778 
seperate points time 9.228715 
build tree time 65.290283 ms 
solver time 13.289270 ms 
data association time 14.041156 ms 
solver time 11.292848 ms 
points size 62636 
sort q time 3.297006 
seperate points time 8.645730 
filter time 17.362396 ms 
solver time 12.254410 ms 
data association time 15.761478 ms 
solver time 12.807148 ms 
build tree time 51.778303 ms 
mapping data assosiation time 20.476399 ms 
sort q time 3.358005 
seperate points time 8.637706 
mapping data assosiation time 18.062568 ms 
mapping solver time 11.464477 ms 
solver time 17.338413 ms 
map prepare time 4.007141 ms
map corner num 203158  surf num 72399 
solver time 10.337487 ms 
points size 60907 
scan registration time 21.580193 ms *************
build tree time 61.041547 ms 
solver time 10.865275 ms 
data association time 12.576420 ms 
publication time 5.488996 ms 
whole laserOdometry time 51.213245 ms 
 
mapping solver time 13.388230 ms 
prepare time 10.546556 
filter time 16.957188 ms 
data association time 11.760081 ms 
solver time 12.945031 ms 
data association time 12.501711 ms 
publication time 6.470833 ms 
whole laserOdometry time 54.838201 ms 
 
points size 65604 
mapping solver time 18.821814 ms 
mapping data assosiation time 18.778979 ms 
add points time 0.766816 ms
filter time 17.932006 ms 
solver time 9.017758 ms 
points size 63344 
prepare time 13.870194 
build tree time 63.083227 ms 
data association time 13.620286 ms 
solver time 11.030885 ms 
mapping solver time 11.389600 ms 
data association time 13.094504 ms 
solver time 8.448871 ms 
mapping optimization time 119.321195 
add points time 0.803729 ms
filter time 20.682359 ms 
sort q time 3.495314 
seperate points time 8.792420 
data association time 12.708790 ms 
solver time 11.242311 ms 
data association time 12.832635 ms 
build tree time 58.799650 ms 
mapping data assosiation time 16.876744 ms 
mapping solver time 12.605236 ms 
points size 64328 
sort q time 3.100456 
seperate points time 7.788618 
data association time 18.318469 ms 
solver time 18.307494 ms 
data association time 18.477424 ms 
solver time 12.974097 ms 
points size 64741 
scan registration time 20.761766 ms *************
mapping data assosiation time 16.190596 ms 
data association time 12.381030 ms 
solver time 10.397191 ms 
data association time 12.373972 ms 
solver time 9.490484 ms 
filter time 20.257893 ms 
points size 64398 
sort q time 3.420804 
seperate points time 8.938858 
data association time 19.049654 ms 
mapping data assosiation time 17.195524 ms 
mapping solver time 10.765965 ms 
publication time 5.899042 ms 
whole laserOdometry time 56.136057 ms 
 
mapping solver time 9.781923 ms 
prepare time 10.612353 
filter time 20.534282 ms 
data association time 19.710529 ms 
solver time 18.966046 ms 
solver time 15.643879 ms 
points size 60439 
sort q time 3.056650 
seperate points time 8.056853 
data association time 12.194387 ms 
solver time 15.959788 ms 
data association time 14.070948 ms 
solver time 11.343569 ms 
points size 56785 
sort q time 2.965598 
seperate points time 7.896440 
data association time 22.656684 ms 
mapping pub time 249.973683 ms 
whole mapping time 387.768732 ms +++++
data association time 19.541633 ms 
solver time 15.029493 ms 
sort q time 2.823814 
seperate points time 7.513624 
build tree time 68.052788 ms 
mapping data assosiation time 15.198566 ms 
solver time 12.784817 ms 
solver time 8.349377 ms 
mapping solver time 12.625609 ms 
mapping optimization time 124.094754 
add points time 0.733026 ms
filter time 19.346704 ms 
sort q time 2.136785 
seperate points time 5.612442 
data association time 17.778641 ms 
solver time 14.927111 ms 
data association time 18.244636 ms 
solver time 15.316729 ms 
publication time 7.432632 ms 
whole laserOdometry time 74.864210 ms 
 
mapping data assosiation time 19.727254 ms 
prepare time 13.329052 
sort q time 2.741640 
seperate points time 7.349130 
mapping data assosiation time 16.705095 ms 
data association time 15.008910 ms 
solver time 13.522189 ms 
data association time 12.415523 ms 
publication time 5.617312 ms 
whole laserOdometry time 55.040902 ms 
 
points size 53016 
scan registration time 20.285932 ms *************
build tree time 72.291818 ms 
solver time 12.938076 ms 
data association time 18.585443 ms 
solver time 10.950199 ms 
mapping data assosiation time 19.892436 ms 
points size 54043 
scan registration time 19.557865 ms *************
filter time 21.320655 ms 
solver time 10.364150 ms 
data association time 12.186792 ms 
optimization twice time 47.125300 
build tree time 71.159284 ms 
sort q time 2.465973 
seperate points time 6.412402 
mapping solver time 17.267732 ms 
mapping data assosiation time 21.110118 ms 
mapping solver time 14.343088 ms 
data association time 18.569491 ms 
solver time 11.569927 ms 
map prepare time 4.582490 ms
map corner num 239488  surf num 83910 
points size 59146 
sort q time 3.139044 
seperate points time 8.177165 
data association time 12.377778 ms 
solver time 11.250237 ms 
data association time 12.476655 ms 
solver time 10.961204 ms 
mapping data assosiation time 20.214415 ms 
mapping solver time 15.177427 ms 
sort q time 3.272812 
seperate points time 8.472062 
mapping solver time 12.651829 ms 
data association time 12.326542 ms 
solver time 11.349570 ms 
map prepare time 3.128518 ms
map corner num 240297  surf num 84138 
solver time 10.487504 ms 
optimization twice time 48.860556 
points size 63724 
sort q time 3.381019 
seperate points time 8.703768 
mapping data assosiation time 21.730387 ms 
mapping solver time 18.061341 ms 
mapping data assosiation time 21.880960 ms 
mapping solver time 11.526236 ms 
prepare time 11.905469 
filter time 23.147447 ms 
data association time 20.287242 ms 
solver time 13.780937 ms 
data association time 15.768929 ms 
publication time 5.826486 ms 
whole laserOdometry time 65.011410 ms 
 
build tree time 71.873477 ms 
points size 66058 
sort q time 3.879054 
seperate points time 9.706797 
data association time 12.701533 ms 
mapping data assosiation time 18.197541 ms 
mapping solver time 12.219265 ms 
solver time 8.966870 ms 
map prepare time 3.569009 ms
map corner num 241710  surf num 84623 
points size 68487 
sort q time 3.400561 
seperate points time 8.756599 
data association time 12.569955 ms 
build tree time 66.899626 ms 
data association time 12.731126 ms 
solver time 12.301013 ms 
mapping data assosiation time 19.830068 ms 
points size 69818 
prepare time 14.914265 
mapping solver time 18.194649 ms 
mapping optimization time 135.886674 
add points time 0.763578 ms
filter time 23.840227 ms 
solver time 10.309710 ms 
data association time 16.079894 ms 
optimization twice time 54.004200 
points size 71210 
sort q time 3.322710 
seperate points time 8.161027 
mapping data assosiation time 21.862609 ms 
mapping solver time 17.791918 ms 
solver time 17.947981 ms 
mapping solver time 14.531350 ms 
solver time 11.953731 ms 
map prepare time 3.725991 ms
map corner num 243229  surf num 85104 
data association time 20.804766 ms 
solver time 15.071742 ms 
data association time 20.684897 ms 
solver time 11.462684 ms 
points size 76281 
sort q time 4.265497 
seperate points time 10.118202 
data association time 23.361933 ms 
solver time 15.747157 ms 
mapping solver time 12.618132 ms 
mapping optimization time 157.865314 
add points time 0.416514 ms
data association time 14.335232 ms 
mapping pub time 4.127556 ms 
whole mapping time 184.673511 ms +++++
points size 79029 
sort q time 4.357560 
seperate points time 10.661179 
data association time 13.915965 ms 
solver time 10.825922 ms 
data association time 13.773931 ms 
solver time 8.208484 ms 
optimization twice time 47.467001 
publication time 7.039348 ms 
whole laserOdometry time 54.525347 ms 
 
points size 81297 
mapping solver time 9.955394 ms 
filter time 25.319403 ms 
solver time 15.335234 ms 
data association time 21.912910 ms 
solver time 11.469749 ms 
optimization twice time 72.298793 
points size 80589 
sort q time 5.410374 
seperate points time 14.277299 
mapping data assosiation time 23.055293 ms 
mapping solver time 13.981563 ms 
solver time 12.324219 ms 
mapping solver time 11.213295 ms 
points size 79552 
filter time 25.474079 ms 
data association time 14.473261 ms 
solver time 13.193257 ms 
data association time 14.617760 ms 
solver time 12.302232 ms 
build tree time 71.298749 ms 
prepare time 12.690829 
scan registration time 26.741217 ms *************
data association time 14.073659 ms 
solver time 17.391987 ms 
data association time 14.605112 ms 
filter time 18.837739 ms 
mapping pub time 0.998806 ms 
whole mapping time 167.447077 ms +++++
solver time 11.425664 ms 
optimization twice time 58.488047 
map prepare time 4.153019 ms
map corner num 245636  surf num 85904 
points size 74267 
sort q time 3.822924 
seperate points time 9.453304 
data association time 13.075709 ms 
build tree time 67.382082 ms 
mapping data assosiation time 21.779184 ms 
mapping solver time 13.753343 ms 
publication time 6.922441 ms 
whole laserOdometry time 70.750953 ms 
 
sort q time 3.441790 
seperate points time 8.273069 
filter time 24.597096 ms 
mapping pub time 1.455973 ms 
whole mapping time 169.590719 ms +++++
drop lidar frame in mapping for real time performance 
data association time 20.524833 ms 
map prepare time 4.326405 ms
map corner num 246409  surf num 86270 
solver time 18.311495 ms 
data association time 20.876985 ms 
solver time 15.019818 ms 
sort q time 3.803596 
seperate points time 9.498719 
build tree time 82.902074 ms 
mapping data assosiation time 22.912984 ms 
solver time 16.318703 ms 
mapping solver time 18.972127 ms 
data association time 23.112696 ms 
points size 78267 
publication time 8.674383 ms 
whole laserOdometry time 85.371076 ms 
 
scan registration time 28.655833 ms *************
filter time 23.862147 ms 
map prepare time 4.291900 ms
map corner num 247079  surf num 86543 
solver time 18.402406 ms 
data association time 20.933707 ms 
solver time 15.524568 ms 
sort q time 3.735662 
seperate points time 9.121977 
mapping data assosiation time 23.331554 ms 
mapping solver time 20.672626 ms 
data association time 23.696980 ms 
points size 80889 
sort q time 5.051178 
seperate points time 12.375674 
filter time 24.143366 ms 
data association time 19.552927 ms 
solver time 15.339213 ms 
data association time 16.036285 ms 
solver time 14.465697 ms 
prepare time 19.045414 
build tree time 86.640456 ms 
sort q time 4.862727 
seperate points time 12.016886 
scan registration time 35.471978 ms *************
mapping data assosiation time 20.091717 ms 
data association time 15.954710 ms 
solver time 12.219456 ms 
data association time 14.963804 ms 
publication time 8.340950 ms 
whole laserOdometry time 61.376365 ms 
 
points size 86053 
filter time 24.564553 ms 
data association time 14.313963 ms 
solver time 12.010111 ms 
data association time 15.794432 ms 
publication time 9.041562 ms 
whole laserOdometry time 60.529979 ms 
 
build tree time 67.513280 ms 
points size 89093 
prepare time 20.808015 
sort q time 5.368901 
seperate points time 13.269612 
data association time 15.310284 ms 
mapping data assosiation time 20.142359 ms 
solver time 11.552796 ms 
data association time 16.366984 ms 
optimization twice time 53.319522 
map prepare time 4.049341 ms
map corner num 249775  surf num 87954 
sort q time 4.841827 
seperate points time 11.449763 
data association time 15.503697 ms 
solver time 12.197720 ms 
data association time 16.236280 ms 
solver time 10.897464 ms 
publication time 9.705689 ms 
whole laserOdometry time 65.431332 ms 
 
sort q time 4.008184 
seperate points time 9.796391 
mapping solver time 12.636885 ms 
data association time 25.009192 ms 
solver time 15.245460 ms 
map prepare time 4.783768 ms
map corner num 250760  surf num 88428 
data association time 24.944836 ms 
solver time 11.785335 ms 
publication time 10.668460 ms 
whole laserOdometry time 88.526889 ms 
 
scan registration time 30.201419 ms *************
data association time 23.942595 ms 
mapping data assosiation time 26.968155 ms 
data association time 25.556494 ms 
solver time 12.836390 ms 
publication time 12.379571 ms 
whole laserOdometry time 93.061958 ms 
 
scan registration time 30.425001 ms *************
mapping solver time 17.228566 ms 
data association time 24.030319 ms 
solver time 15.405943 ms 
data association time 28.174541 ms 
points size 85682 
prepare time 13.924412 
sort q time 4.458416 
seperate points time 11.351127 
data association time 27.957001 ms 
solver time 19.289113 ms 
data association time 28.879856 ms 
solver time 14.032591 ms 
publication time 12.079264 ms 
whole laserOdometry time 103.508781 ms 
 
[33m[ WARN] [1718802700.433403109]: odometry process over 100ms[0m
data association time 23.766304 ms 
solver time 10.129011 ms 
data association time 16.191070 ms 
solver time 8.695658 ms 
points size 86705 
sort q time 7.360952 
seperate points time 17.753586 
data association time 16.650296 ms 
solver time 12.046648 ms 
data association time 18.634779 ms 
solver time 11.476256 ms 
build tree time 85.438103 ms 
mapping data assosiation time 23.568991 ms 
solver time 14.095978 ms 
data association time 16.338513 ms 
publication time 12.313163 ms 
whole laserOdometry time 70.702290 ms 
 
sort q time 5.100366 
seperate points time 12.236064 
mapping pub time 1.067420 ms 
whole mapping time 212.431738 ms +++++
data association time 21.397241 ms 
solver time 18.251748 ms 
data association time 18.798071 ms 
points size 84745 
sort q time 4.929847 
seperate points time 12.277433 
mapping data assosiation time 21.587222 ms 
solver time 11.167223 ms 
data association time 17.161330 ms 
solver time 11.426436 ms 
publication time 9.738986 ms 
whole laserOdometry time 66.193335 ms 
 
add points time 1.005493 ms
sort q time 4.684375 
seperate points time 12.063174 
scan registration time 35.277882 ms *************
map prepare time 4.976653 ms
map corner num 253728  surf num 89541 
data association time 26.085905 ms 
solver time 15.045025 ms 
data association time 25.414085 ms 
solver time 15.298254 ms 
scan registration time 30.040568 ms *************
build tree time 92.025509 ms 
data association time 28.508550 ms 
mapping data assosiation time 30.735460 ms 
solver time 20.859600 ms 
mapping solver time 24.965193 ms 
data association time 27.009518 ms 
mapping data assosiation time 31.618943 ms 
publication time 11.810874 ms 
whole laserOdometry time 108.620705 ms 
 
[33m[ WARN] [1718802701.163010783]: odometry process over 100ms[0m
mapping solver time 22.404154 ms 
data association time 26.022896 ms 
map prepare time 5.424395 ms
map corner num 254813  surf num 90085 
data association time 26.299398 ms 
sort q time 4.179820 
seperate points time 10.377690 
solver time 15.520304 ms 
publication time 11.566698 ms 
whole laserOdometry time 100.853477 ms 
 
[33m[ WARN] [1718802701.265898230]: odometry process over 100ms[0m
data association time 17.422272 ms 
build tree time 87.647116 ms 
data association time 16.055312 ms 
solver time 12.337450 ms 
mapping solver time 22.260354 ms 
sort q time 4.159009 
seperate points time 10.171058 
mapping data assosiation time 28.843843 ms 
data association time 15.966234 ms 
solver time 13.716174 ms 
filter time 24.122047 ms 
solver time 11.526338 ms 
points size 78592 
sort q time 4.145999 
seperate points time 10.390066 
scan registration time 26.706255 ms *************
data association time 15.973761 ms 
build tree time 75.699971 ms 
data association time 15.554816 ms 
solver time 11.034074 ms 
mapping solver time 20.229849 ms 
prepare time 12.235352 
sort q time 3.899432 
seperate points time 9.854074 
mapping data assosiation time 29.149997 ms 
data association time 19.575597 ms 
data association time 15.507607 ms 
map prepare time 4.251235 ms
map corner num 257001  surf num 91229 
points size 76299 
sort q time 3.868405 
seperate points time 9.633371 
build tree time 72.672775 ms 
solver time 14.320733 ms 
mapping data assosiation time 30.658660 ms 
solver time 9.179066 ms 
points size 76465 
prepare time 13.082159 
mapping solver time 15.046946 ms 
mapping optimization time 168.797779 
add points time 0.933960 ms
data association time 13.860397 ms 
filter time 20.114078 ms 
solver time 8.557686 ms 
publication time 8.595337 ms 
whole laserOdometry time 54.739491 ms 
 
points size 75516 
prepare time 11.806115 
mapping solver time 24.847104 ms 
optimization twice time 73.211088 
publication time 11.405470 ms 
whole laserOdometry time 84.634397 ms 
 
mapping solver time 12.410881 ms 
data association time 23.309551 ms 
map prepare time 4.967721 ms
map corner num 239835  surf num 86579 
data association time 23.579821 ms 
solver time 11.558914 ms 
optimization twice time 75.870252 
points size 74937 
prepare time 12.952033 
sort q time 4.711218 
seperate points time 11.691793 
data association time 17.463183 ms 
solver time 11.184029 ms 
mapping data assosiation time 26.175142 ms 
optimization twice time 53.381299 
points size 74808 
mapping data assosiation time 25.409919 ms 
sort q time 3.956618 
seperate points time 9.832637 
data association time 20.451128 ms 
map prepare time 4.797538 ms
map corner num 240715  surf num 86852 
data association time 20.444696 ms 
solver time 10.941552 ms 
publication time 9.446796 ms 
whole laserOdometry time 78.040036 ms 
 
points size 74975 
sort q time 3.345731 
seperate points time 8.427019 
build tree time 80.389572 ms 
data association time 25.596418 ms 
mapping data assosiation time 31.218961 ms 
mapping solver time 23.014932 ms 
data association time 25.611938 ms 
solver time 14.601771 ms 
publication time 9.816893 ms 
whole laserOdometry time 98.122363 ms 
 
mapping solver time 17.127682 ms 
data association time 23.181814 ms 
mapping pub time 1.163540 ms 
whole mapping time 216.077335 ms +++++
data association time 22.632478 ms 
solver time 11.171745 ms 
publication time 9.258628 ms 
whole laserOdometry time 83.486497 ms 
 
sort q time 3.878942 
seperate points time 9.425883 
scan registration time 25.639101 ms *************
build tree time 83.637751 ms 
solver time 17.741063 ms 
mapping data assosiation time 30.126947 ms 
data association time 23.808370 ms 
solver time 12.928404 ms 
prepare time 14.849434 
sort q time 3.866824 
seperate points time 9.894182 
mapping solver time 17.759567 ms 
solver time 13.960438 ms 
map prepare time 3.789192 ms
map corner num 242317  surf num 87409 
solver time 12.197697 ms 
points size 67110 
prepare time 15.421558 
scan registration time 28.164341 ms *************
data association time 13.033064 ms 
solver time 12.685431 ms 
mapping data assosiation time 23.981208 ms 
mapping solver time 16.802588 ms 
points size 66980 
sort q time 4.583146 
seperate points time 11.063820 
mapping solver time 21.387454 ms 
solver time 14.447515 ms 
data association time 19.181087 ms 
publication time 6.051533 ms 
whole laserOdometry time 68.114458 ms 
 
points size 67019 
sort q time 3.628012 
seperate points time 9.152876 
build tree time 75.066971 ms 
data association time 15.604320 ms 
solver time 12.862100 ms 
data association time 12.811753 ms 
solver time 10.873617 ms 
mapping data assosiation time 23.381894 ms 
points size 67126 
add points time 0.802731 ms
filter time 19.472769 ms 
solver time 10.777298 ms 
data association time 15.154120 ms 
publication time 5.997447 ms 
whole laserOdometry time 55.139621 ms 
 
points size 66748 
sort q time 3.529846 
seperate points time 8.758164 
mapping data assosiation time 21.099245 ms 
data association time 17.368849 ms 
solver time 18.789679 ms 
mapping data assosiation time 24.296048 ms 
optimization twice time 64.043496 
points size 65441 
map prepare time 4.362105 ms
map corner num 244384  surf num 88023 
data association time 14.645426 ms 
solver time 14.331018 ms 
data association time 13.972257 ms 
solver time 12.195129 ms 
points size 66211 
sort q time 3.322467 
seperate points time 8.098956 
mapping solver time 17.657472 ms 
solver time 13.366254 ms 
data association time 14.760566 ms 
optimization twice time 55.303965 
filter time 25.289348 ms 
points size 65901 
sort q time 3.520063 
seperate points time 8.853022 
data association time 19.066622 ms 
solver time 13.212453 ms 
data association time 12.580192 ms 
publication time 6.071943 ms 
whole laserOdometry time 59.702237 ms 
 
points size 67123 
sort q time 3.641424 
seperate points time 9.358623 
filter time 23.730976 ms 
solver time 14.973615 ms 
data association time 21.340604 ms 
publication time 9.964557 ms 
prepare time 20.499900 
sort q time 4.343821 
seperate points time 13.447434 
scan registration time 40.379988 ms *************
build tree time 99.721753 ms 
data association time 23.084661 ms 
solver time 26.494376 ms 
points size 64339 
solver time 15.635479 ms 
optimization twice time 94.902906 
mapping data assosiation time 24.659851 ms 
data association time 17.613254 ms 
map prepare time 4.531114 ms
map corner num 246296  surf num 88706 
data association time 20.833821 ms 
publication time 9.831450 ms seperate points time 19.293847 data association time 20.872305 ms 
solver time 16.713725 ms 
prepare time 12.821618 scan registration time 25.632347 ms *************
solver time 13.289699 ms 
optimization twice time 74.489824 
mapping data assosiation time 23.243828 ms 
mapping solver time 15.633136 ms 
filter time 24.357953 ms 
prepare time 10.926576 
publication time 7.579226 ms 
whole laserOdometry time 78.945291 ms 
 
data association time 19.681886 ms 
solver time 11.127327 ms 
data association time 19.469100 ms 
build tree time 86.382552 ms 
publication time 8.775870 ms 
whole laserOdometry time 71.434848 ms 
 
sort q time 2.729024 
seperate points time 7.240140 
mapping data assosiation time 17.432835 ms 
mapping solver time 11.942319 ms 
data association time 12.572767 ms 
solver time 10.977083 ms 
optimization twice time 51.523341 
mapping pub time 0.898066 ms 
whole mapping time 184.280185 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.357797 ms
map corner num 247531  surf num 89139 
publication time 7.135714 ms 
whole laserOdometry time 58.678215 ms 
 
points size 62221 
sort q time 3.099542 
seperate points time 8.221007 
scan registration time 20.737125 ms *************
solver time 8.180591 ms 
data association time 12.699853 ms 
mapping data assosiation time 16.641334 ms 
mapping solver time 14.001005 ms 
mapping data assosiation time 17.004718 ms 
prepare time 10.997765 
sort q time 3.169859 
seperate points time 8.182255 
filter time 21.460265 ms 
solver time 10.714479 ms 
data association time 13.318813 ms 
solver time 7.952080 ms 
build tree time 67.270464 ms 
sort q time 3.460519 
seperate points time 8.793035 
mapping solver time 12.743433 ms 
solver time 9.962058 ms 
mapping solver time 12.618560 ms 
publication time 6.748044 ms 
whole laserOdometry time 53.436312 ms 
 
points size 64388 
sort q time 3.041529 
seperate points time 7.722672 
data association time 13.298187 ms 
data association time 14.094308 ms 
publication time 6.526461 ms 
whole laserOdometry time 52.757437 ms 
 
points size 65579 
sort q time 2.786637 
seperate points time 7.280715 
scan registration time 22.533770 ms *************
data association time 26.120883 ms 
solver time 14.473011 ms 
data association time 25.548149 ms 
solver time 14.831854 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
scan registration time 32.215413 ms *************
data association time 17.476378 ms 
solver time 15.012832 ms 
data association time 16.163815 ms 
build tree time 72.754182 ms 
points size 64484 
sort q time 3.433703 
seperate points time 8.600140 
data association time 14.988333 ms 
mapping solver time 15.258228 ms solver time 9.709905 ms 
optimization twice time 56.244653 
publication time 8.599321 ms 
whole laserOdometry time 64.894648 ms 
 
map prepare time 4.323052 ms
map corner num 219994  surf num 76721 
points size 59804 
prepare time 12.422318 
sort q time 2.842213 
seperate points time 7.344367 
data association time 12.966063 ms 
solver time 15.212998 ms 
build tree time 68.966797 ms 
solver time 11.229849 ms 
mapping solver time 14.134092 ms 
prepare time 11.660657 
mapping solver time 12.027190 ms 
data association time 14.270287 ms 
map prepare time 3.056133 ms
map corner num 221006  surf num 77137 
data association time 14.919343 ms 
solver time 10.716929 ms 
points size 52756 
scan registration time 19.710682 ms *************
mapping data assosiation time 23.532577 ms 
data association time 21.420103 ms 
mapping solver time 14.183489 ms 
data association time 12.499792 ms 
solver time 8.670446 ms 
filter time 16.995111 ms 
sort q time 2.006883 
seperate points time 5.646477 
data association time 12.244626 ms 
solver time 11.346399 ms 
data association time 12.538589 ms 
solver time 10.739237 ms 
mapping data assosiation time 18.277576 ms 
mapping solver time 13.744946 ms 
points size 44934 
scan registration time 17.065542 ms *************
mapping solver time 11.545786 ms 
solver time 12.628278 ms 
map prepare time 3.584508 ms
map corner num 222782  surf num 77761 
solver time 10.989485 ms 
points size 39076 
build tree time 63.999147 ms 
data association time 10.097673 ms 
mapping solver time 14.004085 ms 
solver time 7.722547 ms 
mapping solver time 9.928152 ms 
filter time 19.136321 ms 
points size 37578 
data association time 8.962350 ms 
solver time 10.541144 ms 
data association time 13.442026 ms 
solver time 12.849370 ms 
mapping data assosiation time 17.941372 ms 
mapping solver time 12.713746 ms 
points size 37730 
scan registration time 13.631454 ms *************
mapping solver time 11.039370 ms 
data association time 9.799925 ms 
filter time 18.737166 ms 
data association time 9.596387 ms 
publication time 4.257798 ms 
whole laserOdometry time 46.663168 ms 
 
points size 39903 
mapping data assosiation time 17.771898 ms 
data association time 15.210785 ms 
mapping solver time 17.188507 ms 
data association time 15.875381 ms 
mapping data assosiation time 19.591335 ms 
mapping solver time 14.225782 ms 
mapping optimization time 133.819298 
add points time 0.455296 ms
solver time 16.083481 ms 
optimization twice time 64.280608 
publication time 4.557280 ms 
whole laserOdometry time 68.852347 ms 
 
filter time 17.160882 ms 
points size 43167 
scan registration time 15.541609 ms *************
data association time 14.509402 ms 
solver time 11.659480 ms 
build tree time 62.429093 ms 
solver time 8.258773 ms 
mapping solver time 11.640644 ms 
mapping data assosiation time 13.989335 ms 
mapping solver time 10.784689 ms 
filter time 19.351676 ms 
solver time 10.060970 ms 
solver time 8.125252 ms 
build tree time 63.909786 ms 
mapping data assosiation time 17.384743 ms 
scan registration time 18.053234 ms *************
mapping data assosiation time 15.184521 ms 
mapping solver time 10.541654 ms 
data association time 10.292803 ms 
solver time 8.976453 ms 
points size 52902 
scan registration time 19.805961 ms *************
build tree time 64.469746 ms 
solver time 10.892828 ms 
mapping solver time 10.970400 ms 
solver time 8.694009 ms 
mapping solver time 9.085894 ms 
mapping optimization time 115.461215 
add points time 0.528542 ms
filter time 18.519108 ms 
points size 55916 
scan registration time 20.905545 ms *************
data association time 10.736127 ms 
solver time 10.887752 ms 
data association time 10.570575 ms 
publication time 4.791208 ms 
whole laserOdometry time 46.593757 ms 
 
mapping data assosiation time 17.661741 ms 
mapping solver time 12.184170 ms 
points size 59961 
scan registration time 20.496106 ms *************
filter time 16.492924 ms 
solver time 11.528662 ms 
data association time 11.083697 ms 
publication time 4.697741 ms 
whole laserOdometry time 47.710621 ms 
 
build tree time 62.374216 ms 
sort q time 3.016185 
seperate points time 7.878992 
mapping solver time 13.273867 ms 
solver time 10.668292 ms 
mapping data assosiation time 14.799841 ms 
mapping solver time 13.011905 ms 
publication time 5.919011 ms 
whole laserOdometry time 50.529719 ms 
 
points size 61689 
sort q time 2.517906 
seperate points time 6.401189 
data association time 17.891014 ms 
solver time 15.081380 ms 
data association time 19.148068 ms 
solver time 8.454685 ms 
mapping data assosiation time 19.232389 ms 
mapping solver time 15.503387 ms 
filter time 17.583121 ms 
solver time 10.655360 ms 
data association time 12.097464 ms 
publication time 5.733372 ms 
whole laserOdometry time 50.254045 ms 
 
build tree time 67.719072 ms 
sort q time 3.861105 
seperate points time 9.881565 
mapping solver time 11.708280 ms 
mapping data assosiation time 18.017304 ms 
mapping solver time 12.401002 ms 
solver time 10.687389 ms 
filter time 23.254111 ms 
points size 64864 
sort q time 3.669346 
seperate points time 9.541801 
data association time 11.771208 ms 
solver time 12.983227 ms 
data association time 18.494685 ms 
mapping data assosiation time 19.500216 ms 
mapping solver time 17.797337 ms 
prepare time 17.806927 
mapping data assosiation time 21.573486 ms 
mapping solver time 12.333642 ms 
data association time 12.417142 ms 
filter time 21.974505 ms 
data association time 13.406142 ms 
publication time 5.712450 ms 
whole laserOdometry time 54.724781 ms 
 
points size 66541 
sort q time 3.536683 
seperate points time 9.117586 
scan registration time 26.994063 ms *************
build tree time 71.923513 ms 
data association time 20.684846 ms 
solver time 18.742089 ms 
data association time 20.039269 ms 
mapping solver time 13.600984 ms 
sort q time 3.513190 
seperate points time 9.084741 
data association time 20.198957 ms 
solver time 19.009568 ms 
data association time 20.223461 ms 
solver time 15.566840 ms 
sort q time 3.505385 
seperate points time 8.906147 
data association time 19.890648 ms 
mapping solver time 13.021737 ms 
data association time 20.564536 ms 
solver time 15.947468 ms 
points size 67795 
sort q time 4.004573 
seperate points time 9.741149 
scan registration time 24.799028 ms *************
data association time 20.722926 ms 
build tree time 67.545489 ms 
solver time 18.957788 ms 
mapping data assosiation time 17.996945 ms 
mapping solver time 12.833150 ms 
solver time 15.621220 ms 
publication time 7.987803 ms 
whole laserOdometry time 84.856425 ms 
 
sort q time 3.317374 
seperate points time 8.086712 
filter time 21.076745 ms 
data association time 21.212418 ms 
solver time 18.661019 ms 
data association time 20.582776 ms 
solver time 16.062222 ms 
sort q time 3.173335 
seperate points time 8.191302 
mapping data assosiation time 21.115625 ms 
mapping solver time 13.801065 ms 
data association time 13.249846 ms 
solver time 13.911690 ms 
data association time 13.687800 ms 
mapping solver time 10.988956 ms 
mapping optimization time 132.059781 
add points time 0.538283 ms
filter time 18.376807 ms 
points size 68113 
sort q time 3.884538 
seperate points time 10.207963 
data association time 20.910821 ms 
solver time 15.376496 ms 
mapping data assosiation time 20.299180 ms 
data association time 20.984577 ms 
solver time 11.972563 ms 
prepare time 11.392866 
sort q time 4.135762 
seperate points time 10.527598 
mapping solver time 11.666802 ms 
filter time 16.397921 ms 
solver time 12.898085 ms 
data association time 13.893190 ms 
optimization twice time 52.811259 
points size 71489 
sort q time 3.303774 
seperate points time 8.725131 
data association time 13.369153 ms 
solver time 13.722539 ms 
data association time 13.491999 ms 
publication time 7.063357 ms 
whole laserOdometry time 59.814975 ms 
 
points size 73538 
sort q time 4.117190 
seperate points time 10.971790 
data association time 21.706578 ms 
mapping pub time 235.870098 ms 
whole mapping time 393.843913 ms +++++
data association time 22.355922 ms 
points size 74607 
publication time 8.822576 ms 
whole laserOdometry time 86.245070 ms 
 
build tree time 70.669847 ms 
mapping data assosiation time 21.932145 ms 
mapping solver time 16.049250 ms 
mapping data assosiation time 22.161946 ms 
mapping solver time 13.403875 ms 
filter time 20.975819 ms 
solver time 13.134656 ms 
data association time 14.616925 ms 
solver time 10.605760 ms 
points size 76026 
sort q time 4.129432 
seperate points time 9.831632 
mapping data assosiation time 20.819615 ms 
mapping solver time 16.215398 ms 
mapping data assosiation time 20.370958 ms 
solver time 11.599745 ms 
filter time 19.678307 ms 
sort q time 3.410186 
seperate points time 8.287763 
data association time 13.659303 ms 
solver time 13.079436 ms 
build tree time 60.385096 ms 
solver time 7.819898 ms 
publication time 8.352000 ms 
whole laserOdometry time 58.402629 ms 
 
mapping solver time 19.950951 ms 
sort q time 4.458262 
seperate points time 10.696835 
mapping solver time 13.215838 ms 
solver time 8.252550 ms 
map prepare time 3.553386 ms
map corner num 234848  surf num 82819 
publication time 8.375880 ms 
whole laserOdometry time 56.217470 ms 
 
points size 80476 
sort q time 4.232772 
seperate points time 10.297547 
build tree time 71.870729 ms 
data association time 15.494842 ms 
solver time 11.023998 ms 
data association time 14.897066 ms 
publication time 7.604982 ms 
whole laserOdometry time 57.905000 ms 
 
mapping data assosiation time 25.097928 ms 
sort q time 4.093542 
seperate points time 10.029421 
filter time 18.949646 ms 
solver time 12.439949 ms 
data association time 17.878820 ms 
solver time 7.691407 ms 
publication time 7.668607 ms 
whole laserOdometry time 62.059290 ms 
 
points size 82520 
sort q time 4.699856 
seperate points time 11.477713 
mapping data assosiation time 25.866840 ms 
data association time 14.796587 ms 
data association time 14.972442 ms 
mapping solver time 16.110424 ms 
points size 84098 
mapping pub time 4.107858 ms 
whole mapping time 183.198258 ms +++++
data association time 15.950542 ms 
solver time 17.242752 ms 
data association time 19.334593 ms 
solver time 12.940389 ms 
publication time 14.304623 ms 
whole laserOdometry time 80.838865 ms 
 
sort q time 5.535472 
seperate points time 12.873935 
data association time 15.998358 ms 
solver time 16.740795 ms 
[0m[ INFO] [1718802709.237772909]: Received 2887293 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802709.237819145]: Data saved to 1317358254881016.pcd[0m
mapping pub time 1.319060 ms 
whole mapping time 195.905418 ms +++++
solver time 15.990288 ms 
publication time 9.625921 ms 
whole laserOdometry time 90.411234 ms 
 
data association time 22.991768 ms 
solver time 17.742664 ms 
data association time 23.148124 ms 
prepare time 14.233644 
sort q time 4.970723 
seperate points time 11.643088 
mapping solver time 20.013451 ms 
data association time 23.892809 ms 
mapping data assosiation time 26.688305 ms 
mapping solver time 19.022101 ms 
points size 81470 
sort q time 4.473620 
seperate points time 10.910540 
data association time 21.449550 ms 
solver time 13.968666 ms 
data association time 14.158259 ms 
solver time 11.702945 ms 
mapping data assosiation time 21.023100 ms 
mapping solver time 15.557848 ms 
mapping data assosiation time 22.233874 ms 
data association time 21.742716 ms 
solver time 18.728369 ms 
filter time 18.370516 ms 
data association time 21.977614 ms 
solver time 11.866971 ms 
points size 79334 
publication time 8.952620 ms 
whole laserOdometry time 84.403447 ms 
 
prepare time 14.313575 
build tree time 68.423479 ms 
data association time 21.462656 ms 
solver time 15.369086 ms 
mapping solver time 14.598772 ms 
solver time 9.714941 ms 
points size 78626 
sort q time 4.379687 
seperate points time 10.813307 
filter time 19.937196 ms 
data association time 14.832041 ms 
solver time 11.472076 ms 
data association time 14.128739 ms 
solver time 9.151894 ms 
optimization twice time 50.443891 
build tree time 66.063544 ms 
sort q time 4.304998 
seperate points time 10.660296 
mapping solver time 16.852015 ms 
solver time 13.324727 ms 
data association time 14.559371 ms 
solver time 11.102071 ms 
filter time 18.898615 ms 
points size 78319 
sort q time 4.208330 
seperate points time 10.350983 
data association time 13.052240 ms 
data association time 13.313979 ms 
solver time 13.189265 ms 
mapping solver time 14.520650 ms 
sort q time 3.626489 
seperate points time 8.947073 
data association time 13.614876 ms 
solver time 13.704208 ms 
filter time 21.436991 ms 
mapping pub time 1.004533 ms 
whole mapping time 169.370781 ms +++++
map prepare time 3.922562 ms
map corner num 250871  surf num 89733 
data association time 14.340115 ms 
solver time 10.830029 ms 
points size 78427 
sort q time 4.384302 
seperate points time 10.585300 
build tree time 68.134069 ms 
data association time 13.114892 ms 
solver time 13.624086 ms 
data association time 14.043282 ms 
solver time 11.828963 ms 
mapping solver time 12.559564 ms 
points size 76725 
sort q time 4.313026 
seperate points time 9.893145 
data association time 20.359720 ms 
solver time 17.870549 ms 
data association time 20.474327 ms 
solver time 18.011287 ms 
publication time 8.203098 ms 
whole laserOdometry time 85.965706 ms 
 
sort q time 3.573937 
seperate points time 13.189137 
mapping solver time 19.146980 ms 
mapping data assosiation time 22.738231 ms 
mapping solver time 16.489956 ms 
points size 74549 
map prepare time 4.558796 ms
map corner num 251968  surf num 90061 
data association time 20.174876 ms 
solver time 15.010620 ms 
data association time 20.330506 ms 
solver time 15.377977 ms 
points size 73213 
sort q time 3.971224 
seperate points time 9.873611 
mapping solver time 17.096755 ms 
data association time 21.631281 ms 
solver time 20.161051 ms 
data association time 19.952034 ms 
filter time 25.192799 ms 
mapping pub time 1.169949 ms 
whole mapping time 202.353902 ms +++++
points size 71965 
drop lidar frame in mapping for real time performance 
solver time 16.206024 ms 
optimization twice time 79.047003 
prepare time 15.912188 
map prepare time 4.495204 ms
map corner num 252467  surf num 90201 
scan registration time 29.149766 ms *************
data association time 14.715953 ms 
solver time 15.679564 ms 
data association time 12.093662 ms 
solver time 8.670672 ms 
mapping data assosiation time 18.544964 ms 
mapping solver time 16.150698 ms 
mapping data assosiation time 20.419155 ms 
data association time 20.121052 ms 
solver time 14.680916 ms 
data association time 12.774225 ms 
map prepare time 3.937420 ms
map corner num 252911  surf num 90313 
publication time 6.289290 ms 
whole laserOdometry time 67.170287 ms 
 
points size 71331 
sort q time 4.015186 
seperate points time 9.917693 
data association time 13.209951 ms 
solver time 13.548224 ms 
data association time 15.729957 ms 
solver time 12.900756 ms 
mapping data assosiation time 18.694950 ms 
prepare time 15.109696 
sort q time 3.981376 
seperate points time 9.917520 
filter time 20.664626 ms 
solver time 12.792605 ms 
data association time 13.009769 ms 
solver time 10.673670 ms 
points size 71355 
sort q time 3.851899 
seperate points time 9.821032 
mapping data assosiation time 20.088399 ms 
mapping solver time 12.421682 ms 
solver time 12.301418 ms 
mapping solver time 12.724081 ms 
publication time 7.329338 ms 
whole laserOdometry time 59.707537 ms 
 
map prepare time 4.160962 ms
map corner num 253896  surf num 90626 
sort q time 5.079604 
seperate points time 10.154398 
data association time 17.792930 ms 
solver time 11.353860 ms 
data association time 14.885354 ms 
publication time 6.116433 ms 
whole laserOdometry time 59.728537 ms 
 
mapping solver time 12.745899 ms 
sort q time 3.678219 
seperate points time 9.108277 
mapping solver time 10.886443 ms 
filter time 21.761087 ms 
solver time 13.707910 ms 
data association time 13.526498 ms 
publication time 7.119765 ms 
whole laserOdometry time 58.298826 ms 
 
points size 70385 
sort q time 3.386005 
seperate points time 8.218952 
build tree time 71.525029 ms 
mapping data assosiation time 18.123693 ms 
mapping solver time 12.851842 ms 
solver time 10.724308 ms 
mapping solver time 10.699869 ms 
points size 67573 
sort q time 3.376253 
seperate points time 8.405438 
data association time 12.257240 ms 
solver time 12.217444 ms 
data association time 12.475437 ms 
solver time 11.175859 ms 
build tree time 72.350460 ms 
points size 66421 
sort q time 2.954734 
seperate points time 7.409863 
data association time 12.525164 ms 
solver time 13.343466 ms 
data association time 13.163167 ms 
solver time 12.359555 ms 
points size 64486 
prepare time 14.703221 
data association time 13.359175 ms 
solver time 13.594946 ms 
data association time 13.624491 ms 
solver time 11.329691 ms 
points size 63364 
sort q time 3.386709 
seperate points time 8.868948 
data association time 12.633073 ms 
solver time 10.810700 ms 
data association time 12.490036 ms 
publication time 6.815896 ms 
whole laserOdometry time 51.969305 ms 
 
mapping pub time 238.771055 ms 
whole mapping time 406.111639 ms +++++
sort q time 3.561743 
seperate points time 8.778731 
data association time 14.610699 ms 
solver time 11.288394 ms 
data association time 12.346276 ms 
solver time 8.435348 ms 
build tree time 76.635120 ms 
mapping data assosiation time 18.679254 ms 
sort q time 2.573301 
seperate points time 6.485394 
mapping data assosiation time 17.898547 ms 
mapping solver time 10.937018 ms 
data association time 11.908377 ms 
publication time 4.942368 ms 
whole laserOdometry time 49.752624 ms 
 
points size 56298 
sort q time 2.997990 
seperate points time 7.611899 
data association time 11.736584 ms 
solver time 12.964997 ms 
mapping data assosiation time 19.134111 ms 
mapping solver time 14.971371 ms 
publication time 6.392731 ms 
whole laserOdometry time 53.347243 ms 
 
mapping solver time 12.822016 ms 
sort q time 2.453131 
seperate points time 6.296660 
drop lidar frame in mapping for real time performance 
data association time 17.206043 ms 
solver time 15.587385 ms 
data association time 17.944289 ms 
solver time 11.917995 ms 
build tree time 75.655487 ms 
sort q time 2.580318 
seperate points time 6.576473 
scan registration time 20.899793 ms *************
mapping data assosiation time 16.383294 ms 
mapping solver time 13.176905 ms 
data association time 18.709925 ms 
mapping data assosiation time 16.157234 ms 
mapping solver time 8.079244 ms 
mapping optimization time 130.371673 
add points time 0.501013 ms
data association time 18.521463 ms 
map prepare time 3.249597 ms
map corner num 257377  surf num 91744 
points size 60246 
sort q time 3.153983 
seperate points time 8.273194 
data association time 18.562537 ms 
build tree time 72.507605 ms 
solver time 15.682035 ms 
mapping data assosiation time 17.635156 ms 
mapping solver time 12.668571 ms 
publication time 7.499632 ms 
whole laserOdometry time 73.191600 ms 
 
points size 64147 
sort q time 3.364160 
seperate points time 8.630602 
scan registration time 23.365940 ms *************
map prepare time 3.285674 ms
map corner num 258050  surf num 91947 
data association time 16.917154 ms 
solver time 11.253806 ms 
data association time 12.715118 ms 
solver time 8.093495 ms 
points size 65946 
sort q time 3.661320 
seperate points time 9.274305 
data association time 13.871205 ms 
solver time 9.627898 ms 
data association time 16.506549 ms 
solver time 13.405849 ms 
filter time 22.986919 ms 
map prepare time 4.244173 ms
map corner num 258648  surf num 92122 
sort q time 3.097488 
seperate points time 7.765902 
data association time 12.558655 ms 
data association time 12.497177 ms 
solver time 8.408515 ms 
optimization twice time 44.943970 
mapping data assosiation time 17.004689 ms 
points size 68736 
sort q time 3.384084 
seperate points time 8.456208 
data association time 12.939304 ms 
solver time 11.168906 ms 
filter time 22.288153 ms 
publication time 6.077495 ms 
whole laserOdometry time 53.917664 ms 
 
points size 70369 
sort q time 3.073226 
seperate points time 7.883560 
build tree time 70.835015 ms 
data association time 14.150694 ms 
solver time 11.202000 ms 
data association time 14.021780 ms 
mapping data assosiation time 18.610974 ms 
mapping solver time 11.192129 ms 
points size 70645 
sort q time 4.373281 
seperate points time 10.611244 
data association time 14.254745 ms 
solver time 13.072147 ms 
data association time 14.407453 ms 
publication time 6.807024 ms 
whole laserOdometry time 57.762949 ms 
 
points size 70254 
sort q time 3.717144 
seperate points time 9.723799 
scan registration time 25.393237 ms *************
mapping data assosiation time 18.147552 ms 
data association time 14.747855 ms 
solver time 11.572925 ms 
data association time 18.328210 ms publication time 8.810241 ms 
whole laserOdometry time 64.750257 ms 
 
points size 71173 
sort q time 3.737822 
seperate points time 9.693700 
data association time 18.568934 ms 
solver time 15.800812 ms 
mapping data assosiation time 19.880112 ms 
points size 72419 
sort q time 3.865421 
seperate points time 9.634057 
mapping solver time 11.154968 ms 
solver time 13.152283 ms 
filter time 24.120269 ms 
solver time 9.074033 ms 
points size 70830 
sort q time 3.093138 
seperate points time 7.906584 
data association time 13.311508 ms 
solver time 15.068899 ms 
build tree time 93.673797 ms 
data association time 14.557290 ms 
solver time 11.430791 ms 
mapping solver time 11.042999 ms 
points size 68785 
prepare time 17.309242 
mapping data assosiation time 24.764628 ms 
scan registration time 30.860359 ms *************
mapping solver time 12.703155 ms 
mapping optimization time 165.968872 
add points time 0.632833 ms
data association time 13.595740 ms 
map prepare time 3.629381 ms
map corner num 229563  surf num 85464 
solver time 12.194049 ms 
data association time 14.075498 ms 
solver time 11.107743 ms 
points size 68009 
sort q time 3.779430 
seperate points time 9.630129 
mapping data assosiation time 19.008774 ms 
solver time 11.071825 ms 
mapping solver time 13.698009 ms 
data association time 20.366275 ms 
solver time 8.857883 ms 
points size 67010 
map prepare time 3.764057 ms
map corner num 230195  surf num 85732 
data association time 12.924385 ms 
solver time 16.161863 ms 
data association time 16.466961 ms 
optimization twice time 56.893125 
mapping data assosiation time 18.967385 ms 
prepare time 11.460288 
sort q time 3.326058 
seperate points time 8.131494 
scan registration time 22.419033 ms *************
data association time 14.250026 ms 
mapping solver time 14.723512 ms 
mapping optimization time 132.959060 
add points time 0.593946 ms
solver time 14.185917 ms 
data association time 13.600560 ms 
map prepare time 3.579246 ms
map corner num 230840  surf num 86000 
publication time 7.310615 ms 
whole laserOdometry time 61.786307 ms 
 
points size 66888 
sort q time 3.614288 
seperate points time 8.998182 
build tree time 65.932585 ms 
solver time 10.109272 ms 
data association time 13.246471 ms 
solver time 10.637729 ms 
mapping data assosiation time 18.965743 ms 
mapping solver time 13.166531 ms 
prepare time 13.867343 
mapping pub time 0.906692 ms 
whole mapping time 158.017967 ms +++++
data association time 14.021643 ms 
solver time 13.265954 ms 
data association time 14.078890 ms 
solver time 9.108879 ms 
build tree time 65.213643 ms 
points size 66425 
sort q time 2.689729 
seperate points time 6.802393 
mapping solver time 15.543651 ms 
data association time 13.456800 ms 
solver time 10.887057 ms 
mapping solver time 14.070297 ms 
solver time 10.952345 ms 
map prepare time 3.160443 ms
map corner num 231987  surf num 86426 
points size 65650 
sort q time 2.894325 
seperate points time 7.179502 
data association time 15.382590 ms 
solver time 13.844137 ms 
data association time 13.411012 ms 
solver time 10.854011 ms 
mapping solver time 14.133364 ms 
mapping data assosiation time 21.538973 ms 
mapping solver time 12.061764 ms 
mapping pub time 3.783141 ms 
whole mapping time 162.004372 ms +++++
solver time 10.181983 ms 
data association time 13.392495 ms 
solver time 11.293748 ms 
optimization twice time 49.745645 
publication time 6.058761 ms 
whole laserOdometry time 55.822190 ms 
 
build tree time 64.078840 ms 
scan registration time 21.171118 ms *************
data association time 12.824342 ms 
solver time 10.466652 ms 
data association time 13.004193 ms 
optimization twice time 47.283673 
mapping solver time 17.308371 ms 
filter time 22.033806 ms 
prepare time 11.619717 
data association time 13.290549 ms 
solver time 14.028622 ms 
data association time 12.741336 ms 
build tree time 67.438869 ms 
mapping data assosiation time 20.651850 ms 
mapping solver time 18.312036 ms 
sort q time 3.450593 
seperate points time 8.346583 
data association time 12.161958 ms 
solver time 13.876829 ms 
filter time 20.363820 ms 
solver time 11.254923 ms 
points size 67248 
sort q time 2.867773 
seperate points time 7.099754 
build tree time 64.946630 ms 
mapping data assosiation time 17.688116 ms 
mapping solver time 13.700535 ms 
solver time 12.552350 ms 
mapping solver time 13.995811 ms 
points size 68650 
map prepare time 3.847639 ms
map corner num 234338  surf num 87326 
data association time 13.752470 ms 
solver time 10.846623 ms 
data association time 16.646482 ms 
solver time 13.360044 ms 
mapping data assosiation time 19.723915 ms 
mapping solver time 14.317272 ms 
mapping data assosiation time 20.054145 ms 
mapping solver time 12.321878 ms 
data association time 12.643306 ms 
solver time 11.606321 ms 
points size 72015 
sort q time 3.407081 
seperate points time 8.266929 
build tree time 67.527800 ms 
mapping data assosiation time 19.899757 ms 
mapping solver time 14.129665 ms 
publication time 6.978394 ms 
whole laserOdometry time 55.020031 ms 
 
mapping solver time 14.974594 ms 
sort q time 4.301840 
seperate points time 10.833694 
data association time 12.770004 ms 
solver time 11.377010 ms 
data association time 13.781276 ms 
publication time 6.668594 ms 
whole laserOdometry time 57.064638 ms 
 
points size 73752 
sort q time 3.856058 
seperate points time 9.518767 
data association time 12.592103 ms 
solver time 15.019959 ms 
data association time 19.294139 ms 
publication time 7.964953 ms 
whole laserOdometry time 67.544544 ms 
 
sort q time 4.692990 
seperate points time 12.001241 
data association time 15.657451 ms 
map prepare time 4.842598 ms
map corner num 235668  surf num 87861 
data association time 23.786939 ms 
solver time 10.254076 ms 
sort q time 4.226199 
seperate points time 10.741961 
build tree time 75.325447 ms 
mapping data assosiation time 18.966097 ms 
mapping solver time 13.928611 ms 
publication time 7.222356 ms 
whole laserOdometry time 53.099311 ms 
 
mapping solver time 11.670685 ms 
sort q time 3.546153 
seperate points time 8.885611 
map prepare time 4.217539 ms
map corner num 236244  surf num 88105 
solver time 10.238945 ms 
data association time 17.109008 ms 
optimization twice time 53.556012 
build tree time 65.839231 ms 
points size 78738 
mapping data assosiation time 22.833604 ms 
mapping solver time 19.134730 ms 
data association time 24.088743 ms 
mapping data assosiation time 27.012567 ms 
solver time 17.466024 ms 
mapping solver time 19.560524 ms 
solver time 15.292977 ms 
sort q time 4.264435 
seperate points time 10.356986 
data association time 21.303625 ms 
solver time 13.238702 ms 
build tree time 67.853900 ms 
solver time 10.222806 ms 
points size 82383 
sort q time 4.247619 
seperate points time 10.329424 
mapping data assosiation time 23.356589 ms 
mapping solver time 14.180667 ms 
data association time 17.103115 ms 
solver time 14.378440 ms 
data association time 17.781008 ms 
optimization twice time 68.362085 
prepare time 13.855100 
sort q time 4.395869 
seperate points time 10.949648 
filter time 22.153089 ms 
solver time 12.198026 ms 
data association time 15.142700 ms 
solver time 11.151145 ms 
points size 84806 
sort q time 4.324230 
seperate points time 10.315545 
data association time 15.899260 ms 
solver time 13.240490 ms 
mapping solver time 21.470351 ms 
solver time 10.669857 ms 
mapping data assosiation time 29.561138 ms 
mapping solver time 16.544429 ms 
filter time 20.552584 ms 
solver time 12.113912 ms 
data association time 14.753728 ms 
solver time 10.896233 ms 
points size 88880 
sort q time 4.724591 
seperate points time 11.632321 
mapping data assosiation time 24.542576 ms 
data association time 15.503333 ms 
solver time 11.423055 ms 
data association time 16.040466 ms 
optimization twice time 53.553256 
mapping solver time 18.073677 ms 
points size 90988 
filter time 24.600474 ms 
scan registration time 36.140660 ms *************
data association time 18.437743 ms 
solver time 13.247954 ms 
data association time 16.011086 ms 
solver time 10.787639 ms 
publication time 8.986103 ms 
whole laserOdometry time 68.460295 ms 
 
points size 92657 
sort q time 5.372740 
seperate points time 13.617117 
data association time 16.238903 ms 
solver time 14.508665 ms 
data association time 16.329524 ms 
filter time 20.961968 ms 
points size 94426 
sort q time 5.677368 
seperate points time 13.683326 
data association time 25.113503 ms 
solver time 15.218151 ms 
mapping data assosiation time 28.598496 ms 
prepare time 20.198093 
mapping solver time 22.500869 ms 
scan registration time 40.244533 ms *************
mapping data assosiation time 26.061107 ms 
mapping solver time 11.244436 ms 
solver time 15.118659 ms 
map prepare time 4.198279 ms
map corner num 241881  surf num 91204 
data association time 25.471931 ms 
solver time 11.533200 ms 
publication time 11.588588 ms 
whole laserOdometry time 90.549611 ms 
 
data association time 26.028239 ms 
solver time 18.331043 ms 
mapping data assosiation time 26.575236 ms 
points size 97811 
sort q time 5.422578 
seperate points time 13.600948 
mapping data assosiation time 28.080273 ms 
mapping solver time 15.547225 ms 
solver time 13.494715 ms 
mapping pub time 1.085258 ms 
whole mapping time 192.468589 ms +++++
data association time 16.625244 ms 
solver time 10.590592 ms 
publication time 10.104381 ms 
whole laserOdometry time 68.730855 ms 
 
prepare time 18.927656 
sort q time 5.774091 
seperate points time 14.121135 
build tree time 79.091387 ms 
data association time 26.211154 ms 
mapping data assosiation time 29.054823 ms 
mapping solver time 30.249396 ms 
points size 99971 
publication time 11.786785 ms 
whole laserOdometry time 99.547213 ms 
 
scan registration time 44.273608 ms *************
add points time 0.920911 ms
data association time 16.745217 ms 
map prepare time 4.175040 ms
map corner num 243214  surf num 91911 
points size 100430 
solver time 12.627749 ms 
build tree time 74.316204 ms 
solver time 17.617085 ms 
mapping data assosiation time 33.472973 ms 
solver time 9.379527 ms 
mapping solver time 28.369889 ms 
sort q time 6.392087 
seperate points time 15.910160 
mapping data assosiation time 32.071327 ms 
data association time 17.745859 ms 
solver time 14.351021 ms 
drop lidar frame in mapping for real time performance 
solver time 8.707809 ms 
publication time 11.563396 ms 
whole laserOdometry time 71.390879 ms 
 
sort q time 5.540104 
seperate points time 13.565560 
data association time 17.479576 ms 
solver time 11.510605 ms 
data association time 17.922613 ms 
publication time 11.910032 ms 
whole laserOdometry time 68.279426 ms 
 
prepare time 16.736669 
sort q time 5.522493 
seperate points time 12.797518 
mapping data assosiation time 29.583041 ms 
solver time 11.044897 ms 
data association time 17.330976 ms 
filter time 21.958725 ms 
points size 101477 
sort q time 5.837797 
seperate points time 14.307322 
data association time 16.913232 ms 
build tree time 78.315989 ms 
solver time 10.665866 ms 
data association time 16.824589 ms 
mapping data assosiation time 27.415083 ms 
prepare time 19.270134 
sort q time 4.916444 
seperate points time 11.592473 
mapping data assosiation time 26.565765 ms 
solver time 10.619126 ms 
mapping solver time 22.684935 ms 
solver time 8.368062 ms 
filter time 23.588612 ms 
points size 102023 
sort q time 6.136093 
seperate points time 14.825042 
data association time 17.307578 ms 
solver time 11.313702 ms 
data association time 16.599002 ms 
solver time 10.544190 ms 
publication time 12.118273 ms 
whole laserOdometry time 69.027300 ms 
 
mapping solver time 23.474399 ms 
sort q time 6.376365 
seperate points time 14.401922 
mapping data assosiation time 26.566922 ms 
mapping solver time 16.855112 ms 
data association time 18.022035 ms 
publication time 12.165989 ms 
whole laserOdometry time 67.696236 ms 
 
sort q time 5.044980 
seperate points time 12.010350 
data association time 17.619221 ms 
solver time 10.897602 ms 
data association time 16.863228 ms 
optimization twice time 54.681204 
publication time 11.106708 ms 
whole laserOdometry time 65.806916 ms 
 
points size 101859 
prepare time 16.288520 
sort q time 5.943745 
seperate points time 13.871003 
scan registration time 34.882215 ms *************
mapping solver time 14.986898 ms 
solver time 8.726924 ms 
mapping pub time 4.420925 ms 
whole mapping time 197.361549 ms +++++
data association time 24.248358 ms 
publication time 9.157033 ms 
whole laserOdometry time 69.740941 ms 
 
sort q time 5.122882 
seperate points time 12.001272 
build tree time 69.007304 ms 
solver time 12.890841 ms 
data association time 15.610047 ms 
publication time 10.036354 ms 
whole laserOdometry time 62.371185 ms 
 
prepare time 16.750367 
sort q time 6.423105 
seperate points time 14.650233 
mapping solver time 12.807329 ms 
data association time 17.249725 ms 
solver time 11.176512 ms 
map prepare time 4.697032 ms
map corner num 247402  surf num 94060 
solver time 8.927421 ms 
publication time 14.416565 ms 
whole laserOdometry time 72.127132 ms 
 
sort q time 4.598387 
seperate points time 10.956616 
build tree time 74.669238 ms 
solver time 13.102550 ms 
data association time 18.257516 ms 
solver time 11.524856 ms 
publication time 11.524048 ms 
whole laserOdometry time 71.710470 ms 
 
sort q time 5.536450 
seperate points time 12.801255 
mapping solver time 17.822979 ms 
solver time 10.696071 ms 
mapping pub time 1.318611 ms 
whole mapping time 209.313706 ms +++++
solver time 8.105149 ms 
points size 99119 
sort q time 4.982820 
seperate points time 11.700725 
build tree time 71.019389 ms 
solver time 11.861287 ms 
data association time 18.293811 ms 
solver time 8.484227 ms 
points size 98693 
mapping data assosiation time 30.477282 ms 
mapping solver time 14.003687 ms 
data association time 18.343207 ms 
solver time 13.592180 ms 
map prepare time 4.978184 ms
map corner num 248659  surf num 94623 
data association time 15.403333 ms 
optimization twice time 59.228928 
publication time 11.769005 ms 
whole laserOdometry time 71.016368 ms 
 
prepare time 15.570037 
sort q time 4.815851 
seperate points time 11.348159 
build tree time 70.616133 ms 
data association time 18.021492 ms 
solver time 13.388705 ms 
mapping solver time 18.806691 ms 
solver time 7.777633 ms 
publication time 11.273942 ms 
whole laserOdometry time 70.143546 ms 
 
mapping data assosiation time 30.036410 ms 
mapping solver time 11.764575 ms 
filter time 22.226222 ms 
solver time 10.105462 ms 
data association time 14.294987 ms 
solver time 7.479695 ms 
optimization twice time 47.673590 
points size 97591 
build tree time 72.278138 ms 
sort q time 5.472292 
seperate points time 12.949604 
mapping data assosiation time 30.633801 ms 
solver time 11.454111 ms 
data association time 17.217434 ms 
solver time 8.245917 ms 
mapping data assosiation time 27.761922 ms 
mapping optimization time 168.307435 
add points time 0.997656 ms
prepare time 16.819353 
scan registration time 33.479116 ms *************
filter time 25.481776 ms 
data association time 15.078983 ms 
solver time 11.106755 ms 
data association time 15.012217 ms 
solver time 8.542321 ms 
publication time 11.155749 ms 
whole laserOdometry time 61.776942 ms 
 
points size 97379 
sort q time 5.227386 
seperate points time 12.331826 
data association time 17.469871 ms 
solver time 13.999637 ms 
data association time 22.791612 ms 
publication time 12.117418 ms 
whole laserOdometry time 77.277760 ms 
 
sort q time 6.386554 
seperate points time 15.847518 
data association time 16.477779 ms 
solver time 14.308517 ms 
data association time 18.596475 ms 
points size 96790 
sort q time 5.617073 
seperate points time 13.847417 
scan registration time 46.274105 ms *************
data association time 16.481992 ms 
solver time 15.449511 ms 
mapping data assosiation time 25.431573 ms 
points size 96170 
publication time 9.135024 ms 
whole laserOdometry time 73.635077 ms 
 
mapping data assosiation time 32.591548 ms 
mapping solver time 13.878652 ms 
data association time 16.048923 ms 
filter time 19.931705 ms 
solver time 9.013578 ms 
publication time 8.841436 ms 
whole laserOdometry time 63.057847 ms 
 
points size 93507 
sort q time 4.701819 
seperate points time 11.066349 
data association time 16.013211 ms 
solver time 13.592704 ms 
data association time 15.572804 ms 
optimization twice time 56.563581 
mapping solver time 21.416003 ms 
points size 91519 
prepare time 14.982112 
sort q time 5.290604 
seperate points time 12.332320 
mapping solver time 20.648887 ms 
data association time 25.042379 ms 
mapping pub time 1.514679 ms 
whole mapping time 204.579955 ms +++++
data association time 25.803075 ms 
solver time 11.625935 ms 
sort q time 4.980240 
seperate points time 12.455968 
data association time 15.608854 ms 
build tree time 80.824062 ms 
data association time 16.157672 ms 
optimization twice time 54.461145 
mapping solver time 20.112634 ms 
sort q time 5.130370 
seperate points time 12.100603 
mapping data assosiation time 30.654671 ms 
data association time 15.346970 ms 
solver time 11.072960 ms 
filter time 22.064817 ms 
solver time 8.574139 ms 
publication time 9.557133 ms 
whole laserOdometry time 63.558855 ms 
 
prepare time 14.602209 
sort q time 4.842231 
seperate points time 11.407306 
build tree time 71.511682 ms 
solver time 11.012199 ms 
mapping data assosiation time 26.237803 ms 
publication time 8.834182 ms 
whole laserOdometry time 59.778862 ms 
 
points size 86722 
mapping data assosiation time 28.004637 ms 
scan registration time 28.699032 ms *************
add points time 1.139453 ms
solver time 10.082777 ms 
data association time 14.162449 ms 
publication time 7.741353 ms 
whole laserOdometry time 54.990279 ms 
 
points size 85618 
sort q time 4.260266 
seperate points time 10.208592 
build tree time 69.618276 ms 
solver time 11.449702 ms 
data association time 15.030572 ms 
mapping solver time 20.809134 ms 
points size 84245 
sort q time 4.747029 
seperate points time 11.735565 
data association time 15.483058 ms 
solver time 11.829138 ms 
data association time 15.314716 ms 
publication time 7.569277 ms 
whole laserOdometry time 59.481972 ms 
 
points size 82761 
sort q time 4.629183 
seperate points time 11.424906 
build tree time 77.469956 ms 
data association time 16.994919 ms 
solver time 12.046589 ms 
data association time 15.648866 ms 
publication time 8.812766 ms 
whole laserOdometry time 63.766832 ms 
 
mapping data assosiation time 27.215212 ms 
mapping solver time 15.120571 ms 
filter time 23.971376 ms 
mapping pub time 1.075239 ms 
whole mapping time 197.290445 ms +++++
data association time 15.452621 ms 
drop lidar frame in mapping for real time performance 
map prepare time 3.863979 ms
map corner num 254073  surf num 97139 
solver time 12.855626 ms 
data association time 15.328549 ms 
solver time 9.546175 ms 
points size 82776 
sort q time 3.850646 
seperate points time 9.308703 
data association time 13.480714 ms 
solver time 14.650421 ms 
mapping solver time 21.134731 ms 
solver time 12.135648 ms 
mapping data assosiation time 23.921614 ms 
mapping solver time 13.801537 ms 
sort q time 3.496505 
seperate points time 8.430459 
map prepare time 4.775360 ms
map corner num 254754  surf num 97355 
data association time 15.954422 ms 
solver time 14.670161 ms 
data association time 15.794104 ms 
solver time 13.215206 ms 
optimization twice time 60.482948 
publication time 8.947962 ms 
whole laserOdometry time 69.443434 ms 
 
points size 82199 
sort q time 4.384847 
seperate points time 10.717834 
mapping solver time 19.026907 ms 
solver time 12.641255 ms 
mapping data assosiation time 26.569672 ms 
solver time 11.079569 ms 
points size 82118 
sort q time 4.275024 
seperate points time 10.803989 
data association time 15.140054 ms 
solver time 15.998663 ms 
data association time 15.463707 ms 
solver time 11.766523 ms 
build tree time 84.558851 ms 
points size 81647 
prepare time 13.445984 
scan registration time 26.001605 ms *************
mapping solver time 16.518864 ms 
solver time 15.234930 ms 
mapping solver time 13.151333 ms 
mapping optimization time 164.322688 
add points time 0.862938 ms
data association time 20.212329 ms 
solver time 11.796355 ms 
publication time 10.003743 ms 
whole laserOdometry time 78.714552 ms 
 
prepare time 16.185588 
sort q time 4.575825 
seperate points time 11.398207 
data association time 20.118740 ms 
build tree time 75.916887 ms 
data association time 20.031163 ms 
points size 83945 
solver time 15.703471 ms 
optimization twice time 75.755952 
prepare time 16.003180 
mapping data assosiation time 23.198460 ms 
data association time 20.122510 ms 
solver time 19.074790 ms 
map prepare time 4.660540 ms
map corner num 256889  surf num 98021 
optimization twice time 75.548976 
sort q time 5.080988 
seperate points time 12.556070 
data association time 13.159836 ms 
solver time 11.192469 ms 
data association time 14.212923 ms 
solver time 12.340923 ms 
mapping data assosiation time 25.291231 ms 
sort q time 4.073115 
seperate points time 9.478473 
data association time 14.243822 ms 
mapping data assosiation time 26.767603 ms 
mapping solver time 15.201022 ms 
solver time 10.096632 ms 
publication time 8.369071 ms 
whole laserOdometry time 62.165547 ms 
 
points size 83638 
sort q time 4.380625 
seperate points time 10.291636 
data association time 13.848263 ms 
build tree time 69.290385 ms 
data association time 14.418644 ms 
publication time 6.862739 ms 
whole laserOdometry time 56.554593 ms 
 
points size 84296 
sort q time 5.029208 
seperate points time 11.742658 
data association time 13.670873 ms 
solver time 12.063536 ms 
map prepare time 3.780372 ms
map corner num 258062  surf num 98258 
data association time 16.860133 ms 
solver time 10.761011 ms 
points size 86738 
sort q time 4.164599 
seperate points time 9.873548 
data association time 13.734427 ms 
solver time 11.492132 ms 
data association time 15.790575 ms 
mapping data assosiation time 22.571332 ms 
mapping solver time 13.921348 ms 
points size 87922 
map prepare time 3.965095 ms
map corner num 258711  surf num 98384 
data association time 13.998720 ms 
data association time 13.262478 ms 
build tree time 71.544857 ms 
points size 88166 
sort q time 4.885248 
seperate points time 11.942406 
mapping data assosiation time 26.225592 ms 
mapping solver time 13.724749 ms 
filter time 25.644180 ms 
solver time 11.897708 ms 
sort q time 4.646260 
seperate points time 11.339458 
data association time 22.191183 ms 
solver time 14.865049 ms 
build tree time 87.196167 ms 
mapping data assosiation time 26.696890 ms 
publication time 9.248627 ms 
whole laserOdometry time 84.864015 ms 
 
scan registration time 28.991528 ms *************
mapping data assosiation time 26.822934 ms 
data association time 25.480644 ms 
solver time 16.290921 ms 
mapping solver time 21.854447 ms 
mapping optimization time 182.248232 
add points time 0.691131 ms
data association time 22.690983 ms 
mapping pub time 5.549983 ms 
whole mapping time 219.665638 ms +++++
prepare time 15.190628 
sort q time 5.587921 
seperate points time 12.925802 
scan registration time 32.323500 ms *************
data association time 14.131849 ms 
solver time 13.238682 ms 
build tree time 72.573623 ms 
solver time 8.415572 ms 
points size 89998 
mapping solver time 14.519592 ms 
prepare time 18.190290 
sort q time 5.173307 
seperate points time 12.837709 
mapping data assosiation time 23.522099 ms 
mapping solver time 12.056346 ms 
mapping optimization time 147.474630 
add points time 0.708528 ms
data association time 15.843256 ms 
filter time 21.226250 ms 
solver time 8.483900 ms 
points size 88870 
sort q time 4.670793 
seperate points time 10.736555 
build tree time 72.697086 ms 
mapping data assosiation time 22.950651 ms 
solver time 8.195435 ms 
points size 88593 
mapping solver time 14.214073 ms 
filter time 21.677169 ms 
solver time 10.595088 ms 
data association time 14.209495 ms 
solver time 11.219468 ms 
points size 89274 
build tree time 78.905301 ms 
mapping data assosiation time 26.022529 ms 
solver time 15.981664 ms 
data association time 25.407691 ms 
points size 90563 
sort q time 5.163326 
seperate points time 12.656513 
filter time 27.524574 ms 
map prepare time 4.832262 ms
map corner num 261322  surf num 98904 
solver time 15.565578 ms 
data association time 23.080652 ms 
solver time 15.383347 ms 
publication time 9.350748 ms 
whole laserOdometry time 87.569459 ms 
 
scan registration time 29.520452 ms *************
build tree time 88.714256 ms 
data association time 14.748217 ms 
mapping data assosiation time 24.096802 ms 
data association time 15.498985 ms 
publication time 9.124777 ms 
whole laserOdometry time 58.388360 ms 
 
points size 83637 
filter time 22.733612 ms 
solver time 8.046081 ms 
data association time 14.939276 ms 
publication time 7.353291 ms 
whole laserOdometry time 54.452756 ms 
 
points size 78498 
sort q time 4.325535 
seperate points time 10.566174 
mapping data assosiation time 24.986629 ms 
data association time 14.797274 ms 
mapping solver time 23.005216 ms 
data association time 16.602347 ms 
publication time 8.542486 ms 
whole laserOdometry time 65.340989 ms 
 
prepare time 13.318813 
sort q time 5.088551 
seperate points time 12.449289 
data association time 22.230901 ms 
solver time 12.027334 ms 
data association time 22.096380 ms 
points size 74019 
sort q time 4.069832 
seperate points time 9.956784 
data association time 13.522498 ms 
solver time 14.104036 ms 
data association time 16.374027 ms 
solver time 11.522915 ms 
points size 73664 
sort q time 4.151163 
seperate points time 10.331031 
data association time 14.400056 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
data association time 23.923243 ms 
solver time 13.961077 ms 
sort q time 3.144654 
seperate points time 7.643061 
build tree time 80.224416 ms 
solver time 10.699357 ms 
mapping data assosiation time 25.832287 ms 
mapping solver time 18.598073 ms 
points size 71482 
prepare time 11.716651 
mapping data assosiation time 23.236931 ms 
mapping solver time 12.694058 ms 
filter time 24.618760 ms 
solver time 15.208338 ms 
data association time 21.127255 ms 
solver time 11.419543 ms 
publication time 7.991070 ms 
whole laserOdometry time 77.947255 ms 
 
sort q time 3.461860 
seperate points time 8.474933 
build tree time 89.365474 ms 
solver time 13.066189 ms 
data association time 22.235993 ms 
optimization twice time 66.625578 
publication time 9.661320 ms 
whole laserOdometry time 76.317067 ms 
 
prepare time 12.786955 
sort q time 4.382548 
seperate points time 10.186138 
data association time 21.229124 ms 
map prepare time 4.602770 ms
map corner num 264149  surf num 99438 
data association time 21.496784 ms 
solver time 11.102946 ms 
points size 76353 
sort q time 3.224715 
seperate points time 7.888221 
build tree time 89.615117 ms 
data association time 22.999247 ms 
mapping data assosiation time 27.215226 ms 
solver time 17.284903 ms 
mapping solver time 21.646637 ms 
solver time 13.252187 ms 
mapping data assosiation time 26.138453 ms 
mapping solver time 13.701589 ms 
data association time 13.075294 ms 
sort q time 4.683458 
seperate points time 10.913868 
mapping data assosiation time 20.781927 ms 
solver time 13.169116 ms 
data association time 16.878404 ms 
optimization twice time 55.109458 
mapping solver time 18.269196 ms 
prepare time 14.404552 
filter time 23.622307 ms 
data association time 13.276900 ms 
solver time 14.056390 ms 
data association time 16.411451 ms 
solver time 10.947538 ms 
points size 86811 
prepare time 13.774185 
scan registration time 28.075176 ms *************
solver time 8.094246 ms 
data association time 13.355710 ms 
mapping solver time 15.076252 ms 
filter time 19.953215 ms 
points size 88688 
sort q time 4.409563 
seperate points time 10.591131 
scan registration time 28.970996 ms *************
data association time 12.867648 ms 
solver time 11.264829 ms 
data association time 13.520167 ms 
solver time 8.004555 ms 
publication time 7.749815 ms 
whole laserOdometry time 54.308718 ms 
 
mapping data assosiation time 22.034050 ms 
mapping solver time 15.094591 ms 
points size 89536 
sort q time 3.899887 
seperate points time 9.303211 
mapping data assosiation time 25.283921 ms 
data association time 13.977644 ms 
solver time 9.238520 ms 
data association time 14.767218 ms 
publication time 7.009049 ms 
whole laserOdometry time 52.154691 ms 
 
points size 90143 
sort q time 4.254195 
seperate points time 10.025203 
data association time 13.755156 ms 
data association time 13.870516 ms 
solver time 8.027910 ms 
mapping solver time 16.338356 ms 
mapping data assosiation time 22.297009 ms 
mapping solver time 12.168500 ms 
filter time 21.215734 ms 
solver time 8.619950 ms 
data association time 14.586731 ms 
optimization twice time 47.188662 
publication time 8.363575 ms 
whole laserOdometry time 55.586018 ms 
 
points size 85609 
build tree time 73.442296 ms 
sort q time 5.112894 
seperate points time 11.857078 
mapping data assosiation time 22.672637 ms 
data association time 13.250433 ms 
solver time 10.819920 ms 
data association time 13.093271 ms 
solver time 8.254727 ms 
filter time 22.038751 ms 
sort q time 3.958141 
seperate points time 9.604282 
solver time 11.724771 ms 
data association time 13.351337 ms 
solver time 10.913762 ms 
mapping data assosiation time 21.936558 ms 
mapping solver time 15.333023 ms 
mapping data assosiation time 22.156778 ms 
mapping solver time 12.674119 ms 
data association time 13.613878 ms 
publication time 8.231758 ms 
whole laserOdometry time 51.796785 ms 
 
points size 78869 
sort q time 4.863690 
seperate points time 11.303624 
data association time 13.193270 ms 
solver time 11.332760 ms 
data association time 13.737768 ms 
solver time 10.027173 ms 
points size 80646 
sort q time 4.410316 
seperate points time 10.374564 
data association time 14.793788 ms 
map prepare time 4.495752 ms
map corner num 253268  surf num 95570 
data association time 14.018655 ms 
solver time 8.573837 ms 
points size 80814 
sort q time 3.523203 
seperate points time 8.672971 
mapping data assosiation time 22.012821 ms 
data association time 19.700105 ms 
solver time 15.384236 ms 
mapping data assosiation time 24.679217 ms 
publication time 9.821501 ms 
whole laserOdometry time 78.518392 ms 
 
prepare time 20.655198 
filter time 26.777697 ms 
mapping pub time 1.368698 ms 
whole mapping time 184.584151 ms +++++
drop lidar frame in mapping for real time performance 
data association time 19.829718 ms 
solver time 15.423760 ms 
data association time 20.173866 ms 
build tree time 73.134479 ms 
mapping solver time 15.908786 ms 
data association time 19.642417 ms 
mapping data assosiation time 21.633888 ms 
mapping solver time 12.486653 ms 
mapping optimization time 152.324547 
add points time 1.147827 ms
data association time 19.649472 ms 
mapping pub time 1.061778 ms 
whole mapping time 183.721559 ms +++++
sort q time 3.680477 
seperate points time 9.098521 
data association time 13.536931 ms 
data association time 13.160089 ms 
optimization twice time 49.242646 
mapping data assosiation time 24.737772 ms 
mapping solver time 18.342507 ms 
mapping data assosiation time 23.718316 ms 
data association time 19.770548 ms 
mapping solver time 16.302835 ms 
solver time 19.252933 ms 
filter time 22.775433 ms 
data association time 23.773167 ms 
solver time 15.636348 ms 
sort q time 4.115875 
seperate points time 10.175382 
data association time 19.469308 ms 
build tree time 73.240841 ms 
solver time 15.651719 ms 
data association time 19.513978 ms 
mapping data assosiation time 22.785350 ms 
solver time 11.873918 ms 
publication time 8.759949 ms 
whole laserOdometry time 76.344784 ms 
 
points size 81780 
sort q time 5.178103 
seperate points time 12.723035 
mapping solver time 13.497943 ms 
mapping optimization time 162.470002 
add points time 0.823185 ms
filter time 21.007055 ms 
solver time 16.110250 ms 
data association time 21.684952 ms 
points size 77466 
publication time 8.716618 ms 
whole laserOdometry time 81.460898 ms 
 
build tree time 75.977786 ms 
solver time 10.317603 ms 
data association time 15.914274 ms 
solver time 8.987824 ms 
publication time 7.086624 ms 
whole laserOdometry time 62.246895 ms 
 
mapping data assosiation time 23.956660 ms 
mapping solver time 10.349107 ms 
filter time 22.787588 ms 
mapping pub time 4.279665 ms 
whole mapping time 179.906886 ms +++++
drop lidar frame in mapping for real time performance 
data association time 14.155489 ms 
solver time 13.772264 ms 
data association time 12.705461 ms 
solver time 8.861639 ms 
points size 73912 
sort q time 3.047713 
seperate points time 7.434518 
data association time 12.095588 ms 
solver time 12.858731 ms 
data association time 15.011279 ms 
solver time 10.827902 ms 
mapping solver time 12.972562 ms 
points size 72440 
filter time 26.183158 ms 
data association time 20.729489 ms 
solver time 14.582219 ms 
solver time 15.202004 ms 
build tree time 90.107630 ms 
sort q time 3.625259 
seperate points time 8.840463 
mapping data assosiation time 22.896162 ms 
mapping solver time 17.556798 ms 
data association time 13.445205 ms 
mapping data assosiation time 24.819795 ms 
mapping solver time 18.428739 ms 
points size 70094 
mapping pub time 1.269129 ms 
whole mapping time 204.274563 ms +++++
data association time 12.181440 ms 
solver time 12.253471 ms 
data association time 12.130842 ms 
publication time 6.978087 ms 
whole laserOdometry time 52.707251 ms 
 
build tree time 73.732887 ms 
points size 74976 
sort q time 3.744866 
seperate points time 9.429037 
mapping solver time 19.492232 ms 
solver time 9.443083 ms 
data association time 16.115983 ms 
publication time 7.780964 ms 
whole laserOdometry time 59.566217 ms 
 
filter time 24.654828 ms 
points size 81443 
sort q time 4.691410 
seperate points time 11.718432 
data association time 13.280044 ms 
data association time 12.952001 ms 
build tree time 74.614167 ms 
publication time 6.927959 ms 
whole laserOdometry time 51.834000 ms 
 
points size 83198 
mapping solver time 17.351126 ms 
scan registration time 29.282979 ms *************
mapping data assosiation time 27.363814 ms 
data association time 14.670408 ms 
solver time 13.241050 ms 
filter time 26.832483 ms 
data association time 17.412853 ms 
publication time 8.017955 ms 
whole laserOdometry time 64.473495 ms 
 
points size 82541 
sort q time 4.006103 
seperate points time 9.354880 
data association time 13.046411 ms 
solver time 8.108606 ms 
data association time 13.805254 ms 
solver time 8.667013 ms 
publication time 7.512117 ms 
whole laserOdometry time 51.941767 ms 
 
mapping solver time 14.993663 ms 
points size 84358 
sort q time 4.458380 
seperate points time 10.597584 
scan registration time 29.483632 ms *************
mapping solver time 12.363518 ms 
mapping optimization time 144.481989 
add points time 0.961333 ms
data association time 13.936790 ms 
solver time 11.569692 ms 
data association time 13.431457 ms 
solver time 8.744149 ms 
points size 86961 
sort q time 5.088084 
seperate points time 12.320518 
data association time 14.105320 ms 
data association time 13.862339 ms 
publication time 7.547597 ms 
whole laserOdometry time 51.230557 ms 
 
points size 85722 
sort q time 5.677431 
seperate points time 13.768139 
data association time 13.882456 ms 
solver time 13.289452 ms 
map prepare time 4.356229 ms
map corner num 250690  surf num 89987 
solver time 14.434500 ms 
sort q time 4.752224 
seperate points time 11.834518 
data association time 13.913060 ms 
solver time 8.185813 ms 
data association time 14.460227 ms 
solver time 9.049221 ms 
points size 84363 
mapping data assosiation time 28.726298 ms 
mapping solver time 16.718789 ms 
data association time 21.139091 ms 
filter time 26.008688 ms 
data association time 13.542544 ms 
solver time 7.818307 ms 
points size 85382 
sort q time 4.892751 
seperate points time 11.810144 
data association time 13.424201 ms 
solver time 8.469123 ms 
data association time 14.428758 ms 
mapping data assosiation time 22.831014 ms 
publication time 8.171756 ms 
whole laserOdometry time 53.849315 ms 
 
points size 84636 
mapping data assosiation time 29.269361 ms 
sort q time 4.895291 
seperate points time 12.037755 
mapping solver time 19.162497 ms 
mapping optimization time 169.810236 
add points time 1.022392 ms
filter time 21.904280 ms 
data association time 13.150705 ms 
solver time 8.369989 ms 
publication time 8.404019 ms 
whole laserOdometry time 55.887499 ms 
 
points size 83315 
sort q time 4.560781 
seperate points time 11.284646 
build tree time 76.976493 ms 
solver time 10.913579 ms 
mapping data assosiation time 23.228460 ms 
data association time 12.833427 ms 
mapping solver time 16.485042 ms 
mapping data assosiation time 26.197738 ms 
prepare time 18.491707 
scan registration time 34.302275 ms *************
filter time 21.871345 ms 
solver time 11.437815 ms 
data association time 16.304458 ms 
publication time 6.673219 ms 
whole laserOdometry time 59.909653 ms 
 
points size 82450 
prepare time 16.793731 
scan registration time 32.582195 ms *************
data association time 13.467399 ms 
mapping solver time 14.437030 ms 
publication time 6.721893 ms 
whole laserOdometry time 55.495920 ms 
 
mapping solver time 12.276543 ms 
sort q time 4.642642 
seperate points time 11.357452 
data association time 14.794828 ms 
solver time 13.720633 ms 
data association time 16.849066 ms 
optimization twice time 57.179598 
build tree time 74.645376 ms 
prepare time 17.630928 
sort q time 4.841947 
seperate points time 11.818222 
mapping solver time 16.647445 ms 
solver time 10.827589 ms 
mapping solver time 12.580687 ms 
solver time 13.441405 ms 
filter time 25.858687 ms 
map prepare time 5.075112 ms
map corner num 253936  surf num 90910 
sort q time 5.251345 
seperate points time 12.367209 
data association time 15.447058 ms 
solver time 10.415206 ms 
data association time 16.573022 ms 
publication time 8.424532 ms 
whole laserOdometry time 58.799980 ms 
 
points size 88226 
sort q time 5.119109 
seperate points time 12.372630 
mapping solver time 22.367841 ms 
data association time 14.948488 ms 
mapping data assosiation time 27.651530 ms 
solver time 5.396831 ms 
filter time 22.400085 ms 
sort q time 4.074027 
seperate points time 9.819217 
scan registration time 28.200925 ms *************
data association time 14.851906 ms 
solver time 11.116929 ms 
data association time 14.863023 ms 
solver time 8.357278 ms 
mapping data assosiation time 23.591373 ms 
prepare time 16.275793 
sort q time 4.985625 
seperate points time 11.920440 
mapping data assosiation time 22.334451 ms 
data association time 13.906217 ms 
solver time 11.945815 ms 
filter time 20.016248 ms 
solver time 8.985654 ms 
points size 90527 
scan registration time 29.683974 ms *************
data association time 13.586737 ms 
build tree time 69.943843 ms 
data association time 13.803015 ms 
mapping solver time 15.209920 ms 
points size 93015 
sort q time 4.243970 
seperate points time 9.908096 
filter time 23.739985 ms 
solver time 10.815441 ms 
data association time 14.188001 ms 
publication time 7.843477 ms 
whole laserOdometry time 55.724132 ms 
 
points size 95051 
sort q time 5.787774 
seperate points time 13.328665 
build tree time 75.696622 ms 
scan registration time 32.993083 ms *************
data association time 13.358236 ms 
solver time 9.640964 ms 
mapping solver time 18.401919 ms 
solver time 8.523531 ms 
mapping data assosiation time 26.106139 ms 
mapping solver time 12.735766 ms 
sort q time 4.468728 
seperate points time 10.645500 
map prepare time 3.799631 ms
map corner num 256175  surf num 91493 
solver time 10.785102 ms 
data association time 13.756823 ms 
solver time 7.906966 ms 
build tree time 71.863325 ms 
sort q time 4.417012 
seperate points time 10.546099 
mapping data assosiation time 30.407300 ms 
data association time 15.696707 ms 
solver time 11.757897 ms 
mapping data assosiation time 27.227629 ms 
solver time 8.368257 ms 
points size 93993 
mapping pub time 4.594975 ms 
whole mapping time 194.312542 ms +++++
data association time 14.949801 ms 
solver time 14.350408 ms 
data association time 14.743381 ms 
solver time 8.699219 ms 
points size 94629 
mapping data assosiation time 32.044849 ms 
sort q time 5.665764 
seperate points time 13.799802 
mapping solver time 19.043150 ms 
data association time 14.828438 ms 
solver time 13.286587 ms 
data association time 15.183824 ms 
solver time 12.147511 ms 
publication time 9.744412 ms 
whole laserOdometry time 66.229028 ms 
 
sort q time 5.584241 
seperate points time 13.237202 
data association time 14.842991 ms 
solver time 11.045090 ms 
data association time 14.920737 ms 
optimization twice time 49.855480 
sort q time 5.474912 
seperate points time 13.382686 
scan registration time 40.432644 ms *************
mapping solver time 22.750619 ms 
mapping data assosiation time 27.363791 ms 
solver time 11.058797 ms 
data association time 15.505001 ms 
solver time 9.069736 ms 
filter time 22.512939 ms 
optimization twice time 54.036854 
mapping pub time 1.610910 ms 
whole mapping time 200.615474 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.986864 ms
map corner num 257882  surf num 92052 
sort q time 5.765463 
seperate points time 13.963040 
data association time 24.098933 ms 
solver time 13.854562 ms 
build tree time 74.979101 ms 
solver time 12.545816 ms 
publication time 11.024508 ms 
whole laserOdometry time 79.164359 ms 
 
prepare time 21.362524 
sort q time 5.983093 
seperate points time 14.551028 
mapping data assosiation time 25.734101 ms 
mapping solver time 12.633574 ms 
solver time 14.933920 ms 
drop lidar frame in mapping for real time performance 
data association time 25.333682 ms 
solver time 11.311565 ms 
build tree time 69.714371 ms 
solver time 15.161962 ms 
data association time 18.113786 ms 
prepare time 15.374000 
sort q time 5.503597 
seperate points time 12.942716 
mapping solver time 15.471930 ms 
solver time 12.331154 ms 
map prepare time 4.151871 ms
map corner num 259108  surf num 92609 
data association time 16.858436 ms 
solver time 10.845001 ms 
points size 102789 
sort q time 5.059967 
seperate points time 11.956263 
build tree time 75.791085 ms 
solver time 10.545034 ms 
mapping data assosiation time 30.312724 ms 
mapping solver time 17.908367 ms 
points size 102638 
prepare time 16.357315 
mapping data assosiation time 31.871008 ms 
mapping solver time 17.182583 ms 
solver time 12.305796 ms 
mapping pub time 4.593895 ms 
whole mapping time 207.587576 ms +++++
solver time 9.964484 ms 
points size 102277 
sort q time 5.407876 
seperate points time 13.181824 
data association time 16.696295 ms 
mapping solver time 19.643369 ms 
solver time 11.733787 ms 
points size 101963 
sort q time 4.657316 
seperate points time 11.054114 
filter time 20.035256 ms 
solver time 10.081884 ms 
solver time 7.425758 ms 
points size 101529 
sort q time 4.796043 
seperate points time 11.782478 
mapping data assosiation time 29.252749 ms 
mapping solver time 17.573810 ms 
data association time 15.385378 ms 
solver time 10.218817 ms 
points size 98599 
sort q time 5.103754 
seperate points time 12.178539 
map prepare time 4.107363 ms
map corner num 222268  surf num 77004 
data association time 16.103220 ms 
solver time 10.669276 ms 
data association time 16.571593 ms 
solver time 8.708691 ms 
publication time 11.169368 ms 
whole laserOdometry time 64.048040 ms 
 
prepare time 16.581252 
mapping data assosiation time 31.379429 ms 
mapping solver time 18.564074 ms 
solver time 10.619503 ms 
mapping data assosiation time 29.238852 ms 
solver time 9.812421 ms 
points size 96854 
map prepare time 5.261909 ms
map corner num 223054  surf num 77392 
scan registration time 33.006665 ms *************
solver time 9.787179 ms 
build tree time 60.875009 ms 
solver time 8.292666 ms 
mapping data assosiation time 30.097802 ms 
sort q time 4.732776 
seperate points time 11.134279 
data association time 15.737735 ms 
solver time 11.775536 ms 
mapping solver time 21.490810 ms 
solver time 8.182547 ms 
filter time 23.636766 ms 
points size 92810 
sort q time 4.443380 
seperate points time 10.477786 
data association time 15.730614 ms 
solver time 11.087025 ms 
data association time 15.361440 ms 
solver time 8.768182 ms 
publication time 8.898921 ms 
whole laserOdometry time 60.615322 ms 
 
mapping solver time 17.704162 ms 
sort q time 3.997907 
seperate points time 9.684822 
mapping data assosiation time 27.917653 ms 
data association time 15.607118 ms 
solver time 10.865991 ms 
filter time 23.422076 ms 
publication time 8.375784 ms 
whole laserOdometry time 61.432666 ms 
 
points size 86649 
sort q time 4.662991 
seperate points time 11.321832 
data association time 15.645124 ms 
data association time 15.300841 ms 
publication time 7.847047 ms 
whole laserOdometry time 54.517325 ms 
 
points size 85973 
sort q time 4.937030 
seperate points time 12.298824 
data association time 15.665383 ms 
data association time 14.812208 ms 
solver time 8.212831 ms 
publication time 7.980097 ms 
whole laserOdometry time 58.872367 ms 
 
points size 87653 
sort q time 7.868244 
seperate points time 19.031425 
data association time 23.923708 ms 
solver time 14.858112 ms 
build tree time 74.828748 ms 
data association time 26.026876 ms 
solver time 13.532935 ms 
publication time 10.455701 ms 
whole laserOdometry time 89.922477 ms 
 
mapping solver time 24.983978 ms 
solver time 17.641387 ms 
mapping data assosiation time 34.902324 ms 
data association time 25.265737 ms 
solver time 16.251997 ms 
publication time 9.690744 ms 
whole laserOdometry time 94.316420 ms 
 
map prepare time 4.752411 ms
map corner num 225499  surf num 78413 
data association time 23.410302 ms 
points size 84516 
sort q time 4.707170 
seperate points time 11.020609 
publication time 10.588663 ms 
whole laserOdometry time 87.630147 ms 
 
data association time 23.131955 ms 
solver time 16.821550 ms 
mapping data assosiation time 32.149138 ms 
points size 81669 
prepare time 12.789932 
publication time 9.047745 ms 
whole laserOdometry time 87.257619 ms 
 
filter time 25.217494 ms 
data association time 22.861627 ms 
solver time 15.100620 ms 
data association time 22.019126 ms 
solver time 11.288445 ms 
sort q time 3.639552 
seperate points time 9.280100 
mapping data assosiation time 29.385980 ms 
data association time 24.316712 ms 
solver time 16.391902 ms 
data association time 24.284251 ms 
mapping data assosiation time 31.018276 ms 
publication time 8.490492 ms 
whole laserOdometry time 87.815631 ms 
 
filter time 23.487107 ms 
solver time 15.609107 ms 
data association time 17.124106 ms 
optimization twice time 65.774994 
points size 74853 
build tree time 69.564070 ms 
data association time 13.132698 ms 
mapping data assosiation time 24.363268 ms 
mapping solver time 16.705032 ms 
solver time 9.298744 ms 
mapping data assosiation time 25.109202 ms 
mapping solver time 13.107539 ms 
points size 74029 
filter time 20.428566 ms 
data association time 13.700448 ms 
solver time 11.794380 ms 
data association time 13.504924 ms 
publication time 6.864071 ms 
whole laserOdometry time 55.400062 ms 
 
points size 75547 
sort q time 4.198794 
seperate points time 9.885530 
data association time 22.784844 ms 
mapping data assosiation time 28.781687 ms 
mapping solver time 18.446290 ms 
data association time 21.069709 ms 
solver time 11.624274 ms 
points size 77464 
sort q time 4.801907 
seperate points time 11.530739 
data association time 20.693128 ms 
solver time 13.509836 ms 
data association time 14.357398 ms 
solver time 9.291011 ms 
points size 76326 
sort q time 3.390621 
seperate points time 8.509165 
scan registration time 24.841893 ms *************
data association time 14.278746 ms 
solver time 11.198665 ms 
filter time 20.458731 ms 
solver time 8.621230 ms 
points size 72982 
sort q time 3.725463 
seperate points time 8.945821 
build tree time 60.296479 ms 
solver time 8.180535 ms 
data association time 13.779402 ms 
solver time 10.234181 ms 
mapping data assosiation time 20.486844 ms 
mapping optimization time 129.643691 
points size 69160 
sort q time 3.974779 
seperate points time 10.030261 
map prepare time 4.254380 ms
map corner num 229902  surf num 79620 
scan registration time 28.063831 ms *************
data association time 20.174594 ms 
solver time 11.063564 ms 
data association time 19.927956 ms 
publication time 7.725271 ms 
whole laserOdometry time 67.652648 ms 
 
mapping data assosiation time 19.708156 ms 
mapping solver time 14.498441 ms 
data association time 16.232471 ms 
solver time 10.290996 ms 
data association time 15.168484 ms 
optimization twice time 53.076397 
map prepare time 4.491939 ms
map corner num 189763  surf num 63460 
points size 64859 
prepare time 13.694506 
data association time 18.351778 ms 
solver time 11.054463 ms 
mapping data assosiation time 20.543572 ms 
solver time 5.354438 ms 
mapping data assosiation time 19.490333 ms 
prepare time 10.871571 
scan registration time 20.649999 ms *************
mapping pub time 0.827301 ms 
whole mapping time 148.920443 ms +++++
solver time 10.172232 ms 
data association time 12.080455 ms 
publication time 5.472889 ms 
whole laserOdometry time 49.985150 ms 
 
build tree time 53.863271 ms 
mapping data assosiation time 18.848382 ms 
sort q time 3.427028 
seperate points time 8.249337 
mapping solver time 13.697376 ms 
scan registration time 21.740670 ms *************
mapping data assosiation time 20.689213 ms 
mapping solver time 13.885707 ms 
data association time 15.372621 ms 
solver time 9.846542 ms 
points size 62090 
sort q time 3.370083 
seperate points time 8.723233 
build tree time 55.372905 ms 
data association time 21.139878 ms 
solver time 17.082224 ms 
data association time 20.636790 ms 
mapping data assosiation time 23.132474 ms 
publication time 6.654735 ms 
whole laserOdometry time 79.733827 ms 
 
sort q time 3.458901 
seperate points time 8.776250 
map prepare time 3.317913 ms
map corner num 191312  surf num 63913 
data association time 19.121827 ms 
solver time 11.388684 ms 
data association time 18.889032 ms 
solver time 11.246784 ms 
points size 66265 
sort q time 3.581176 
seperate points time 8.650305 
mapping data assosiation time 19.437037 ms 
mapping solver time 10.866324 ms 
filter time 18.022280 ms 
solver time 11.284130 ms 
points size 69534 
sort q time 3.962414 
seperate points time 9.857515 
data association time 12.035450 ms 
solver time 11.424346 ms 
data association time 12.462681 ms 
publication time 5.583737 ms 
whole laserOdometry time 49.757123 ms 
 
mapping solver time 15.848456 ms 
points size 70738 
filter time 16.758802 ms 
sort q time 3.856626 
seperate points time 9.655700 
data association time 18.955866 ms 
solver time 13.242594 ms 
data association time 15.541907 ms 
publication time 7.489016 ms 
whole laserOdometry time 68.037862 ms 
 
points size 70528 
mapping data assosiation time 19.411945 ms 
mapping solver time 11.705486 ms 
filter time 15.677345 ms 
solver time 12.076795 ms 
data association time 13.165658 ms 
publication time 5.716386 ms 
whole laserOdometry time 55.170631 ms 
 
build tree time 52.892506 ms 
prepare time 15.079447 
mapping data assosiation time 21.782308 ms 
scan registration time 27.988168 ms *************
data association time 13.451497 ms 
mapping solver time 16.873809 ms 
mapping data assosiation time 18.712644 ms 
mapping solver time 13.631389 ms 
filter time 15.837356 ms 
points size 70699 
sort q time 3.891930 
seperate points time 9.756612 
data association time 14.626286 ms 
mapping data assosiation time 18.076595 ms 
optimization twice time 48.901864 
mapping data assosiation time 17.291764 ms 
mapping solver time 9.542029 ms 
sort q time 3.541246 
seperate points time 9.048626 
mapping pub time 0.923329 ms 
whole mapping time 141.949068 ms +++++
data association time 12.998512 ms 
data association time 12.973683 ms 
optimization twice time 48.885866 
publication time 6.309511 ms 
whole laserOdometry time 55.214916 ms 
 
build tree time 54.413609 ms 
mapping data assosiation time 19.594070 ms 
mapping solver time 13.969429 ms 
sort q time 3.676931 
seperate points time 9.233814 
scan registration time 26.819449 ms *************
mapping data assosiation time 19.213406 ms 
data association time 12.577903 ms 
mapping solver time 11.744547 ms 
mapping optimization time 119.949770 
add points time 0.741478 ms
filter time 14.564759 ms 
solver time 7.980141 ms 
points size 68653 
sort q time 3.748648 
seperate points time 9.415876 
mapping data assosiation time 18.813831 ms 
mapping solver time 15.140956 ms 
solver time 11.000544 ms 
data association time 13.196161 ms 
[0m[ INFO] [1718802734.881981034]: Received 2996279 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802734.882013443]: Data saved to 1317358278570147.pcd[0m
drop lidar frame in mapping for real time performance 
prepare time 11.324710 
data association time 12.251497 ms 
solver time 10.896238 ms 
data association time 15.814632 ms 
solver time 8.273753 ms 
mapping solver time 14.229921 ms 
mapping data assosiation time 19.407512 ms 
mapping solver time 12.104078 ms 
filter time 14.537951 ms 
data association time 13.158710 ms 
data association time 12.058369 ms 
publication time 6.118932 ms 
whole laserOdometry time 50.863943 ms 
 
build tree time 59.129750 ms 
points size 66033 
sort q time 3.542958 
seperate points time 9.119322 
data association time 12.525945 ms 
solver time 11.386320 ms 
data association time 12.373040 ms 
filter time 17.218683 ms 
points size 66965 
sort q time 2.748632 
seperate points time 6.950624 
data association time 13.434433 ms 
solver time 11.690554 ms 
data association time 13.303639 ms 
solver time 8.477522 ms 
points size 70688 
sort q time 3.754582 
seperate points time 9.425735 
data association time 13.963057 ms 
data association time 12.456797 ms 
publication time 5.952803 ms 
whole laserOdometry time 49.724351 ms 
 
mapping pub time 239.311792 ms 
whole mapping time 384.948263 ms +++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 4.487998 ms
map corner num 196626  surf num 65352 
sort q time 6.322670 
seperate points time 15.465336 
build tree time 57.749801 ms 
mapping data assosiation time 16.574803 ms 
data association time 12.124814 ms 
publication time 5.923245 ms 
whole laserOdometry time 55.064066 ms 
 
points size 76574 
sort q time 4.356009 
seperate points time 10.037625 
filter time 17.020921 ms 
solver time 10.954097 ms 
data association time 13.554392 ms 
solver time 7.998846 ms 
publication time 7.253203 ms 
whole laserOdometry time 54.621003 ms 
 
build tree time 51.721653 ms 
points size 77703 
mapping data assosiation time 18.747005 ms 
mapping solver time 13.955859 ms 
mapping data assosiation time 19.085044 ms 
mapping solver time 13.449274 ms 
publication time 7.196298 ms 
whole laserOdometry time 50.493234 ms 
 
map prepare time 3.095414 ms
map corner num 197907  surf num 65761 
points size 79285 
sort q time 3.832623 
seperate points time 9.159718 
build tree time 56.415511 ms 
mapping data assosiation time 19.375972 ms 
mapping solver time 13.431073 ms 
solver time 8.889380 ms 
mapping solver time 8.482564 ms 
prepare time 12.611008 
sort q time 4.344395 
seperate points time 10.431407 
data association time 12.749506 ms 
solver time 11.033921 ms 
data association time 15.022052 ms 
optimization twice time 47.320954 
build tree time 55.118653 ms 
publication time 6.656001 ms 
whole laserOdometry time 53.996473 ms 
 
mapping data assosiation time 18.688121 ms 
mapping solver time 13.141889 ms 
sort q time 3.580580 
seperate points time 8.871217 
mapping solver time 7.871957 ms 
solver time 7.908024 ms 
filter time 14.827993 ms 
mapping pub time 0.915674 ms 
whole mapping time 137.070979 ms +++++
map prepare time 3.789467 ms
map corner num 199137  surf num 66127 
solver time 8.021034 ms 
build tree time 51.842908 ms 
sort q time 3.325527 
seperate points time 8.509331 
mapping solver time 15.412219 ms 
mapping data assosiation time 20.919031 ms 
mapping solver time 11.067437 ms 
solver time 8.050695 ms 
mapping pub time 4.545583 ms 
whole mapping time 146.840563 ms +++++
points size 75613 
sort q time 3.457286 
seperate points time 8.517135 
data association time 20.873562 ms 
solver time 16.840900 ms 
mapping data assosiation time 23.554995 ms 
data association time 22.684694 ms 
mapping solver time 21.080241 ms 
prepare time 12.717745 
sort q time 4.409605 
seperate points time 10.929870 
mapping solver time 12.390501 ms 
data association time 17.573499 ms 
solver time 15.092179 ms 
data association time 17.140450 ms 
publication time 10.839690 ms 
whole laserOdometry time 72.620284 ms 
 
build tree time 61.269505 ms 
mapping data assosiation time 19.190741 ms 
mapping solver time 16.322610 ms 
data association time 13.905089 ms 
solver time 9.119598 ms 
filter time 16.987210 ms 
points size 72248 
sort q time 4.131194 
seperate points time 10.204320 
data association time 20.520412 ms 
solver time 13.951992 ms 
mapping data assosiation time 18.311974 ms 
mapping solver time 12.472902 ms 
points size 72413 
mapping solver time 12.630474 ms 
filter time 15.421599 ms 
data association time 17.882318 ms 
solver time 13.097676 ms 
solver time 8.525719 ms 
points size 73211 
sort q time 3.777539 
seperate points time 9.704684 
mapping solver time 15.169173 ms 
data association time 13.372319 ms 
mapping solver time 11.319061 ms 
solver time 8.714987 ms 
points size 73048 
sort q time 3.455694 
seperate points time 8.484007 
data association time 12.966901 ms 
build tree time 64.236476 ms 
solver time 5.508822 ms 
mapping solver time 15.624820 ms 
mapping data assosiation time 22.613867 ms 
points size 71531 
prepare time 16.546780 
mapping solver time 17.314893 ms 
filter time 15.249700 ms 
solver time 11.832059 ms 
data association time 12.898537 ms 
solver time 8.288908 ms 
optimization twice time 47.005153 
publication time 6.972742 ms 
whole laserOdometry time 53.995695 ms 
 
build tree time 55.084212 ms 
mapping data assosiation time 17.974964 ms 
mapping solver time 13.760565 ms 
data association time 13.117620 ms 
mapping data assosiation time 18.178989 ms 
mapping solver time 8.844619 ms 
data association time 13.996112 ms 
map prepare time 2.533315 ms
map corner num 147566  surf num 49720 
points size 72248 
scan registration time 24.821196 ms *************
data association time 13.002221 ms 
mapping solver time 13.915340 ms 
solver time 8.804624 ms 
mapping solver time 12.642763 ms 
filter time 14.169935 ms 
sort q time 3.109925 
seperate points time 7.690116 
data association time 13.316835 ms 
solver time 8.225391 ms 
build tree time 44.606099 ms 
solver time 7.868892 ms 
mapping solver time 12.028174 ms 
mapping data assosiation time 21.778786 ms 
mapping solver time 8.499121 ms 
sort q time 3.289537 
seperate points time 7.921956 
data association time 12.662819 ms 
solver time 10.109028 ms 
build tree time 42.102088 ms 
solver time 8.203604 ms 
mapping solver time 10.253264 ms 
points size 70418 
mapping optimization time 96.582249 
filter time 14.291394 ms 
data association time 13.753546 ms 
solver time 8.103800 ms 
data association time 13.541161 ms 
solver time 8.109505 ms 
publication time 6.540336 ms 
whole laserOdometry time 50.853078 ms 
 
mapping data assosiation time 18.285996 ms 
mapping solver time 12.402204 ms 
scan registration time 22.217475 ms *************
mapping data assosiation time 20.368518 ms 
mapping solver time 10.488996 ms 
filter time 11.877160 ms 
data association time 14.070603 ms 
publication time 5.520343 ms 
whole laserOdometry time 55.328442 ms 
 
build tree time 43.141001 ms 
prepare time 11.792221 
scan registration time 22.918523 ms *************
mapping solver time 12.368962 ms 
mapping data assosiation time 15.873420 ms 
data association time 18.420073 ms 
mapping solver time 8.916791 ms 
mapping optimization time 98.136118 
add points time 0.688039 ms
filter time 12.913182 ms 
data association time 18.762352 ms 
solver time 11.840221 ms 
points size 68978 
build tree time 41.319508 ms 
prepare time 12.000266 
mapping data assosiation time 18.799537 ms 
mapping solver time 13.441812 ms 
mapping data assosiation time 17.118326 ms 
mapping solver time 11.236501 ms 
solver time 5.193442 ms 
map prepare time 2.534665 ms
map corner num 150652  surf num 50518 
points size 68126 
sort q time 3.770168 
seperate points time 9.341853 
mapping data assosiation time 18.343014 ms 
solver time 10.307825 ms 
data association time 15.286102 ms 
solver time 10.949545 ms 
filter time 13.338197 ms 
points size 70735 
sort q time 3.637429 
seperate points time 9.141974 
build tree time 38.063560 ms 
solver time 13.081351 ms 
data association time 15.393463 ms 
solver time 10.472353 ms 
add points time 0.602901 ms
filter time 14.276287 ms 
prepare time 13.879219 
sort q time 4.245067 
seperate points time 10.082214 
build tree time 40.524453 ms 
data association time 13.575497 ms 
mapping solver time 11.040962 ms 
data association time 13.343412 ms 
mapping data assosiation time 18.281980 ms 
mapping solver time 11.098531 ms 
scan registration time 24.773647 ms *************
data association time 13.330829 ms 
data association time 12.772245 ms 
solver time 8.920216 ms 
points size 70252 
scan registration time 24.398148 ms *************
data association time 12.942588 ms 
data association time 13.148423 ms 
publication time 6.645532 ms 
whole laserOdometry time 51.454127 ms 
 
points size 70528 
sort q time 3.490054 
seperate points time 8.308956 
data association time 14.645958 ms 
solver time 15.952532 ms 
mapping pub time 262.229799 ms 
whole mapping time 379.969531 ms +++++
publication time 9.073648 ms 
whole laserOdometry time 70.373604 ms 
 
points size 66029 
sort q time 3.387269 
seperate points time 8.528636 
mapping data assosiation time 21.048571 ms 
mapping solver time 20.049386 ms 
data association time 16.471004 ms 
mapping solver time 15.076389 ms 
sort q time 3.299204 
seperate points time 8.503324 
data association time 15.078634 ms 
solver time 11.409303 ms 
data association time 13.998106 ms 
mapping data assosiation time 20.406434 ms 
publication time 5.277275 ms 
whole laserOdometry time 50.428474 ms 
 
build tree time 42.070067 ms 
points size 60933 
sort q time 3.390549 
seperate points time 8.815745 
data association time 11.978858 ms 
solver time 13.348717 ms 
filter time 12.243616 ms 
publication time 5.740511 ms 
whole laserOdometry time 56.333019 ms 
 
points size 63816 
sort q time 3.429877 
seperate points time 8.839257 
scan registration time 26.309601 ms *************
build tree time 50.753536 ms 
data association time 15.990358 ms 
solver time 12.985299 ms 
data association time 15.638750 ms 
optimization twice time 55.743706 
mapping solver time 14.296104 ms 
points size 66692 
sort q time 3.247235 
seperate points time 8.011423 
data association time 13.582532 ms 
solver time 11.375249 ms 
data association time 13.195139 ms 
mapping data assosiation time 19.586807 ms 
solver time 7.962496 ms 
optimization twice time 47.042710 
mapping solver time 14.940557 ms 
mapping data assosiation time 19.056322 ms 
mapping solver time 12.098554 ms 
filter time 14.066525 ms 
data association time 14.042443 ms 
solver time 11.303850 ms 
data association time 12.945580 ms 
publication time 6.857088 ms 
whole laserOdometry time 54.963175 ms 
 
build tree time 45.865669 ms 
mapping data assosiation time 16.894957 ms 
points size 71234 
scan registration time 24.648049 ms *************
mapping data assosiation time 20.282895 ms 
mapping solver time 11.545593 ms 
filter time 15.172378 ms 
data association time 13.463065 ms 
solver time 8.671020 ms 
publication time 7.237169 ms 
whole laserOdometry time 57.453325 ms 
 
build tree time 43.053340 ms 
sort q time 4.722209 
seperate points time 11.354452 
mapping solver time 12.073847 ms 
solver time 11.429613 ms 
mapping solver time 9.356430 ms 
filter time 13.734355 ms 
points size 73273 
sort q time 3.820548 
seperate points time 9.181440 
mapping data assosiation time 18.661290 ms 
solver time 11.946521 ms 
data association time 14.165071 ms 
publication time 7.134275 ms 
whole laserOdometry time 57.381362 ms 
 
mapping pub time 0.904263 ms 
whole mapping time 125.074650 ms +++++
prepare time 12.829954 
sort q time 3.404419 
seperate points time 8.555313 
data association time 21.636671 ms 
solver time 12.174797 ms 
mapping data assosiation time 25.884995 ms 
data association time 24.036550 ms 
solver time 12.470761 ms 
publication time 9.542707 ms 
whole laserOdometry time 80.953876 ms 
 
mapping data assosiation time 22.752956 ms 
mapping solver time 15.606596 ms 
data association time 14.394511 ms 
solver time 12.352350 ms 
data association time 14.488445 ms 
solver time 8.930424 ms 
optimization twice time 51.045852 
build tree time 44.908437 ms 
prepare time 15.274221 
sort q time 4.780971 
seperate points time 11.648061 
mapping solver time 16.775066 ms 
data association time 15.128102 ms 
solver time 8.296114 ms 
data association time 14.629781 ms 
solver time 8.679716 ms 
drop lidar frame in mapping for real time performance 
points size 79596 
sort q time 3.404893 
seperate points time 8.352128 
data association time 14.152814 ms 
mapping solver time 14.692253 ms 
solver time 7.956170 ms 
mapping solver time 11.057392 ms 
points size 78151 
map prepare time 3.978906 ms
map corner num 159520  surf num 54338 
sort q time 4.405537 
seperate points time 18.151421 
data association time 14.633524 ms 
solver time 7.791696 ms 
data association time 14.286934 ms 
solver time 8.352122 ms 
mapping solver time 13.966238 ms 
points size 77676 
sort q time 3.774464 
seperate points time 9.147917 
mapping solver time 13.052265 ms 
filter time 12.670504 ms 
data association time 16.621570 ms 
optimization twice time 51.393827 
build tree time 44.437759 ms 
points size 77037 
sort q time 3.830784 
seperate points time 9.262930 
mapping solver time 14.347014 ms 
data association time 14.686844 ms 
solver time 10.645628 ms 
mapping data assosiation time 24.083373 ms 
mapping solver time 13.765123 ms 
publication time 8.401973 ms 
whole laserOdometry time 57.572137 ms 
 
map prepare time 4.608834 ms
map corner num 160899  surf num 55145 
points size 76067 
sort q time 3.532477 
seperate points time 8.791772 
build tree time 42.074746 ms 
data association time 17.700786 ms 
mapping data assosiation time 24.403292 ms 
mapping solver time 14.056352 ms 
solver time 7.952286 ms 
publication time 8.529514 ms 
whole laserOdometry time 61.783912 ms 
 
mapping solver time 11.841277 ms 
filter time 13.592808 ms 
data association time 15.419681 ms 
solver time 13.241280 ms 
data association time 17.991933 ms 
solver time 10.420898 ms 
mapping solver time 17.777988 ms 
sort q time 3.799397 
seperate points time 9.498996 
mapping data assosiation time 26.182653 ms 
mapping solver time 14.036443 ms 
data association time 23.205805 ms 
mapping pub time 3.763889 ms 
whole mapping time 154.040799 ms +++++
solver time 17.193465 ms 
map prepare time 4.095811 ms
map corner num 162257  surf num 56009 
solver time 10.243162 ms 
optimization twice time 74.164750 
points size 79411 
publication time 11.447955 ms 
whole laserOdometry time 85.639778 ms 
 
sort q time 4.373560 
seperate points time 10.623787 
data association time 14.746022 ms 
mapping solver time 15.474771 ms 
solver time 8.043681 ms 
mapping data assosiation time 28.080906 ms 
points size 81954 
sort q time 3.905381 
seperate points time 9.541460 
filter time 16.098292 ms 
mapping pub time 1.396653 ms 
whole mapping time 172.522826 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.097104 ms
map corner num 162930  surf num 56405 
data association time 23.569977 ms 
solver time 14.955684 ms 
data association time 23.079842 ms 
build tree time 64.691655 ms 
solver time 11.289359 ms 
optimization twice time 73.899645 
points size 83704 
sort q time 4.727452 
seperate points time 11.322862 
mapping solver time 18.003399 ms 
solver time 10.594503 ms 
data association time 14.703219 ms 
add points time 0.840590 ms
filter time 14.850860 ms 
prepare time 13.723947 
sort q time 3.902073 
seperate points time 9.278198 
data association time 23.135486 ms 
build tree time 51.569970 ms 
data association time 13.765602 ms 
publication time 7.955466 ms 
whole laserOdometry time 68.037688 ms 
 
points size 88292 
sort q time 4.787083 
seperate points time 11.030866 
mapping solver time 11.938387 ms 
filter time 14.558907 ms 
data association time 23.976441 ms 
solver time 14.927490 ms 
build tree time 39.890057 ms 
solver time 11.474619 ms 
publication time 9.956559 ms 
whole laserOdometry time 85.414887 ms 
 
scan registration time 33.364414 ms *************
mapping solver time 19.497975 ms 
data association time 16.047196 ms 
solver time 13.821461 ms 
mapping solver time 10.643429 ms 
filter time 12.033844 ms 
prepare time 14.598957 
scan registration time 29.390151 ms *************
build tree time 41.608400 ms 
data association time 25.419523 ms 
solver time 17.767685 ms 
data association time 25.133249 ms 
solver time 12.865669 ms 
sort q time 4.898195 
seperate points time 11.565627 
mapping solver time 16.600465 ms 
data association time 24.802548 ms 
data association time 28.592066 ms 
solver time 10.219360 ms 
prepare time 18.996269 
publication time 12.261041 ms 
whole laserOdometry time 90.371213 ms 
 
scan registration time 38.370021 ms *************
data association time 22.857500 ms 
solver time 11.299400 ms 
data association time 16.690169 ms 
publication time 8.484183 ms 
whole laserOdometry time 66.254510 ms 
 
sort q time 4.611074 
seperate points time 10.922770 
data association time 14.628495 ms 
data association time 16.396047 ms 
publication time 9.825058 ms 
whole laserOdometry time 62.849138 ms 
 
points size 97093 
sort q time 5.489256 
seperate points time 12.678043 
build tree time 41.904977 ms 
data association time 15.199317 ms 
data association time 14.435342 ms 
publication time 9.929543 ms 
whole laserOdometry time 55.660376 ms 
 
points size 97344 
mapping data assosiation time 25.547623 ms 
scan registration time 30.666804 ms *************
filter time 10.737934 ms 
solver time 10.720693 ms 
data association time 15.098130 ms 
solver time 9.056678 ms 
publication time 8.592598 ms 
whole laserOdometry time 60.024836 ms 
 
mapping data assosiation time 25.454062 ms 
sort q time 4.785058 
seperate points time 11.385188 
data association time 15.573201 ms 
mapping solver time 16.827792 ms 
filter time 13.228758 ms 
points size 98312 
sort q time 4.868076 
seperate points time 11.366420 
mapping data assosiation time 24.035782 ms 
solver time 10.005036 ms 
data association time 19.148466 ms 
mapping data assosiation time 25.967113 ms 
mapping solver time 11.977277 ms 
filter time 13.913447 ms 
scan registration time 34.159364 ms *************
data association time 15.598628 ms 
solver time 10.896911 ms 
data association time 15.559965 ms 
mapping data assosiation time 26.747286 ms 
mapping solver time 16.590638 ms 
sort q time 4.777372 
seperate points time 11.069095 
mapping solver time 15.960464 ms 
data association time 21.711747 ms 
solver time 10.235825 ms 
data association time 14.909013 ms 
publication time 7.605744 ms 
whole laserOdometry time 62.607119 ms 
 
points size 99542 
sort q time 5.857549 
seperate points time 13.479898 
mapping solver time 18.690314 ms 
data association time 15.259668 ms 
publication time 8.133970 ms 
whole laserOdometry time 53.022533 ms 
 
mapping optimization time 135.714955 
filter time 11.383757 ms 
sort q time 4.983495 
seperate points time 11.638352 
build tree time 36.413389 ms 
solver time 15.436194 ms 
mapping solver time 14.846948 ms 
solver time 11.579918 ms 
publication time 10.626496 ms 
whole laserOdometry time 86.218208 ms 
 
mapping data assosiation time 28.905039 ms 
mapping solver time 12.905205 ms 
filter time 11.603961 ms 
mapping pub time 1.333060 ms 
whole mapping time 141.919298 ms +++++
map prepare time 3.492917 ms
map corner num 137929  surf num 51319 
solver time 14.868396 ms 
build tree time 37.658726 ms 
solver time 11.285906 ms 
publication time 10.228133 ms 
whole laserOdometry time 80.017996 ms 
 
scan registration time 32.056760 ms *************
mapping solver time 28.028937 ms 
solver time 10.861810 ms 
solver time 11.439947 ms 
publication time 11.594529 ms 
whole laserOdometry time 68.778220 ms 
 
add points time 1.499653 ms
sort q time 6.076693 
seperate points time 14.792430 
data association time 14.927324 ms 
build tree time 47.841043 ms 
data association time 16.135069 ms 
optimization twice time 57.710209 
points size 99880 
sort q time 5.157156 
seperate points time 12.245743 
mapping data assosiation time 30.291767 ms 
mapping solver time 13.210227 ms 
filter time 13.286782 ms 
data association time 18.170082 ms 
optimization twice time 56.349635 
prepare time 15.981090 
sort q time 5.616807 
seperate points time 13.416562 
mapping data assosiation time 30.455446 ms 
mapping solver time 17.847410 ms 
solver time 14.756122 ms 
mapping data assosiation time 31.820526 ms 
mapping optimization time 134.318239 
filter time 12.964082 ms 
publication time 10.718852 ms 
whole laserOdometry time 80.871277 ms 
 
scan registration time 36.126377 ms *************
data association time 13.998709 ms 
build tree time 40.017401 ms 
data association time 14.003081 ms 
mapping data assosiation time 30.402272 ms 
points size 100393 
mapping solver time 24.676798 ms 
sort q time 6.164827 
seperate points time 13.863125 
mapping data assosiation time 30.965113 ms 
mapping solver time 12.971817 ms 
filter time 12.539523 ms 
solver time 10.733699 ms 
points size 100337 
scan registration time 34.696994 ms *************
mapping data assosiation time 30.639977 ms 
data association time 22.108257 ms 
solver time 15.018732 ms 
data association time 21.845106 ms 
solver time 11.267632 ms 
publication time 11.043065 ms 
whole laserOdometry time 82.165190 ms 
 
map prepare time 4.603481 ms
map corner num 141773  surf num 53592 
data association time 14.681690 ms 
build tree time 45.161018 ms 
publication time 8.268565 ms 
whole laserOdometry time 57.494423 ms 
 
points size 100701 
mapping data assosiation time 34.399043 ms 
prepare time 16.462175 
sort q time 6.740663 
seperate points time 15.208403 
data association time 22.069871 ms 
solver time 16.011282 ms 
data association time 17.727659 ms 
solver time 13.524242 ms 
sort q time 8.034225 
seperate points time 18.067556 
build tree time 42.139512 ms 
data association time 17.433436 ms 
mapping data assosiation time 33.781941 ms 
solver time 8.119556 ms 
[0m[ INFO] [1718802743.530994233]: Received 3047444 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802743.531023662]: Data saved to 1317358288234405.pcd[0m
prepare time 18.640734 
sort q time 5.935935 
seperate points time 14.137290 
mapping solver time 15.833820 ms 
filter time 13.858970 ms 
data association time 14.329886 ms 
optimization twice time 53.575149 
publication time 11.188395 ms 
whole laserOdometry time 64.794825 ms 
 
prepare time 17.008233 
sort q time 6.069280 
seperate points time 14.196500 
mapping data assosiation time 36.523426 ms 
solver time 11.494213 ms 
data association time 17.369799 ms 
publication time 8.607612 ms 
whole laserOdometry time 64.600213 ms 
 
points size 101550 
sort q time 5.000552 
seperate points time 11.396627 
map prepare time 3.357139 ms
map corner num 144011  surf num 54757 
data association time 22.423142 ms 
build tree time 39.357520 ms 
solver time 15.208907 ms 
data association time 22.093642 ms 
mapping data assosiation time 39.883368 ms 
sort q time 5.144716 
seperate points time 12.393415 
data association time 24.192337 ms 
mapping solver time 22.239094 ms 
filter time 14.260639 ms 
publication time 10.978548 ms 
whole laserOdometry time 79.876243 ms 
 
sort q time 5.408494 
seperate points time 12.856534 
build tree time 49.846354 ms 
solver time 20.830864 ms 
mapping data assosiation time 41.730717 ms 
data association time 27.964467 ms 
solver time 15.893058 ms 
publication time 11.886657 ms 
whole laserOdometry time 103.421666 ms 
 
[33m[ WARN] [1718802744.083786392]: odometry process over 100ms[0m
data association time 26.338137 ms 
mapping data assosiation time 42.391771 ms 
solver time 20.505577 ms 
mapping solver time 28.636621 ms 
points size 102503 
map prepare time 4.570724 ms
map corner num 145644  surf num 55537 
data association time 22.832856 ms 
build tree time 48.915111 ms 
data association time 26.369248 ms 
points size 102487 
sort q time 4.788070 
seperate points time 11.092887 
mapping solver time 32.005672 ms 
data association time 19.196004 ms 
solver time 12.595009 ms 
data association time 17.525750 ms 
solver time 13.028141 ms 
mapping pub time 2.149577 ms 
whole mapping time 197.960798 ms +++++
sort q time 5.373914 
seperate points time 12.595435 
data association time 14.182896 ms 
solver time 14.621441 ms 
data association time 14.340178 ms 
publication time 9.642580 ms 
whole laserOdometry time 64.123827 ms 
 
prepare time 16.736481 
sort q time 5.567768 
seperate points time 12.544586 
mapping data assosiation time 33.026306 ms 
mapping solver time 15.248343 ms 
filter time 11.724334 ms 
solver time 9.997852 ms 
publication time 12.256030 ms 
whole laserOdometry time 65.822696 ms 
 
sort q time 4.871704 
seperate points time 11.470826 
data association time 22.013643 ms 
solver time 13.298222 ms 
points size 102524 
sort q time 6.334005 
seperate points time 15.621710 
filter time 13.515450 ms 
solver time 13.481828 ms 
points size 102315 
sort q time 7.998370 
seperate points time 17.675598 
mapping data assosiation time 38.404990 ms 
solver time 13.313449 ms 
data association time 15.996175 ms 
solver time 11.266420 ms 
points size 102231 
sort q time 5.913324 
seperate points time 13.714183 
filter time 13.821346 ms 
solver time 13.034769 ms 
data association time 16.221557 ms 
solver time 10.216799 ms 
points size 102253 
sort q time 4.783863 
seperate points time 11.328566 
scan registration time 32.515531 ms *************
data association time 15.759453 ms 
solver time 13.513793 ms 
data association time 16.351323 ms 
publication time 11.978778 ms 
whole laserOdometry time 69.178819 ms 
 
sort q time 5.223095 
seperate points time 12.311469 
data association time 25.270297 ms 
mapping pub time 239.009402 ms 
whole mapping time 416.701113 ms +++++
data association time 25.864831 ms 
solver time 14.859031 ms 
mapping data assosiation time 37.747865 ms 
solver time 14.700468 ms 
data association time 25.430307 ms 
solver time 10.998497 ms 
sort q time 6.280962 
seperate points time 15.076714 
mapping solver time 23.667828 ms 
filter time 14.145935 ms 
mapping pub time 1.306602 ms 
whole mapping time 197.285629 ms +++++
data association time 25.848647 ms 
drop lidar frame in mapping for real time performance 
map prepare time 3.561138 ms
map corner num 149360  surf num 57242 
solver time 15.052657 ms 
data association time 25.803932 ms 
solver time 11.242939 ms 
publication time 11.195230 ms 
whole laserOdometry time 90.203721 ms 
 
mapping data assosiation time 36.580644 ms 
data association time 25.343187 ms 
mapping solver time 26.378600 ms 
data association time 25.368285 ms 
solver time 12.272137 ms 
publication time 11.058800 ms 
whole laserOdometry time 90.078741 ms 
 
sort q time 5.298251 
seperate points time 12.519308 
mapping solver time 27.939336 ms 
scan registration time 35.203375 ms *************
mapping optimization time 168.931689 
add points time 0.698392 ms
filter time 16.314424 ms 
data association time 25.429769 ms 
solver time 15.251936 ms 
build tree time 42.222336 ms 
points size 102199 
publication time 10.846212 ms 
whole laserOdometry time 88.606340 ms 
 
mapping data assosiation time 39.208376 ms 
data association time 15.592517 ms 
data association time 15.048707 ms 
mapping data assosiation time 35.133679 ms 
points size 102104 
sort q time 5.774691 
seperate points time 13.107798 
map prepare time 4.420653 ms
map corner num 150656  surf num 57811 
data association time 20.280864 ms 
solver time 10.757193 ms 
build tree time 41.492722 ms 
solver time 6.643829 ms 
publication time 11.318410 ms 
whole laserOdometry time 69.955627 ms 
 
mapping data assosiation time 39.426974 ms 
scan registration time 36.067615 ms *************
mapping solver time 28.749462 ms 
solver time 10.240278 ms 
mapping data assosiation time 35.050668 ms 
solver time 10.086512 ms 
publication time 11.553713 ms 
whole laserOdometry time 72.149348 ms 
 
filter time 15.598192 ms 
sort q time 4.937146 
seperate points time 11.628249 
data association time 15.831807 ms 
build tree time 42.794984 ms 
data association time 15.302229 ms 
publication time 8.096097 ms 
whole laserOdometry time 58.771253 ms 
 
points size 101636 
sort q time 6.384644 
seperate points time 14.674964 
data association time 15.157510 ms 
solver time 8.215963 ms 
mapping data assosiation time 35.833520 ms 
data association time 16.315246 ms 
publication time 8.497867 ms 
whole laserOdometry time 54.379915 ms 
 
map prepare time 4.015810 ms
map corner num 151582  surf num 58102 
sort q time 4.496567 
seperate points time 10.607456 
data association time 15.099602 ms 
data association time 16.130789 ms 
mapping data assosiation time 36.868169 ms 
points size 98811 
sort q time 4.805429 
seperate points time 11.295264 
mapping data assosiation time 36.293473 ms 
solver time 10.724081 ms 
data association time 16.020928 ms 
publication time 8.839240 ms 
whole laserOdometry time 58.241453 ms 
 
points size 97115 
sort q time 5.221138 
seperate points time 11.831944 
data association time 15.675217 ms 
mapping data assosiation time 35.243267 ms 
solver time 5.148130 ms 
points size 96025 
mapping data assosiation time 36.507017 ms 
mapping solver time 19.602799 ms 
solver time 7.583419 ms 
data association time 15.514376 ms 
publication time 8.308843 ms 
whole laserOdometry time 53.461252 ms 
 
points size 96158 
sort q time 4.868280 
seperate points time 11.448965 
mapping data assosiation time 38.482320 ms 
solver time 8.017493 ms 
mapping solver time 28.138400 ms 
publication time 9.061797 ms 
whole laserOdometry time 54.658288 ms 
 
points size 97411 
sort q time 4.689458 
seperate points time 11.013419 
mapping optimization time 177.374996 
data association time 15.568386 ms 
map prepare time 3.843758 ms
map corner num 152361  surf num 58289 
data association time 15.349106 ms 
publication time 10.666948 ms 
whole laserOdometry time 65.816107 ms 
 
points size 98940 
sort q time 5.855480 
seperate points time 13.944296 
mapping data assosiation time 46.761211 ms 
data association time 15.709946 ms 
mapping solver time 25.671627 ms 
data association time 14.587972 ms 
mapping data assosiation time 35.204532 ms 
mapping solver time 18.006708 ms 
filter time 14.753447 ms 
data association time 16.564606 ms 
solver time 11.365143 ms 
data association time 16.188821 ms 
build tree time 45.547548 ms 
points size 101664 
mapping data assosiation time 38.278641 ms 
mapping solver time 23.154503 ms 
solver time 11.689495 ms 
data association time 15.318296 ms 
publication time 8.866597 ms 
whole laserOdometry time 59.619309 ms 
 
mapping solver time 19.960694 ms 
filter time 15.824274 ms 
data association time 25.397696 ms 
solver time 14.194912 ms 
mapping solver time 32.217692 ms 
solver time 12.535811 ms 
data association time 28.692860 ms 
points size 102274 
mapping solver time 24.788936 ms 
sort q time 5.998641 
seperate points time 14.307047 
filter time 16.199827 ms 
map prepare time 5.364452 ms
map corner num 152993  surf num 58471 
data association time 25.608144 ms 
solver time 14.133391 ms 
build tree time 55.574672 ms 
prepare time 15.449214 
optimization twice time 78.987940 
publication time 12.459504 ms 
whole laserOdometry time 91.465578 ms 
 
mapping data assosiation time 45.986164 ms 
solver time 12.214996 ms 
data association time 16.297780 ms 
publication time 9.109726 ms 
whole laserOdometry time 67.363327 ms 
 
points size 102592 
sort q time 6.061013 
seperate points time 14.599400 
filter time 12.911194 ms 
solver time 10.115850 ms 
data association time 16.088669 ms 
optimization twice time 55.683313 
points size 102673 
sort q time 7.048705 
seperate points time 16.972862 
scan registration time 45.212669 ms *************
data association time 15.297185 ms 
solver time 15.659913 ms 
data association time 15.938892 ms 
solver time 11.086381 ms 
publication time 10.255118 ms 
whole laserOdometry time 69.165643 ms 
 
sort q time 6.110196 
seperate points time 14.950898 
filter time 12.605548 ms 
data association time 16.979183 ms 
solver time 13.533288 ms 
data association time 15.530483 ms 
solver time 11.268263 ms 
publication time 9.653123 ms 
whole laserOdometry time 67.874974 ms 
 
prepare time 22.657537 
sort q time 6.961132 
seperate points time 16.937180 
mapping data assosiation time 46.086021 ms 
scan registration time 46.430576 ms *************
mapping solver time 26.991988 ms 
solver time 13.034781 ms 
data association time 16.160688 ms 
points size 102878 
mapping solver time 23.839371 ms 
mapping pub time 1.228086 ms 
whole mapping time 199.355675 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.732400 ms
map corner num 153864  surf num 58746 
solver time 10.433415 ms 
data association time 15.571313 ms 
solver time 7.822023 ms 
publication time 8.924322 ms 
whole laserOdometry time 60.068159 ms 
 
points size 102986 
mapping data assosiation time 36.397293 ms 
data association time 16.102300 ms 
solver time 11.959636 ms 
data association time 15.707656 ms 
optimization twice time 54.635471 
points size 103028 
filter time 12.799919 ms 
data association time 15.395440 ms 
solver time 13.876933 ms 
build tree time 45.920359 ms 
points size 103011 
mapping data assosiation time 38.078579 ms 
sort q time 5.308275 
seperate points time 12.616852 
mapping solver time 28.799880 ms 
data association time 25.039798 ms 
solver time 14.437452 ms 
mapping data assosiation time 36.059338 ms 
mapping solver time 18.895082 ms 
points size 102993 
publication time 11.155162 ms 
whole laserOdometry time 88.190476 ms 
 
scan registration time 38.445479 ms *************
data association time 15.080394 ms 
solver time 9.963503 ms 
data association time 15.521293 ms 
optimization twice time 51.743993 
points size 102920 
mapping solver time 31.120802 ms 
scan registration time 40.274095 ms *************
data association time 15.935260 ms 
mapping data assosiation time 36.358782 ms 
mapping solver time 21.877391 ms 
solver time 8.298268 ms 
drop lidar frame in mapping for real time performance 
prepare time 19.648821 
sort q time 6.114128 
seperate points time 14.705351 
build tree time 43.561525 ms 
data association time 16.036684 ms 
solver time 10.677433 ms 
mapping data assosiation time 35.560667 ms 
solver time 10.519756 ms 
publication time 9.880651 ms 
whole laserOdometry time 74.250122 ms 
 
scan registration time 40.075790 ms *************
mapping data assosiation time 36.155070 ms 
mapping solver time 24.133601 ms 
data association time 26.362061 ms 
mapping optimization time 171.182054 
add points time 0.726043 ms
filter time 16.431705 ms 
points size 102802 
solver time 10.806964 ms 
publication time 11.470568 ms 
whole laserOdometry time 93.910932 ms 
 
build tree time 57.095994 ms 
data association time 26.785499 ms 
data association time 26.119878 ms 
points size 102957 
publication time 14.033206 ms 
whole laserOdometry time 105.065054 ms 
 
[33m[ WARN] [1718802748.875029849]: odometry process over 100ms[0m
data association time 15.823801 ms 
solver time 13.408225 ms 
data association time 19.832004 ms 
points size 103050 
sort q time 6.116113 
seperate points time 14.947368 
data association time 16.495508 ms 
data association time 15.993361 ms 
optimization twice time 58.721104 
publication time 11.266209 ms 
whole laserOdometry time 70.001565 ms 
 
points size 103045 
mapping solver time 30.257174 ms 
scan registration time 40.296936 ms *************
data association time 29.431472 ms 
solver time 18.987550 ms 
mapping optimization time 194.539901 
data association time 25.577791 ms 
solver time 16.657305 ms 
scan registration time 40.784491 ms *************
data association time 23.751997 ms 
solver time 13.837932 ms 
data association time 16.564310 ms 
points size 103076 
sort q time 6.076190 
seperate points time 14.542102 
data association time 16.258826 ms 
data association time 15.990166 ms 
publication time 8.976783 ms 
whole laserOdometry time 64.161040 ms 
 
sort q time 5.994651 
seperate points time 13.496208 
data association time 16.331567 ms 
map prepare time 4.657595 ms
map corner num 156114  surf num 59324 
data association time 18.147346 ms 
publication time 10.210506 ms 
whole laserOdometry time 68.661689 ms 
 
points size 103137 
sort q time 6.127564 
seperate points time 14.616498 
scan registration time 40.001046 ms *************
mapping data assosiation time 37.088859 ms 
data association time 15.968892 ms 
solver time 10.195261 ms 
mapping solver time 27.129672 ms 
data association time 16.095236 ms 
solver time 7.621739 ms 
publication time 12.539759 ms 
whole laserOdometry time 63.213407 ms 
 
prepare time 19.912897 
mapping data assosiation time 41.005282 ms 
sort q time 6.186603 
seperate points time 14.734039 
mapping optimization time 178.806399 
filter time 14.139769 ms 
solver time 11.363009 ms 
data association time 15.840996 ms 
optimization twice time 54.596740 
publication time 9.548191 ms 
whole laserOdometry time 64.164444 ms 
 
prepare time 19.352389 
sort q time 6.106660 
seperate points time 14.596277 
mapping data assosiation time 38.183884 ms 
mapping solver time 25.816243 ms 
data association time 15.073190 ms 
solver time 8.166613 ms 
publication time 11.021685 ms 
whole laserOdometry time 61.544826 ms 
 
mapping solver time 22.540894 ms 
scan registration time 40.305521 ms *************
filter time 15.246541 ms 
data association time 15.758156 ms 
solver time 11.231944 ms 
data association time 15.646391 ms 
publication time 11.022988 ms 
whole laserOdometry time 62.129550 ms 
 
prepare time 20.967064 
mapping data assosiation time 39.253633 ms 
scan registration time 41.394519 ms *************
mapping solver time 27.880061 ms 
solver time 10.484589 ms 
data association time 15.751302 ms 
solver time 8.238525 ms 
mapping solver time 16.323335 ms 
filter time 16.285396 ms 
data association time 15.637904 ms 
solver time 10.929092 ms 
build tree time 45.672044 ms 
data association time 16.319056 ms 
solver time 7.607422 ms 
publication time 10.110880 ms 
whole laserOdometry time 61.358100 ms 
 
mapping data assosiation time 37.826060 ms 
sort q time 4.928769 
seperate points time 11.390506 
data association time 16.014970 ms 
solver time 10.316326 ms 
data association time 15.760582 ms 
mapping solver time 22.893168 ms 
filter time 15.360700 ms 
sort q time 5.156883 
seperate points time 11.793900 
data association time 16.424369 ms 
solver time 13.688948 ms 
data association time 15.414985 ms 
publication time 10.112678 ms 
whole laserOdometry time 67.983517 ms 
 
prepare time 16.854058 
mapping solver time 31.213088 ms 
data association time 15.506501 ms 
mapping data assosiation time 35.939988 ms 
mapping solver time 20.151381 ms 
filter time 15.248509 ms 
publication time 9.834605 ms 
whole laserOdometry time 68.549896 ms 
 
sort q time 5.131837 
seperate points time 11.976739 
build tree time 45.204824 ms 
solver time 12.767943 ms 
mapping data assosiation time 34.509406 ms 
publication time 9.473258 ms 
whole laserOdometry time 63.915685 ms 
 
points size 102018 
sort q time 5.441972 
seperate points time 12.717260 
mapping data assosiation time 34.485809 ms 
data association time 15.162176 ms 
solver time 13.509246 ms 
filter time 13.588220 ms 
data association time 16.425972 ms 
optimization twice time 56.315289 
points size 101956 
build tree time 48.730349 ms 
data association time 14.598606 ms 
solver time 11.230259 ms 
mapping solver time 20.612511 ms 
solver time 10.531962 ms 
points size 101804 
sort q time 5.917524 
seperate points time 14.400640 
filter time 17.503072 ms 
solver time 9.684537 ms 
data association time 18.625391 ms 
optimization twice time 56.177027 
points size 101832 
sort q time 5.912508 
seperate points time 14.415778 
mapping solver time 19.291734 ms 
solver time 11.005906 ms 
data association time 16.002987 ms 
publication time 9.007665 ms 
whole laserOdometry time 63.406230 ms 
 
mapping solver time 20.867731 ms 
filter time 16.455667 ms 
map prepare time 8.015239 ms
map corner num 97896  surf num 41196 
data association time 18.103920 ms 
solver time 12.407221 ms 
data association time 14.892709 ms 
solver time 8.966179 ms 
points size 99870 
sort q time 5.832494 
seperate points time 14.315197 
data association time 14.469459 ms 
solver time 10.480227 ms 
data association time 14.753884 ms 
solver time 8.583751 ms 
publication time 10.558340 ms 
whole laserOdometry time 59.743826 ms 
 
points size 99659 
sort q time 5.009332 
seperate points time 11.503165 
data association time 14.661068 ms 
solver time 13.508144 ms 
mapping solver time 29.829373 ms 
publication time 8.940111 ms 
whole laserOdometry time 70.341510 ms 
 
mapping data assosiation time 35.200598 ms 
sort q time 4.870466 
seperate points time 11.495145 
scan registration time 34.044227 ms *************
mapping solver time 21.728170 ms 
filter time 9.676350 ms 
data association time 14.618680 ms 
solver time 10.954552 ms 
publication time 9.409478 ms 
whole laserOdometry time 64.046661 ms 
 
points size 99310 
mapping data assosiation time 35.632732 ms 
mapping solver time 21.776029 ms 
solver time 12.532104 ms 
mapping data assosiation time 33.165429 ms 
solver time 12.940855 ms 
points size 99282 
map prepare time 3.464241 ms
map corner num 100123  surf num 41858 
scan registration time 35.026483 ms *************
build tree time 29.494648 ms 
data association time 15.010766 ms 
solver time 12.389118 ms 
mapping data assosiation time 32.998803 ms 
solver time 10.125753 ms 
mapping solver time 28.065073 ms 
sort q time 4.918028 
seperate points time 11.412765 
mapping data assosiation time 33.272054 ms 
solver time 12.311878 ms 
filter time 10.572399 ms 
publication time 9.121746 ms 
whole laserOdometry time 60.323344 ms 
 
build tree time 29.167945 ms 
prepare time 19.472719 
sort q time 5.859138 
seperate points time 13.836571 
data association time 13.958177 ms 
mapping solver time 24.323498 ms 
data association time 14.482977 ms 
publication time 9.314479 ms 
whole laserOdometry time 61.042661 ms 
 
points size 99085 
mapping optimization time 148.739483 
filter time 11.897253 ms 
data association time 13.784172 ms 
solver time 16.137209 ms 
data association time 14.870928 ms 
mapping data assosiation time 36.410706 ms 
scan registration time 39.476835 ms *************
data association time 14.927205 ms 
solver time 11.956355 ms 
data association time 14.790894 ms 
filter time 10.861207 ms 
sort q time 5.559329 
seperate points time 12.686403 
build tree time 37.478707 ms 
solver time 7.766955 ms 
data association time 15.478214 ms 
publication time 8.154200 ms 
whole laserOdometry time 58.728883 ms 
 
mapping solver time 24.853345 ms 
prepare time 20.663437 
sort q time 6.542619 
seperate points time 16.030593 
scan registration time 43.310471 ms *************
data association time 15.320899 ms 
solver time 13.480415 ms 
map prepare time 3.061627 ms
map corner num 130340  surf num 49870 
solver time 9.994560 ms 
prepare time 19.654546 
sort q time 5.825002 
seperate points time 14.024934 
build tree time 44.339356 ms 
data association time 13.970752 ms 
solver time 13.658666 ms 
mapping solver time 20.078100 ms 
solver time 7.847309 ms 
points size 98551 
mapping data assosiation time 40.811653 ms 
sort q time 5.908710 
seperate points time 14.330447 
mapping solver time 21.021991 ms 
filter time 10.306954 ms 
mapping pub time 1.300817 ms 
whole mapping time 177.519243 ms +++++
drop lidar frame in mapping for real time performance 
data association time 15.465293 ms 
map prepare time 3.427735 ms
map corner num 131164  surf num 50159 
data association time 16.923190 ms 
optimization twice time 52.269717 
points size 98243 
sort q time 6.600703 
seperate points time 15.808839 
data association time 14.417000 ms 
solver time 13.970354 ms 
data association time 17.588682 ms 
optimization twice time 57.468214 
publication time 7.982878 ms 
whole laserOdometry time 65.468229 ms 
 
mapping solver time 21.122702 ms 
filter time 11.666251 ms 
build tree time 35.822217 ms 
[0m[ INFO] [1718802752.570408446]: Received 3080472 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718802752.570448721]: Data saved to 1317358295931231.pcd[0m

Done.
mapping solver time 24.133840 ms 
mapping data assosiation time 34.506620 ms 
mapping solver time 20.278526 ms 
mapping optimization time 147.086977 
add points time 0.694679 ms
filter time 13.970234 ms 
mapping pub time 1.273237 ms 
whole mapping time 167.001693 ms +++++
killing:
 * /alaserMapping
 * /alaserOdometry
 * /ascanRegistration
 * /pointcloud_to_pcd_1718802213924479954
 * /rosout
[33m[ WARN] [1718802753.161958705]: Shutdown request received.[0m
[33m[ WARN] [1718802753.161993821]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718802753.162447705]: Shutdown request received.[0m
[33m[ WARN] [1718802753.162487046]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718802753.163042859]: Shutdown request received.[0m
[33m[ WARN] [1718802753.163091807]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718802753.163549192]: Shutdown request received.[0m
[33m[ WARN] [1718802753.163578576]: Reason given for shutdown: [user request][0m
killed
terminate called without an active exception
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/4fab168e-2e3c-11ef-bfeb-0242ac110003/rosout-1*.log[0m
[1m[ascanRegistration-2] process has finished cleanly
log file: /root/.ros/log/4fab168e-2e3c-11ef-bfeb-0242ac110003/ascanRegistration-2*.log[0m
[1m[alaserOdometry-3] process has finished cleanly
log file: /root/.ros/log/4fab168e-2e3c-11ef-bfeb-0242ac110003/alaserOdometry-3*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [578][0m
[31m[alaserMapping-4] process has died [pid 158, exit code -6, cmd /root/catkin_ws/devel/lib/aloam_velodyne/alaserMapping __name:=alaserMapping __log:=/root/.ros/log/4fab168e-2e3c-11ef-bfeb-0242ac110003/alaserMapping-4.log].
log file: /root/.ros/log/4fab168e-2e3c-11ef-bfeb-0242ac110003/alaserMapping-4*.log[0m
